CN207795248U - Arm-type intelligence cutting digs anchor parallel integral machine - Google Patents
Arm-type intelligence cutting digs anchor parallel integral machine Download PDFInfo
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- CN207795248U CN207795248U CN201721880032.0U CN201721880032U CN207795248U CN 207795248 U CN207795248 U CN 207795248U CN 201721880032 U CN201721880032 U CN 201721880032U CN 207795248 U CN207795248 U CN 207795248U
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- 238000005520 cutting process Methods 0.000 title claims abstract description 91
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 54
- 230000004992 fission Effects 0.000 claims abstract description 45
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 230000008054 signal transmission Effects 0.000 claims abstract description 3
- 239000000428 dust Substances 0.000 claims description 8
- 238000009423 ventilation Methods 0.000 claims description 7
- 241001074085 Scophthalmus aquosus Species 0.000 claims description 5
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 9
- 230000005641 tunneling Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 5
- 239000000498 cooling water Substances 0.000 description 3
- 230000001050 lubricating effect Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000010410 dusting Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000012882 sequential analysis Methods 0.000 description 1
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Abstract
The utility model discloses a kind of arm-type intelligent cuttings to dig anchor parallel integral machine, it solves machine body of boring machine position in the prior art and is difficult to adjust positioning, and the problem of coordinate reference system of automatic cutting changes is easily led to when positioning automatic cutting, have the effect of to be adjusted development machine orientation when the full-automatic cutting of arbitrary cross-section, cutting, can realize that intelligent cutting is parallel with anchor is dug；Its technical solution is：Including pedestal, the development machine signal transmission of detection to digital control system is realized intelligent cutting by seperated, development machine cutting fission, sensor-based system and digital control system, sensor-based system；Cutting fission is connected by carriage with propulsion device with pedestal fission；The front side of cutting fission and rear side are respectively equipped with lifting apparatus；When lifting to lifting apparatus support cutting fission and driving pedestal hanging, propulsion device drives the Forward of pedestal fission；When lifting apparatus withdraws pedestal landing, propulsion device pushes cutting fission Forward feed cutting.
Description
Technical field
The utility model is related to underground engineering apparatus fields, more particularly to a kind of arm-type intelligent cutting to dig anchor parallel integral
Machine.
Background technology
Road headers tunnel, and pick shield anchor is sequential analysis, development machine Homes Using TV, work efficiency and single into low, and due to cutting
It generates dust and atomizing de-dusting, development machine driver is difficult to see cutterhead position clearly, with cutting is felt, roadway forming is bad, for
Arched tunnel, it is also necessary to which artificial crossed, development machine driver are difficult to hold.
In recent years, some external famous development machine manufacturers such as Austrian SANDVIC have developed with automatic cutting
The road headers of function, automatic cutting development machine have arbitrary cross-section automatic forming, invariable power cutting, roadway forming quality high
The advantages that, but due to the fact that, it is not widely applied always so far：
First, digger traveling mechanism is crawler belt, it is intended to before each cutting by manually being adjusted to machine body of boring machine pose
Whole, the adjustment of machine body of boring machine pose is difficult to realize；
Second is that development machine must position cutting, since cutting vibration is easy to cause machine body of boring machine displacement, cause to cut automatically
The coordinate reference system cut often changes.
Utility model content
The arm-type intelligent cutting of one kind that in order to overcome the deficiencies of the prior art, the utility model provides digs anchor parallel integral
Machine need not be adjusted development machine orientation when with the full-automatic cutting of arbitrary cross-section, cutting, can realize intelligent cutting
The effect parallel with pick anchor.
The utility model uses following technical proposals：
Arm-type intelligence cutting digs anchor parallel integral machine, which is characterized in that including pedestal seperated, development machine cutting it is seperated,
The development machine signal transmission of detection to digital control system processing is realized intelligent cut by sensor-based system and digital control system, sensor-based system
It cuts；Cutting fission is connected by carriage with propulsion device with pedestal fission；The front side of cutting fission and rear side are respectively equipped with
Lifting apparatus；
When lifting to lifting apparatus support cutting fission and driving pedestal hanging, propulsion device drives the Forward of pedestal fission；Lift
When rising device withdrawal pedestal landing, propulsion device pushes cutting fission Forward feed cutting；
Wherein, carriage includes the sliding sleeve and guide rail oriented each other, ensures cutting fission and bottom by sliding sleeve and guide rail
Development machine unchanged direction when seat fission is mutually shifted；Advance timbering is installed on the top of pedestal fission, and advance timbering is with pedestal fission
Forward, when pedestal lands, advance timbering rises frame and carries out gib to back to realize that pick anchor is parallel.
Further, the pedestal fission includes pedestal and two groups of side stay devices, and the both sides of pedestal are arranged guide rail, each lead
Two sliding sleeves are configured on rail, sliding sleeve is seperated with cutting to be connected；Front and back two groups of side stay devices be set to pedestal front and rear sides, for pair
Development machine orientation is adjusted and limits development machine transverse vibrational displacement.
Further, diagonal brace oil cylinder is equipped at sliding sleeve fixed seat, between eliminating between sliding sleeve and guide rail when diagonal brace oil cylinder stretching
Gap, oblique clamping force play the role of the horizontal and vertical vibration for preventing cutting from generating.
Further, front and back lifting apparatus is respectively development machine universal component shovel board and supporting leg, or is set in front and rear part
The dedicated unit of development machine can be lifted by setting.
Further, the pedestal fission further includes box frame, the box frame portion of being fixed on the base include box-shaped skeleton and
The front side vertical member of backplate, box-shaped skeleton is higher by plane on the box-shaped skeleton, and the vertical member is connect with advance timbering.
Further, the box frame, which is equipped with, bores anchor system, and plane is workbench, the brill anchor system on box frame
Include arranging a row or multi-row anchor pole drill boom according to drift section and support work amount size.
Further, the advance timbering includes top beam and support jack, and the top of support jack and top beam are hinged,
The bottom end branch of support jack is located on pedestal or box-shaped skeleton；Advance timbering moves forward with pedestal fission, when pedestal lands, in advance
Holder rises frame and carries out gib to back, and in tunneling machine cutting, advance timbering also acts as the work for preventing driving machine vibration
With.
Further, the sensor-based system includes the angular transducer being mounted on development machine, drawstring rotary encoder, bears
Carry current sensor and the firedamp sensor on advance timbering；The sensor-based system transmits information to digital control system.
Further, the digital control system includes information input, processing, output and executes valve group, and processor use can compile
Cyclelog detects feedback data according to input program, sensor-based system, exports control instruction, is adjusted by executing valve group control
Whole cylinder action reaches the flexible length of adjustment cutting arm of tunneling machine vertical angle, level angle, fuselage Plane Angle, propelling cylinder
The purpose of degree and load current.
Further, after there is the cutting fission ventilation and dust removal system, the air intake vent of ventilation and dust removal system to be located at shovel board
Transporter chute below and both sides, using the segment space of below transporter chute and both sides as wind passage, dedusting wind
Machine is arranged in development machine rear portion；Or air duct interface is set at development machine rear portion, pass through air duct and the dedusting wind being located at after development machine
Machine connects.
Compared with prior art, the utility model has the beneficial effects that：
(1) cutting of the utility model is seperated is connected between pedestal fission by guide rail, sliding sleeve, pedestal fission both sides tool
There is propulsion device, since sliding sleeve and guide rail orient each other, development machine orientation will not change when two fissions move each other, often
Development machine orientation need not be adjusted when secondary cutting；When causing development machine orientation to have minor change due to driving machine vibration,
The orientation of development machine can be finely adjusted by the two offside support arrangements positioned at pedestal fission front and rear sides, two when tunneling machine cutting
Offside support arrangement also acts as the effect of limitation development machine transverse vibrational displacement simultaneously；
(2) the utility model have pick anchor is parallel, driving it is single into increased substantially with work efficiency, dust-laying effect is good, development machine
Position simplicity, the full-automatic cutting of arbitrary cross-section, without personnel with machine operation, can remote wireless controlled, one-key start, without special messenger
Manipulation can save driver and the other side helps 2 people of the personnel of seeing, invariable power cutting to be conducive to tunnel compared to common development machine per tour
Forming；
(3) the utility model be arranged on development machine angular transducer, drawstring rotary encoder, load current sensor and
Firedamp sensor has the operating modes such as cutterhead position, heading machine pose, load current, gas and environmental parameter perception and control
Function and malfunction monitoring diagnostic function, the intelligent cutting for realizing road headers are parallel with pick anchor.
Description of the drawings
The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation do not constitute the improper restriction to the application for explaining the application.
Fig. 1 is a kind of elevation of embodiment of the utility model；
Fig. 2 is the vertical view of the utility model；
Fig. 3 is the A-A sectional views of the utility model；
Fig. 4 is the elevation of the another embodiment of the utility model；
Fig. 5 is the rearview of the another embodiment of the utility model；
Wherein, 1- cutting units, 2- shovel boards portion, 3- transporters, 4- front supports, 5- rear supports, 6- advance timberings, 7- box-shapeds
Frame, 8- pedestals, 9- propulsion devices, 10- lifting apparatus, 11- side stay devices, 12- bore anchor system, 13- ventilation and dust removal systems, 14-
Lubricating system, 15- hydraulic systems, 16- electrical systems, the dust-proof cooling water systems of 17-, 18- sensor-based systems, 19- digital control systems,
20- sliding sleeves, 21- guide rails, 22- side stay oil cylinders, 23- diagonal brace oil cylinders, 24- handling devices, 25- vertical supporting jack, 26- are oblique
Support jack, 27- pedestal rear support legs.
Specific implementation mode
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
As background technology is introduced, machine body of boring machine position exists in the prior art and is difficult to adjust and must position to cut
It cuts and cutting vibration easily leads to the changed deficiency of coordinate reference system of automatic cutting, in order to solve technical problem as above,
Present applicant proposes a kind of arm-type intelligent cuttings to dig anchor parallel integral machine.
In a kind of typical embodiment of the application, as shown in Figure 1-Figure 3, a kind of arm-type intelligent cutting pick anchor is provided
Parallel integral machine, including the cutting fission and pedestal of development machine are seperated, and the cutting fission of development machine includes cutting units 1, shovel board portion
2, transporter 3, front support 4, rear support 5 and lifting apparatus 10；Pedestal fission includes pedestal 8, box frame 7, advance timbering 6, shield
Plate bores anchor system 12, side stay device 23, pedestal rear support leg 27.
Development machine further includes boring anchor system 12, ventilation and dust removal system 13, lubricating system 14, hydraulic system 15, electrical system
16, dust-proof cooling water system 17, sensor-based system 18 and digital control system；Wherein, the cutting units 1 of development machine, shovel board portion 2, transporter
3, front support 4, rear support 5, lubricating system 14, hydraulic system 15, electrical system 16, dust-proof cooling water system 17 are existing driving
Machine universal component.
Cutting fission is seperated with pedestal to be connected by sliding sleeve 20, guide rail 21 and propulsion device 9；The pedestal 8 includes mutual
Guide rail 21 is fixedly mounted in the top of parallel two parts, pedestal 8, sliding sleeve 20 is arranged on guide rail 21, sliding sleeve 20 can be on guide rail 21
Sliding；Box frame 7 is fixedly connected on pedestal 8, development machine main part is set to inside box frame 7, and the both sides of box frame 7, which are equipped with, to push away
Into device 9.
The propulsion device 9 is propelling cylinder, and one end of propelling cylinder connects sliding sleeve 20, the other end connection of propelling cylinder
Pedestal 8；The front and rear sides of pedestal 8 are equipped with side stay oil cylinder 22；The sliding sleeve 20 is nearby equipped with diagonal brace oil cylinder 23.
Lifting apparatus 10, front side lifting apparatus are respectively set (using tunneling direction as front side) for the front side of cutting fission, rear side
For development machine universal component shovel board, rear side lifting apparatus is development machine universal component supporting leg；Or before and after cutting is seperated
The dedicated unit that can be lifted development machine is arranged in both sides.
When lifting to the support of lifting apparatus 10 cutting fission and driving pedestal 8 hanging, before propulsion device 9 drives pedestal fission
It moves；When lifting apparatus 10 withdraws the landing of pedestal 8, propulsion device 9 pushes cutting fission Forward feed cutting；When development machine is initially square
Position corrected with laneway laser after, either cutting fission relative to pedestal fission be moved forward and backward or pedestal fission relative to cut
Seperated back-and-forth motion is cut, since sliding sleeve 20 and guide rail 21 orient each other, cutting fission and pedestal fission tunnel when moving each other
Machine orientation will not change, and when each cutting need not be adjusted development machine orientation.
If, can be by being located at pedestal fission front and rear sides since driving machine vibration causes development machine orientation to have minor change
Two offside support arrangements 11 orientation of development machine is finely adjusted, two offside support arrangements 11 also act as limit simultaneously when tunneling machine cutting
The effect of development machine transverse vibrational displacement processed.
The side stay device 11 is side stay oil cylinder 22, and the work limit used time of side stay oil cylinder 22 depressurizes feed flow by overflow valve, by
It is less than development machine in cylinder thrust and is displaced sideways resistance, therefore development machine displacement will not be caused；When needing to adjust development machine orientation,
Closing outflow valve can be adjusted development machine orientation to side stay oil cylinder 22 for high pressure liquid；When tunneling machine cutting, diagonal brace oil cylinder
23 stretchings, eliminate the gap between sliding sleeve 20 and guide rail 21, and oblique clamping force can play horizontal and vertical the shaking for preventing cutting generation
Dynamic effect.
The box frame 7 includes box-shaped skeleton and backplate, and box-shaped skeleton is formed by indulging three-dimensional Steel section member anyhow, shaped steel structure
It is connected with backplate between part；Wherein preceding vertical member is higher by plane on box frame 7；Box frame 7 is both fuselage shield, on box frame 7
Plane is the workbench of anchor branch again.
The advance timbering 6 is by structures groups such as top beam, 2 vertical supporting jack 25 and 2 skewed horizontal load jack 26
Vertical or cross member is connected at, advance timbering 6 and box-shaped skeleton front, the bottom end branch of support jack is located at pedestal or box-shaped
On skeleton, the top of support jack and top beam are hinged；Advance timbering 6 moves forward with pedestal fission, when pedestal 8 lands, rises super
Fore-stock 6 carries out gib to back, and in tunneling machine cutting, advance timbering 6 also acts as the work for preventing driving machine vibration
With.
The air intake vent of the ventilation and dust removal system 13 is located at 3 chute of transporter lower section and both sides after shovel board, utilizes transport
Below 3 chute of machine and the segment space of both sides is as wind passage, and dedusting fan is arranged in development machine rear portion, or in development machine
Rear portion sets air duct interface, is connect with the dedusting fan being located at after development machine by air duct；With good dust-laying effect.
The brill anchor system 12 is arranged according to drift section size and support work amount size on box frame, according to tunnel
Support work amount size can arrange a row or multi-row anchor pole drill boom on box frame；If drift section size is smaller, tunnel
Only one gang drill anchor system of arrangement on machine, visits drilling, or do not arrange brill for advance support of roof condition when bad and construction
Anchor system is provided only with intelligent cutting function.
The sensor-based system 18 include for detect cutting arm of tunneling machine vertical angle, level angle, fuselage Plane Angle,
The angular transducer of propelling cylinder collapsing length, drawstring rotary encoder and load current sensor, firedamp sensor etc.；Its
In, cutting arm vertical angle, level angle, propelling cylinder collapsing length detection data are respectively used to determine that cutterhead is longitudinal, horizontal
To with move towards three-dimensional coordinate parameter；Fuselage Plane Angle for coordinate system correct or by lifting apparatus to fuselage Plane Angle into
Row adjustment；Load current detection data are used for power limitation control；Firedamp sensor is mounted on advance timbering, for monitoring in real time
The gas density of boring head realizes gas exceeding limit alarm power-off.
The digital control system 19 includes input, processing, output and executes four part of valve group, and processor uses programmable control
Device processed detects feedback data according to input program, sensor-based system, exports control instruction, corresponding by executing valve group control adjustment
Oil cylinder, reach adjustment cutting arm of tunneling machine vertical angle, level angle, fuselage Plane Angle, propelling cylinder collapsing length and
The purpose of load current.
The execution valve group is using electro-hydraulic proportional valve or servo proportion or electrohydraulic servo valve.
The application has pick anchor parallel, and driving is single to be increased substantially into work efficiency, and dust-laying effect is good, development machine positioning letter
Just, the full-automatic cutting of arbitrary cross-section, without personnel with machine operate, can remote wireless controlled, one-key start, without special messenger manipulation
Effect；Driver can be saved compared to common development machine per tour and the other side helps 2 people of the personnel of seeing, the application to use invariable power cutting,
Be conducive to roadway forming, have the operating modes such as cutterhead position, heading machine pose, load current, gas and environmental parameter perception and
Control function and malfunction monitoring diagnostic function, the intelligent cutting for realizing road headers are parallel with pick anchor.
In the typical embodiment of another kind of the application, as shown in fig. 4-5, the advance timbering uses patent
The hydraulic rack structure of ZL201310311587.3 carries out gib to the tunnel of development machine working range, laggard in development machine
Row bolting and rope support, then the provisional chock for galleries handling device being equipped on development machine in ZL201410778534.7, tunnel
Hydraulic support lifting means of locomotion is fixed on box-shaped skeleton, and the lifting for adit temporary shoring bracket is migrated.
The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field
For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. arm-type intelligence cutting digs anchor parallel integral machine, which is characterized in that including pedestal, seperated, development machine cutting is seperated, passes
Sensing system and digital control system, sensor-based system is by the development machine signal transmission of detection to digital control system；Cutting fission and pedestal are seperated
It is connected with propulsion device by carriage；The front side of cutting fission and rear side are respectively equipped with lifting apparatus；
Wherein, carriage includes the sliding sleeve and guide rail oriented each other；The top of pedestal fission is installed by advance timbering.
2. arm-type intelligent cutting according to claim 1 digs anchor parallel integral machine, which is characterized in that the pedestal fission packet
Pedestal, pedestal rear support leg and side stay device are included, guide rail is set on pedestal, sliding sleeve is configured on guide rail, sliding sleeve is seperated with cutting to be connected；
Front and back two groups of side stay devices are set to pedestal both sides.
3. arm-type intelligent cutting according to claim 2 digs anchor parallel integral machine, which is characterized in that the sliding sleeve side is set
There is diagonal brace oil cylinder.
4. arm-type intelligent cutting according to claim 1 digs anchor parallel integral machine, which is characterized in that the lifting apparatus packet
Including preceding lifting apparatus and rear lifting apparatus, front and back lifting apparatus is respectively development machine universal component shovel board and supporting leg, or
The dedicated unit that can be lifted development machine is arranged in front and rear part.
5. arm-type intelligent cutting according to claim 1 digs anchor parallel integral machine, which is characterized in that the pedestal fission is also
Including box frame, the box frame portion of being fixed on the base includes box-shaped skeleton and backplate, and the front side vertical member of box-shaped skeleton is higher by
Plane on the box-shaped skeleton, the vertical member are hinged with advance timbering.
6. arm-type intelligent cutting according to claim 5 digs anchor parallel integral machine, which is characterized in that set on the box frame
It includes arranging that a row or multi-row anchor pole bores according to drift section and support work amount size to have brill anchor system, the brill anchor system
Arm.
7. arm-type intelligent cutting according to claim 5 digs anchor parallel integral machine, which is characterized in that the advance timbering packet
Top beam and support jack are included, the top of support jack is hinged with top beam, and the bottom end branch of support jack is located at pedestal or case
On shape skeleton.
8. arm-type intelligent cutting according to claim 1 digs anchor parallel integral machine, which is characterized in that the sensor-based system packet
It includes the angular transducer on development machine, drawstring rotary encoder, load current sensor and is mounted on advance timbering
Firedamp sensor.
9. arm-type intelligent cutting according to claim 1 digs anchor parallel integral machine, which is characterized in that the digital control system packet
It includes information input, processing, output and executes valve group, processor uses programmable controller.
10. arm-type intelligent cutting according to claim 1 digs anchor parallel integral machine, which is characterized in that the cutting is seperated
With ventilation and dust removal system, the air intake vent of ventilation and dust removal system is located at transporter chute lower section and both sides after shovel board, utilizes fortune
Below defeated machine chute and the segment space of both sides is as wind passage, and dedusting fan is arranged in development machine rear portion；Or in development machine
Rear portion sets air duct interface, is connect with the dedusting fan being located at after development machine by air duct.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721880032.0U CN207795248U (en) | 2017-12-28 | 2017-12-28 | Arm-type intelligence cutting digs anchor parallel integral machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721880032.0U CN207795248U (en) | 2017-12-28 | 2017-12-28 | Arm-type intelligence cutting digs anchor parallel integral machine |
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| CN207795248U true CN207795248U (en) | 2018-08-31 |
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ID=63280306
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| CN201721880032.0U Expired - Fee Related CN207795248U (en) | 2017-12-28 | 2017-12-28 | Arm-type intelligence cutting digs anchor parallel integral machine |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111810146A (en) * | 2020-07-23 | 2020-10-23 | 中国煤炭科工集团太原研究院有限公司 | Intelligent tunnel slotting robot |
| CN114215517A (en) * | 2021-11-05 | 2022-03-22 | 中国煤炭科工集团太原研究院有限公司 | Coordinated automatic control method and device for cutting, charging and traveling mechanism of boom-type roadheader |
| CN114941533A (en) * | 2022-07-22 | 2022-08-26 | 山西天地煤机装备有限公司 | Split excavator and connection method |
-
2017
- 2017-12-28 CN CN201721880032.0U patent/CN207795248U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111810146A (en) * | 2020-07-23 | 2020-10-23 | 中国煤炭科工集团太原研究院有限公司 | Intelligent tunnel slotting robot |
| CN114215517A (en) * | 2021-11-05 | 2022-03-22 | 中国煤炭科工集团太原研究院有限公司 | Coordinated automatic control method and device for cutting, charging and traveling mechanism of boom-type roadheader |
| CN114941533A (en) * | 2022-07-22 | 2022-08-26 | 山西天地煤机装备有限公司 | Split excavator and connection method |
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Granted publication date: 20180831 |