CN217001866U - Flexible arm tunneling machine - Google Patents
Flexible arm tunneling machine Download PDFInfo
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- CN217001866U CN217001866U CN202220831248.2U CN202220831248U CN217001866U CN 217001866 U CN217001866 U CN 217001866U CN 202220831248 U CN202220831248 U CN 202220831248U CN 217001866 U CN217001866 U CN 217001866U
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Abstract
The utility model relates to a flexible arm tunneling machine which comprises a cutter head, a flexible supporting arm assembly, a rack, a slag digging bucket, a conveyor, a traveling assembly and a supporting shoe assembly, wherein a driving device is arranged in the cutter head. The flexible supporting arm component comprises at least three supporting oil cylinders which are arranged in parallel, and two ends of each supporting oil cylinder are respectively hinged with the cutter head and the rack. The conveyer is established in the bottom of frame, digs the sediment fill and establishes the first end at the frame and can arrange the slabstone on the conveyer. The walking assembly comprises two walking devices which are symmetrically arranged relative to the axis of the conveyor and are positioned on two sides of the conveyor, and the bottom surface of each walking device inclines towards the outer side of the rack. The flexible arm tunneling machine can effectively solve the problems of high construction technology difficulty, low working efficiency and potential safety hazard of the existing middle and small-section hard rock tunnel in construction.
Description
Technical Field
The utility model relates to the technical field of tunneling, in particular to a flexible arm tunneling machine.
Background
The construction of the small-size section hard rock is a difficult problem in tunnel construction. At present, drilling and blasting methods are mostly adopted for construction of the small-size section hard rock, great potential safety hazards and environmental problems exist in the drilling and blasting method construction process, the size of the section cannot be accurately controlled, and the over-excavation and under-excavation conditions exist. After the drilling and blasting construction, other equipment is needed to trim the steel plate, and the steel plate cannot be formed at one time.
With the development of the technology, the tunneling of the small-size section tunnel is constructed by adopting a hydraulic breaking hammer, a small-size tunneling machine and the like. However, the hydraulic breaking hammer is slow in working speed and low in efficiency, and the hydraulic breaking hammer is mostly carried on an excavator, so that the size of equipment is large. The existing small-size heading machine has larger equipment size, can not handle the situation of hard rocks encountered in heading and can not adapt to the size of a small-size section tunnel. The two devices still cannot well deal with the problem of small-size section tunnel excavation. Therefore, the design of equipment suitable for excavating the small-size section hard rock is strongly necessary.
Therefore, the inventor provides the flexible arm heading machine by virtue of experience and practice of related industries for many years, so as to overcome the defects in the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a flexible arm tunneling machine which can effectively solve the problems of high technical difficulty, low working efficiency and potential safety hazard of the existing construction of small and medium-section hard rock tunnels.
The utility model aims to realize the purpose, and the flexible arm tunneling machine comprises a cutter head, a flexible support arm assembly, a rack, a slag digging bucket, a conveyor, a walking assembly and a supporting shoe assembly; a driving device is arranged in the cutter head and is used for driving the cutter head to rotate; the flexible supporting arm assembly comprises at least three supporting oil cylinders which are arranged in parallel, and two ends of each supporting oil cylinder are respectively hinged with the cutter head and the rack; the conveyor is arranged at the bottom of the rack, and the slag digging hopper is arranged at the first end of the rack and can discharge slag stones onto the conveyor; the walking assembly comprises two walking devices which are symmetrically arranged relative to the axis of the conveyor and are positioned at two sides of the conveyor, the bottom surface of each walking device inclines towards the outer side of the rack, and the length direction of the bottom surface of each walking device is parallel to the axial direction of the rack; the supporting shoe component is arranged on the frame and can be used for tightly supporting the wall surface of the tunnel.
In a preferred embodiment of the present invention, the cutter head includes a cutter head body and a plurality of hobs mounted on the front surface of the cutter head body, the back surface of the cutter head body is fixedly provided with a first mounting plate, and the driving device is disposed in the cutter head body and fixedly connected to the first mounting plate for driving the cutter head body to rotate; a second mounting plate is fixedly arranged at the first end of the rack, the flexible support arm assembly comprises six support oil cylinders which are arranged in parallel, and the first end and the second end of each support oil cylinder are respectively hinged with the first mounting plate and the second mounting plate; the first end of each supporting oil cylinder is close to the first end of the supporting oil cylinder adjacent to one side of the supporting oil cylinders, and the second end of each supporting oil cylinder is close to the second end of the supporting oil cylinder adjacent to the other side of the supporting oil cylinders.
In a preferred embodiment of the utility model, the slag digging bucket comprises a slag cleaning bucket, a swing hydraulic oil cylinder, a pushing hydraulic oil cylinder and a sliding beam, wherein the length direction of the sliding beam is parallel to the axial direction of the rack and can be axially and slidably arranged on the rack, the first end of the pushing hydraulic oil cylinder is hinged with the rack, the second end of the pushing hydraulic oil cylinder is hinged with the first end of the sliding beam, the first end of the swing hydraulic oil cylinder is hinged with the middle part of the sliding beam, the second end of the swing hydraulic oil cylinder is hinged with the first end of the slag cleaning bucket, and the second end of the sliding beam is hinged with the middle part of the slag cleaning bucket.
In a preferred embodiment of the present invention, a sliding slot is formed in the first end of the frame, and the sliding beam is slidably mounted in the sliding slot.
In a preferred embodiment of the present invention, the shoe supporting assembly includes two sets of shoe supporting devices symmetrically arranged, each set of shoe supporting device includes a first shoe supporting plate and a first shoe supporting cylinder, a first end of the first shoe supporting cylinder is hinged to the machine frame, a second end of the first shoe supporting cylinder is hinged to the first shoe supporting plate, and an axis of the first shoe supporting cylinder is arranged obliquely upward from the inside of the machine frame.
In a preferred embodiment of the present invention, each set of shoe supporting device includes two first shoe supporting cylinders, the two first shoe supporting cylinders are arranged in parallel at an interval, and a guiding device is arranged between the two first shoe supporting cylinders, the guiding device includes a guiding post and a guiding cylinder which can be slidably sleeved with each other, the guiding post is fixedly connected with the frame, and the guiding cylinder is fixedly connected with the first shoe supporting plate.
In a preferred embodiment of the present invention, each set of shoe supporting devices further includes a second shoe supporting plate and a second shoe supporting cylinder, one end of the second shoe supporting cylinder is hinged to the frame, a second end of the second shoe supporting cylinder is hinged to the second shoe supporting plate, and an axis of the second shoe supporting cylinder is inclined outward and downward from the inside of the frame.
In a preferred embodiment of the utility model, the flexible arm roadheader includes two sets of shoe assemblies, one set of shoe assemblies being located adjacent the first end of the machine frame and the other set of shoe assemblies being located adjacent the second end of the machine frame.
In a preferred embodiment of the utility model, the included angle between the bottom surface of each walking device and the horizontal plane is 15-75 degrees, the included angle between the axis of the first shoe supporting oil cylinder and the horizontal plane is 15-75 degrees, and the included angle between the axis of the second shoe supporting oil cylinder and the horizontal plane is 15-75 degrees.
In a preferred embodiment of the utility model, the running gear is a belt running gear or a wheel running gear, and the conveyor is a belt conveyor, a scraper conveyor or a screw conveyor.
According to the flexible arm heading machine, the two inclined traveling devices are adopted, so that the height of the machine body of the heading machine can be reduced to the maximum extent, and the flexible arm heading machine can be more suitable for excavating small-size tunnels. Utilize flexible support arm subassembly and blade disc cooperation simultaneously, the degree of freedom of blade disc is great, can also make the certain angle of blade disc slope, cuts the rock according to certain angle, and the cutting process is more steady, can better faster cutting rock, more does benefit to the sectional shape that the cutting rock shaping needs, even if also can effectively cut the condition of meetting hard rock in the excavation, more is favorable to improving production efficiency.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein:
FIG. 1: the utility model provides a front view of a flexible arm heading machine.
FIG. 2: the utility model provides a top view of a flexible arm heading machine.
FIG. 3: the utility model provides a side view of a flexible arm heading machine.
FIG. 4: the utility model provides a structure diagram of a slag digging hopper.
FIG. 5: the utility model provides a structure diagram of the cooperation of a first shoe supporting plate, a first shoe supporting oil cylinder and a guide device.
The reference numbers illustrate:
1. a cutter head; 11. a cutter head body; 12. hobbing cutters; 13. a first mounting plate;
2. a flexible support arm assembly; 21. an oil cylinder;
3. a frame;
4. digging a slag hopper; 41. a slag removal hopper; 42. a hydraulic oil cylinder is swung; 43. pushing the hydraulic oil cylinder; 44. a sliding beam;
5. a conveyor;
6. a walking assembly; 61. a traveling device;
7. a shoe support assembly; 71. a boot supporting device; 711. a first shoe supporting plate; 712. a first shoe supporting oil cylinder; 713. a guide device; 714. a second shoe stretcher; 715. and the second shoe supporting oil cylinder.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
As shown in fig. 1 to 5, the embodiment provides a flexible arm tunneling machine, which includes a cutter head 1, a flexible support arm assembly 2, a frame 3, a slag bucket 4, a conveyor 5, a traveling assembly 6 and a shoe supporting assembly 7, wherein a driving device is arranged in the cutter head 1 and is used for driving the cutter head 1 to rotate; the flexible supporting arm component 2 comprises at least three supporting oil cylinders 21 which are arranged in parallel, and two ends of each supporting oil cylinder 21 are respectively hinged with the cutter head 1 and the rack 3; the conveyer 5 is arranged at the bottom of the frame 3, and the slag digging bucket 4 is arranged at the first end of the frame 3 and can discharge slag stones onto the conveyer 5; the walking assembly 6 comprises two walking devices 61 which are symmetrically arranged relative to the axis of the conveyor 5 and are positioned at two sides of the conveyor 5, the bottom surface of each walking device 61 inclines towards the outer side of the frame 3, and the length direction of the bottom surface of each walking device 61 is parallel to the axial direction of the frame 3; the shoe assembly 7 is arranged on the frame 3 and can be used for bracing against the wall of the tunnel.
During the use, whole entry driving machine reaches appointed position under walking subassembly 6's drive, and two running gear 61 all incline the setting, can make equipment walk in circular tunnel, and compare in conventional running gear's bottom surface and be on a parallel with ground, the running gear 61 of tilting can make the whole size littleer, and highly lower can more adapt to the tunnel of excavation small-size. After reaching the position, the supporting shoe component 7 extends out and is tightly supported on the wall surface of the tunnel, so that the heading machine is kept in a stable state, and sufficient supporting counter force is provided for the heading of the whole machine. The flexible supporting arm assembly 2 can enable the cutter head 1 to incline at a certain angle, and when the cutter head 1 is used for cutting the side face of a rock, the cutter head 1 can be kept in the direction of a vertical section, so that the cutting of the rock is facilitated. The slag digging hopper 4 can be used for automatically carrying out slag removal work under the condition of not interfering the front end flexible arm, and the conveyer 5 is used for conveying slag stones cut off from the front end; the conveyer 5 is arranged at the bottom of the frame 3, and the space below the equipment can be fully utilized, so that the structure is more compact.
Therefore, the flexible arm heading machine in the embodiment adopts the two inclined traveling devices 61, so that the height of the machine body of the heading machine can be reduced to the maximum extent, and the flexible arm heading machine can be more suitable for excavating small-size tunnels. Utilize flexible support arm component 2 and the cooperation of blade disc 1 simultaneously, blade disc 1's degree of freedom is great, can also make blade disc 1 slope certain angle, cuts the rock according to certain angle, and cutting process is more steady, can better faster cutting rock, more does benefit to the section shape that the cutting rock shaping reaches needs, even if also can effectively cut the condition of meetting hard rock in the excavation, more is favorable to improving production efficiency. The minimum diameter of the section that can be excavated by the machine is 2.4m, and compared with the similar products, the minimum tunnel that can be excavated has smaller size and higher efficiency, and can better adapt to the working condition of hard rock.
In a specific implementation manner, the cutter head 1 may be a hob cutter head, the cutter head 1 includes a cutter head body 11 and a plurality of hobs 12 installed on the front surface of the cutter head body, a first mounting plate 13 is fixedly installed on the back surface of the cutter head body 11, and the driving device is installed in the cutter head body 11 and fixedly connected to the first mounting plate 13 for driving the cutter head body 11 to rotate. According to different properties of geology and rock soil, the layout design of the hobs 12 on the cutter head 1 can be freely changed so as to be better suitable for different working conditions.
The general driving device comprises a driving part and a speed reducer and is installed in the cutter head body, the driving part preferably adopts a hydraulic motor or a motor, the power of the driving part drives the cutter head 1 to rotate through the speed reducer, the cutter head 1 contacts with the rock to generate friction force when rotating and cutting, so that the rotation of the hob 12 is realized, and the rock is cut through the joint action of the integral rotation of the hob 12 along with the cutter head 1, the rotation of the hob 12 and the forward thrust. The driving piece preferably adopts a hydraulic motor which can provide larger torque, and the torque of the hydraulic motor is amplified by a speed reducer and then drives the cutter head 1 to rotate; the rotating speed can be adjusted steplessly due to the driving of the hydraulic motor, and the cutter head 1 can adjust the rotating speed of the hydraulic motor according to different working conditions, so that the cutting efficiency is improved, and the cutter head can better adapt to different working conditions. Of course, depending on the environment of use, the hob head may be replaced by a similarly functioning rotary cutting rock mechanism or other type of head 1.
Referring to fig. 1 and 2, a second mounting plate is fixedly arranged at a first end of the frame 3, the flexible support arm assembly 2 preferably comprises six support cylinders 21 arranged in parallel, and the first end and the second end of each support cylinder 21 are respectively hinged with the first mounting plate 13 and the second mounting plate; the first end of each supporting oil cylinder 21 is arranged close to the first end of the supporting oil cylinder 21 adjacent to one side of the supporting oil cylinders, and the second end of each supporting oil cylinder 21 is arranged close to the second end of the supporting oil cylinder 21 adjacent to the other side of the supporting oil cylinders, so that the six supporting oil cylinders 21 roughly enclose a plurality of groups of triangular shapes, the structure is more stable, and six degrees of freedom can be provided for the cutter head 1, namely, the degrees of freedom in the six directions of advancing and retracting, vertical movement up and down, and horizontal movement (specifically, the horizontal direction perpendicular to the length direction and the vertical direction of the rack 3) in reciprocating linear movement in the three directions and swinging around the three directions.
Generally, the first end and the second end of the supporting cylinder 21 respectively pass through a first hinge support and a second hinge support, and the hinge connection preferably adopts a hook hinge or a ball hinge, and in such a hinge connection, the flexible supporting arm assembly 2 can provide six degrees of freedom for the first mounting plate 13, and further provide each degree of freedom for the cutterhead 1. In an alternative mode, the first end of each support cylinder 21 and the first end of the support cylinder 21 adjacent to one side share a first hinge support, and the second end of each support cylinder 21 and the second end of the support cylinder 21 adjacent to the other side share a second hinge support, but the respective hinge points are independent, so that the structure is more compact.
Whole flexible support arm component 2 adopts parallel oil cylinder structure, compares in ordinary series connection oil cylinder structure, and the degree of freedom is higher, and stability is better, can provide bigger preceding propulsive force. The flexible support arm assembly 2 may provide six degrees of freedom to the cutterhead 1 at the front end. The flexible support arm assembly 2 can freely cut tunnel cross-sectional shapes such as a tunnel type, a rectangle, a circle, etc., according to project requirements. Meanwhile, the flexible support arm assembly 2 of the cutter can provide more degrees of freedom for the cutter head 1, and when the flexible support arm assembly 2 drives the cutter head 1 to swing transversely and vertically, the cutter head 1 has a certain inclination angle, so that the cutter head 1 can use the hob at a specified position to cut rocks. The conventional TBM can only be positively propelled, and cannot enable the cutter head 1 to incline at a certain angle, and the conventional cantilever tunneling machine can only be positively propelled and laterally rotated, and cannot enable the cutter head 1 to incline; compared with the situation that when the ordinary series hydraulic oil cylinder cantilever excavator swings transversely, the cutterhead 1 can only keep one posture, and the cutting head cannot incline; flexible support arm assembly 2 in this embodiment provides higher degree of freedom for blade disc 1, and blade disc 1 atress is more reasonable, and cutting process is more steady, can be better faster cutting rock.
Further, compared with the conventional tunneling machine, the flexible arm tunneling machine in the embodiment adopts the inclined traveling device 61 arrangement, so that the height of the machine body of the tunneling machine can be reduced to the maximum extent, but due to the reduction of the height of the whole machine and the interference of the front flexible arm, the common star wheel type slag discharge mechanism and the crab claw type slag discharge structure cannot be applied to the machine. Therefore, this equipment adopts the automatic mode of digging slag fill 4 to carry out the discharge work of slabstone, this dig slag fill 4 has two kinds of operating condition, under the circumstances of flexible support arm subassembly 2 work, dig slag fill 4 and hug closely the state of frame 3 for the withdrawal, prevent to interfere with flexible support arm subassembly 2, when digging slag fill 4 not interfere with the work of flexible support arm subassembly 2, or when flexible support arm subassembly 2 was out of work, dig slag fill 4 and stretch out and discharge slabstone to conveyer 5 by each hydraulic cylinder drive, carry out automatic row sediment to the slabstone that cuts off, conveyer 5 in the equipment bottom transports the slabstone.
In order to facilitate the realization of the two working states of the slag removing hopper 4, as shown in fig. 4, the slag removing hopper 4 comprises a slag removing hopper 41, a swinging hydraulic cylinder 42, a pushing hydraulic cylinder 43 and a sliding beam 44, wherein the length direction of the sliding beam 44 is parallel to the axial direction of the frame 3 and can be axially and slidably installed on the frame 3, the first end of the pushing hydraulic cylinder 43 is hinged with the frame 3, the second end of the pushing hydraulic cylinder 43 is hinged with the first end of the sliding beam 44, the first end of the swinging hydraulic cylinder 42 is hinged with the middle part of the sliding beam 44, the second end of the swinging hydraulic cylinder 42 is hinged with the first end of the slag removing hopper 41, and the second end of the sliding beam 44 is hinged with the middle part of the slag removing hopper 41.
It can be understood that an avoiding groove is formed in the middle of the second mounting plate, and the slag digging bucket 4 can penetrate through the avoiding groove. The slag removing hopper 41 is of an integrated structure (comprising a connecting arm close to the first end of the slag removing hopper and a slag hopper structure close to the second end of the slag removing hopper), has less freedom, and is pushed to swing around a hinge point by a swing hydraulic oil cylinder 42 to remove slag. The push rams 43 may drive the sliding beams 44 to slide relative to the frame 3 so that the skip 4 may be extended or retracted. In order to facilitate the fixing and sliding guiding of the sliding beam 44, a sliding groove is formed in the first end of the frame 3, and the sliding beam 44 can be slidably mounted in the sliding groove (for the compact structure, the number of the sliding beam 44 and the sliding groove is only one).
When the slag hopper 4 works, the hydraulic oil cylinder 43 is pushed to push the sliding beam 44 to extend out along the sliding chute, so that the sliding beam is far away from the machine frame 3 to start working. The pushing hydraulic oil cylinder 43 is controlled by a hydraulic system, and meanwhile, a displacement sensor is arranged in the pushing hydraulic oil cylinder 43, and the control system can accurately control the stroke of the pushing hydraulic oil cylinder 43. The swing hydraulic oil cylinder 42 pushes the slag removing hopper 41 to swing around a hinge point on the sliding beam 44, so that the rocks cut by the cutter head 1 are dug on the conveyor 5 at the bottom and are conveyed out backwards. When the slag digging bucket 4 returns, the swing hydraulic oil cylinder 42 and the pushing hydraulic oil cylinder 43 both retract, so that the slag digging bucket 4 is close to the first end of the rack 3 as far as possible, the operation of the flexible supporting arm component 2 is prevented from being interfered, the slag digging bucket 4 and the flexible supporting arm component 2 are mutually matched through internal sensor information, the whole machine obtains the positions of the slag digging bucket 4 and the flexible supporting arm component 2 in real time, and the phenomenon of collision of the two devices is avoided.
The whole flexible arm heading machine adopts the inclined type traveling device to arrange and dig the slag bucket 4 and the flexible support arm component 2, the height of the heading machine can be maximally reduced, the section size capable of being excavated is smaller, rocks can be cut more effectively, and the production efficiency is improved.
The supporting shoe assembly 7 is mainly used for supporting on a well wall when cutting rocks, and stability during working is guaranteed. Referring to fig. 1 to 3 and 5, the shoe supporting assembly 7 includes two sets of shoe supporting devices 71 symmetrically disposed, each set of shoe supporting devices 71 includes a first shoe supporting plate 711 and a first shoe supporting cylinder 712, a first end of the first shoe supporting cylinder 712 is hinged to the frame 3, a second end of the first shoe supporting cylinder 712 is hinged to the first shoe supporting plate 711, and an axis of the first shoe supporting cylinder 712 is disposed obliquely upward and outward from an inner portion of the frame 3.
Generally, in order to make the structure more stable, each set of shoe supporting devices 71 includes two first shoe supporting cylinders 712, the two first shoe supporting cylinders 712 are arranged in parallel at intervals, a guiding device 713 is arranged between the two first shoe supporting cylinders 712, the guiding device 713 includes a guiding post and a guiding cylinder which can be slidably sleeved with each other, the guiding post is fixedly connected with the rack 3, and the guiding cylinder is fixedly connected with the first shoe supporting plate 711. The first shoe supporting oil cylinder 712 can be connected with the machine frame 3 by a flat hinge, the first shoe supporting oil cylinder 712 can be connected with the first shoe supporting plate 711 by a spherical hinge, and the spherical hinge can be better attached to the wall of the tunnel under the condition that the shoe supporting device 71 is inclined, so that better support is provided for the whole machine. The guide device 713 is responsible for guiding the extension and retraction of the first shoe supporting plate 711; the first shoe supporting plate 711 is usually provided with a notch with a corresponding size to avoid a supporting steel frame.
Preferably, each set of shoe supporting device 71 further includes a second shoe supporting plate 714 and a second shoe supporting cylinder 715, one end of the second shoe supporting cylinder 715 is hinged to the frame 3, a second end of the second shoe supporting cylinder 715 is hinged to the second shoe supporting plate 714, and an axis of the second shoe supporting cylinder 715 is inclined downward and outward from the inside of the frame 3.
After the whole heading machine is moved to a specified position by using the walking assembly 6, the first shoe supporting plate 711 is driven to extend outwards by the first shoe supporting oil cylinder 712, the second shoe supporting plate 714 is driven to extend outwards by the second shoe supporting oil cylinder 715 and is supported on the side wall of the tunnel, and the hydraulic oil cylinder maintains a certain extending length, so that the equipment can be supported all the time in the operation process, and the phenomena of machine body deflection and tail swing are avoided in the operation process. Each group of shoe supporting devices 71 comprises two first shoe supporting oil cylinders 712, a first shoe supporting plate 711, a second shoe supporting oil cylinder 715 and a second shoe supporting plate 714, and the second shoe supporting oil cylinders 715 and the second shoe supporting plates 714 play a role in further assisting in supporting the side wall of the tunnel, so that the supporting is more stable; the connection between the second shoe supporting oil cylinder 715 and the frame 3 can be realized by adopting a common flat hinge. Each group of supporting shoe assemblies 7 are integrally X-shaped, and the whole machine has high working stability when supporting.
The general flexible arm heading machine comprises two groups of supporting shoe assemblies 7, wherein one group of supporting shoe assemblies 7 is arranged close to the first end of the machine frame 3, and the other group of supporting shoe assemblies 7 is arranged close to the second end of the machine frame 3, so that the supporting stability is further improved. The first shoe supporting oil cylinder 712 and the second shoe supporting oil cylinder 715 in each shoe supporting assembly 7 are arranged in an upward inclined mode and in a downward inclined mode, so that the structure is more compact, and the size is smaller.
Preferably, the included angle between the bottom surface of each walking device 61 and the horizontal plane is 15-75 degrees, the included angle between the axis of the first shoe supporting oil cylinder 712 and the horizontal plane is 15-75 degrees, and the included angle between the axis of the second shoe supporting oil cylinder 715 and the horizontal plane is 15-75 degrees, so that the structure is more compact, the height is lower, and the tunnel is better suitable for small-diameter section tunnels. Further preferably, the included angle between the bottom surface of each walking device 61 and the horizontal plane is 45 degrees, the two walking devices 61 are similar to a structure in a shape like a Chinese character 'fu', the arrangement mode can enable the height of the machine body to be lowest, walking in a tunnel with a small diameter is facilitated, and the walking devices 61 are preferably driven by hydraulic motors; the included angle between the axis of the first shoe supporting oil cylinder 712 and the horizontal plane is 45 degrees, and the included angle between the axis of the second shoe supporting oil cylinder 715 and the horizontal plane is 45 degrees. Therefore, the whole machine can provide relatively balanced supporting force in all directions, and has the advantages of more compact structure, lower height and smaller volume.
According to different usage environments, the traveling device 61 may be a belt-covered traveling device or a wheel-type traveling device, for example, in this embodiment, the belt-covered traveling device is adopted, the bottom surface and the top surface (i.e., the surface of the belt along the length direction) of the belt-covered traveling device are both obliquely arranged, and the bottom surface and the top surface of the belt-covered traveling device are both obliquely and upwardly arranged from the bottom center of the frame 3 to the outside, so as to form an "outer splayed" arrangement; compared with the side surface perpendicular to the ground (the upper surface and the lower surface of the side surface are parallel to the ground) of an ordinary crawler driving device, the crawler traveling device is obliquely arranged in the scheme, two crawlers are a certain included angle, the arrangement mode is inconvenient to travel on an ordinary road surface, but when the tunnel is tunneled, the oblique crawler traveling device can be better attached to the circular tunnel wall, the height of the whole machine can be reduced by the oblique crawler traveling device, and the work can be carried out in a smaller tunnel. The connection between the crawler belt walking device and the frame 3 is preferably a split structure which is convenient to process and install.
The conveyor 5 may be a belt conveyor, a flight conveyor, or a screw conveyor. The conveyor 5 is arranged at the bottom of the frame 3, so that the space can be better utilized, the height of the whole machine is reduced, and the equipment can work in a tunnel with a small-size section.
The above are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent changes and modifications of the utility model without departing from the spirit and principles of the utility model should be considered within the scope of the utility model.
Claims (10)
1. A flexible arm tunneling machine is characterized by comprising a cutter head, a flexible supporting arm assembly, a rack, a slag digging bucket, a conveyor, a traveling assembly and a supporting shoe assembly;
a driving device is arranged in the cutter head and used for driving the cutter head to rotate; the flexible supporting arm assembly comprises at least three supporting oil cylinders which are arranged in parallel, and two ends of each supporting oil cylinder are respectively hinged with the cutter head and the rack; the conveyor is arranged at the bottom of the rack, and the slag digging hopper is arranged at the first end of the rack and can discharge slag stones onto the conveyor; the walking assembly comprises two walking devices which are symmetrically arranged relative to the axis of the conveyor and are positioned on two sides of the conveyor, the bottom surface of each walking device inclines towards the outer side of the rack, and the length direction of the bottom surface of each walking device is parallel to the axial direction of the rack; the supporting shoe assembly is arranged on the rack and can be used for tightly supporting the wall surface of the tunnel.
2. A flexible arm heading machine according to claim 1,
the cutter head comprises a cutter head body and a plurality of hobs arranged on the front surface of the cutter head body, a first mounting plate is fixedly arranged on the back surface of the cutter head body, and the driving device is arranged in the cutter head body, fixedly connected with the first mounting plate and used for driving the cutter head body to rotate;
a second mounting plate is fixedly arranged at the first end of the rack, the flexible support arm assembly comprises six support oil cylinders which are arranged in parallel, and the first end and the second end of each support oil cylinder are respectively hinged with the first mounting plate and the second mounting plate; the first end of each supporting oil cylinder is arranged close to the first end of the supporting oil cylinder adjacent to one side of the supporting oil cylinder, and the second end of each supporting oil cylinder is arranged close to the second end of the supporting oil cylinder adjacent to the other side of the supporting oil cylinder.
3. A flexible arm heading machine according to claim 1,
the slag removing hopper comprises a slag removing hopper, a swinging hydraulic oil cylinder, a pushing hydraulic oil cylinder and a sliding beam, wherein the length direction of the sliding beam is parallel to the axial direction of the rack and is axially and slidably installed on the rack, the first end of the pushing hydraulic oil cylinder is hinged with the rack, the second end of the pushing hydraulic oil cylinder is hinged with the first end of the sliding beam, the first end of the swinging hydraulic oil cylinder is hinged with the middle part of the sliding beam, the second end of the swinging hydraulic oil cylinder is hinged with the first end of the slag removing hopper, and the second end of the sliding beam is hinged with the middle part of the slag removing hopper.
4. A flexible arm heading machine according to claim 3,
a sliding groove is formed in the first end of the rack, and the sliding beam can be slidably mounted in the sliding groove.
5. A flexible arm heading machine according to claim 1,
prop the boots subassembly including two sets of boots devices that prop that the symmetry set up, every group prop the boots device and all include that first prop the boots board and first prop the boots hydro-cylinder, first prop the first end of boots hydro-cylinder with the frame is articulated, the second end with first prop the boots board articulated, just first prop the axis of boots hydro-cylinder by the inside of frame leans out upwards to set up.
6. A flexible arm heading machine according to claim 5,
every group prop the boots device and all include two first boots hydro-cylinder that props, two first boots hydro-cylinder parallel interval sets up, and two be equipped with guider between the first boots hydro-cylinder that props, guider is including the guide post and the guide cylinder that can slide each other and cup joint, the guide post with the frame rigid coupling, the guide cylinder with first boots board rigid coupling that props.
7. A flexible arm heading machine according to claim 5 wherein,
every group prop the boots device and still include that the second props the boots board and the second props the boots hydro-cylinder, the second prop the one end of boots hydro-cylinder with the frame is articulated, the second prop the second end of boots hydro-cylinder with the second props the boots board articulated, just the axis that the second propped the boots hydro-cylinder by the inside of frame leans out and sets up downwards.
8. A flexible arm heading machine according to claim 5,
the flexible arm heading machine comprises two groups of supporting shoe assemblies, wherein one group of supporting shoe assemblies are arranged close to the first end of the rack, and the other group of supporting shoe assemblies are arranged close to the second end of the rack.
9. A flexible arm heading machine according to claim 7,
the included angle between the bottom surface of each walking device and the horizontal plane is 15-75 degrees, the included angle between the axis of the first shoe supporting oil cylinder and the horizontal plane is 15-75 degrees, and the included angle between the axis of the second shoe supporting oil cylinder and the horizontal plane is 15-75 degrees.
10. A flexible arm heading machine according to claim 1,
the running gear is a cover belt running gear or a wheel running gear, and the conveyor is a belt conveyor, a scraper conveyor or a spiral conveyor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220831248.2U CN217001866U (en) | 2022-04-07 | 2022-04-07 | Flexible arm tunneling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116030699A (en) * | 2023-03-24 | 2023-04-28 | 东北大学 | Excavation mechanical arm based on miniature hydraulic motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116030699A (en) * | 2023-03-24 | 2023-04-28 | 东北大学 | Excavation mechanical arm based on miniature hydraulic motor |
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