WO2017156970A1 - 一种钻涨式掘进机 - Google Patents

一种钻涨式掘进机 Download PDF

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Publication number
WO2017156970A1
WO2017156970A1 PCT/CN2016/094597 CN2016094597W WO2017156970A1 WO 2017156970 A1 WO2017156970 A1 WO 2017156970A1 CN 2016094597 W CN2016094597 W CN 2016094597W WO 2017156970 A1 WO2017156970 A1 WO 2017156970A1
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WO
WIPO (PCT)
Prior art keywords
drilling
drive
hydraulic motor
telescopic
slide rail
Prior art date
Application number
PCT/CN2016/094597
Other languages
English (en)
French (fr)
Inventor
刘送永
朱真才
杜长龙
江红祥
李伟
沈刚
彭玉兴
李洪盛
Original Assignee
中国矿业大学
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Filing date
Publication date
Application filed by 中国矿业大学 filed Critical 中国矿业大学
Priority to US15/741,192 priority Critical patent/US10233755B2/en
Priority to AU2016397905A priority patent/AU2016397905B2/en
Priority to RU2017146567A priority patent/RU2673569C1/ru
Publication of WO2017156970A1 publication Critical patent/WO2017156970A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C27/00—Machines which completely free the mineral from the seam
    • E21C27/20—Mineral freed by means not involving slitting
    • E21C27/24—Mineral freed by means not involving slitting by milling means acting on the full working face, i.e. the rotary axis of the tool carrier being substantially parallel to the working face
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
    • E21D9/1013—Making by using boring or cutting machines with rotary cutting tools on a tool-carrier supported by a movable boom
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/025—Rock drills, i.e. jumbo drills
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
    • E21C25/66—Machines for making slits with additional arrangements for drilling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C27/00—Machines which completely free the mineral from the seam
    • E21C27/20—Mineral freed by means not involving slitting
    • E21C27/22—Mineral freed by means not involving slitting by rotary drills with breaking-down means, e.g. wedge-shaped drills, i.e. the rotary axis of the tool carrier being substantially perpendicular to the working face, e.g. MARIETTA-type
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C27/00—Machines which completely free the mineral from the seam
    • E21C27/20—Mineral freed by means not involving slitting
    • E21C27/28—Mineral freed by means not involving slitting by percussive drills with breaking-down means, e.g. wedge-shaped tools
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C37/00—Other methods or devices for dislodging with or without loading
    • E21C37/02—Other methods or devices for dislodging with or without loading by wedges
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
    • E21D9/1013—Making by using boring or cutting machines with rotary cutting tools on a tool-carrier supported by a movable boom
    • E21D9/102—Making by using boring or cutting machines with rotary cutting tools on a tool-carrier supported by a movable boom by a longitudinally extending boom being pivotable about a vertical and a transverse axis
    • E21D9/1026—Making by using boring or cutting machines with rotary cutting tools on a tool-carrier supported by a movable boom by a longitudinally extending boom being pivotable about a vertical and a transverse axis the tool-carrier being rotated about a transverse axis
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/106—Making by using boring or cutting machines with percussive tools, e.g. pick-hammers
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/1086—Drives or transmissions specially adapted therefor
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
    • E21C25/06—Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D20/00—Setting anchoring-bolts

Definitions

  • the invention relates to a roadheader, in particular to a drilling and boring machine suitable for excavation and excavation of a hard rock roadway with a hardness of f>10, belonging to the technical field of roadheader equipment.
  • the roadheader is a machine for excavating straight underground roadways. It is divided into an open tunneling machine and a shield tunneling machine. It usually consists of a running mechanism, a working mechanism, a loading mechanism and a transfer mechanism. As the running mechanism advances, The cutting head in the working mechanism continuously breaks down the rock and transports the broken rock. It has the advantages of safety, high efficiency and good quality of the roadway, especially the cantilever type roadheader, which integrates functions of cutting, shipping, walking and operation. It is mainly used for cutting downhole rock, coal or semi-coal rock roadway with arbitrary shape section.
  • the hardness of the rock formation is usually a non-deterministic value, that is, the hardness of the rock layers in different areas is not necessarily the same, and the working conditions are very bad.
  • the hardness of the rock formation is f>10
  • the cantilever type roadheader is not only extremely inefficient, but also has an increased energy consumption.
  • the picks fall heavily or even cannot be digged, it is usually necessary to retreat the boring machine to a safe distance and then use the blasting rock to carry out the excavation, which is not only efficient, but Moreover, the safety of blasting operation is relatively large, and the high-hardness rock roadway has become the bottleneck of mechanization development in China.
  • the present invention provides a drilling and boring type boring machine which has a compact structure and can quickly punch and crack a hard rock layer with a rock hardness of f>10 without increasing energy consumption, thereby improving the tunneling efficiency. Reduce the risk of security.
  • the drilling boring machine includes a drilling device, an angle control device, a front and rear telescopic device and a cantilever boring machine.
  • the drilling device is mounted on the front and rear moving parts of the front and rear telescopic devices through an angle control device, and the front and rear expansion device Installed on a cantilever roadheader;
  • the drilling device includes a fixed frame, a rock drill component and a riser component, and the rock drill component and the riser component are respectively fixedly mounted on the fixed frame;
  • the rock drilling machine component includes a connecting seat I, a sliding rail I, a positioning guiding plate I, a telescopic driving mechanism, a rock drilling machine, a drill pipe and a sliding block I;
  • the sliding rail I is fixedly mounted on the fixing frame through the connecting seat I in the front and rear direction;
  • the positioning guiding plate I The locating guide plate 1 is disposed on the front end of the slide rail I, and the positioning guide plate 1 is provided with a guiding hole matched with the size of the drill rod;
  • the drill rod is disposed on the positioning guide plate I through the guiding hole of the positioning guide plate I, and is mounted on the rock drilling machine facing forward.
  • the rock drill is mounted on the slide rail I through a slider I connected to the fixed rail and engaged with the slide rail I;
  • the telescopic drive mechanism is mounted on the slide rail I and connected to the rock drill;
  • the cracker component comprises a connecting seat II, a sliding rail II, a positioning guiding plate II, a telescopic driving mechanism, a sliding block II and a cracker;
  • the sliding rail II is fixedly mounted on the fixing frame through the connecting seat II in a front-rear direction;
  • the positioning guiding plate II is erected on the front end of the slide rail II, and the positioning guide plate II is provided with a guiding hole matched with the outer diameter of the wedge top block of the riser; the wedge top block of the riser is erected through the guiding hole of the positioning guide plate II.
  • the riser Positioning the guide plate II and facing forwardly on the riser; the riser is erected on the slide rail II through the slider II which is fixedly connected with the slide rail II; the telescopic drive mechanism is mounted on the slide rail II, and connected to the riser;
  • the angle control device comprises a mounting seat, a secondary swing hydraulic motor, an adjusting hydraulic cylinder and a main swing hydraulic motor; a top end of the mounting seat is fixedly connected with a bottom of the fixing frame, and a bottom end is fixedly connected with an output shaft of the auxiliary rotating hydraulic motor; One end of the housing of the swing hydraulic motor is hingedly connected to one end of the housing of the main swing hydraulic motor, and the other end of the housing of the secondary swing hydraulic motor is connected to the other end of the housing of the main swing hydraulic motor through the adjustment hydraulic cylinder; the output of the main swing hydraulic motor The shaft is fixedly connected to the front and rear moving parts of the front and rear telescopic devices;
  • the distance from the front end of the drilling device to the working surface is smaller than the distance between the front end of the cutting head of the cantilever roadhead and the working surface.
  • the drilling device, the angle control device and the front and rear telescopic devices are respectively arranged in two sets, symmetrically arranged on the rear sides of the cutting portion of the cantilever type roadheader, and the support above the walking portion of the cantilever type roadheader On the board.
  • the front and rear telescopic device is a rack and pinion structure
  • the gear is disposed in the front and rear moving parts, and is driven by a hydraulic motor
  • the rack is mounted on the cantilever type roadheader.
  • the front and rear telescopic device is a three-stage telescopic structure, including a lower front and rear telescopic device, a middle and rear telescopic device, and an upper and lower telescopic device;
  • the lower front and rear telescopic device comprises a lower support rail, a lower guide rack, a lower front and rear moving parts, a lower hydraulic drive motor and a lower drive gear
  • the lower support rail is arranged in a front-rear direction and fixedly mounted on the support plate, and both ends of the lower support rail are provided
  • the limit position mechanism, the lower guide rack is fixedly mounted on the lower support rail
  • the lower drive gear is disposed in the lower front and rear moving parts, and is coaxially connected with the output shaft of the lower hydraulic drive motor mounted on the lower front and rear moving parts, and the lower front and rear moving parts card
  • the connection is erected on the lower support rail, and the lower drive gear meshes with the lower guide rack;
  • the middle and rear telescopic device comprises a middle support rail, a middle guide rack, a middle and rear moving part, a middle hydraulic drive motor and a middle drive gear
  • the middle support rail is arranged in the front-rear direction
  • the rear end is mounted on the front end of the lower front and rear moving parts
  • the middle support rail is two
  • the end is provided with a limiting mechanism
  • the middle guiding rack is fixedly mounted on the middle supporting rail
  • the middle driving gear is disposed in the middle and rear moving parts and coaxially connected with the output shaft of the middle hydraulic driving motor mounted on the middle and rear moving parts
  • the middle and rear moving parts are snap-fitted on the middle support rail, and the middle drive gear meshes with the middle guide rack;
  • the output shaft of the main swing hydraulic motor is fixedly connected with the front part of the middle and rear moving parts;
  • the upper and lower telescopic device comprises an upper support rail, an upper guiding rack, an upper hydraulic driving motor and an upper driving gear
  • the upper supporting rail is fixedly mounted on the lower end surface of the fixing bracket, and both ends of the upper supporting rail are provided with a limiting mechanism, and the upper guiding
  • the rack is fixedly mounted on the upper support rail
  • the upper drive gear is disposed in the mount and coaxially connected with the output shaft of the upper hydraulic drive motor mounted on the mount, and the mount is supported by the upper support rail with the snap fit
  • the mount is mounted and the upper drive gear meshes with the upper guide rack.
  • the rear end of the middle support rail is hingedly mounted on the upper front end of the lower front and rear moving parts, and the lower front end of the lower front and rear moving parts is provided with a pitch control hydraulic cylinder hingedly connected thereto, and the pitch control The other end of the hydraulic cylinder is hinged to the bottom of the middle support rail.
  • one end of the pitch control hydraulic cylinder and the rear end of the middle support rail are respectively hinged to the lower front portion and the upper portion of the lower front and rear moving parts by a cross joint, and the pitch control hydraulic cylinder is set to
  • the two-piece and two-piece pitch control hydraulic cylinders are arranged side by side at the same horizontal position, the front end of the cross connector is horizontally hinged with the rear end of the pitch control hydraulic cylinder or the middle support rail, and the front ends of the rear end and the lower front and rear moving parts are vertically hinged;
  • the other end of the control cylinder is hinged side by side with the same horizontal position of the bottom of the middle support rail by a ball joint.
  • the rock drill component of the drilling device and the telescopic drive mechanism of the fracturing component are a chain transmission structure
  • the telescopic drive mechanism of the rock drill component comprises a chain drive component I and a rock drill moving drive hydraulic pressure
  • the motor, the telescopic drive mechanism of the riser component comprises a chain drive assembly II and a riser mobile drive hydraulic motor;
  • the chain drive assembly I and the chain drive assembly II both comprise a closed drive chain and a sprocket, and the chain drive assembly I is closed.
  • the transmission chain is erected on the slide rail I through the sprocket and fixedly connected with the slider I.
  • the rock drive moving drive hydraulic motor is mounted on the slide rail I, and the output shaft thereof is coaxially connected with the sprocket; the chain drive assembly II is closed.
  • the transmission chain is erected on the slide rail II by a sprocket and fixedly connected with the slide rail II.
  • the riser movement drive hydraulic motor is mounted on the slide rail II, and the output shaft thereof is coaxially connected with the sprocket.
  • the radius of gyration between the center of the drill pipe of the rock drill component and the center of the output shaft of the main swing hydraulic motor is the same as the wedge top center to the main swing hydraulic motor output of the cracker.
  • the radius of gyration of the center of the shaft matches the same size.
  • the drilling boring machine has a drilling device including a rock drill component and a cracker component, and the rock drilling machine component with high drilling efficiency is organically combined with the cracker component capable of effectively breaking rock, and
  • the angle control device and the front and rear telescopic device are installed on the cantilever roadheader with low tunneling ability and high cutting efficiency.
  • the rocker component can be punched in the lower part of the working face to form a free surface in the tunnel section.
  • the drill-up device can realize six-degree-of-freedom movement, which can meet various angles, positions, postures, and The need for cracking; two sets of drilling devices can be operated simultaneously when two sets of drilling devices are symmetrically placed on the same cantilever roadheader
  • the utility model greatly improves the working range and the driving efficiency, and has the functions of two rock drilling machines, two crackers and one cantilever roadheading machine, which can greatly reduce the roadway development cost; the drilling drilling type roadheading machine has compact structure and high driving ability.
  • the tunneling efficiency is high, the loss of parts is reduced, and the posture of the drilling mechanism is flexible, which can meet the requirements of punching and cracking during hard rock excavation. It is especially suitable for rock tunneling with rock hardness f>10. .
  • Figure 1 is a three-dimensional structural view of the drilling device of the present invention in a fully retracted state
  • Figure 2 is a three-dimensional structural view of the drilling device of the present invention in a fully deployed state
  • Figure 3 is a three-dimensional structural view of the drilling device, the angle control device and the front and rear telescopic device of the present invention
  • Figure 4 is a three-dimensional structural view of the drilling device of the present invention.
  • drilling device 1-1, lower support rail, 1-2, lower guide rack, 1-3, lower front and rear moving parts, 1-4, lower hydraulic drive motor, 1-5, lower drive Gears, 1-6, cross connector, 1-7, pitch control hydraulic cylinder, 1-8, medium support rail, 1-9, middle and rear moving parts, 1-10, medium hydraulic drive motor, 1-11, medium Drive gear, 1-12, main swing hydraulic motor, 1-13, adjustment hydraulic cylinder, 1-14, secondary swing hydraulic motor, 1-15, mount, 1-16, upper drive gear, 1-17, upper hydraulic Drive motor, 1-18, upper support rail, 1-19, upper guide rack, 1-20, fixed bracket, 1-21, joint I, 1-22-1, slide rail I, 1-22-2 , positioning guide plate I, 1-23, chain drive assembly I, 1-24-1, rock drill, 1 24-4, drill pipe, 1-24-3, slider I, 1-25, rock drill mobile drive hydraulic Motor, 1-26, connecting seat II, 1-27-1, slide rail II, 1-27-2, positioning guide plate II, 1-28, jumper moving drive hydraulic motor, 1-
  • the drilling boring machine includes a drilling device 1, an angle control device, a front and rear telescopic device and a cantilever road boring machine 2, and the drilling device 1 is mounted on the front and rear moving parts of the front and rear telescopic devices through an angle control device.
  • the front and rear telescopic devices are mounted on the cantilever roadheader 2.
  • the drilling device 1 includes a fixing frame 1-20, a rock drill component and a riser component, and the rock drill component and the riser component are fixedly mounted on the fixing frame 1-20, respectively;
  • the components of the rock drill include the joint I1-21, the slide rail I1-22-1, the positioning guide plate I1-22-2, the telescopic drive mechanism, the rock drill 1-24-1, the drill pipe 1-24-2, and the slider I1-24. -3; the slide rail I1-22-1 is fixedly mounted on the fixing frame 1-20 through the front and rear direction of the connecting seat I1-21; the positioning guide plate I1-22-2 is erected on the front end of the sliding rail I1-22-1, positioning The guide plate I1-22-2 is provided with a guiding hole sized to fit the drill pipe 1-24-2; the drill pipe 1-24-2 is disposed on the positioning guide plate I1 through the guiding hole of the positioning guide plate I1-22-2 -22-2 is mounted on the rock drill 1-24-1 facing forward; the rock drill 1-24-1 is connected to the slider I1-24-3 which is fixedly mounted and coupled with the slide rail I1-22-1.
  • the utility model is installed on the slide rail I1-22-1; the telescopic drive mechanism is mounted on the slide rail I1-22-1 and is connected with the rock drill 1-24-1, and the drill pipe 1 can be installed by controlling the expansion and contraction of the telescopic drive mechanism.
  • the 24-2 rock drill 1-24-1 moves back and forth on the slide rail I1-22-1;
  • the cracker components include the connecting seat II1-26, the sliding rail II1-27-1, the positioning guide plate II1-27-2, the telescopic drive mechanism, the slider II1-30-1, the cracker 1-30-2;
  • the rail II1-27-1 is fixedly mounted on the fixing frame 1-20 through the front and rear direction of the connecting seat II1-26; the positioning guiding plate II1-27-2 is erected on the front end of the sliding rail II1-27-1, and the positioning guiding plate II1- 27-2
  • the guide hole is matched with the outer diameter of the wedge top block of the riser 1-30-2; the wedge top block of the riser 1-30-2 is erected through the guide hole of the positioning guide plate II1-27-2 Mounted on the positioning guide plate II1-27-2 and facing forward on the riser 1-30-2; the riser 1-30-2 is connected by its fixed installation and with the slide rail II1-27-1
  • the mating slider II1-30-1 is erected on the slide rail II1-27-1; the telescopic drive mechanism is mounted on the slide rail II1-2
  • the angle control device comprises a mounting seat 1-15, a sub-slewing hydraulic motor 1-14, an adjusting hydraulic cylinder 1-13 and a main swing hydraulic motor 1-12; a top end of the mounting seat 1-15 and a bottom of the fixing frame 1-20
  • the installation connection and the bottom end are fixedly connected with the output shaft of the secondary swing hydraulic motor 1-14; the one end of the housing of the secondary swing hydraulic motor 1-14 is hingedly connected to the end of the housing of the main swing hydraulic motor 1-12, and the secondary rotary hydraulic motor
  • the other end of the housing of 1-14 is connected to the other end of the housing of the main swing hydraulic motor 1-12 via the adjustment hydraulic cylinder 1-13; the output shaft of the main swing hydraulic motor 1-12 moves forward and backward with the front and rear telescopic devices
  • the components are fixedly connected; by controlling the rotation of the output shaft of the main swing hydraulic motor 1-12, the drill-up device 1 and the secondary-turn hydraulic motor 1-14 can be integrally rotated along the output shaft axis of the main swing hydraulic motor 1-12
  • the output shaft rotation of the hydraulic motor 1-14 can realize the rotation of the drilling device 1 along the output shaft axis of the secondary swing hydraulic motor 1-14, and the sub-slewing hydraulic motor 1-14 and the main can be realized by controlling the expansion and contraction of the hydraulic cylinder 1-13. Clamp between rotary hydraulic motors 1-12 Size.
  • the distance between the front end of the drilling device 1 and the hard rock formation in the direction of the tunneling is smaller than the distance between the front end of the cutting head of the cantilever roadhead 2 and the hard rock layer in the direction of the tunneling.
  • the cutting head of the cantilever roadheader 2 does not touch the working surface when the front and rear telescopic devices are fully extended and the drilling device 1 performs the drilling operation on the hard rock working face.
  • the drilling and drilling type roadheading machine can control the front and rear expansion device to be fully retracted during normal excavation work, so that the drilling and drilling device 1 and the angle control device are integrally located behind the cutting portion of the cantilever roadheader 2, so that the cutting portion can cut the rock layer;
  • first control the cutting tribe of the cantilever roadheader 2 and then fully extend the front and rear expansion device to make the drilling device 1 close to the working surface, by adjusting the main rotary hydraulic motor 1-12, the secondary rotation
  • the hydraulic motor 1-14 and the adjustment hydraulic cylinder 1-13 can realize the six-degree-of-freedom movement of the drilling device 1 to meet the needs of various angles, positions, postures, punching and cracking; the posture of the drilling device 1 can be reasonably adjusted during operation.
  • the rock drill component and the cracker component can be perpendicular to a certain position on the working surface, and then the rock drill component and the cracker component can be cycled according to the needs by sequentially controlling the telescopic drive mechanism of the rock drill component and the cracker component.
  • Punching and then cracking firstly, the surface of the working face is punched by the rock drill components in the lower part of the working surface to form a free surface, and then the middle and upper portions of the working surface are sequentially hit. And be used to split up member The cracking is performed to reduce the damage strength of the rock.
  • the front and rear expansion device is fully retracted so that the drilling device 1 and the angle control device are integrally located behind the cutting portion of the cantilever roadheader 2, and finally the cantilever
  • the cutting machine 2 cutting section carries out pioneering work on the working surface.
  • the drilling device 1 of the drilling type roadheader can be matched with different types of cantilever roadheader 2, that is, by changing the height of the connecting seat I1-21, the rock drilling machine component can be realized only when the main turning hydraulic motor 1-12 rotates.
  • the center angle of the previous hole and the next hole of the rock drill component on the working surface so as to meet the needs of various angles, positions, postures, punching and cracking.
  • the drilling device 1, the angle control device and the front and rear telescopic device may be directly disposed directly on the upper rear portion of the cutting portion of the cantilever type roadheader 2, or may be arranged in two sets symmetrically disposed in the cutting portion of the cantilever type roadheader 2 On the rear sides, the latter has a larger working range of drilling and drilling, and the latter takes up less space in the height range than the former, and does not cut the cantilever roadheader 2 when the front and rear telescopic devices are fully retracted.
  • the drilling device 1 causes work interference, so the latter is preferred, that is, as a preferred embodiment of the present invention, the drilling device 1, the angle control device and the front and rear telescopic devices are respectively arranged in two sets, symmetrically arranged in the cantilever type roadheader 2 cutting On the rear side of the section, on the support plate 2-1 above the walking portion of the cantilever type roadheader 2.
  • the front and rear telescopic device may directly adopt a hydraulic cylinder, or a telescopic device with a pure mechanical structure driven by a rack and pinion, or a telescopic device with a screw jack structure, since the first type of the cylinder having a longer size requires additional consideration.
  • the installation position, occupying extra space, and directly adopting the hydraulic cylinder need to be provided with the rigid end rigid support mechanism to relieve the radial force and prevent damage, and the structure is more complicated.
  • the structure and control of the second scheme are relatively simple, and the second The solution is more convenient to manufacture, and the stretching speed is faster than the third solution.
  • the front and rear telescopic device is a rack and pinion structure, and the gear is arranged to move forward and backward.
  • the inside of the component is driven by a hydraulic motor, and the rack is mounted on the cantilever roadheader 2.
  • the front and rear telescopic device is a three-stage telescopic structure, including a lower front and rear telescopic device, a middle and rear telescopic device, and an upper and lower telescopic device;
  • the lower front and rear telescopic device includes a lower support rail 1-1, a lower guide rack 1-2, a lower front and rear moving member 1-3, a lower hydraulic drive motor 1-4 and a lower drive gear 1-5, and the lower support rail 1-1
  • the direction is fixedly mounted on the support plate 2-1, and both ends of the lower support rail 1-1 are provided with a limiting mechanism, and the lower guiding rack 1-2 is fixedly mounted on the lower supporting rail 1-1, and the lower driving gear 1 - 5 is disposed in the lower front and rear moving parts 1-3, and is installed on the lower front and rear moving parts 1-3
  • the output shafts of the pressure driving motor 1-4 are coaxially connected, the lower front and rear moving parts 1-3 are snap-fitted on the lower support rail 1-1, and the lower driving gear 1-5 is meshed with the lower guiding rack 1-2;
  • the hydraulic drive motor 1-4 driven by the forward and reverse rotation can move the lower front and rear moving parts 1-3 forward and backward on the lower support rail 1-1 to realize one-stage
  • the middle and rear telescopic device includes a middle support rail 1-8, a middle guide rack 1-31, a middle and rear moving member 1-9, a middle hydraulic drive motor 1-10 and a middle drive gear 1-11, and a middle support rail 1-8
  • the direction is set, the rear end is installed at the front end of the lower front and rear moving parts 1-3, and the two ends of the middle support rails 1-8 are provided with a limiting mechanism, and the middle guiding racks 1-31 are fixedly mounted on the middle supporting rails 1-8,
  • the drive gears 1-11 are disposed in the middle and rear moving parts 1-9, and are coaxially connected with the output shafts of the middle hydraulic drive motors 1-10 mounted on the middle and rear moving parts 1-9, and the middle and rear moving parts 1-9
  • the snap fit is erected on the middle support rail 1-8, and the middle drive gear 1-11 is meshed with the middle guide rack 1-31; the output shaft of the main swing hydraulic motor 1-12 and the middle and rear moving parts 1 -
  • the upper and lower telescopic devices include an upper support rail 1-18, an upper guide rack 1-19, an upper hydraulic drive motor 1-17 and an upper drive gear 1-16, and the upper support rail 1-18 is fixedly mounted on the fixed bracket 1-20.
  • both ends of the upper support rail 1-18 are provided with a limit mechanism, the upper guide rack 1-19 is fixedly mounted on the upper support rail 1-18, and the upper drive gear 1-16 is disposed on the mount 1-15 Internally, and coaxially connected with the output shaft of the upper hydraulic drive motor 1-17 mounted on the mount 1-15, the mount 1-15 is supported by the upper support rail 1-18 and the mount 1-20 Mounting connection, and the upper drive gears 1-16 are engaged with the upper guide racks 1-19; by driving the upper hydraulic drive motors 1-17 by forward and reverse rotation, the fixed brackets 1-20 can be moved back and forth relative to the mounts 1-15 to achieve three Level expansion
  • the front and rear telescopic device of the compact three-stage telescopic structure can realize less installation space and is less likely to cause work interference of the cutting portion.
  • the rear end of the middle support rail 1-8 is hingedly mounted on the upper front end of the lower front and rear moving members 1-3, and the lower front and rear moving members
  • the lower end of the front end of 1-3 is provided with a pitch control hydraulic cylinder 1-7 hingedly connected thereto, and the other end of the pitch control hydraulic cylinder 1-7 is hinged to the bottom of the middle support rail 1-8, and the hydraulic cylinder 1-7 is controlled by the pitch control.
  • the expansion and contraction can rotate the middle support rail 1-8 along its hinge axis, thereby enabling the drilling device 1 mounted on the middle support rail 1-8 to pitch and increase the working range.
  • one end of the pitch control hydraulic cylinder 1-7 and the rear end of the middle support rail 1-8 pass through the cross connector 1 respectively.
  • -6 is hinged to move the lower part and the upper part of the front end of the lower front and rear moving parts 1-3
  • the pitch control hydraulic cylinder 1-7 is set to two pieces, and the two pieces of pitch control hydraulic cylinders 1-7 are arranged side by side at the same horizontal position, the cross joints 1-6 Front and pitch control cylinders 1-7 or center support
  • the rear end of the rails 1-8 is horizontally hinged, and the rear end is vertically hinged with the front end of the lower front and rear moving parts 1-3; the other ends of the two pitch control hydraulic cylinders 1-7 are respectively passed through the ball joint and the bottom of the middle support rail 1-8
  • the same horizontal position is hinged side by side; by controlling the simultaneous expansion and contraction of the same amount of expansion and contraction of the two pitch control hydraulic cylinders 1-7, the drilling device 1 mounted on the middle
  • the rock drill component of the drill-up device 1 and the telescopic drive mechanism of the riser component are chain drive structures
  • the telescopic drive mechanism of the rock drill component includes a chain drive component I1-23 and a rock drill mobile drive Hydraulic motor 1-25
  • the telescopic drive mechanism of the riser component includes a chain drive assembly II1-29 and a riser mobile drive hydraulic motor 1-28
  • the chain drive assembly I1-23 and the chain drive assembly II1-29 each include a closed type
  • the transmission chain and the sprocket, the closed transmission chain of the chain transmission component I1-23 is erected on the slide rail I1-22-1 and fixedly connected with the slider I1-24-3
  • the rock drill moves the hydraulic motor 1 -25 is mounted on the slide rail I1-22-1, and its output shaft is coaxially connected with the sprocket;
  • the closed transmission chain of the chain transmission assembly II1-29 is erected on the slide rail II1-27-1 by the sprocket, and Attached to the fixed installation of the slide rail
  • the drilled hole can be accurately positioned.
  • the drill pipe 1-24-2 center-to-main swing hydraulic pressure of the rock drill component
  • the radius of gyration between the center of the output shaft of the motor 1-12 matches the radius of gyration of the center of the wedge block of the cracker 1-30-2 to the center of the output shaft of the main swing hydraulic motor 1-12
  • the drilled hole of the rock drill component and the cracking hole of the cracker component can be accurately concentrically positioned, that is, when the drill pipe 1-24-2 of the rock drilling machine component is drilled.
  • the telescopic drive mechanism of the device member allows the wedge top block of the cracker 1-30-2 to penetrate into the completed drill hole for cracking.
  • the drilling boring machine has a drilling device 1 including a rock drill component and a cracker component, and the rock drilling machine component with high drilling efficiency is organically combined with the cracker component capable of effectively breaking rock, and passes through the angle control device, before and after
  • the telescopic device is installed on the cantilever roadheader 2 with low tunneling capacity and high cutting efficiency. When encountering a hard rock formation, it can be punched in the lower part of the working face by the rock drill part to form a free surface in the roadway section, and then in the middle of the working face.
  • the upper part is perforated and the riser part is used for the cracking to reduce the damage strength of the rock, and then the roadway working face is excavated by the cutting part of the roadheader to realize the mechanized operation of the hard rock layer, and the roadhead is prevented from exploiting the hard rock.
  • the drilling device 1 can realize six-degree-of-freedom movement, which can meet the needs of various angles, positions, postures, punching and cracking; symmetry on the same cantilever roadheader 2
  • two sets of drilling and lifting devices 1 are set up, two sets of drilling and drilling devices 1 can be realized at the same time, which greatly improves the working range and the driving efficiency, and has the functions of two rock drilling machines, two crackers and one cantilever roadheader.
  • the drilling road drilling machine has a compact structure, high tunneling capability, high tunneling efficiency, reduced part loss, and flexible adjustment of the posture of the drilling mechanism, which can maximize the drilling and punching of the hard rock.
  • the demand for cracking is especially suitable for the development of rock roadway with rock hardness f>10.

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Abstract

一种钻涨式掘进机，包括钻涨装置（1）、角度控制装置、前后伸缩装置和悬臂式掘进机（2），钻涨装置（1）通过角度控制装置安装在前后伸缩装置的前后移动部件上，前后伸缩装置安装在悬臂式掘进机（2）上；钻涨装置（1）包括固定架（1-20）、分别固定安装在固定架（1-20）上的凿岩机部件和涨裂器部件；角度控制装置包括安装座（1-15）、副回转液压马达（1-14）、调整液压缸（1-13）和主回转液压马达（1-12）；前后伸缩装置的前后移动部件完全伸出时钻涨装置（1）前端至工作面之间的距离小于悬臂式掘进机（2）截割头前端至工作面之间的距离。该钻涨式掘进机结构紧凑，能够在不增加能耗的前提下实现对岩层硬度f>10的坚硬岩层快速打孔并涨裂，进而实现提高掘进效率、降低安全隐患的目的。

Description

一种钻涨式掘进机 技术领域
本发明涉及一种掘进机，具体是一种适用于硬度f>10的坚硬岩层巷道开凿掘进的钻涨式掘进机，属于掘进机装备技术领域。
背景技术
掘进机是用于开凿平直地下巷道的机器，分为开敞式掘进机和护盾式掘进机，通常包括行走机构、工作机构、装运机构和转载机构组成，随着行走机构向前推进，工作机构中的切割头不断破碎岩石，并将碎岩运走，具有安全、高效和成巷质量好等优点，特别是悬臂式掘进机，它集截割、装运、行走、操作等功能于一体，主要用于截割任意形状断面的井下岩石、煤或半煤岩巷道。
目前在我国全硬岩巷道的掘进中钻爆破岩掘进在很长一段时间内仍会是一种主要方式，重型悬臂式掘进机用于大断面岩巷的掘进在我国处于试验阶段，切割功率大、截割效率高、工作稳定且有很好的除尘系统的全岩巷重型悬臂式掘进机将代表岩巷掘进技术今后的发展方向；在岩层硬度f<10的硬度较低的全岩巷道和半煤岩巷道，悬臂式掘进机得到大力发展，悬臂式掘进机与单体锚杆钻机配套作业线(也称为煤巷综合机械化掘进)已逐步成为我国煤巷高效掘进方式中最主要的方式，但通常岩层的硬度是一个非确定值，即不同区域内的岩层硬度不一定相同，且工作条件十分恶劣，当岩层硬度f>10时，悬臂式掘进机不但效率极低、能耗增大，而且截齿掉落严重、甚至无法掘进，通常需将掘进机后撤至安全距离后采用钻爆破岩后再进行掘进，不仅掘进效率较低、而且爆破操作安全隐患较大，高硬度岩巷掘进已成我国掘进机械化发展的瓶颈。
发明内容
针对上述问题，本发明提供一种钻涨式掘进机，结构紧凑，能够在不增加能耗的前提下实现对岩层硬度f>10的坚硬岩层快速打孔并涨裂，进而实现提高掘进效率、降低安全隐患的目的。
为实现上述目的，本钻涨式掘进机包括钻涨装置、角度控制装置、前后伸缩装置和悬臂式掘进机，钻涨装置通过角度控制装置安装在前后伸缩装置的前后移动部件上，前后伸缩装置安装在悬臂式掘进机上；
所述的钻涨装置包括固定架、凿岩机部件和涨裂器部件，凿岩机部件和涨裂器部件分别固定安装在固定架上；
凿岩机部件包括连接座Ⅰ、滑轨Ⅰ、定位导向板Ⅰ、伸缩驱动机构、凿岩机、钻杆、滑块Ⅰ；滑轨Ⅰ通过连接座Ⅰ前后方向设置固定安装在固定架上；定位导向板Ⅰ架设在滑轨Ⅰ的前端，定位导向板Ⅰ上设有与钻杆尺寸配合的导向孔；钻杆穿过定位导向板Ⅰ的导向孔架设在定位导向板Ⅰ上、且面向前方安装在凿岩机上；凿岩机通过与其固定安装连接的、且与滑轨Ⅰ配合的滑块Ⅰ架设在滑轨Ⅰ上；伸缩驱动机构安装在滑轨Ⅰ上、且与凿岩机连接；
涨裂器部件包括连接座Ⅱ、滑轨Ⅱ、定位导向板Ⅱ、伸缩驱动机构、滑块Ⅱ、涨裂器；滑轨Ⅱ通过连接座Ⅱ前后方向设置固定安装在固定架上；定位导向板Ⅱ架设在滑轨Ⅱ的前端，定位导向板Ⅱ上设有与涨裂器的楔顶块外径尺寸配合的导向孔；涨裂器的楔顶块穿过定位导向板Ⅱ的导向孔架设在定位导向板Ⅱ上、且面向前方安装在涨裂器上；涨裂器通过与其固定安装连接的、且与滑轨Ⅱ配合的滑块Ⅱ架设在滑轨Ⅱ上；伸缩驱动机构安装在滑轨Ⅱ上、且与涨裂器连接；
所述的角度控制装置包括安装座、副回转液压马达、调整液压缸和主回转液压马达；安装座顶端与固定架的底部安装连接、底端与副回转液压马达的输出轴固定安装连接；副回转液压马达的壳体一端与主回转液压马达的壳体一端铰接连接，副回转液压马达的壳体另一端通过调整液压缸与主回转液压马达的壳体另一端连接；主回转液压马达的输出轴与所述的前后伸缩装置的前后移动部件固定连接；
所述的前后伸缩装置的前后移动部件完全伸出时钻涨装置前端至工作面之间的距离小于悬臂式掘进机截割头前端至工作面之间的距离。
作为本发明的优选方案，所述的钻涨装置、角度控制装置和前后伸缩装置分别设置为两套、对称设置在悬臂式掘进机截割部后方两侧、悬臂式掘进机行走部上方的支撑板上。
作为本发明的优选方案，所述的前后伸缩装置是齿轮齿条结构，齿轮设置在前后移动部件内、并通过液压马达驱动，齿条安装在悬臂式掘进机上。
作为本发明的进一步改进方案，所述的前后伸缩装置是三级伸缩结构，包括下前后伸缩装置、中前后伸缩装置和上前后伸缩装置；
下前后伸缩装置包括下支撑轨道、下导向齿条、下前后移动部件、下液压驱动马达和下驱动齿轮，下支撑轨道前后方向设置、固定安装在支撑板上，下支撑轨道的两端均设有限位机构，下导向齿条固定安装在下支撑轨道上，下驱动齿轮设置在下前后移动部件内、并与安装在下前后移动部件上的下液压驱动马达的输出轴同轴连接，下前后移动部件卡接配合架设在下支撑轨道上、且下驱动齿轮与下导向齿条啮合；
中前后伸缩装置包括中支撑轨道、中导向齿条、中前后移动部件、中液压驱动马达和中驱动齿轮，中支撑轨道前后方向设置、后端安装在下前后移动部件的前端，中支撑轨道的两端均设有限位机构，中导向齿条固定安装在中支撑轨道上，中驱动齿轮设置在中前后移动部件内、并与安装在中前后移动部件上的中液压驱动马达的输出轴同轴连接，中前后移动部件卡接配合架设在中支撑轨道上、且中驱动齿轮与中导向齿条啮合；所述的主回转液压马达的输出轴与中前后移动部件的前部固定连接；
上前后伸缩装置包括上支撑轨道、上导向齿条、上液压驱动马达和上驱动齿轮，上支撑轨道固定安装在固定架的下端面上，上支撑轨道的两端均设有限位机构，上导向齿条固定安装在上支撑轨道上，上驱动齿轮设置在安装座内、并与安装在安装座上的上液压驱动马达的输出轴同轴连接，安装座通过与其卡接配合的上支撑轨道与固定架安装连接、且上驱动齿轮与上导向齿条啮合。
作为本发明的进一步改进方案，所述的中支撑轨道的后端铰接安装在下前后移动部件的前端上部，所述的下前后移动部件的前端下部设有与其铰接连接的俯仰控制液压缸，俯仰控制液压缸的另一端与中支撑轨道的底部铰接。
作为本发明的进一步改进方案，所述的俯仰控制液压缸的一端和所述的中支撑轨道的后端分别通过十字连接头铰接在下前后移动部件的前端下部和上部，且俯仰控制液压缸设置为两件、两件俯仰控制液压缸同一水平位置并排设置，十字连接头前端与俯仰控制液压缸或中支撑轨道的后端水平铰接、后端与下前后移动部件的前端竖直铰接；两件俯仰控制液压缸的另一端分别通过球铰与中支撑轨道底部的同一水平位置并排铰接。
作为本发明的一种实施方式，所述的钻涨装置的凿岩机部件和涨裂器部件的伸缩驱动机构是链传动结构，凿岩机部件的伸缩驱动机构包括链传动组件Ⅰ和凿岩机移动驱动液压 马达，涨裂器部件的伸缩驱动机构包括链传动组件Ⅱ和涨裂器移动驱动液压马达；链传动组件Ⅰ和链传动组件Ⅱ均包括闭式传动链和链轮，链传动组件Ⅰ的闭式传动链通过链轮架设在滑轨Ⅰ上、且与滑块Ⅰ固定安装连接，凿岩机移动驱动液压马达安装在滑轨Ⅰ上、且其输出轴与链轮同轴连接；链传动组件Ⅱ的闭式传动链通过链轮架设在滑轨Ⅱ上、且与滑轨Ⅱ固定安装连接，涨裂器移动驱动液压马达安装在滑轨Ⅱ上、且其输出轴与链轮同轴连接。
作为本发明的进一步改进方案，所述的凿岩机部件的钻杆中心至主回转液压马达输出轴的中心之间的回转半径尺寸与所述的涨裂器的楔顶块中心至主回转液压马达输出轴的中心之间的回转半径尺寸匹配相同。
与现有技术相比，本钻涨式掘进机由于设有包括凿岩机部件和涨裂器部件的钻涨装置，钻进效率高的凿岩机部件与能够有效破岩的涨裂器部件有机结合、并通过角度控制装置、前后伸缩装置安装在掘进能力低、截割效率高的悬臂式掘进机上，可以在遇到坚硬岩层时在巷道断面上先由凿岩机部件在工作面下部打孔形成自由面，然后在工作面中部和上部打孔并使用涨裂器部件进行涨裂以降低岩石的破坏强度，进而由掘进机截割部对巷道工作面进行开拓掘进，实现坚硬岩层的机械化作业，避免了掘进机在开采坚硬岩石时出现采不动、效率低、截齿损毁严重的问题；由于设有角度控制装置，因此钻涨装置能够实现六自由度运动，可以满足各种角度、位置、姿态打孔和涨裂的需要；在同一悬臂式掘进机上对称设置两套钻涨装置时可实现两套钻涨装置同时工作，大大提高了作业范围和掘进效率，兼具两台凿岩机、两台涨裂器和一台悬臂式掘进机的功能，能够大大降低巷道开拓成本；本钻涨式掘进机结构紧凑，掘进能力高，掘进效率高，减少了零件的损耗，且钻涨机构姿势调整灵活，可最大限度地满足硬岩掘进时对打孔和涨裂的需求，特别适用于岩层硬度f>10的岩石巷道进行开拓掘进。
附图说明
图1是本发明钻涨装置完全缩入状态时的三维结构示图；
图2是本发明钻涨装置完全展开状态时的三维结构示图；
图3是本发明钻涨装置、角度控制装置和前后伸缩装置的三维结构示图；
图4是本发明钻涨装置的三维结构示图。
图中：1、钻涨装置，1-1、下支撑轨道，1-2、下导向齿条，1-3、下前后移动部件，1-4、下液压驱动马达，1-5、下驱动齿轮，1-6、十字连接头，1-7、俯仰控制液压缸，1-8、中支撑轨道，1-9、中前后移动部件，1-10、中液压驱动马达，1-11、中驱动齿轮，1-12、主回转液压马达，1-13、调整液压缸，1-14、副回转液压马达，1-15、安装座，1-16、上驱动齿轮，1-17、上液压驱动马达，1-18、上支撑轨道，1-19、上导向齿条，1-20、固定架，1-21、连接座Ⅰ，1-22-1、滑轨Ⅰ，1-22-2、定位导向板Ⅰ，1-23、链传动组件Ⅰ，1-24-1、凿岩机，1-24-2、钻杆，1-24-3、滑块Ⅰ，1-25、凿岩机移动驱动液压马达，1-26、连接座Ⅱ，1-27-1、滑轨Ⅱ，1-27-2、定位导向板Ⅱ，1-28、涨裂器移动驱动液压马达，1-29、链传动组件Ⅱ，1-30-1、滑块Ⅱ，1-30-2、涨裂器，1-31、中导向齿条，2、悬臂式掘进机，2-1、支撑板。
具体实施方式
下面结合附图对本发明做进一步说明(以下以悬臂式掘进机的掘进方向为前方描述)。
如图1所示，本钻涨式掘进机包括钻涨装置1、角度控制装置、前后伸缩装置和悬臂式掘进机2，钻涨装置1通过角度控制装置安装在前后伸缩装置的前后移动部件上，前后伸缩装置安装在悬臂式掘进机2上。
所述的钻涨装置1包括固定架1-20、凿岩机部件和涨裂器部件，凿岩机部件和涨裂器部件分别固定安装在固定架1-20上；
凿岩机部件包括连接座Ⅰ1-21、滑轨Ⅰ1-22-1、定位导向板Ⅰ1-22-2、伸缩驱动机构、凿岩机1-24-1、钻杆1-24-2、滑块Ⅰ1-24-3；滑轨Ⅰ1-22-1通过连接座Ⅰ1-21前后方向设置固定安装在固定架1-20上；定位导向板Ⅰ1-22-2架设在滑轨Ⅰ1-22-1的前端，定位导向板Ⅰ1-22-2上设有与钻杆1-24-2尺寸配合的导向孔；钻杆1-24-2穿过定位导向板Ⅰ1-22-2的导向孔架设在定位导向板Ⅰ1-22-2上、且面向前方安装在凿岩机1-24-1上；凿岩机1-24-1通过与其固定安装连接的、且与滑轨Ⅰ1-22-1配合的滑块Ⅰ1-24-3架设在滑轨Ⅰ1-22-1上；伸缩驱动机构安装在滑轨Ⅰ1-22-1上、且与凿岩机1-24-1连接，通过控制伸缩驱动机构的伸缩可以实现安装有钻杆1-24-2的凿岩机1-24-1在滑轨Ⅰ1-22-1上前后移动；
涨裂器部件包括连接座Ⅱ1-26、滑轨Ⅱ1-27-1、定位导向板Ⅱ1-27-2、伸缩驱动机构、滑块Ⅱ1-30-1、涨裂器1-30-2；滑轨Ⅱ1-27-1通过连接座Ⅱ1-26前后方向设置固定安装在固定架1-20上；定位导向板Ⅱ1-27-2架设在滑轨Ⅱ1-27-1的前端，定位导向板Ⅱ1-27-2 上设有与涨裂器1-30-2的楔顶块外径尺寸配合的导向孔；涨裂器1-30-2的楔顶块穿过定位导向板Ⅱ1-27-2的导向孔架设在定位导向板Ⅱ1-27-2上、且面向前方安装在涨裂器1-30-2上；涨裂器1-30-2通过与其固定安装连接的、且与滑轨Ⅱ1-27-1配合的滑块Ⅱ1-30-1架设在滑轨Ⅱ1-27-1上；伸缩驱动机构安装在滑轨Ⅱ1-27-1上、且与涨裂器1-30-2连接，通过控制伸缩驱动机构的伸缩可以实现安装有楔顶块的涨裂器1-30-2在滑轨Ⅱ1-27-1上前后移动。
所述的角度控制装置包括安装座1-15、副回转液压马达1-14、调整液压缸1-13和主回转液压马达1-12；安装座1-15顶端与固定架1-20的底部安装连接、底端与副回转液压马达1-14的输出轴固定安装连接；副回转液压马达1-14的壳体一端与主回转液压马达1-12的壳体一端铰接连接，副回转液压马达1-14的壳体另一端通过调整液压缸1-13与主回转液压马达1-12的壳体另一端连接；主回转液压马达1-12的输出轴与所述的前后伸缩装置的前后移动部件固定连接；通过控制主回转液压马达1-12的输出轴旋转可以实现钻涨装置1和副回转液压马达1-14整体沿主回转液压马达1-12的输出轴轴线旋转，通过控制副回转液压马达1-14的输出轴旋转可以实现钻涨装置1沿副回转液压马达1-14的输出轴轴线旋转，通过控制调整液压缸1-13的伸缩可以实现副回转液压马达1-14和主回转液压马达1-12之间的夹角大小。
所述的前后伸缩装置的前后移动部件完全伸出时钻涨装置1前端至掘进方向上的坚硬岩层之间的距离小于悬臂式掘进机2截割头前端至掘进方向上的坚硬岩层之间的距离，即前后伸缩装置完全伸出钻涨装置1对坚硬岩层工作面进行钻涨操作时悬臂式掘进机2的截割头不会接触到工作面。
本钻涨式掘进机在正常掘进工作时可控制前后伸缩装置完全缩入使钻涨装置1和角度控制装置整体位于悬臂式掘进机2截割部的后方，便于截割部进行截割岩层；当遇到坚硬岩层时，先控制悬臂式掘进机2的截割部落下，然后通过控制前后伸缩装置完全伸出使钻涨装置1贴近工作面，通过调整主回转液压马达1-12、副回转液压马达1-14和调整液压缸1-13可以实现钻涨装置1六自由度运动以满足各种角度、位置、姿态打孔和涨裂的需要；操作时合理调整钻涨装置1的位姿，可使凿岩机部件和涨裂器部件垂直于工作面某一位置，然后通过依次控制凿岩机部件和涨裂器部件的伸缩驱动机构，可以实现凿岩机部件与涨裂器部件根据需要循环工作，先进行打孔再进行涨裂；先在工作面断面上由凿岩机部件在工作面下部依次打孔形成自由面，然后在工作面中部和上部依次打孔并使用涨裂器部件进行 涨裂以降低岩石的破坏强度，完成对工作面的钻涨工作后控制前后伸缩装置完全缩入使钻涨装置1和角度控制装置整体位于悬臂式掘进机2截割部的后方，最后由悬臂式掘进机2截割部对工作面进行开拓掘进。
本钻涨式掘进机的钻涨装置1可以匹配不同型号的悬臂式掘进机2，即通过改变连接座Ⅰ1-21的高度即可实现仅当主回转液压马达1-12转动时凿岩机部件在工作面上所打的一组孔的半径以适应不同型号的悬臂式掘进机2；且通过设置连接座Ⅰ1-21和连接座Ⅱ1-26的安装角度，可以改变仅当主回转液压马达1-12转动时凿岩机部件在工作面上所打的前一个孔与后一个孔的圆心角，进而满足各种角度、位置、姿态打孔和涨裂的需要。
所述的钻涨装置1、角度控制装置和前后伸缩装置可以整体直接设置在悬臂式掘进机2截割部的正后方上部，也可以设置为两套对称设置在悬臂式掘进机2截割部的后方两侧，由于后者的钻涨工作范围更大，且后者在高度范围内占用的空间相对前者较小、前后伸缩装置完全缩入状态时不会对悬臂式掘进机2的截割部造成工作干涉，因此优选后者，即，作为本发明的优选方案，所述的钻涨装置1、角度控制装置和前后伸缩装置分别设置为两套、对称设置在悬臂式掘进机2截割部后方两侧、悬臂式掘进机2行走部上方的支撑板2-1上。
所述的前后伸缩装置可以直接采用液压缸，也可以采用齿轮齿条传动的纯机械结构的伸缩装置，或采用螺旋千斤顶结构的伸缩装置，由于第一种方案尺寸较长的缸体需额外考虑安装位置、占用额外的空间，且直接采用液压缸需设置伸缩端刚性支撑机构以缓解其径向受力、防止损坏，结构较复杂，第二种方案的结构和控制均相对简单，且第二种方案更便于制作、相对第三种方案其伸缩速度更快，因此优选第二种方案，即，作为本发明的优选方案，所述的前后伸缩装置是齿轮齿条结构，齿轮设置在前后移动部件内、并通过液压马达驱动，齿条安装在悬臂式掘进机2上。
由于井下施工条件恶劣，所述的齿条若是单独一根设置，则为保证前后伸缩装置足够的伸出长度需设置齿条足够的长度，过长的齿条占用较多的安装空间，不紧凑的同时易造成截割部的工作干涉，因此，作为本发明的进一步改进方案，所述的前后伸缩装置是三级伸缩结构，包括下前后伸缩装置、中前后伸缩装置和上前后伸缩装置；
下前后伸缩装置包括下支撑轨道1-1、下导向齿条1-2、下前后移动部件1-3、下液压驱动马达1-4和下驱动齿轮1-5，下支撑轨道1-1前后方向设置、固定安装在支撑板2-1上，下支撑轨道1-1的两端均设有限位机构，下导向齿条1-2固定安装在下支撑轨道1-1上，下驱动齿轮1-5设置在下前后移动部件1-3内、并与安装在下前后移动部件1-3上的下液 压驱动马达1-4的输出轴同轴连接，下前后移动部件1-3卡接配合架设在下支撑轨道1-1上、且下驱动齿轮1-5与下导向齿条1-2啮合；通过正反转驱动下液压驱动马达1-4可以使下前后移动部件1-3在下支撑轨道1-1上前后移动实现一级伸缩；
中前后伸缩装置包括中支撑轨道1-8、中导向齿条1-31、中前后移动部件1-9、中液压驱动马达1-10和中驱动齿轮1-11，中支撑轨道1-8前后方向设置、后端安装在下前后移动部件1-3的前端，中支撑轨道1-8的两端均设有限位机构，中导向齿条1-31固定安装在中支撑轨道1-8上，中驱动齿轮1-11设置在中前后移动部件1-9内、并与安装在中前后移动部件1-9上的中液压驱动马达1-10的输出轴同轴连接，中前后移动部件1-9卡接配合架设在中支撑轨道1-8上、且中驱动齿轮1-11与中导向齿条1-31啮合；所述的主回转液压马达1-12的输出轴与中前后移动部件1-9的前部固定连接；通过正反转驱动中液压驱动马达1-10可以使中前后移动部件1-9在中支撑轨道1-8上前后移动实现二级伸缩；
上前后伸缩装置包括上支撑轨道1-18、上导向齿条1-19、上液压驱动马达1-17和上驱动齿轮1-16，上支撑轨道1-18固定安装在固定架1-20的下端面上，上支撑轨道1-18的两端均设有限位机构，上导向齿条1-19固定安装在上支撑轨道1-18上，上驱动齿轮1-16设置在安装座1-15内、并与安装在安装座1-15上的上液压驱动马达1-17的输出轴同轴连接，安装座1-15通过与其卡接配合的上支撑轨道1-18与固定架1-20安装连接、且上驱动齿轮1-16与上导向齿条1-19啮合；通过正反转驱动上液压驱动马达1-17可以使固定架1-20相对于安装座1-15前后移动实现三级伸缩；
结构紧凑的三级伸缩结构的前后伸缩装置可以实现较少的安装空间，不易造成截割部的工作干涉。
为了增加钻涨装置1的作业范围，作为本发明的进一步改进方案，所述的中支撑轨道1-8的后端铰接安装在下前后移动部件1-3的前端上部，所述的下前后移动部件1-3的前端下部设有与其铰接连接的俯仰控制液压缸1-7，俯仰控制液压缸1-7的另一端与中支撑轨道1-8的底部铰接，通过控制俯仰控制液压缸1-7的伸缩可以使中支撑轨道1-8沿其铰接轴旋转，进而使安装在中支撑轨道1-8上的钻涨装置1实现俯仰、增加了作业范围。
为了进一步增加钻涨装置1的作业范围，作为本发明的进一步改进方案，所述的俯仰控制液压缸1-7的一端和所述的中支撑轨道1-8的后端分别通过十字连接头1-6铰接在下前后移动部件1-3的前端下部和上部，且俯仰控制液压缸1-7设置为两件、两件俯仰控制液压缸1-7同一水平位置并排设置，十字连接头1-6前端与俯仰控制液压缸1-7或中支撑 轨道1-8的后端水平铰接、后端与下前后移动部件1-3的前端竖直铰接；两件俯仰控制液压缸1-7的另一端分别通过球铰与中支撑轨道1-8底部的同一水平位置并排铰接；通过控制两件俯仰控制液压缸1-7相同伸缩量的同步伸缩可以使安装在中支撑轨道1-8上的钻涨装置1实现俯仰，通过控制两件俯仰控制液压缸1-7的不同伸缩量可以使安装在中支撑轨道1-8上的钻涨装置1实现左右摇摆，进而进一步增加了作业范围。
作为本发明的一种实施方式，所述的钻涨装置1的凿岩机部件和涨裂器部件的伸缩驱动机构是链传动结构，凿岩机部件的伸缩驱动机构包括链传动组件Ⅰ1-23和凿岩机移动驱动液压马达1-25，涨裂器部件的伸缩驱动机构包括链传动组件Ⅱ1-29和涨裂器移动驱动液压马达1-28；链传动组件Ⅰ1-23和链传动组件Ⅱ1-29均包括闭式传动链和链轮，链传动组件Ⅰ1-23的闭式传动链通过链轮架设在滑轨Ⅰ1-22-1上、且与滑块Ⅰ1-24-3固定安装连接，凿岩机移动驱动液压马达1-25安装在滑轨Ⅰ1-22-1上、且其输出轴与链轮同轴连接；链传动组件Ⅱ1-29的闭式传动链通过链轮架设在滑轨Ⅱ1-27-1上、且与滑轨Ⅱ1-27-1固定安装连接，涨裂器移动驱动液压马达1-28安装在滑轨Ⅱ1-27-1上、且其输出轴与链轮同轴连接；通过控制凿岩机移动驱动液压马达1-25和涨裂器移动驱动液压马达1-28旋转可以驱动链轮带动闭式传动链带动凿岩机1-24-1和涨裂器1-30-2前后移动。
为了实现凿岩机部件完成钻孔后涨裂器部件能够准确定位对钻好的孔进行涨裂，作为本发明的进一步改进方案，所述的凿岩机部件的钻杆1-24-2中心至主回转液压马达1-12输出轴的中心之间的回转半径尺寸与所述的涨裂器1-30-2的楔顶块中心至主回转液压马达1-12输出轴的中心之间的回转半径尺寸匹配相同，通过控制主回转液压马达1-12输出轴的旋转即可实现凿岩机部件钻好的孔与涨裂器部件的涨裂孔准确同心定位，即当凿岩机部件的钻杆1-24-2完成钻孔并缩入后只需控制主回转液压马达1-12输出轴旋转适当角度即可使涨裂器部件涨裂器1-30-2的楔顶块正对已完成的钻孔，控制涨裂器部件的伸缩驱动机构使涨裂器1-30-2的楔顶块穿入已完成的钻孔内进行涨裂即可。
本钻涨式掘进机由于设有包括凿岩机部件和涨裂器部件的钻涨装置1，钻进效率高的凿岩机部件与能够有效破岩的涨裂器部件有机结合、并通过角度控制装置、前后伸缩装置安装在掘进能力低、截割效率高的悬臂式掘进机2上，可以在遇到坚硬岩层时在巷道断面上先由凿岩机部件在工作面下部打孔形成自由面，然后在工作面中部和上部打孔并使用涨裂器部件进行涨裂以降低岩石的破坏强度，进而由掘进机截割部对巷道工作面进行开拓掘进，实现坚硬岩层的机械化作业，避免了掘进机在开采坚硬岩石时出现采不动、效率低、截齿 损毁严重的问题；由于设有角度控制装置，因此钻涨装置1能够实现六自由度运动，可以满足各种角度、位置、姿态打孔和涨裂的需要；在同一悬臂式掘进机2上对称设置两套钻涨装置1时可实现两套钻涨装置1同时工作，大大提高了作业范围和掘进效率，兼具两台凿岩机、两台涨裂器和一台悬臂式掘进机的功能，能够大大降低巷道开拓成本；本钻涨式掘进机结构紧凑，掘进能力高，掘进效率高，减少了零件的损耗，且钻涨机构姿势调整灵活，可最大限度地满足硬岩掘进时对打孔和涨裂的需求，特别适用于岩层硬度f>10的岩石巷道进行开拓掘进。

Claims (8)

  1. 一种钻涨式掘进机，包括悬臂式掘进机(2)，其特征在于，还包括钻涨装置(1)、角度控制装置和前后伸缩装置，钻涨装置(1)通过角度控制装置安装在前后伸缩装置的前后移动部件上，前后伸缩装置安装在悬臂式掘进机(2)上；
    所述的钻涨装置(1)包括固定架(1-20)、凿岩机部件和涨裂器部件，凿岩机部件和涨裂器部件分别固定安装在固定架(1-20)上；
    凿岩机部件包括连接座Ⅰ(1-21)、滑轨Ⅰ(1-22-1)、定位导向板Ⅰ(1-22-2)、伸缩驱动机构、凿岩机(1-24-1)、钻杆(1-24-2)、滑块Ⅰ(1-24-3)；滑轨Ⅰ(1-22-1)通过连接座Ⅰ(1-21)前后方向设置固定安装在固定架(1-20)上；定位导向板Ⅰ(1-22-2)架设在滑轨Ⅰ(1-22-1)的前端，定位导向板Ⅰ(1-22-2)上设有与钻杆(1-24-2)尺寸配合的导向孔；钻杆(1-24-2)穿过定位导向板Ⅰ(1-22-2)的导向孔架设在定位导向板Ⅰ(1-22-2)上、且面向前方安装在凿岩机(1-24-1)上；凿岩机(1-24-1)通过与其固定安装连接的、且与滑轨Ⅰ(1-22-1)配合的滑块Ⅰ(1-24-3)架设在滑轨Ⅰ(1-22-1)上；伸缩驱动机构安装在滑轨Ⅰ(1-22-1)上、且与凿岩机(1-24-1)连接；
    涨裂器部件包括连接座Ⅱ(1-26)、滑轨Ⅱ(1-27-1)、定位导向板Ⅱ(1-27-2)、伸缩驱动机构、滑块Ⅱ(1-30-1)、涨裂器(1-30-2)；滑轨Ⅱ(1-27-1)通过连接座Ⅱ(1-26)前后方向设置固定安装在固定架(1-20)上；定位导向板Ⅱ(1-27-2)架设在滑轨Ⅱ(1-27-1)的前端，定位导向板Ⅱ(1-27-2)上设有与涨裂器(1-30-2)的楔顶块外径尺寸配合的导向孔；涨裂器(1-30-2)的楔顶块穿过定位导向板Ⅱ(1-27-2)的导向孔架设在定位导向板Ⅱ(1-27-2)上、且面向前方安装在涨裂器(1-30-2)上；涨裂器(1-30-2)通过与其固定安装连接的、且与滑轨Ⅱ(1-27-1)配合的滑块Ⅱ(1-30-1)架设在滑轨Ⅱ(1-27-1)上；伸缩驱动机构安装在滑轨Ⅱ(1-27-1)上、且与涨裂器(1-30-2)连接；
    所述的角度控制装置包括安装座(1-15)、副回转液压马达(1-14)、调整液压缸(1-13)和主回转液压马达(1-12)；安装座(1-15)顶端与固定架(1-20)的底部安装连接、底端与副回转液压马达(1-14)的输出轴固定安装连接；副回转液压马达(1-14)的壳体一端与主回转液压马达(1-12)的壳体一端铰接连接，副回转液压马达(1-14)的壳体另一端通过调整液压缸(1-13)与主回转液压马达(1-12)的壳体另一端连接；主回转液压马达(1-12)的输出轴与所述的前后伸缩装置的前后移动部件固定连接；
    所述的前后伸缩装置的前后移动部件完全伸出时钻涨装置(1)前端至工作面之间的距离小于悬臂式掘进机(2)截割头前端至工作面之间的距离。
  2. 根据权利要求1所述的钻涨式掘进机，其特征在于，所述的钻涨装置(1)、角度控制装置和前后伸缩装置分别设置为两套、对称设置在悬臂式掘进机(2)截割部后方两侧、悬臂式掘进机(2)行走部上方的支撑板(2-1)上。
  3. 根据权利要求1或2所述的钻涨式掘进机，其特征在于，所述的前后伸缩装置是齿轮齿条结构，齿轮设置在前后移动部件内、并通过液压马达驱动，齿条安装在悬臂式掘进机(2)上。
  4. 根据权利要求3所述的钻涨式掘进机，其特征在于，所述的前后伸缩装置是三级伸缩结构，包括下前后伸缩装置、中前后伸缩装置和上前后伸缩装置；
    下前后伸缩装置包括下支撑轨道(1-1)、下导向齿条(1-2)、下前后移动部件(1-3)、下液压驱动马达(1-4)和下驱动齿轮(1-5)，下支撑轨道(1-1)前后方向设置、固定安装在支撑板(2-1)上，下支撑轨道(1-1)的两端均设有限位机构，下导向齿条(1-2)固定安装在下支撑轨道(1-1)上，下驱动齿轮(1-5)设置在下前后移动部件(1-3)内、并与安装在下前后移动部件(1-3)上的下液压驱动马达(1-4)的输出轴同轴连接，下前后移动部件(1-3)卡接配合架设在下支撑轨道(1-1)上、且下驱动齿轮(1-5)与下导向齿条(1-2)啮合；
    中前后伸缩装置包括中支撑轨道(1-8)、中导向齿条(1-31)、中前后移动部件(1-9)、中液压驱动马达(1-10)和中驱动齿轮(1-11)，中支撑轨道(1-8)前后方向设置、后端安装在下前后移动部件(1-3)的前端，中支撑轨道(1-8)的两端均设有限位机构，中导向齿条(1-31)固定安装在中支撑轨道(1-8)上，中驱动齿轮(1-11)设置在中前后移动部件(1-9)内、并与安装在中前后移动部件(1-9)上的中液压驱动马达(1-10)的输出轴同轴连接，中前后移动部件(1-9)卡接配合架设在中支撑轨道(1-8)上、且中驱动齿轮(1-11)与中导向齿条(1-31)啮合；所述的主回转液压马达(1-12)的输出轴与中前后移动部件(1-9)的前部固定连接；
    上前后伸缩装置包括上支撑轨道(1-18)、上导向齿条(1-19)、上液压驱动马达(1-17)和上驱动齿轮(1-16)，上支撑轨道(1-18)固定安装在固定架(1-20)的下端面上，上支撑轨道(1-18)的两端均设有限位机构，上导向齿条(1-19)固定安装在上支撑轨道(1-18) 上，上驱动齿轮(1-16)设置在安装座(1-15)内、并与安装在安装座(1-15)上的上液压驱动马达(1-17)的输出轴同轴连接，安装座(1-15)通过与其卡接配合的上支撑轨道(1-18)与固定架(1-20)安装连接、且上驱动齿轮(1-16)与上导向齿条(1-19)啮合。
  5. 根据权利要求4所述的钻涨式掘进机，其特征在于，所述的中支撑轨道(1-8)的后端铰接安装在下前后移动部件(1-3)的前端上部，所述的下前后移动部件(1-3)的前端下部设有与其铰接连接的俯仰控制液压缸(1-7)，俯仰控制液压缸(1-7)的另一端与中支撑轨道(1-8)的底部铰接。
  6. 根据权利要求5所述的钻涨式掘进机，其特征在于，所述的俯仰控制液压缸(1-7)的一端和所述的中支撑轨道(1-8)的后端分别通过十字连接头(1-6)铰接在下前后移动部件(1-3)的前端下部和上部，且俯仰控制液压缸(1-7)设置为两件、两件俯仰控制液压缸(1-7)同一水平位置并排设置，十字连接头(1-6)前端与俯仰控制液压缸(1-7)或中支撑轨道(1-8)的后端水平铰接、后端与下前后移动部件(1-3)的前端竖直铰接；两件俯仰控制液压缸(1-7)的另一端分别通过球铰与中支撑轨道(1-8)底部的同一水平位置并排铰接。
  7. 根据权利要求1或2所述的钻涨式掘进机，其特征在于，所述的钻涨装置(1)的凿岩机部件和涨裂器部件的伸缩驱动机构是链传动结构，凿岩机部件的伸缩驱动机构包括链传动组件Ⅰ(1-23)和凿岩机移动驱动液压马达(1-25)，涨裂器部件的伸缩驱动机构包括链传动组件Ⅱ(1-29)和涨裂器移动驱动液压马达(1-28)；链传动组件Ⅰ(1-23)和链传动组件Ⅱ(1-29)均包括闭式传动链和链轮，链传动组件Ⅰ(1-23)的闭式传动链通过链轮架设在滑轨Ⅰ(1-22-1)上、且与滑块Ⅰ(1-24-3)固定安装连接，凿岩机移动驱动液压马达(1-25)安装在滑轨Ⅰ(1-22-1)上、且其输出轴与链轮同轴连接；链传动组件Ⅱ(1-29)的闭式传动链通过链轮架设在滑轨Ⅱ(1-27-1)上、且与滑轨Ⅱ(1-27-1)固定安装连接，涨裂器移动驱动液压马达(1-28)安装在滑轨Ⅱ(1-27-1)上、且其输出轴与链轮同轴连接。
  8. 根据权利要求1或2所述的钻涨式掘进机，其特征在于，所述的凿岩机部件的钻杆(1-24-2)中心至主回转液压马达(1-12)输出轴的中心之间的回转半径尺寸与所述的涨裂器(1-30-2)的楔顶块中心至主回转液压马达(1-12)输出轴的中心之间的回转半径尺寸匹配相同。
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