Three-degree-of-freedom self-walking minitype shield machine

Abstract

The invention relates to a three-degree-of-freedom self-walking minitype shield machine comprising a cutting head, a drive motor, a propelling oil cylinder, a supporting oil cylinder, a spiral conveyer, an inner support frame, an outer support frame, a hydraulic valve bank and a shield. In the invention, the cutting head adopts pick-shaped teeth cutting and realizes three-degree-of-freedom rotary cutting through an adjusting oil cylinder; a rock crush principle is as follows: coal rocks are subjected to crushing treatment through the pick-shaped teeth cutting and a secondary crushing mechanism by adopting a secondary crushing technology; a propelling system adopts two double-acting oil cylinders, a supporting and obstructing system adopts cross type double-acting oil cylinders, and rear support-front propelling and front support-rear contraction type stepping walking is realized through the control of a hydraulic system; a deslagging mode is as follows: slag and muddy water are conveyed into a conveying pipe by adopting the spiral conveyer, and deslagging is carried out by combining with negative pressure suction. According to the invention, the directional control and the large curvature radius curve walking of the three-degree-of-freedom self-walking minitype shield machine disclosed by the invention are realized; the slant stagger of a drill hole is prevented; the autonomous walking of the three-degree-of-freedom self-walking minitype shield machine is realized; long-distance hole drilling is ensured; and the problem of difficult deslagging of a pipe jacking technology is solved, and therefore, the gas is more sufficiently discharged.

Description

technical field [0001] The invention relates to a three-degree-of-freedom self-propelled miniature shield machine, which is especially suitable for drilling holes for long-distance gas drainage in coal seams. Background technique [0002] At present, the mine gas drainage in my country only accounts for 20% of the total drainage gas emission. The mine gas drainage technologies in my country mainly include: pre-excavation (pre-excavation) drainage, extraction while mining and post-mining drainage (goaf) area extraction). The commonly used equipment is the gas drainage drilling rig, which adopts the pipe jacking technology to establish the gas channel to discharge the gas. However, this long drilling equipment and the controlled directional drilling process have always been the "bottleneck" of gas drainage. Drilling technology does not have a matching special directional drill bit and effective directional control measures, which are mainly manifested in less drainage, low hol...

AI Technical Summary

Problems solved by technology

The commonly used equipment is the gas drainage drilling rig, which adopts the pipe jacking technology to establish the gas channel to discharge the gas. However, this long drilling equipment and the controlled directional drilling process have always been the "bottleneck" of gas drainage. Dr

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