Climbing control method of large inclination angle heading machine with auxiliary climbing device

Abstract

The invention discloses a climbing control method of a large inclination angle heading machine with an auxiliary climbing device. The used large inclination angle heading machine comprises a rack, an upper supporting part and the auxiliary climbing device. The climbing control method comprises the steps of climbing supporting, climbing auxiliary driving force providing, stepping moving and the like. According to the climbing control method of the large inclination angle heading machine with the auxiliary climbing device, a travelling hydraulic motor and an auxiliary driving hydraulic motor are controlled simultaneously to output power to provide larger driving force; at the time of stepping, the upper supporting part stretches out to support at a roadway top plate in a matched mode to enable the large inclination angle heading machine to be positioned steadily, then the auxiliary climbing device is lifted, and the auxiliary driving hydraulic motor is rotated reversely, so that a bearing base plate steps and move forward by a step pitch, and controlling is simple and rapid. Under the premise that slide-down of the heading machine is effectively prevented, the heading efficiency is improved, and the potential safety hazard is reduced. The climbing control method of the large inclination angle heading machine with the auxiliary climbing device is especially suitable for excavating and heading of a roadway with the large inclination angle being + / -25 degrees.

Description

technical field [0001] The invention relates to a climbing control method for a roadheader, in particular to a climbing control method for a roadheader with a large inclination angle and an auxiliary climbing device suitable for excavation and excavation of a roadway with a large inclination angle of ±25°, and belongs to the technical field of roadheader equipment . Background technique [0002] The roadheader is a machine used to excavate a straight underground roadway. It is divided into an open type roadheader and a shield type roadheader. It usually consists of a walking mechanism, a working mechanism, a loading mechanism and a reloading mechanism. As the walking mechanism advances, The cutting head in the working mechanism continuously breaks the rock and transports the broken rock away, which has the advantages of safety, high efficiency and good roadway quality, especially the cantilever type roadheader, which integrates the functions of cutting, loading, walking and ...

AI Technical Summary

Problems solved by technology

[0003] In the process of tunneling up a mountain with a large inclination angle, the tunneling machine will slide due to its own weight. The slide will not only reduce the cutting efficiency of the roadheader, or even fail to advance, but also cause serious safety accidents. Therefore, the applicable working inclination of the roadheader Generally, it is within ±16°. When the roadway inclination exceeds this range, manual drilling and blasting are usually used for excavation operations. This is the excavation method. The excavation operation is not only very dangerous, but also the excavation efficiency is low. If the mining face is located under the water body, Blasting is prohibited at the "three-down" mining face under buildings and railways, and only the mining angle of the roadway can be changed, which not only increases the workload, but also reduces the exploitable length of the roadway, which in turn causes a waste of coal resources

[0004] The large-inclination-angle roadheaders in the prior art usually adopt the method of directly increasing the torque of the hydraulic motor driving the crawler and increasing the adhesion of the crawler to increase the driving force of the roadheader’s crawler to realize the high-inclination excavation of the roadheader. However, due to the constraints of the underground excavation face Due to the nature of the work that the roadheader needs to move continuously, this method of simply increasing the driving force is not ideal when the roadway inclination angle reaches a certain level; Excavation, that is, the push jack is connected to the side wall of the roadway by supporting it to the rear, or the support of the push jack is connected to the hydraulic support, a single pillar, etc. Supporting equipment between the roof and the floor of the roadway, by controlling the movement Stretch out to increase the driving force of the roadheader, but because the stroke of the push jack is limited, it is necessary to push the jack with step-by-step expansion or lay support equipment in time to prevent the roadheader from sliding down. The way of biased and inclined support on the side wall of the roadway is likely to cause the contact surface to slip and there is a big safety hazard, and the way of laying support equipment in time not only prolongs the production cycle virtually, but also easily affects the gangue discharge of the Ministry of Transport

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