A highly adaptable anchor drilling machine with dual-mode anchor drilling system

Abstract

The present invention provides a highly adaptable integrated digging and anchoring machine with a dual-mode anchor drilling system, which belongs to the technical field of underground coal mining equipment, including a frame body, a cutting system, a conveying system, a dust removal system, a multifunctional temporary support system, a dry-wet dual-mode anchor drilling system, an automatic lubrication system, a water-cooled spray system, a hydraulic system, and an electronic control system. The walking mechanism adopts a wide crawler design, which improves the adaptability of the integrated digging and anchoring machine to muddy bottom plates; the dry-wet dual-mode anchor drilling system has two functions, dry dust removal and wet dust removal, and performs real-time switching selection according to the geological conditions of the tunnel bottom plate, and does not require the replacement of the drill box. The present invention improves the problems of muddy bottom plates, poor stability of the top and side walls, and low digging efficiency faced by rapid excavation of coal tunnels under complex geological conditions; realizes the integrated parallel operation of excavation, anchoring, transportation, dust removal, etc. of the tunnel excavation working face; and improves the efficiency and safety of coal mining and transportation.

Description

Technical Field

[0001] The invention belongs to the technical field of underground coal mining equipment, and specifically discloses a highly adaptable integrated mining and anchoring machine with a dual-mode anchor drilling system. Background Art

[0002] The integrated excavation and anchoring technology represents the highest technical level of excavation equipment at home and abroad, and leads the development direction of coal tunnel excavation equipment. The integrated excavation and anchoring machine is the core equipment of the integrated excavation and anchoring technology. It is the product of the combination of continuous coal mining machine and anchor drilling machine. It can realize full-section rapid excavation and parallel operation of excavation, support and anchoring. It has obvious technical advantages in large-section and long-distance single tunnel excavation.

[0003] The development of integrated excavator and anchor machine abroad began in the 1990s. Currently, there are more than 400 excavators and anchor machines in use internationally. Representative models include SANDVIK's ABM20 and MB670, JOY's 12BM18 and 12ED25, which are mainly used in rapid excavation of coal tunnels in the United States, Australia, Russia, China and other countries.

[0004] my country began to introduce the first integrated miner and anchor machine in 2003. So far, there are more than 80 units, which are mainly used for single-lane excavation of coal tunnels in large mines with unstable roofs and cannot use continuous coal mining machines for rapid excavation. Representative models include ABM20 from Voestalpine, KBⅡ from Anderson, 12CM15-15DDVG from Joy, 12BM18 from Joy, and MB670 from Sandvik. The introduction and application of integrated miners and anchor machines from abroad have greatly improved the excavation speed and safety level of coal tunnels in my country and achieved good economic benefits. However, the application of imported integrated miners and anchor machines also has many problems: poor geological adaptability, unable to meet the diverse geological conditions in my country; high purchase and maintenance costs; difficult matching of main components and wearing parts, long spare parts supply cycle; large size of the whole machine, not easy to separate and lower into the mine; inconsistent explosion-proof standards.

[0005] Most of the coal seams in the country, represented by the Huangling mining area in northern Shaanxi, have poor geological conditions. It is required that the distance between the empty top and the empty side should be as small as possible during the excavation operation, and the top and side should be supported in time. At present, the main construction method is tunneling machine. During the construction process, excavation and support are separated, and support mainly relies on single anchor drilling rigs, which has high labor intensity, prominent safety hazards, and slow excavation speed.

[0006] Through patent search, it is found that domestic patents related to integrated digging and anchoring machines (such as application number: 200710010159.1 Integrated digging and anchoring machine) are all similar to the machine type of anchor drilling machine on the roadheader. This type of machine cannot perform digging and support operations simultaneously, the number of onboard anchors is at most 4 groups, the anchoring speed is limited, and the digging is done by the roadheader, so the digging efficiency is low. No relevant patents related to integrated digging and anchoring machines were found abroad. Summary of the invention

[0007] The present invention is aimed at the deficiencies of the background technology. According to my country's coalfield geological conditions and standards, the present invention provides a highly adaptable all-in-one digging and anchoring machine with a dual-mode anchor drilling system that can meet my country's special geological conditions. The machine integrates cutting, loading, transportation, walking, anchoring, and spray dust removal functions, and can realize parallel digging and anchoring operations. The temporary support system has a forward exploration function, and the anchor support can be switched between dry and wet. It improves the adaptability to complex geological conditions, enhances the technical level of my country's excavation equipment, and fills a number of scientific research gaps in my country's coal tunnel excavation technology.

[0008] To achieve the above-mentioned purpose, the present invention provides a highly adaptable anchor-drilling machine with a dual-mode anchor-drilling system, comprising a frame body, a cutting system, a multifunctional temporary support system, an anchor-drilling system and an electro-hydraulic control system for controlling the operation of the anchor-drilling machine; the frame body comprises a left walking part, a right walking part, an intermediate frame, a tail frame, a left front sliding shoe and a right front sliding shoe; the left walking part and the right walking part are symmetrically fixed on both sides of the intermediate frame, the tail frame is fixed at the rear end of the intermediate frame, and the left front sliding shoe and the right front sliding shoe are respectively hinged at the front ends of the left walking part and the right walking part; the cutting system comprises a cutting reducer, a cutting drum, and a cutting arm , sliding mechanism, cutting height encoder device and cutting arm lifting cylinder; the sliding mechanism is arranged between the left walking part and the right walking part, including sliding track, sliding frame and sliding cylinder; the two sliding tracks are respectively fixed on the left walking part and the right walking part; the top of the sliding frame is hinged with the bottom end of the cutting arm through the cutting rotary pin shaft, and the bottom sliding sleeve is arranged on the sliding track; the two ends of the sliding cylinder are respectively hinged in the middle frame and on the sliding cylinder connecting ear seat of the sliding frame; the cutting reducer is installed at the top of the cutting arm; the cutting drum is installed on the cutting reducer; the cutting height encoder device is installed The cutting rotary pin is used to sense the swing angle of the cutting arm; the two ends of the cutting arm lifting cylinder are respectively hinged on the cutting arm and the sliding frame; the multifunctional temporary support system includes a temporary support protective plate, a front probe ceiling and a front probe cylinder; the front end of the temporary support protective plate is provided with a slide groove that slides with the front probe ceiling, and the rear end is threadedly connected to two screw mechanisms; the rear end of the screw mechanism is hinged with the screw mechanism connecting ear on the tail frame through a pin; two sets of support rods and two temporary support cylinders are provided on both sides of the front probe ceiling; the support rod includes a sleeve hinged with the front probe ceiling and an adjusting rod sleeved in the sleeve, and the sleeve A plurality of limit holes are arranged on it, a limit pin is inserted in one of the plurality of limit holes, the bottom end of the adjusting rod is hinged to the adjusting rod connecting ears at the front ends of the left walking part and the right walking part through a pin shaft; the cylinder barrel end of the temporary support oil cylinder is respectively hinged to the temporary support oil cylinder connecting ears at the front ends of the left front sliding shoe and the right front sliding shoe, and the piston rod end is hinged to the front exploration ceiling; the screw mechanism, the support rod and the temporary support oil cylinder suspend the temporary support protective plate and the front exploration ceiling above the cutting system; the two ends of the front exploration oil cylinder are respectively hinged in the temporary support protective plate and the front exploration ceiling; the anchor drilling system is arranged on the frame body for drilling and anchoring.

[0009] Furthermore, the multifunctional temporary support system also includes a mesh storage rack arranged at the rear end of the temporary support and protection plate and an automatic online mechanism arranged on the temporary support and protection plate; the automatic online mechanism includes a front rotating shaft and a rear rotating shaft arranged between the front exploration ceiling and the mesh storage rack, a rear rotating shaft motor driving the rear rotating shaft to rotate, and a sprocket chain structure connecting the front rotating shaft and the rear rotating shaft; the chain of the sprocket chain structure is provided with a protrusion that cooperates with the grid of the anchor net.

[0010] Furthermore, the frame body also includes a conveying slider; conveying chutes are arranged on the two track surfaces of the sliding frame; the mining and anchoring machine also includes a conveying system, which includes a shovel lifting cylinder and a shovel receiving mechanism, a front transport trough, a middle transport trough, a tail transport trough and a scraper feeding mechanism that are hinged in sequence; the cylinder ends of the two shovel lifting cylinders are respectively hinged to the shovel lifting cylinder mounting plates at the front ends of the left walking part and the right walking part, and the piston rod ends are connected to the connecting ears at both ends of the conveying slider; the shovel receiving mechanism is arranged below the cutting drum, for receiving the fallen coal from the cutting operation of the cutting drum, and conveying the fallen coal to the front transport trough; chute tracks are respectively arranged on both sides of the front end of the front transport trough, and a square pin sleeve is installed on the outside of the pin shaft hinged to the middle transport trough at the rear end; the chute track is slidably matched with the horizontal chute on the inner side of the conveying slider; the square pin sleeve is slidably arranged in the conveying chute.

[0011] Furthermore, a vertical slide groove is arranged on the outer side of the conveying slide block; and the shovel plate lifting cylinder mounting plate is clearance-matched with the vertical slide groove.

[0012] Furthermore, the above-mentioned mining and anchoring machine also includes a dust removal system; the dust removal system includes an adjustable dust curtain, a closed air guide channel, a wet dust collector and a negative pressure wind duct; the adjustable dust curtain is installed on the lower side of the front exploration ceiling, and forms a dust suction cavity with the tunnel floor, coal wall and roof, and the width can be adjusted according to the width of the tunnel; the closed air guide channel and the wet dust collector are arranged below the temporary support and protection plate, the front end of the closed air guide channel is communicated with the dust suction cavity, and the rear end is communicated with the wet dust collector, the exhaust port of the wet dust collector is connected to the negative pressure wind duct, and the mud discharge port is aligned with the middle transport trough.

[0013] Furthermore, the anchor drilling system is a wet and dry dual-mode anchor drilling system, including a wet and dry dual-speed drill box, a dry dust removal system, a roof anchor drilling mechanism and a side wall anchor drilling mechanism; the wet and dry dual-speed drill box is installed on the roof anchor drilling mechanism and the side wall anchor drilling mechanism; the dry dust removal system is arranged between the left walking part and the tail frame and between the right walking part and the tail frame, and is arranged symmetrically; there are 2 groups of roof anchor drilling mechanisms, which are respectively installed on the left front sliding shoe and the right front sliding shoe; there are 2 groups of side wall anchor drilling mechanisms, which are respectively installed on the front stabilizing support parts of the left walking part and the right walking part.

[0014] Furthermore, the above-mentioned mining and anchoring machine also includes an automatic lubrication system; the automatic lubrication system includes a lubrication pump, a lubrication valve group, pipelines and lubrication points; there are 8 lubrication points in total, which are respectively arranged between the sliding track and the sliding frame, on the cutting rotary pin shaft, on the conveying chute and on the lower hinge point of the cutting arm lifting cylinder.

[0015] Furthermore, the above-mentioned integrated anchoring and digging machine also includes a water-cooled spray system, and the spray terminals of the water-cooled spray system are respectively arranged on the cutting drum, the shovel plate receiving mechanism, and the middle transport trough.

[0016] Compared with the prior art, the present invention has the following beneficial effects.

[0017] 1. The present invention is designed for my country's special geological conditions. It is an integrated anchoring and digging machine that integrates dry-wet dual-purpose anchor drilling switching, multi-functional temporary support, multi-row multi-arm anchor support, and telescopic full-section cutting. It realizes parallel operation of digging and anchoring of excavation equipment and one-time forming of tunnels, filling the technical gap in this field in my country.

[0018] 2. The present invention is matched with the rapid excavation technology and complete equipment of coal tunnels to realize the integrated parallel operation of excavation, support, anchoring and transportation in the comprehensive mechanized excavation of coal tunnels, which greatly improves the efficiency and safety of coal mining and transportation, and can realize the automation of coal mining, support and transportation.

[0019] 3. The present invention mainly includes a frame body, a cutting system, a conveying system, a dust removal system, a multifunctional temporary support system, a dry and wet dual-purpose anchor drilling system, an automatic lubrication system, a water-cooled spray system, a hydraulic system, an electronic control system, etc. The entire system group is combined together to form a unified whole.

[0020] 4. The present invention adopts a telescopic cutting drum and a loading shovel to ensure that the tunnel is formed in one step. The width of the drum and the shovel can be adjusted to meet the requirements of insufficient mining width and improve the adaptability and flexibility of the whole machine.

[0021] 5. The chassis of the present invention adopts a main frame and a sub-frame that slide relative to each other. The cutting mechanism, the shovel mechanism, and the transport mechanism can slide relative to the main frame together with the sub-frame. The drilling rig is fixed on the main frame, and the drilling and anchoring operations can be realized simultaneously.

[0022] 6. The walking mechanism of the present invention adopts a single-wheel-driven wide crawler design, which greatly reduces the ground contact pressure of the whole machine and improves the adaptability of the integrated digging and anchoring machine to the muddy bottom plate.

[0023] 7. The multifunctional temporary support system of the present invention integrates automatic net laying, dust removal device and forward exploration functions, can realize automatic transportation of anchor net, and has a high degree of automation; the loaded dust removal device can effectively reduce the dust on the working surface; the slidable forward exploration top plate realizes the linkage and interlocking with the cutting height and the grooving depth, making zero empty top distance possible; the design of determining the screw adjustment length according to the mining height improves the adaptability of the system.

[0024] 8. The dust removal of the anchor drilling system of the present invention has two functions: dry dust removal and wet dust removal. According to the geological conditions of the tunnel floor, real-time switching selection is performed without the need to replace the drill box.

[0025] 9. The drilling rig is operated by electro-hydraulic control, and the operation panel integrates operation and display, which improves the comfort of the operator and makes maintenance more convenient.

[0026] 10. The present invention adopts mechatronics design, which is suitable for my country's coalfield geological conditions and explosion-proof requirements, and overcomes the shortcomings of imported models; the design structure is reasonable, the operation and maintenance are convenient, and the safety is good; the mechanical, electrical, hydraulic and water mechanisms cooperate with each other, which greatly improves the performance of the anchor digger and can increase the work efficiency by 3-4 times compared with the tunneling machine. It is suitable for my country's coalfield conditions and is a very ideal coal mine underground tunneling equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic structural diagram of a highly adaptable integrated anchor drilling machine with a dual-mode anchor drilling system provided by the present invention;

[0028] Figure 2 for Figure 1 A view of the anchor and digging machine from another direction;

[0029] Figure 3 for Figure 1 The coordination diagram of the frame body and the sliding mechanism in the anchor-digger shown in the figure;

[0030] Figure 4 for Figure 3 The structural schematic diagram of the conveying slider shown in the figure;

[0031] Figure 5 for Figure 1 The structural schematic diagram of the cutting system in the integrated digging and anchoring machine shown;

[0032] Figure 6 for Figure 1 The structural schematic diagram of the conveying system in the anchor-digger shown;

[0033] Figure 7 for Figure 1 The coordination diagram of the dust removal system and the multifunctional temporary support system in the integrated digging and anchoring machine shown;

[0034] Figure 8 for Figure 1 The working process diagram of the wet and dry dual-speed drill box and dry dust removal system in the anchor and digging machine shown;

[0035] Fig. 9 for Figure 1 The schematic diagram of the structure of the low pressure ratio chassis of the anchor and digging machine is shown.

[0036] In the figure: 1-frame body, 11-left walking part, 12-right walking part, 121-pressing cover, 122-track frame, 123-track chain, 124-guide device, 125-driving device, 13-middle frame, 14-tail frame, 15-rear stabilizing support part, 16-front stabilizing support part, 17-left front sliding shoe, 18-right front sliding shoe, 19-conveying slider, 191-connecting ear, 192-horizontal slide groove, 193-vertical slide groove,

[0037] 2-cutting system, 21-cutting reducer, 22-cutting drum, 23-cutting arm, 24-sliding mechanism, 241-sliding track, 242-sliding frame, 243-cutting rotary pin, 244-conveying chute, 245-sliding cylinder, 246-sliding cylinder connecting ear seat, 25-cutting height encoder device,

[0038] 3-Conveying system, 31-Shovel board receiving mechanism, 32-Front transport trough, 33-Middle transport trough, 34-Tail transport trough, 35-Scraper feeding mechanism, 36-Square pin sleeve, 37-Shovel board lifting cylinder, 38-Slide track

[0039] 4-dust removal system, 41-adjustable dust curtain, 42-enclosed air guide channel, 43-wet dust collector, 44-negative pressure air cylinder,

[0040] 5-Multi-function temporary support system, 51-temporary support protection plate, 52-automatic net-up mechanism, 53-front-exploring ceiling, 54-mesh storage rack, 55-support rod, 56-temporary support cylinder, 57-screw mechanism,

[0041] 6-anchor drilling system, 61-dry and wet dual-speed drilling box, 62-dry dust removal system, 621-cyclone, 622-dust removal box, 623-filter element, 624-fan, 625-muffler, 626-air duct, 627-exhaust seat, 63-top plate anchor drilling mechanism, 631-inner drill arm, 632-outer drill arm, 633-top anchor base, 64-side anchor drilling mechanism, 641-side drill arm, 642-rotation motor, 643-drill arm lifting mechanism,

[0042] 7-Automatic lubrication system, 71-Lubrication pump, 72-Lubrication valve group, 73-Pipeline, 74-Lubrication point, 75-Lower hinge point of cutting arm lifting cylinder,

[0043] 8-Water cooling spray system, 9-Hydraulic system, 10-Electronic control system. DETAILED DESCRIPTION

[0044] The present embodiment provides a highly adaptable anchor-drilling machine with a dual-mode anchor-drilling system, including a frame body 1, a cutting system 2, a multifunctional temporary support system 5, an anchor-drilling system 6, and an electro-hydraulic control system for controlling the operation of the anchor-drilling machine; the frame body 1 includes a left walking part 11, a right walking part 12, an intermediate frame 13, a tail frame 14, a rear stabilizing support part 15, a left front sliding shoe 17, and a right front sliding shoe 18; the left walking part 11 and the right walking part 12 are symmetrically fixed on both sides of the intermediate frame 13, the tail frame 14 is fixed at the rear end of the intermediate frame 13, the rear stabilizing support part 15 is connected to the tail frame 14, and the left front sliding shoe 17 and the right front sliding shoe 18 are respectively hinged at the front ends of the left walking part 11 and the right walking part 12; the cutting system 2 includes a cutting The reducer 21, the cutting drum 22, the cutting arm 23, the sliding mechanism 24, the cutting height encoder device 25 and the cutting arm lifting cylinder; the sliding mechanism 24 is arranged between the left walking part 11 and the right walking part 12, and includes a sliding rail 241, a sliding frame 242 and a sliding cylinder 245; the two sliding rails 241 are respectively fixed on the left walking part 11 and the right walking part 12; the top of the sliding frame 242 is hinged to the bottom end of the cutting arm 23 through the cutting rotary pin 243, and the bottom sliding sleeve is arranged on the sliding rail 241; the two ends of the sliding cylinder 245 are respectively hinged in the middle frame 13 and on the sliding cylinder connecting ear seat 246 of the sliding frame 242; the cutting reducer 21 is installed on the top of the cutting arm 23 The cutting drum 22 is mounted on the cutting reducer 21; the cutting height encoder device 25 is mounted on the cutting rotary pin 243, which can accurately sense the swing angle of the cutting drum 22, and work together with the sliding cylinder 245 to allow the anchor mining machine to automatically complete a cutting cycle and realize the automatic cutting function; the two ends of the cutting arm lifting cylinder are respectively hinged on the cutting arm 23 and the sliding frame 242, which are used to drive the cutting arm 23 to rise and fall; the multifunctional temporary support system 5 includes a temporary support and protection plate 51, a front exploration ceiling 53 and a front exploration cylinder; the front end of the temporary support and protection plate 51 is provided with a slide groove that slides with the front exploration ceiling 53, and the rear end is threadedly connected to two screw mechanisms 57; the rear end of the screw mechanism 57 is connected by a pin The shaft is hinged to the screw mechanism connecting ear on the tail frame 14, and its length is adjusted by rotating the screw mechanism 57, so that the multifunctional temporary support system 5 can adapt to different tunnel heights; two groups of support rods 55 and two temporary support cylinders 56 are provided on both sides of the front exploration ceiling 53; the support rod 55 includes a sleeve hinged to the front exploration ceiling 53 and an adjustment rod sleeved in the sleeve, a plurality of limiting holes are provided on the sleeve, a limiting pin is inserted in one of the plurality of limiting holes, and the bottom end of the adjustment rod is hinged to the adjustment rod connecting ear at the front end of the left walking part 11 and the right walking part 12 through a pin shaft; the cylinder end of the temporary support cylinder 56 is respectively hinged to the temporary support cylinder connecting ear at the front end of the left front sliding shoe 17 and the right front sliding shoe 18, and the piston rod end is hinged to the front exploration ceiling 53;The screw mechanism 57, the support rod 55 and the temporary support oil cylinder 56 suspend the temporary support protection plate 51 and the front exploration ceiling 53 above the cutting system 2; the two ends of the front exploration oil cylinder are respectively hinged in the temporary support protection plate 51 and the front exploration ceiling 53; the anchor drilling system 6 is set on the frame body 1 for drilling and anchoring. ;

[0045] The above-mentioned integrated excavator and anchoring machine drives the sliding frame 242 to slide along the sliding track 241 through the extension and retraction of the sliding cylinder 245, thereby realizing the forward and backward movement of the cutting arm 23 relative to the frame body 1. The cutting operation can be carried out simultaneously without affecting the drilling and anchoring operations of the anchor drilling system 6, thereby realizing parallel and synchronous operations of the cutting operation and the anchoring operation, thereby improving the efficiency and speed of tunnel excavation. When the anchor-mining machine is performing the trenching operation, under the action of the temporary support cylinder 56, the temporary support protection plate 51 and the front exploration ceiling 53 adaptively contact the roadway roof and exert a certain force, the cutting drum 22 rises, trenches, cuts down, and pulls down. After the entire cutting process is completed, the temporary support cylinder 56 retracts a distance (about 50-100mm), and the front exploration cylinder extends to push the front exploration ceiling 53 out a certain distance. This distance can be pre-set according to the need for the empty top distance. Then the temporary support cylinder 56 rises, and the adaptive top plate is connected to the top, so that the empty top distance is reduced to zero, and the effect of the roadway roof control is improved and improved, realizing the linkage between the front exploration depth and the mining height. Since the effective length of the screw mechanism 57 has a certain matching relationship with the roadway mining height, when the mining height changes, the screw mechanism 57 needs to be adjusted. At the same time, the size of the roadway mining height also determines the installation position of the upper limit pin of the support rod 55.

[0046] Furthermore, the left walking part 11 and the right walking part 12 adopt a conventional crawler chassis structure. Aiming at the special geological conditions of the Huangling mining area in northern Shaanxi, where the floor conditions are poor and mud is easily formed when encountering water, this embodiment provides a low-pressure chassis structure, which greatly improves the adaptability of the whole machine. Compared with the traditional chassis structure, while ensuring that the width of the whole machine remains unchanged, the width of the crawler structure is increased, the occupied space of the crawler chassis is reduced, and the ground pressure of the chassis is reduced, so it is called a low-pressure chassis structure. Its main structure includes a crawler frame 122, a crawler chain 123, a guide device 124, a drive device 125, etc.

[0047] Furthermore, semicircular protrusions are provided at both ends of the sliding track 241, and rectangular blocks are provided on the left walking part 11 and the right walking part 12. The radial surface of the semicircular protrusion is placed on the rectangular block, and the semicircular groove of the pressure cover 121 is buckled on the semicircular surface of the semicircular protrusion and fixed by bolts. The semicircular structure can effectively prevent the circumferential rotation of the sliding track 241.

[0048] Furthermore, the multifunctional temporary support system 5 also includes a mesh storage rack 54 arranged at the rear end of the temporary support protection plate 51 and an automatic online mechanism 52 arranged on the temporary support protection plate 51; the automatic online mechanism 52 includes a front shaft and a rear shaft arranged between the front exploration ceiling 53 and the mesh storage rack 54, a rear shaft motor driving the rear shaft to rotate, and a sprocket chain structure connecting the front shaft and the rear shaft; the chain of the sprocket chain structure is provided with a protrusion that matches the grid of the anchor net. The mesh storage rack 54 is used to store the anchor net. The automatic online mechanism 52 is used for conveying the anchor net, the anchor net is installed on the protrusion of the chain for fixing, the rear shaft motor is started to drive the front shaft and the rear shaft to rotate, the chain runs, and the conveying of the anchor net is realized.

[0049] Furthermore, the top of the sleeve of the support rod 55 is an arc-shaped surface, and between the sleeve connecting ears on the front probe ceiling 53 is an arc-shaped groove that matches the arc-shaped surface. The sleeve is hinged to the sleeve connecting ear through a pin shaft, and the arc-shaped surface and the arc-shaped groove cooperate to disperse the force between the sleeve and the sleeve connecting ear, so that the pin shaft only plays a connecting role without being subjected to force. The hinge between the cylinder end of the temporary support oil cylinder 56 and the temporary support oil cylinder connecting ear and the hinge between the piston rod end and the front probe ceiling 53 are both structures in which the arc-shaped surface and the arc-shaped groove cooperate.

[0050] Furthermore, the frame body 1 also includes a conveying slide block 19; conveying chutes 244 are arranged on the two track surfaces of the sliding frame 242; the anchor mining machine also includes a conveying system 3, which includes a shovel lifting cylinder 37 and a shovel receiving mechanism 31, a front transport trough 32, a middle transport trough 33, a rear transport trough 34 and a scraper feeding mechanism 35 which are hinged in sequence; the cylinder ends of the two shovel lifting cylinders 37 are respectively hinged to the shovel lifting cylinder mounting plates at the front ends of the left walking part 11 and the right walking part 12, and the pistons The rod end is connected to the connecting ears 191 at both ends of the conveying slider 19; the shovel plate receiving mechanism 31 is arranged below the cutting drum 22, for receiving the fallen coal from the cutting operation of the cutting drum 22, and conveying the fallen coal to the front conveying trough 32; the front conveying trough 32 is provided with slide rails 38 on both sides of the front end, and the rear end of the front conveying trough is hinged with the middle conveying trough 33 and the pin shaft is provided with a square pin sleeve 36; the slide rail 38 is slidably matched with the horizontal slide 192 on the inner side of the conveying slider 19; the square pin sleeve 36 is slidably arranged in the conveying slide 244. Through the cooperation of the chute track 38 and the horizontal chute 192 and the cooperation of the square pin sleeve 36 and the conveying chute 244, the conveying system 3 is slidably installed between the two track surfaces of the sliding frame 242, and the conveying system 3 is lifted and lowered through the connection between the shovel lifting cylinder 37 and the connecting ear 191, so that the cutting system 2 and the conveying system 3 become a mutually linked whole. Under the action of the sliding cylinder 245, the grooving, cutting, pulling the bottom, dropping coal, and conveying form a linkage to complete the entire cutting operation. The coal dropped from the cutting operation of the cutting drum 22 falls into the shovel receiving mechanism 31, and the rake on the shovel receiving mechanism 31 is constantly moved to transport the coal blocks from the two sides of the shovel receiving mechanism 31 to the middle. Under the action of the scraper feeding mechanism 35, the material is transported to the next device through the front transport trough 32, the middle transport trough 33, and the tail transport trough 34. The shovel receiving mechanism 31 is hinged to the front transport trough 32 through four connecting pins, and can swing vertically relative to each other; the front transport trough 32 and the middle transport trough 33 are hinged to the conveyor lifting and rotating pins, and can swing vertically relative to each other; the middle transport trough 33 and the tail transport trough 34 are hinged to the conveyor tail swing pins, and can swing horizontally relative to each other; the scraper feeding mechanism 35 realizes transportation through a chain drive with gear meshing.

[0051] Furthermore, a vertical slide groove 193 is provided on the outer side of the conveying slider 19; the shovel lifting cylinder mounting plate is clearance-matched with the vertical slide groove 193, which can not only limit the lifting process of the conveying slider 19, but also make the conveying slider 19 deflect a certain angle, thereby realizing vertical limitation and angle fine-tuning of the conveying system 3.

[0052] The conveying slider 19 is a plate welding structure, and the required material is required to have good mechanical properties, connection process performance, room temperature impact toughness and tear resistance, and can meet the complex working conditions underground.

[0053] Furthermore, the above-mentioned mining and anchoring machine also includes a dust removal system 4; the dust removal system 4 includes an adjustable dust curtain 41, a closed air guide channel 42, a wet dust collector 43 and a negative pressure wind tube 44; the adjustable dust curtain 41 is installed on the lower side of the front exploration ceiling 53, and forms a relatively closed dust suction cavity with the tunnel floor, coal wall and roof, which is used to limit the diffusion of coal dust during coal cutting operations. The width can be adjusted according to the width of the tunnel, such as using a telescopic rod structure to improve adaptability; the closed air guide channel 42 and the wet dust collector 43 are arranged below the temporary support and protection plate 51, the front end of the closed air guide channel 42 is communicated with the dust suction cavity, and the rear end is communicated with the wet dust collector 43, the exhaust port of the wet dust collector 43 is connected to the negative pressure wind tube 44, and the mud discharge port is aligned with the middle transport trough 33. The coal dust generated on the working face passes through the closed air guide channel 42. Part of it is discharged into the middle transport trough 33 in the form of coal slurry through the sludge action of the wet dust collector 43 and discharged along with the scraper feeding mechanism 35; part of it enters the negative pressure wind duct 44 and is discharged into the tunnel under the action of the negative pressure fan.

[0054] Furthermore, the anchor drilling system 6 is a wet and dry dual-mode anchor drilling system, including a wet and dry dual-speed drill box 61, a dry dust removal system 62, a roof anchor drilling mechanism 63 and a side wall anchor drilling mechanism 64; the wet and dry dual-speed drill boxes 61 are respectively installed on the roof anchor drilling mechanism 63 and the side wall anchor drilling mechanism 64, totaling 6 groups; the dry dust removal system 62 is arranged between the left walking part 11 and the tail frame 14 and between the right walking part 12 and the tail frame 14, and is arranged symmetrically; the roof anchor drilling mechanism 63 has 2 groups, which are respectively installed on the left front sliding shoe 17 and the right front sliding shoe 18; the side wall anchor drilling mechanism 64 has 2 groups, which are respectively installed on the front stabilizing support part 16 of the left walking part 11 and the right walking part 12.

[0055] Furthermore, the dry dust removal system 62 comprises a cyclone 621, a dust removal box 622, a filter element 623, a fan 624, a muffler 625, an air duct 626, an exhaust seat 627 and other auxiliary parts. The specific working process is: dust → drill box → cyclone → dust removal box (settling chamber → filter element) → fan → muffler → exhaust seat → atmosphere.

[0056] Furthermore, the wet and dry dual-speed drill box 61 has a high speed of 700 r / min, a low speed of 100 r / min, and a maximum torque of 315 N·m.

[0057] Furthermore, the top plate anchor drilling mechanism 63 includes an inner drill arm 631, an outer drill arm 632 and a top anchor base 633. The two top anchor bases 633 are respectively hinged with the left front sliding shoe 17 and the right front sliding shoe 18, and the lifting action is realized under the action of the temporary support oil cylinder 56. The inner drill arm 631 and the outer drill arm 632 are installed on the top anchor base 633, and can swing left and right, front and back, to meet the needs of top plate support and anchoring. The side support anchor drilling mechanism 64 includes a side support drill arm 641, a rotary motor 642 and a drill arm lifting mechanism 643. The drill arm lifting mechanism 643 is installed on the front stable support part 16. The rotation angle of the rotary motor 642 is 0 to 180 degrees, which meets the needs of different heights and angles of the opposite side of the side support drill arm.

[0058] Furthermore, the above-mentioned anchoring and digging machine also includes an automatic lubrication system 7; the automatic lubrication system 7 includes a lubrication pump 71, a lubrication valve group 72, a pipeline 73 and a lubrication point 74; there are 8 lubrication points 74, which are respectively arranged between the sliding track 241 and the sliding frame 242, on the cutting rotation pin 243, on the conveying chute 244 and on the lower hinge point 75 of the cutting arm lifting cylinder. When the anchoring and digging machine is started, the lubrication pump 71 starts to work, pumping the lubricating oil to each lubrication point 74, providing continuous lubrication, and ensuring the sliding of the sliding frame 242 and the rotation and lifting of the cutting arm 23 are smooth.

[0059] Furthermore, the above-mentioned integrated mining and anchoring machine also includes a water-cooled spray system 8, and the spray terminals of the water-cooled spray system 8 are respectively arranged on the cutting drum 22, the shovel plate receiving mechanism 31, and the middle transport trough 33 to form a certain dust elimination area.

[0060] The electro-hydraulic control system includes a hydraulic system 9 and an electronic control system 10. The hydraulic system 9 is an open variable system, including a triple pump station, an oil tank, actuators (fuel pump motor, rotary motor, lubrication pump motor, water pump motor, several oil cylinders), control valves and valve blocks, etc., to complete the actions of anchor drilling, walking, dust removal, cutting, shipping, refueling and lubrication of the whole machine. The electronic control system 10 includes a main electric control box, a frequency conversion control box, a remote control device, a solenoid valve, a motor, a sensor, and an audible and visual alarm device, which provides power for each action of the whole machine, realizes the protection function of components, and can provide information such as the working status, fault conditions and communication status of related equipment of the whole machine.

[0061] In the above-mentioned integrated digging and anchoring machine, the conveying system 3 runs through the front and rear of the integrated digging and anchoring machine to realize the collection and transfer of materials. The dust removal system 4 is arranged on the upper part of the integrated digging and anchoring machine to collect, muddy and discharge the dust generated during the cutting operation to reduce the dust concentration on the working surface. The front end of the multifunctional temporary support system 5 is connected to the left front sliding shoe 17 and the right front sliding shoe 18, and the rear end is connected to the tail frame 14, which can realize effective control of the top plate and improve the stability and reliability of the whole machine. The anchor drilling system 6 supports the top plate and the side. The automatic lubrication system 7 is located on the left walking part 11. The water-cooling spray system 8 is arranged on the right walking part 12. The hydraulic system 9 is arranged at the front end of the left walking part 11 and the automatic lubrication system 7.

[0062] The cutting operation process of the above-mentioned integrated miner and anchor machine is: the cutting arm 23 is raised - cutting starts - transportation starts - slotting - cutting down - pulling down, and the above steps are repeated. Among them, after the cutting starts, the telescopic drum automatically extends, the dust removal fan automatically starts, the pressure water pump automatically starts, and the internal spray system and the external spray system start working; when the transportation starts, the loading motor is linked with the conveying motor, and the loading motor starts with a delay; when the slotting operation is in progress, the slotting speed can be adjusted according to the load conditions, and the slotting depth (maximum 1m) depends on the hardness of the coal; the main function of pulling down is to level and clean the bottom plate.

[0063] The anchoring operation process of the above-mentioned integrated digging and anchoring machine is as follows: adjusting the posture of the anchor drilling mechanism - raising the support column of the drilling rig (with top anchor mechanism, but without side anchor mechanism) - adjusting the feed speed of the drill box - drilling - drilling is completed, removing the drill rod - placing the medicine roll - inserting the drill rod, loading the tray - stirring - tightening the nut - returning the drill box - lowering the support column - returning the drill frame to its original position, completing the entire anchoring operation. The top plate anchoring operation and the side wall anchoring operation do not interfere with each other and are carried out simultaneously.

[0064] The above-mentioned cutting operation and anchoring operation can be performed in parallel and synchronously, thereby improving the efficiency and speed of tunnel excavation.

[0065] The above-mentioned anchoring and digging machine has an automatic cutting function. A slotting displacement sensor is installed on the sliding cylinder 245, and a cutting height encoder 25 is installed on the cutting rotary pin 243. The slotting displacement sensor and the cutting height encoder 25 can accurately sense the position of the cutting drum of the anchoring and digging machine. By setting several parameters of the cutting drum of the anchoring and digging machine: maximum cutting height, minimum cutting height, drum starting position, drum ending position, slotting stroke, etc., the anchoring and digging machine can automatically complete a cutting cycle. At the same time, it has a memory cutting function, which reduces the work intensity of the staff and improves the digging efficiency.

[0066] The above are only embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A highly adaptable anchor drilling machine with a dual-mode anchor drilling system, characterized in that: It comprises a frame body (1), a cutting system (2), a multifunctional temporary support system (5), an anchor drilling system (6), and an electro-hydraulic control system for controlling the operation of the anchor drilling machine; The frame body (1) comprises a left walking part (11), a right walking part (12), an intermediate frame (13), a tail frame (14), a left front sliding shoe (17) and a right front sliding shoe (18); The left walking part (11) and the right walking part (12) are symmetrically fixed on both sides of the middle frame (13), the tail frame (14) is fixed on the rear end of the middle frame (13), and the left front sliding shoe (17) and the right front sliding shoe (18) are respectively hinged on the front ends of the left walking part (11) and the right walking part (12); The cutting system (2) comprises a cutting reducer (21), a cutting drum (22), a cutting arm (23), a sliding mechanism (24), a cutting height encoder device (25) and a cutting arm lifting cylinder; The sliding mechanism (24) is arranged between the left walking part (11) and the right walking part (12), and comprises a sliding rail (241), a sliding frame (242) and a sliding oil cylinder (245); The two sliding rails (241) are respectively fixed on the left walking part (11) and the right walking part (12); The top end of the sliding frame (242) is hinged to the bottom end of the cutting arm (23) via a cutting rotary pin (243), and the bottom end is slidably sleeved on the sliding track (241); The two ends of the sliding oil cylinder (245) are respectively hinged in the middle frame (13) and on the sliding oil cylinder connecting ear seats (246) of the sliding frame (242); The cutting reducer (21) is mounted on the top of the cutting arm (23); The cutting drum (22) is mounted on the cutting reducer (21); The cutting height encoder device (25) is mounted on the cutting rotary pin (243) and is used to sense the swing angle of the cutting arm (23); The two ends of the cutting arm lifting cylinder are respectively hinged on the cutting arm (23) and the sliding frame (242); The multifunctional temporary support system (5) comprises a temporary support protection plate (51), a front exploration ceiling (53) and a front exploration cylinder; The front end of the temporary support and protection plate (51) is provided with a slide groove that slidably cooperates with the front exploration ceiling (53), and the rear end is threadedly connected to two screw mechanisms (57); The rear end of the screw mechanism (57) is hinged to the screw mechanism connecting ear on the tail frame (14) via a pin; Two sets of support rods (55) and two temporary support cylinders (56) are provided on both sides of the front exploration ceiling (53); The support rod (55) comprises a sleeve hinged to the front probe ceiling (53) and an adjustment rod sleeved in the sleeve, the sleeve is provided with a plurality of limit holes, a limit pin is inserted into one of the plurality of limit holes, and the bottom end of the adjustment rod is hinged to the adjustment rod connecting ears at the front ends of the left walking part (11) and the right walking part (12) via a pin shaft; The cylinder barrel end of the temporary support oil cylinder (56) is hinged to the temporary support oil cylinder connecting ears at the front ends of the left front sliding shoe (17) and the right front sliding shoe (18), respectively, and the piston rod end is hinged to the front exploration ceiling (53); The screw mechanism (57), the support rod (55) and the temporary support oil cylinder (56) suspend the temporary support protection plate (51) and the front exploration ceiling (53) above the cutting system (2); The two ends of the forward exploration oil cylinder are respectively hinged in the temporary support and protection plate (51) and the forward exploration ceiling (53); The anchor drilling system (6) is arranged on the frame body (1) and is used for drilling holes and anchoring.

2. The highly adaptable integrated anchor drilling machine with dual-mode anchor drilling system according to claim 1, characterized in that: The multifunctional temporary support system (5) further comprises a mesh storage rack (54) arranged at the rear end of the temporary support and protection plate (51) and an automatic net-climbing mechanism (52) arranged on the temporary support and protection plate (51); The automatic net-raising mechanism (52) comprises a front rotating shaft and a rear rotating shaft arranged between the front exploration ceiling (53) and the net storage rack (54), a rear rotating shaft motor driving the rear rotating shaft to rotate, and a sprocket chain structure connecting the front rotating shaft and the rear rotating shaft; The chain of the sprocket chain structure is provided with protrusions which match with the grid of the anchor net.

3. The highly adaptable integrated anchoring and digging machine with a dual-mode anchor drilling system according to claim 2, characterized in that: The frame body (1) further comprises a conveying slide block (19); Conveying slide grooves (244) are arranged on two rail surfaces of the sliding frame (242); The anchor-mining machine further comprises a conveying system (3), the conveying system (3) comprising a shovel lifting cylinder (37) and a shovel receiving mechanism (31), a front transport trough (32), a middle transport trough (33), a rear transport trough (34) and a scraper feeding mechanism (35) which are hinged in sequence; The cylinder barrel ends of the two shovel lifting cylinders (37) are respectively hinged to the shovel lifting cylinder mounting plates at the front ends of the left walking part (11) and the right walking part (12), and the piston rod ends are connected to the connecting ears (191) at both ends of the conveying slide block (19); The shovel plate receiving mechanism (31) is arranged below the cutting drum (22) and is used to receive the fallen coal from the cutting operation of the cutting drum (22) and transport the fallen coal to the front transport chute (32); The front sides of the front transport trough (32) are respectively provided with slideway tracks (38), and the rear end of the pin shaft hinged to the middle transport trough (33) is provided with a square pin sleeve (36); The slide groove track (38) is slidably matched with the horizontal slide groove (192) inside the conveying slide block (19); The square pin sleeve (36) is slidably disposed in the conveying chute (244).

4. The highly adaptable integrated anchoring and digging machine with a dual-mode anchor drilling system according to claim 3 is characterized in that: A vertical slide groove (193) is provided on the outer side of the conveying slide block (19); The shovel plate lifting cylinder mounting plate is clearance-matched with the vertical slide groove (193).

5. The highly adaptable integrated anchoring and digging machine with a dual-mode anchor drilling system according to claim 3 is characterized in that: Also includes a dust removal system (4); The dust removal system (4) comprises an adjustable dust-blocking curtain (41), a closed air guide channel (42), a wet dust collector (43) and a negative pressure air cylinder (44); The adjustable dust-blocking curtain (41) is installed on the lower side of the front exploration ceiling (53) to form a dust-absorbing cavity with the tunnel floor, coal wall and roof, and the width of which can be adjusted according to the width of the tunnel; The closed air guide channel (42) and the wet dust collector (43) are arranged below the temporary support and protection plate (51); the front end of the closed air guide channel (42) is in communication with the dust suction cavity, and the rear end is in communication with the wet dust collector (43); the air outlet of the wet dust collector (43) is connected to the negative pressure air cylinder (44), and the mud outlet is aligned with the middle transport trough (33).

6. The highly adaptable integrated anchoring and digging machine with a dual-mode anchor drilling system according to claim 1, characterized in that: The anchor drilling system (6) is a wet and dry dual-mode anchor drilling system, comprising a wet and dry dual-speed drilling box (61), a dry dust removal system (62), a top plate anchor drilling mechanism (63) and a side wall anchor drilling mechanism (64); The wet and dry dual-speed drilling box (61) is installed on the top plate anchor drilling mechanism (63) and the side wall anchor drilling mechanism (64); The dry dust removal system (62) is disposed between the left walking section (11) and the tail frame (14) and between the right walking section (12) and the tail frame (14), and is symmetrically arranged; The roof anchor drilling mechanism (63) comprises two groups, which are respectively mounted on the left front sliding shoe (17) and the right front sliding shoe (18); There are two sets of the side anchor drilling mechanisms (64), which are respectively mounted on the front stabilizing support parts (16) of the left walking part (11) and the right walking part (12).

7. The highly adaptable integrated anchoring and digging machine with a dual-mode anchor drilling system according to claim 3, characterized in that: Also includes an automatic lubrication system (7); The automatic lubrication system (7) comprises a lubrication pump (71), a lubrication valve group (72), a pipeline (73) and a lubrication point (74); There are a total of eight lubrication points (74), which are respectively arranged between the sliding track (241) and the sliding frame (242), on the cutting rotary pin shaft (243), on the conveying chute (244), and on the lower hinge point (75) of the cutting arm lifting cylinder.

8. The highly adaptable integrated anchoring and digging machine with a dual-mode anchor drilling system according to claim 7, characterized in that: It also includes a water-cooling spray system (8), the spray terminals of which are respectively arranged on the cutting drum (22), the shovel plate receiving mechanism (31), and the middle transport trough (33).

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