Improved working mechanism for tunnel repair and tunnel repair machine

Abstract

The present invention relates to an improved working mechanism for tunnel repair and a tunnel repair machine thereof, comprising: a slewing mechanism, a lifting mechanism, a main arm, a main arm cylinder, a dipper arm, a dipper arm mounting base, a dipper arm cylinder, a bucket, and a dipper arm cylinder. One end of the main arm is pivotally connected to one end of the slewing mechanism and one end of the dipper arm mounting base, respectively. Two ends of the main arm cylinder are pivotally connected to the other ends of the slewing mechanism and the main arm, respectively. One end of the dipper arm mounting base is hingedly connected to one end of the dipper arm cylinder, and the other end of the dipper arm cylinder is connected to the main arm. A dipper arm is rotatably provided at the other end of the dipper arm mounting base, and the dipper arm is provided with a dipper cylinder. One end of the dipper arm cylinder is fixedly connected to the dipper arm, and the other end of the dipper arm cylinder is hingedly connected to the bucket via a second connecting rod. The second connecting rod hingedly connected to the bucket is further hingedly connected to a first connecting rod, and one end of the first connecting rod is hingedly connected to the bucket cylinder. The entire machine has a compact structure and small dimensions, facilitating both entry and exit into a well. The dipper at the front end of the working mechanism can rotate 360 ​​degrees, further facilitating tunnel repair.

Description

Technical Field

[0001] The present invention relates to tunnel repair equipment, in particular to an improved tunnel repair working mechanism and a tunnel repair machine thereof, belonging to the technical field of tunnel repair. Background Art

[0002] The tunnel repair machine for coal mines (referred to as tunnel repair machine) can be equipped with a breaker hammer to realize multiple functions such as excavation, side excavation, rock breaking, and gangue discharge. One machine can complete the entire tunnel repair operation.

[0003] The working arm of existing coal mine tunnel repair machines can rotate ±90° along the body axis, meeting various requirements such as excavation, side excavation, flipping, rock breaking, loading, and lifting. It can also perform multiple functions such as digging rough ditches, laying the bottom, breaking rock, clearing loose coal, cleaning the bottom of conveyor belts, leveling tunnels, and lifting small accessories. However, the bucket or breaker hammer at the front of the working device can only rotate synchronously with the main arm, rotating ±90°, which prevents the bucket from achieving 360° excavation and hinders comprehensive tunnel repair. Summary of the Invention

[0004] In view of the defects of the above-mentioned technology, the purpose of the present invention is to provide an improved working mechanism for tunnel repair and a tunnel repair machine thereof. Compared with traditional equipment, the bucket or crushing hammer head at the front end of the working device can rotate 360°, which is more convenient for tunnel repair.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an improved working mechanism for tunnel repair: comprising: a slewing mechanism, a lifting mechanism, a main arm, a main arm cylinder, a bucket arm, a bucket arm fixing seat, a bucket arm cylinder, a bucket, and a bucket cylinder; one end of the main arm is pivotally connected to the slewing mechanism and one end of the bucket arm fixing seat respectively, and two ends of the main arm cylinder are pivotally connected to the slewing mechanism and the other end of the main arm respectively, one end of the bucket arm fixing seat is hingedly connected to one end of the bucket arm cylinder, and the other end of the bucket arm cylinder is connected to the main arm; a bucket arm is rotatably provided at the other end of the bucket arm fixing seat, and a bucket cylinder is provided on the bucket arm, one end of the bucket cylinder is fixedly connected to the bucket arm, and the other end of the bucket cylinder is hingedly connected to the bucket through a second connecting rod; the second connecting rod hingedly connected to the bucket is also hingedly connected to a first connecting rod, one end of the first connecting rod is hingedly connected to the bucket cylinder, and the other end of the first connecting rod is hingedly connected to the bucket arm; the slewing mechanism is fixedly connected to the lifting mechanism;

[0006] Furthermore, the main arm, main arm cylinder, bucket arm, bucket arm fixing seat, bucket arm cylinder, bucket, bucket cylinder as an integral structure perform vertical movement with the aid of a lifting mechanism; the main arm, main arm cylinder, bucket arm, bucket arm fixing seat, bucket arm cylinder, bucket, bucket cylinder as an integral structure perform rotational movement with the aid of a slewing mechanism; the bucket, bucket cylinder, bucket arm, together with the first connecting rod and the second connecting rod as an integral structure perform rotational movement relative to the bucket arm fixing seat under the action of the bucket arm cylinder, thereby achieving 360-degree full-scale rotation of the bucket;

[0007] Furthermore, the bucket arm rotates relative to the bucket arm fixing base to achieve 360-degree full-scale rotation of the bucket, including a rotation mechanism, which is arranged in the bucket arm fixing base, the rotation mechanism is connected to the bucket arm through a support, and the bucket arm rotates relative to the bucket arm fixing base through the action of the driving structure;

[0008] Furthermore, the driving structure for the bucket arm to rotate the bucket arm fixing seat includes a motor drive form or a spiral swing hydraulic cylinder drive form;

[0009] Furthermore, the rotation mechanism includes: a spiral swing rod, the spiral swing rod is arranged in the bucket arm fixing seat and one end of the spiral swing rod extends from the bucket arm fixing seat, the other end of the spiral swing rod is provided with a main shaft, and the bucket arm oil cylinder is connected to the spiral swing rod to provide hydraulic pressure therefor; a first bearing is provided on the main shaft close to the top end of the bucket arm fixing seat, and the outer ring of the bearing is fixedly connected to the inner wall of the bucket arm fixing seat, so that the spiral swing rod rotates in the bucket arm fixing seat through the bearing; the output end of the main shaft is connected to the bucket arm connection position through a second bearing, and the outer ring of the bearing is fixedly connected to the bucket arm, so that the bearing and the bucket arm rotate relative to the bucket arm fixing seat;

[0010] Furthermore, a bucket arm fixing nut is provided at one end of the first bearing on the main shaft for protecting the first bearing;

[0011] The arm cylinder can drive the arm fixing base and the arm together with the bucket connected to the arm to swing up and down as a whole, and at the same time provide hydraulic pressure for the spiral swing arm;

[0012] Furthermore, the slewing mechanism includes: a rotary cylinder, a slewing bearing, and a connecting plate. One end of the rotary cylinder is fixedly connected to the lifting mechanism, and the other end is fixedly connected to the slewing bearing. The slewing bearing is connected to the main arm seat through the connecting plate. The main arm seat is pivotally connected to one end of the main arm and one end of the main arm cylinder. The connecting plate, slewing bearing, and main arm seat fixedly connected to the rotary cylinder form an integral structure that rotates through the rotary cylinder.

[0013] Furthermore, the lifting mechanism includes: a frame, a lifting cylinder, and a lifting frame; one end of the lifting cylinder is fixedly connected to the frame, and the other end is pivotally connected to the lifting frame; one end of the lifting frame is slidingly connected to the frame, and the other end is fixedly connected to the rotating mechanism; the lifting frame moves vertically along the frame through the extension and contraction of the lifting cylinder.

[0014] Furthermore, the connection between the bucket and the bucket arm is disassembled by a pin, and the bucket can be replaced with a breaker hammer;

[0015] With the above structure, the slewing mechanism includes a vertically installed rotating cylinder and a slewing bearing. Under the joint action of the rotating cylinder and the slewing bearing, the main arm, bucket arm and bucket can be driven to rotate, thereby expanding the working range. The extension and retraction of the lifting cylinder in the lifting mechanism can drive the slewing mechanism, main arm, bucket arm and bucket to extend and retract up and down, further increasing the working range. The bucket arm rotates relative to the bucket arm fixing seat to achieve 360-degree full-scale rotation of the bucket, which is more convenient for tunnel repair.

[0016] The tunnel repair machine of the present invention adopting the above-mentioned working mechanism comprises: a frame, a traveling unit, an electric control box support frame, a cab, and an operating system support frame; the electric control box support frame and the operating system support frame are connected to the frame; the traveling unit is arranged below the frame, the electric control box is arranged at the rear end of the frame, the front end of the electric control box is the cab, and the operating system support frame is arranged in the cab; the traveling unit and the frame are connected together by bolts;

[0017] The walking part includes: a track frame, a guide wheel, a driving wheel, a track shoe, a tensioner, a reducer, and a walking motor; the two guide wheels are arranged on the left and right sides of the front end of the track frame and are symmetrically distributed, the two driving wheels are arranged on the left and right sides of the rear end of the track frame and are symmetrically distributed, the two track shoes are respectively wound between the guide wheels and the driving wheels on both sides, the two tensioners are arranged on the left and right sides of the track frame and are located behind the guide wheels, and the output shaft of each tensioner is connected to the rotating shaft of the adjacent guide wheel, a reducer is arranged in the inner cavity of each driving wheel, the outer shell of each reducer is connected to the corresponding driving wheel to drive the driving wheel to rotate through the rotation of the outer shell of the reducer, and a walking hydraulic motor is arranged on each reducer, and the output shaft of the walking hydraulic motor is connected to the output shaft of the corresponding reducer to provide rotation drive for the reducer;

[0018] Furthermore, the track shoe adopts a three-tooth type, which has good rigidity and toughness.

[0019] Furthermore, a plurality of supporting rollers are evenly spaced between the lower end of the track frame and the track shoe, and a supporting sprocket is provided between the upper end of the track frame and the track shoe;

[0020] The supporting wheels adopt floating seals, which ensure smooth and reliable operation and save time and effort in maintenance.

[0021] Furthermore, the tensioning device is composed of a guide wheel, a tensioning spring and a tensioning cylinder. The tensioning device is mainly used to maintain a certain degree of tension on the track and to act as a buffer during operation and driving. It is extremely convenient and reliable to use grease to adjust the tightness of the track. When adjusting the tension, use a high-pressure grease gun to inject grease into the tensioning cylinder, or unscrew the nozzle in front of the cylinder one-way valve to drain the grease. Since the tensioning cylinder is under pressure due to the action of the tensioning spring, the one-way valve can be opened to start draining the grease. Reasonable tension is measured between the drive wheel and the guide wheel, and the reasonable downward deflection is no more than 15 to 20 mm. The adjustment of the left and right tracks should be consistent.

[0022] The guide wheels have three functions: steering, supporting and track tensioning.

[0023] The reducer is a built-in travel reducer.

[0024] The above-mentioned walking part can bear a large machine weight, has a strong climbing ability, a small ground pressure, and a stable walking state, and can adapt to steep slope driving and sharp turns; the walking part has two tracks, which are driven separately by two sets of drive devices to realize the forward, backward and turning of the whole machine, and can also make the whole machine rotate in place.

[0025] The power part of the present invention is an explosion-proof motor that drives the main pump and auxiliary pump through a connecting plate and a coupling, converting electrical energy into hydraulic energy, supplying pressure oil to the hydraulic system of the entire vehicle, and making the oil cylinder and motor work. The electrical system mainly consists of an explosion-proof motor, a QJZ1-80 / 1140 (660) series explosion-proof and intrinsically safe reversible vacuum electromagnetic starter for mining, an LED locomotive light, a 0.55KW explosion-proof motor for a hydraulic motor-driven air cooler, and a methane sensor and explosion-proof electric bell used in conjunction with it. The electric control box includes an electric motor, which is connected to a gear pump. The electric control box is equipped with a vacuum electromagnetic starter, which consists of a rectangular explosion-proof shell installed on the base of the machine body, with a wiring chamber on the top and a main chamber on the bottom, each of which is an independent explosion-proof part.

[0026] Control mode of vacuum electromagnetic starter: There are two control modes: local control and remote control. Local control is operated on the starter door, and remote control is operated on the explosion-proof button.

[0027] The hydraulic system includes: an oil tank, an electric motor, a double gear pump, an oil circuit overflow valve, an oil circuit pressure regulating valve, a hydraulic motor, a hydraulic oil radiator, a multi-way reversing valve, a two-way balancing valve, a bucket cylinder, a main arm cylinder, a left travel device, a right travel device, a dipper arm tilting cylinder, a breaker hammer cylinder, a main arm tilting cylinder, a bulldozer cylinder, an dipper arm cylinder, two arm rotation cylinders, and a pressure gauge; an oil circuit is led out of the oil tank from an oil circuit, and a double gear pump is provided on the branch oil circuit, and the double gear pump is connected to the electric motor; a The branch oil circuit is connected in parallel to multiple directional valves. The oil ports of each multi-way reversing valve are connected in sequence to the bucket cylinder, main arm cylinder, right travel device, dipper arm tilt cylinder, breaker hammer cylinder, main arm tilt cylinder, bulldozer cylinder, left travel device, dipper arm cylinder, and arm rotation cylinder. Another branch oil circuit is connected to the overflow valve, pressure regulating valve and hydraulic motor and is connected to the hydraulic circuit. A hydraulic oil radiator is installed on the hydraulic circuit. Filters are also installed on the oil supply and return lines inside the oil tank.

[0028] The main pump in the double gear pump provides pressure oil to the bucket cylinder, main arm cylinder, left travel motor, right travel motor, dipper arm cylinder, slewing drive, rotary swing cylinder, and hydraulic hammer (spare). The single gear pump provides pressure oil to the upper vehicle slewing motor and bulldozer cylinder.

[0029] All of the above circuits are hydraulic control circuits; the bucket cylinder and the main arm cylinder share a left handle to control the operation of two three-position four-way valves; the arm cylinder and the main arm swing (±40°) device share a right handle to control the operation of two three-position four-way valves; the left travel motor and the right travel motor are each controlled by a handle to control the operation of a three-position four-way valve; the main arm left and right rotation (±90°) device is controlled by a handle to control the operation of a three-position four-way valve; the arm left and right rotation and swing (±180°) cylinder uses a handle to control the three-dimensional four-way valve operation; the hydraulic breaker is operated and stopped with a handle to control the three-dimensional four-way valve operation; the bulldozer cylinder is controlled by a handle; another gear pump directly controls the operation of the air-cooled radiator motor.

[0030] The travel motor adopts a parking brake working mechanism, that is, when the travel control valve stem is pulled backward, the high-pressure oil at the motor inlet is cut off, and the balance valve returns to the middle position under the action of the spring force, cutting off the brake oil circuit, thereby allowing the brake plunger to press the brake pads and friction plates to brake the travel motor.

[0031] This system can measure the pressure of each circuit at the main pump pressure measurement interface. The hydraulic oil used in this system is L-HM46 anti-wear hydraulic oil (or L-HM68). When the operating temperature is below -15°C, L-HV46 low-freezing anti-wear hydraulic oil (or L-HV68) can be used. If the underground air temperature is too high, L-HM100 low-freezing anti-wear hydraulic oil can be used.

[0032] Working principle and operation method of the flameproof and intrinsically safe reversible vacuum electromagnetic starter (electrical schematic diagram)

[0033] The action performance of the starter:

[0034]

[0035]

[0036] Rated operating voltage:

[0037]

[0038] Rated operating current: 80A.

[0039] Connecting and disconnecting capabilities

[0040]

[0041] In the operating system, the functions and operating directions of each operating handle and button are described as follows (the direction reference is that the machine's travel motor is located at the rear and the operator faces the forward direction of the machine): Left joystick: push the joystick forward, the boom cylinder extends, and the boom retracts; pull the joystick backward, the boom cylinder retracts, and the boom opens; pull the joystick to the left, the right cylinder extends, the left cylinder retracts, and the jib swings to the left ≥40° in the horizontal plane; pull the joystick to the right, the left cylinder extends, the right cylinder retracts, and the jib swings to the right ≥40° in the horizontal plane.

[0042] Right joystick: Push the joystick forward, the main arm cylinder extends and the main arm rises; pull the joystick backward, the main arm cylinder retracts and the main arm lowers; pull the joystick to the left, the bucket cylinder extends and the bucket retracts; pull the joystick to the right, the bucket cylinder retracts and the bucket extends.

[0043] Travel joystick: When both joysticks are pushed forward at the same time, the machine moves forward; when both joysticks are pulled backward at the same time, the machine moves backward; when only the right joystick is pushed, the machine turns left; when only the left joystick is pushed, the machine turns right; when one joystick is pulled backward and the other joystick is pushed forward, the machine rotates on the spot.

[0044] Main arm flip joystick: push the joystick forward, the main arm turns left up to 90 degrees; pull the joystick backward, the main arm turns right up to 90 degrees.

[0045] Stick flip joystick: push the joystick forward, the stick flips to the left up to 180°; pull the joystick backward, the stick flips to the right up to 180°.

[0046] Bulldozer blade joystick: Push the joystick forward and the bulldozer blade will descend and contact the material; pull the joystick backward and the bulldozer blade will rise and separate from the material.

[0047] Breaker hammer joystick: Push the joystick forward and the breaker hammer starts working; pull the joystick backward and the breaker hammer stops working.

[0048] Starter remote control button: This button is located on the front right side of the driver's seat. Green indicates start and red indicates stop. Bell button: This button is located on the front left side of the driver's seat. It is red. Starter start button: This button is located on the right side of the driver's seat. Green indicates start and red indicates stop. The emergency stop button is at the rear of the machine.

[0049] The present invention has the following beneficial effects:

[0050] This repair machine boasts a compact structure, small dimensions, energy conservation, low noise, and high efficiency, enabling mechanized tunnel repair operations and significantly improving repair speed. The working arm of the coal mine tunnel repair machine can rotate ±90° along its axis, enabling various operations such as excavation, side excavation, turnover, rock breaking, loading, and lifting. It performs multiple functions, including digging ditches, laying the bottom, breaking rock, clearing loose coal, cleaning the bottom of conveyors, leveling tunnels, and lifting small accessories. It can be equipped with a breaker, enabling multiple functions such as excavation, side excavation, rock breaking, and gangue removal, enabling a single machine to complete the entire tunnel repair process. The machine utilizes a single power module for low energy consumption, generating only 30 kilowatts of power. All power is concentrated in a power module, powering a main pump and an auxiliary pump. The hydraulic system features an advanced medium- and high-pressure system. Key operations are controlled by pilot valves, ensuring easy operation and smooth, impact-free operation. Compared to traditional manual bottom cleaning, this machine significantly reduces labor costs while improving efficiency and the working environment. Compared to traditional diesel-powered mini excavators, this excavator utilizes an electric hydraulic system, resulting in lower noise levels and zero exhaust pollution, making it ideal for underground tunnel repair. Its compact structure and small dimensions allow the working device to retract to its smallest size during entry, facilitating both entry and exit. Its rear end avoids collision with the sides during rotation, making it ideal for working in confined underground spaces. Compared to similar equipment, the bucket or hammer head at the front of the working device can rotate 360°, further facilitating tunnel repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a structural diagram of the working mechanism for improved tunnel repair according to the present invention.

[0052] Figure 2 This is an internal cross-sectional view of the bucket arm of the working mechanism for tunnel repair improved by the present invention.

[0053] Figure 3 This is a general diagram of the tunnel repair machine of the present invention.

[0054] Figure 4 for Figure 3 side view.

[0055] Figure 5 for Figure 3 Top view of .

[0056] Figure 6 This is a structural diagram of the walking part of the invented tunnel repair machine.

[0057] Figure 7 for Figure 6 A partial top sectional view of .

[0058] Figure 8 This is the hydraulic principle diagram of the tunnel repair machine of the present invention.

[0059] Figure 9 This is the electrical schematic diagram of the laneway repair machine of the present invention.

[0060] Figure 10 for Figure 9 The first partial enlarged view.

[0061] Figure 11 for Figure 9 The second partial enlarged view.

[0062] Figure 12 for Figure 9 The third partial enlarged view.

[0063] Figure 13 for Figure 9 The fourth partial enlarged view.

[0064] Figure 14 for Figure 9 The fifth partial enlarged view.

[0065] Figure 15 This is a schematic diagram of the operating indicator sign for the operating system handle of the tunnel repair machine of the present invention.

[0066] In the figure, 1, main arm, 2, main arm cylinder, 3, bucket arm, 4, bucket arm fixing seat, 5, bucket arm cylinder, 6, bucket, 7, bucket cylinder, 8, first connecting rod, 8.1, second connecting rod, 9, slewing bearing, 10, main arm seat, 11, bulldozer, 12, electric control box, 13, walking part, 13.1, crawler frame, 13.2, guide wheel, 13.3, driving wheel, 13.4, crawler shoe, 13.5, tensioning device, 13.6, reducer, 13.7, walking motor, 13.8, supporting wheel, 13.9, sprocket, 14, electric motor, 15, gear pump, 16, vacuum electromagnetic starter, 17, oil Box, 18, double gear pump, 19, oil circuit overflow valve, 20, oil circuit pressure regulating valve, 21, hydraulic motor, 22, hydraulic oil radiator, 23, multi-way reversing valve, 24, two-way balancing valve, 25, left travel device, 26, right travel device, 27, bulldozer cylinder, 28, arm rotation cylinder, 29, pressure gauge, 30, filter, 40, remote control, 41, local control, 33, control button, 34, emergency stop button, 35, warning bell, 36, lighting lamp, 37, lighting signal lamp, 38, spiral swing arm, 38.1, main shaft, 39, first bearing, 42, second bearing, 43, bucket arm fixing nut. DETAILED DESCRIPTION

[0067] The present invention will be described in detail below with reference to the accompanying drawings.

[0068] Example 1

[0069] like Figure 1-2 As shown, the improved working mechanism for roadway repair is suitable for the model WPZ-30 / 600L coal mine roadway repair machine, including: a slewing mechanism, a lifting mechanism, a main arm 1, a main arm cylinder 2, a bucket arm 3, a bucket arm fixing seat 4, a bucket arm cylinder 5, a bucket 6, and a bucket cylinder 7; one end of the main arm 1 is pivotally connected to the slewing mechanism and one end of the bucket arm fixing seat 4, the two ends of the main arm cylinder 2 are pivotally connected to the other end of the slewing mechanism and the main arm 1, and one end of the bucket arm fixing seat 4 is hinged to one end of the bucket arm cylinder 5. Then, the other end of the arm cylinder 5 is connected to the main arm 1; the other end of the arm fixing base 4 is rotatably provided with an arm 3, and the arm 3 is provided with a bucket cylinder 7, one end of the bucket cylinder 7 is fixedly connected to the arm 3, and the other end of the bucket cylinder 7 is hinged to the bucket 6 through the second connecting rod 8.1; the second connecting rod 8.1 hinged to the bucket 6 is also hinged to the first connecting rod 8, one end of the first connecting rod 8 is hinged to the bucket cylinder 7, and the other end of the first connecting rod 8 is hinged to the arm 3; the slewing mechanism is fixedly connected to the lifting mechanism;

[0070] Furthermore, the main arm 1, main arm cylinder 2, bucket arm 3, bucket arm fixing seat 4, bucket arm cylinder 5, bucket 6, bucket cylinder 7 form an integral structure and perform vertical movement with the aid of a lifting mechanism; the main arm 1, main arm cylinder 2, bucket arm 3, bucket arm fixing seat 4, bucket arm cylinder 5, bucket 6, bucket cylinder 7 form an integral structure and perform rotational movement with the aid of a slewing mechanism; the bucket 6, bucket cylinder 7, bucket arm 3, together with the first connecting rod 8 and the second connecting rod 8.1 as an integral structure perform rotational movement relative to the bucket arm fixing seat 4 under the action of the bucket arm cylinder 5, thereby achieving a 360-degree full-scale rotation of the bucket 6;

[0071] Furthermore, the bucket arm 3 rotates relative to the bucket arm fixing base 4 to achieve 360-degree full-scale rotation of the bucket 6, including a rotation mechanism, which is arranged in the bucket arm fixing base 4, and the rotation mechanism is connected to the bucket arm 3 through a support, and the bucket arm 3 rotates relative to the bucket arm fixing base 4 through the action of the driving structure;

[0072] Furthermore, the rotation mechanism includes: a spiral swing rod 38, which is arranged in the bucket arm fixing seat 4 and has one end extending from the bucket arm fixing seat 4, and a main shaft 38.1 is provided at the other end of the spiral swing rod 38, and the bucket arm cylinder 5 is connected to the spiral swing rod 38 to provide hydraulic pressure therefor; a first bearing 39 is provided on the main shaft 38.1 near the top end of the bucket arm fixing seat 4, and the outer ring of the bearing is fixedly connected to the inner wall of the bucket arm fixing seat 4, so that the spiral swing rod 38 rotates in the bucket arm fixing seat 4 through the bearing; the output end of the main shaft 38.1 is connected to the connecting position of the bucket arm 3 through a second bearing 42, and the outer ring of the bearing is fixedly connected to the bucket arm 3, so that the bearing and the bucket arm 3 rotate relative to the bucket arm fixing seat 4;

[0073] Furthermore, a boom fixing nut 43 is provided at one end of the first bearing 39 on the main shaft 38.1 to protect the first bearing 39;

[0074] The arm cylinder 5 can drive the arm fixing base 4 and the arm 3 together with the bucket 6 connected to the arm to swing up and down as a whole, and at the same time provide hydraulic pressure for the spiral swing rod 38;

[0075] Furthermore, the slewing mechanism includes: a rotating cylinder, a slewing bearing 9, and a connecting plate. One end of the rotating cylinder is fixedly connected to the lifting mechanism, and the other end is fixedly connected to the slewing bearing 9. The slewing bearing 9 is connected to the main arm seat 10 through the connecting plate. The main arm seat 10 is pivotally connected to one end of the main arm 1 and one end of the main arm cylinder 2. The connecting plate, slewing bearing 9, and main arm seat 10 fixedly connected to the rotating cylinder form an integral structure that rotates through the rotating cylinder.

[0076] Furthermore, the connection between the bucket 6 and the arm 3 is disassembled by a pin, and the bucket 6 can be replaced with a breaker hammer;

[0077] With the above structure, the slewing mechanism includes a vertically installed rotating cylinder and a slewing bearing 9. Under the joint action of the rotating cylinder and the slewing bearing 9, the main arm 1, the bucket arm 3 and the bucket 6 can be driven to rotate, thereby expanding the working range. The extension and retraction of the lifting cylinder in the lifting mechanism can drive the slewing mechanism, the main arm 1, the bucket arm 3 and the bucket 6 to extend and retract up and down, thereby further increasing the working range. The bucket arm 3 rotates relative to the bucket arm fixing seat 4 to realize 360-degree all-round rotation of the bucket 6, which is more convenient for tunnel repair.

[0078] like Figure 3-15 As shown, the roadway repair machine using the above-mentioned working mechanism, model WPZ-30 / 600L, includes: a frame, a traveling unit 13, an electric control box support frame, a cab, and an operating system support frame; the electric control box support frame and the operating system support frame are connected to the frame; the traveling unit 13 is arranged below the frame, the electric control box 12 is arranged at the rear end of the frame, the front end of the electric control box 12 is the cab, and the operating system support frame is arranged in the cab; the traveling unit 13 is connected to the frame with bolts;

[0079] The walking part includes: a track frame 13.1, a guide wheel 13.2, a driving wheel 13.3, a track shoe 13.4, a tensioning device 13.5, a reducer 13.6, and a walking motor 13.7; the two guide wheels 13.2 are arranged on the left and right sides of the front end of the track frame 13.1 and are symmetrically distributed; the two driving wheels 13.3 are arranged on the left and right sides of the rear end of the track frame 13.1 and are symmetrically distributed; the two pairs of track shoes 13.4 are respectively wound between the guide wheels 13.2 and the driving wheels 13.3 on both sides; the two tensioning devices 13.5 are arranged on the left and right sides of the track frame 13.1 and are located between the guide wheels 13.2, and the output shaft of each tensioner 13.5 is connected to the rotating shaft of the adjacent guide wheel 13.2. A reducer 13.6 is disposed in the inner cavity of each drive wheel 13.3. The outer shell of each reducer 13.6 is connected to the corresponding drive wheel 13.3 so that the drive wheel 13.3 is driven to rotate by the rotation of the reducer 13.6 outer shell. Each reducer 13.6 is provided with a travel hydraulic motor 13.7. The output shaft of the travel hydraulic motor 13.7 is connected to the output shaft of the corresponding reducer 13.6 to provide rotational drive for the reducer 13.6.

[0080] Furthermore, the track shoe 13.4 adopts a three-tooth type, which has good rigidity and toughness.

[0081] Furthermore, a plurality of rollers 13.8 are evenly spaced between the lower end of the track frame 13.1 and the track shoe 13.4, and a carrier wheel 13.9 is provided between the upper end of the track frame 13.1 and the track shoe 13.4;

[0082] The supporting wheel 13.8 adopts a floating seal, which ensures stable and reliable operation and saves time and effort in maintenance. Furthermore, the tensioning device 13.5 is composed of a guide wheel 13.2, a tensioning spring 13.5 and a tensioning oil cylinder.

[0083] The reducer 13.6 is a built-in travel reducer.

[0084] In the power section, the explosion-proof motor drives the main pump and auxiliary pump through the connecting plate and coupling, converting electrical energy into hydraulic energy, supplying pressurized oil to the hydraulic system of the entire vehicle, making the cylinders and motors work. The electrical system mainly consists of an explosion-proof motor, a QJZ1-80 / 1140 (660) series mining explosion-proof and intrinsically safe reversible vacuum electromagnetic starter, LED locomotive lights, a 0.55KW explosion-proof motor for the hydraulic motor drive air cooler, and its supporting methane sensor and explosion-proof electric bell. The electric control box 12 includes an electric motor 14, which is connected to a gear pump 15. The electric control box 12 is equipped with a vacuum electromagnetic starter 16. The vacuum electromagnetic starter 16 consists of a rectangular explosion-proof shell installed on the base of the machine body. The upper part is a wiring chamber and the lower chamber is a main chamber. Each is an independent explosion-proof part. The hydraulic system includes: an oil tank 17, an electric motor 14, a double gear pump 18, an oil circuit overflow valve 19, an oil circuit pressure regulating valve 20, a hydraulic motor 21, a hydraulic oil radiator 22, a multi-way reversing valve 23, a two-way balancing valve 24, a bucket cylinder 7, a main arm cylinder 2, a left walking device 25, a right walking device 26, a dipper arm turning cylinder, a breaker hammer cylinder, a main arm turning cylinder, a bulldozer cylinder 27, an dipper arm cylinder 5, two arm rotation cylinders 28, and a pressure gauge 29; an oil circuit is led out of the oil tank 17, and a branch oil circuit is provided with a double gear pump 18 on the branch oil circuit, and an electric motor is connected to the double gear pump 18 Machine 14; one branch oil line is connected in parallel to multiple reversing valves 23, and the oil ports of each multi-way reversing valve 23 are connected in sequence to the bucket cylinder 7, the main arm cylinder 2, the right travel device 26, the dipper arm tilting cylinder, the breaker cylinder, the main arm tilting cylinder, the bulldozer cylinder 27, the left travel device 25, the dipper arm cylinder 5, and the arm rotation cylinder 28; another branch oil line is connected to the relief valve 19, the pressure regulating valve 20 and the hydraulic motor 21 and is connected to the hydraulic circuit, and a hydraulic oil radiator 22 is provided on the hydraulic circuit; filters 30 are also provided on the oil supply pipeline and the oil return pipeline inside the oil tank 17;

[0085] The main pump in the double gear pump provides pressure oil to the bucket cylinder 7, main arm cylinder 2, left travel motor, right travel motor, dipper arm cylinder 5, slewing drive, rotary swing cylinder, and hydraulic hammer (spare). The single gear pump provides pressure oil to the vehicle slewing motor and bulldozer cylinder 27.

[0086] All of the above circuits are hydraulic control circuits; the bucket cylinder 7 and the main arm cylinder 2 share a left handle to control the operation of two three-position four-way valves; the arm cylinder 5 and the main arm swing (±40°) device share a right handle to control the operation of two three-position four-way valves; the left travel motor and the right travel motor are each controlled by a handle to control the operation of a three-position four-way valve; the main arm left and right rotation (±90°) device is controlled by a handle to control the operation of a three-position four-way valve; the arm left and right rotation and swing (±180°) cylinder uses a handle to control the three-dimensional four-way valve operation; the hydraulic breaker is operated and stopped with a handle to control the three-dimensional four-way valve operation; the bulldozer cylinder is controlled by a handle; another gear pump directly controls the operation of the air-cooled radiator motor.

[0087] The travel motor adopts a parking brake working mechanism, that is, when the travel control valve stem is pulled backward, the high-pressure oil at the motor inlet is cut off, and the balance valve returns to the middle position under the action of the spring force, cutting off the brake oil circuit, thereby allowing the brake plunger to press the brake pads and friction plates to brake the travel motor.

[0088] This system can measure the pressure of each circuit at the main pump pressure measurement interface. The hydraulic oil used in this system is L-HM46 anti-wear hydraulic oil (or L-HM68). When the operating temperature is below -15°C, L-HV46 low-freezing anti-wear hydraulic oil (or L-HV68) can be used. If the underground air temperature is too high, L-HM100 low-freezing anti-wear hydraulic oil can be used.

[0089] Example 2

[0090] The improved working mechanism for roadway repair in Example 1 is applied to a roadway repair machine for coal mines of model WPZ-22 / 400L.

[0091] The operating environment conditions of the tunnel repair machine in the above two embodiments are as follows:

[0092] Suitable for small and medium-sized tunnels with a cross-section of 2.0×2.0 meters or more. The Proctor hardness coefficient of the loaded ore is: f≤12, the loose density is not more than 1.8t / m3, and the maximum ore block size does not exceed 500mm. The altitude of the operating location is ≤1000m. When used in a plateau environment with an altitude of more than 1000m, necessary measures or special designs should be taken according to the situation; the tunnel ambient temperature is -5℃~+40℃, and the maximum relative humidity is ≤90% (at 25℃); the voltage limit deviation is ±5%, and the AC frequency limit deviation is ±1%; the tunnel slope is not more than 25%; the water level in the working area is lower than the rail surface; the coal dust and methane explosive gas content around the tunnel repair machine when it is working should meet the safety content specified in the "Coal Mine Safety Regulations".

[0093] The main technical parameters of the above two types of coal mine tunnel repair machines are as follows:

[0094]

[0095]

[0096]

Claims

1. The improved roadway repair machine is characterized in that: The slewing mechanism comprises: a slewing mechanism, a lifting mechanism, a main arm, a main arm cylinder, a bucket arm, a bucket arm fixing seat, a bucket arm cylinder, a bucket, and a bucket cylinder; one end of the main arm is pivotally connected to the slewing mechanism and one end of the bucket arm fixing seat respectively, two ends of the main arm cylinder are pivotally connected to the slewing mechanism and the other end of the main arm respectively, one end of the bucket arm fixing seat is hingedly connected to one end of the bucket arm cylinder, and the other end of the bucket arm cylinder is connected to the main arm; a bucket arm is rotatably provided at the other end of the bucket arm fixing seat, and a bucket cylinder is provided on the bucket arm, one end of the bucket cylinder is fixedly connected to the bucket arm, and the other end of the bucket cylinder is hingedly connected to the bucket through a second connecting rod; the second connecting rod hingedly connected to the bucket is also hingedly connected to a first connecting rod, one end of the first connecting rod is hingedly connected to the bucket cylinder, and the other end of the first connecting rod is hingedly connected to the bucket arm; the slewing mechanism is fixedly connected to the lifting mechanism; The main arm, main arm cylinder, bucket arm, bucket arm fixing seat, bucket arm cylinder, bucket, bucket cylinder as an integral structure make vertical motion with the aid of the lifting mechanism; the main arm, main arm cylinder, bucket arm, bucket arm fixing seat, bucket arm cylinder, bucket, bucket cylinder as an integral structure make rotational motion with the aid of the slewing mechanism; the bucket, bucket cylinder, bucket arm, together with the first connecting rod and the second connecting rod as an integral structure make rotational motion relative to the bucket arm fixing seat under the action of the bucket arm cylinder, thereby achieving 360-degree full-scale rotation of the bucket; The bucket arm rotates relative to the bucket arm mounting base to achieve 360-degree rotation of the bucket, including a rotation mechanism, which is arranged in the bucket arm mounting base and connected to the bucket arm through a support. The bucket arm rotates relative to the bucket arm mounting base through the action of a drive structure; the drive structure for the bucket arm to rotate relative to the bucket arm mounting base includes a motor drive type or a spiral swing hydraulic cylinder drive type; The rotation mechanism includes: a spiral swing rod, which is arranged in the bucket arm fixing seat and has one end extending from the bucket arm fixing seat, and a main shaft is provided at the other end of the spiral swing rod, and the bucket arm oil cylinder is connected to the spiral swing rod to provide hydraulic pressure therefor; a first bearing is provided on the main shaft near the top end of the bucket arm fixing seat, and the outer ring of the bearing is fixedly connected to the inner wall of the bucket arm fixing seat, so that the spiral swing rod rotates in the bucket arm fixing seat through the bearing; the output end of the main shaft is connected to the bucket arm connection position through a second bearing, and the outer ring of the bearing is fixedly connected to the bucket arm, so that the bearing and the bucket arm rotate relative to the bucket arm fixing seat; The slewing mechanism includes: a rotary cylinder, a slewing bearing, and a connecting plate. One end of the rotary cylinder is fixedly connected to the lifting mechanism, and the other end is fixedly connected to the slewing bearing. The slewing bearing is connected to the main arm seat through the connecting plate. The main arm seat is pivotally connected to one end of the main arm and one end of the main arm cylinder. The connecting plate, slewing bearing, and main arm seat fixedly connected to the rotary cylinder form an integral structure that rotates through the rotary cylinder. The tunnel repair machine includes a frame, a traveling unit, an electric control box support frame, a cab, and an operating system support frame. The electric control box support frame and the operating system support frame are connected to the frame. The traveling unit is arranged below the frame, the electric control box is arranged at the rear end of the frame, the cab is at the front end of the electric control box, and the operating system support frame is arranged in the cab. The traveling unit and the frame are connected together with bolts. The hydraulic system includes: oil tank, electric motor, double gear pump, oil circuit overflow valve, oil circuit pressure regulating valve, hydraulic motor, hydraulic oil radiator, multi-way reversing valve, two-way balancing valve, bucket cylinder, main arm cylinder, left travel device, right travel device, dipper arm tilt cylinder, breaker cylinder, main arm tilt cylinder, bulldozer cylinder, dipper arm cylinder, two arm rotation cylinders, pressure gauge; an oil circuit is led out from the oil tank by an oil circuit, and a double gear pump is provided on the branch oil circuit, and the double gear pump is connected to the electric motor; a branch oil circuit is connected to multiple reversing valves in parallel, and the oil ports of each multi-way reversing valve are connected to the bucket The oil cylinder, main arm cylinder, right travel device, arm tilt cylinder, breaker cylinder, main arm tilt cylinder, bulldozer cylinder, left travel device, arm cylinder, and arm rotation cylinder; another branch oil circuit is connected to the overflow valve, pressure regulating valve and hydraulic motor and connected to the hydraulic circuit, and a hydraulic oil radiator is installed on the hydraulic circuit; filters are also installed on the oil supply and return lines inside the oil tank; the main pump in the double gear pump supplies pressure oil to the bucket cylinder, main arm cylinder, left travel motor, right travel motor, arm cylinder, slewing drive, rotary swing cylinder, and single gear pump supplies pressure oil to the upper vehicle slewing motor and bulldozer cylinder; In the operating system, the functions and operating directions of each operating handle and button are described as follows: The direction reference is that the machine travel motor is located at the rear and the operator faces the forward direction of the machine; Left joystick: Push the joystick forward, the arm cylinder extends and the arm retracts; pull the joystick backward, the arm cylinder retracts and the arm opens; pull the joystick to the left, the right cylinder extends, the left cylinder retracts, and the jib swings ≥40° to the left in the horizontal plane; pull the joystick to the right, the left cylinder extends, the right cylinder retracts, and the jib swings ≥40° to the right in the horizontal plane; Right joystick: Push the joystick forward, the main arm cylinder extends and the main arm rises; pull the joystick backward, the main arm cylinder retracts and the main arm drops; pull the joystick to the left, the bucket cylinder extends and the bucket retracts; pull the joystick to the right, the bucket cylinder retracts and the bucket extends; Travel joystick: When both joysticks are pushed forward at the same time, the machine moves forward; when both joysticks are pulled backward at the same time, the machine moves backward; when only the right joystick is pushed, the machine turns left; when only the left joystick is pushed, the machine turns right; when one joystick is pulled backward and the other joystick is pushed forward, the machine rotates on the spot; Main arm flip joystick: push the joystick forward, the main arm turns left up to 90 degrees; pull the joystick backward, the main arm turns right up to 90 degrees; Stick flip joystick: push the joystick forward, the stick flips to the left up to 180 degrees; pull the joystick backward, the stick flips to the right up to 180 degrees; Bulldozer blade joystick: Push the joystick forward, the bulldozer blade descends and contacts the material; pull the joystick backward, the bulldozer blade rises and separates from the material; Breaker hammer joystick: Push the joystick forward and the breaker hammer starts working; pull the joystick backward and the breaker hammer stops working.

2. The improved tunnel repair machine according to claim 1, characterized in that: The walking part includes: a track frame, a guide wheel, a driving wheel, a track shoe, a tensioner, a reducer, and a walking motor; the two guide wheels are arranged on the left and right sides of the front end of the track frame and are symmetrically distributed, the two driving wheels are arranged on the left and right sides of the rear end of the track frame and are symmetrically distributed, the two track shoes are respectively wrapped around the guide wheels and the driving wheels on both sides, the two tensioners are arranged on the left and right sides of the track frame behind the guide wheels, and the output shaft of each tensioner is connected to the rotating shaft of the adjacent guide wheel, a reducer is arranged in the inner cavity of each driving wheel, the outer shell of each reducer is connected to the corresponding driving wheel to drive the driving wheel to rotate through the rotation of the outer shell of the reducer, and a walking hydraulic motor is arranged on each reducer, and the output shaft of the walking hydraulic motor is connected to the output shaft of the corresponding reducer to provide rotational drive for the reducer.

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