Four-stage sliding cutting type support excavating and anchoring and transporting four-wheel drive combined device and working method

Abstract

The application discloses a four-stage sliding cutting type tunneling, anchoring and supporting combined device and a working method thereof. The device comprises a tunneling mechanism, an anchoring mechanism and a supporting mechanism. The tunneling mechanism can realize four-stage sliding and full-face cutting under the condition that the tunneling host is stationary. The full-face shovel plate can realize functions such as overturning, stretching and retracting and small star wheel auxiliary operation, and can realize full-face shovel operation. The front section and the rear section of the tunneling mechanism can realize four-wheel drive walking, and can realize actions such as rotation, torsion and pitching, and has large horsepower and strong climbing ability. The supporting mechanism can realize off-machine operation with the tunneling host, and has the effect of non-repeated rolling support of the roof and the side of the roadway. The anchoring mechanism is modularized, and can realize rapid assembly and separation. The anchoring mechanism can realize multi-process operation of roof anchoring, side anchoring and anchor cable, and has the function of mechanical steel strip feeding, and can effectively improve the anchoring efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rapid tunneling equipment for coal mine roadway, in particular to a four-stage sliding cutting type tunneling and anchoring combined device and working method. BACKGROUND

[0002] The problems of small space, multiple processes, complex system and poor geological conditions in the tunneling working face of coal mine underground lead to the serious lag of the intelligent development of the tunneling face behind the coal mining face, thus greatly reducing the coal mining efficiency.

[0003] To realize intensive, staff-reduced, rapid, efficient and safe construction of the fully-mechanized tunneling face, the workers must be kept away from the harsh working environment and work under the safe roof, but the existing tunneling equipment cannot simultaneously have safety and high efficiency, and is difficult to adapt to complex geological conditions.

[0004] A patent No. 201910245399.2 proposes a rapid tunneling system and method, before the cutting of the tunneling device, a temporary support device is used to temporarily support the roadway to ensure the safety of the roadway construction, after the preset time of the cutting assembly, the support assembly jacks up at least one support, the support is switched from the supporting state to the retracted state, and the support assembly drives the support to move to the preset position. At the same time, the support device supports the roadway with anchor rods and / or anchor cables. The support transported to the preset position is switched from the retracted state to the supporting state to support the roadway, thereby realizing the forward movement of the temporary support device, and the tunneling device continues the cutting operation. This patent realizes the simultaneous cutting of the tunneling device and the supporting operation of the support device, but still has the following shortcomings:

[0005] 1. The tunneling mechanism can only excavate in the tunneling direction, and the overall device can only move forward and backward to realize the cutting of the coal seam, which is inconvenient to use;

[0006] 2. The tunneling mechanism cannot realize the actions of rotation, torsion, pitch, etc. in front and back, and is difficult to adapt to complex working conditions;

[0007] 3. The transport mechanism cannot collect the collected coal slag, which will affect the working efficiency of the overall device;

[0008] 4. The anchoring mechanism is not modularly designed and cannot be used alone, which has poor flexibility.

[0009] In view of the above-mentioned shortcomings of the patent, it is urgent to provide a four-stage sliding cutting type tunneling and anchoring combined device and working method. SUMMARY

[0010] The technical problem solved by the present application is to provide a four-stage sliding cutting type tunneling and supporting and anchoring and transporting four-wheel drive combined device and working method to solve the above problems of the prior art.

[0011] To solve the above technical problems, the technical scheme adopted by the present application is:

[0012] A four-stage sliding cutting type tunneling and supporting and anchoring and transporting four-wheel drive combined device comprises a supporting mechanism, an anchoring mechanism and a tunneling mechanism.

[0013] The direction of rapid tunneling in the tunnel is defined as the X-axis direction, the main supporting direction of the supporting mechanism is the Z-axis direction, and the side support direction of the supporting mechanism is the Y-axis direction.

[0014] The tunneling mechanism comprises a tunneling mechanism front section, a three-degree-of-freedom cutting platform, an extendable cutting head, a multi-degree-of-freedom connecting mechanism, a tunneling mechanism rear section and a scraper conveyor.

[0015] The tunneling mechanism front section comprises a front walking mechanism, a main frame and a full-face shovel plate.

[0016] The front walking mechanism is a tracked walking device; the main frame is fixed on the top of the front walking mechanism; the full-face shovel plate is hinged to the main frame, and the rotation direction of the full-face shovel plate is the rotation of the plane formed by the X-axis and the Y-axis to the plane formed by the Y-axis and the Z-axis.

[0017] The main frame is fixed on the top of the three-degree-of-freedom cutting platform; the three-degree-of-freedom cutting platform comprises an X-axis moving platform, an X-axis guide device, a Y-axis moving platform, a Y-axis guide device, a rotating platform and a rotating device.

[0018] The X-axis moving platform and the X-axis guide device form an X-axis moving sliding pair and slide relative to each other in the X-axis direction; the Y-axis moving platform and the Y-axis guide device form a Y-axis moving sliding pair and slide relative to each other in the Y-axis direction; the rotating platform and the rotating device form a hinge pair and can rotate 360° in the plane formed by the X-axis and the Y-axis.

[0019] The three-degree-of-freedom cutting platform is fixed on the top of the extendable cutting head; the extendable cutting head is used to cut the coal wall during rapid tunneling; the multi-degree-of-freedom connecting mechanism comprises a torsion joint, a rotation joint and a pitch joint; the torsion joint provides a rotational degree of freedom in the X-axis direction; the rotation joint provides a rotational degree of freedom in the Y-axis direction; and the pitch joint provides a rotational degree of freedom in the Z-axis direction.

[0020] The rear section of the tunneling mechanism comprises a rear traveling mechanism, a rear frame, and a power device.

[0021] The rear traveling mechanism is a caterpillar traveling device; the rear frame is fixed on the top of the rear traveling mechanism; the power device is fixed on the rear frame and provides power for the rear traveling mechanism; and a pulling rod is also fixed on the rear frame.

[0022] The scraper conveyor is fixed on the top of the rear frame, and is connected with the full-section scraper.

[0023] The anchoring mechanism comprises an anchoring base, an anchoring frame, a groove seat, a top anchor rod drill, and a side anchor rod drill.

[0024] The anchoring base is provided with a sliding shoe at the bottom, and slides on the ground through the sliding shoe; the groove seat is fixed on the top of the anchoring base, and is engaged with the pulling rod on the rear frame to connect the anchoring base and the rear frame.

[0025] The anchoring frame is vertically fixed on the top of the anchoring base; the top anchor rod drill and the side anchor rod drill are fixed on the anchoring frame; the top anchor rod drill drives the anchor rod into the roof of the tunnel along the Z-axis direction; and the side anchor rod drill drives the anchor rod into the sidewall of the tunnel along the Y-axis direction.

[0026] The supporting mechanism comprises a main supporting frame, a vice supporting frame, a constraint track, a supporting mechanism traveling motor, a circulating supporting roof, and a side supporting.

[0027] The main supporting frame comprises two main supporting rods and a main supporting crossbeam connecting the two main supporting rods; the main supporting rods are vertically arranged, and the bottom of the main supporting rods is provided with a traveling caterpillar; and the main supporting frame can freely move under the driving of the supporting mechanism traveling motor.

[0028] The vice supporting frame is arranged in parallel with the main supporting frame; the vice supporting frame comprises two vice supporting rods and a vice supporting crossbeam connecting the two vice supporting rods; the bottom of the vice supporting rods is provided with a sliding shoe, and the vice supporting frame slides on the ground through the sliding shoe.

[0029] The main supporting frame and the vice supporting frame are matched through the constraint track; the constraint track constrains the main supporting frame and the vice supporting frame to only produce displacement in the X-axis direction, and has no relative displacement in the Y-axis direction and the Z-axis direction.

[0030] The vice supporting frame is arranged outside the main supporting frame, and the main supporting frame is arranged on the front section of the tunneling mechanism to provide support for the tunneling mechanism.

[0031] The main supporting rods and the vice supporting rods are provided with telescopic cylinders to drive the main supporting rods and the vice supporting rods to stretch and retract in the Z-axis direction.

[0032] The cycle support roof is fixed at the top of the main support crossbeam and the auxiliary support crossbeam, and is used for supporting the roof surface of the roadway.

[0033] The side support is vertically fixed on the side wall of the auxiliary support support rod towards the roadway, and is used for supporting the side wall surface of the roadway.

[0034] Further preferably, the full-section spade plate comprises a main spade plate, a main star wheel, a side spade plate; the main spade plate is hinged to the main rack, and the main spade plate rotates around the Y-axis direction as the rotation axis to realize the pitching rotation; the main star wheel is arranged on the main spade plate, and is used for rotating and scraping coal to convey the coal cut by the telescopic cutting head into the scraper conveyor; the side spade plate is hinged to the main spade plate, and the side spade plate rotates around the X-axis as the rotation axis to realize the pitching rotation.

[0035] Further preferably, the full-section spade plate further comprises a telescopic spade plate, an auxiliary spade plate and an auxiliary star wheel; the telescopic spade plate is connected to the side spade plate through the built-in oil cylinder, and the telescopic spade plate can be extended in the Y-axis direction; the auxiliary star wheel is fixed on the telescopic spade plate; the auxiliary star wheel continuously rotates to keep the coal on the full-section spade plate in a floating state; the auxiliary spade plate is threadedly connected to the telescopic spade plate and can be flexibly disassembled.

[0036] Further preferably, the anchoring mechanism further comprises an anchor cable drilling machine; the anchor cable drilling machine is fixed on the anchoring rack along the X-axis and Y-axis directions respectively; the anchor cable drilling machine nails the anchor cable into the roof and the side walls of the roadway.

[0037] Further preferably, the anchoring mechanism further comprises an upper steel belt device; the upper steel belt device is fixed on the anchoring rack;

[0038] The upper steel belt device comprises a fixing frame, a chain wheel set, a steel belt support frame, a ratchet wheel, a main pawl, an auxiliary pawl, a hand lever, a steel belt tray and a pushing oil cylinder;

[0039] The fixing frame is horizontally fixed on the anchoring rack; the chain wheel set is vertically arranged on the fixing frame, and the chain wheel set comprises an upper chain wheel and a lower chain wheel connected by a chain; the steel belt support frame is installed on the chain to place the steel belt; the ratchet wheel is connected with the chain wheel set through a flat key; the hand lever is hinged to the anchoring rack through a pin shaft; the main pawl and the auxiliary pawl are respectively hinged to the hand lever, and the ratchet wheel is driven to rotate by rotating the hand lever, the chain wheel set is driven to rotate by the rotation of the ratchet wheel, the steel belt support frame is driven to descend by the rotation of the chain wheel set, and the steel belt support frame falls into the steel belt tray arranged on the fixing frame; the bottom of the steel belt tray is provided with a roller, and the steel belt tray is moved to the top of the anchor rod drilling machine under the pushing of the pushing oil cylinder, the anchor rod drilling machine drives the steel belt into the roadway, and the steel belt placement operation is completed.

[0040] Further preferably, the side of the auxiliary support support rod towards the roadway is uniformly arranged with the side support, and two groups of side supports are arranged on each auxiliary support support rod, and the two groups of side supports are arranged in staggered arrangement.

[0041] The application discloses a working method of a four-stage sliding cutting type branch excavating and anchoring four-wheel drive combined device.

[0042] S1, the supporting mechanism covers the front section of the excavating mechanism, and the anchoring mechanism is fixed to the rear section of the excavating mechanism; the telescopic cutting head of the excavating mechanism is cooperatively controlled with the three-degree-of-freedom cutting platform to cut a section at the front end of a roadway to a preset depth according to a predetermined contour; the three-degree-of-freedom cutting platform can make the telescopic cutting head have the freedom of movement in the X-axis, Y-axis and Z-axis directions;

[0043] S2, the full-section shovel plate loads the coal cinder material accumulated on the ground onto the scraper conveyor and transports the coal cinder material to a designated position in the rear direction;

[0044] S3, in the process of the excavating device excavating, the top anchor rod drill, the side anchor rod drill and the anchor cable drill of the anchoring mechanism work simultaneously to drive anchor rods and anchor cables into the coal wall of the roadway, and the top wall and the side wall of the roadway around the anchoring mechanism are permanently supported;

[0045] S4, the upper steel belt device is synchronously started to provide the steel belt for the top anchor rod drill, the side anchor rod drill and the anchor cable drill when the top anchor rod drill, the side anchor rod drill and the anchor cable drill work;

[0046] S5, the supporting mechanism and the top wall of the roadway always maintain a stable contact and supporting relationship, after S2-S4 are completed, the front section of the excavating mechanism and the rear section of the excavating mechanism simultaneously drive to a predetermined position in the forward direction; the main supporting frame of the supporting mechanism is retracted and separated from the circulating supporting roof, and after driving a preset distance in the excavating direction, the main supporting frame is re-elongated and supports the circulating supporting roof; subsequently, the auxiliary supporting frame is retracted and separated from the circulating supporting roof, and slides in the forward excavating direction under the traction of the constraint track, and after driving the same distance as the main supporting frame, the auxiliary supporting frame is extended and supports the circulating supporting roof again;

[0047] S6, the anchoring mechanism is clamped with the rear frame through a dragging rod; after the rear section of the excavating mechanism moves in the excavating direction, the anchoring mechanism is dragged to move and keeps relative static with the excavating mechanism;

[0048] S7, when the bottom surface of the roadway is uneven, the multi-degree-of-freedom connecting mechanism can change the relative position of the front section of the excavating mechanism and the rear section of the excavating mechanism according to the terrain, and ensures good ground contact effect of the whole machine.

[0049] The application has the following beneficial effects:

[0050] 1. The excavating device can realize four-stage sliding, including forward and backward walking of the excavating main machine, forward and backward sliding of the rotating table, left and right sliding and telescoping of the cutting part, and the combined action realizes full-section cutting in the state that the machine body does not move;

[0051] 2. Full-section shovel plate can realize turnover, telescopic, and small star wheel auxiliary operation, and can realize full-section shovel;

[0052] 3. Four-wheel drive walking of the tunneling mechanism front section and the tunneling mechanism rear section can realize rotation, torsion, and pitching, has large horsepower and strong climbing ability, and can adapt to complex working conditions;

[0053] 4. The anchoring system is modularly designed, can be used alone, can be quickly connected and installed, and can be integrally anchored and operated; the steel band device can realize mechanical installation of the steel band. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 It is a whole structure connection schematic diagram of a four-stage sliding cutting type tunneling and anchoring and transporting four-wheel drive combined device.

[0055] Figure 2 It is a tunneling mechanism schematic diagram of a four-stage sliding cutting type tunneling and anchoring and transporting four-wheel drive combined device.

[0056] Figure 3 It is a tunneling mechanism front section schematic diagram of a four-stage sliding cutting type tunneling and anchoring and transporting four-wheel drive combined device.

[0057] Figure 4 It is a full-section shovel plate structure schematic diagram of a four-stage sliding cutting type tunneling and anchoring and transporting four-wheel drive combined device.

[0058] Figure 5 It is a three-degree-of-freedom cutting platform plan view of a four-stage sliding cutting type tunneling and anchoring and transporting four-wheel drive combined device.

[0059] Figure 6 It is a three-degree-of-freedom cutting platform front view of a four-stage sliding cutting type tunneling and anchoring and transporting four-wheel drive combined device.

[0060] Figure 7 It is a multi-degree-of-freedom connecting mechanism front view of a four-stage sliding cutting type tunneling and anchoring and transporting four-wheel drive combined device.

[0061] Figure 8 It is a multi-degree-of-freedom connecting mechanism plan view of a four-stage sliding cutting type tunneling and anchoring and transporting four-wheel drive combined device.

[0062] Figure 9 It is a tunneling mechanism rear section structure schematic diagram of a four-stage sliding cutting type tunneling and anchoring and transporting four-wheel drive combined device.

[0063] Figure 10 It is an anchoring mechanism structure schematic diagram of a four-stage sliding cutting type tunneling and anchoring and transporting four-wheel drive combined device.

[0064] Figure 11It is the upper steel belt device structure schematic view of a four-stage slip cutting type excavation support anchoring and transportation four-wheel drive combined device.

[0065] Figure 12 It is the support mechanism front view of a four-stage slip cutting type excavation support anchoring and transportation four-wheel drive combined device.

[0066] Figure 13 It is the support mechanism left view of a four-stage slip cutting type excavation support anchoring and transportation four-wheel drive combined device.

[0067] Among them:

[0068] 10. Excavation mechanism; 11. Excavation mechanism front section; 111. Front walking mechanism; 112. Main frame; 113. Full-face shovel plate; 1131. Main shovel plate; 1132. Main star wheel; 1133. Side shovel plate; 1134. Telescopic shovel plate; 1135. Auxiliary shovel plate; 1136. Auxiliary star wheel; 12. Three-degree-of-freedom cutting platform; 121. X-axis translation platform; 122. X-axis guide device; 123. Y-axis translation platform; 124. Y-axis guide device; 125. Rotation platform; 126. Rotation device; 13. Telescopic cutting head; 14. Multi-degree-of-freedom connecting mechanism; 141. Torsion joint; 142. Rotation joint; 143. Pitch joint; 15. Excavation mechanism rear section; 151. Rear walking mechanism; 152. Rear frame; 153. Power device; 154. Dragging rod; 16. Scraper conveyor;

[0069] 20. Anchoring mechanism; 21. Anchoring base; 22. Anchoring frame; 23. Slot base; 24. Top anchor rod drilling machine; 25. Side anchor rod drilling machine; 26. Anchor cable drilling machine; 27. Upper steel belt device; 271. Fixed frame; 272. Sprocket set; 273. Steel belt support frame; 274. Ratchet wheel; 275. Main pawl; 276. Auxiliary pawl; 277. Hand lever; 278. Steel belt tray; 279. Translation oil cylinder;

[0070] 30. Support mechanism; 31. Main support frame; 311. Main support strut; 312. Main support cross beam; 32. Auxiliary support frame; 321. Auxiliary support strut; 322. Auxiliary support cross beam; 33. Restraint rail; 34. Support mechanism walking motor; 35. Circulating support roof; 36. Side slope support. DETAILED DESCRIPTION

[0071] The application will be further described in detail below in combination with the drawings and specific preferred embodiments.

[0072] In the description of this invention, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this invention. The specific dimensions used in this embodiment are only for illustrating the technical solution and do not limit the scope of protection of this invention.

[0073] The present invention will now be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

[0074] like Figure 1 As shown, a four-stage sliding cut-type tunneling, support, anchoring and transport four-wheel drive combined device includes a tunneling mechanism 10, an anchoring mechanism 20 and a support mechanism 30.

[0075] The direction of rapid excavation within the roadway is defined as the X-axis, the main support direction of the support structure is defined as the Z-axis, and the side support direction of the support structure is defined as the Y-axis.

[0076] like Figure 2 As shown, the tunneling mechanism 10 includes a front section 11, a three-degree-of-freedom cutting platform 12, a telescopic cutting head 13, a multi-degree-of-freedom connecting mechanism 14, a rear section 15, and a scraper conveyor 16.

[0077] like Figure 3 As shown, the front section 11 of the tunneling mechanism includes a forward traveling mechanism 111, a main frame 112, and a full-section shovel 113.

[0078] The front walking mechanism 111 is a tracked walking device; the main frame 112 is fixed on the top of the front walking mechanism 111; the full-section shovel 113 is hinged to the main frame 112, and the rotation direction of the full-section shovel 113 is from the plane containing the X-axis and Y-axis to the plane containing the Y-axis and Z-axis.

[0079] like Figure 4 As shown, the full-section shovel plate 113 includes a main shovel plate 1131, a main star wheel 1132, a side shovel plate 1133, a telescopic shovel plate 1134, an auxiliary shovel plate 1135, and an auxiliary star wheel 1136.

[0080] The main shovel plate 1131 is hinged to the main frame 112. The main shovel plate 1131 rotates about the Y-axis, allowing for pitch rotation. A main star wheel 1132 is mounted on the main shovel plate 1131, used for rotating and scraping coal, conveying the coal cut by the telescopic cutting head 13 to the scraper conveyor 16. The side shovel plate 1133 is hinged to the main shovel plate 1131. The side shovel plate 1133 rotates about the X-axis, allowing for pitch rotation. The telescopic shovel plate 1134 is connected to the side shovel plate 1133 via a built-in hydraulic cylinder, allowing it to extend and retract in the Y-axis direction. An auxiliary star wheel 1136 is fixed to the telescopic shovel plate 1134. The auxiliary star wheel 1136 rotates continuously, keeping the coal on the full-section shovel plate 113 in a floating state, preventing water, mud, and coal from accumulating into clumps. The auxiliary shovel plate 1135 is threadedly connected to the telescopic shovel plate 1134 and can be flexibly disassembled.

[0081] The main shovel 1131 can rotate along the Y-axis and move up and down along the Z-axis to collect coal slag and other materials accumulated in the roadway. The side shovel 1133 can rotate along the X-axis and move up and down along the Z-axis to allow for tilting and adapting to changes in roadway cross-sectional width. The telescopic shovel 1134 is connected to the side shovel 1133 via a built-in hydraulic cylinder and can extend and retract along the Y-axis to further adapt to different roadway cross-sectional dimensions. The auxiliary shovel 1135 is threadedly connected to the telescopic shovel 1134 and can be installed when needed to expand the coverage of the full-section shovel 113. It can also be easily disassembled when not in use for flexible operation. The main star wheel 1132 can rotate and scrape coal into the scraper conveyor 16, playing a major role in coal collection. The auxiliary star wheel 1136 ensures that the coal blocks remain in a floating state, preventing water, mud, and coal from accumulating into lumps.

[0082] like Figure 5 and Figure 6 As shown, a three-degree-of-freedom cutting platform 12 is fixed on the top of the main frame 112; the three-degree-of-freedom cutting platform 12 includes an X-axis pushing platform 121, an X-axis guiding device 122, a Y-axis pushing platform 123, a Y-axis guiding device 124, a rotary platform 125, and a rotary device 126.

[0083] The X-axis pushing platform 121 and the X-axis guiding device 122 form a sliding pair for X-axis movement, sliding relative to each other along the X-axis; the Y-axis pushing platform 123 and the Y-axis guiding device 124 form a sliding pair for Y-axis movement, sliding relative to each other along the Y-axis; the rotary platform 125 and the rotary device 126 form a hinge pair, capable of rotating 360° in the plane formed by the X and Y axes. The positional order of the three degrees of freedom of the three-degree-of-freedom cutting platform 12 can be arbitrarily set and combined without affecting the overall function.

[0084] A telescopic cutting head 13 is fixed on the top of the three-degree-of-freedom cutting platform 12; the telescopic cutting head 13 is used for cutting the coal wall during rapid tunneling. The telescopic cutting head 13 itself has telescopic and lifting functions, and is fixed on the three-degree-of-freedom cutting platform 12, and the two can cooperate to complete the forward and backward sliding, left and right sliding and telescopic movement of the telescopic cutting head 13, and realize full-face cutting in the state that the machine body is not moved.

[0085] As shown in Figure 7 and Figure 8 , the multi-degree-of-freedom connecting mechanism 14 includes a torsion joint 141, a swing joint 142 and a pitch joint 143; the torsion joint 141 provides a rotational degree of freedom in the X-axis direction, and the tunneling mechanism front section 11 and the tunneling mechanism rear section 15 can be twisted with the X-axis as the rotation axis; the swing joint 142 provides a rotational degree of freedom in the Y-axis direction, and the tunneling mechanism front section 11 and the tunneling mechanism rear section 15 can be rotated with the Z-axis as the rotation axis; the pitch joint 143 provides a rotational degree of freedom in the Z-axis direction, and the tunneling mechanism front section 11 and the tunneling mechanism rear section 15 can be rotated with the Y-axis as the rotation axis.

[0086] As shown in Figure 9 , the tunneling mechanism rear section 15 includes a rear traveling mechanism 151, a rear frame 152 and a power device 153.

[0087] The rear traveling mechanism 151 is a caterpillar traveling device; the rear traveling mechanism 151 has the rear frame 152 fixed on the top; the rear frame 152 has the power device 153 fixed thereon, and the power device 153 provides traveling power for the rear traveling mechanism 151. The tunneling mechanism 10 is provided with moving power by the power device 153, and the tunneling mechanism front section 11 and the tunneling mechanism rear section 15 transmit power by the multi-degree-of-freedom connecting mechanism 14, and the front traveling mechanism 111 and the rear traveling mechanism 151 are both caterpillar traveling structures.

[0088] The rear frame 152 also has a towing rod 154 fixed thereon, and the towing rod 154 connects the tunneling mechanism 10 and the anchoring mechanism 20.

[0089] The flight conveyor 16 is fixed on the top of the rear frame, and the flight conveyor 16 is connected with the full-face scraper 113 to transport the coal residue and other substances collected by the full-face scraper 113 to the designated position at the rear.

[0090] As shown in Figure 10 , the anchoring mechanism 20 includes an anchoring base 21, an anchoring frame 22, a slot base 23, a top anchor rod drill 24, a side anchor rod drill 25, an anchor cable drill 26 and an upper steel belt device 27.

[0091] The anchor base 21 is provided with a sliding shoe at the bottom, and the anchor base 21 slides on the ground through the sliding shoe; the anchor base 21 is fixed with a groove seat 23 at the top, the groove seat 23 is engaged with the dragging rod 154 on the rear frame, and the anchor base 21 is detachably connected with the rear frame 152. The anchor mechanism 20 can be separated from the tunneling mechanism 10 for separate operation of the tunneling part under special working conditions.

[0092] The anchor base 21 is vertically fixed with an anchor frame 22 at the top; the anchor frame 22 is fixed with a top anchor rod drill 24 and a side anchor rod drill 25; the top anchor rod drill 24 drives the anchor rod into the roof of the roadway along the Z-axis direction; the side anchor rod drill 25 drives the anchor rod into the two sidewalls of the roadway along the Y-axis direction; an anchor cable drill 26 is fixed on the anchor frame 22 along the X-axis and Y-axis directions; the anchor cable drill 26 drives the anchor cable into the roof of the roadway and the two sidewalls of the roadway, and the anchor rods and the anchor cables are arranged at intervals.

[0093] The arrangement of the anchor rod and the anchor cable will be described below in combination with specific examples. The size of the roadway is 5200mm in width and 3600mm in height. One φ22*4200mm anchor rod is driven into the two sidewalls of the roadway at positions 600mm, 1400mm, 2200mm and 3000mm away from the bottom surface of the roadway, and one φ22*8300mm anchor cable is driven into the two sidewalls of the roadway at positions 1000mm and 2500mm away from the bottom surface of the roadway. One φ22*4200mm anchor rod is driven into the roof of the roadway at positions 200mm, 1000mm, 1800mm, 3400mm, 4200mm and 5000mm away from one sidewall, and one φ22*8300mm anchor cable is driven into the roof of the roadway at positions 600mm, 1600mm, 2600mm, 3600mm and 4600mm away from one sidewall. The anchor rod and the anchor cable are driven into the coal seam in the inner wall of the roadway to reinforce the roadway.

[0094] As shown in Figure 11 The upper steel belt device 27 includes a fixed frame 271, a chain wheel set 272, a steel belt support frame 273, a ratchet wheel 274, a main ratchet pawl 275, a secondary ratchet pawl 276, a hand lever 277, a steel belt tray 278 and a push oil cylinder 279.

[0095] The fixed frame is horizontally fixed on the anchoring frame 22; the chain wheel set 272 is vertically arranged on the fixed frame 271, and the chain wheel set 272 comprises two chain wheels arranged above and below and connected by a chain; the steel belt support 273 is arranged on the chain to place the steel belt; the ratchet wheel 274 is connected with the chain wheel set 272 through a flat key; the hand lever 277 is hingedly connected with the anchoring frame 22 through a pin shaft; the main pawl 275 and the auxiliary pawl 276 are respectively hingedly connected with the hand lever 277, the ratchet wheel 274 is driven to rotate by rotating the hand lever 277, the chain wheel set 272 is driven to rotate by rotating the ratchet wheel 274, the steel belt support 273 is driven to descend by rotating the chain wheel set 272, and the steel belt support 272 falls into the steel belt tray 278 arranged on the fixed frame 271; the bottom of the steel belt tray 278 is provided with a roller, and the roller is moved to the top of the roof bolting drill 24 under the pushing of the push cylinder 279, the roof bolting drill 24 drives the steel belt into the roadway, and the steel belt installation work is completed. The steel belt cooperates with the anchor rod and the anchor cable to reinforce the roadway more solidly.

[0096] As shown in Figure 12 and Figure 13 , the supporting mechanism 30 comprises a main supporting frame 31, an auxiliary supporting frame 32, a constraint track 33, a supporting mechanism walking motor 34, a circulating supporting roof 35 and a side slope support 36.

[0097] The main supporting frame 31 comprises two main supporting rods 311 and a main supporting beam 312 connecting the two main supporting rods 311; the main supporting rod 311 is vertically arranged, and the bottom of the main supporting rod 311 is provided with a walking track, so that the main supporting frame 31 can move freely under the driving of the supporting mechanism walking motor 34.

[0098] The auxiliary supporting frame 32 is arranged in parallel with the main supporting frame 31; the auxiliary supporting frame 32 comprises two auxiliary supporting rods 321 and an auxiliary supporting beam 322 connecting the two auxiliary supporting rods 321; the bottom of the auxiliary supporting rod 321 is provided with a sliding shoe, and the auxiliary supporting frame 32 slides on the ground through the sliding shoe.

[0099] The main supporting frame 31 and the auxiliary supporting frame 32 are matched through the constraint track 33, and the constraint track 33 constrains the main supporting frame 31 and the auxiliary supporting frame 32 to only produce displacement in the X-axis direction, and has no relative displacement in the Y-axis direction and the Z-axis direction.

[0100] The auxiliary supporting frame 32 is arranged outside the main supporting frame 31, and the main supporting frame 31 is arranged on the front section 11 of the tunneling mechanism 10 to provide support for the tunneling mechanism 10.

[0101] The main support strut 311 and the auxiliary support strut 321 are both provided with telescopic cylinders to drive the main support strut 311 and the auxiliary support strut 321 to stretch or retract in the Z-axis direction; the cycle support roof 35 is fixed to the top of the main support beam 312 and the auxiliary support beam 322, and is used to support the roof of the roadway; the side support 36 is fixed perpendicularly to the side wall of the roadway in the direction of the auxiliary support strut 321, and two groups of side supports 36 are arranged in staggered manner, and are used to support the side walls of the roadway.

[0102] The supporting mechanism 30 and the tunneling mechanism 10 are in a cooperative relationship, the supporting mechanism 30 has an independent power and walking mechanism, when running, the supporting mechanism covers the front section of the tunneling mechanism 10, and provides temporary support for the tunneling mechanism 10, and the anchoring mechanism 20 arranged in the rear section 15 of the tunneling mechanism completes permanent support.

[0103] The supporting mechanism 30 and the roof of the roadway always maintain stable contact and support relationship, the front section 11 of the tunneling mechanism and the rear section 15 of the tunneling mechanism simultaneously drive to the predetermined position; the main support frame 31 of the supporting mechanism retracts and separates from the cycle support roof 35, and drives a distance in the tunneling direction, and then the main support frame 31 re-extends and supports the cycle support roof 35; then the auxiliary support frame 32 retracts and separates from the cycle support roof 35, and slides in the forward tunneling direction under the traction of the constraint rail 33, and after driving the same distance as the main support frame 31, the auxiliary support frame 32 extends and supports the cycle support roof 35 again. In this process, the side supports 36 on the auxiliary support strut 321 ensure that the side supports 36 always have a supporting effect on the side walls of the roadway due to the staggered arrangement.

[0104] A working method of a four-stage sliding cutting type tunneling and supporting and anchoring four-wheel drive combined device, specifically comprising the following steps:

[0105] S1, the supporting mechanism covers the front section 11 of the tunneling mechanism, and the anchoring mechanism is fixed to the rear section 15 of the tunneling mechanism; the telescopic cutting head 13 of the tunneling mechanism cooperates with the three-degree-of-freedom cutting platform 12 to cut the cross section of the front end of the roadway to a predetermined depth according to a predetermined contour; the three-degree-of-freedom cutting platform 12 can make the telescopic cutting head 13 have the freedom of movement in the X-axis, Y-axis and Z-axis directions;

[0106] S2, the full-section shovel plate 113 loads the coal cinder material accumulated on the ground onto the scraper conveyor 16, and transports it to the designated position in the rear direction;

[0107] S3, in the process of tunneling of the tunneling device, the top anchor rod drill 24, the side anchor rod drill 25 and the anchor cable drill 26 of the anchoring mechanism 20 work simultaneously to drive the anchor rod and the anchor cable into the coal wall of the roadway, and permanently support the roof and the side walls of the roadway around the anchoring mechanism;

[0108] S4, the upper steel belt device 27 is synchronously started, and provides steel belts for the roof anchor drill 24, the side anchor drill 25 and the anchor cable drill when the roof anchor drill 24, the side anchor drill 25 and the anchor cable drill work;

[0109] S5, the supporting mechanism 30 keeps stable contact and support relationship with the roof of the roadway, after S2-S4 are completed, the front section 11 and the rear section 15 of the tunneling mechanism simultaneously drive to the predetermined position, the main supporting frame 31 of the supporting mechanism retracts and separates from the cycle supporting roof 35, and after driving a preset distance in the tunneling direction, the main supporting frame 31 re-elongates and supports the cycle supporting roof 35, then the auxiliary supporting frame 32 retracts and separates from the cycle supporting roof 35, and slides in the forward tunneling direction under the traction of the constraint rail 33, and after driving the same distance as the main supporting frame 31, the auxiliary supporting frame 32 extends and supports the cycle supporting roof 35 again;

[0110] S6, the anchoring mechanism 20 is clamped with the rear frame 152 through the drag link 154, and after the rear section 15 of the tunneling mechanism moves in the tunneling direction, the anchoring mechanism 20 is dragged to move and keeps relative static with the tunneling mechanism 10;

[0111] S7, when the roadway bottom surface is uneven, the multi-degree-of-freedom connecting mechanism 14 can change the relative position of the front section 11 and the rear section 15 of the tunneling mechanism according to the terrain, and ensure good ground contact effect of the whole machine.

[0112] The tunneling mechanism can realize four-stage sliding, and can realize full-face cutting in the state that the tunneling main machine is static. The full-face shovel plate can realize overturning, telescoping and small star wheel auxiliary operation, and can realize full-face shovel operation. The front section and the rear section of the tunneling mechanism can realize rotation, torsion, pitching and other actions, and have large power and strong climbing ability. The supporting mechanism can realize off-machine operation with the tunneling main machine, and has the effect of non-repeated rolling support of the roadway roof and side slope. The anchoring mechanism is modularized, can realize rapid assembly and separation, can realize roof anchor, side anchor and anchor cable multi-process operation, and has the function of mechanical steel belt feeding, and can effectively improve the anchoring efficiency.

[0113] The preferred embodiments of the application are described in detail above, but the application is not limited to the specific details in the above-described embodiments, and various equivalent transformations can be made to the technical solutions of the application within the technical concept of the application, and these equivalent transformations all belong to the protection scope of the application.

Claims

1. A four-stage sliding cut-and-cover type excavation support anchor transport four-wheel drive combined device, characterized in that: Includes tunneling mechanism (10), anchoring mechanism (20), and support mechanism (30); The direction of rapid excavation in the roadway is defined as the X-axis direction, the main support direction of the support structure is defined as the Z-axis direction, and the side support direction of the support structure is defined as the Y-axis direction. The tunneling mechanism (10) includes a front section (11), a three-degree-of-freedom cutting platform (12), a telescopic cutting head (13), a multi-degree-of-freedom connecting mechanism (14), a rear section (15) of the tunneling mechanism, and a scraper conveyor (16). The front section (11) of the tunneling mechanism includes a forward traveling mechanism (111), a main frame (112), and a full-section shovel (113). The front walking mechanism (111) is a tracked walking device; a main frame (112) is fixed on the top of the front walking mechanism (111); the full-section shovel plate (113) is hinged to the main frame (112), and the rotation direction of the full-section shovel plate (113) is from the plane containing the X axis and Y axis to the plane containing the Y axis and Z axis. The top of the main frame (112) is fixed with a three-degree-of-freedom cutting platform (12); the three-degree-of-freedom cutting platform (12) includes an X-axis pushing platform (121), an X-axis guiding device (122), a Y-axis pushing platform (123), a Y-axis guiding device (124), a rotary platform (125), and a rotary device (126). The X-axis pushing platform (121) and the X-axis guiding device (122) form a sliding pair for X-axis movement, which slide relative to each other in the X-axis; the Y-axis pushing platform (123) and the Y-axis guiding device (124) form a sliding pair for Y-axis movement, which slide relative to each other in the Y-axis; the rotary platform (125) and the rotary device (126) form a hinge pair, which can rotate 360° in the plane formed by the X-axis and the Y-axis; The three-degree-of-freedom cutting platform (12) is fixed with a telescopic cutting head (13) at the top; the telescopic cutting head (13) is used to cut the coal wall during rapid tunneling; the multi-degree-of-freedom connection mechanism (14) includes a torsion joint (141), a rotation joint (142), and a pitch joint (143); the torsion joint (141) provides rotational freedom in the X-axis direction; the rotation joint (142) provides rotational freedom in the Y-axis direction; and the pitch joint (143) provides rotational freedom in the Z-axis direction. The rear section (15) of the tunneling mechanism includes a rear traveling mechanism (151), a rear frame (152), and a power unit (153). The rear walking mechanism (151) is a tracked walking device; a rear frame (152) is fixed on the top of the rear walking mechanism (151); a power unit (153) is fixed on the rear frame (152), and the power unit (153) provides walking power for the rear walking mechanism (151); a towing rod (154) is also fixed on the rear frame (152). The scraper conveyor (16) is fixed on the top of the rear frame and is connected to the full-section shovel (113); The anchoring mechanism (20) includes an anchoring base (21), an anchoring frame (22), a groove seat (23), a top anchor drilling machine (24), and a side anchor drilling machine (25); The bottom of the anchor base (21) is provided with a sliding shoe, and the anchor base (21) slides on the ground through the sliding shoe; the top of the anchor base (21) is fixed with a groove seat (23), and the groove seat (23) engages with the drag bar (154) on the rear frame to connect the anchor base (21) to the rear frame (152). The top of the anchoring base (21) is vertically fixed with an anchoring frame (22); the anchoring frame (22) is fixed with a top anchoring drill (24) and a side anchoring drill (25); the top anchoring drill (24) nails the anchor rod into the top of the roadway along the Z-axis direction; the side anchoring drill (25) nails the anchor rod into the side walls of the roadway along the Y-axis direction. The support mechanism (30) includes a main support frame (31), a secondary support frame (32), a restraint track (33), a support mechanism travel motor (34), a circulating support top plate (35), and a side support (36). The main support frame (31) includes two main support rods (311) and a main support beam (312) connecting the two main support rods (311); the main support rods (311) are arranged vertically, and the bottom of the main support rods (311) is provided with a walking track. Under the drive of the support mechanism walking motor (34), the main support frame (31) can move freely. The secondary support frame (32) is arranged parallel to the main support frame (31); the secondary support frame (32) includes two secondary support rods (321) and a secondary support beam (322) connecting the two secondary support rods (321); the bottom of the secondary support rods (321) is provided with a sliding shoe, and the secondary support frame (32) slides on the ground through the sliding shoe; The main support frame (31) and the secondary support frame (32) are connected by a constraint track (33). The constraint track (33) restricts the main support frame (31) and the secondary support frame (32) to only have displacement in the X-axis direction, and there is no relative displacement in the Y-axis and Z-axis directions. The secondary support frame (32) is fitted on the outside of the main support frame (31), and the main support frame (31) is fitted on the front section (11) of the tunneling mechanism to provide support for the tunneling mechanism (10); Both the main support rod (311) and the auxiliary support rod (321) are equipped with telescopic cylinders, which drive the main support rod (311) and the auxiliary support rod (321) to extend and retract in the Z-axis direction; The circulating support roof plate (35) is fixed to the top of the main support beam (312) and the secondary support beam (322) to support the roof of the roadway; The side support (36) is vertically fixed on the side wall of the auxiliary support rod (321) facing the roadway, and is used to support the side walls of the roadway.

2. The four-stage sliding cut-off type excavation support anchor transport four-wheel drive combined device according to claim 1, characterized in that: The full-section shovel plate (113) includes a main shovel plate (1131), a main star wheel (1132), and a side shovel plate (1133). The main shovel plate (1131) is hinged to the main frame (112). The main shovel plate (1131) rotates around the Y-axis to achieve pitch rotation. The main star wheel (1132) is arranged on the main shovel plate (1131). The main star wheel (1132) is used to rotate and scrape coal, and transport the coal cut by the telescopic cutting head (13) to the scraper conveyor (16). The side shovel plate (1133) is hinged to the main shovel plate (1131), and the side shovel plate (1133) rotates about the X-axis to achieve pitch rotation.

3. The four-stage sliding cut-off type excavation support anchor transport four-wheel drive combined device according to claim 2, characterized in that: The full-section shovel plate (113) also includes a telescopic shovel plate (1134), an auxiliary shovel plate (1135), and an auxiliary star wheel (1136). The telescopic shovel (1134) is connected to the side shovel (1133) via a built-in hydraulic cylinder. The telescopic shovel (1134) can extend and retract in the Y-axis direction. An auxiliary star wheel (1136) is fixed on the telescopic shovel (1134). The auxiliary star wheel (1136) rotates continuously, so that the coal on the full-section shovel (113) is always in a floating state. The auxiliary shovel plate (1135) is threadedly connected to the telescopic shovel plate (1134) and can be flexibly disassembled.

4. The four-stage sliding cut-off type excavation support anchor transport four-wheel drive combined device according to claim 1, characterized in that: The anchoring mechanism also includes an anchor cable drill (26); the anchor cable drill (26) is fixed on the anchoring frame (22) along the X-axis and Y-axis directions respectively; the anchor cable drill (26) nails the anchor cable into the top of the tunnel and the side walls of the tunnel.

5. The four-stage sliding cut-off type excavation support anchor transport four-wheel drive combined device according to claim 1, characterized in that: The anchoring mechanism also includes an upper steel strip device (27); the upper steel strip device (27) is fixed on the anchoring frame (22); The upper steel belt device (27) includes a fixed frame (271), a sprocket assembly (272), a steel belt support frame (273), a ratchet (274), a main pawl (275), a secondary pawl (276), a hand crank (277), a steel belt tray (278), and a push cylinder (279). The fixing frame is horizontally fixed on the anchoring frame (22); the sprocket assembly (272) is vertically arranged on the fixing frame (271), and the sprocket assembly (272) includes two sprockets, one upper and one lower, which are connected by a chain; a steel strip support frame (273) is installed on the chain for placing the steel strip; the ratchet (274) is connected to the sprocket assembly (272) by a flat key; the hand crank (277) is hinged to the anchoring frame (22) by a pin; the main pawl (275) and the secondary pawl (276) are respectively hinged to the hand crank (277). By turning the hand crank (277), the ratchet (274) is driven to rotate. The rotation of the ratchet (274) drives the sprocket assembly (272) to rotate. The rotation of the sprocket assembly (272) drives the steel strip support frame (273) to descend. The steel strip support frame (272) falls into the steel strip tray (278) set on the fixed frame (271). The bottom of the steel strip tray (278) is equipped with rollers. Under the push of the push cylinder (279), it moves to the top anchor drilling machine (24). The top anchor drilling machine (24) drives the steel strip into the roadway, completing the steel strip placement operation.

6. The four-stage sliding cut-and-cover tunneling support anchor transport four-wheel drive combined device according to claim 1, characterized in that: The secondary support rods (321) are evenly distributed with side support (36) on the side facing the roadway. Each secondary support rod (321) is provided with two sets of side support (36), and the two sets of side support (36) are arranged in a staggered manner.

7. The working method of a four-stage sliding cut-off type tunneling support anchor transport four-wheel drive combined device according to claim 6, characterized in that: Specifically, the following steps are included: S1. The support mechanism covers the front section (11) of the tunneling mechanism, and the anchoring mechanism is fixed to the rear section (15) of the tunneling mechanism. The telescopic cutting head (13) of the tunneling mechanism and the three-degree-of-freedom cutting platform (12) work together to cut the cross-section at the front end of the roadway to a predetermined depth according to the predetermined contour. The three-degree-of-freedom cutting platform (12) allows the telescopic cutting head (13) to have degrees of freedom of movement in the X-axis, Y-axis and Z-axis directions. S2, the full-section shovel (113) loads the coal slag material piled on the ground onto the scraper conveyor (16) and transports it to the designated location. S3. During the tunneling process of the tunneling device, the top anchor drilling machine (24), side anchor drilling machine (25) and anchor cable drilling machine (26) of the anchoring mechanism (20) work simultaneously to nail the anchor bolts and anchor cables into the coal wall of the roadway, and provide permanent support for the top wall and side wall of the roadway around the anchoring mechanism. S4. The upper steel strip device (27) is activated simultaneously to provide steel strips for the top anchor drilling machine (24), the side anchor drilling machine (25) and the anchor cable drilling machine when they are working. S5. The support mechanism (30) and the top wall of the roadway maintain a stable contact and support relationship. After completing S2~S4, the front section (11) and the rear section (15) of the tunneling mechanism move forward to the predetermined position at the same time. The main support frame (31) of the support mechanism retracts and separates from the circulating support roof plate (35). After traveling a predetermined distance in the tunneling direction, the main support frame (31) extends again and supports the circulating support roof plate (35). Subsequently, the secondary support frame (32) retracts and separates from the circulating support roof plate (35). Under the traction of the restraint track (33), it slides forward in the tunneling direction. After traveling the same distance as the main support frame (31), the secondary support frame (32) extends and supports the circulating support roof plate (35) again. S6. The anchoring mechanism (20) engages with the rear frame (152) via the drag rod (154); after the rear section (15) of the tunneling mechanism moves in the tunneling direction, the anchoring mechanism (20) is dragged and moved, maintaining relative stillness with the tunneling mechanism (10); S7. When the bottom of the tunnel is uneven, the multi-degree-of-freedom connection mechanism (14) allows the relative position of the front section (11) and the rear section (15) of the tunneling mechanism to change with the terrain, ensuring good ground contact effect of the whole machine.

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