A full-face twice autonomous cutting method for tunneling a working face

Abstract

The application discloses a kind of twice autonomous cutting methods for full-face heading face, comprising the following steps: S1, in the first side in roadway, heading machine is autonomously walked to headwall, and cutting is carried out forwardly;S2, heading machine retreats to the second side of roadway, and the center line of heading machine is finally parallel with the center line of roadway;S3, heading machine is autonomously walked to headwall, and cutting is carried out along the section cutting path;S4, heading machine retreats to the first side of roadway, and the center line of heading machine is finally parallel with the center line of roadway;Step S1-S4 are cycled.The present application completes full-face cutting by twice autonomous cutting compared with prior art, the steps of cutting method are fixed, and heading machine can be completed under the preset program control of control equipment, thereby reducing manual operation, solving the problems of large labor intensity of operating personnel, low heading efficiency and inconvenient retreat of heading machine caused by manual operation and command heading machine in prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mine tunneling, in particular to a full-face twice autonomous cutting method for tunneling working face. BACKGROUND

[0002] With the continuous expansion of the scale of coal mining and the cross section area of coal roadway tunneling, the strength and difficulty of roadway tunneling also increase dramatically. Compared with fully mechanized working face, most of the roadway tunneling adopts a cantilever type tunneling machine which is manually operated. During construction, the tunneling machine driver controls the cutting head to cut coal by visually observing the laser spot on the face. The construction quality of the tunneling machine is largely dependent on the experience and proficiency of the driver. The driver manually operates the tunneling machine to move the equipment multiple times to cut coal, and at least 2-3 operating personnel operate and command the face. The operating personnel have a high labor intensity, the tunneling efficiency is low, and the face is prone to collapse and falling, causing potential safety hazards.

[0003] In view of the problems existing in the current large cross section roadway tunneling, a full-face twice autonomous cutting process for tunneling working face is provided, which makes the operating personnel away from the dangerous area of the face, reduces the equipment retreat and movement time, reduces the labor intensity of the operating personnel, improves the tunneling efficiency of the working face, and eliminates the safety hazards of the operating personnel. SUMMARY

[0004] The purpose of the present application is to provide a full-face twice autonomous cutting method for tunneling working face, to solve the problems of high labor intensity of operating personnel, low tunneling efficiency and inconvenience of retreat and movement caused by manual operation and command of cutting operation in the prior art.

[0005] To achieve the above-mentioned purpose, the present application provides the following solutions:

[0006] The present application discloses a full-face twice autonomous cutting method for tunneling working face, comprising the following steps:

[0007] S1, at the first side in the roadway, the center line of the tunneling machine is parallel to the center line of the roadway, so that the tunneling machine autonomously walks forward to the face coal wall, and cuts forward, and after cutting to a predetermined depth, step S2 is entered;

[0008] S2, the tunneling machine retreats to the second side of the roadway, and the center line of the tunneling machine is finally parallel to the center line of the roadway, so that the cutting head of the tunneling machine is opposite to the face coal wall;

[0009] S3, the tunneling machine autonomously walks forward to the face coal wall, cuts along the cutting path of the cross section, and after cutting to a predetermined depth, step S4 is entered;

[0010] S4, retreat the heading machine to the first side of the roadway, and the center line of the heading machine is finally parallel to the center line of the roadway, so that the cutting head of the heading machine is directly opposite the coal wall;

[0011] Steps S1-S4 are cycled;

[0012] Wherein, the first side is the left side of the roadway, and the second side is the right side of the roadway; or, the first side is the right side of the roadway, and the second side is the left side of the roadway.

[0013] Preferably, step S2 specifically adjusts the track close to the first side of the heading machine to a reverse speed V1, adjusts the track close to the second side of the heading machine to a reverse speed V2, and makes the heading machine retreat along a first circular arc to the center line of the roadway; adjusts the track close to the second side of the heading machine to a reverse speed V1, adjusts the track close to the first side of the heading machine to a reverse speed V2, and makes the heading machine retreat along a second circular arc to the second side of the roadway; adjusts the track speed of both sides of the heading machine to zero; the first circular arc and the second circular arc are equal in length, and V1>V2.

[0014] Preferably, step S4 specifically adjusts the track close to the second side of the heading machine to a reverse speed V1, adjusts the track close to the first side of the heading machine to a reverse speed V2, and makes the heading machine retreat along a third circular arc to the center line of the roadway; adjusts the track close to the first side of the heading machine to a reverse speed V1, adjusts the track close to the second side of the heading machine to a reverse speed V2, and makes the heading machine retreat along a fourth circular arc to the first side of the roadway; adjusts the track speed of both sides of the heading machine to zero; the third circular arc and the fourth circular arc are equal in length.

[0015] Preferably, the rear end of the heading machine is connected to a belt-type transfer machine for conveying coal backward.

[0016] Preferably, the rear end of the heading machine is connected to a belt conveyor self-moving tail for conveying coal backward.

[0017] Preferably, the rear end of the heading machine is connected to an intelligent centralized control center for controlling the heading machine.

[0018] Preferably, the heading machine is provided with an inertial navigation system and a control box, and the inertial navigation system is electrically connected with the control box.

[0019] The present application has the following technical effects compared with the prior art:

[0020] The present application completes full-face cutting by two times of autonomous cutting, the steps of the cutting method are fixed, and the heading machine can be controlled under the preset program of the control device, thereby reducing manual operation, and solving the problems of high labor intensity of operation personnel, low heading efficiency, and inconvenience of retreat of the heading machine caused by manual operation and command of the heading machine in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description only need to be some embodiments of the present application, and for ordinary skilled people in the art, other drawings can also be obtained from these drawings without any creative effort.

[0022] Figure 1 A schematic diagram of a full-section twice autonomous cutting path;

[0023] Figure 2 A schematic diagram of a part of a route of autonomous advancing cutting and retreating machine moving of the roadheader;

[0024] Figure 3 Another schematic diagram of a part of a route of autonomous advancing cutting and retreating machine moving of the roadheader;

[0025] Explanation of reference signs:

[0026] A point is a starting position of the roadheader;

[0027] B point is a left side section cutting starting position of the roadheader;

[0028] C point is a left side section cutting ending position of the roadheader, which is also a left side retreating machine starting position;

[0029] D point is a position where an angle between a center line of the roadheader on the circular arc CE and a center line of the roadway is 10°;

[0030] E point is a position where an angle between the center line of the roadheader on the circular arc CE and the center line of the roadway is 19° on the circular arc EG;

[0031] F point is a position where an angle between the center line of the roadheader on the circular arc EG and the center line of the roadway is 9°;

[0032] G point is a right side ending position of the retreating machine of the roadheader;

[0033] H point is a right side section cutting starting position of the roadheader;

[0034] I point is a right side section cutting ending position of the roadheader;

[0035] J point is a left side stopping position of the roadheader in one cutting cycle;

[0036] L1 is a distance between A point and B point;

[0037] L2 is a distance between B point and C point;

[0038] L3 is a distance between G point and H point;

[0039] L4 is a projection length of a retreating machine route of the roadheader along the center line of the roadway;

[0040] L5 is the distance from the center line of the heading machine to the left side of the roadway when the heading machine is excavating the left side of the roadway;

[0041] L6 is the distance from the center line of the heading machine to the right side of the roadway when the heading machine is excavating the right side of the roadway;

[0042] L7 is the height of the roadway;

[0043] L8 is the width of the roadway;

[0044] R1 is the radius of the circular arc CE, and the center of the circular arc CE is O1;

[0045] R2 is the radius of the circular arc EG, and the center of the circular arc EG is O2. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0047] The purpose of the present application is to provide a full-face two-time autonomous cutting method for a heading face, so as to solve the problems of high labor intensity of workers, low heading efficiency and inconvenience of backward movement of a machine caused by manual operation and command cutting operation in the prior art.

[0048] In order to make the above-mentioned purposes, characteristics and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments. In the embodiments, the front-rear direction is parallel to the center line of the roadway, and the left-right direction is perpendicular to the center line of the roadway. In the embodiments, the heading machine is a boom-type heading machine, and other types of heading machines can also be selected by those skilled in the art according to different actual needs. In the embodiments, the points A, B, C, D, E, F, G, H, I and J are positions of the heading machine, and the heading machine is simplified as a particle for the convenience of description. In the embodiments, the heading machine excavates to form a left cross section on the left side of the roadway, and excavates to form a right cross section on the right side of the roadway. Figure 1 FIG. 2 shows a moving path of the boom end of the heading machine when cutting the left cross section, and a moving path of the boom end of the heading machine when cutting the right cross section, and other moving paths can also be selected by those skilled in the art.

[0049] With reference to Figures 1 to 3 , the present embodiment provides a full-face two-time autonomous cutting method for a heading face, comprising the following steps:

[0050] S1, at the first side in the roadway, the center line of the heading machine is parallel to the center line of the roadway, and the heading machine autonomously walks forward to the coal wall, and cuts forward, and after cutting to a predetermined depth, step S2 is entered. In this step, the center line of the heading machine is parallel to the center line of the roadway.

[0051] S2, the heading machine retreats to the second side of the roadway, and after the retreat is completed, the center line of the heading machine is parallel to the center line of the roadway, so that the cutting head of the heading machine is opposite the coal wall.

[0052] S3, the heading machine autonomously walks forward to the coal wall, cuts along the cutting path of the section, and after cutting to a predetermined depth, step S4 is entered. In this step, the center line of the heading machine is parallel to the center line of the roadway.

[0053] S4, the heading machine retreats to the first side of the roadway, and after the retreat is completed, the center line of the heading machine is parallel to the center line of the roadway, so that the cutting head of the heading machine is opposite the coal wall.

[0054] Steps S1-S4 are cycled.

[0055] Wherein, the first side is the left side of the roadway, and the second side is the right side of the roadway; or, the first side is the right side of the roadway, and the second side is the left side of the roadway. In this embodiment, the first side is the left side of the roadway, and the second side is the right side of the roadway.

[0056] The working principle of the full-face two-time autonomous cutting method for the heading face in this embodiment is as follows:

[0057] The positions of the left side of the roadway and the right side of the roadway are fixed, and they are symmetrical about the center line of the roadway. Therefore, after each retreat is completed, the perpendicular distance between the heading machine and the center line of the roadway is the same, so that full-face cutting is completed through two-time autonomous cutting. When the heading section area is greater than the actual cutting area of the heading machine, the above-mentioned method of this embodiment can be used to complete the cutting. The steps of the above-mentioned cutting method are fixed, and the heading machine can be completed under the preset program control of the control device, thereby reducing manual operation, solving the problems of high labor intensity of the operation personnel, low heading efficiency, and inconvenience of retreat in the prior art.

[0058] It should be noted that in steps S2 and S4, the route of the retreat can be selected according to actual needs, as long as the position of the heading machine after the retreat is completed is on the left side or the right side of the roadway, and the center line of the heading machine is parallel to the center line of the roadway.

[0059] As a possible example, in the embodiment, step S2 is specifically adjusting the track close to the first side of the roadheader to a reverse speed V1, adjusting the track close to the second side of the roadheader to a reverse speed V2, and making the roadheader retreat along a first circular arc to the center line of the roadway; adjusting the track close to the second side of the roadheader to a reverse speed V1, adjusting the track close to the first side of the roadheader to a reverse speed V2, and making the roadheader retreat along a second circular arc to the second side of the roadway; adjusting the track speed of both sides of the roadheader to zero; the first circular arc and the second circular arc have equal lengths, and V1>V2. Obviously, the first circular arc and the second circular arc are centrally symmetric with the connecting position of the two as the center. Since the center line of the roadheader is parallel to the center line of the roadway at the initial position of the retreat movement, the center line of the roadheader will also be parallel to the center line of the roadway at the final position of the retreat movement.

[0060] As a possible example, in the embodiment, step S4 is specifically adjusting the track close to the second side of the roadheader to a reverse speed V1, adjusting the track close to the first side of the roadheader to a reverse speed V2, and making the roadheader retreat along a third circular arc to the center line of the roadway; adjusting the track close to the first side of the roadheader to a reverse speed V1, adjusting the track close to the second side of the roadheader to a reverse speed V2, and making the roadheader retreat along a fourth circular arc to the first side of the roadway; adjusting the track speed of both sides of the roadheader to zero; the third circular arc and the fourth circular arc have equal lengths.

[0061] As a possible example, in the embodiment, the rear end of the roadheader can be connected to a belt-type transfer machine for conveying coal backward, a belt conveyor self-moving machine tail for conveying coal backward, or an intelligent centralized control center for controlling the roadheader.

[0062] As a possible example, in the embodiment, the roadheader is provided with an inertial navigation system and a control box, and the inertial navigation system is electrically connected with the control box. The inertial navigation system can realize accurate sensing of the body angle, horizontal coordinate and vertical coordinate of the roadheader, accurate positioning of the body relative to the roadway, and sensing of the positional relationship between the roadheader and the roadway. Based on the information provided by the inertial navigation system, the control box controls the forward movement, backward movement and left-right movement of the roadheader. Since the inertial navigation system and the control box are common structures in the field, they will not be described here. According to different actual needs, other types of navigation systems can also be used to provide the positional relationship information between the roadheader and the roadway.

[0063] The cutting method of the embodiment will be described below in the form of a specific example:

[0064] The heading face has a roadway width of 5.6 meters, a height of 3.6 meters, a roadheader length of 11.4 meters, and a body width of 2.84 meters. The blade width is 3 meters, the cutting head length is 0.7 meters, the distance between the equipment mass center and the front end of the cutting head is 5.891 meters, and the distance between the equipment mass center and the rear end of the body is 4.207 meters.

[0065] The second step is to automatically cut from the left side section cutting starting position B point to the left side section cutting end position C point along the cutting path.

[0066] The first step is that the tunneling machine autonomously advances to the left side section cutting starting position B point from the starting position A point by relying on the inertial navigation system.

[0067] The second step is to automatically cut from the left side section cutting starting position B point to the left side section cutting end position C point along the cutting path.

[0068] The third step is to autonomously retreat the tunneling machine to the retreat machine right side end position G point from the left side section cutting end position C point by relying on the inertial navigation system.

[0069] The fourth step is to autonomously advance the tunneling machine to the right side section cutting starting position H point from the retreat machine right side end position G point by relying on the inertial navigation system.

[0070] The fifth step is to automatically cut from the right side section cutting starting position H point to the right side section cutting end position I point.

[0071] The sixth step is to autonomously retreat the tunneling machine to the retreat machine right side end position J point from the right side section cutting end position I point by relying on the inertial navigation system, which is the left side stopping position J point of one cutting cycle, and one cycle of full section twice autonomous cutting is completed.

[0072] For the third step, the tunneling machine retreats from the left side of the roadway to the right side, first taking O1 as the center, moving along the circular arc CE, and then taking O2 as the center, moving along the circular arc EG.

[0073] For the sixth step, the tunneling machine retreats from the right side of the roadway to the left side, first taking O3 as the center, moving along the circular arc IE, and then taking O4 as the center, moving along the circular arc EJ.

[0074] The tunneling machine has three modes of cutting, namely, power frequency, semi-automatic, and full-automatic, and has five cutting gears, namely, first gear, second gear, third gear, fourth gear, and fifth gear. The cutting head can adjust the thrust force and rotational torque to achieve adaptive cutting according to the hardness of the coal and rock. The tunneling machine can set the cutting path trajectory, cutting row number, row distance, and other parameters according to actual needs.

[0075] After the tunneling machine completes the cutting operation, the working equipment in the roadway can be laid on the left side of the roadway, and the right side of the roadway can be used for pedestrians, material transportation, and advancing the anchor rod drilling vehicle to the front for support.

[0076] The principles and implementation manners of the present application are described in the specification by using specific examples, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed. In conclusion, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A method for two-stage autonomous cutting of the entire cross-section of a tunneling face, characterized in that, Includes the following steps: S1. On the first side of the roadway, the centerline of the tunneling machine is parallel to the centerline of the roadway, allowing the tunneling machine to move forward autonomously to the coal face and cut forward. After cutting to the predetermined depth, proceed to step S2. S2. The tunneling machine is moved backward to the second side of the roadway, and the centerline of the tunneling machine is eventually parallel to the centerline of the roadway, so that the cutting head of the tunneling machine is facing the coal face. S3. The tunneling machine autonomously moves forward to the coal face and cuts along the cross-section cutting path. After cutting to the predetermined depth, it proceeds to step S4. S4. The tunneling machine is moved backward to the first side of the roadway, and the center line of the tunneling machine is eventually parallel to the center line of the roadway, so that the cutting head of the tunneling machine is facing the coal face. Repeat steps S1 to S4 in a loop; Among them, the first side is the left side of the tunnel, and the second side is the right side of the tunnel; or, the first side is the right side of the tunnel, and the second side is the left side of the tunnel. Step S2 specifically involves adjusting the track of the tunneling machine closest to the first side to a reverse speed V1, and adjusting the track of the tunneling machine closest to the second side to a reverse speed V2, so that the tunneling machine retreats along the first arc to the center line of the roadway; adjusting the track of the tunneling machine closest to the second side to a reverse speed V1, and adjusting the track of the tunneling machine closest to the first side to a reverse speed V2, so that the tunneling machine retreats along the second arc to the second side of the roadway; adjusting the speed of the tracks on both sides of the tunneling machine to zero; the lengths of the first arc and the second arc are equal, and V1 > V2; Step S4 specifically involves adjusting the track of the tunneling machine closest to the second side to a reverse speed V1, and adjusting the track of the tunneling machine closest to the first side to a reverse speed V2, so that the tunneling machine retreats along the third arc to the center line of the roadway; adjusting the track of the tunneling machine closest to the first side to a reverse speed V1, and adjusting the track of the tunneling machine closest to the second side to a reverse speed V2, so that the tunneling machine retreats along the fourth arc to the first side of the roadway; adjusting the speed of the tracks on both sides of the tunneling machine to zero; and ensuring that the lengths of the third and fourth arcs are equal. After each backward movement of the tunneling machine, the vertical distance between the tunneling machine and the centerline of the roadway is always the same. The tunneling machine is equipped with an inertial navigation system and a control box, and the inertial navigation system is electrically connected to the control box.

2. The method for two-stage autonomous cutting of the entire cross-section of a tunneling face according to claim 1, characterized in that, The rear end of the tunneling machine is connected to a belt conveyor used to transport coal backwards.

3. The method for two-stage autonomous cutting of the entire cross-section of a tunneling face according to claim 1, characterized in that, The rear end of the tunneling machine is connected to a self-moving tail section of a belt conveyor used to transport coal backwards.

4. The method for two-stage autonomous cutting of the entire cross-section of a tunneling face according to claim 1, characterized in that, The rear end of the tunneling machine is connected to an intelligent control center for operating the machine.

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