An automated precision cutting cantilever tunneling machine and cutting method

Abstract

This invention provides an automated, precise cutting cantilever roadheader and its cutting method, relating to the field of roadheading technology. The roadheader includes a cutting head, a telescopic cutting arm, a roadheader shovel, and a central positioning system. The telescopic cutting arm is mounted at the front of the roadheader, with the cutting head positioned at the end of the telescopic cutting arm. The roadheader shovel is positioned at the front of the roadheader. The central positioning system controls the roadheader's automatic roadheading. The cutting method using this roadheader includes arc-shaped cylindrical cutting at the roadhead face and double-directional cutting along the perimeter. The arc-shaped cylindrical surface formed by the central cutting has good self-balancing ability, providing roof and side protection. Perimeter cutting does not damage the roadway roof and sidewalls and reduces cutting resistance. Furthermore, the cutting force is directed towards the coal and rock being cut and into the roadway, avoiding the phenomenon of force being applied to the surrounding coal and rock. The use of the central positioning system to control the roadheader to complete the roadheading construction improves the roadheader's efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunneling, in particular to an automatic precise cutting cantilever tunneling machine and a cutting method. BACKGROUND

[0002] In coal mining, about 90% of coal resources in China are mined in the form of underground mining. Tunneling is the key link of underground mining, and the existing tunneling machine tunneling technology generally has problems such as poor roadway forming, easy roof falling, and poor engineering quality. Research on tunneling machines and their cutting processes can reduce the disturbance of the cutting head to the roadway roof and walls, avoid damage to the roadway roof and walls, solve the precise cutting forming of the tunneling machine, and improve the weight of the roadway engineering, which is a problem that needs to be solved in mining engineering at home and abroad. SUMMARY

[0003] To improve the quality of roadway forming and avoid damage to the cutting of the roadway roof and walls, the present application provides an automatic precise cutting cantilever tunneling machine and a cutting method, and the specific technical solutions are as follows.

[0004] An automatic precise cutting cantilever tunneling machine includes a machine body, a cutting head, a telescopic cutting arm, a tunneling machine shovel plate, a center positioning and intelligent control system, the front end of the machine body is configured with a telescopic cutting arm, the cutting head is arranged at the end of the telescopic cutting arm, and the tunneling machine shovel plate is arranged in front of the machine body; the center positioning and intelligent control system is arranged on the machine body to position the cutting surface of the tunneling head and control the automatic tunneling construction of the tunneling machine.

[0005] An automatic precise cutting method uses the above-mentioned automatic precise cutting cantilever tunneling machine to divide the tunneling machine cutting into automatic cutting of the middle part and the periphery of the roadway, wherein the center positioning and intelligent control system is used to automatically position the machine body during middle part cutting, and the cutting head is moved to the bottom corner of the roadway by means of a remote visual image during periphery cutting to accurately position the cutting head.

[0006] Preferably, during the middle part cutting of the roadway, the telescopic cutting arm length is automatically adjusted by the center positioning and intelligent control system to cut the tunneling face into a circular arc column; the cutting head makes horizontal swing cutting at the same height position in the transverse direction, and the telescopic cutting arm length remains unchanged; when the cutting head makes vertical swing cutting at different height positions in the longitudinal direction, the telescopic cutting arm length is automatically adjusted to make the horizontal projection of the cutting surface a same circular arc.

[0007] Preferably, during the positioning cutting of the periphery of the roadway, the periphery is double-directionally and automatically cut according to the set program, the cutting head is cut along the periphery in the clockwise direction when it rotates clockwise, and the cutting head is cut along the periphery in the counterclockwise direction when it rotates counterclockwise.

[0008] Further preferably, the center positioning and intelligent control system sets the telescopic cutting arm length and the cutting head height and the cutting head movement path according to the round cylindrical surface of the tunneling head-on, and controls the automatic cutting of the tunneling machine.

[0009] Further preferably, the cutting path of the cutting head in the middle of the tunnel has three forms of S-shaped path, meandering path and spiral line path.

[0010] Further preferably, the center positioning and intelligent control system further comprises a camera, the camera is used to transmit the image of the tunneling head-on to the control room, the driver of the tunneling machine manually intervenes in the position of the cutting head of the tunneling machine by means of the camera image, and then controls the length of the telescopic cutting arm and the movement path of the cutting head through the center positioning and intelligent control system, so that the tunneling machine automatically cuts in the tunneling head-on.

[0011] The automatic precise cutting cantilever tunneling machine and the cutting method have the following beneficial effects: the tunneling machine adopts round cylindrical surface cutting in the head-on, the round cylindrical surface formed in the vertical plane of the tunneling head-on has a small empty top area, which can avoid the roof and shoulder nest caving of the tunneling head-on, the round cylindrical surface has self-balancing ability, which is beneficial to prevent the face of the tunneling head-on and the spalling of the two sides of the tunnel, and when the cutting arm swings transversely, the length of the cutting arm does not change, and only the height of the cutting head is automatically adjusted at the starting point, so that the round cylindrical surface is formed, the computer programming is simplified, and intelligent cutting is realized; when the cutting head rotates and cuts along the periphery in both directions, the rotating cutting force of the cutting head and the swinging force of the cutting arm have no extrusion effect on the roof and sides of the tunnel, and the roof and sides of the tunnel are not damaged, so that the cutting of the tunneling machine can realize O disturbance to the roof and sides of the tunnel; when the tunnel is cut along the periphery, the driver of the tunneling machine manually intervenes in the position of the cutting head of the tunneling machine by means of the camera image, so that the cutting head is accurately positioned, the control accuracy of the center positioning and intelligent control system is improved, and the forming accuracy of the tunnel is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 Fig. 1 is a schematic diagram of round cylindrical surface cutting for tunneling head-on;

[0013] Figure 2 Fig. 4 is a schematic diagram of bidirectional automatic precise cutting along the periphery;

[0014] Figure 3 Fig. 5 is a positioning cutting schematic diagram;

[0015] Figure 4 Fig. 6 is a round cylindrical surface diagram;

[0016] Figure 5 Fig. 7 is a mechanism diagram of bidirectional cutting along the periphery;

[0017] Figure 6 Fig. 8 is a schematic diagram of cutting along the periphery;

[0018] Figure 7Fig. 5 is a schematic diagram of double same direction cutting;

[0019] Figure 8 Fig. 6 is a schematic diagram of S-shaped cutting path;

[0020] Figure 9 Fig. 7 is a schematic diagram of meandering cutting path;

[0021] Figure 10 Fig. 8 is a schematic diagram of spiral cutting path.

[0022] In the figure: 1 - tunneling head arc cylindrical surface; 2 - bidirectional automatic cutting along the periphery; 3 - positioning cutting; 4 - cutting along the periphery; 5 - double same direction cutting; 6 - cutting head; 7 - telescopic cutting arm; 8 - cutting path; 9 - machine body; 10 - tunneling machine shovel plate; 11 - coal rock to be cut; 12 - arc surface; 13 - cutting head rotation direction; 14 - center positioning; 15 - arc cylindrical surface; 16 - tunnel roof; 17 - tunnel floor; 18 - cutting surface. DETAILED DESCRIPTION

[0023] In combination Figures 1 to 10 with the drawings, a specific embodiment of the automatic precise cutting cantilever tunneling machine and cutting method provided by the present application is described.

[0024] Example 1

[0025] An automatic precise cutting cantilever tunneling machine, comprising a machine body 9, a cutting head 6, a telescopic cutting arm 7, a tunneling machine shovel plate 10, a center positioning system 14 and an intelligent control system, the front end of the machine body is configured with a telescopic cutting arm, the cutting head 6 is arranged at the end of the telescopic cutting arm 7, and the tunneling machine shovel plate is arranged in front of the machine body 9, so as to facilitate construction; each component cooperates to realize automatic cutting. The center positioning system 14 and the intelligent control system are arranged on the machine body 9 to position the tunneling head cutting surface and control the automatic tunneling construction of the tunneling machine. The tunneling machine adopts arc cylindrical surface cutting at the tunneling head, and in the vertical plane of the tunneling head, the empty top area formed by the arc cylindrical surface is small, which can avoid the roof and shoulder nest caving of the tunneling head.

[0026] An automatic accurate cutting method uses the above-mentioned automatic accurate cutting boom tunneling machine to divide the tunneling machine cutting into automatic cutting in the middle of the roadway and the periphery of the roadway, respectively. The middle cutting adopts the center positioning system 14 and the intelligent control system to automatically position the machine body 9. The periphery cutting moves the cutting head to the corner of the roadway bottom with the help of the remote visual image to accurately position the cutting head. When cutting in the middle of the roadway, the center positioning system 14 and the intelligent control system automatically adjust the length of the telescopic 7 cutting arm to cut the tunneling face into a circular arc column surface. The cutting head 6 horizontally swings at the same height position in the transverse direction to cut, and the length of the telescopic cutting arm 7 remains unchanged. When the cutting head 6 vertically swings at different height positions in the longitudinal direction, the length of the telescopic cutting arm is automatically adjusted to make the horizontal projection of the cutting surface a same circular arc. The formed circular arc column surface has self-balancing ability, which is beneficial to prevent the roadway face and the two sides of the roadway from falling off, and when the cutting arm swings in the transverse direction, the length of the telescopic cutting arm 7 remains unchanged, and only at the starting point, the height of the cutting head 6 is automatically adjusted to form a circular arc column surface, which simplifies the computer programming and is beneficial to realize intelligent cutting. When cutting in the periphery of the roadway, the cutting head 6 rotates clockwise to cut along the periphery in the clockwise direction, and the cutting head rotates counterclockwise to cut along the periphery in the counterclockwise direction.

[0027] The center positioning 14 and the intelligent control system set the length of the telescopic cutting arm 7, the height of the cutting head and the movement path of the cutting head 6 according to the tunneling face being a circular arc column surface, control the automatic cutting of the tunneling machine, and the tunneling method facilitates the automatic design of the tunneling machine. The cutting head cutting path in the middle of the roadway has three forms of S-shaped path, back-shaped path and spiral line path, which are respectively used for different working conditions.

[0028] The center positioning 14 and the intelligent control system also include a camera for transmitting the image of the tunneling face to the control room. The driver of the tunneling machine manually intervenes in the position of the cutting head of the tunneling machine with the help of the camera image, and then controls the length of the telescopic cutting arm 7 and the movement path of the cutting head 6 through the center positioning and the intelligent control system to make the tunneling machine automatically cut at the tunneling face.

[0029] In the method, when cutting along the periphery in both directions, the rotating cutting force of the cutting head 6 and the swinging force of the cutting arm have no extrusion effect on the roof and sides of the roadway, and will not damage the roof and sides of the roadway, so that the tunneling machine cutting can realize O disturbance to the roof and sides of the roadway. When cutting in the periphery of the roadway, the driver of the tunneling machine manually intervenes in the position of the cutting head of the tunneling machine with the help of the camera image to accurately position the cutting head, which can improve the control accuracy of the center positioning and the intelligent control system and further improve the forming accuracy of the roadway.

[0030] Embodiment 2

[0031] An automatic precise cutting cantilever heading machine comprises a machine body 9, a cutting head 6, a telescopic cutting arm 7, a heading machine shovel plate 10, and a center positioning system 14. The machine body 9 is provided with a walking track to drive the heading machine to move and ensure the stability of the heading machine. The cutting head 6 rotates to cut coal, and the telescopic cutting arm 7 controls the movement track of the cutting head. The center positioning system 14 can control each part of the heading machine and monitor the heading direction and range in real time to ensure the positioning and precision of heading. The machine body 9 is provided with the telescopic cutting arm 7 at the front end, the telescopic cutting arm 7 has the ability to stretch and rotate, the cutting head 6 is arranged at the end of the telescopic cutting arm 7 and can swing, the heading machine shovel plate 10 is arranged in front of the machine body to facilitate the processing of cut coal and rock. The center positioning system 14 is arranged on the machine body to position the cutting surface of the heading head and control the automatic heading construction of the heading machine, realizing the automatic control of the equipment.

[0032] An automatic precise cutting method uses the above automatic precise cutting cantilever heading machine. The heading machine adopts the circular arc cylindrical surface cutting at the head and the bidirectional automatic precise cutting along the periphery to head. The circular arc cylindrical surface cutting at the head of the heading machine is used to head in the vertical plane. The empty top area formed by the circular arc cylindrical surface is small, which can avoid the roof and shoulder falling of the heading head of the roadway. The self-balancing ability of the circular arc cylindrical surface is used to effectively avoid the roadway head along the surface and the roadway two sides. The center positioning system can realize intelligent cutting. The bidirectional automatic precise cutting along the periphery will not damage the roof and two sides of the roadway, and can also avoid disturbing the surrounding rock of the roadway. Compared with the vertical plane of the heading head along the surface, the circular arc cylindrical surface has a small empty top area at the head, which is beneficial to prevent the roof and two shoulders of the heading head of the roadway from falling.

[0033] The circular arc cylindrical surface cutting at the heading head has the characteristics of small empty top area of the circular arc cylindrical surface heading along the surface and self-balancing ability. The length of the telescopic cutting arm at different cutting heights is adjusted by the center positioning system computer programming to realize intelligent cutting in the middle of the roadway. The circular arc cylindrical surface cutting comprises: the center positioning system positions the cutting area and range, and the cutting surface 18 is in the form of a circular arc cylindrical surface; the cutting head 6 makes horizontal swing cutting at the same height position, and the telescopic cutting arm 7 and the machine body 9 remain fixed. The working height of the cutting head is adjusted by the telescopic cutting arm 7, and the cutting head 6 repeatedly makes horizontal swing cutting. The cutting tracks of cutting heads at different heights form a vertical circular arc cylindrical surface.

[0034] The center positioning system 14 sets the movement path of the telescopic cutting arm and the cutting head, controls the automatic cutting of the heading machine at the heading face. The cutting area is smaller than the cross section of the roadway, and the cutting area is in the middle of the heading face. The cutting head cuts along the S-shaped path, the zigzag path or the spiral path in the cutting area. Among them, the zigzag cutting path is formed in the "forward zigzag" or "reverse zigzag" way. Taking the zigzag cutting path formed in the "reverse zigzag" way as an example, after the floating coal on the cutting surface 18 is cleaned by the shovel plate 10 of the heading machine, the cutting head 6 starts to cut from the left side of the roadway floor 17, stops cutting after the cutting head 6 completely enters the coal wall, the telescopic cutting arm 7 swings horizontally to the right side of the roadway, then the telescopic cutting arm 7 swings vertically from the bottom to the top along the right side of the roadway, then the telescopic cutting arm 7 swings from the right to the left along the top of the roadway, then the telescopic cutting arm 7 swings from the top to the bottom along the left side of the roadway, and then the designed cross section of the roadway is formed, and then the zigzag swinging is performed in sequence until the coal wall of the cutting surface 18 is completed, and then the next cutting is performed. The "spiral" cutting path is that the cutting point of the cutting head 6 of the heading machine is in the center of the roadway cutting surface 18, the cutting head 6 is controlled to move in the horizontal and vertical directions at the same time, and the cutting head 6 is used to trim the top plate 16, the floor 17 and the two sides of the roadway. The S-shaped cutting path is that the cutting path of the roadway cutting surface 18 is continuous in the S-shaped way by using the top-to-bottom and bottom-to-top ways.

[0035] The peripheral bidirectional automatic precise cutting includes that the cutting head 6 cuts along the contour of the roadway. When the rotating direction of the cutting head 6 is clockwise, the cutting head 6 cuts along the contour of the roadway in the counterclockwise direction. When the rotating direction of the cutting head 6 is counterclockwise, the cutting head 6 cuts along the contour of the roadway in the clockwise direction.

[0036] The force of the cutting head 6 is directed to the cut coal and rock and the roadway; the center positioning system 14 further includes a camera, the camera transmits the image of the heading face to the control room, and the center positioning system 14 sets the movement path of the telescopic cutting arm and the cutting head, controls the automatic cutting of the heading machine at the heading face.

[0037] When the cutting head 6 cuts along the contour of the roadway in the clockwise direction, the lower left corner of the roadway is taken as the starting point, the contact surface between the cutting head 6 and the coal and rock is the upper half or the left upper range, and the cutting head is subjected to the swinging force and the rotating force. The direction of the swinging force is parallel to the direction of the contour of the roadway, and the rotating force is transferred from the direction along the contour of the roadway to the direction toward the cut coal and rock and the roadway. The force of the cutting pick of the cutting head on the coal and rock is changed from the impact extrusion damage to the impact tensile damage, there is no phenomenon of force to the peripheral coal and rock of the roadway, and the forming quality of the roadway can be ensured. Figure 5As shown, the cutting head can be cut along the roadway perimeter contour clockwise from the lower left corner of the roadway upward, at which time the contact surface of the cutting head and the coal rock is the upper half or the upper left 1 / 4 range, F1 is the swing force, F2 and F3 are the rotating forces. At this time, the swing force F1 is parallel to the roadway contour, the position of the rotating force F3 is at the cutting point of the cutting head and the roadway, and the direction of the rotating force F3 is also parallel to the roadway contour. The rotating force from F3 to F2 is in the direction of the cut coal rock and the roadway. When the rotating force from F3 to F2 changes direction, the force of the cutting tooth on the cut coal rock changes from impact and extrusion damage to impact and tensile damage.

[0038] The method can also be combined with remote visual intervention automatic precise cutting technology process to realize the precise cutting forming of the heading machine.

[0039] Of course, the above description is not a limitation of the present application, and the present application is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present application should also be within the scope of the present application.

Claims

1. An automated precision cutting method using an automated precision cutting boom jumbo, characterized by, The tunneling machine comprises a machine body, a cutting head, an extendable cutting arm, a tunneling machine shovel plate, a center positioning and intelligent control system, the front end of the machine body is provided with the extendable cutting arm, the cutting head is arranged at the end of the extendable cutting arm, and the tunneling machine shovel plate is arranged in front of the machine body; The center positioning and intelligent control system is arranged on the machine body to position the cutting surface of the tunneling head and control automatic tunneling construction of the tunneling machine; The method comprises: cutting of the tunneling machine is divided into automatic cutting of the middle part of the roadway and the periphery of the roadway, wherein the machine body is automatically positioned by the center positioning and intelligent control system during middle part cutting, and the cutting head is moved to the bottom corner of the roadway by means of a remote visual image during periphery cutting, so as to accurately position the cutting head; During middle part cutting of the roadway, the length of the extendable cutting arm is automatically adjusted by the center positioning and intelligent control system, so that the tunneling face is cut into a circular arc column; the cutting head is horizontally oscillated at the same height position in the transverse direction, and the length of the extendable cutting arm remains unchanged; when the cutting head is vertically oscillated at different height positions in the longitudinal direction, the length of the extendable cutting arm is automatically adjusted so that the horizontal projection of the cutting surface is a same circular arc; During periphery positioning and cutting of the roadway, the periphery is double-directionally and automatically cut according to a set program; when the cutting head rotates clockwise, the periphery is cut in a clockwise direction; and when the cutting head rotates counterclockwise, the periphery is cut in a counterclockwise direction.

2. The method of claim 1, wherein, The center positioning and intelligent control system sets the length of the extendable cutting arm, the height of the cutting head and the movement path of the cutting head according to the circular arc column of the tunneling face, and controls automatic cutting of the tunneling machine.

3. The method of claim 1, wherein, The cutting path of the cutting head during middle part cutting of the roadway has three forms of S-shaped path, meandering path and spiral line path.

4. The method of claim 1, wherein, The center positioning and intelligent control system further comprises a camera, the camera is used to transmit the image of the tunneling face to a control room, the driver of the tunneling machine manually intervenes in the position of the cutting head of the tunneling machine by means of the image of the camera, and then the length of the extendable cutting arm and the movement path of the cutting head are controlled by the center positioning and intelligent control system, so that the tunneling machine automatically cuts the tunneling face.

Images