A cutting-inclined roof control system and method of an integrated anchor and excavation machine

Abstract

This invention belongs to the technical field of tunnel cutting, and provides a control system and method for a roadheader-anchor integrated machine for inclined roof cutting. It solves the problems of asynchronous operation between inclined roof cutting and roof anchoring, which is time-consuming, labor-intensive, inefficient, and poses significant safety hazards. The control system for an integrated roadheader-anchor integrated machine includes a control valve group, a boom cylinder for controlling the swing of the inclined roof cutting head within the cutting section of the machine, and a forearm cylinder. The control valve A1 port is connected to the rod-side chamber of the boom cylinder, and the control valve B1 port is connected to the rodless chamber of the boom cylinder. The rodless chamber of the forearm cylinder is connected to the C4 port of the first double-balance valve and the D4 port of the second double-balance valve. The rod-side chamber of the forearm cylinder is connected to the C3 port of the first double-balance valve and the D3 port of the second double-balance valve. This invention allows for mechanized inclined roof cutting after cutting rectangular tunnels, resulting in high cutting efficiency. Furthermore, roof anchoring can be performed simultaneously during inclined roof cutting, greatly improving tunnel excavation efficiency.

Description

Technical Field

[0001] This invention belongs to the technical field of tunnel cutting, specifically relating to a control system and method for cutting inclined roofs using an integrated tunneling and anchoring machine. Background Technology

[0002] Roadheader-anchor (DBA) machines are widely used in coal mining, and the cut-out roadways are typically rectangular. However, in actual roadway excavation, there are situations where the top of the coal seam and the floor form a certain angle. This results in the DBA machine leaving some coal scraps after cutting. If these scraps are not dealt with in time, they can fall off later, causing support failure and posing a risk of roadway collapse.

[0003] Integrated roadheader-anchor machine is widely used in coal mining, and the roadways it cuts are rectangular. However, in actual roadway excavation, wedge-shaped coal seams exist, where the top of the coal seam forms an angle with the floor. When the coal seam is thin and the mining height is high, thin edges of coal remain at the top. These edges are connected to other geological structures such as rocks, and if not dealt with in time, they are prone to falling off later, leading to support failure and the risk of roadway collapse. Currently, underground coal mines mainly rely on manual labor to knock off or pry off the edges of coal using tools such as pneumatic picks and crowbars before support is installed. During this process, coal seam collapses can easily injure people, and the positions of workers and those providing roof support overlap, making it impossible to operate the roof cutting and roof anchoring simultaneously. This is time-consuming, labor-intensive, inefficient, and poses a significant safety hazard. Summary of the Invention

[0004] In order to solve at least one of the above-mentioned technical problems in the prior art, the present invention provides a control system and method for cutting inclined tops in an integrated tunneling and anchoring machine.

[0005] This invention is achieved using the following technical solution: a control system for a roadheader-anchor integrated machine with a sloping jack cutting head, comprising a control valve group, a boom cylinder for controlling the swing of the sloping jack cutting head within the cutting section of the roadheader-anchor integrated machine, and a boom cylinder. The control valve A1 port is connected to the rod-side chamber of the boom cylinder, and the control valve B1 port is connected to the rodless chamber of the boom cylinder.

[0006] The control valve A2 port is connected to the A port of the first solenoid directional valve, the control valve B2 port is connected to the A port of the second solenoid directional valve, the P port of the first solenoid directional valve is connected to the D1 port of the second double balance valve, the rodless chamber of the boom cylinder is connected to the C4 port of the first double balance valve and the D4 port of the second double balance valve, the rod chamber of the boom cylinder is connected to the C3 port of the first double balance valve and the D3 port of the second double balance valve, the C1 port of the first double balance valve is connected to the K port of the pressure reducing valve group, the P port of the pressure reducing valve group is connected to the T port of the first solenoid directional valve, and the T and R ports of the pressure reducing valve group are connected to the B port of the first solenoid directional valve, the B port of the second solenoid directional valve, and the oil tank.

[0007] Preferably, the pressure reducing valve assembly includes a pressure reducing valve and a relief valve connected to the pressure reducing valve. The K port of the pressure reducing valve assembly is connected to the outlet of the pressure reducing valve and the inlet of the relief valve. The P port of the pressure reducing valve assembly is connected to the inlet of the pressure reducing valve. The R port of the pressure reducing valve assembly is connected to the drain port of the spring chamber of the pressure reducing valve. The T port of the pressure reducing valve assembly is connected to the overflow port of the relief valve.

[0008] The present invention also provides a method for cutting inclined tops with an integrated tunneling and anchoring machine, comprising the following steps: determining the current working state of the integrated tunneling and anchoring machine; if it is in the cutting working state, the cutting device is in the retracted state; if it is in the cutting working state, the cutting device is in the extended state, controlling the cutting head to swing cyclically, and cutting along the top to complete the inclined top cutting process.

[0009] Preferably, during the top-cutting operation, the load force causes the boom cylinder to extend outward, and the hydraulic oil maintains a set pressure through the pressure reducing valve to act on the rod chamber of the boom cylinder to balance the external load force. The boom cylinder retracts and the boom lifts upward, so that the cutting head at the end of the boom is close to the top plate. As the boom swings, the cutting head closely follows the contour of the top plate to cut along the top.

[0010] Preferably, during the top-cutting operation, the first and second electromagnetic directional valves are simultaneously switched to the right position. At this time, the T ports and A ports of the two electromagnetic directional valves are connected. The oil flows from the A2 port of the control valve group through the T port of the first electromagnetic directional valve into the pressure reducing valve group. After being depressurized by the pressure reducing valve group, the oil comes out from the K port and enters the rod chamber of the boom cylinder through the first double balance valve. The oil in the rodless chamber of the boom cylinder flows through the first double balance valve to the T port of the second electromagnetic directional valve, and then flows from the A port of the second electromagnetic directional valve back to the B2 port of the control valve group.

[0011] Preferably, during the top cutting operation, the pressure of the cutting head cutting along the top is maintained within the set pressure range. When encountering large rocks or local protrusions during top cutting, the overflow valve in the pressure reducing valve group acts to reduce the pressure in the rod chamber of the boom cylinder to less than the maximum value of the set pressure range.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] 1. This invention enables mechanized roof cutting operations after the rectangular roadway is cut. Personnel only need to operate a remote control or handle from the rear. Compared with the existing technology, which mainly relies on manual knocking off the corner coal before support, this method is safer and more efficient.

[0014] 2. This invention enables the mechanized cutting of the inclined roof after the rectangular roadway is cut, resulting in high cutting efficiency. Furthermore, the roof anchoring operation can be carried out simultaneously during the cutting of the inclined roof, which greatly improves the efficiency of roadway excavation.

[0015] 3. This invention enables the mechanized cutting of the roof after the rectangular tunnel is cut. Compared with the existing technology that relies on manual methods such as pneumatic picks and crowbars, it causes less damage to the roof and results in a smoother roof surface after the operation.

[0016] 4. This invention can achieve different pressure control of the same control system by switching only two sets of electromagnetic reversing valves; when sweeping the top plate, the pressure of the rod chamber of the boom lifting cylinder is controlled to a certain value, so that the boom lifting cylinder plays the role of a spring, realizing the cutting head cutting along the contour of the top plate; it is equipped with a double balance valve group to ensure the safety of the mechanism. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the control system described in this invention;

[0019] Figure 2 This is a schematic diagram of a pressure reducing valve assembly;

[0020] Figure 3 This is a schematic diagram of the inclined cutting mechanism of the tunneling and anchoring machine when it is deployed;

[0021] Figure 4 This is a schematic diagram of the inclined jacking mechanism of the tunneling and anchoring machine retracting.

[0022] Figure 5 This is a schematic diagram of the inclined cutting mechanism;

[0023] Figure 6 yes Figure 5 Another perspective view.

[0024] In the diagram: 1-Frame, 2-Anchoring mechanism, 3-Cutting mechanism, 4-Loading mechanism, 5-Cutting and tilting mechanism, 6-Temporary support, 7-Conveying mechanism, 8-Rotating cylinder, 9-Connecting frame, 10-Cutting head, 11-Arm, 12-First connecting rod, 13-Arm cylinder, 14-Arm, 15-Arm cylinder, 16-Second connecting rod, 17-First pin, 18-Second pin, 19-Third pin, 20-Fourth pin, 21-Fifth pin, 22-Sixth pin, 23-Control valve group, 24-First solenoid directional valve, 25-Second solenoid directional valve, 26-First balance valve, 27-Second balance valve, 28-Relief valve, 29-Pressure reducing valve. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] It should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings of this specification are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0027] This invention provides an embodiment:

[0028] A control system for a roadheader-anchor integrated machine (CADM) with a sloping jack cutting head includes a control valve group, a boom cylinder for controlling the swing of the sloping jack cutting head within the cutting section of the CDM, and a boom cylinder. Control valve A1 is connected to the rod-side chamber of the boom cylinder, and control valve B1 is connected to the rodless chamber of the boom cylinder.

[0029] The control valve A2 port is connected to the A port of the first solenoid directional valve, the control valve B2 port is connected to the A port of the second solenoid directional valve, the P port of the first solenoid directional valve is connected to the D1 port of the second double balance valve, the rodless chamber of the boom cylinder is connected to the C4 port of the first double balance valve and the D4 port of the second double balance valve, the rod chamber of the boom cylinder is connected to the C3 port of the first double balance valve and the D3 port of the second double balance valve, the C1 port of the first double balance valve is connected to the K port of the pressure reducing valve group, the P port of the pressure reducing valve group is connected to the T port of the first solenoid directional valve, and the T and R ports of the pressure reducing valve group are connected to the B port of the first solenoid directional valve, the B port of the second solenoid directional valve, and the oil tank.

[0030] The control valve assembly is a multi-way valve. The pressure reducing valve assembly includes a pressure reducing valve and a relief valve connected to the pressure reducing valve. The K port of the pressure reducing valve assembly is connected to the outlet of the pressure reducing valve and the inlet of the relief valve. The P port of the pressure reducing valve assembly is connected to the inlet of the pressure reducing valve. The R port of the pressure reducing valve assembly is connected to the drain port of the spring chamber of the pressure reducing valve. The T port of the pressure reducing valve assembly is connected to the overflow port of the relief valve.

[0031] The boom cylinder is provided in two sets, and each set of boom cylinder is equipped with a balance valve. When the cylinder is not in motion, the pressure in both chambers is locked.

[0032] When sweeping along the top plate, the first and second solenoid directional valves are simultaneously switched to the right position. At this time, the T port and A port of the two sets of valves are connected. The oil flows from the A2 port of the control valve group through the T port of the first solenoid directional valve into the pressure reducing valve group. After being depressurized by the pressure reducing valve group, it comes out from the K port and enters the rod chamber of the boom cylinder through the first double balance valve. The oil in the rodless chamber flows through the double balance valve group 1 to the T port of the second solenoid directional valve, and then flows from the A port to the B2 port of the control valve group for oil return. When the sweeping mechanism cuts along the roof, the load force causes the boom cylinder to extend outward. Hydraulic oil, through the pressure reducing valve in the pressure reducing valve assembly, maintains a pressure of 65 bar in the rod chamber of the boom cylinder to balance the external load force. This is equivalent to a spring pulling the cylinder back. Considering the mechanical structure of the sweeping mechanism, the cylinder's retraction is equivalent to the boom lifting upwards, meaning a spring is pulling the boom upwards, ensuring the cutting head at the boom end is close to the roof. Thus, as the boom swings, the cutting head can cut along the roof contour. Simultaneously, the cutting pressure along the roof is maintained between 65 and 80 bar. When encountering large rocks or local protrusions during cutting, the relief valve in the pressure reducing valve assembly ensures the pressure in the rod chamber of the boom cylinder does not exceed 80 bar. This prevents excessive force from bending the boom or damaging the cutting head, effectively protecting the safety of the sweeping mechanism.

[0033] The integrated tunneling and anchoring machine using the control system and control method described in this invention is further described, mainly including a frame 1, an anchoring mechanism 2, a cutting mechanism 3, a loading mechanism 4, a temporary support 6, a conveying mechanism 7, and two inclined cutting mechanisms 5 added to both sides of the front end of the frame 1. Wherein:

[0034] The inclined cutting mechanism 5 includes a cutting head 10, a lifting section, and a connecting frame 9. The cutting head 10 is equipped with a motor drive device, which cuts the coal wall under hydraulic drive.

[0035] The lifting section provides lifting force to the cutting head 10 and controls it to cut the inclined roof in a predetermined direction. The lifting section serves two purposes: firstly, it supports the cutting head 10 by providing lifting force for it to contact and cut into the inclined roof; secondly, it supports the vertical displacement of the cutting head 10, allowing it to be manipulated by the control system according to the actual conditions of the inclined roof, thus cutting it in a predetermined direction. This predetermined direction is determined by the operator based on the actual conditions of the inclined roof in the roadway, controlling the direction in which the cutting head 10 effectively cuts the inclined roof.

[0036] The connecting frame 9 serves as the overall support for the cutting head 10 and the lifting section. It is mounted on the frame 1, and the bottom end of the lifting section is connected to the connecting frame 9, thus supporting it. Specifically, the lifting section is eccentrically mounted on the connecting frame 9. At this time, the connecting frame 9 can be rotated to give the section a first position and a second position.

[0037] Specifically, the connecting frame 9 causes the lifting section to be in a first position after it is deflected outward in the width direction of the frame 1. At this time, the space between the two lifting sections serves as a safe space for the cutting mechanism 3 to operate during the cutting operation. When a slanted cutting operation is performed, the connecting frame 9 causes the lifting section to deflect inward to switch to a second position.

[0038] Furthermore, the lifting section is configured to have a retracted state and an extended state. When the lifting section is in the retracted state, the cutting head 10 is located within the lifting section and close to the lifting section in the length direction of the lifting section. When the lifting section is in the extended state, it is used by the cutting head 10 to cut the oblique top.

[0039] The connecting frame 9 includes a rotary cylinder 8 mounted on the frame 1, a main body portion located directly below the lifting section, and a lateral portion vertically positioned on the outer side of the main body portion, with the lateral portion connected to the rotary cylinder 8. The rotary cylinder 8 drives the main body portion to deflect via the lateral portion.

[0040] In this embodiment of the invention, the lateral portion and the main body portion are configured such that when the lifting portion is in a retracted state, the cutting head 10 is located outside the lateral portion and the main body portion.

[0041] Specifically, taking the lifting section in the first position as an example, the lateral section is located at the tail end of the outer side of the main body. At this time, when the lifting section is in the retracted state, the cutting head 10 is located in the area between the front face of the lateral section and the outer side of the main body, so that the coal crushed on the cutting head 10 will not accumulate on the lifting section and the connecting frame 9 after falling off.

[0042] The rotating hydraulic cylinder 8 is mounted on the shovel plate of the loading mechanism 4, ensuring that the vertical projection of the cutting head 10 is always within the range of the shovel plate. Therefore, regardless of whether the lifting section is in the first or second position, or whether it is in a retracted or extended state, the vertical projection of the cutting head 10 remains within the range of the shovel plate, effectively improving the coal collection efficiency of the loading mechanism 4.

[0043] In addition, the connecting frame 9 is configured such that when the lifting part is in the second position, the rear end face of the side part contacts the frame 1. At this time, the frame 1 can limit the side part and thus achieve the effect of limiting the lifting part. When the cutting head 10 is cutting the oblique top, the lifting part is in the second position, which can improve the stability of the cutting head 10 when cutting the oblique top.

[0044] When the lifting section is in the first position and the cutting head 10 is in the retracted state, the cutting head 10 is located between the lifting section and the anchoring mechanism 2 in the front-to-back direction. The hidden state of the cutting head 10 can better protect the cutting head 10.

[0045] In this embodiment of the invention, the lifting section includes a large arm 14 and a small arm 11 rotatably connected in a vertical plane, with the bottom end of the large arm 14 rotatably connected to a connecting frame 9 in the vertical plane. Specifically, the bottom end of the large arm 14 is rotatably connected to the main body.

[0046] The cutting head 10 is installed on the end of the forearm 11 away from the boom 14, and a boom cylinder 15 with its extended end rotatably engaged with the boom 14 is rotatably mounted on the connecting frame 9. At this time, the fixed end of the boom cylinder 15 is rotatably connected to the connecting frame 9. Specifically, the fixed end of the boom cylinder 15 is rotatably connected to the main body.

[0047] A boom cylinder 13 with an extended end that rotates with the forearm 11 is rotatably connected to the boom 14.

[0048] By coordinating the boom cylinder 15 and the forearm cylinder 13, the tilt angle of the boom 14 can be adjusted, and the position of the cutting head 10 can be adjusted by rotating the forearm 11 relative to the boom 14. Simultaneously, when the boom 14 swings, the cutting head 10 also performs a circular motion. Therefore, by utilizing the swinging process of the boom 14 and the swinging process of the forearm 11 relative to the boom 14, the position of the cutting head 10 in the vertical plane can be flexibly adjusted.

[0049] In the actual process of cutting the inclined roof, the swing of the boom 14 and the forearm 11 can be controlled according to the actual situation of the inclined roof to complete the cutting of the inclined roof of the roadway, which replaces the method of manually removing the inclined roof with hand tools, thus improving safety and efficiency.

[0050] The boom 14 is configured with two boom plates symmetrically distributed on both sides of the forearm 11, and the top of each boom plate is rotatably connected to the side of the forearm 11. The forearm cylinder 13 is located between the two boom plates in the width direction. This configuration makes the lifting section more compact and occupies less space, making it suitable for the narrow front space of the tunneling and anchoring machine.

[0051] Two boom cylinders 15 are provided and are respectively set for the two boom plates. At this time, the two boom cylinders 15 provide more balanced and stable support for the boom 14 and the forearm 11, which can enhance the lifting force and stability.

[0052] Furthermore, the boom plate includes a straight section and an extension extending laterally from the top of the straight section. The outer end of the extension is rotatably connected to the side of the forearm 11, and when the cutting head 10 is in the retracted state, it is located within the projection range of the extension in the vertical direction. With this arrangement, when the lifting part is in the retracted state, the boom 14 and the forearm 11 can be in a close-fitting state, so as to further reduce the space occupied by the cutting angle mechanism 5 during the cutting operation.

[0053] In addition, an eccentric plate extends outward from one end of the forearm 11 relative to the upper arm 14. The end of the eccentric plate away from the forearm 11 is rotatably connected to a first connecting rod 12. The end of the first connecting rod 12 away from the eccentric plate is rotatably connected to a second connecting rod 16. The end of the second connecting rod 16 away from the first connecting rod 12 is rotatably connected to the upper arm 14. The extended end of the forearm cylinder 13 is rotatably connected to the rotatable connection between the first connecting rod 12 and the second connecting rod 16.

[0054] Specifically, when the boom cylinder 13 operates, it pushes / pulls the rotational connection between the first link 12 and the second link 16, causing the second link 16 to swing on the boom 14. Simultaneously, the first link 12 pushes / pulls the eccentric plate, causing the boom 11 to swing on the boom 14. At this time, the first link 12 and the second link 16, together with the boom 11, can more stably support the extended end of the boom cylinder 13.

[0055] More specifically, the first connecting rod 12 is rotatably connected to the eccentric plate via the first pin 17, the first connecting rod 12 is rotatably connected to the second connecting rod 16 via the second pin 18, the forearm 11 is rotatably connected to the boom 14 via the third pin 19, the boom 14 is rotatably connected to the connecting frame 9 via the fourth pin 20, the boom cylinder 15 is rotatably connected to the boom 14 via the fifth pin 21, and the boom cylinder 15 is rotatably connected to the connecting frame 9 via the sixth pin 22.

[0056] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling the sloping top cutting of an integrated tunneling and anchoring machine, characterized in that: The system includes a cutting and tilting control system for a roadheader-anchor machine. This system comprises a control valve assembly, a boom cylinder for controlling the swing of the cutting head within the cutting section of the roadheader-anchor machine, and a boom cylinder. Control valve A1 is connected to the rod-side chamber of the boom cylinder, and control valve B1 is connected to the rodless chamber of the boom cylinder. The control valve A2 port is connected to the A port of the first solenoid directional valve, the control valve B2 port is connected to the A port of the second solenoid directional valve, the P port of the first solenoid directional valve is connected to the D1 port of the second double balance valve, the rodless chamber of the boom cylinder is connected to the C4 port of the first double balance valve and the D4 port of the second double balance valve, the rod chamber of the boom cylinder is connected to the C3 port of the first double balance valve and the D3 port of the second double balance valve, the C1 port of the first double balance valve is connected to the K port of the pressure reducing valve group, the P port of the pressure reducing valve group is connected to the T port of the first solenoid directional valve, the T port and R port of the pressure reducing valve group are connected to the B port of the first solenoid directional valve, the B port of the second solenoid directional valve and the oil tank, the pressure reducing valve group includes a pressure reducing valve and an overflow valve connected to the pressure reducing valve, the K port of the pressure reducing valve group is connected to the outlet of the pressure reducing valve and the inlet of the overflow valve, the P port of the pressure reducing valve group is connected to the inlet of the pressure reducing valve, the R port of the pressure reducing valve group is connected to the drain port of the spring chamber of the pressure reducing valve, and the T port of the pressure reducing valve group is connected to the overflow port of the overflow valve. The method includes the following steps: determining the current working state of the tunneling and anchoring machine; if it is in the cutting working state, the top-cutting device is in the retracted state; if it is in the cutting working state, the top-cutting device is in the extended state, controlling the cutting head to circulate and complete the oblique top cutting process along the top. In the top-cutting working state, the load force causes the boom cylinder to extend outward, and the hydraulic oil maintains a set pressure through the pressure reducing valve to act on the rod chamber of the boom cylinder to balance the external load force. The boom cylinder retracts, and the boom lifts upward, so that the cutting head at the end of the boom is close to the top plate. As the boom... The cutting head swings and cuts along the top plate contour, while the first and second electromagnetic directional valves simultaneously switch to the right position. At this time, the T port and A port of the two electromagnetic directional valves are connected. The oil flows from the control valve group A2 port through the T port of the first electromagnetic directional valve into the pressure reducing valve group. After being depressurized by the pressure reducing valve group, it comes out from the K port and enters the rod chamber of the boom cylinder through the first double balance valve. The oil in the rodless chamber of the boom cylinder flows through the first double balance valve to the T port of the second electromagnetic directional valve, and then flows from the A port of the second electromagnetic directional valve back to the control valve group B2 port.

2. The method for controlling the inclined top cutting of the tunneling and anchoring integrated machine according to claim 1, characterized in that: When the cutting head is in the cutting state, the pressure of the cutting head along the top is maintained within the set pressure range. When encountering large rocks or local protrusions during cutting along the top, the overflow valve in the pressure reducing valve group acts to reduce the pressure in the rod chamber of the boom cylinder to less than the maximum value of the set pressure range.

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