Automatic cutting and inclining roof method and control system of anchor and excavation integrated machine

Abstract

The present application belongs to the technical field of roadway cutting, and provides an automatic cutting and inclining roof method and control system of a combined excavating and anchoring machine, which solves the problem that cutting and inclining roof and roof anchor supporting cannot be simultaneously operated when corner coal is knocked off by using tools before supporting. The combined excavating and anchoring machine has two cutting and inclining roof mechanisms for cutting and inclining roof; the cutting and inclining roof mechanism comprises a cutting and inclining roof cutting head, a cylinder group for controlling the movement of the cutting and inclining roof cutting head in a roadway section, and a connecting rod group; the cylinder group comprises a rotary cylinder, a small arm cylinder and a large arm cylinder; a displacement sensor is arranged in each cylinder of the cylinder group to obtain the extension and retraction parameters of the cylinder; according to the extension and retraction parameters of the cylinder and the length parameters of the connecting rod, the rotating angle range of the connecting rod is determined, the extension and retraction amounts of the small arm cylinder and the large arm cylinder are adjusted to realize the rotating angle adjustment of the first connecting rod and the second connecting rod, and the cutting and inclining roof process along the predetermined cutting path is automatically completed. The present application can simultaneously perform roof anchor operation when cutting and inclining roof, and can improve the roadway excavation efficiency.

Description

Technical Field

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

[0002] Anchor-cutting machines are widely used in coal mining, and the cut-and-shape roadways are rectangular. However, in actual roadway excavation, there are situations where the top of the coal seam and the floor form a certain angle, resulting in the anchor-cutting machine leaving corner coal after cutting. If the corner coal is not dealt with in time, it will 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 an automatic method and control system for cutting inclined tops with an integrated tunneling and anchoring machine.

[0005] This invention is achieved using the following technical solution: an automatic inclined cutting method for a roadheader-anchor integrated machine. The roadheader-anchor integrated machine has two inclined cutting mechanisms for cutting the inclined top, which are located at the front of the roadheader-anchor integrated machine and behind the cutting arm. Each inclined cutting mechanism includes an inclined cutting head, a hydraulic cylinder group and a connecting rod group for controlling the movement of the inclined cutting head in the roadway section. The hydraulic cylinder group includes a rotary cylinder, a boom cylinder, and a boom cylinder. The connecting rod group includes a first connecting rod and a second connecting rod. Displacement sensors are installed in each cylinder of the hydraulic cylinder group to obtain the extension and retraction parameters of the cylinder.

[0006] Based on the cylinder extension and retraction parameters and the connecting rod length parameters, the range of connecting rod rotation angles is determined. By adjusting the extension and retraction of the boom cylinder and the arm cylinder, the rotation angles of the first and second connecting rods are adjusted, automatically completing the cutting process along the predetermined cutting path. The predetermined cutting path is determined by the roadway parameters. In the roadway reference coordinate system, the cutting path is y = kx + b, where x is the abscissa, y is the ordinate, k is the slope, and b is the intercept.

[0007] Preferably, S1: Collect and store roadway parameters and roof-cutting device parameters. The roadway parameters include roadway height, roadway width, roof inclination angle, and roof inclination direction. The roof-cutting device parameters include cylinder extension and retraction amount and connecting rod length parameters.

[0008] S2: Track the extension and retraction of the boom cylinder and arm cylinder, calculate the rotation angles θ1 and θ2 of the first and second links, and obtain the position and orientation measurement information of the inclined jacking mechanism relative to the tunneling and anchoring machine through forward kinematics.

[0009] S3: Determine the current working status of the tunneling and anchoring machine. If it is in the cutting state, the top cutting device retracts; if it is in the top cutting state, the top cutting device is in the working position.

[0010] S4: In the top-cutting working state, the matching relationship between the rotation angles θ1 and θ2 of the first link and the second link is obtained through inverse kinematics calculation, and the top-cutting control program is generated to control the cutting head to swing cyclically along the predetermined cutting path to cut out the required cross section.

[0011] Preferably, the cutting paths of the two oblique cutting mechanisms are as follows:

[0012] 1) The inclined roof cutting mechanism on the lower side of the roadway cuts from the roadway edge to the roadway centerline.

[0013] 2) The inclined roof cutting mechanism on the higher side of the roadway cuts from the centerline of the roadway to the edge of the roadway.

[0014] The present invention also provides an automatic inclined roof cutting control system for an integrated tunneling and anchoring machine, including a parameter acquisition and storage module for recording tunnel parameters such as tunnel height, tunnel width, roof inclination angle, and roof inclination direction;

[0015] The top-cutting mechanism status monitoring module monitors the operating status of the tunneling and anchoring machine and the top-cutting device. It uses hydraulic cylinder displacement sensors to track the extension and retraction of the boom cylinder 1 and boom cylinder 2 of the inclined top-cutting device and stores the operating data of the top-cutting device.

[0016] The automatic top cutting control module, based on the kinematic calculation results, controls the extension and retraction of the boom cylinder 1 and boom cylinder 2 in real time according to the predetermined trajectory, and automatically controls the running trajectory of the cutting head to cut out the required cross section.

[0017] The safety monitoring module displays the real-time operation of the roof cutting mechanism, records and analyzes the operating data, and immediately shuts down the system if a dangerous situation is detected in the roadway.

[0018] And hydraulic modules.

[0019] Preferably, the hydraulic module includes a control valve group, a boom cylinder for controlling the swing of the cutting head within the cutting section of the tunneling and anchoring 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.

[0020] 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.

[0021] 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.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 5. This invention avoids the problems of cumbersome and inaccurate control of manual hydraulic cylinders. By performing kinematic calculations and arranging displacement sensors inside the hydraulic cylinder, an automatic control method for cutting inclined tops is formed, which greatly improves the ease of operation and the scope of application. Attached Figure Description

[0028] 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.

[0029] Figure 1 This is a flowchart of the method described in this invention;

[0030] Figure 2 This is a schematic diagram of the cutting head coordinates;

[0031] Figure 3 Diagram of the cutting head coordinates Figure 2 ;

[0032] Figure 4 This is a schematic diagram of the control system described in this invention;

[0033] Figure 5 This is a schematic diagram of a pressure reducing valve assembly;

[0034] Figure 6 This is a schematic diagram of the inclined cutting mechanism of the tunneling and anchoring machine when it is deployed;

[0035] Figure 7 This is a schematic diagram of the inclined jacking mechanism of the tunneling and anchoring machine retracting.

[0036] Figure 8 This is a schematic diagram of the inclined cutting mechanism;

[0037] Figure 9 yes Figure 8 Another perspective view.

[0038] 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

[0039] 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.

[0040] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, 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 proportions, 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.

[0041] This invention provides an embodiment:

[0042] An automatic inclined cutting method for a roadheader-anchor integrated machine includes two inclined cutting mechanisms located at the front of the machine and behind the cutting arm. Each inclined cutting mechanism comprises an inclined cutting head, a hydraulic cylinder assembly for controlling the movement of the cutting head across the roadway cross-section, and a connecting rod assembly. The hydraulic cylinder assembly includes a rotary cylinder, a boom cylinder, and a boom cylinder. The connecting rod assembly includes a first connecting rod and a second connecting rod. Displacement sensors are installed in each cylinder of the hydraulic cylinder assembly to acquire the cylinder's extension / retraction parameters. Based on these parameters and the connecting rod length parameters, the range of the connecting rod's rotation angle is determined. By adjusting the extension / retraction of the boom and boom cylinders, the rotation angles of the first and second connecting rods are adjusted, automatically completing the inclined cutting process along a predetermined cutting path. The predetermined cutting path is determined by roadway parameters. In the roadway reference coordinate system, the cutting path can be considered as y = kx + b, where x is the abscissa, y is the ordinate, k is the slope, and b is the intercept.

[0043] To avoid interference, the cutting paths of the two oblique cutting mechanisms are as follows:

[0044] 1) The inclined roof cutting mechanism on the lower side of the roadway cuts from the roadway edge to the roadway centerline.

[0045] 2) The inclined roof cutting mechanism on the higher side of the roadway cuts from the centerline of the roadway to the edge of the roadway.

[0046] Furthermore, the automatic sloping top cutting method of the integrated tunneling and anchoring machine includes the following steps:

[0047] 1) Collect and store roadway parameters and roof cutting device parameters. The roadway parameters include roadway height, roadway width, roof inclination angle and roof inclination direction. The roof cutting device parameters include cylinder extension and retraction amount and connecting rod length parameters.

[0048] 2) Track the extension and retraction of the boom cylinder and arm cylinder, calculate the rotation angles θ1 and θ2 of the first and second links using trigonometric theorems, and obtain the position and posture measurement information of the inclined jacking mechanism relative to the tunneling and anchoring machine through forward kinematics.

[0049] 3) Determine the current working status of the tunneling and anchoring machine. If it is in the cutting state, the top-cutting device retracts; if it is in the top-cutting state, the top-cutting device is in the working position.

[0050] 4) In the top-cutting working state, the matching relationship of the rotation angles θ1 and θ2 of the first link and the second link is obtained through inverse kinematics calculation, and the top-cutting control program is generated to control the cutting head to swing cyclically along the predetermined cutting path to cut out the required cross section.

[0051] Furthermore, in step 2) above, the forward kinematics solution determines the position and orientation of the cutting head based on the rotation angle of the connecting rod, as follows:

[0052] 1) Establish a coordinate system. The basic coordinate system CS0 is established at the rotation center of the cutting and tilting mechanism. The first joint coordinate system CS1 is established at the first rotation hinge point, and the second joint coordinate system CS2 is established at the second rotation hinge point.

[0053] 2) Establish the parameter set, see Table 1 below.

[0054] Table 1 Summary of Link Parameters and Motion Parameters

[0055] Linkage torsion angle Linkage length Linkage offset Linkage rotation angle i <![CDATA[α i-1 ]]> <![CDATA[L i-1 ]]> <![CDATA[d i ]]> <![CDATA[θ i ]]> 1 0 L1 0 <![CDATA[θ1]]> 2 0 L2 0 <![CDATA[θ2]]>

[0056] Where, α i-1 L i-1 d i θ i These are the link torsion angle, link length, link offset, and link rotation angle, respectively. Assuming no torsion or offset exists in any link, the link torsion angle α is set. i-1 and link offset d i The value is 0, and the length of the connecting rod is L. i-1 For a fixed quantity, the rotation angle θ of the connecting rod i For automatic control, L1 is the length of the first link, L2 is the length of the second link, θ1 is the rotation angle of the first link, and θ2 is the rotation angle of the second link.

[0057] 3) Calculations,

[0058]

[0059] Where: 01T represents the transformation matrix of the CS1 coordinate system relative to the CS0 coordinate system. 1 2T represents the transformation matrix of the CS2 coordinate system relative to the CS1 coordinate system, 02T represents the transformation matrix of the CS2 coordinate system relative to the CS0 coordinate system, c represents cos, s represents sin, θ1 and θ2 are the rotation angles of the first and second links, L1 is the length of the first link, and L2 is the length of the second link.

[0060] The range of motion constraints for θ1 and θ2 is determined as follows:

[0061] 0≤θ1≤180

[0062] 0≤θ2≤180.

[0063] The pose of the cutting head's center position P relative to the reference coordinate CS0 is:

[0064]

[0065] Furthermore, the inverse kinematics solution in step 4) above, which determines the rotation angle of the connecting rod based on the position and orientation of the cutting head, is as follows:

[0066] The cutting head motion is a planar motion perpendicular to the tunnel excavation direction, with two independent variables: the rotation angles θ1 and θ2 of the first and second links. Let the global coordinates of P be (X2, Y2):

[0067]

[0068] We can obtain:

[0069] The angle between the line connecting CS2 and CS0 and the line connecting CS1 and CSO

[0070] The angle between the x and y coordinates of point P (X2, Y2)

[0071] In the figure, θ1=β±ψ

[0072]

[0073] This allows us to obtain the matching relationship between the rotation angles θ1 and θ2 of the first and second links.

[0074] The automatic sloping roof cutting control system for the integrated tunneling and anchoring machine that implements the above method includes: a parameter acquisition and storage module, a roof cutting mechanism status monitoring module, an automatic roof cutting control module, a safety monitoring module, and a hydraulic module.

[0075] The parameter acquisition and storage module records roadway parameters such as roadway height, roadway width, roof inclination angle, and roof inclination direction.

[0076] The top-cutting mechanism status monitoring module monitors the operating status of the tunneling and anchoring machine and the top-cutting device. It uses hydraulic cylinder displacement sensors to track the extension and retraction of the boom cylinder 1 and boom cylinder 2 of the inclined top-cutting device and stores the operating data of the top-cutting device.

[0077] The automatic top-cutting control module, based on kinematic calculation results, controls the extension and retraction of the boom cylinder 1 and boom cylinder 2 in real time according to a predetermined trajectory, automatically controlling the running trajectory of the cutting head to cut out the required cross-section; the automatic top-cutting control module also includes a programmable logic controller (PLC), proportional solenoid valves, etc.

[0078] The safety monitoring module displays the real-time operation of the roof cutting mechanism, records and analyzes the operating data, and immediately shuts down the system if a dangerous situation is detected in the roadway. The safety monitoring module is used to observe the roof cutting action and the cross-section cutting status, and also includes a monitoring host, PLC, camera, data storage, etc.

[0079] The hydraulic module includes a control valve assembly, a boom cylinder for controlling the swing of the cutting head within the cutting section of the tunneling and anchoring 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.

[0080] 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.

[0081] 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.

[0082] 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:

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] A boom cylinder 13 with an extended end that rotates with the forearm 11 is rotatably connected to the boom 14.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for automatically cutting inclined roofs using an integrated tunneling and anchoring machine, characterized in that: The tunneling and anchoring machine has two inclined cutting mechanisms for cutting the inclined top, located at the front of the machine and behind the cutting arm. Each inclined cutting mechanism includes an inclined cutting head, a hydraulic cylinder assembly for controlling the movement of the cutting head across the roadway cross-section, and a connecting rod assembly. The hydraulic cylinder assembly includes a rotary cylinder, a boom cylinder, and a main boom cylinder. The connecting rod assembly includes a first connecting rod and a second connecting rod. Displacement sensors are installed in each cylinder of the hydraulic cylinder assembly to acquire cylinder extension and retraction parameters. The method includes the following steps: S1: Collect and store roadway parameters and roof cutting device parameters. The roadway parameters include roadway height, roadway width, roof inclination angle and roof inclination direction. The roof cutting device parameters include cylinder extension and retraction amount and connecting rod length parameters. S2: Track the extension and retraction of the boom cylinder and arm cylinder, and calculate the rotation angles of the first and second connecting rods. and Furthermore, the position and orientation measurement information of the inclined jacking mechanism relative to the tunneling and anchoring machine is obtained through forward kinematics solutions. S3: Determine the current working status of the tunneling and anchoring machine. If it is in the cutting state, the top cutting device retracts; if it is in the top cutting state, the top cutting device is in the working position. S4: In the cutting operation state, the rotation angles of the first and second links are obtained through inverse kinematics calculation. and The matching relationship is used to generate a top cutting control program, which controls the cutting head to swing cyclically along a predetermined cutting path to cut out the required cross section; Based on the cylinder extension and retraction parameters and the connecting rod length parameters, the range of connecting rod rotation angles is determined. By adjusting the extension and retraction of the boom cylinder and the arm cylinder, the rotation angles of the first and second connecting rods are adjusted, automatically completing the cutting process along the predetermined cutting path. The predetermined cutting path is determined by the roadway parameters. In the roadway reference coordinate system, the cutting path is y=kx+b, where x is the abscissa, y is the ordinate, k is the slope, and b is the intercept.

2. The automatic sloping top cutting method of the integrated tunneling and anchoring machine according to claim 1, characterized in that... The cutting paths of the two oblique cutting mechanisms are as follows: 1) The inclined roof cutting mechanism on the lower side of the roadway cuts from the roadway edge to the roadway centerline. 2) The inclined roof cutting mechanism on the higher side of the roadway cuts from the centerline of the roadway to the edge of the roadway.

3. An automatic inclined jacking control system for an integrated tunneling and anchoring machine, characterized in that... Includes a parameter acquisition and storage module to record tunnel height, tunnel width, roof inclination angle, and roof inclination direction; The top-cutting mechanism status monitoring module monitors the operating status of the tunneling and anchoring machine and the top-cutting device. It uses hydraulic cylinder displacement sensors to track the extension and retraction of the boom cylinder and the arm cylinder of the inclined top-cutting device and stores the operating data of the top-cutting device. The automatic top-cutting control module, based on kinematic calculation results, controls the extension and retraction of the boom cylinder and arm cylinder in real time according to a predetermined trajectory, automatically controlling the running trajectory of the cutting head to cut out the required cross-section. The safety monitoring module displays the real-time operation of the roof cutting mechanism, records and analyzes the operating data, and immediately shuts down the system if a dangerous situation is detected in the roadway. And hydraulic modules.

4. The automatic inclined top cutting control system for an integrated tunneling and anchoring machine according to claim 3, characterized in that... The hydraulic module includes a control valve group, a boom cylinder for controlling the swing of the cutting head within the cutting section of the tunneling and anchoring 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, 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.

5. The automatic inclined top cutting control system for an integrated tunneling and anchoring machine according to claim 4, characterized in that... 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.

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