Spraying and tunneling integrated machine

Abstract

The present application relates to the technical field of coal mine machinery, and particularly relates to a spraying and tunneling integrated machine, which aims to solve the problems of poor sealing effect caused by uneven artificial spraying of joint sealant and the fact that spraying operation cannot be simultaneously performed with tunneling operation in limited roadway space, and low work efficiency. The spraying and tunneling integrated machine takes a tunneling machine as a main body, and is supplemented with a first spraying mechanical arm and a second spraying mechanical arm on both sides of the tunneling machine. The first spraying mechanical arm and the second spraying mechanical arm are used to drive a spraying head to perform spraying operation. The first spraying mechanical arm and the second spraying mechanical arm are adapted to the size of the roadway through the extension and retraction of a rectangular telescopic pipe. The first spraying mechanical arm and the second spraying mechanical arm are moved along the front and rear directions of the tunneling machine to perform reciprocating spraying work through the sliding of an L-shaped swing arm stand along a guide slide rail driven by a first hydraulic motor. In the limited roadway space, spraying operation and tunneling operation can be simultaneously performed, work efficiency is greatly improved, the spraying of the mechanical arm is uniform, and the sealing effect is good.

Description

Technical Field

[0001] This invention relates to the field of coal mining machinery technology, and in particular to an integrated spraying and tunneling machine. Background Technology

[0002] During the tunneling process, the rock strata are continuously broken down, and the methane gas stored in the rock strata will seep into the tunnel through the cracks in the rock. As the depth of coal mining continues to increase, the mining environment becomes more complex, and the methane gas content in the rock strata is also increasing. The traditional method of reducing methane concentration by only using ventilation systems faces a series of problems in terms of system design complexity and methane concentration dilution rate.

[0003] Currently, manual spraying of sealant is often used in tunnels to seal gaps and reduce the release rate of methane gas. However, in the dim environment of tunnels, manual spraying often results in uneven material distribution and poor sealing effect. In addition, tunneling machines occupy a lot of space when they are working, and spraying equipment cannot be arranged in the limited space, so spraying and tunneling operations cannot be carried out at the same time, resulting in low work efficiency. Summary of the Invention

[0004] This invention provides an integrated spraying and tunneling machine to solve the problems of uneven application of sealant during manual spraying, resulting in poor sealing effect, and the inability to perform spraying operations simultaneously with tunneling operations in limited tunnel space, leading to low work efficiency.

[0005] To achieve the above objectives, the present invention provides a spraying and tunneling integrated machine, including a tunneling machine, on which a first spraying robotic arm and a second spraying robotic arm are symmetrically mounted. The first spraying robotic arm includes a track, which is mounted on the track support plate of the tunneling machine. An L-shaped swing arm column is mounted on the track, and a rectangular telescopic tube is fixedly mounted on the L-shaped swing arm column. A first spiral swing cylinder is fixedly mounted on one end of the rectangular telescopic tube. The piston rod of the first spiral swing cylinder is fixedly connected to a large slewing arm. A narrow foot swing cylinder is fixedly mounted on one end of the large slewing arm. A swing cylinder crossover frame is fixedly mounted on the narrow foot swing cylinder. A hydraulic cylinder is mounted above the swing cylinder crossover frame. The piston rod of the hydraulic cylinder is rotatably connected to the swing cylinder arm. One end of the swing cylinder arm is rotatably connected to the swing cylinder crossover frame. The swing cylinder arm is connected to the swing frame through a top arm.

[0006] In the above-mentioned spraying and tunneling integrated machine, optionally, the top arm includes a second spiral swing cylinder, the piston rod of the second spiral swing cylinder is fixedly connected to the swing cylinder nozzle angle adjustment component, a second hydraulic motor is fixedly installed on the swing cylinder nozzle angle adjustment component, the output shaft of the second hydraulic motor is fixedly connected to the swing frame, the swing frame is rotatably connected to the swing cylinder nozzle angle adjustment component, and the second spiral swing cylinder is fixedly connected to the swing cylinder arm.

[0007] In the above-mentioned spraying and tunneling integrated machine, optionally, the rectangular telescopic tube includes a rectangular telescopic outer tube, which is slidably connected to the rectangular telescopic inner tube, and one end of the rectangular telescopic outer tube is fixedly connected to the L-shaped swing arm column.

[0008] In the above-mentioned spraying and tunneling integrated machine, optionally, one end of the rectangular telescopic inner tube is fixedly connected to the base of the first spiral swing cylinder fixing frame, and the first spiral swing cylinder is fixedly installed on the base of the first spiral swing cylinder fixing frame.

[0009] In the above-mentioned spraying and tunneling integrated machine, optionally, a narrow foot swing cylinder base plate is fixedly installed at one end of the large slewing arm, and a narrow foot swing cylinder is fixedly installed on the narrow foot swing cylinder base plate.

[0010] In the aforementioned integrated spraying and tunneling machine, optionally, a hydraulic lock swing cylinder fixing seat is fixedly installed on the swing cylinder crossover frame, and the hydraulic lock swing cylinder fixing seat is connected to the hydraulic cylinder.

[0011] In the aforementioned spray-painted tunneling machine, optionally, the track includes a guide rail, an L-shaped swing arm column is slidably mounted on the guide rail, the guide rail is fixedly mounted on the track support plate of the tunneling machine, a spur rack is fixedly mounted on the inner wall of the guide rail, the spur rack cooperates with a spur gear, the spur gear is fixedly mounted on the output shaft of the first hydraulic motor, and the first hydraulic motor is fixedly mounted on the L-shaped swing arm column.

[0012] In the aforementioned integrated spraying and tunneling machine, an oil passage block may be installed at the lower end of the narrow foot swing cylinder base plate.

[0013] In the aforementioned integrated spraying and tunneling machine, optionally, a roller frame is fixedly installed at one end of the swing cylinder crossover frame.

[0014] In the aforementioned integrated spraying and tunneling machine, optionally, the piston rod of the narrow foot swing cylinder is fixedly connected to the rotary joint.

[0015] The integrated spraying and tunneling machine provided by this invention uses a tunneling machine as the main body and is supplemented by a first spraying robotic arm and a second spraying robotic arm on both sides of the tunneling machine. The first and second spraying robotic arms are used to drive the spraying head to perform spraying operations. The first and second spraying robotic arms are adapted to the size of the tunnel by extending and retracting the rectangular telescopic tube. The L-shaped swing arm column is driven by a first hydraulic motor to slide along the guide rail, so that the first and second spraying robotic arms can move in the front and back direction of the tunneling machine to perform reciprocating spraying work. In the limited tunnel space, the spraying operation and the tunneling operation can be carried out simultaneously, which greatly improves the work efficiency. The robotic arms spray evenly and have a good sealing effect.

[0016] The structure of the present invention, as well as its other inventive objects and beneficial effects, will become more apparent from the description of preferred embodiments taken in conjunction with the accompanying drawings. 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 description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are 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 overall structure of the spraying and tunneling integrated machine provided in an embodiment of the present invention;

[0019] Figure 2 This is a partial structural schematic diagram of the spraying and tunneling integrated machine provided in an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of the structure at the track of the spraying and tunneling integrated machine provided in an embodiment of the present invention;

[0021] Figure 4 This is a first structural schematic diagram of the spraying robotic arm of the spraying tunneling integrated machine provided in an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the second structure of the spraying robotic arm of the spraying tunneling integrated machine provided in an embodiment of the present invention.

[0023] Explanation of reference numerals in the attached figures:

[0024] 1-Tunneling machine; 2-First spraying robotic arm; 3-Second spraying robotic arm; 4-First hydraulic motor; 5-L-shaped swing arm column; 6-Straight rack; 7-Guide rail; 8-Crawler support plate; 9-Proportional multi-way valve; 10-Rectangular telescopic outer tube; 11-Rectangular telescopic inner tube; 12-First spiral swing cylinder fixing frame base; 13-Hydraulic block; 14-Narrow foot swing cylinder base plate; 15-Swing frame; 16-Roller frame; 17-Rotary joint; 18-Narrow foot swing cylinder; 19-First spiral swing cylinder; 20-Wire encoder; 21-Large slewing arm; 22-Swing cylinder arm; 23-Swing cylinder crossover frame; 24-Hydraulic lock swing cylinder fixing seat; 25-Hydraulic cylinder; 26-Second spiral swing cylinder; 27-Swing cylinder nozzle angle adjustment piece; 28-Second hydraulic motor; 29-Explosion-proof box for electrical control system. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be described in more detail below with reference to the accompanying drawings of the preferred embodiments. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention. The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0026] like Figures 1-5 As shown, the present invention provides a spraying and tunneling integrated machine, including a tunneling machine 1. A first spraying robotic arm 2 and a second spraying robotic arm 3 are symmetrically installed on the tunneling machine 1. The first spraying robotic arm 2 includes a track, which is installed on the track support plate 8 of the tunneling machine 1. An L-shaped swing arm column 5 is installed on the track. A rectangular telescopic tube is fixedly installed on the L-shaped swing arm column 5. A first spiral swing cylinder 19 is fixedly installed at one end of the rectangular telescopic tube. The piston rod of the first spiral swing cylinder 19 is fixedly connected to a large slewing arm 21. A narrow foot swing cylinder 18 is fixedly installed at one end of the large slewing arm 21. A swing cylinder crossover frame 23 is fixedly installed on the narrow foot swing cylinder 18. A hydraulic cylinder 25 is installed above the swing cylinder crossover frame 23. The piston rod of the hydraulic cylinder 25 is rotatably connected to a swing cylinder arm 22. One end of the swing cylinder arm 22 is rotatably connected to the swing cylinder crossover frame 23. The swing cylinder arm 22 is connected to a swing frame 15 through a top arm.

[0027] It should be noted that the first spraying robotic arm 2 and the second spraying robotic arm 3 have the same structure and are symmetrically installed on both sides of the tunneling machine 1 to increase the spraying range of the slurry. The track support plate 8 is fixed on both sides of the tunneling machine 1. The first spraying robotic arm 2 and the second spraying robotic arm 3 are installed on the track support plate 8 to prevent the robotic arms from interfering with the tunneling machine 1. The first spraying robotic arm 2 and the second spraying robotic arm 3 move along the front and back direction of the tunneling machine 1 through the track below to perform reciprocating spraying work. The L-shaped swing arm column 5 installed on the track supports other components. The L-shaped swing arm column 5 is equipped with a proportional multi-way valve 9. The proportional multi-way valve 9 establishes an electrical control system to control the movement of the first spraying robotic arm 2 and the second spraying robotic arm 3. The lower end of the swing cylinder arm 22 is rotatably connected to one side of the swing cylinder crossover frame 23 through a rotating shaft. The upper end of the swing cylinder arm 22 is fixedly connected to the second spiral swing cylinder 26. The middle part of the swing cylinder arm 22 is connected to the piston rod of the hydraulic cylinder 25. The extension and retraction of the piston rod of the hydraulic cylinder 25 drives the swing cylinder arm 22 to swing slightly. The first spiral swing cylinder 19 drives the large rotary arm 21 to rotate. The rotation angle is measured by the pull-wire encoder 20 fixed on the large rotary arm 21. The rotation of the swing cylinder arm 22 is realized by the hydraulic cylinder 25. The movement of the swing frame 15 is realized by the top arm, so that the first spraying robot arm 2 and the second spraying robot arm 3 can move more flexibly.

[0028] The electrical control system is installed in the explosion-proof box 29 on the top of the machine body, and the wiring from the explosion-proof box 29 is connected to the proportional multi-way valve 9. Since hydraulic components are used to drive each joint in the painting robot arm, the proportional multi-way valve 9 is controlled by the electrical control system during actual operation to control the first hydraulic motor 4, the rectangular telescopic outer tube 10, the first spiral swing cylinder 19, the hydraulic cylinder 25, the second spiral swing cylinder 26, the second hydraulic motor 28, etc.

[0029] like Figure 5 As shown, the top arm includes a second spiral swing cylinder 26. The piston rod of the second spiral swing cylinder 26 is fixedly connected to the swing cylinder nozzle angle adjustment component 27. A second hydraulic motor 28 is fixedly installed on the swing cylinder nozzle angle adjustment component 27. The output shaft of the second hydraulic motor 28 is fixedly connected to the swing frame 15. The swing frame 15 is rotatably connected to the swing cylinder nozzle angle adjustment component 27. The second spiral swing cylinder 26 is fixedly connected to the swing cylinder arm 22.

[0030] It should be noted that there is relative rotation between the second spiral swing cylinder 26 and the swing cylinder nozzle angle adjustment component 27. The angle of the swing cylinder nozzle angle adjustment component 27 is adjusted by the second spiral swing cylinder 26. One end of the swing frame 15 is rotatably connected to the swing cylinder nozzle angle adjustment component 27, and the other end of the swing frame 15 is fixedly connected to the output shaft of the second hydraulic motor 28. The second hydraulic motor 28 drives the swing frame 15 to rotate. The spray head is fixed on the swing frame 15 and moves with the spraying robot arm.

[0031] like Figures 3-4 As shown, the rectangular telescopic tube includes a rectangular telescopic outer tube 10, which is slidably connected to a rectangular telescopic inner tube 11. One end of the rectangular telescopic outer tube 10 is fixedly connected to an L-shaped swing arm column 5.

[0032] It should be noted that an electric telescopic rod is fixedly installed inside the rectangular telescopic outer tube 10. The telescopic rod of the electric telescopic rod is fixedly connected to the rectangular telescopic inner tube 11. The rectangular telescopic tube extends and retracts inside the rectangular telescopic outer tube 10 through the rectangular telescopic inner tube 11 so that the first spraying robot arm 2 and the second spraying robot arm 3 can adapt to the size of the tunnel.

[0033] like Figure 4 As shown, one end of the rectangular telescopic inner tube 11 is fixedly connected to the base 12 of the first spiral swing cylinder fixing frame, and the first spiral swing cylinder 19 is fixedly installed on the base 12 of the first spiral swing cylinder fixing frame.

[0034] It should be noted that the first spiral swing cylinder fixing bracket base 12 is provided with a circular fixing hole that is adapted to the outer circular surface of the first spiral swing cylinder 19. One end of the rectangular telescopic inner tube 11 is fixedly installed on the first spiral swing cylinder 19 through the first spiral swing cylinder fixing bracket base 12, thereby improving the installation stability of the first spiral swing cylinder 19.

[0035] like Figures 3-5 As shown, a narrow-foot swing cylinder base plate 14 is fixedly installed at one end of the large swing arm 21, and a narrow-foot swing cylinder 18 is fixedly installed on the narrow-foot swing cylinder base plate 14.

[0036] It should be noted that the base plate 14 of the narrow-foot swing cylinder is provided with a circular fixing hole that is adapted to the outer circular surface of the narrow-foot swing cylinder 18. One end of the large swing arm 21 is fixedly installed on the narrow-foot swing cylinder 18 through the base plate 14 of the narrow-foot swing cylinder, thereby improving the installation stability of the narrow-foot swing cylinder 18.

[0037] like Figure 5 As shown, a hydraulic lock swing cylinder fixing seat 24 is fixedly installed on the swing cylinder crossover frame 23, and the hydraulic lock swing cylinder fixing seat 24 is connected to the hydraulic cylinder 25.

[0038] It should be noted that the hydraulic cylinder 25 is rotatably mounted above the swing cylinder crossover frame 23 via the hydraulic lock swing cylinder fixing seat 24. The piston rod of the hydraulic cylinder 25 pushes the swing cylinder arm 22 to rotate around the swing cylinder crossover frame 23, thereby realizing the rotation of the swing cylinder arm 22. The hydraulic cylinder 25 can rotate slightly above the swing cylinder crossover frame 23. Compared with being directly fixed above the swing cylinder crossover frame 23, the rotating hydraulic cylinder 25 can maximize the swing angle of the swing cylinder arm 22.

[0039] like Figures 1-3As shown, the track includes a guide rail 7, an L-shaped swing arm column 5 slidably mounted on the guide rail 7, the guide rail 7 is fixedly mounted on the track support plate 8 of the tunneling machine 1, a spur rack 6 is fixedly mounted on the inner wall of the guide rail 7, the spur rack 6 cooperates with a spur gear, the spur gear is fixedly mounted on the output shaft of the first hydraulic motor 4, and the first hydraulic motor 4 is fixedly mounted on the L-shaped swing arm column 5.

[0040] It should be noted that the first hydraulic motor 4 drives the spur gear to rotate, and through the cooperation of the spur gear and the spur rack 6, the L-shaped swing arm column 5 is driven to slide along the guide rail 7, so that the first spraying robotic arm 2 and the second spraying robotic arm 3 can move in the front and back direction of the tunneling machine 1.

[0041] like Figures 1-4 As shown, an oil passage block 13 is installed at the lower end of the narrow foot swing cylinder base plate 14.

[0042] It should be noted that the hydraulic circuit block 13 is used to fix the hydraulic pipes that transmit hydraulic pressure and connect each hydraulic pipe to different mechanisms, so that the dispersed hydraulic circuits are brought together, which can simplify the installation, inspection, replacement and subsequent maintenance of the hydraulic system.

[0043] like Figure 5 As shown, a roller frame 16 is fixedly installed at one end of the swing cylinder bridging bracket 23.

[0044] It should be noted that the roller frame 16 is mainly used to fix the feeding pipe. The feeding pipe of the spraying robot arm is exposed and connected to the spraying robot arm through the roller frame 16. During operation, the upper end of the robot arm will rotate under the drive of the second spiral swing cylinder 26, and the feeding pipe will also automatically adjust its length with the assistance of the rollers arranged in the roller frame 16 to adapt to various spraying postures of the upper end of the robot arm.

[0045] like Figure 5 As shown, the piston rod of the narrow-footed swing cylinder 18 is fixedly connected to the rotary joint 17.

[0046] It should be noted that the hydraulic rotary joint 17 is used to transmit hydraulic oil in the pipeline to the narrow foot swing cylinder 18 to assist the narrow foot swing cylinder 18 in realizing cyclic swing.

[0047] The integrated spraying and tunneling machine provided by this invention uses a tunneling machine 1 as the main body and is supplemented by a first spraying robotic arm 2 and a second spraying robotic arm 3 on both sides of the tunneling machine 1. The first spraying robotic arm 2 and the second spraying robotic arm 3 are used to drive the spraying head to perform spraying operations. The first spraying robotic arm 2 and the second spraying robotic arm 3 are adapted to the size of the tunnel by extending and retracting the rectangular telescopic tube. The first hydraulic motor 4 drives the L-shaped swing arm column 5 to slide along the guide slide rail 7, so that the first spraying robotic arm 2 and the second spraying robotic arm 3 can move in the front and back direction of the tunneling machine 1 to perform reciprocating spraying work. In the limited tunnel space, the spraying operation and the tunneling operation can be carried out simultaneously, which greatly improves the work efficiency. The robotic arm spraying is uniform and the sealing effect is good.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A spraying and tunneling integrated machine, suitable for spraying gas sealing and caulking agents into rock fissures in tunnels, characterized in that, The tunneling machine includes a first spraying robotic arm and a second spraying robotic arm symmetrically mounted on it. The first spraying robotic arm includes a track, which includes a guide rail. An L-shaped swing arm column is slidably mounted on the guide rail. The guide rail is fixedly mounted on the track support plate of the tunneling machine. A spur rack is fixedly mounted on the inner wall of the guide rail. The spur rack meshes with a spur gear. The spur gear is fixedly mounted on the output shaft of a first hydraulic motor. The first hydraulic motor is fixedly mounted on the L-shaped swing arm column, enabling the first and second spraying robotic arms to move along the front-back direction of the tunneling machine to perform reciprocating spraying work. A rectangular telescopic tube is fixedly installed on the L-shaped swing arm column. A first spiral swing cylinder is fixedly installed at one end of the rectangular telescopic tube. The rectangular telescopic tube includes a rectangular telescopic outer tube, which is slidably connected to a rectangular telescopic inner tube. One end of the rectangular telescopic outer tube is fixedly connected to the L-shaped swing arm column. The piston rod of the first spiral swing cylinder is fixedly connected to the large slewing arm. A narrow-foot swing cylinder is fixedly installed at one end of the large slewing arm. A swing cylinder crossover frame is fixedly installed on the narrow-foot swing cylinder. A hydraulic cylinder is installed above the swing cylinder crossover frame. The piston rod of the hydraulic cylinder is rotatably connected to the swing cylinder arm. One end of the swing cylinder arm is rotatably connected to the swing cylinder crossover frame. The swing cylinder arm is connected to the swing frame through a top arm. The top arm includes a second spiral swing cylinder, the piston rod of the second spiral swing cylinder is fixedly connected to the swing cylinder nozzle angle adjustment component, a second hydraulic motor is fixedly installed on the swing cylinder nozzle angle adjustment component, the output shaft of the second hydraulic motor is fixedly connected to the swing frame, the swing frame is rotatably connected to the swing cylinder nozzle angle adjustment component, and the second spiral swing cylinder is fixedly connected to the swing cylinder arm.

2. The spraying and tunneling integrated machine according to claim 1, characterized in that, One end of the rectangular telescopic inner tube is fixedly connected to the base of the first spiral swing cylinder fixing frame, and the first spiral swing cylinder is fixedly installed on the base of the first spiral swing cylinder fixing frame.

3. The integrated spraying and tunneling machine according to claim 1, characterized in that, A narrow-foot swing cylinder base plate is fixedly installed at one end of the large slewing arm, and a narrow-foot swing cylinder is fixedly installed on the narrow-foot swing cylinder base plate.

4. The spraying and tunneling integrated machine according to claim 1, characterized in that, A hydraulic lock swing cylinder fixing seat is fixedly installed on the swing cylinder crossover frame, and the hydraulic lock swing cylinder fixing seat is connected to the hydraulic cylinder.

5. The spraying and tunneling integrated machine according to claim 1, characterized in that, The lower end of the narrow-foot swing cylinder base plate is equipped with an oil passage block.

6. The integrated spraying and tunneling machine according to claim 5, characterized in that, One end of the swing cylinder bridging frame is fixedly equipped with a roller frame.

7. The spraying and tunneling integrated machine according to claim 6, characterized in that, The piston rod of the narrow-foot swing cylinder is fixedly connected to the rotary joint.

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