Joint filling and tunneling integrated machine

Abstract

The present application relates to the field of coal mine machinery and equipment, especially to a jointing and tunneling integrated machine, aiming at solving the problem of poor sealing effect caused by uneven artificial spraying of jointing agent and the problem of low work efficiency caused by the fact that the jointing operation cannot be carried out simultaneously with the tunneling operation in the limited roadway space. The jointing and tunneling integrated machine combines the tunneling machine with the spraying arm, the first spraying arm and the second spraying arm are used to hold the spray head to carry out the jointing operation, and the tunneling operation and the jointing operation can be carried out simultaneously in the limited roadway space; the first spraying arm and the second spraying arm move along the front-rear direction of the tunneling machine to carry out reciprocating spraying work; the length of the telescopic arm is adjusted according to the size of the roadway, and the rotation angle of the three swing cylinders of the gripper arm is automatically adjusted according to the demand, so that the jointing operation and the tunneling operation can be carried out simultaneously in the limited roadway space, the work efficiency is greatly improved, the spraying of the spraying arm is uniform, and the sealing effect is good.

Description

Technical Field

[0001] This invention relates to the field of coal mining machinery and equipment, and in particular to an integrated tunneling and grouting 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 the tunnel, manual spraying of sealant often results in uneven material distribution and poor sealing effect. In addition, the conveyor belt for transporting crushed stone behind the tunneling machine occupies a lot of space, and the limited space cannot accommodate spraying and sealing equipment, so spraying and sealing operations cannot be carried out at the same time as tunneling operations, resulting in low work efficiency. Summary of the Invention

[0004] This invention provides a joint filling and tunneling integrated machine to solve the problems of uneven joint filling due to manual spraying, resulting in poor sealing effect, and the inability to carry out joint filling and tunneling operations simultaneously in limited tunnel space, leading to low work efficiency.

[0005] To achieve the above objectives, the present invention provides a joint-filling tunneling machine, including a tunneling machine, with a first spraying arm and a second spraying arm respectively installed on both sides of the tunneling machine. The first spraying arm includes a slide seat, which is installed on the track support plate of the tunneling machine. A T-shaped swing arm column is installed on the slide seat, and a first steering device and a second steering device are installed on the T-shaped swing arm column. The first steering device is rotatably connected to a telescopic arm, and the second steering device is rotatably connected to a lifting hydraulic cylinder. The lifting piston rod of the lifting hydraulic cylinder is rotatably connected to the telescopic arm. The telescopic arm is fixedly connected to a gripper arm, and the gripper arm is connected to a nozzle gripper.

[0006] In the aforementioned integrated tunneling and grouting machine, optionally, the gripper arm includes a third swing cylinder mounting plate, on which a third swing cylinder is fixedly mounted. The piston rod of the third swing cylinder is fixedly connected to a second swing cylinder mounting plate. A second swing cylinder is fixedly mounted on the second swing cylinder mounting plate, and its piston rod is fixedly connected to a first swing cylinder mounting plate. A first swing cylinder is fixedly mounted on the first swing cylinder mounting plate, and its piston rod is fixedly connected to the nozzle gripper.

[0007] In the above-mentioned integrated tunneling and grouting machine, optionally, a rotary encoder is fixedly installed at one end of the third swing cylinder, the second swing cylinder, and the first swing cylinder.

[0008] In the above-mentioned integrated tunneling and grouting machine, optionally, the first steering gear includes a first fixed seat, which is fixedly installed on the T-shaped swing arm column. A rotating shaft is rotatably installed on the first fixed seat, and the rotating shaft is fixedly connected to the connecting pipe, which is rotatably connected to the telescopic arm.

[0009] In the above-mentioned integrated tunneling and grouting machine, optionally, the second steering gear includes a second fixed seat, which is rotatably connected to a rotating seat, and the rotating seat is rotatably connected to a lifting hydraulic cylinder.

[0010] In the aforementioned integrated tunneling and grouting machine, optionally, the telescopic boom includes a hydraulic telescopic boom, one end of which is rotatably connected to the connecting pipe, the other end of which is slidably connected to the telescopic inner pipe, and one end of the telescopic inner pipe is fixedly connected to the third swing cylinder mounting plate.

[0011] In the aforementioned integrated tunneling and grouting machine, optionally, the slide includes a guide rail, the T-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 side of the guide rail, a hydraulic motor is fixedly mounted on the T-shaped swing arm column, a spur gear is fixedly mounted on the output shaft of the hydraulic motor, and the spur rack meshes with the spur gear.

[0012] In the aforementioned integrated tunneling and grouting machine, optionally, two guide rail bosses are symmetrically fixedly installed on the upper end of the guide rail.

[0013] In the aforementioned integrated tunneling and grouting machine, optionally, two column grooves are symmetrically arranged on the T-shaped swing arm column, and the slide rail boss cooperates with the column grooves.

[0014] Optionally, an emergency brake button can be fixedly installed on the T-shaped swing arm column of the aforementioned integrated tunneling and grouting machine.

[0015] The integrated tunneling and caulking machine provided by this invention combines a tunneling machine with a spraying arm. The first and second spraying arms are used to hold the spray nozzle for spraying and caulking operations. Within a limited tunnel space, tunneling and caulking operations can be performed simultaneously, completing both tasks with a single machine, reducing the number of machines used and improving economic efficiency. The first and second spraying arms move along the tunneling machine in the forward and backward direction for reciprocating spraying. The length of the telescopic arm is adjusted according to the tunnel size, and the rotation angle of the three swing cylinders of the gripper arm is automatically adjusted as needed, resulting in a larger spraying range and more flexible spraying methods to suit various complex environments. The lifting and rotation of the hydraulic telescopic arm are controlled by adjusting the extension and retraction of two lifting piston rods, and in conjunction with the telescopic inner tube, the single spraying range is further expanded. Within a limited tunnel space, caulking and tunneling operations can be performed simultaneously, greatly improving work efficiency. The spraying arms provide uniform spraying and 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 slot-filling tunneling machine provided in an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the spraying arm of the joint-filling tunneling machine provided in an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of the structure of the first spraying arm of the joint filling tunneling machine provided in an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of the steering gear of the integrated tunneling machine for filling gaps provided in an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the gripper arm of the slot filling tunneling machine provided in an embodiment of the present invention.

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

[0024] 1-First spraying arm; 2-Tunneling machine; 3-Second spraying arm; 4-Crawler support plate; 5-Guide slide rail; 501-Slide rail boss; 6-Straight tooth rack; 7-T-shaped swing arm column; 701-Column groove; 8-Hydraulic motor; 9-Telescopic inner tube; 10-Lifting piston rod; 11-Hydraulic telescopic boom; 12-Lifting hydraulic cylinder; 13-Proportional multi-way valve; 14-Emergency brake button; 15-First steering gear; 1501-First fixed seat; 1502-Rotating shaft; 1503-Connecting pipe; 16-Second steering gear; 1601-Second fixed seat; 1602-Rotating seat; 17-Sprayer head gripper; 18-First swing cylinder; 19-First swing cylinder mounting plate; 20-Second swing cylinder; 21-Second swing cylinder mounting plate; 22-Third swing cylinder; 23-Third swing cylinder mounting plate; 24-Rotary encoder; 25-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 1-3 As shown, the present invention provides a joint filling and tunneling integrated machine, including a tunneling machine 2. A first spraying arm 1 and a second spraying arm 3 are respectively installed on both sides of the tunneling machine 2. The first spraying arm 1 includes a slide seat, which is installed on the track support plate 4 of the tunneling machine 2. A T-shaped swing arm column 7 is installed on the slide seat. A first steering device 15 and a second steering device 16 are installed on the T-shaped swing arm column 7. The first steering device 15 is rotatably connected to the telescopic arm, and the second steering device 16 is rotatably connected to the lifting hydraulic cylinder 12. The lifting piston rod 10 of the lifting hydraulic cylinder 12 is rotatably connected to the telescopic arm. The telescopic arm is fixedly connected to the gripper arm, and the gripper arm is connected to the nozzle gripper 17.

[0027] It should be noted that adding a spraying arm to the tunneling machine 2 only requires designing the electrical control system for the spraying arm, which is less difficult to control and has a simpler overall structure. The first spraying arm 1 and the second spraying arm 3 have the same structure and are installed on both sides of the tunneling machine 2 to increase the spraying range of the slurry. The track support plate 4 is fixed on both sides of the tunneling machine 2. The first spraying arm 1 and the second spraying arm 3 are installed on the track support plate 4 to prevent the spraying arm from interfering with the tunneling machine 2. The first spraying arm 1 and the second spraying arm 3 move along the front and back direction of the tunneling machine 2 through the slide below to perform reciprocating spraying work and expand the overall spraying range. The T-shaped swing arm column 7 installed on the slide supports other components. The proportional multi-way valve 13 is installed on the T-shaped swing arm column 7. The electrical control system is established through the proportional multi-way valve 13 to control the movement of the first spraying arm 1 and the second spraying arm 3. The nozzle gripper 17 clamps the nozzle so that the nozzle moves with the spraying arm.

[0028] The electrical control system is installed in the explosion-proof box 25 at the rear of the T-shaped swing arm column 7. Since the device driving the spray arm movement, the swing cylinder, etc., all use hydraulic devices, the electrical control system is only used to control the proportional multi-way valve 13. For example, by controlling the hydraulic valve corresponding to the hydraulic motor 8, the speed and number of rotations of the hydraulic motor are controlled, thereby controlling the moving speed and moving distance of the spray arm.

[0029] like Figure 5 As shown, the gripper arm includes a third swing cylinder mounting plate 23, on which a third swing cylinder 22 is fixedly mounted. The piston rod of the third swing cylinder 22 is fixedly connected to a second swing cylinder mounting plate 21. A second swing cylinder 20 is fixedly mounted on the second swing cylinder mounting plate 21. The piston rod of the second swing cylinder 20 is fixedly connected to a first swing cylinder mounting plate 19. A first swing cylinder 18 is fixedly mounted on the first swing cylinder mounting plate 19. The piston rod of the first swing cylinder 18 is fixedly connected to the nozzle gripper 17.

[0030] It should be noted that in actual use, based on the position of the telescopic arm, the position of the nozzle gripper 17 is changed by the cooperation of the three swing cylinders: the third swing cylinder 22, the second swing cylinder 20, and the first swing cylinder 18, giving the nozzle gripper 17 sufficient degrees of freedom.

[0031] like Figure 5 As shown, a rotary encoder 24 is fixedly installed at one end of the third swing cylinder 22, the second swing cylinder 20 and the first swing cylinder 18.

[0032] It should be noted that during the adjustment of the three swing cylinders, namely the third swing cylinder 22, the second swing cylinder 20 and the first swing cylinder 18, the swing angle of the swing cylinder is obtained by the rotary encoder 24. The rotary encoder 24 is provided with a rotary encoder housing to protect the rotary encoder 24.

[0033] like Figures 3-4 As shown, the first steering gear 15 includes a first fixed seat 1501, which is fixedly installed on the T-shaped swing arm column 7. A rotating shaft 1502 is rotatably installed on the first fixed seat 1501. The rotating shaft 1502 is fixedly connected to the connecting pipe 1503, and the connecting pipe 1503 is rotatably connected to the telescopic arm.

[0034] It should be noted that the first fixed seat 1501 is rotatably connected to the rotating shaft 1502, and the connecting pipe 1503 is rotatably connected to the telescopic arm, so that the telescopic arm can both pitch and swing left and right.

[0035] like Figures 3-4 As shown, the second steering gear 16 includes a second fixed seat 1601, which is rotatably connected to a rotating seat 1602, and the rotating seat 1602 is rotatably connected to the lifting hydraulic cylinder 12.

[0036] It should be noted that the second fixed seat 1601 is rotatably connected to the rotating seat 1602, and the rotating seat 1602 is rotatably connected to the lifting hydraulic cylinder 12, so that the lifting hydraulic cylinder 12 can perform both pitching and swinging movements.

[0037] like Figures 3-5As shown, the telescopic boom includes a hydraulic telescopic boom 11, one end of which is rotatably connected to the connecting pipe 1503, and the other end of which is slidably connected to the telescopic inner pipe 9. One end of the telescopic inner pipe 9 is fixedly connected to the third swing cylinder mounting plate 23.

[0038] It should be noted that the hydraulic telescopic boom 11 is equipped with a telescopic inner tube 9 to increase the spraying range; an electric telescopic rod is installed inside the hydraulic telescopic boom 11, and the telescopic rod of the electric telescopic rod is fixedly connected to the telescopic inner tube 9. The telescopic inner tube 9 is extended and retracted within the hydraulic telescopic boom 11 by the extension and retraction of the electric telescopic rod; the hydraulic telescopic boom 11 and the lifting hydraulic cylinder 12 are respectively connected to the T-shaped swing arm column 7 through the first steering device 15 and the second steering device 16, and the hydraulic telescopic boom 11 and the lifting hydraulic cylinder 12 are connected by two lifting piston rods 10. The two components are connected. In actual operation, based on the special structure of the first steering gear 15 and the second steering gear 16, the lifting and rotation of the hydraulic telescopic boom 11 is controlled by adjusting the extension and retraction of the two lifting piston rods 10. In conjunction with the telescopic inner tube 9, the single spraying range is further expanded. When the two lifting piston rods 10 extend and retract in a 1:1 ratio, they will drive the hydraulic telescopic boom 11 to lift and retract. When the two lifting piston rods 10 do not extend and retract in a 1:1 ratio, and one extends while the other retracts, the two lifting piston rods 10 will drive the hydraulic telescopic boom 11 to rotate.

[0039] like Figures 1-2 As shown, the slide includes a guide rail 5, a T-shaped swing arm column 7 is slidably mounted on the guide rail 5, the guide rail 5 is fixedly mounted on the track support plate 4 of the tunneling machine 2, a spur rack 6 is fixedly mounted on the inner side of the guide rail 5, a hydraulic motor 8 is fixedly mounted on the T-shaped swing arm column 7, a spur gear is fixedly mounted on the output shaft of the hydraulic motor 8, and the spur rack 6 meshes with the spur gear.

[0040] It should be noted that the hydraulic motor 8 drives the spur gear to rotate, and through the cooperation of the spur gear and the spur rack 6, the T-shaped swing arm column 7 is driven to slide along the guide rail 5, so that the first spraying arm 1 and the second spraying arm 3 can move in the front and back direction of the tunneling machine 1.

[0041] like Figures 1-3 As shown, two slide rail bosses 501 are symmetrically fixedly installed on the upper end of the guide slide rail 5.

[0042] It should be noted that the upper end face of the slide rail boss 501 is flush with the upper end face of the spur rack 6, and the spur rack 6 does not affect the sliding of the T-shaped swing arm column 7 on the guide slide rail 5.

[0043] like Figures 1-3 As shown, two column grooves 701 are symmetrically arranged on the T-shaped swing arm column 7, and the slide rail boss 501 cooperates with the column grooves 701.

[0044] It should be noted that the two slide rail bosses 501 on the guide slide rail 5 respectively cooperate with the two column grooves 701 on the T-shaped swing arm column 7, effectively preventing the T-shaped swing arm column 7 from detaching from the guide slide rail 5 in the vertical direction.

[0045] like Figure 3 As shown, an emergency brake button 14 is fixedly installed on the T-shaped swing arm column 7.

[0046] It should be noted that the emergency stop is achieved via the emergency brake button 14, which is connected to the control circuit board in the explosion-proof box 25 of the electronic control system. When the emergency brake button 14 is pressed, a braking signal is transmitted to the electronic control system of the spray arm, which then closes the proportional multi-way valve 13, stopping all components in their original positions and achieving emergency braking.

[0047] The integrated tunneling and caulking machine provided by this invention combines a tunneling machine 2 with a spraying arm. The first spraying arm 1 and the second spraying arm 3 are used to hold the nozzle for spraying and caulking operations. In the limited tunnel space, tunneling and caulking operations can be carried out simultaneously. Two operations can be completed with one machine, reducing the number of machines used and improving economic efficiency. The first spraying arm 1 and the second spraying arm 3 move along the front and back direction of the tunneling machine 2 to perform reciprocating spraying. The length of the telescopic arm is adjusted according to the tunnel size, and the rotation angle of the three swing cylinders of the gripper arm is automatically adjusted according to the needs, so that the spraying range is larger and the spraying method is more flexible to suit various complex environments. The lifting and rotation of the hydraulic telescopic arm 11 is controlled by adjusting the extension and retraction of the two lifting piston rods 10. In conjunction with the telescopic inner tube 9, the single spraying range is further expanded. In the limited tunnel space, spraying and caulking operations and tunneling operations can be carried out simultaneously, greatly improving work efficiency. The spraying arm sprays evenly and has a good sealing effect.

[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 joint-filling tunneling machine, characterized in that, The device includes a tunneling machine, with a first spraying arm and a second spraying arm installed on both sides of the tunneling machine. The first spraying arm and the second spraying arm have the same structure. The first spraying arm includes a slide block, which is installed on the track support plate of the tunneling machine. A T-shaped swing arm column is installed on the slide block. A first steering gear and a second steering gear are installed on the T-shaped swing arm column. The first steering gear is rotatably connected to a telescopic arm, and the second steering gear is rotatably connected to a lifting hydraulic cylinder. The two lifting piston rods of the lifting hydraulic cylinder are rotatably connected to the telescopic arm. The telescopic arm is fixedly connected to a gripper arm, and the gripper arm is connected to a nozzle gripper. The first steering gear includes a first fixed seat, which is fixedly installed on the T-shaped swing arm column. A rotating shaft is rotatably installed on the first fixed seat. The rotating shaft is fixedly connected to a connecting pipe, and the connecting pipe is rotatably connected to the telescopic arm. The second steering gear includes a second fixed seat, which is rotatably connected to a rotating seat, and the rotating seat is rotatably connected to a lifting hydraulic cylinder. The telescopic arm includes a hydraulic telescopic boom, one end of which is rotatably connected to the connecting pipe, and the other end of which is slidably connected to the telescopic inner pipe. When the two lifting piston rods extend and retract at a 1:1 ratio, they drive the hydraulic telescopic boom to rise and fall. When the two lifting piston rods do not extend and retract at a 1:1 ratio, they drive the hydraulic telescopic boom to rotate. The lifting and rotation of the hydraulic telescopic boom can be controlled by adjusting the extension and retraction of the two lifting piston rods. In conjunction with the telescopic inner tube, the spraying range can be further expanded.

2. The integrated tunneling and grouting machine according to claim 1, characterized in that, The gripper arm includes a third swing cylinder mounting plate, on which a third swing cylinder is fixedly mounted. The piston rod of the third swing cylinder is fixedly connected to a second swing cylinder mounting plate. A second swing cylinder is fixedly mounted on the second swing cylinder mounting plate, and its piston rod is fixedly connected to a first swing cylinder mounting plate. A first swing cylinder is fixedly mounted on the first swing cylinder mounting plate, and its piston rod is fixedly connected to the nozzle gripper.

3. The integrated tunneling and grouting machine according to claim 2, characterized in that, A rotary encoder is fixedly installed at one end of the third swing cylinder, the second swing cylinder, and the first swing cylinder.

4. The integrated tunneling and grouting machine according to claim 2, characterized in that, One end of the telescopic inner tube is fixedly connected to the third swing cylinder mounting plate.

5. The integrated tunneling and grouting machine according to claim 1, characterized in that, The slide block includes a guide rail, the T-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 side of the guide rail, a hydraulic motor is fixedly mounted on the T-shaped swing arm column, a spur gear is fixedly mounted on the output shaft of the hydraulic motor, and the spur rack meshes with the spur gear.

6. The integrated tunneling and grouting machine according to claim 5, characterized in that, Two guide rail bosses are symmetrically fixedly installed on the upper end of the guide rail.

7. The joint-filling tunneling machine according to claim 6, characterized in that, Two column grooves are symmetrically arranged on the T-shaped swing arm column, and the slide rail boss cooperates with the column grooves.

8. The integrated tunneling and grouting machine according to any one of claims 1-7, characterized in that, An emergency braking button is fixedly installed on the T-shaped swing arm column.

Images