Mining heading machine system capable of excavating and anchoring at same time

Abstract

The invention discloses a mining heading machine system capable of excavating while anchoring, and relates to the technical field of heading machines. A follow-up mechanism is arranged on the heading machine; the follow-up mechanism is used for anchoring and drilling the side wall of a tunneling hole along with tunneling work of the tunneling machine; the follow-up mechanism comprises an operation platform which is installed on the heading machine; the drilling mechanism is arranged above the working platform; the drilling mechanism is used for drilling the side wall of the tunneling hole. By arranging the follow-up mechanism, tunneling work and anchoring work are conducted at the same time, timely supporting after tunneling is achieved, and potential safety hazards caused by too long unsupported time are prevented; through the arrangement of the follow-up mechanism, the drilling mechanism is always kept in a static state relative to the drilling position in the tunneling work process, so that the tunneling work does not affect the drilling and anchoring work, the radial installation of the anchor rod can be realized, and the anchoring work quality is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of tunneling machines, and in particular to a tunneling machine system for mining that can dig and anchor at the same time. Background Art

[0002] A tunnel boring machine is a specialized mechanical equipment used for tunnel and underground engineering excavation. It is mainly composed of a traveling mechanism, a working mechanism, a loading mechanism and a transfer mechanism. As the traveling mechanism moves forward, the cutting head in the working mechanism continuously crushes the rock and removes the gravel.

[0003] In the prior art, when supporting, it is necessary to first use a drilling device to drill a hole in the side wall after excavation, and it is necessary to ensure that the drilling device and the hole are always in a relatively static state during drilling. In order to ensure that the excavation work does not affect the anchoring drilling work, the tunnel boring machine first excavates and then anchors the support.

[0004] However, the above-mentioned tunnel boring machine still has the following defects during operation: Since excavation operations take a long time, if support operations cannot be carried out in time during this period, for complex geological conditions, the long empty roof time will lead to roof collapse or rock collapse accidents. Summary of the invention

[0005] In order to overcome the above technical problems, the purpose of the present invention is to provide a mining tunneling machine system that digs and anchors at the same time, which is used to solve the problem mentioned in the above background technology that the existing tunneling machines cannot anchor and support in time after tunneling operations, which is prone to safety accidents.

[0006] The purpose of the present invention can be achieved through the following technical solutions: A mining tunneling machine system for digging and anchoring, comprising a tunneling machine; the tunneling machine is provided with a follower mechanism; the follower mechanism is used to perform anchor drilling on the side wall of the tunneling hole while the tunneling machine is digging; the follower mechanism comprises: A working platform, wherein the working platform is installed on the tunnel boring machine; A drilling mechanism, the drilling mechanism is arranged above the working platform; the drilling mechanism is used to drill holes on the side walls of the excavation hole; A translation mechanism, the translation mechanism being arranged between the working platform and the drilling mechanism; the translation mechanism being used to drive the drilling mechanism to move in the same direction or in the opposite direction along the excavation direction of the tunnel boring machine; An angle adjustment mechanism, the angle adjustment mechanism is arranged between the translation mechanism and the drilling mechanism; the angle adjustment mechanism is used to adjust the angle between the output direction of the drilling mechanism and the side wall of the excavation hole, so that the output direction of the drilling mechanism is perpendicular to the side wall of the excavation hole; The rotary cylinder is installed between the translation mechanism and the drilling mechanism; the rotary cylinder is used to drive the drilling mechanism to rotate.

[0007] Preferably, the translation mechanism includes a push cylinder and a slide; the slide is slidably connected to the working platform, the push cylinder is installed on the working platform, and the output end of the push cylinder is connected to the slide; the push cylinder is used to drive the slide to move in the same direction or opposite direction along the excavation direction of the tunnel boring machine.

[0008] Preferably, the angle adjustment mechanism includes a plurality of lifting cylinders; the lifting cylinders are arranged between the working platform and the tunnel boring machine; the lifting cylinders are used to drive the working platform to deflect in any direction.

[0009] Preferably, the drilling mechanism includes a linear module, a motor and a guide; the linear module is arranged on a slide, the motor is installed on the output end of the linear module, the guide is arranged on the linear module, the output end of the motor is coaxially connected to a drill rod, and the drill rod is coaxially slidably connected to the guide; the rotary cylinder is installed on the slide, and the output end of the rotary cylinder is connected to the linear module.

[0010] Preferably, the mining roadheader system that digs and anchors at the same time also includes a control system; the control system is used to control the movement of the follower mechanism so that the position to be drilled on the inner wall of the excavation hole and the slide seat are in a relatively static state when the roadheader is excavating.

[0011] Preferably, the control system includes a control terminal, a stroke sensor, a monitoring sensor, a first magnetostrictive sensor and a second magnetostrictive sensor; the control terminal is arranged on the working platform, and the first magnetostrictive sensor is installed on the push cylinder; the first magnetostrictive sensor is used to monitor the stroke of the push cylinder so as to calculate the relative position coordinates of the drilling mechanism; the second magnetostrictive sensor is installed on the lifting cylinder; the second magnetostrictive sensor is used to monitor the stroke of the lifting cylinder to ensure that the axis of the drill rod is perpendicular to the side wall of the excavation hole; the stroke sensor is installed on the linear module; the stroke sensor is used to monitor the position coordinates of the motor on the slide; the monitoring sensor is installed on the tunneling machine; the monitoring sensor is used to monitor the forward, turning and pitching posture operation of the tunneling machine in real time, and provide real-time feedback to the control terminal in the form of analog signals; the magnetostrictive sensor, stroke sensor and monitoring sensor are all connected to the control terminal through signal control.

[0012] Preferably, the control terminal is provided with a memory; the memory is used to store computer programs.

[0013] Preferably, a storage bin is provided on the working platform; the storage bin is used for anchor hole materials.

[0014] Beneficial effects of the present invention: 1. By setting up a follow-up mechanism, the excavation work and anchoring work can be carried out simultaneously, and timely support can be achieved after excavation to prevent safety hazards caused by long empty top time; through the setting of the follow-up mechanism, during the excavation work, the drilling mechanism always maintains a relatively static state relative to the drilling position, so that the excavation work does not affect the drilling and anchoring operation, and the radial installation of anchor rods can be achieved to ensure the quality of anchoring operation; 2. By setting up a control system, it can be ensured that during the anchor drilling process, the drill rod is always controlled to correspond vertically to the drilling position to ensure the quality of drilling. When performing steering excavation work, the control system can still be used to control the follow-up mechanism to achieve stable drilling operations, which is not affected by the excavation posture and speed, thereby ensuring the quality of drilling. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below in conjunction with the accompanying drawings.

[0016] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 It is a three-dimensional enlarged structural schematic diagram of the follower mechanism of the present invention; Figure 3 It is a schematic diagram of the enlarged structure of the follower mechanism of the present invention from top view; Figure 4 It is a side view enlarged structural schematic diagram of the follower mechanism of the present invention; Figure 5 It is a flow chart of the control system of the present invention; Figure 6-7 It is the PLC control program diagram of the present invention; Figure 8-9 The present invention is Figure 7-8 Program annotation diagram.

[0017] In the figure: 1. Tunnel boring machine; 2. Follow-up mechanism; 21. Working platform; 22. Push cylinder; 23. Slide; 24. Lifting cylinder; 25. Drilling mechanism; 251. Linear module; 252. Motor; 253. Guide; 26. Rotary cylinder; 3. Control system; 31. Control terminal; 4. Storage bin. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] like Figure 1-9As shown, a mining tunneling machine system for digging and anchoring at the same time comprises a tunneling machine 1; a follower mechanism 2 is arranged on the tunneling machine 1; the follower mechanism 2 is used to perform anchor drilling on the side wall of the tunneling hole while the tunneling machine 1 is digging; a storage bin 4 is arranged on the working platform 21; the storage bin 4 is used for anchor hole materials, and the anchor hole materials include anchor rods and other devices and materials used for anchoring work; the follower mechanism 2 comprises: an operating platform 21, which is installed on the tunneling machine 1; a drilling mechanism 25, which is arranged above the operating platform 21; the drilling mechanism 25 is used to drill holes on the side wall of the tunneling hole ... used for anchor hole materials, and a storage bin 4 is used for anchor hole materials, and a storage bin 4 is used for anchor hole materials, and a storage bin 4 is used for anchor hole materials, and a storage bin 4 is used for anchor hole materials, and a storage bin 4 is used for anchor hole materials, and a storage bin 4 is used for anchor hole materials, and a storage bin 4 is used for anchor hole materials, and a storage bin 4 is used for anchor hole materials, and a storage bin 4 is used for anchor hole materials, and a storage bin 4 is used for anchor hole materials, and a storage bin 4 is used for anchor hole materials, and a storage bin 4 is used for anchor hole materials, and a storage bin 4 is used for anchor hole materials, and a storage bin 4 is used for anchor hole materials, and a storage bin 4 is used for anchor hole materials, and a storage bin Translation mechanism, the translation mechanism is arranged between the working platform 21 and the drilling mechanism 25; the translation mechanism is used to drive the drilling mechanism 25 to move in the same direction or in the opposite direction along the excavation direction of the tunnel boring machine 1; the angle adjustment mechanism, the angle adjustment mechanism is arranged between the translation mechanism and the drilling mechanism 25; the angle adjustment mechanism is used to adjust the angle between the output direction of the drilling mechanism 25 and the side wall of the excavation hole, so that the output direction of the drilling mechanism 25 is perpendicular to the side wall of the excavation hole; the rotary cylinder 26, the rotary cylinder 26 is installed between the translation mechanism and the drilling mechanism 25; the rotary cylinder 26 is used to drive the drilling mechanism 25 to rotate.

[0020] It should be noted that, during the straight-line excavation work of the tunnel boring machine 1, the posture between the working platform 21 and the cutter head of the tunnel boring machine 1 is controlled by the angle adjustment mechanism, so as to ensure that the working platform 21 can follow the excavation working posture of the current tunnel boring machine 1, and ensure that the working platform 21 is always located in the cross section of a certain excavation section when the tunnel boring machine 1 is excavating; then the drilling mechanism 25 is driven to move by the translation mechanism, and the moving speed of the drilling mechanism 25 is the same as the excavation speed of the tunnel boring machine 1, so that the position of the borehole to be anchored and the drilling mechanism 25 are in a stationary state; then the angle of the output end of the drilling mechanism 25 is adjusted by the rotary cylinder 26, so that the output end of the drilling mechanism 25 is aligned with the position of the borehole to be drilled; finally, the drilling mechanism 25 is used to perform drilling and anchoring operations on the side wall of the excavation hole to be drilled, so as to realize the work of anchoring while excavating; By carrying out the excavation operation and the anchoring operation simultaneously, timely support can be achieved after excavation to prevent safety hazards caused by long empty top time; by setting the follow-up mechanism 2, during the excavation work, the drilling mechanism 25 always maintains a relatively static state with the drilling position, so that the excavation work does not affect the drilling and anchoring operation, and the radial installation of anchor rods can be realized to ensure the quality of the anchoring operation.

[0021] like Figure 1-2 As shown, the translation mechanism includes a push cylinder 22 and a slide 23; the slide 23 is slidably connected to the working platform 21, the push cylinder 22 is installed on the working platform 21, and the output end of the push cylinder 22 is connected to the slide 23; the push cylinder 22 is used to drive the slide 23 to move in the same direction or opposite direction along the excavation direction of the tunnel boring machine 1.

[0022] It should be noted that the slide 23 is pushed to move by the push cylinder 22, so as to achieve the purpose of driving the drilling mechanism 25 to move, so that the drilling mechanism 25 moves in the same direction or opposite direction along the excavation direction of the tunnel boring machine 1, and the drilling mechanism 25 is driven to rotate by the rotary cylinder 26, so that the push cylinder 22 drives the drilling mechanism 25 to align with the position to be drilled; then, during the excavation of the tunnel boring machine 1, the push cylinder 22 drives the drilling mechanism 25 to move in the direction opposite to the excavation direction of the tunnel boring machine 1, so that the drilling mechanism 25 and the position to be drilled are in a relatively static state, which is convenient for the next step of drilling and anchoring.

[0023] like Figure 1-4 As shown, the angle adjustment mechanism includes a plurality of lifting cylinders 24; the lifting cylinders 24 are arranged between the working platform 21 and the tunnel boring machine 1; the lifting cylinders 24 are used to drive the working platform 21 to deflect in any direction.

[0024] It should be noted that during the excavation process of the tunnel boring machine 1, the inclination angle of the working platform 21 is adjusted by cooperating through multiple lifting cylinders 24, so that the working platform 21 is always perpendicular to the radial cross-section of the tunnel boring machine 1, so that the output end of the drilling mechanism 25 can be kept perpendicular to the position of the tunnel boring hole to be drilled, thereby ensuring the drilling and anchoring effect.

[0025] like Figure 1-4 As shown, it can be understood that the present application does not limit the specific structure and installation method of the drilling mechanism 25, and only a feasible specific implementation scheme is provided below; the drilling mechanism 25 includes a linear module 251, a motor 252 and a guide 253; the linear module 251 is arranged on the slide 23, the motor 252 is installed at the output end of the linear module 251, the guide 253 is arranged on the linear module 251, and the output end of the motor 252 is coaxially connected to the drill rod, and the drill rod is coaxially slidably connected to the guide 253; the rotary cylinder 26 is installed on the slide 23, and the output end of the rotary cylinder 26 is connected to the linear module 251.

[0026] It should be noted that after the drill rod is vertically aligned with the position to be drilled, the drill rod and the position to be drilled are controlled to be in a relatively static state through the translation mechanism and the angle adjustment mechanism, and the drill rod is driven to rotate by the motor 252, and at the same time, the drill rod is driven to approach the position to be drilled through the linear module 251 to realize the drilling operation; and in the process of the drill rod moving, it is guided by the guide 253 to provide effective support for the movement of the drill rod; it should be noted that the linear module 251 and the guide 253 are both existing technologies and will not be described in detail.

[0027] like Figure 1-9 As shown, the mining roadheader system for digging and anchoring also includes a control system 3; the control system 3 is used to control the movement of the follower mechanism 2 so that the position to be drilled on the inner wall of the excavation hole and the slide 23 are in a relatively static state during the excavation operation of the roadheader 1.

[0028] It should be noted that, through the setting of the control system 3, when the cutter head of the tunnel boring machine 1 is adjusted in any posture, it can drive the follow-up mechanism 2 to cooperate in adjusting the posture, so as to ensure that the drill rod and the position to be drilled are always in a relatively static state, thereby ensuring the quality of the anchoring operation; that is, when the tunneling motion of the tunnel boring machine 1 is in a non-linear motion, the control system 3 can still drive the follow-up mechanism 2 to cooperate in adjusting the position and angle, so as to achieve the purpose of ensuring that the drill rod and the position to be drilled are always in a relatively static state.

[0029] like Figure 3 and Figure 5-9 As shown, the control system 3 includes a control terminal 31, a stroke sensor, a monitoring sensor, a first magnetostrictive sensor and a second magnetostrictive sensor; the control terminal 31 is arranged on the working platform 21, and the first magnetostrictive sensor is installed on the push cylinder 22; the first magnetostrictive sensor is used to monitor the stroke of the push cylinder 22, so as to calculate the relative position coordinates of the drilling mechanism 25, so as to achieve the purpose of calculating the pushing speed of the push cylinder 22; the second magnetostrictive sensor is installed on the lifting cylinder 24; the second magnetostrictive sensor is used to monitor the stroke of the lifting cylinder 24 to ensure that the axis of the drill rod is perpendicular to the side wall of the excavation hole; the stroke sensor is installed on the linear module 251; the stroke sensor is used to monitor the motor 252 The position coordinates on the slide 23; the monitoring sensor is installed on the tunnel boring machine 1; the monitoring sensor is used to monitor the forward, turning and pitch posture operation of the tunnel boring machine 1 and the tunneling speed in real time, and feed back to the control terminal 31 in real time in the form of analog signals; the magnetostrictive sensor, the stroke sensor and the monitoring sensor are all connected to the control terminal 31 through signal control; it should be noted that the push cylinder 22, the lifting cylinder 24, the linear module 251, the motor 252 and the rotary cylinder 26 are all connected to the control terminal 31 through electrical control, and the movement of the push cylinder 22, the lifting cylinder 24, the linear module 251, the motor 252 and the rotary cylinder 26 is controlled by the control terminal 31.

[0030] It should be noted that, firstly, the position and excavation speed of the tunnel boring machine 1 are monitored by the monitoring sensor, and the position and excavation speed information of the tunnel boring machine 1 are sent to the control terminal 31, and the first magnetostrictive sensor and the second magnetostrictive sensor respectively monitor the travel position information of the push cylinder 22 and the lifting cylinder 24 in real time, and send the relevant information to the control terminal 31; The control terminal 31 adjusts the stroke of each lifting cylinder 24 according to the posture information of the tunnel boring machine 1 and the position information of the lifting cylinder 24 sent by the second magnetostrictive sensor, so as to adjust the inclination angle of the working platform 21, so that the working platform 21 is perpendicular to the radial section of the tunneling direction of the tunnel boring machine 1; then the control terminal 31 controls the movement of the push cylinder 22 to drive the drilling mechanism 25 to move, adjust the position between the drill rod and the hole to be drilled, and record the position coordinates of the drilling mechanism 25 through the first magnetostrictive sensor, and send the corresponding information to the control terminal 31, and then the control terminal 31 controls the start of the rotary cylinder 26 to control the rotation of the linear module 251, thereby driving the drill rod to align with the position of the hole to be drilled. The control terminal 31 controls the movement of the push cylinder 22 according to the tunneling speed information of the tunnel boring machine 1 to ensure that the movement speed of the push cylinder 22 driving the drilling mechanism 25 is consistent with the tunneling speed of the tunnel boring machine 1, so as to control the alignment of the drill rod with the position of the hole to be drilled, and the position is relatively static, which is convenient for the next drilling and anchoring operation.

[0031] like Figure 3 and Figure 5-9 As shown, a memory is provided in the control terminal 31; the memory is used to store computer programs; it should be noted that the control system 3 is controlled by PLC, and PLC control is a prior art and will not be described in detail. Through the setting of the memory, the PLC control program can be adjusted as needed, or the completed PLC control can be directly imported into the control terminal 31 through the memory to realize control.

[0032] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction and a specific direction structure and operation, and therefore, cannot be understood as a limitation on the present invention. In addition, "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A mining tunneling machine system for digging and anchoring, comprising a tunneling machine (1); characterized in that: The tunnel boring machine (1) is provided with a follower mechanism (2); the follower mechanism (2) is used to perform anchor drilling on the side wall of the tunnel boring hole while the tunnel boring machine (1) is performing tunnel boring operations; The follower mechanism (2) comprises: A working platform (21), wherein the working platform (21) is installed on the tunnel boring machine (1); A drilling mechanism (25), the drilling mechanism (25) being arranged above the working platform (21); the drilling mechanism (25) being used for drilling a hole on the side wall of the excavation hole; A translation mechanism, the translation mechanism being arranged between the working platform (21) and the drilling mechanism (25); the translation mechanism being used to drive the drilling mechanism (25) to move in the same direction or in the opposite direction along the excavation direction of the tunnel boring machine (1); An angle adjustment mechanism, the angle adjustment mechanism being arranged between the translation mechanism and the drilling mechanism (25); the angle adjustment mechanism being used to adjust the angle between the output direction of the drilling mechanism (25) and the side wall of the excavation hole, so that the output direction of the drilling mechanism (25) is perpendicular to the side wall of the excavation hole; A rotary cylinder (26) is installed between the translation mechanism and the drilling mechanism (25); the rotary cylinder (26) is used to drive the drilling mechanism (25) to rotate.

2. A mining roadheader system for digging and anchoring according to claim 1, characterized in that: The translation mechanism comprises a push cylinder (22) and a slide seat (23); the slide seat (23) is slidably connected to the working platform (21), the push cylinder (22) is installed on the working platform (21), and the output end of the push cylinder (22) is connected to the slide seat (23); the push cylinder (22) is used to drive the slide seat (23) to move in the same direction or in the opposite direction along the excavation direction of the tunnel boring machine (1).

3. The mining roadheader system with digging and anchoring according to claim 1, characterized in that: The angle adjustment mechanism comprises a plurality of lifting cylinders (24); the lifting cylinders (24) are arranged between the working platform (21) and the tunneling machine (1); and the lifting cylinders (24) are used to drive the working platform (21) to deflect in any direction.

4. A mining roadheader system for digging and anchoring according to claim 2, characterized in that: The drilling mechanism (25) comprises a linear module (251), a motor (252) and a guide (253); the linear module (251) is arranged on a slide seat (23), the motor (252) is installed on the output end of the linear module (251), the guide (253) is arranged on the linear module (251), the output end of the motor (252) is coaxially connected to a drill rod, and the drill rod is coaxially slidably connected to the guide (253); the rotary cylinder (26) is installed on the slide seat (23), and the output end of the rotary cylinder (26) is connected to the linear module (251).

5. The mining roadheader system with digging and anchoring according to claim 2, characterized in that: The mining roadheader system for digging and anchoring also includes a control system (3); the control system (3) is used to control the movement of the follower mechanism (2) so that the position to be drilled on the inner wall of the excavation hole and the slide seat (23) are in a relatively static state when the roadheader (1) is in excavation operation.

6. A mining roadheader system for digging and anchoring as claimed in claim 5, characterized in that: The control system (3) comprises a control terminal (31), a stroke sensor, a monitoring sensor, a first magnetostrictive sensor and a second magnetostrictive sensor; the control terminal (31) is arranged on the working platform (21); the first magnetostrictive sensor is installed on the push cylinder (22); the first magnetostrictive sensor is used to monitor the stroke of the push cylinder (22) so as to calculate the relative position coordinates of the drilling mechanism (25); the second magnetostrictive sensor is installed on the lifting cylinder (24); the second magnetostrictive sensor is used to monitor the stroke of the lifting cylinder (24) so ​​as to ensure that the axis of the drill rod is perpendicular to the side wall of the excavation hole; the stroke sensor is installed on the linear module (251); the stroke sensor is used to monitor the position coordinates of the motor (252) on the slide (23); the monitoring sensor is installed on the tunnel boring machine (1); the monitoring sensor is used to monitor the forward, turning and pitching posture operation of the tunnel boring machine (1) in real time, and to provide real-time feedback to the control terminal (31) in the form of analog signals; the magnetostrictive sensor, the stroke sensor and the monitoring sensor are all connected to the control terminal (31) through signal control.

7. A mining roadheader system for digging and anchoring according to claim 6, characterized in that: The control terminal (31) is provided with a memory; the memory is used to store computer programs.

8. The mining roadheader system for digging and anchoring according to claim 2, characterized in that: A storage bin (4) is provided on the working platform (21); the storage bin (4) is used for anchor hole materials.

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