Spraying and tunneling operation all-in-one machine

Abstract

The invention relates to the technical field of coal mine machinery, in particular to a spraying and tunneling operation all-in-one machine, and aims to solve the problems that the blocking effect is poor due to non-uniform manual spraying, spraying operation and tunneling operation cannot be performed at the same time in a limited roadway space, and the working efficiency is low. The spraying and tunneling operation all-in-one machine comprises a tunneling part and a spraying part, the tunneling part is responsible for completing tunneling work, the spraying part is responsible for completing filling work on gaps on the two sides of a roadway in the tunneling process, the spraying work and the tunneling work can be conducted at the same time in a limited roadway space, and the working efficiency is improved; the first sliding platform is driven by the first power mechanism to move in the front-back direction of the heading machine, and the front-back spraying area is increased; a second sliding platform is driven by a second power mechanism to move in the left-right direction of the heading machine, so that the spraying part can complete spraying work on the two sides of the roadway; and the multiple motors are linked, so that the spraying part rotates flexibly, spraying is uniform, and the blocking effect is good.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine machinery, and in particular to an all-in-one machine for spraying and tunneling operations. Background Art

[0002] During the tunneling process of the roadheader, the rock layer is constantly destroyed, causing the gas stored in the rock layer to penetrate into the tunnel through the cracks in the tunnel rock, which is prone to dangerous accidents. As the mining depth of coal mines continues to increase, the tunnel excavation environment becomes more complex, and the gas content in the rock layer is also increasing. The traditional method of only using the ventilation system to reduce the gas concentration will face a series of problems in terms of system design complexity and gas concentration dilution speed.

[0003] At present, artificial spraying of caulking agents is often used in underground tunnels of coal mines to seal the gaps in the tunnels to reduce the release rate of gas. However, in the dim environment of the tunnel, artificial spraying often causes problems such as uneven material distribution and poor sealing effect. In addition, when the tunnel boring machine is working, the tunnel boring machine occupies a large space, making the underground space small, and the spraying equipment cannot be arranged in the limited space, so that the spraying operation and the tunneling operation cannot be carried out at the same time, and the work efficiency is low. Summary of the invention

[0004] The present invention provides an integrated spraying and excavation machine to solve the problems that uneven manual spraying results in poor blocking effect, spraying and excavation operations cannot be performed simultaneously in a limited tunnel space, and the work efficiency is low.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a spraying and excavation operation integrated machine, including an excavation part and a spraying part, the excavation part includes a excavation machine, the spraying part includes a support seat, the support seat is fixedly installed on the excavation machine, a first power mechanism is installed on the support seat, a first sliding platform is installed on the first power mechanism, the first sliding platform is installed on the second sliding platform through the second power mechanism, the sliding routes of the first sliding platform and the second sliding platform are vertically arranged, a mechanical arm is installed on the second sliding platform, the mechanical arm includes a first mechanical arm, the first mechanical arm is connected to the second mechanical arm, a fifth motor is fixedly installed on one end of the second mechanical arm, the fifth motor is connected to the nozzle mechanism, the nozzle mechanism is connected to the feed pipe, the feed pipe is connected to the hydraulic pump, and the hydraulic pump is connected to the storage box.

[0006] In the above-mentioned spraying and excavation machine, it is optional that the support seat includes a bracket, the bracket is fixedly mounted on the excavation machine, the upper end of the bracket is fixed with a mounting plate, the upper end of the mounting plate is fixed with a manipulator support, the first sliding platform is slidably mounted on the manipulator support, and the first power mechanism is mounted on the mounting plate.

[0007] In the above-mentioned integrated spraying and excavation machine, it is optional that two brackets are symmetrically arranged and two manipulator supports are symmetrically arranged.

[0008] In the above-mentioned integrated spraying and excavation machine, it is optional that a third motor and a robotic arm base are fixedly installed on the second sliding platform, the output shaft of the third motor is rotatably connected to the robotic arm base, and the output shaft of the third motor is fixedly connected to the first robotic arm.

[0009] In the above-mentioned integrated spraying and excavation machine, it is optional that a fourth motor is fixedly mounted on the second mechanical arm, and an output shaft of the fourth motor is fixedly connected to the first mechanical arm.

[0010] In the above-mentioned integrated spraying and excavation machine, optionally, the nozzle mechanism includes a sixth motor, the output shaft of the fifth motor is fixedly connected to the sixth motor, and the output shaft of the sixth motor is fixedly connected to the nozzle.

[0011] In the above-mentioned integrated spraying and excavation machine, optionally, the first power mechanism includes a first motor, the first motor is fixedly mounted on the mounting plate, the output shaft of the first motor is fixedly connected to the screw rod, and the screw rod is threadedly connected to the first sliding platform.

[0012] In the above-mentioned integrated spraying and excavation machine, it is optional that sliding rods are symmetrically arranged on both sides of the first motor, and the sliding rods are slidably connected to the first sliding platform.

[0013] In the above-mentioned spraying and excavation machine, it is optional that the second power mechanism includes two guide rails, which are fixedly mounted on the first sliding platform, a rack is fixedly mounted on one of the guide rails, the rack cooperates with the gear, the gear is fixedly mounted on the output shaft of the second motor, the second motor is fixedly mounted on the second sliding platform, and the second sliding platform is slidably mounted on the guide rails.

[0014] In the above-mentioned integrated spraying and tunneling machine, it is optional to install a protective baffle above the cab of the tunneling machine.

[0015] The spraying and tunneling integrated machine provided by the present invention comprises a tunneling part and a spraying part, wherein the tunneling part is responsible for completing the tunneling work, and the spraying part is responsible for completing the filling work of the gaps on both sides of the tunnel during the tunneling process, and the spraying work and the tunneling work can be carried out simultaneously in a limited tunnel space, thereby improving work efficiency; the first sliding platform is driven by a first power mechanism to move along the front and rear directions of the tunneling machine, thereby increasing the front and rear spraying areas and improving work efficiency; the second sliding platform is driven by a second power mechanism to move along the left and right directions of the tunneling machine, so that the spraying part can complete the spraying work on both sides of the tunnel and control the distance between the spraying part and the rock walls on both sides; the first mechanical arm is driven by a third motor to rotate around the mechanical arm base, so that the first mechanical arm is raised or lowered; the second mechanical arm is driven by a fourth motor to rotate around the first mechanical arm, so that the second mechanical arm is raised or lowered; the nozzle mechanism is driven by a fifth motor to rotate to adjust the pitch angle of the nozzle; the nozzle is driven by a sixth motor to rotate to adjust the heading angle of the nozzle, and the linkage of multiple motors makes the spraying part rotate flexibly, the spraying is more uniform, and the blocking effect is good.

[0016] The construction of the present invention and other objects and advantageous effects thereof will become more apparent through the description of the preferred embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of the overall structure of a spraying and excavation machine provided in an embodiment of the present invention;

[0019] Figure 2 A schematic diagram of the structure of the first sliding platform of the spraying and tunneling integrated machine provided in an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of the structure of the mechanical arm of the spraying and excavation integrated machine provided in an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of the structure of the first mechanical arm of the all-in-one spraying and excavation machine provided in an embodiment of the present invention;

[0022] Figure 5 A schematic diagram of the structure of the second mechanical arm of the spraying and excavation machine provided in an embodiment of the present invention.

[0023] Description of reference numerals:

[0024] 1-turbine; 2-mechanical arm; 201-third motor; 202-mechanical arm base; 203-first mechanical arm; 204-sixth motor; 205-nozzle; 206-fifth motor; 207-second mechanical arm; 208-fourth motor; 3-protective baffle; 4-cab; 5-first power mechanism; 501-first motor; 502-screw rod; 503-slide rod; 6-guide rail; 7-first sliding platform; 8-bracket; 9-mechanical arm support; 10-mounting plate; 11-second motor; 12-second sliding platform; 13-feeding pipe; 14-hydraulic pump; 15-storage box. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme in the embodiment of the present invention will be described in more detail below in conjunction with the drawings in the preferred embodiments of the present invention. In the drawings, the same or similar reference numerals throughout represent the same or similar parts or parts with the same or similar functions. The described embodiments are part of the embodiments of the present invention, not all of them. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limitations on the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The embodiments of the present invention are described in detail below in conjunction with the drawings.

[0026] like Figure 1-Figure 3 As shown, the present invention provides a spraying and excavation integrated machine, including an excavation part and a spraying part, the excavation part includes a excavation machine 1, the spraying part includes a support seat, the support seat is fixedly installed on the excavation machine 1, a first power mechanism 5 is installed on the support seat, a first sliding platform 7 is installed on the first power mechanism 5, the first sliding platform 7 is installed on the second sliding platform 12 through the second power mechanism, the sliding routes of the first sliding platform 7 and the second sliding platform 12 are vertically arranged, a mechanical arm 2 is installed on the second sliding platform 12, the mechanical arm 2 includes a first mechanical arm 203, the first mechanical arm 203 is connected to the second mechanical arm 207, a fifth motor 206 is fixedly installed on one end of the second mechanical arm 207, the fifth motor 206 is connected to the nozzle mechanism, the nozzle mechanism is connected to the feed pipe 13, the feed pipe 13 is connected to the hydraulic pump 14, and the hydraulic pump 14 is connected to the storage box 15.

[0027] The spraying and excavation machine includes an excavation part and a spraying part. The excavation part is responsible for completing the excavation work, and the spraying part is responsible for completing the filling of the gaps on both sides of the tunnel during the excavation process. The rear end of the nozzle 205 of the nozzle mechanism is connected to the feed pipe 13, and the rear of the feed pipe 13 is connected to the hydraulic pump 14. The hydraulic pump 14 is connected to the storage box 15. When working, the hydraulic pump 14 transports the paint in the storage box 15 to the nozzle 205 through the feed pipe 13, and the nozzle 205 sprays the paint to complete the spraying work. The excavation work and the spraying work are completed at the same time, which improves the work efficiency. The spraying part is located in the middle of the excavation machine 1, specifically above the cab 4 of the excavation machine 1, and can carry out spraying work in a large range.

[0028] The excavation part includes a tunneling machine 1, and the spraying part includes a first power mechanism 5, a first sliding platform 7, a second power mechanism, a second sliding platform 12, a mechanical arm 2, a material delivery pipe 13, a hydraulic pump 14 and a material storage box 15, etc. The first power mechanism 5 drives the first sliding platform 7 to move along the front and rear directions of the tunneling machine 1, thereby increasing the front and rear spraying areas and improving work efficiency; the second power mechanism drives the second sliding platform 12 to move along the left and right directions of the tunneling machine 1, so that the spraying part can complete the spraying work on both sides of the tunnel and control the distance between the spraying part and the rock walls on both sides; The third motor 201 drives the first robotic arm 203 to rotate around the robotic arm base 202, so that the first robotic arm 203 rises or falls; the fourth motor 208 drives the second robotic arm 207 to rotate around the first robotic arm 203, so that the second robotic arm 207 rises or falls; the fifth motor 206 drives the nozzle mechanism to rotate to adjust the pitch angle of the nozzle 205; the sixth motor 204 drives the nozzle 205 to rotate to adjust the heading angle of the nozzle 205. The linkage of multiple motors allows the spraying part to rotate flexibly, increases the spraying operation area, and improves efficiency.

[0029] like Figure 2-Figure 3 As shown, the support seat includes a bracket 8, which is fixedly mounted on the tunnel boring machine 1. The upper end of the bracket 8 is fixedly mounted on a mounting plate 10, the upper end of the mounting plate 10 is fixedly mounted on a manipulator support 9, the first sliding platform 7 is slidably mounted on the manipulator support 9, and the first power mechanism 5 is mounted on the mounting plate 10.

[0030] The first power mechanism 5 is located between the two manipulator supports 9, and the manipulator supports 9 do not affect the first power mechanism 5 to drive the first sliding platform 7 to move. The entire spraying part is connected to the body of the tunnel boring machine 1 through the bracket 8, and the bracket 8 supports the entire spraying part to work. The upper end of the bracket 8 is equipped with a plate 10, and the mounting plate 10 carries the manipulator support 9 and the first power mechanism 5, and the manipulator support 9 supports the first sliding platform 7.

[0031] like Figure 2 As shown, two brackets 8 are symmetrically arranged, and two manipulator supports 9 are symmetrically arranged.

[0032] Two brackets 8 are fixed to the lower end surface of the mounting plate 10 , and two robot supports 9 are fixed to the upper end surface of the mounting plate 10 . The two robot supports 9 support the first sliding platform 7 and the parts on the first sliding platform 7 .

[0033] like Figure 3-Figure 5 As shown, the third motor 201 and the robot base 202 are fixedly installed on the second sliding platform 12 , the output shaft of the third motor 201 is rotatably connected to the robot base 202 , and the output shaft of the third motor 201 is fixedly connected to the first robot 203 .

[0034] The output shaft of the third motor 201 is arranged horizontally, and the robot base 202 supports the output shaft of the third motor 201 and the first robot arm 203 . The rotation of the third motor 201 drives the first robot arm 203 to rotate 180°.

[0035] like Figure 3-Figure 5 As shown, the fourth motor 208 is fixedly installed on the second mechanical arm 207 , and the output shaft of the fourth motor 208 is fixedly connected to the first mechanical arm 203 .

[0036] The fourth motor 208 is fixedly installed at the connection between the second robotic arm 207 and the first robotic arm 203. The base of the fourth motor 208 is fixedly connected to the second robotic arm 207. The output shaft of the fourth motor 208 is fixedly connected to the first robotic arm 203. The rotation of the fourth motor 208 drives the second robotic arm 207 and the first robotic arm 203 to rotate relative to each other.

[0037] like Figure 3-Figure 5 As shown, the nozzle mechanism includes a sixth motor 204 , an output shaft of the fifth motor 206 is fixedly connected to the sixth motor 204 , and an output shaft of the sixth motor 204 is fixedly connected to the nozzle 205 .

[0038] The fifth motor 206 and the nozzle mechanism are installed at the top of the second robotic arm 207. The nozzle 205 is located above the sixth motor 204. The output shaft of the fifth motor 206 is vertically arranged to the output shaft of the sixth motor 204. The fifth motor 206 drives the sixth motor 204 to rotate, and the fifth motor 206 drives the nozzle mechanism to rotate to adjust the pitch angle of the nozzle 205; the sixth motor 204 drives the nozzle 205 to rotate to adjust the heading angle of the nozzle 205.

[0039] like Figure 2-Figure 3 As shown, the first power mechanism 5 includes a first motor 501 , which is fixedly mounted on the mounting plate 10 , and an output shaft of the first motor 501 is fixedly connected to a screw rod 502 , which is threadedly connected to the first sliding platform 7 .

[0040] Two vertical plates are arranged on the mounting plate 10, and the first motor 501 is fixedly mounted on one of the vertical plates. A threaded through hole is arranged in the middle of the first sliding platform 7, and the screw rod 502 passes through the threaded through hole and is rotatably connected to the other vertical plate; the first motor 501 drives the screw rod 502 to rotate forward or reversely, and the screw rod 502 drives the first sliding platform 7 to slide forward and backward along the manipulator support 9, thereby increasing the front and rear spraying areas and improving work efficiency.

[0041] like Figure 2-Figure 3 As shown, sliding rods 503 are symmetrically arranged on both sides of the first motor 501 , and the sliding rods 503 are slidably connected to the first sliding platform 7 .

[0042] Circular through holes are symmetrically arranged on both sides of the first sliding platform 7, and the sliding rod 503 passes through the circular through holes. The two ends of the sliding rod 503 are respectively connected to the two vertical plates on the mounting plate 10; the two sliding rods 503 and the spiral rod 502 support the first sliding platform 7 at the same time, thereby improving the sliding stability of the first sliding platform 7.

[0043] like Figure 2-Figure 3 As shown, the second power mechanism includes two guide rails 6, which are fixedly mounted on the first sliding platform 7. A rack is fixedly mounted on one of the guide rails 6, and the rack cooperates with a gear. The gear is fixedly mounted on the output shaft of the second motor 11. The second motor 11 is fixedly mounted on the second sliding platform 12, and the second sliding platform 12 is slidably mounted on the guide rails 6.

[0044] Two guide rails 6 are symmetrically welded on the first sliding platform 7, the output shaft of the second motor 11 is vertically arranged, and a gear is fixedly installed on the output shaft of the second motor 11. Through the engagement of the gear and the rack, the second motor 11 drives the second sliding platform 12 to slide along the guide rail 6, so that the spraying part can complete the spraying work on both sides of the tunnel and control the distance between the spraying part and the rock walls on both sides.

[0045] like Figure 1 As shown, a protective baffle 3 is installed above the cab 4 of the tunnel boring machine 1.

[0046] The cab 4 is the control room, in which the driver controls the rotation of each motor through the operating lever to control the movement of the spraying and excavation machine and the rotation of the mechanical arm to complete the spraying operation. In the process of tunnel spraying, coal blocks will inevitably fall from the top of the tunnel. The function of the protective baffle 3 is to resist the coal blocks falling from the tunnel and protect the safety of the operator.

[0047] The spraying and tunneling machine provided by the present invention comprises a tunneling part and a spraying part. The tunneling part is responsible for completing the tunneling work, and the spraying part is responsible for completing the filling of the gaps on both sides of the tunnel during the tunneling process. The spraying operation and the tunneling operation can be carried out simultaneously in a limited tunnel space, thereby improving work efficiency. The first power mechanism 5 drives the first sliding platform 7 to move along the front and rear directions of the tunneling machine 1, thereby increasing the front and rear spraying areas and improving work efficiency. The second power mechanism drives the second sliding platform 12 to move along the left and right directions of the tunneling machine 1, thereby enabling the spraying part to complete the spraying work on both sides of the tunnel and control the spraying. The distance between the part and the rock walls on both sides; the first mechanical arm 203 is driven by the third motor 201 to rotate around the mechanical arm base 202, so that the first mechanical arm 203 is raised or lowered; the second mechanical arm 207 is driven by the fourth motor 208 to rotate around the first mechanical arm 203, so that the second mechanical arm 207 is raised or lowered; the nozzle mechanism is driven to rotate by the fifth motor 206 to adjust the pitch angle of the nozzle 205; the nozzle 205 is driven to rotate by the sixth motor 204 to adjust the heading angle of the nozzle 205. The linkage of multiple motors makes the spraying part flexible in rotation, the spraying is more 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, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements 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 excavation machine, characterized in that: It includes a tunneling part and a spraying part, the tunneling part includes a tunneling machine, the spraying part includes a support seat, the support seat is fixedly mounted on the tunneling machine, a first power mechanism is mounted on the support seat, a first sliding platform is mounted on the first power mechanism, a second sliding platform is mounted on the first sliding platform through a second power mechanism, the sliding routes of the first sliding platform and the second sliding platform are vertically arranged, a mechanical arm is mounted on the second sliding platform, the mechanical arm includes a first mechanical arm, the first mechanical arm is connected to the second mechanical arm, a fifth motor is fixedly mounted on one end of the second mechanical arm, the fifth motor is connected to a nozzle mechanism, the nozzle mechanism is connected to a feed pipe, the feed pipe is connected to a hydraulic pump, and the hydraulic pump is connected to a storage box.

2. The spraying and excavation machine according to claim 1, characterized in that: The support seat includes a bracket, which is fixedly mounted on the tunnel boring machine. A mounting plate is fixedly mounted on the upper end of the bracket. A manipulator support is fixedly mounted on the upper end of the mounting plate. The first sliding platform is slidably mounted on the manipulator support, and the first power mechanism is mounted on the mounting plate.

3. The spraying and excavation machine according to claim 2, characterized in that: The two brackets are symmetrically arranged, and the two manipulator supports are symmetrically arranged.

4. The spraying and excavation machine according to claim 1, characterized in that: The third motor and the robot arm base are fixedly installed on the second sliding platform, the output shaft of the third motor is rotatably connected to the robot arm base, and the output shaft of the third motor is fixedly connected to the first robot arm.

5. The spraying and excavation integrated machine according to claim 4, characterized in that: A fourth motor is fixedly mounted on the second mechanical arm, and an output shaft of the fourth motor is fixedly connected to the first mechanical arm.

6. The spraying and excavation machine according to claim 1, characterized in that: The nozzle mechanism comprises a sixth motor, the output shaft of the fifth motor is fixedly connected to the sixth motor, and the output shaft of the sixth motor is fixedly connected to the nozzle.

7. The spraying and excavation integrated machine according to claim 3, characterized in that: The first power mechanism comprises a first motor, the first motor is fixedly mounted on the mounting plate, the output shaft of the first motor is fixedly connected to a screw rod, and the screw rod is threadedly connected to the first sliding platform.

8. The spraying and excavation integrated machine according to claim 7, characterized in that: Sliding rods are symmetrically arranged on both sides of the first motor, and the sliding rods are slidably connected to the first sliding platform.

9. The spraying and excavation integrated machine according to claim 1, characterized in that: The second power mechanism includes two guide rails, which are fixedly mounted on the first sliding platform. A rack is fixedly mounted on one of the guide rails, and the rack cooperates with a gear. The gear is fixedly mounted on the output shaft of the second motor. The second motor is fixedly mounted on the second sliding platform, and the second sliding platform is slidably mounted on the guide rails.

10. The all-in-one spraying and excavation machine according to any one of claims 1 to 9, characterized in that: A protective baffle is installed above the cab of the tunnel boring machine.

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