Metal mine top climbing type tunneling equipment and tunneling method

Abstract

The invention discloses metal mine top climbing type tunneling equipment and a tunneling method, and belongs to the technical field of rock drilling. The tunneling equipment comprises a vehicle body, a rock drilling module and a hydraulic blasting module, the rock drilling module and the hydraulic blasting module are mounted at the front end of the vehicle body, left and right crawling drilling modules are mounted at the front end of the vehicle body, and left and right crawling supporting modules are mounted at the rear end of the vehicle body. Walking along the crawling track is achieved through the crawling drilling module and the crawling supporting module, and the vehicle body is supported and leaves the ground during walking, so that during tunneling, other equipment and vehicles can reach the position near an operation face from the bottom of the vehicle body for operation, and the tunneling efficiency is improved. The device further has the advantages of being stable in supporting, multipurpose and the like.

Description

Technical Field

[0001] The invention relates to the technical field of rock drilling, and in particular to a metal mine top climbing type tunneling equipment and a tunneling method. Background Art

[0002] In the field of mining production, underground rock drilling and tunneling is a key operation link, and its efficiency and safety directly affect the production benefits of the entire mine. At present, underground rock drilling and tunneling in mines have mainly evolved from traditional manual operation to mechanized operation, but there are still many problems, especially the mutual interference between operating equipment, which leads to overall low efficiency.

[0003] In the early days of mining production, rock drilling operations mainly relied on workers manually operating hand-held drills. This mode of operation has the following problems: First, workers need to operate underground for a long time, exposed to dust and rock fragments, increasing safety risks and the incidence of pneumoconiosis. Second, the manual drilling speed is slow and is limited by the physical strength of workers, making it difficult to meet the needs of efficient production. Third, the power source of the hand-held drill is compressed air, and compressed air pipelines need to be continuously laid at the operation site, increasing the complexity and cost of the operation.

[0004] In order to overcome the limitations of manual hand-held drill operation, rock drilling trolley equipment came into being. Compared with traditional manual operation, this mechanized equipment has significantly improved the rock drilling efficiency, but there are still the following problems: the rock drilling trolley is large in size and cannot operate in the tunnel at the same time as other equipment and vehicles. Therefore, rock drilling operations, anchoring operations and transportation operations need to be carried out alternately. After one device is operated, it exits the working face and makes enough space, and then another device drives to the working face to operate. The exclusivity of this operation process leads to low operating efficiency and seriously affects the production progress of the mine. Summary of the invention

[0005] The invention provides a metal mine top climbing type tunneling equipment and a tunneling method, the purpose of which is to solve the problem that rock drilling equipment and other equipment vehicles need to work alternately and the efficiency is low.

[0006] The technical solution of the present invention is as follows: A metal mine top climbing excavation equipment, comprising a vehicle body and a rock drilling module and a hydraulic blasting module installed at the front end of the vehicle body, a walking mechanism is provided at the bottom of the vehicle body, two left and right groups of crawling drilling modules are installed at the front end of the vehicle body, and two left and right groups of crawling support modules are installed at the rear end of the vehicle body; The crawling drilling module and the crawling support module each include a first connector, a lifting and lowering mechanism, a rotating telescopic arm, a first rotating joint, a second rotating joint and a drill bit which are sequentially connected from the vehicle body to the end direction; The first connecting body is connected to the vehicle body; the lifting and lowering mechanism is installed on the first connecting body; the root of the rotating telescopic arm is rotatably connected to the end of the lifting and lowering mechanism to realize left and right rotation relative to the lifting and lowering mechanism; the front end of the telescopic part of the rotating telescopic arm is connected to the first rotating joint; the rotation axis of the first rotating joint is parallel to the telescopic direction of the rotating telescopic arm; the rotation axis of the second rotating joint is perpendicular to the rotation axis of the first rotating joint, and is used to drive the drill bit to rotate; the drill bit of the crawling drilling module is connected to the second rotating joint through a rotary drive device, and the drill bit of the crawling support module is directly connected to the second rotating joint.

[0007] As a further improvement of the metal mine top climbing type tunneling equipment: the lifting and lowering mechanism includes a first connecting arm, a second connecting arm, a lifting and lowering hydraulic cylinder and a connecting seat; The first connecting arm and the second connecting arm are of equal length and arranged in parallel, the roots of both are rotatably connected to the first connecting body, and the ends of both are rotatably connected to the connecting seat; one end of the lifting and lowering hydraulic cylinder is rotatably connected to the first connecting body, and the other end is rotatably connected to the first connecting arm or the second connecting arm; The root of the rotating telescopic arm is rotatably connected to the end of the lifting and lowering mechanism, which means that the root of the rotating telescopic arm is rotatably connected to the connecting seat.

[0008] As a further improvement of the metal mine climbing tunneling equipment: the crawling drilling module and the crawling support module both include a deflection hydraulic cylinder, one end of the deflection hydraulic cylinder is rotatably connected to the connecting seat, and the other end is rotatably connected to the arm body of the rotating telescopic arm to drive the rotating telescopic arm to rotate left and right relative to the lifting and lowering mechanism.

[0009] As a further improvement of the metal mine top climbing excavation equipment: a rolling support module is also provided at the bottom of the rotating telescopic arm or the first rotating joint or the second rotating joint.

[0010] As a further improvement of the metal mine top climbing excavation equipment: a camera module is also installed on the vehicle body.

[0011] As a further improvement of the metal mine top climbing excavation equipment: the camera module includes a camera installed on a pan-tilt platform.

[0012] As a further improvement of the metal mine top climbing excavation equipment: a cleaning module is also installed at the rear end of the vehicle body, and a rotatable cleaning head is provided on the cleaning module for cleaning pumice from collapsed parts.

[0013] As a further improvement of the metal mine top climbing excavation equipment: an anchor protection module is also installed at the rear end of the vehicle body; The vehicle body is also provided with a silo for storing anchoring materials.

[0014] The present invention also provides a tunneling method, which uses the above-mentioned metal mine top climbing tunneling equipment; the tunneling method comprises: Step 1: Set the lifting and lowering mechanisms of the crawling drilling module and the crawling support module to the raised state, so that the rotating telescopic arm and the drill bit leave the ground, and then drive the metal mine top climbing excavation equipment to the working starting position; Step 2: Rotate the rotating telescopic arms of the two crawling drilling modules toward the corresponding side rock walls, then extend the rotating telescopic arms, start the drill bit at the end of the crawling drilling module, and control the metal mine top climbing excavation equipment to continue moving forward, and process the crawling tracks in the shape of grooves on the rock walls on both sides; Step 3: When the end of the crawling support module is located in front of the starting end of the crawling track, the metal mine top climbing excavation equipment stops moving forward, the rotating telescopic arms of the two crawling support modules are rotated to the direction facing the corresponding side rock wall, and then the rotating telescopic arms are extended to insert the drill bit of the crawling support module into the crawling track, and then the climbing drilling module and the climbing support module are set to the falling state. The crawling tracks on both sides are used as support, and the crawling drilling module and the crawling support module are used to support the vehicle body, so that the bottom of the vehicle body leaves the ground; Step 4: The telescopic drilling and crawling along the crawling track are realized through the crawling drilling module and the crawling support module. During the crawling process, the rock drilling module and the hydraulic blasting module at the front are used to perform rock drilling and blasting operations on the operating surface. At the same time, the cleaning module installed at the rear end of the vehicle body is used to clean the rock wall, and the anchoring module installed at the rear end of the vehicle body is used to anchor the rock wall.

[0015] As a further improvement of the excavation method: In step 2, when processing the crawling track, the metal mine top climbing excavation equipment stops moving forward at intervals, and then the second rotating joint of the crawling drilling module adjusts the angle of the connected drill bit to drill a positioning hole of a hole structure deep in the rock wall, and then the second rotating joint controls the drill bit to return to the original direction, and the metal mine top climbing excavation equipment continues to move forward; The telescopic drilling crawling in step 4 refers to alternately performing action A and action B: Action A: The second rotating joint of the crawling support module adjusts the angle of the connected drill bit, and inserts the drill bit into the positioning hole in the crawling track. Then, the rotating telescopic arms of the crawling drilling module and the crawling support module begin to extend at the same time, and the drill bit of the crawling drilling module rotates, and the crawling track is processed forward with the positioning hole into which the crawling support module is inserted as the support point. When processing the crawling track forward, the rotating telescopic arms of the crawling drilling module and the crawling support module stop extending at intervals. Then, the second rotating joint of the crawling drilling module adjusts the angle of the connected drill bit, and drills a positioning hole of a hole structure deep into the rock wall. Then, the second rotating joint controls the drill bit to return to the original direction, and the rotating telescopic arms of the crawling drilling module and the crawling support module continue to extend until they reach the limit length. Action B: The second rotating joint of the crawling drilling module adjusts the angle of the connected drill bit and drills a positioning hole of a hole structure deep into the rock wall. Then, the second rotating joint of the crawling support module adjusts the angle of the connected drill bit and withdraws the drill bit from the currently inserted positioning hole. Then, the rotating telescopic arms of the crawling drilling module and the crawling support module are shortened at the same time, and the metal mine climbing top excavation equipment is dragged forward with the positioning hole inserted by the crawling drilling module as the support point until the drill bit of the crawling support module reaches the position corresponding to a certain positioning hole. When the metal mine top climbing excavation equipment is in operation, the drill bits of the crawling drilling module and the crawling support module are both inserted into the positioning holes.

[0016] Compared with the prior art, the present invention has the following positive effects: 1. The present invention utilizes a crawling drilling module and a crawling support module to realize walking along a crawling track, and props up the vehicle body and leaves the ground during walking, so that while excavating, other equipment and vehicles can reach the vicinity of the operating surface from the bottom of the vehicle body to perform operations, thereby improving excavation efficiency.

[0017] 2. The present invention provides a horizontal force fulcrum for the equipment by drilling positioning holes at intervals in the crawling track, which not only ensures the smooth drilling of the crawling track, but also provides a stable support for the excavation operation.

[0018] 3. The telescopic drilling crawling method of the present invention can realize long-distance continuous crawling, laying a foundation for continuous operation.

[0019] 4. The crawling drilling module and the crawling support module adopt a parallelogram lifting and lowering mechanism to ensure that the rotating telescopic arm and the end mechanism are in a horizontal state to avoid interference with the crawling track; at the same time, the rolling support module can reduce the resistance encountered when moving along the crawling track.

[0020] 5. The present invention is also provided with a cleaning module and an anchoring module, which can clean and support the rock wall during excavation, realizing multiple uses of one machine and further improving the working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the tunneling equipment in the present invention when it moves along the crawling track; Figure 2 A top view of the excavation equipment of the present invention when it moves along the crawling track; Figure 3 It is a structural schematic diagram of the crawling drilling module in the present invention; Figure 4 for Figure 3 A partial enlarged view of part A; Figure 5 This is a top view of the front half of the crawling drilling module; Figure 6 It is a structural schematic diagram of the rock drilling module; Figure 7 for Figure 6 A partial enlarged view of part B; Figure 8 This is a structural diagram of the mobile power supply device.

[0022] Reference numerals include: 1. Vehicle body, 2. Camera module, 3. Rock drilling module, 4. Climbing drilling module, 5. Climbing support module, 6. Cleaning module, 7. Anchor protection module, 8. Hydraulic blasting module, 9. Traveling power supply device, 1000, Climbing track, 101, First locking block, 102, Second locking block, 301, Rock drilling mechanical arm, 4501, Lifting and lowering hydraulic cylinder, 4502, First connecting arm, 4503, Second connecting arm, 4504, Connecting seat, 4505, Deflection hydraulic cylinder, 4506, Rotating telescopic arm, 4507, First rotating joint, 4508, Second rotating joint, 4509, Rolling support module, 4510, Drill bit, 901, Mobile bottom Disk, 902, telescopic cylinder, 903, lifting seat, 904, brush mechanism, 905, cable disk, 20001, upward connecting mechanism, 200011, first connecting column, 200012, first multi-stage cylinder, 200013, first connecting rod, 200014, first intermediate sliding disk, 200015, first end sliding disk, 20002, first connecting body, 30001, downward connecting mechanism, 300011, second connecting column, 300012, second multi-stage cylinder, 300013, second connecting rod, 300014, second intermediate sliding disk, 300015, second end sliding disk, 30002, second connecting body. DETAILED DESCRIPTION

[0023] The technical solution of the present invention is described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0024] Embodiment 1

[0025] like Figure 1 and 2 A metal mine top climbing excavation equipment comprises a vehicle body 1, and a walking mechanism is arranged at the bottom of the vehicle body 1, and the walking mechanism can be a crawler type or a wheel type.

[0026] A camera module 2 is installed on the top of the vehicle body 1. The camera module 2 includes a camera installed on a pan / tilt platform, which is used to shoot the operation surface and upload the image to the server for storage and recognition processing.

[0027] A plurality of working modules are installed on the vehicle body 1 , each of which includes a mechanical arm (working part) and a connector connected to the root of the mechanical arm, and the connector is detachably connected to the vehicle body 1 via a connecting mechanism.

[0028] Furthermore, the working modules are divided into two categories: working modules for performing excavation operations and supporting modules for supporting the entire modular metal mine excavation equipment.

[0029] The operation module includes a rock drilling module 3 and a hydraulic blasting module 8 installed at the front end of the vehicle body 1, and also includes a cleaning module 6 and an anchor protection module 7 installed at the rear end of the vehicle body 1, so as to realize one machine with multiple uses. Figure 6 The rock drilling module 3 includes a rock drilling mechanical arm 301, and a rock drilling mechanism is provided at the end of the rock drilling mechanical arm 301 for drilling blasting holes on the operating surface. The hydraulic blasting module is used to perform fracturing and separation on the drilled blast holes. The cleaning module 6 is provided with a rotatable cleaning head for cleaning the floating stones in the collapsed part after blasting. The rear end of the vehicle body 1 is also equipped with an anchor protection module 7 for drilling anchor holes and inserting anchors into the anchor holes, and can also lift and fix the anchor net on the anchor.

[0030] It should be noted that the mechanical arms and actuators of each operating module can use existing products, such as SANDVIK's DD311 as the main part of the rock drilling module, Lide Road and Mine's PL1500 as the main part of the hydraulic blasting module, SANDVIK's MB670-1 as the main part of the cleaning module, and SANDVIK's DS311 as the main part of the anchor protection module. Other types of mechanism components can also be selected according to the on-site working conditions during implementation, and the relevant specific structures are not described in detail.

[0031] Furthermore, the vehicle body 1 is also provided with a silo for storing anchoring materials.

[0032] The support module includes two left and right groups of crawling drilling modules 4 installed at the front end of the vehicle body 1 and two left and right groups of crawling support modules 5 installed at the rear end of the vehicle body 1 .

[0033] like Figure 1 , Figure 2 , Figure 3 and Figure 5 The structures of the crawling drilling module 4 and the crawling support module 5 are basically the same: they both include a first connector 20002, a lifting and lowering mechanism, a rotating telescopic arm 4506, a deflection hydraulic cylinder 4505, a first rotating joint 4507, a second rotating joint 4508 and a drill bit 4510, which are sequentially connected from the vehicle body 1 (root) to the end.

[0034] The first connector 20002 is connected to the vehicle body 1. The lifting and lowering mechanism is installed on the first connector 20002. The lifting and lowering mechanism includes a first connecting arm 4502, a second connecting arm 4503, a lifting and lowering hydraulic cylinder 4501 and a connecting seat 4504. The first connecting arm 4502 and the second connecting arm 4503 are of equal length and arranged in parallel. The roots of the two are rotatably connected to the first connector 20002, and the ends are rotatably connected to the connecting seat 4504, forming a parallelogram mechanism to ensure that the rear end components always remain horizontal during lifting and lowering. One end of the lifting and lowering hydraulic cylinder 4501 is rotatably connected to the first connector 20002, and the other end is rotatably connected to the first connecting arm 4502 or the second connecting arm 4503, and the driving control of lifting and lowering is realized by telescoping.

[0035] The root of the rotating telescopic arm 4506 is rotatably connected to the connecting seat 4504 to achieve left and right rotation relative to the lifting and lowering mechanism. One end of the deflection hydraulic cylinder 4505 is rotatably connected to the connecting seat 4504, and the other end is rotatably connected to the arm body of the rotating telescopic arm 4506 to drive the rotating telescopic arm 4506 to rotate left and right relative to the lifting and lowering mechanism.

[0036] The front end of the telescopic part of the rotating telescopic arm 4506 is connected to the first rotating joint 4507. The rotation axis of the first rotating joint 4507 is parallel to the telescopic direction of the rotating telescopic arm 4506 and is used to adjust the angle of the end. The rotation axis of the second rotating joint 4508 is perpendicular to the rotation axis of the first rotating joint 4507 and is used to drive the drill bit 4510 to rotate.

[0037] In this embodiment, the difference between the crawling drilling module 4 and the crawling support module 5 is that the drill bit 4510 of the crawling drilling module 4 is connected to the second rotating joint 4508 through a rotary drive device, and the drill bit 4510 is rotatable to achieve drilling. The drill bit 4510 of the crawling support module is directly connected to the second rotating joint 4508, and the drill bit 4510 is non-rotatable and is only used for support. As an optional embodiment, the crawling support module 5 can also be rotatable, that is, the structure is exactly the same as that of the crawling drilling module 4.

[0038] Furthermore, a rolling support module 4509 is also provided at the bottom of the rotating telescopic arm 4506 or the first rotating joint 4507 or the second rotating joint 4508 to reduce the resistance encountered when moving along the crawling track 1000.

[0039] Furthermore, the vehicle body 1 is also provided with a general control system, a general power supply system and a general hydraulic station.

[0040] Embodiment 2

[0041] This embodiment records the excavation method of the excavation equipment in the first embodiment, which comprises the following steps: Step 1: Set the lifting and lowering mechanisms of the crawling drilling module 4 and the crawling support module 5 to the raised state, so that the rotating telescopic arm 4506 and the drill bit 4510 leave the ground, and then drive the excavation equipment to the working starting position.

[0042] Step 2, rotate the rotating telescopic arms 4506 of the two crawling drilling modules 4 to the direction toward the corresponding side rock wall, then extend the rotating telescopic arms 4506, start the drill bit 4510 at the end of the crawling drilling module 4, and at the same time control the metal mine top climbing excavation equipment to continue moving forward, and process the groove-shaped crawling track 1000 on the rock walls on both sides.

[0043] Furthermore, when processing the crawling track 1000, the metal mine top climbing excavation equipment stops moving forward at every interval, and then the second rotating joint 4508 of the crawling drilling module 4 adjusts the angle of the connected drill bit 4510 and drills a positioning hole of a hole structure deep into the rock wall, and then the second rotating joint 4508 controls the drill bit 4510 to return to the original direction, and the metal mine top climbing excavation equipment continues to move forward.

[0044] Step 3: When the end of the crawling support module 5 is located in front of the starting end of the crawling track 1000, the metal mine top climbing excavation equipment stops moving forward. The rotating telescopic arms 4506 of the two crawling support modules 5 are rotated to the direction facing the corresponding side rock wall, and then the rotating telescopic arms 4506 are extended, and the drill bit 4510 of the crawling support module 5 is inserted into the crawling track 1000, and then the lifting and lowering mechanisms of the crawling drilling module 4 and the crawling support module 5 are set to the falling state (here, it means that the rotating telescopic arms 4506 and the end parts fall relative to the vehicle body 1, rather than the vehicle body 1 itself falling), so that the crawling tracks 1000 on both sides are used as support, and the crawling drilling module 4 and the crawling support module 5 are used to support the vehicle body 1, so that the bottom of the vehicle body 1 leaves the ground, leaving space below. After that, other equipment and vehicles can reach the vicinity of the operating surface from the bottom of the vehicle body 1 to perform operations, thereby greatly improving production efficiency.

[0045] Step 4: The crawling drilling module 4 and the crawling support module 5 realize telescopic drilling and crawling along the crawling track 1000, and during the crawling process, the rock drilling module 3 and the hydraulic blasting module 8 at the front end perform rock drilling and blasting operations on the operating surface. At the same time, the cleaning module 6 installed at the rear end of the vehicle body 1 is used to clean the rock wall, and the anchoring module 7 installed at the rear end of the vehicle body 1 is used to anchor the rock wall.

[0046] The telescopic drilling crawling refers to the alternating execution of action A and action B: Action A: The second rotating joint 4508 of the crawling support module 5 adjusts the angle of the connected drill bit 4510 and inserts the drill bit 4510 into the positioning hole in the crawling track 1000. Then the rotating telescopic arms 4506 of the crawling drilling module 4 and the crawling support module 5 begin to extend at the same time, and the drill bit 4510 of the crawling drilling module 4 rotates, and the crawling track 1000 is processed forward with the positioning hole inserted by the crawling support module 5 as the support point. When processing the crawling track 1000 forward, the rotating telescopic arms 4506 of the crawling drilling module 4 and the crawling support module 5 stop extending at each interval, and then the second rotating joint 4508 of the crawling drilling module 4 adjusts the angle of the connected drill bit 4510 and drills a positioning hole of a hole structure deep into the rock wall. Then the second rotating joint 4508 controls the drill bit 4510 to return to the original direction, and the rotating telescopic arms 4506 of the crawling drilling module 4 and the crawling support module 5 continue to extend until they extend to the limit length.

[0047] Action B: The second rotating joint 4508 of the crawling drilling module 4 adjusts the angle of the connected drill bit 4510 and drills a positioning hole of a hole structure deep into the rock wall. Then the second rotating joint 4508 of the crawling support module 5 adjusts the angle of the connected drill bit 4510 and withdraws the drill bit 4510 from the currently inserted positioning hole. Then the rotating telescopic arms 4506 of the crawling drilling module 4 and the crawling support module 5 are shortened at the same time, and the metal mine climbing top excavation equipment is dragged forward with the positioning hole into which the crawling drilling module 4 is inserted as the support point until the drill bit 4510 of the crawling support module 5 reaches the position corresponding to a certain positioning hole.

[0048] Through the above-mentioned telescopic drilling and crawling method, long-distance continuous crawling can be achieved, laying the foundation for continuous operation.

[0049] It should be noted that when the rotating telescopic arm 4506 is extended and retracted, the hydraulic cylinder 4505 can be deflected to ensure that the end of the rotating telescopic arm 4506 is always located in the crawling track 1000 to avoid falling off or being blocked.

[0050] Furthermore, when the metal mine top climbing excavation equipment is operating, the drill bits 4510 of the crawling drilling module 4 and the crawling support module 5 are inserted into the positioning holes to provide stable horizontal support. By drilling positioning holes at intervals in the crawling track 1000, a horizontal force fulcrum is provided for the equipment, which not only ensures the smooth drilling of the crawling track 1000, but also provides stable support for the excavation operation.

[0051] Embodiment 3

[0052] This embodiment records the specific structure of the connection mechanism used to connect the connecting body of each working module with the vehicle body 1 in the first embodiment.

[0053] A modular connection mechanism for a mechanical arm is used to realize the connection between a base body (i.e. the vehicle body 1) and a connecting body to which the mechanical arm is connected, and comprises a connecting column, a multi-stage oil cylinder, a connecting rod, an intermediate sliding plate and an end sliding plate.

[0054] One end of the connecting column is fixedly connected to the connecting body through a plurality of parallel connecting rods. The multi-stage oil cylinder is a single-acting spring return oil cylinder installed in the connecting column. The telescopic rod of the multi-stage oil cylinder faces the connecting body. The first telescopic rod of the multi-stage oil cylinder is connected to the end sliding disk, and the second telescopic rod is connected to the middle sliding disk. The middle sliding disk is located between the end sliding disk and the connecting column, and the connecting rod passes through the middle sliding disk and the end sliding disk and is slidably connected to the two.

[0055] The middle sliding plate is provided with a concave tapered surface at the outer edge close to the end sliding plate.

[0056] The base is provided with a connecting hole that cooperates with the axial hole of the connecting column, and the inner wall of the connecting hole is provided with a working groove. A locking block is installed in the working groove through a rotational connection, and the inner edge of the locking block is provided with a notch for cooperating with the outer edge of the conical surface.

[0057] A first oil circuit interface is provided on the other end surface of the connecting column, and the first oil circuit interface is connected to the multi-stage oil cylinder.

[0058] The modular connection mechanism of the robot arm also includes a connection cable. A first electrical connection contact is provided on the other end surface of the connection column, one end of the connection cable is connected to the first electrical connection contact, and the connection cable passes through the connection column and the connection rod, and the other end is used to connect to the electrical components inside the connector.

[0059] In this embodiment, Figure 3 , Figure 4 , Figure 6 and Figure 7 The first connector 20002 in the support module is connected to the vehicle body 1 through an upward connecting mechanism 20001, and the second connector 30002 in the operation module is connected to the vehicle body 1 through a downward connecting mechanism 30001. Both the upward connecting mechanism 20001 and the downward connecting mechanism 30001 are modular connecting mechanisms of the robot arm. The first connector 20002 and the second connector 30002 are also in contact with the vertical outer side surface of the vehicle body 1.

[0060] Specifically, Figure 4 The upward connection mechanism 20001 includes a first connection column 200011 as the connection column, a first multi-stage oil cylinder 200012 as the multi-stage oil cylinder, a first connection rod 200013 as the connection rod, a first intermediate sliding disk 200014 as the intermediate sliding disk, and a first terminal sliding disk 200015 as the terminal sliding disk. The first connection hole on the vehicle body 1 that matches the first connection column 200011 is arranged downward. A plurality of first locking blocks 101 uniformly distributed around the circumference are correspondingly arranged in the first connection hole. A first electrical connection contact and a first oil circuit interface are arranged at the upper end of the first connection column 200011, and a second electrical connection contact corresponding to the first electrical connection contact and a second oil circuit interface corresponding to the first oil circuit interface are arranged at the upper end of the first connection hole.

[0061] When connecting the modules, a lifting device is required to assist.

[0062] Before the support module is inserted upward, the first multi-stage oil cylinder 200012 is in a retracted state. During insertion, since the first locking block 101 is rotatable and the center of gravity is located outside the rotation point, the first locking block 101 will not play a blocking role, and the inner side will contact the first connecting column 200011, the first middle sliding disk 200014 and the first end sliding disk 200015 in sequence. When the upper end of the first connecting column 200011 touches the upper end of the first connecting hole (which can be detected by a pressure sensor or directly by the contacts here), the second oil circuit interface injects hydraulic oil into the first multi-stage cylinder 200012 through the first oil circuit interface, and the first-stage telescopic rod drives the first end sliding disk 200015 to move first, so that a gap appears between the first end sliding disk 200015 and the first intermediate sliding disk 200014. At this time, the inner end of the first locking block 101 enters the gap under the action of its own weight, and then the second-stage telescopic rod begins to drive the first intermediate sliding disk 200014 to move, so that the outer edge of the conical surface on the first intermediate sliding disk 200014 engages with the upward groove on the first locking block 101. This engagement prevents the first locking block 101 from rotating and blocks the first intermediate sliding disk 200014 from continuing to move, thereby firmly fixing the first connecting column 200011 in the first connecting hole through the hydraulic internal force.

[0063] Similarly, if Figure 7 The downward connection mechanism 30001 includes a second connection column 300011 as the connection column, a second multi-stage oil cylinder 300012 as the multi-stage oil cylinder, a second connection rod 300013 as the connection rod, a second intermediate sliding disk 300014 as the intermediate sliding disk, and a second terminal sliding disk 300015 as the terminal sliding disk. The second connection hole on the vehicle body 1 that matches the second connection column 300011 is arranged upward. A plurality of second locking blocks 102 evenly distributed around the circumference are correspondingly arranged in the second connection hole. A first electrical connection contact and a first oil circuit interface are arranged at the lower end of the second connection column 300011, and a second electrical connection contact corresponding to the first electrical connection contact and a second oil circuit interface corresponding to the first oil circuit interface are arranged at the lower end of the second connection hole.

[0064] Before the operation module is inserted downward, the second multi-stage oil cylinder 300012 is in a retracted state. During insertion, since the second locking block 102 is rotatable and the center of gravity is located outside the rotation point, the second locking block 102 will not play a blocking role, and the inner side will contact the second connecting column 300011, the second middle sliding disk 300014 and the second end sliding disk 300015 in sequence. When the lower end of the second connecting column 300011 touches the lower end of the second connecting hole (which can be detected by a pressure sensor or directly by the contacts here), the second oil circuit interface injects hydraulic oil into the second multi-stage cylinder 300012 through the first oil circuit interface, and the first-stage telescopic rod drives the second end sliding disk 300015 to move first, so that a gap appears between the second end sliding disk 300015 and the second intermediate sliding disk 300014. At this time, the inner end of the second locking block 102 enters the gap under the action of its own weight, and then the second-stage telescopic rod begins to drive the second intermediate sliding disk 300014 to move, so that the outer edge of the conical surface on the second intermediate sliding disk 300014 engages with the upward groove on the second locking block 102. This engagement prevents the second locking block 102 from rotating and blocks the second intermediate sliding disk 300014 from continuing to move, thereby firmly fixing the second connecting column 300011 in the second connecting hole through the hydraulic internal force.

[0065] After the middle sliding disk is engaged with the locking block, not only can the connecting column be firmly fixed in the connecting hole, but also the close contact of the electrical connection contacts can be ensured, thereby ensuring the stability of signal transmission.

[0066] The main hydraulic station is connected to the second oil circuit interface and is only responsible for providing hydraulic power to the multi-stage oil cylinders of each connecting mechanism. When disconnection is required, the oil supply to the multi-stage oil cylinders can be disconnected, and then the module can be removed by the lifting device.

[0067] After the modular connection of the mechanical part is realized through the above structure, it is also necessary to realize the electrical connection and the hydraulic function inside each module: A sub-hydraulic station and a sub-control system are provided in the first connecting body 20002 and the second connecting body 30002; the sub-hydraulic station is used to provide hydraulic power for the module; the sub-control system is electrically connected to the sub-hydraulic station and is used to control the operation of the sub-hydraulic station.

[0068] The connecting cables include power cables and signal cables, one end of which is connected to the corresponding first electrical connection contacts, the other end of the power cables is connected to the sub-control system and the sub-hydraulic station for power supply, and the other end of the signal cables is connected to the sub-control system and the sub-hydraulic station for signal transmission. The overall control system is connected to the second connection contacts corresponding to each signal cable to realize signal transmission between modules, and the overall power supply system is connected to the second connection contacts corresponding to each power supply cable to realize power supply to each module.

[0069] The present invention realizes a pure electric control connection between the vehicle body 1 and the working module by arranging a sub-control system and a sub-hydraulic station in the connecting body and transmitting power and signals through contacts, thereby eliminating the complicated hydraulic connection pipelines between the vehicle body 1 and the working module, further improving the connection efficiency and reducing the difficulty of operation.

[0070] Embodiment 4

[0071] This embodiment records the mobile power supply device for underground metal mines used for mobile power supply in the excavation equipment in embodiments 1 to 3: like Figure 1 and Figure 8 The portable power supply device 9 includes a mobile chassis 901, a lifting seat 903, a telescopic cylinder 902, a downward connecting mechanism 30001, a brush mechanism 904 and a cable drum 905.

[0072] The mobile chassis 901 is preferably remote controlled.

[0073] The lifting seat 903 cooperates with the vertical slide rail on the mobile chassis 901 , and one end of the telescopic cylinder 902 is connected to the mobile chassis 901 , and the other end is connected to the lifting seat 903 .

[0074] The downward connecting mechanism 30001 is installed at the bottom of the flat plate part of the lifting seat 903 and is columnar, and is used to cooperate and connect with the connecting hole on the body 1 of the tunneling equipment to be powered; a first electrical connection contact is provided on the downward connecting mechanism 30001.

[0075] The downward connection mechanism 30001 in this embodiment is the same as that in the third embodiment: The downward connection mechanism 30001 includes a second connection column 300011, a second multi-stage cylinder 300012, a second connection rod 300013, a second intermediate sliding plate 300014 and a second end sliding plate 300015. The upper end of the second connection column 300011 is fixedly connected to the flat plate portion through a plurality of second connection rods 300013 arranged in parallel. The second multi-stage oil cylinder 300012 is installed in the second connecting column 300011, and the telescopic rod of the second multi-stage oil cylinder 300012 faces the flat plate part. The first telescopic rod of the second multi-stage oil cylinder 300012 is connected to the second end sliding plate 300015, and the second telescopic rod is connected to the second intermediate sliding plate 300014. The second intermediate sliding plate 300014 is located between the second end sliding plate 300015 and the second connecting column 300011, and the second connecting rod 300013 passes through the intermediate sliding plate and the second end sliding plate 300015 and is slidably connected to the two. The second intermediate sliding plate 300014 is provided with a concave tapered surface near the outer edge of the second end sliding plate 300015. A working groove is provided on the inner wall of the connecting hole on the vehicle body 1, and a second locking block 102 is installed in the working groove through a rotation connection. The inner side edge of the second locking block 102 is provided with a notch for matching with the outer edge of the tapered surface. A first oil circuit interface is provided on the lower end surface of the second connecting column 300011, and the first oil circuit interface is connected to the second multi-stage oil cylinder 300012. A first electrical connection contact is also provided on the lower end surface of the second connecting column 300011.

[0076] A second electrical connection contact is provided in the connection hole corresponding to the downward connection mechanism 30001. The second connection contact corresponds to the position of the first connection contact and is connected to the main power supply system on the vehicle body 1 for supplying power to the entire tunneling equipment.

[0077] The brush mechanism 904 and the cable drum 905 are both mounted on the mobile chassis 901. One end of the cable on the cable drum 905 is connected to an electric ring on the cable drum 905 that rotates synchronously with the cable, and the other end is used to connect to the power supply station. The brush mechanism 904 is electrically connected to the electric ring through contact. The brush mechanism 904 is also electrically connected to the first connection contact in the downward connection mechanism 30001 through the connection cable.

[0078] The portable power supply device 9 can be freely moved to the side of the excavation equipment that needs power supply. After the lifting seat 903 is upgraded, the downward connecting mechanism 30001 is aligned with the connecting hole on the vehicle body 1, and then the lifting seat 903 is dropped to insert the downward connecting mechanism 30001. The second multi-stage cylinder 300012 is in a retracted state. Since the second locking block 102 is rotatable and the center of gravity is located outside the rotation point, the second locking block 102 will not play a blocking role, and the inner side will contact the second connecting column 300011, the second middle sliding disk 300014 and the second end sliding disk 300015 in sequence. When the lower end of the second connecting column 300011 touches the lower end of the second connecting hole (which can be detected by the pressure sensor or directly detected by the contact point here), the second oil circuit interface injects the hydraulic oil into the second multi-stage oil cylinder 300012 through the first oil circuit interface, and the first-stage telescopic rod drives the second end sliding plate 300015 to move first, so that a gap appears between the second end sliding plate 300015 and the second middle sliding plate 300014. At this time, the inner end of the second locking block 102 enters the gap under the action of its own weight, and then the second stage The telescopic rod starts to drive the second intermediate sliding disk 300014 to move, so that the outer edge of the conical surface on the second intermediate sliding disk 300014 engages with the upward notch on the second locking block 102, which prevents the second locking block 102 from rotating and blocks the second intermediate sliding disk 300014 from continuing to move, thereby firmly fixing the second connecting column 300011 in the second connecting hole through the hydraulic internal force, and the first electrical connection contact and the second electrical connection contact are in close contact, realizing the electrical and mechanical connection between the accompanying power supply device 9 and the vehicle body 1. After the telescopic cylinder 902 continues to shorten, it can also lift the entire accompanying power supply device 9 to facilitate free movement with the vehicle body 1. During the movement of the excavation equipment, the rotating cable drum 905 can automatically release the cable to achieve uninterrupted power supply.

[0079] When the portable power supply device 9 needs to be removed, the telescopic cylinder 902 is controlled to gradually extend, so that the mobile chassis 901 first falls to the ground, and then the oil supply to the second multi-stage oil cylinder 300012 is disconnected, and the telescopic cylinder 902 continues to extend. With the automatic recovery of the second multi-stage oil cylinder 300012, the second locking block 102 is withdrawn, and the connection of the downward connecting mechanism 30001 can be disconnected, and the entire downward connecting mechanism 30001 can be further pulled out. At this time, the portable power supply device 9 can move freely.

[0080] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. The scope of the present invention is defined by the claims rather than the above description.

Claims

1. A metal mine top climbing excavation equipment, comprising a vehicle body (1) and a rock drilling module (3) and a hydraulic blasting module (8) mounted at the front end of the vehicle body (1), a walking mechanism being provided at the bottom of the vehicle body (1), characterized in that: The front end of the vehicle body (1) is equipped with two left and right sets of crawling drilling modules (4), and the rear end of the vehicle body (1) is equipped with two left and right sets of crawling support modules (5); The crawling drilling module (4) and the crawling support module (5) each comprise a first connector (20002), a lifting and lowering mechanism, a rotating telescopic arm (4506), a first rotating joint (4507), a second rotating joint (4508), and a drill bit (4510) which are sequentially connected from the vehicle body (1) to the end direction; The first connector (20002) is connected to the vehicle body (1); the lifting and lowering mechanism is mounted on the first connector (20002); the root of the rotating telescopic arm (4506) is rotatably connected to the end of the lifting and lowering mechanism to achieve left and right rotation relative to the lifting and lowering mechanism; the front end of the telescopic part of the rotating telescopic arm (4506) is connected to the first rotating joint (4507); the rotation axis of the first rotating joint (4507) is parallel to the telescopic direction of the rotating telescopic arm (4506); the rotation axis of the second rotating joint (4508) is perpendicular to the rotation axis of the first rotating joint (4507) and is used to drive the drill bit (4510) to rotate; the drill bit (4510) of the crawling drilling module (4) is connected to the second rotating joint (4508) via a rotary drive device, and the drill bit (4510) of the crawling support module is directly connected to the second rotating joint (4508).

2. The metal mine top climbing excavation equipment according to claim 1, characterized in that: The lifting and lowering mechanism comprises a first connecting arm (4502), a second connecting arm (4503), a lifting and lowering hydraulic cylinder (4501) and a connecting seat (4504); The first connecting arm (4502) and the second connecting arm (4503) are of equal length and are arranged in parallel, and the roots of the two are rotatably connected to the first connecting body (20002), and the ends of the two are rotatably connected to the connecting seat (4504); one end of the lifting and lowering hydraulic cylinder (4501) is rotatably connected to the first connecting body (20002), and the other end is rotatably connected to the first connecting arm (4502) or the second connecting arm (4503); The root of the rotating telescopic arm (4506) is rotationally connected to the end of the lifting and lowering mechanism, which means that it is rotationally connected to the connecting seat (4504).

3. The metal mine top climbing excavation equipment according to claim 2, characterized in that: The crawling drilling module (4) and the crawling support module (5) both comprise a deflection hydraulic cylinder (4505), one end of the deflection hydraulic cylinder (4505) being rotatably connected to the connecting seat (4504), and the other end of the deflection hydraulic cylinder (4505) being rotatably connected to the arm body of the rotating telescopic arm (4506), so as to drive the rotating telescopic arm (4506) to rotate left and right relative to the lifting and lowering mechanism.

4. The metal mine top climbing excavation equipment according to claim 1, characterized in that: A rolling support module (4509) is also provided at the bottom of the rotating telescopic arm (4506) or the first rotating joint (4507) or the second rotating joint (4508).

5. The metal mine top climbing excavation equipment according to claim 1, characterized in that: A camera module (2) is also installed on the vehicle body (1).

6. The metal mine top climbing excavation equipment according to claim 5, characterized in that: The camera module (2) comprises a camera mounted on a pan / tilt platform.

7. The metal mine top climbing excavation equipment according to claim 1, characterized in that: A cleaning module (6) is also installed at the rear end of the vehicle body (1), and a rotatable cleaning head is provided on the cleaning module (6) for cleaning floating stones at the collapsed part.

8. The metal mine top climbing excavation equipment according to claim 1, characterized in that: An anchor protection module (7) is also installed at the rear end of the vehicle body (1); The vehicle body (1) is also provided with a silo for storing anchor materials.

9. A tunneling method, applied to the metal mine top climbing tunneling equipment according to claim 1, characterized in that: The excavation method uses the metal mine top climbing excavation equipment as claimed in claim 1; the excavation method comprises: Step 1: Set the lifting and lowering mechanisms of the crawling drilling module (4) and the crawling support module (5) to a raised state, so that the rotating telescopic arm (4506) and the drill bit (4510) leave the ground, and then drive the metal mine top climbing excavation equipment to a working starting position; Step 2, rotating the rotating telescopic arms (4506) of the two crawling drilling modules (4) to the direction facing the corresponding side rock wall, and then rotating the telescopic arms (4506) to extend, start the drill bit (4510) at the end of the crawling drilling module (4), and at the same time control the metal mine top climbing excavation equipment to continue moving forward, and process the groove-shaped crawling tracks (1000) on the rock walls on both sides; Step 3: When the end of the crawling support module (5) is located in front of the starting end of the crawling track (1000), the metal mine top climbing excavation equipment stops moving forward, the rotating telescopic arms (4506) of the two crawling support modules (5) are rotated to the direction facing the corresponding side rock wall, and then the rotating telescopic arms (4506) are extended to insert the drill bit (4510) of the crawling support module (5) into the crawling track (1000), and then the lifting and lowering mechanisms of the crawling drilling module (4) and the crawling support module (5) are set to a falling state, so that the crawling tracks (1000) on both sides are used as support, and the crawling drilling module (4) and the crawling support module (5) are used to support the vehicle body (1), so that the bottom of the vehicle body (1) leaves the ground; Step 4: telescopic drilling and crawling along the crawling track (1000) are realized by using the crawling drilling module (4) and the crawling support module (5), and during the crawling process, the rock drilling module (3) and the hydraulic blasting module (8) at the front end are used to perform rock drilling and blasting operations on the operating surface, while the cleaning module (6) installed at the rear end of the vehicle body (1) is used to clean the rock wall, and the anchoring module (7) installed at the rear end of the vehicle body (1) is used to anchor the rock wall.

10. The excavation method according to claim 9, characterized in that: In step 2, when processing the crawling track (1000), the metal mine top climbing excavation equipment stops moving forward at each interval, and then the second rotating joint (4508) of the crawling drilling module (4) adjusts the angle of the connected drill bit (4510) to drill a positioning hole of a hole structure deep in the rock wall, and then the second rotating joint (4508) controls the drill bit (4510) to return to the original direction, and the metal mine top climbing excavation equipment continues to move forward; The telescopic drilling crawling in step 4 refers to alternately performing action A and action B: Action A: The second rotating joint (4508) of the crawling support module (5) adjusts the angle of the connected drill bit (4510), inserts the drill bit (4510) into the positioning hole in the crawling track (1000), and then the rotating telescopic arms (4506) of the crawling drilling module (4) and the crawling support module (5) begin to extend at the same time, and the drill bit (4510) of the crawling drilling module (4) rotates, and the crawling track (1000) is processed forward with the positioning hole inserted into the crawling support module (5) as the support point; the crawling track (1000) is processed forward. ), at each interval, the rotating telescopic arms (4506) of the crawling drilling module (4) and the crawling support module (5) stop extending, and then the second rotating joint (4508) of the crawling drilling module (4) adjusts the angle of the connected drill bit (4510) to drill a positioning hole of a hole structure deep in the rock wall, and then the second rotating joint (4508) controls the drill bit (4510) to return to the original direction, and the rotating telescopic arms (4506) of the crawling drilling module (4) and the crawling support module (5) continue to extend until they reach the limit length; Action B: the second rotating joint (4508) of the crawling drilling module (4) adjusts the angle of the connected drill bit (4510) to drill a positioning hole of a hole structure deep in the rock wall, and then the second rotating joint (4508) of the crawling support module (5) adjusts the angle of the connected drill bit (4510) to withdraw the drill bit (4510) from the currently inserted positioning hole, and then the rotating telescopic arms (4506) of the crawling drilling module (4) and the crawling support module (5) are shortened at the same time, and the metal mine climbing top excavation equipment is dragged forward with the positioning hole inserted by the crawling drilling module (4) as the support point, until the drill bit (4510) of the crawling support module (5) reaches a position corresponding to a certain positioning hole; When the metal mine top climbing excavation equipment is in operation, the drill bits (4510) of the crawling drilling module (4) and the crawling support module (5) are both inserted into the positioning holes.

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