Parallel support walking variable cross-section excavator

Abstract

The invention relates to a parallel supporting walking variable cross-section excavator which comprises a machine base, wheels, a parallel excavating mechanism, a walking mechanism, a swing arm supporting mechanism and a bulk material conveying mechanism. The machine base is composed of a cylinder and a groove-shaped column fixedly connected to the bottom of the cylinder, a partition plate is arranged on the front side in the cylinder, and an end plate is arranged at the rear end in the cylinder. The wheels are connected to the front ends and the rear ends of vertical plates on the two sides of the groove-shaped column through rotating pairs correspondingly. The parallel excavating mechanism is arranged at the front end of the machine base. The walking mechanism is arranged at the middle front part of the cylinder; the swing arm supporting mechanism is arranged at the rear end of the cylinder and connected with the walking mechanism. The bulk material conveying mechanism is arranged in the groove-shaped column. The variable-cross-section tunnel excavation and mining robot is compact in structure, has multiple functions of excavation, walking, discharging and the like, and is very suitable for excavation and mining operation of variable-cross-section tunnels.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel engineering excavation and mining equipment, and particularly relates to a parallel support walking variable cross-section excavator. Background Art

[0002] A shield machine is the main equipment for modern tunnel excavation. Due to the large structure, high cost, large resistance and resistance moment of the cutter head of the shield machine, the development of various shield machines and tunnel excavators with simple structures, low costs and long service lives has become the direction of efforts in developing shield machines in various countries around the world.

[0003] At present, typical shield machine patent technologies include: The invention patent with the publication number CN101824988B discloses a shield machine, in which a cutting device is arranged at the front part of the housing, a sliding seat is arranged in the housing, and a cutting power transmission device and a feeding power transmission device are arranged on the upper part of the sliding seat. The invention patent with the publication number CN103726853B discloses a shield excavation device and a shield machine. The shield excavation device includes a machine base, a slewing bearing, a slewing drive device, a boom, a boom cylinder and a bucket. The shield excavation device uses a slewing bearing to replace the existing rotating support of the sleeve structure. The invention patent with the publication number CN102587929B discloses a cutter headless earth pressure balance shield machine, in which cutting tools are arranged in front of the front shield. The cutting tools are composed of a cutting head and picks distributed thereon. Each cutting head is fixedly connected to one end of a cutter shaft, and the other end of the cutter shaft is connected to a power transmission device. The invention patent with the publication number CN103104263B discloses a tunneling machine suitable for complex strata, including a cutter head, a main drive and a shield mechanism. A slag storage bin is formed between the front shield and the cutter head. A slag outlet is arranged on the slag storage bin, and a foldable slag collecting hopper is also arranged in the slag storage bin. The slag collecting hopper is located above the slag outlet; A position-adjustable conveyor belt and a detachable screw conveyor are arranged in the shield mechanism. The invention patent with the publication number CN103362516B discloses a composite shield machine, including a shield body and a cutter head arranged at the front end of the shield body. The composite shield machine also includes a high-pressure fluid jet cutting groove device. The invention patent with the publication number CN102337898B discloses a planetary mother and son drill bit for an extra-large tunnel shield machine. The invention patent with the publication number CN108019216 discloses an arrangement form of a new type of rectangular shield machine for rectangular tunnel excavation. The invention patent with the publication number CN109026044B discloses a shield machine, in which a screw conveyor sleeve is arranged on the front shield housing.

[0004] The above-mentioned existing technologies have their respective advantages, but at the same time, there are also obvious disadvantages. For example: the circumferential speed difference of the drill tool is large, the force and heat generation are uneven, it is easy to be damaged and adhered, the torque of the drive shaft is large, the supporting force is large, and the flexibility is poor. These deficiencies will lead to large energy consumption and short service life of the shield machine, and it is not suitable for excavating tunnels with variable cross-sections. Summary of the Invention

[0005] In view of the above problems, the object of the present invention is to provide a parallel support walking variable cross-section excavator, which has multiple functions such as excavation, walking, and discharging, and is particularly suitable for the excavation and mining of variable cross-section tunnels.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A parallel support walking variable cross-section excavator proposed by the present invention includes a machine base, wheels, a parallel excavation mechanism, a walking mechanism, a swing arm support mechanism, and a bulk material conveying mechanism; the machine base is composed of a cylinder and a trough-shaped column fixedly connected to the bottom of the cylinder, and a plurality of radially distributed through holes are arranged at the front part of the cylinder, three through holes tangent to the same circumference and three axially grooved are arranged in the middle and rear parts, a partition is arranged on the front side inside the cylinder, and an end plate is arranged at the rear end; the wheels are respectively rotatably connected to the front and rear ends of the vertical plates on both sides of the trough-shaped column; the parallel excavation mechanism is arranged at the front end of the machine base; the walking mechanism is arranged in the middle and front part of the cylinder; the swing arm support mechanism is arranged at the rear end of the cylinder and is connected to the walking mechanism; the bulk material conveying mechanism is arranged inside the trough-shaped column.

[0008] Further, the parallel excavation mechanism includes a disc seat, a ball sleeve, a motor I, four linear electric cylinders, a moving platform, and a drilling tool; the disc seat is coaxially fixedly connected to the front end of the cylinder; a concave spherical through hole is arranged in the middle of the disc seat, and four circumferentially evenly distributed hinge seats are arranged at the edge of the front end face; a central through hole is arranged in the middle of the moving platform, and four hinge seats distributed in a circumferential rectangle are arranged on the rear end face; the four linear electric cylinders are circumferentially distributed between the moving platform and the disc seat, and the two ends of the linear electric cylinders are respectively ball-hinged to the hinge seats of the moving platform and the disc seat; the ball sleeve is provided with a central through hole and a convex spherical surface with the center of the sphere intersecting the center line of the hole, and the convex spherical surface of the ball sleeve is ball-connected to the concave spherical surface of the disc seat; the motor I is coaxially fixedly connected in the central through hole of the ball sleeve, and one end of a plurality of circumferentially distributed steel ropes is connected to the outer circumferential surface of the rear end thereof; the other ends of the steel ropes respectively pass through the radial through holes at the front part of the cylinder and are connected with stoppers, and springs are sleeved on the outer sides of the steel ropes located outside the cylinder, and the two ends of the springs respectively abut between the outer wall of the cylinder and the stoppers; the drilling tool is integrally composed of a drill bit, an input shaft, and a shaft sleeve with the same axis; the input shaft of the drilling tool is rotatably connected to the central through hole of the moving platform, and the shaft sleeve hole of the drilling tool is slidably key-connected to the output shaft of the motor I.

[0009] Further, a flexible protective cover is arranged between the outer circumferential end faces of the moving platform and the disc seat.

[0010] Furthermore, the traveling mechanism includes a motor II, a worm, and three sets of sprocket swing arms; each sprocket swing arm includes a worm gear set, a chain, a swing arm, and a traveling wheel set; the worm gear set is coaxially and integrally formed by a worm gear and a sprocket distributor shaft; the traveling wheel set is coaxially and integrally formed by a sprocket and a traveling wheel through a distributor shaft; through holes parallel to each other are formed at both ends of the swing arm; the motor II is coaxially and fixedly connected to the rear side of the partition board; the worm is coaxially arranged on the front side of the partition board, and its support shaft is rotatably connected to the partition board; the output shaft of the motor II is coaxially and key-connected to the support shaft of the worm; the worm gear sets in each set of sprocket swing arms are simultaneously rotatably connected to a circumferential tangential through hole in the middle of the cylinder and a through hole at one end of the swing arm through their pin shafts; the worm gears of the worm gear sets in the three sets of sprocket swing arms are simultaneously meshed with the worm for transmission; the traveling wheel set is rotatably connected to the through hole at the other end of the swing arm through its pin shaft; the chain is simultaneously meshed with the sprocket of the traveling wheel set and the sprocket of the worm gear set; the motor II drives the traveling wheel sets of the three sets of sprocket swing arms to rotate through the worm, so as to realize the traveling of the parallel support walking excavator.

[0011] Furthermore, the swing arm support mechanism includes a lead screw motor, a guide rod, a nut sleeve, and three sets of support mechanisms; each support mechanism includes a crank, an auxiliary swing rod, and a support rod; through holes parallel to each other are formed at both ends of the crank; through holes parallel to each other are formed at both ends and the middle of the auxiliary swing rod, and the hole pitch at both ends of the auxiliary swing rod is the same as the hole pitch at both ends of the swing arm; the support rod is an arc-shaped cylinder, and two through holes parallel to each other are formed near the middle of the support rod, and the hole pitch is the same as the circumferential hole pitch at the middle and rear parts of the cylinder; the nut sleeve is provided with an axial threaded through hole, an axial eccentric through hole, and three through holes evenly distributed in the circumferential direction and tangent to the circumference; the lead screw motor is arranged inside the cylinder and coaxially and fixedly connected to the end plate at the rear end of the cylinder; the nut sleeve is coaxially arranged at the rear side of the cylinder; the lead screw of the lead screw motor passes through the central through hole of the end plate and is in screw drive connection with the axial threaded through hole of the nut sleeve; the guide rod is fixedly connected to the rear side of the end plate of the cylinder and is parallel to the lead screw of the lead screw motor; the eccentric through hole of the nut sleeve is in sliding connection with the guide rod; one end of the crank is rotatably connected to the circumference of the nut sleeve, and the other end is rotatably connected to the middle of the auxiliary swing rod; one end of the auxiliary swing rod is rotatably connected to the circumferential through hole at the rear part of the cylinder, and the other end is rotatably connected to the rear end of the support rod; the front end of the support rod is rotatably connected to the connection part between the traveling wheel set and the swing arm; the cylinder, the swing arm, the support rod, and the auxiliary swing rod form a parallelogram mechanism; the lead screw motor drives the three sets of support mechanisms through the nut sleeve, and drives the traveling wheel sets of the three sets of sprocket swing arms to press against the tunnel wall.

[0012] Furthermore, the bulk material conveying mechanism includes an electric aggregate wheel, a material guiding plate, a front guide wheel, a conveyor belt, a rear guide wheel, and a motor III. The electric aggregate wheels are obliquely arranged on the left and right sides of the front end of the trough-shaped column. The material guiding plate is correspondingly obliquely arranged at the rear side of the electric aggregate wheels. The front guide wheel and the rear guide wheel are respectively rotatably connected between the front end and the rear end of the vertical plates on both sides of the trough-shaped column and are parallel to each other. The conveyor belt is drivingly connected between the front guide wheel and the rear guide wheel, and the front end of the conveyor belt is connected to the rear end of the material guiding plate. The output shaft of the motor III is coaxially and key-connected to the rear guide wheel, and the motor III is fixedly connected to the outside of the vertical plate of the trough-shaped column through a support. The electric aggregate wheels collect and stack the excavated bulk materials onto the material guiding plate. The motor III drives the rear guide wheel, and the bulk materials are sent to the rear outlet end of the trough-shaped column through the conveyor belt.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The present invention has a compact structure and high efficiency, and has multiple functions such as excavation, walking support, and discharging, and the cost is relatively low.

[0015] 2. The drill in the present invention has a large swing space and good flexibility, and is very suitable for the excavation and mining of tunnels with variable cross-sections.

[0016] 3. The drill in the present invention has a small peripheral speed difference and a small combined torque, and has better heat dissipation and anti-adhesion properties.

[0017] 4. In the present invention, the load of the drill is borne by the tunnel wall, and the energy consumption is small; the main torque is transmitted from the motor to the machine base and the support mechanism through multiple steel wire ropes and is borne by the tunnel wall; the thrust and self-weight are transmitted from the moving platform of the parallel mechanism and the four linear electric cylinders to the machine base and the support mechanism and are borne by the tunnel wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the main sectional structure of the present invention;

[0019] Figure 2 is Figure 1 the sectional structure schematic diagram of A-A in

[0020] Figure 3 is a schematic diagram of the flexible connection of the steel wire rope spring when the motor I in the present invention is coaxial / eccentric with the machine base cylinder.

[0021] Among them, the reference numerals in the drawings: 1 - inner wall of the tunnel, 2 - machine base, 3 - wheels, 4 - parallel excavation mechanism, 4-1 - disc seat, 4-2 - ball socket, 4-3 - Motor I, 4-4 - linear electric cylinder, 4-5 - moving platform, 4-6 - drilling tool, 4-7 - flexible protective cover, 4-8 - steel wire rope, 4-9 - spring, 5 - traveling mechanism, 5-1 - Motor II, 5-2 - worm, 5-3 - worm gear set, 5-4 - chain, 5-5 - swing arm, 5-6 - pin shaft, 5-7 - traveling wheel set; 6 - swing arm support mechanism, 6-1 - lead screw motor, 6-2 - guide rod, 6-3 - nut round sleeve, 6-4 - crank, 6-5 - auxiliary swing rod, 6-6 - support rod; 7 - bulk material conveying mechanism, 7-1 - electric aggregate wheel, 7-2 - material guide plate, 7-3 - front guide wheel, 7-4 - conveyor belt, 7-5 - rear guide wheel, 7-6 - Motor III. Detailed implementation manners

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] It should be noted that in the description of the present invention, the orientation or positional relationship indicated by the terms "upper", "lower", "top", "bottom", "one side", "the other side", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating that the device or element must have a specific orientation, be constructed and operated in a specific orientation.

[0024] Refer to the attached Figures 1-3 , a parallel support walking variable cross-section excavator proposed by the present invention includes a machine base 2, four wheels 3, a parallel excavation mechanism 4, a traveling mechanism 5, a swing arm support mechanism 6 and a bulk material conveying mechanism 7.

[0025] Among them, the machine base 2 is composed of a cylinder and a trough-shaped column inverted at the bottom of the cylinder. The bottom of the cylinder is axially fixedly connected to the horizontal plate at the top of the trough-shaped column. A plurality of radially distributed through holes are arranged at the front part of the cylinder, and three circumferentially tangent through holes and three axially grooved openings are arranged in the middle and rear parts. A partition is arranged at the front side inside the cylinder, and an end plate is arranged at the rear end; Three axially long through holes evenly distributed in the circumferential direction are opened on the outer circumferential side wall of the middle and rear regions of the cylinder, and an opening, three radially distributed through holes evenly distributed in the circumferential direction, three circumferentially tangent through holes evenly distributed in the circumferential direction, a partition perpendicular to the axis, an end plate perpendicular to the axis and an axial center through hole are sequentially arranged along the axial direction of the cylinder. A plurality of through holes are opened on the two vertical plates of the trough-shaped column.

[0026] The four wheels 3 are respectively connected to the front and rear ends of the vertical plates on both sides of the trough-shaped column by rotating pairs; the parallel excavation mechanism 4 is arranged at the front end of the machine base 2; the traveling mechanism 5 is arranged in the middle and front part of the cylinder; the swing arm support mechanism 6 is arranged at the rear end of the cylinder and is connected to the traveling mechanism 5; the bulk material conveying mechanism 7 is arranged inside the trough-shaped column.

[0027] Among them, the parallel excavation mechanism 4 includes a disc seat 4-1, a ball sleeve 4-2, a motor I 4-3, four linear electric cylinders 4-4, a moving platform 4-5, and a drilling tool 4-6; the disc seat 4-1 is coaxially and fixedly connected to the front end of the cylinder; a concave spherical through hole is provided in the middle of the disc seat 4-1, and four circumferentially evenly distributed hinge seats are provided at the edge of the front end face of the disc seat 4-1; the moving platform 4-5 is arranged in front of the disc seat 4-1, and a central through hole is provided in the middle of the moving platform 4-5 and four circumferentially rectangularly distributed hinge seats are provided at the rear end face; the four linear electric cylinders 4-4 are circumferentially distributed between the moving platform 4-5 and the disc seat 4-1, and the two ends of the linear electric cylinder 4-4 are respectively and correspondingly connected to the hinge seats of the moving platform 4-5 and the disc seat 4-1 by spherical hinges; the ball sleeve 4-2 is provided with a central through hole and a convex spherical surface with the center line of the spherical center intersecting the hole center, and the convex spherical surface of the ball sleeve 4-2 is connected to the concave spherical through hole of the disc seat 4-1 by a spherical pair; the motor I 4-3 is coaxially and fixedly connected in the central through hole of the ball sleeve 4-2, and one end of the motor I 4-3 is connected to the outer circumferential surface of the rear end of the motor I 4-3 and a plurality of circumferentially distributed steel ropes 4-8; the other ends of the steel ropes 4-8 respectively pass through the radial through holes in the front part of the cylinder and are connected with stoppers, and a spring 4-9 is sleeved outside the steel ropes 4-8 in the part outside the cylinder, and both ends of the spring 4-9 respectively abut between the outer wall of the cylinder and the stopper; the drilling tool 4-6 is integrally formed by fixedly connecting a drill bit, an input shaft and a shaft sleeve with the same axis; the input shaft of the drilling tool 4-6 is rotatably connected to the central through hole of the moving platform 4-5, and the shaft sleeve hole of the drilling tool 4-6 is slidably key-connected to the output shaft of the motor I 4-3.

[0028] In this embodiment, a flexible protective cover 4-7 is arranged between the outer circumferential end faces of the moving platform 4-5 and the disc seat 4-1.

[0029] The traveling mechanism 5 includes a motor II 5-1, a worm 5-2, and three sets of sprocket swing arms; the sprocket swing arms include a worm gear set 5-3, a chain 5-4, a swing arm 5-5, and a traveling wheel set 5-7; the worm gear set 5-3 is coaxially and integrally fixed by a worm gear and a sprocket through a shaft; the traveling wheel set 5-7 is coaxially and integrally fixed by a sprocket and a traveling wheel through a shaft; through holes parallel to each other are formed at both ends of the swing arm 5-5; the motor II 5-1 is coaxially fixed to the rear side of the partition plate; the worm 5-2 is coaxially arranged on the front side of the partition plate, and the support shaft of the worm 5-2 is rotatably connected to the partition plate; the output shaft of the motor II 5-1 is coaxially and key-connected to the support shaft of the worm 5-2; three circumferentially tangential through holes are evenly distributed on the side wall of the cylinder located on the circumferential outer side of the worm 5-2; the worm gear sets 5-3 in the three sets of sprocket swing arms are respectively rotatably connected to the circumferentially tangential through holes in the middle of the cylinder and one end through hole of the swing arm 5-5 through their pin shafts; the worm gears of the worm gear sets 5-3 in the three sets of sprocket swing arms are simultaneously meshed with the worm 5-2 for transmission; the traveling wheel set 5-7 is rotatably connected to the other end through hole of the swing arm 5-5 through its pin shaft; the chain 5-4 is simultaneously meshed with the sprocket of the traveling wheel set 5-7 and the sprocket of the worm gear set 5-3 for transmission; the motor II 5-1 can drive the traveling wheel sets 5-7 of the three sets of sprocket swing arms to rotate through the worm 5-2, so as to realize the parallel support for the traveling excavator to travel on the tunnel wall.

[0030] The swing arm support mechanism 6 includes a lead screw motor 6-1, a guide rod 6-2, a lead screw nut circular sleeve 6-3 and three sets of support mechanisms; the support mechanism includes a crank 6-4, an auxiliary swing rod 6-5 and a support rod 6-6; through holes parallel to each other are formed at both ends of the crank 6-4; through holes parallel to each other are formed at both ends and in the middle of the auxiliary swing rod 6-5, and the hole pitch at both ends of the auxiliary swing rod 6-5 is the same as the hole pitch at both ends of the swing arm 5-5; the support rod 6-6 is an arc-shaped cylinder, and through holes parallel to each other are formed on both sides near the middle of the support rod 6-6, and the hole pitch is the same as the hole pitch between the circumferential through holes cut in the middle and rear parts of the cylinder; the lead screw nut circular sleeve 6-3 is provided with an axial center threaded through hole, an axial eccentric through hole and three through holes evenly distributed in the circumferential direction and tangent to the circumference; the lead screw motor 6-1 is arranged inside the cylinder and is coaxially fixedly connected to the end plate at the rear end of the cylinder; the lead screw nut circular sleeve 6-3 is coaxially arranged at the rear side of the cylinder; the lead screw of the lead screw motor 6-1 passes through the central through hole of the end plate and is in screw drive connection with the axial center threaded through hole of the lead screw nut circular sleeve 6-3; the guide rod 6-2 is fixedly connected to the rear side of the cylinder end plate and is parallel to the lead screw of the lead screw motor 6-1; the eccentric through hole of the lead screw nut circular sleeve 6-3 is correspondingly in sliding connection with the guide rod 6-2; one end of the crank 6-4 is in circumferential rotation connection with the lead screw nut circular sleeve 6-3, and the other end of the crank 6-4 is in rotational connection with the middle part of the auxiliary swing rod 6-5; one end of the auxiliary swing rod 6-5 is in rotational connection with the circumferential through hole cut in the rear part of the cylinder, and the other end of the auxiliary swing rod 6-5 is in rotational connection with the rear end of the support rod 6-6; the front end of the support rod 6-6 is in rotational connection with the connection part between the traveling wheel set 5-7 and the swing arm 5-5; a parallelogram mechanism is formed among the cylinder, the swing arm 5-5, the support rod 6-6 and the auxiliary swing rod 6-5; the lead screw motor 6-1 drives the three sets of support mechanisms through the lead screw nut circular sleeve 6-3, so as to drive the traveling wheel sets 5-7 of the three sets of sprocket swing arms to press on the tunnel wall.

[0031] The bulk material conveying mechanism 7 includes an electric aggregate wheel 7-1, a material guiding plate 7-2, a front guide wheel 7-3, a conveyor belt 7-4, a rear guide wheel 7-5, and a motor III 7-6; the electric aggregate wheels 7-1 are inclined and symmetrically arranged on the left and right sides of the front end of the trough-shaped column, and the top of the electric aggregate wheel 7-1 is fixedly connected to the inner part of the top of the trough-shaped column; the material guiding plate 7-2 is correspondingly inclined and arranged at the rear side of the electric aggregate wheel 7-1, and the front end is attached to the tunnel wall; the front guide wheel 7-3 is rotatably connected between the front ends of the vertical plates on both sides of the trough-shaped column; the rear guide wheel 7-5 is rotatably connected between the rear ends of the vertical plates on both sides of the trough-shaped column, and the front guide wheel 7-3 and the rear guide wheel 7-5 are parallel to each other; the conveyor belt 7-4 is drivingly connected between the front guide wheel 7-3 and the rear guide wheel 7-5, and the front end of the conveyor belt 7-4 is connected to the rear end of the material guiding plate 7-2; the motor III 7-6 is fixedly connected to the outside of one vertical plate of the trough-shaped column through a support, and the output shaft of the motor III 7-6 is coaxially key-connected to one side of the rear guide wheel; the electric aggregate wheel 7-1 collects and stacks the excavated bulk material onto the material guiding plate 7-2; the motor III 7-6 drives the rear guide wheel 7-5, and conveys the bulk material on the material guiding plate 7-2 to the rear outlet end of the trough-shaped column through the conveyor belt 7-4.

[0032] The functional principle of the present invention is that the motor I 4-3 drives the drill 4-6 to rotate relative to the moving platform 4-5 for excavation; the four linear electric cylinders 4-4 drive the drill 4-6 to realize multi-degree-of-freedom stretching and swinging motions with the moving platform 4-5, so as to increase the motion working space of the drill 4-6 and realize the excavation and mining of variable cross-section tunnels.

[0033] The motor II 5-1 drives the walking wheel sets 5-7 of the three sets of sprocket swing arms to rotate through the worm 5-2, so as to realize the walking of the parallel support walking excavator in the tunnel.

[0034] The lead screw motor 6-1 drives the three sets of support mechanisms through the lead screw nut round sleeve 6-3, driving the walking wheel sets of the sprocket swing arms to press on the tunnel wall, which is convenient for the walking wheel sets 5-7 to walk on the tunnel wall.

[0035] The excavated bulk material is collected and stacked on the material guiding plate 7-2 by the electric aggregate wheel 7-1, and the motor III 7-6 drives the rear guide wheel 7-5, and conveys the bulk material on the material guiding plate 7-2 to the outlet end through the conveyor belt 7-4.

[0036] Matters not detailed in the present invention are well-known technologies.

[0037] The embodiments described above are only used to describe the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A parallel support walking variable cross-section excavator, characterized in that: The excavator includes a machine base, wheels, a parallel excavation mechanism, a traveling mechanism, a swing arm support mechanism and a bulk material conveying mechanism; the machine base is composed of a cylinder and a grooved column fixedly connected to the bottom of the cylinder, the front part of the cylinder is provided with a plurality of circumferentially distributed radial through holes, the middle part and the rear part are provided with three through holes cutting the same circumference and three axial slots, the front side of the interior of the cylinder is provided with a partition plate, and the rear end is provided with an end plate; the wheels are respectively connected to the front and rear ends of the vertical plates on both sides of the grooved column by rotation pairs; the parallel excavation mechanism is arranged at the front end of the machine base; the traveling mechanism is arranged at the middle front part of the cylinder; the swing arm support mechanism is arranged at the rear end of the cylinder and connected to the traveling mechanism; the bulk material conveying mechanism is arranged inside the grooved column.

2. The parallel support walking variable cross-section excavator according to claim 1, characterized in that: The parallel excavation mechanism includes a disc seat, a ball sleeve, a motor I, four linear electric cylinders, a movable table, and a drilling tool; the disc seat is coaxially fixed to the front end of the cylinder; a concave spherical through hole is provided in the middle of the disc seat, and four circumferentially evenly distributed hinge seats are provided on the edge of the front end surface; a central through hole is provided in the middle of the movable table, and four circumferentially rectangularly distributed hinge seats are provided on the rear end surface; four linear electric cylinders are distributed circumferentially between the movable table and the disc seat, and the two ends of the linear electric cylinders are respectively connected to the hinge seats of the movable table and the disc seat with ball joints; the ball sleeve is provided with a central through hole and a convex spherical surface where the center of the ball intersects the center line of the hole, and the ball The convex spherical surface of the sleeve is connected with the concave spherical surface of the disc seat; the motor I is coaxially fixed in the central through hole of the ball sleeve, and the outer circumferential surface of its rear end is connected to one end of a plurality of circumferentially distributed steel ropes; the other ends of the steel ropes are connected with blocks after passing through the radial through holes in the front part of the cylinder respectively, and the outer side of the steel rope located outside the cylinder is sleeved with a spring, and the two ends of the spring are respectively pressed between the outer wall of the cylinder and the block; the drilling tool is composed of a coaxial drill bit, an input shaft and a sleeve; the input shaft of the drilling tool is rotatably connected to the central through hole of the movable table, and the sleeve hole of the drilling tool is connected with the output shaft of the motor I by a sliding key.

3. The parallel support walking variable cross-section excavator according to claim 2, characterized in that: A flexible protective cover is arranged between the movable table and the outer circumferential end surface of the disc seat.

4. The parallel support walking variable cross-section excavator according to claim 1, characterized in that: The walking mechanism includes a motor II, a worm and three sets of sprocket swing arms; the sprocket swing arm includes a worm gear group, a chain, a swing arm and a walking wheel group; the worm gear group is coaxially fixed to an integral body by a worm wheel and a sprocket distribution shaft; the walking wheel group is coaxially fixed to an integral body by a sprocket and a walking wheel distribution shaft; through holes parallel to each other are opened at both ends of the swing arm; the motor II is coaxially fixed to the rear side of the partition; the worm is coaxially arranged on the front side of the partition, and its support shaft is rotatably connected to the partition; the output shaft of the motor II is connected to the support shaft of the worm Coaxial key connection; the worm gear group in each set of sprocket swing arms is connected to a circumferential tangential through hole in the middle of the cylinder and a through hole at one end of the swing arm through its pin shaft; the worm wheels of the worm gear groups in the three sets of sprocket swing arms are meshed with the worm at the same time; the walking wheel group is connected to the through hole at the other end of the swing arm through its pin shaft; the chain is meshed with the sprocket of the walking wheel group and the sprocket of the worm gear group at the same time; the motor II drives the walking wheel groups of the three sets of sprocket swing arms to rotate through the worm, so as to realize the parallel support of the walking excavator.

5. The parallel support walking variable cross-section excavator according to claim 4, characterized in that: The swing arm support mechanism includes a screw motor, a guide rod, a nut sleeve and three sets of support mechanisms; the support mechanism includes a crank, an auxiliary swing rod and a support rod; the crank has through holes parallel to each other at both ends; the auxiliary swing rod has through holes parallel to each other at both ends and in the middle, and the hole spacing at both ends of the auxiliary swing rod is the same as the hole spacing at both ends of the swing arm; the support rod is an arc-shaped cylinder, and two through holes parallel to each other are opened near the middle of the support rod, and the hole spacing is the same as the hole spacing of the middle and rear parts of the cylinder on the same circumference; the nut sleeve is provided with an axial threaded through hole, an axial eccentric through hole and three through holes evenly distributed on the circumference and tangent to the circumference; the screw motor is arranged inside the cylinder and is coaxially fixed to the end plate at the rear end of the cylinder; the nut sleeve is coaxially arranged on the rear side of the cylinder; the screw The lead screw of the motor passes through the central through hole of the end plate and is connected with the axial threaded through hole of the nut sleeve through spiral transmission; the guide rod is fixedly connected to the rear side of the cylinder end plate and is parallel to the lead screw of the lead screw motor; the eccentric through hole of the nut sleeve is slidingly connected to the guide rod; one end of the crank is connected with the nut sleeve for circular rotation, and the other end is connected with the middle part of the auxiliary swing rod for rotation; one end of the auxiliary swing rod is connected with the rear circumferential through hole of the cylinder for rotation, and the other end is connected with the rear end of the support rod for rotation; the front end of the support rod is connected with the connection between the walking wheel set and the swing arm for rotation; the cylinder, the swing arm, the support rod and the auxiliary swing rod constitute a parallel four-bar mechanism; the lead screw motor drives three sets of support mechanisms through the nut sleeve, driving the walking wheel sets of the three sets of sprocket swing arms to press on the tunnel wall.

6. The parallel support walking variable cross-section excavator according to claim 1, characterized in that: The bulk material conveying mechanism includes an electric collecting wheel, a guide plate, a front guide wheel, a conveyor belt, a rear guide wheel and a motor III; the electric collecting wheel is obliquely arranged on the left and right sides of the front end of the grooved column; the guide plate is correspondingly obliquely arranged on the rear side of the electric collecting wheel; the front guide wheel and the rear guide wheel are respectively rotatably connected between the front and rear ends of the vertical plates on both sides of the grooved column and are parallel to each other; the conveyor belt is transmission-connected between the front guide wheel and the rear guide wheel and the front end of the conveyor belt is connected to the rear end of the guide plate; the output shaft of the motor III is coaxially keyed with the rear guide wheel, and the motor III is fixedly connected to the outer side of the vertical plate of the grooved column through a support; the electric collecting wheel collects the excavated bulk material and stacks it on the guide plate; the motor III drives the rear guide wheel to deliver the bulk material to the outlet end on the rear side of the grooved column through the conveyor belt.

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