Coal mine heading machine and cutting method

Abstract

The embodiment of the invention provides a coal mine heading machine and a cutting method, and relates to the technical field of heading equipment, the coal mine heading machine comprises at least two cutting structures arranged side by side, each cutting structure comprises two large cutting arms arranged in an up-down relation, and each large cutting arm is provided with a cutting roller; the cutting method of the coal mine heading machine comprises the following steps: determining an actual cutting area corresponding to each cutting roller according to the range of a heading section; geological information of the tunneling section is obtained; determining target positions of all cutting rollers according to the geological information and the actual cutting area; controlling a cutting big arm to adjust the position of a cutting roller according to the target position; and the cutting roller is controlled to cut the tunneling section, so that the tunneling machine can adapt to tunneling requirements of different tunneling sections.

Description

Technical Field

[0001] This application relates to the technical field of tunneling equipment, and in particular, to a coal mine roadheader and a cutting method thereof. Background Art

[0002] A roadheader is an important piece of equipment for coal mine tunneling. It generally includes structures such as a cutting drum, a cutting boom, and a base. The cutting drum is used to cut the cross-section, and the cutting boom is used to drive the cutting drum to move.

[0003] At present, the single-cutting range of the cutting drum is fixed and cannot be adjusted adaptively according to the situation of the cross-section. Therefore, when encountering a cross-section with complex geology, the position of the single-cutting of the cutting drum can only be changed by moving the roadheader, resulting in a greater impact on the cutting efficiency of the roadheader. Summary of the Invention

[0004] Embodiments of this application provide a coal mine roadheader and a cutting method thereof to achieve the effect of improving the working efficiency of the roadheader.

[0005] In a first aspect, embodiments of this application provide a coal mine roadheader, including:

[0006] A frame;

[0007] At least two cutting structures, arranged side by side in the horizontal direction on the frame. Each cutting structure includes at least two cutting booms arranged in an up-and-down relationship, and a cutting drum is arranged on the cutting boom.

[0008] A controller, communicatively connected to both the cutting boom and the cutting drum. The controller is configured to:

[0009] Determine the actual cutting area corresponding to each cutting drum according to the range of the tunneling cross-section;

[0010] Obtain the geological information of the tunneling cross-section;

[0011] Determine the target positions and cutting sequences of all the cutting drums according to the geological information and the actual cutting area;

[0012] Control the cutting boom to adjust the position of the cutting drum according to the target position;

[0013] Control the cutting drum to cut the tunneling cross-section according to the cutting sequence.

[0014] In a possible implementation manner, the cutting boom includes:

[0015] A boom, connected to the cutting drum;

[0016] The sliding mechanism is used to be connected to the frame of the tunnel boring machine, and the sliding mechanism is configured to drive the boom to move along the tunneling direction of the tunnel boring machine.

[0017] In a possible implementation manner, the sliding mechanism includes:

[0018] At least one guide column extends along the excavation direction of the tunnel boring machine, the guide column is used to be connected to the frame, and the arm is slidably connected to the guide column,

[0019] A first driving member, used for connecting the arm and the frame;

[0020] Wherein, the first driving member is connected to the controller, and the controller is further configured to control the first driving member to drive the arm to move along the guide column.

[0021] In a possible implementation manner, the cutting arm further includes an adjusting member, and the arm support includes:

[0022] A first bracket connected to the cutting drum;

[0023] A second bracket is rotatably connected to an end of the first bracket away from the cutting drum, and the second bracket is also connected to the sliding mechanism;

[0024] The adjusting member is connected to the controller, and the controller is further configured to control the adjusting member to drive the first bracket to rotate relative to the second bracket, so as to change the angle between the first bracket and the second bracket.

[0025] In a possible implementation, the cutting drum comprises:

[0026] Middle roller;

[0027] Two outer rollers are respectively arranged at two ends of the middle roller, and a mounting cavity is arranged at one end of the outer roller away from the middle roller;

[0028] Two telescopic rollers are correspondingly arranged in the installation cavities of the two outer rollers, and the telescopic rollers can move along the length direction of the outer rollers to change the length of the telescopic rollers extending out of the installation cavity.

[0029] In a possible implementation, the telescopic roller includes:

[0030] A drum body, at least partially located in the mounting cavity;

[0031] A second oil cylinder is located in the installation cavity, and an output end of the second oil cylinder is connected to the drum body;

[0032] Wherein, the controller is communicatively connected to the second oil cylinder, and the controller is further configured to control the second oil cylinder to drive the drum body to move.

[0033] In a possible implementation manner, a loading device, a conveyor, and a crusher are arranged on the rack, and the loading device, the conveyor, and the crusher are all communicatively connected to the controller;

[0034] The loading device and the conveyor are respectively arranged in one-to-one correspondence with the cutting structure. The loading device is located below the cutting structure to collect the materials cut by the cutting structure through the loading device and convey the materials into the conveyor. The conveyor is used to convey the materials into the crusher.

[0035] In a second aspect, an embodiment of the present application provides a cutting method, which is applied to the coal mine roadheader according to any one of the first aspects. The cutting method includes:

[0036] Determine the actual cutting area corresponding to each cutting drum according to the range of the driving section;

[0037] Obtain the geological information of the driving section;

[0038] Determine the target positions of all the cutting drums according to the geological information and the actual cutting area;

[0039] Control the cutting boom to adjust the position of the cutting drum according to the target position;

[0040] Control the cutting drum to cut the driving section.

[0041] In a possible implementation manner, the geological information includes the degree of soil looseness.

[0042] In a possible implementation manner, the determining the target positions of all the cutting drums according to the geological information and the actual cutting area includes:

[0043] Determine the target soil looseness degree corresponding to each actual cutting area according to the soil looseness degree;

[0044] Group the actual cutting areas in descending order of the target soil looseness degree to obtain a plurality of cutting groups, where each cutting group includes at least one actual cutting area;

[0045] In the order from large to small of the target soil looseness degree, the target positions corresponding to the cutting groups are arranged in sequence from front to back in the driving direction.

[0046] In the roadheader and cutting method provided by the embodiments of the present application, the roadheader is provided with at least two cutting structures. Each cutting structure includes two cutting arms in an up-and-down relationship. A cutting drum is arranged on the cutting arm. The cutting arm can drive the cutting drum to move independently for cutting, so that one cutting drum can cut the materials within its corresponding cuttable range independently. Multiple cutting drums can be combined and used in different cooperation modes to realize the overall cutting of the cross-section, which can meet the cutting requirements of different usage scenarios. Moreover, with the cooperation of multiple cutting drums, the cutting range is significantly increased, and the cutting arm can also drive the cutting drum to move, further expanding the cutting range of the cutting drum, which can avoid the frequent movement of the roadheader, thereby effectively improving the working efficiency of the roadheader.

[0047] Specifically, when cutting a coal mine, first determine the actual cutting area corresponding to each cutting drum according to the range of the driving section, and obtain the geological information of the driving section. According to the geological information and the actual cutting area, determine the target positions and cutting sequences of all cutting drums. Control the cutting arm to adjust the position of the cutting drum according to the target position, and finally control the cutting drum to cut the driving section according to the cutting sequence. This enables the cutting method of each cutting drum to be adaptively adjusted according to the soil conditions of the driving section, that is, the cutting sequence and position change of each cutting drum can be determined according to the soil conditions, so that the roadheader does not need to move frequently, and the current driving section can be cut in a suitable manner, which can not only improve the working efficiency of the roadheader, but also reduce the probability of collapse during the driving process. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0049] Figure 1 It is a schematic flowchart of the cutting method provided by the embodiments of the present application;

[0050] Figure 2 It is a schematic structural diagram of the coal mine roadheader provided by the embodiments of the present application;

[0051] Figure 3 It is a schematic diagram of the actual cutting area in the cutting method provided by the embodiments of the present application;

[0052] Figure 4 It is an implementation schematic diagram of the cutting method provided by the embodiments of the present application;

[0053] Figure 5 It is another implementation schematic diagram of the cutting method provided by the embodiments of the present application;

[0054] Figure 6Structural schematic diagram of the cutting structure in the coal mine roadheader provided by the embodiment of the present application;

[0055] Figure 7 Structural schematic diagram of the cutting drum in the coal mine roadheader provided by the embodiment of the present application;

[0056] Figure 8 Structural schematic diagram of the cutting boom in the coal mine roadheader provided by the embodiment of the present application.

[0057] Reference numerals:

[0058] 100 - Cutting structure;

[0059] 110 - Cutting drum; 111 - Intermediate drum; 112 - Outer drum; 113 - Telescopic drum; 114 - Reducer;

[0060] 120 - Cutting boom; 121 - Boom; 1211 - First bracket; 1212 - Second bracket; 122 - Sliding mechanism; 1221 - Guide post; 1222 - First driving member; 123 - Adjusting member;

[0061] 200 - Loading device;

[0062] 300 - Conveyor;

[0063] 400 - Crusher; 410 - Hopper;

[0064] 500 - Chassis;

[0065] 600 - Cover;

[0066] 700 - Electrical side platform;

[0067] 800 - Hydraulic side platform;

[0068] 900 - Cab.

[0069] Through the above drawings, the specific embodiments of the present application have been shown, and there will be more detailed descriptions hereinafter. These drawings and text descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed Description of the Embodiment

[0070] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0071] The non-blasting mining method of roadheaders is increasingly widely used in the applications in fields such as coal mines and tunnels due to its high construction safety and environmental protection advantages.

[0072] Among them, the cutting device is one of the core components of the roadheader. Taking the coal mine roadheader as an example, when the roadheader is working, it first uses the cutting device to peel off the coal blocks, and the peeled coal mines fall on the loading device. The star wheel on the loading device rotates to load the crushed materials such as coal blocks and ores into the scraper conveyor, and then drives the scraper chain to rotate through the driving sprocket of the scraper conveyor to transfer the materials to the belt conveyor. Subsequently, the materials are continuously transported backward through the belt conveyor, and finally the materials are transported out by the mine car.

[0073] At present, the single cutting range of the cutting drum is fixed and cannot be adaptively adjusted according to the cross-section situation. Therefore, when encountering a cross-section with complex geology, only by moving the roadheader can the position of the single cutting of the cutting drum be changed, resulting in a greater impact on the cutting efficiency of the roadheader.

[0074] In response to this, the embodiment of the present application provides a coal mine roadheader and a cutting method. The coal mine roadheader is provided with at least two cutting structures, and each cutting structure includes two cutting arms in an up-and-down relationship. A cutting drum is arranged on the cutting arm, and the cutting arm can drive the cutting drum to move independently for cutting, so that one cutting drum can cut the materials within its corresponding cuttable range independently, and multiple cutting drums can be combined to adopt different cooperation methods to achieve the overall cutting of the cross-section, which can adapt to the cutting requirements of different usage scenarios. Moreover, with the cooperation of multiple cutting drums, the cutting range is significantly increased, and the cutting arm can also drive the cutting drum to move, further expanding the cutting range of the cutting drum, which can avoid the frequent movement of the roadheader, thereby effectively improving the working efficiency of the roadheader.

[0075] When cutting a coal mine, first determine the actual cutting area corresponding to each cutting drum according to the range of the driving cross-section, and obtain the geological information of the driving cross-section. According to the geological information and the actual cutting area, determine the target positions and cutting sequences of all cutting drums. Control the cutting arm to adjust the position of the cutting drum according to the target position, and finally control the cutting drum to cut the driving cross-section according to the cutting sequence. This enables the cutting method of each cutting drum to be adaptively adjusted according to the soil quality of the driving cross-section, that is, the cutting sequence and position change of each cutting drum can be determined according to the soil quality, so that the current driving cross-section can be cut in a suitable manner without frequently moving the roadheader, which can not only improve the working efficiency of the roadheader but also reduce the probability of collapse during the driving process.

[0076] The following uses specific embodiments to elaborate in detail on the technical solution of this application and how the technical solution of this application solves the above technical problems. The following several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will be described below in conjunction with the accompanying drawings.

[0077] This embodiment provides a cutting method, which is applicable to the coal mine roadheader provided in the embodiment of this application, such as Figure 2 and Figure 6 As shown, the coal mine roadheader includes at least two cutting structures 100 arranged side by side. The cutting structure 100 includes two cutting arms 120 arranged in an up-and-down relationship. A cutting drum 110 is arranged on the cutting arm 120. The cutting drum is used to cut the cross-section so that the roadheader can advance. The cutting arm 120 can adjust the position of the cutting drum 110, so that each cutting drum 110 can independently cut a groove in advance, which is convenient for the cutting drums 110 of multiple cutting structures 100 to cooperate with each other to cut the material, avoiding frequent machine movement and effectively improving the cutting efficiency.

[0078] Among them, the coal mine roadheader further includes a frame and a controller. The cutting arm 120 is slidably connected to the frame, and the controller is communicatively connected to both the cutting arm 120 and the cutting drum 110, and the actions of the roadheader are controlled through the controller.

[0079] Please refer to Figure 1 As shown, the cutting method includes:

[0080] S101. Determine the actual cutting area corresponding to each cutting drum 110 according to the range of the tunneling cross-section;

[0081] Specifically, the range that needs to be tunnelled in the tunneling cross-section can be determined first according to the tunneling plan, and then the area that needs to be cut is matched for each tunneling drum.

[0082] Exemplarily, Figure 3 The box in represents the range of the tunneling cross-section. The four cutting arms 120 are respectively located at the upper, lower, left, and right four positions at the front end of the roadheader, that is, corresponding to Figure 3 Regions A, B, C, and D in. The two cutting arms 120 of one cutting structure 100 are respectively located in regions A and C, and the two cutting arms 120 of the other cutting structure 100 are respectively located in regions B and D. The cutting drums 110 are also correspondingly located in regions A, B, C, and D. That is, regions A, B, C, and D are the actual cutting areas corresponding to the four cutting drums 110.

[0083] S102. Obtain the geological information of the tunneling cross-section;

[0084] Specifically, when the roadheader is tunneling, it generally conducts advanced detection to detect geological information within a certain tunneling distance, such as within 100 meters, to identify potential geological risks, such as rock layer changes, faults, and aquifers.

[0085] Exemplarily, the geological information includes the degree of soil looseness.

[0086] Specifically, common methods such as ground-penetrating radar, seismic wave detection, ultrasonic detection, and drilling sampling can be used to analyze the degree of soil looseness and transmit the geological information to the controller for processing to control the actions of the roadheader.

[0087] Taking drilling sampling as an example, multiple detection points can be taken on the tunneling section and sampled along the predetermined tunneling direction for analysis to determine the degree of soil looseness corresponding to each actual cutting area.

[0088] S103. Determine the target positions of all cutting drums 110 according to the geological information and the actual cutting areas;

[0089] Through the geological information, the rock layer conditions within a certain tunneling distance can be determined, and the parts prone to collapse can be identified. By cutting the parts prone to collapse first, the problem of the parts prone to collapse directly collapsing due to cutting the surrounding support areas can be avoided. Therefore, the cutting method of each cutting drum 110 within this tunneling distance can be determined in real time according to the geological information within each actual cutting area.

[0090] S104. Control the cutting boom 120 to adjust the position of the cutting drum 110 according to the target position;

[0091] Specifically, each cutting boom 120 can independently drive the cutting drum 110 to move along the tunneling path to adjust the position of the cutting drum 110 on the tunneling path so that it contacts the tunneling section for tunneling.

[0092] S105. Control the cutting drum 110 to cut the tunneling section.

[0093] Specifically, after the cutting boom 120 adjusts the position of the cutting drum 110, the cutting drum 110 can start to cut the tunneling section according to the set cutting sequence. The cutting sequence can be that all cutting drums 110 cut synchronously, or the cutting drums 110 in the front cut first, and after a certain time, the cutting drums 110 in the back cut. This embodiment does not limit it here. This cutting method can achieve zonal cutting of the tunneling section, improve the safety of the roadheader, and can also improve the adaptability of the roadheader to different tunneling sections, reduce the frequency of machine relocation, and greatly improve the working efficiency of the roadheader.

[0094] In some embodiments, the target position of the cutting drum 110 can be determined as follows:

[0095] According to the degree of soil loosening, determine the target degree of soil loosening corresponding to each actual cutting area;

[0096] Group the actual cutting areas in descending order of the target degree of soil loosening to obtain multiple cutting groups, where each cutting group includes at least one actual cutting area;

[0097] In descending order of the target degree of soil loosening, the target positions of the cutting groups are arranged in sequence from front to back in the driving direction.

[0098] Specifically, the actual cutting ranges with similar target degrees of soil loosening can be divided into one cutting group, and the actions of all the cutting drums 110 and cutting arms 120 corresponding to this cutting group are the same.

[0099] During cutting, the actual cutting ranges can be grouped according to the target degree of soil loosening, and then the cutting groups are sorted according to the degree of soil loosening corresponding to each cutting group.

[0100] As Figure 4 and Figure 5 shown, the cutting group with a greater degree of soil loosening has a more forward target position, so as to cut the coal mine with a greater degree of loosening first, avoiding the problem of cutting the coal mine with a smaller degree of loosening first and causing collapse, effectively improving the safety of coal mine cutting. At the same time, there is no need to move the roadheader to adjust the position of the cutting device to make it adapt to cutting sections of different structures, thus effectively improving the cutting efficiency.

[0101] For ease of understanding, the following examples are used for illustration:

[0102] Exemplarily, as Figure 4 shown, E is the driving section. Areas A and B form one cutting group, and areas C and D form the second cutting group. The movement trajectories of the two cutting drums 110 in areas A and B are the same, and the movement trajectories of the two cutting drums 110 in areas C and D are the same. The degree of soil loosening in areas A and B is greater than that in areas C and D. The target position of the cutting drum 110 corresponding to areas A and B is S meters in front of the target area of the cutting drum 110 corresponding to areas C and D. Of course, the S meters is controlled by the cutting arm 120.

[0103] During operation, the two cutting arms 120 in areas A and B can drive the cutting drums 110 to slide forward by S (S≥1) meters, and then cut coal downward and cut the bottom, completing one cycle. At the same time, the two cutting drums 110 in areas C and D lag behind by S (S≥1) meters. When the two cutting mechanisms above are working, the two cutting drums 110 below perform coal cutting operations synchronously.

[0104] Exemplarily, areas A and C form one cutting group, and areas B and D form another cutting group. The movement trajectories of the two cutting drums 110 in areas A and C are the same, and the movement trajectories of the two cutting drums 110 in areas B and D are the same. The soil looseness degree in areas A and C is greater than that in areas B and D. The target positions of the cutting drums 110 corresponding to areas A and C are S meters in front of the target areas of the cutting drums 110 corresponding to areas B and D.

[0105] During operation, the two cutting drums 110 corresponding to areas A and C can cut a groove forward by S (S≥1) meters, then feed the cutter, and then cut coal and cut the bottom from top to bottom, completing one cycle. At the same time, the two cutting drums 110 corresponding to areas B and D move independently without interfering with each other, so as to realize cutting on the left and right respectively.

[0106] Exemplarily, the soil looseness degrees of the four areas A, B, C, and D are different. The target positions of the four areas are sorted in descending order of soil looseness degree. The area with the greatest soil looseness degree is at the forefront of the tunneling direction. After adjusting the positions of the four cutting drums 110, cutting can be carried out simultaneously or in the order of the target positions from front to back.

[0107] In some embodiments, please refer to Figure 8 As shown, the cutting arm 120 includes a boom 121 and a sliding mechanism 122. The boom 121 is connected to the cutting drum 110. The sliding mechanism 122 is used to connect to the frame of the roadheader, and the sliding mechanism 122 is used to drive the boom 121 to move along the tunneling direction of the roadheader.

[0108] Specifically, the boom 121 can move forward relative to the frame by S meters under the drive of the sliding mechanism 122. S is a value within the sliding stroke range of the sliding mechanism 122 and can be selected according to actual situations. This embodiment does not limit it here.

[0109] When the cutting device is cutting, the sliding mechanism 122 can be used to drive the boom 121 to drive the cutting drum 110 to move forward a certain distance to cut a groove, so that each cutting drum 110 can be cut separately according to actual situations, improving the adaptability of the cutting device.

[0110] Exemplarily, the sliding mechanism 122 includes at least one guide post 1221 and a first driving member 1222.

[0111] The guide column 1221 extends along the excavation direction of the tunnel boring machine. The guide column 1221 is used to be connected to the frame. The arm 121 is slidably connected to the guide column 1221. The first driving member 1222 is used to connect the arm 121 and the frame.

[0112] The first driving member 1222 is also connected to the controller, and the controller can control the first driving member 1222 to drive the arm 121 to move along the guide column 1221, so that the cutting drum 110 can move relative to the frame toward the excavation direction, and the cutting drum 110 moves to the target position for cutting.

[0113] Among them, a sleeve can be set at one end where the arm 121 is connected to the guide column 1221. The sleeve is sleeved on the guide column 1221 and is slidably connected to the guide column 1221. Therefore, in the process of the first driving member 1222 driving the arm 121 to move, the moving direction of the arm 121 can be guided by the cooperation of the guide column 1221 and the sleeve to prevent the arm 121 from deviating.

[0114] It is understandable that the first driving member 1222 can be an oil cylinder or a driving device such as a pneumatic cylinder, as long as it can drive the boom 121 to move and adapt to the use environment of the tunnel boring machine. This embodiment does not limit it.

[0115] Exemplarily, the sliding mechanism 122 may include a guide rail, a guide block and a first driving member 1222. The guide block is fixedly connected to the arm 121, and the guide block can move along the guide rail. Of course, the guide rail is arranged on the frame along the excavation direction of the tunnel boring machine. The first driving member 1222 can drive the arm 121 to slide along the guide rail.

[0116] It is understandable that the sliding mechanism 122 may also be other structures, as long as it can drive the arm 121 to drive the cutting drum 110 to move along the excavation direction, and this embodiment does not limit it here.

[0117] In some embodiments, the cutting arm 120 further includes an adjusting member 123, and the arm frame 121 includes a first bracket 1211 and a second bracket 1212. The first bracket 1211 is connected to the cutting drum 110; the second bracket 1212 is rotatably connected to the end of the first bracket 1211 away from the cutting drum 110, and the second bracket 1212 is also connected to the sliding mechanism 122.

[0118] Among them, the adjusting member 123 is also connected to the controller, and the controller can control the adjusting member 123 to drive the first bracket 1211 to rotate relative to the second bracket 1212, so as to change the included angle between the first bracket 1211 and the second bracket 1212, thereby driving the cutting drum 110 to rotate, changing the angle of the cutting drum 110 and its position in the vertical direction, so that it can perform complete cutting in the corresponding area.

[0119] Exemplarily, the adjusting member 123 includes at least one first oil cylinder. The first oil cylinder is rotatably connected to the second bracket 1212, and the output end of the first oil cylinder is rotatably connected to the first bracket 1211.

[0120] Among them, in order to improve stability, a first oil cylinder can be provided on each of the opposite sides of the first bracket 1211. The two first oil cylinders act synchronously, and can drive the bracket to rotate relative to the second bracket 1212, thereby adjusting the inclination angle of the first bracket 1211 and preventing the first bracket 1211 from shaking during use.

[0121] It can be understood that the number and installation position of the first oil cylinders can be adjusted according to actual situations, and the present embodiment does not limit them here.

[0122] In some embodiments, please refer to Figure 7 As shown, the cutting drum 110 includes an intermediate drum 111, two outer drums 112 and two telescopic drums 113. The two outer drums 112 are respectively arranged at both ends of the intermediate drum 111, and an installation cavity is provided at one end of the outer drum 112 facing away from the intermediate drum 111; the two telescopic drums 113 are correspondingly arranged in the installation cavities of the two outer drums 112, and the telescopic drums 113 can move along the length direction of the outer drums 112 to change the length of the telescopic drums 113 extending out of the installation cavity. Of course, pointed teeth are provided on the intermediate drum 111, the outer drums 112 and the telescopic drums 113, and cutting is performed through the pointed teeth.

[0123] The telescopic drum 113 can be telescoped relative to the outer drum 112. When the area of the actual cutting area is small, the telescopic drum 113 can retract into the installation cavity to reduce the length of the cutting drum 110, thereby reducing the cutting range. When the area of the actual cutting area is large, the telescopic drum 113 is extended out of the installation cavity, and the length of the cutting drum 110 can be effectively extended. Without moving the roadheader, the cutting range of the cutting drum 110 can be expanded, thereby improving the adaptability of the cutting device to different use environments.

[0124] Among them, the telescopic drum 113 can include a drum body and a second oil cylinder. The second oil cylinder is fixed in the installation cavity, its output end is connected to the drum body, and the drum body is slidably connected to the installation cavity.

[0125] The second oil cylinder is also connected to the controller, and the controller can control the second oil cylinder to drive the roller body to retract or extend out of the installation cavity to change the position of the roller body.

[0126] It is understandable that the telescopic drum 113 may also be other structures, as long as its cutting portion can be retracted or extended out of the mounting cavity to adjust the length of the cutting drum 110, and this embodiment does not limit it here.

[0127] In some embodiments, the cutting drum 110 further includes a driving motor and a reducer 114, the driving motor is drivingly connected to the reducer 114, and the reducer 114 is drivingly connected to the middle drum 111 to drive the middle drum 111, the outer drum 112 and the shrinking drum to rotate for cutting.

[0128] Of course, the driving motor and the reducer 114 are both connected to the controller, and are turned on and off by the controller. The controller can also control the rotation frequency of the cutting drum 110 to control the cutting conditions.

[0129] Specifically, the middle roller 111 can be divided into a left roller and a right roller, and the two rollers are connected by a transmission shaft, and the output end of the reducer 114 is connected to the transmission shaft. When the driving motor is started, the reducer 114 will synchronously drive the transmission shaft to rotate, thereby driving the left roller and the right roller to be connected, and the outer roller 112 can also be connected to the left roller and the right roller correspondingly through the transmission shaft, so that when the left roller and the right roller rotate, the outer roller 112 will rotate synchronously for cutting. In addition, the telescopic roller 113 is connected to the outer roller 112, and will rotate synchronously with the outer roller 112, so that the middle roller 111, the outer roller 112, and the telescopic roller 113 can be driven by the driving motor to rotate synchronously for cutting.

[0130] It can be understood that the coal mine boring machine in the embodiment of the present application, in addition to including the structure in the above-mentioned embodiment, has a frame similar to the existing boring machine and also includes a chassis 500, an electrical side platform 700, a hydraulic side platform 800, a cab 900 and a cover 600 and other structures to ensure the normal use of the boring machine.

[0131] In addition, to better transport coal mines, a loading device 200, a conveyor 300, and a crusher 400 are also provided on the frame. The loading device 200 and the conveyor 300 are arranged in one-to-one correspondence with the cutting structure 100, that is, one cutting structure 100 corresponds to one loading device 200 and one conveyor 300. The loading device 200 is located below the cutting structure 100 to collect the materials cut by the cutting structure 100 through the loading device 200 and convey the materials into the conveyor 300. The conveyor 300 is used to convey the materials into the crusher 400. A hopper 410 is provided on the crusher 400 at the discharge end of the conveyor. The hopper 410 can receive the materials conveyed by the conveyor and send them into the crusher 400, and the crusher 400 breaks the materials to reduce the volume, facilitating subsequent transportation work.

[0132] It can be understood that the loading device 200 can be selected from existing structures. For example, it includes a main body, two side door panels, two star wheels, and a hydraulic motor for driving the star wheels to rotate. The side door panels are oppositely arranged on both sides of the main body and can be driven to move towards each other or away from each other to adjust the width of the material receiving part of the main body. The scraper chain of the conveyor is connected to the main body. The two star wheels rotate in opposite directions to convey the materials falling on the main body onto the scraper chain and transport them to the crusher 400 through the scraper chain.

[0133] Of course, structures such as the conveyor 300, the hydraulic motor, and the crusher 400 are all connected to the controller, and their actions can be controlled through the controller to synchronously collect the cut coal mines and process them when the cutting drum 110 cuts the coal mines.

[0134] Finally, it should be noted that: After considering the specification and practicing the invention disclosed here, those skilled in the art will easily think of other embodiments of the present invention. The present invention aims to cover any variations, uses, or adaptive changes of the present invention. These variations, uses, or adaptive changes follow the general principles of the present invention and include the common general knowledge or conventional technical means in the technical field not disclosed in the present invention. It is not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A coal mine roadheader, characterized in that, include: frame; At least two cutting structures (100) are arranged side by side on the frame in a horizontal direction, the cutting structure (100) comprises at least two cutting arms (120) arranged in an upper and lower relationship, and a cutting drum (110) is arranged on the cutting arm (120); A controller is in communication with both the cutting arm (120) and the cutting drum (110), and the controller is configured to: Determining the actual cutting area corresponding to each cutting drum (110) according to the range of the excavation section; Obtaining geological information of the excavation section; Determining the target positions and cutting order of all the cutting drums (110) according to the geological information and the actual cutting area; Controlling the cutting arm (120) to adjust the position of the cutting drum (110) according to the target position; The cutting drum (110) is controlled to cut the excavation section according to the cutting sequence.

2. The coal mine roadheader according to claim 1, characterized in that, The cutting arm (120) comprises: An arm (121) connected to the cutting drum (110); The sliding mechanism (122) is used to be connected to the frame of the tunnel boring machine, and the sliding mechanism (122) is configured to drive the arm (121) to move along the tunnel boring direction of the tunnel boring machine.

3. The coal mine roadheader according to claim 2, characterized in that, The sliding mechanism (122) comprises: At least one guide column (1221) extends along the excavation direction of the tunnel boring machine, the guide column (1221) is used to be connected to the frame, and the arm (121) is slidably connected to the guide column (1221). A first driving member (1222) for connecting the arm (121) and the frame; Wherein, the first driving member (1222) is connected to the controller, and the controller is further configured to control the first driving member (1222) to drive the arm (121) to move along the guide column (1221).

4. The coal mine roadheader according to claim 3, wherein, The cutting arm (120) further comprises an adjusting member (123), and the arm support (121) comprises: A first bracket (1211), connected to the cutting drum (110); a second bracket (1212) rotatably connected to an end of the first bracket (1211) away from the cutting drum (110), and the second bracket (1212) is also connected to the sliding mechanism (122); The adjusting member (123) is connected to the controller, and the controller is further configured to control the adjusting member (123) to drive the first bracket (1211) to rotate relative to the second bracket (1212) so as to change the angle between the first bracket (1211) and the second bracket (1212).

5. The coal mine roadheader according to claim 1, characterized in that, The cutting drum (110) comprises: An intermediate roller (111); Two outer rollers (112) are respectively arranged at two ends of the middle roller (111); an installation cavity is arranged at one end of the outer roller (112) away from the middle roller (111); Two telescopic drums (113) are correspondingly arranged in the installation cavities of the two outer drums (112). The telescopic drums (113) can move along the length direction of the outer drums (112) to change the length of the telescopic drums (113) extending out of the installation cavities.

6. The coal mine roadheader according to claim 5, characterized in that, The telescopic drum (113) includes: A drum body, at least partially located in the installation cavity; A second oil cylinder, located in the installation cavity, and the output end of the second oil cylinder is connected to the drum body; Wherein, the controller is communicatively connected to the second oil cylinder, and the controller is further configured to control the second oil cylinder to drive the drum body to move.

7. The coal mine roadheader according to any one of claims 1-6, characterized in that, A loading device (200), a conveyor (300) and a crusher (400) are arranged on the frame. The loading device (200), the conveyor (300) and the crusher (400) are all communicatively connected to the controller; The loading device (200) and the conveyor (300) are correspondingly arranged one by one with the cutting structure (100). The loading device (200) is located below the cutting structure (100) to collect the materials cut by the cutting structure (100) through the loading device (200) and convey the materials into the conveyor (300). The conveyor (300) is used to convey the materials into the crusher (400).

8. A cutting method, characterized in that, Applied to the coal mine roadheader according to any one of claims 1-7, the cutting method includes: Determine the actual cutting area corresponding to each cutting drum (110) according to the range of the driving section; Obtain the geological information of the driving section; Determine the target positions of all the cutting drums (110) according to the geological information and the actual cutting area; Control the cutting boom (120) to adjust the position of the cutting drum (110) according to the target position; Control the cutting drum (110) to cut the driving section.

9. The cutting method according to claim 8, characterized in that, The geological information includes the degree of soil looseness.

10. The cutting method according to claim 9, characterized in that, The determining the target positions of all the cutting drums (110) according to the geological information and the actual cutting area includes: Determine the target soil looseness degree corresponding to each actual cutting area according to the soil looseness degree; Group the actual cutting areas in descending order according to the target soil looseness degree to obtain a plurality of cutting groups, wherein each cutting group includes at least one actual cutting area; According to the target soil looseness degree from large to small, the target positions corresponding to the cutting groups are arranged in sequence from front to back in the driving direction.

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