Chain saw type ditcher modified based on mining cantilever tunneling machine and modification method

Abstract

The invention discloses a chain saw type ditcher modified based on a mining cantilever tunneling machine and a modification method, an original cantilever cutting part is dismantled, a crawler-type machine body is reserved to serve as an underground walking and anti-explosion foundation platform, a chain saw cutting mechanism is installed at the front end of the crawler-type machine body to replace an original cantilever cutting structure, and groove forming operation is achieved. The chain saw cutting mechanism is arranged in a hinged mode through a mounting base, pitching posture adjustment of a chain saw cutting arm is achieved under the action of a hydraulic driving device, and the chain saw cutting mechanism is suitable for trench excavation operation under the conditions of underground narrow space and deformed roadways. According to the intelligent virtual ditching system, the three-dimensional scanning devices at the front end of the cutting mechanism and the rear portion of the machine body are used for obtaining roadway space information, virtual ditching rehearsal and operation parameter optimization are conducted in combination with the remote control platform, and cutting operation of remote control and real-time correction is achieved. The mining anti-explosion device is compact in structure and high in modification integration level, the mining anti-explosion requirement is met, and meanwhile the safety, adaptability and operation efficiency of underground groove excavation operation are improved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent control technology for mining engineering machinery, specifically relating to a chainsaw-type trencher based on a modified mining cantilever tunneling machine and its modification method. Background Technology

[0002] A trencher is a type of specialized engineering machinery used for excavating trenches. Its core function is to create trenches of specific widths and depths, and it is widely used in scenarios such as ground pipeline laying and drainage system construction. Its core components include a cutting mechanism, a walking device, a hydraulic power system, a control mechanism, and protective components, all integrated into a custom-designed frame. Classified by cutting width, trenchers can be divided into small, medium, and large types. Small trenchers, due to their compact size and high flexibility, have a significant advantage in adapting to confined working spaces.

[0003] Although surface trenching machine technology is relatively mature, specialized trenching technology remains lacking in underground mine trenching operations. There are no standardized products or supporting operational solutions adapted to the underground environment. Coal mine roadways are typically 1800mm-4000mm wide, and after excavation, stress release within the roadway can easily lead to width deformation, further increasing the difficulty of trench excavation. Simultaneously, underground environments present high levels of dust and gas, creating highly flammable and explosive conditions. This places extremely stringent requirements on the explosion-proof performance and safety protection levels of equipment. The power units and electrical systems of ordinary surface trenching machines cannot meet underground explosion-proof standards and are therefore unsuitable for direct application.

[0004] Currently, underground trenching operations still rely on manual labor using simple tools such as pneumatic picks and small breakers. This not only results in extremely low levels of automation and intelligence, leading to low work efficiency, but also exposes workers to harsh underground environments that cause high labor intensity and insufficient safety guarantees. Manual operation also makes it difficult to precisely control the depth, width, and straightness of the trench, resulting in significant dimensional deviations that seriously affect the quality of subsequent supporting projects. Furthermore, the lack of specialized trenching equipment with explosion-proof capabilities means that manual workers are exposed to risks such as coal and rock collapses, dust poisoning, and gas explosions when in close proximity to the cutting face, making it difficult to effectively guarantee operational safety. While existing underground tunneling equipment possesses explosion-proof and mobility adaptability capabilities, its cutting operations primarily focus on roadway cross-section shaping, making it difficult to achieve precise control over trench width and depth. Moreover, it lacks virtual simulation and remote safety closed-loop control for the trenching process, thus failing to directly meet the needs of underground trenching operations. Summary of the Invention

[0005] The purpose of this invention is to provide a chainsaw-type trencher and modification method based on a modified cantilever tunneling machine for mining. The modified structure uses a chainsaw cutting mechanism as the main modified structure, which replaces the original cantilever cutting part to realize the trench forming operation function. It can realize remote control operation, has a compact structure, strong adaptability, virtualization and visualization of the trenching process, and while meeting the explosion-proof requirements of mining, the chainsaw cutting mechanism can be adapted to the operation in narrow underground spaces and deformed roadways, effectively improving operation efficiency, engineering quality and personnel safety.

[0006] To achieve the above objectives, the present invention provides a chainsaw trencher based on a modified mining cantilever tunneling machine. The chainsaw trencher is formed by modifying a mining cantilever tunneling machine. After removing the original cantilever cutting section and cutting head, the tracked body is retained as an underground walking and explosion-proof basic platform. A chainsaw cutting mechanism is installed at the front end of the tracked body. The chainsaw cutting mechanism serves as a structural and functional replacement unit for the original cantilever cutting section and is used to realize trench forming operations. The tracked machine body is equipped with a tracked walking drive mechanism with spring tensioning devices on both sides. The tracked machine body is equipped with an intelligent virtual trenching system and a safety protection system. A chainsaw cutting mechanism is installed on the upper front of the tracked machine body, and a loading mechanism is installed on the lower front. The chainsaw cutting mechanism and the loading mechanism are connected and controlled by the intelligent virtual trenching system. The intelligent virtual trenching system includes a rear-mounted three-dimensional environment scanning device for the machine body, a front-mounted three-dimensional working condition scanning device for the cutting mechanism, a machine body information acquisition and control processing system, a remote control signal transceiver device, and a remote control platform. The front three-dimensional working condition scanning device of the cutting mechanism is located on the top of the chainsaw cutting mechanism, and the rear three-dimensional environment scanning device of the machine body is located at the rear of the tracked machine body. The front three-dimensional working condition scanning device of the cutting mechanism and the rear three-dimensional environment scanning device of the machine body are respectively connected to the machine body information acquisition and control processing system through the built-in transmission module. The remote control platform communicates with the machine information acquisition and control processing system through a remote control signal transceiver device, and is used to complete the three-dimensional data acquisition of the tunnel, virtual trenching pre-simulation and real-time deviation correction. The machine information acquisition and control processing system has a built-in data storage unit and a deviation comparison unit, which supports the backtracking of operation data.

[0007] As a further aspect of the present invention: the tracked body is the original tracked body of the mining cantilever tunneling machine. During the modification process, its walking structure and explosion-proof function are retained, and it is used as the basic platform for the installation and operation of the chainsaw cutting mechanism. The tracked body includes a compact modular tracked body chassis. The compact modular tracked body chassis is detachably connected to an electrical control cabinet and a supporting control system, as well as an integrated explosion-proof hydraulic pump station.

[0008] As a further aspect of the present invention: the chainsaw cutting mechanism includes a chainsaw cutting mechanism mounting base connected to the front end of a compact modular tracked machine chassis, a chainsaw cutting arm disposed on the chainsaw cutting mechanism mounting base, and a hydraulic drive device configured in cooperation with the chainsaw cutting arm; the chainsaw cutting mechanism mounting base is used to connect and fix to the front end of the tracked machine body during the modification process, so as to realize the functional replacement of the original cantilever cutting structure by the chainsaw cutting mechanism without changing the original tracked machine body structure; a non-fully enclosed explosion-proof protective shell is fixedly disposed on the chainsaw cutting mechanism mounting base, and the explosion-proof protective shell contains a chainsaw drive device and its drive sprocket; The chainsaw cutting arm is set in an integral structure. The chainsaw drive device is installed at the end of the arms closest to the chainsaw cutting mechanism mounting base. The output end of the chainsaw drive device is connected to the drive sprocket to provide power to the cutting chain. The chainsaw cutting arm is equipped with a guide wheel at the end closest to the ground. The guide wheel is located in front of the drive sprocket and is used to guide and support the cutting chain. The cutting chain is wound around the drive sprocket and the guide wheel to form a closed loop, and can operate continuously under the drive of the chainsaw drive device. One end of the hydraulic drive unit is connected to the chainsaw cutting arm, and the other end is connected to the position below the mounting base of the chainsaw cutting mechanism near the front drive wheel of the tracked walking drive mechanism. It is used to drive the pitch adjustment of the cutting posture of the chainsaw cutting arm.

[0009] As a further embodiment of the present invention: the mounting base of the chainsaw cutting mechanism is hinged to the front end of the compact modular tracked chassis, and the hydraulic drive device is used to control the included angle α between the chainsaw cutting arm and the ground in the chainsaw cutting mechanism, so as to adapt to the trench forming requirements under different trench depths and roadway conditions. The included angle α can be steplessly adjusted in the range of 30° to 90°.

[0010] As a further aspect of the present invention: the loading mechanism includes a waste conveying channel, a waste conveying guide groove is provided on the waste conveying channel, and a conveying channel inlet and a conveying channel outlet are respectively provided at both ends. The conveying channel inlet is connected to a shovel body, a bucket cavity is formed inside the shovel body, a bucket cutting edge is connected to the front end, and a star wheel tooth is connected inside the bucket cavity through a star wheel drive assembly.

[0011] As a further aspect of the present invention: the safety protection system includes internal and external spray dust suppression components, a gas sensor, an emergency braking and control system for the machine body, and a personnel approach protection system; the internal and external spray dust suppression components are located on both sides of the mounting base of the chainsaw cutting mechanism, and the gas sensor and the personnel approach protection system are interlocked with the tracked machine body through the machine body information acquisition and control processing system; the emergency braking and control system for the machine body is located at the front end of the tracked machine body.

[0012] To achieve the above objectives, the present invention provides a method for modifying a chainsaw-type trencher based on a mining cantilever tunneling machine, comprising the following steps: Step 1: Dismantling of the original cantilever cutting section and preparation of the basic machine body: Dismantle the original cantilever cutting section and its cutting head of the mining cantilever tunneling machine, retain the tracked machine body as the underground walking and explosion-proof basic platform, and clean the machine body connection parts remaining after the original cantilever cutting section is dismantled. Step 2, mechanical installation of the chainsaw cutting mechanism: The chainsaw cutting mechanism mounting base is placed at the front end of the tracked machine body, and is connected and fixed to the machine body connection part remaining after the original cantilever cutting part is removed through the pre-set connection hole at the upper end of the chainsaw cutting mechanism mounting base, so as to serve as a groove forming operation mechanism to replace the original cantilever cutting part. Step 3, Installation of hydraulic drive device and connection of hydraulic system: Hinge one end of the hydraulic drive device used to drive the pitch adjustment of the chainsaw cutting mechanism to the chainsaw cutting arm, and connect the other end to the position below the mounting base of the chainsaw cutting mechanism. Connect the hydraulic drive device to the integrated explosion-proof hydraulic pump station set in the tracked machine body through hydraulic oil pipe, so that the chainsaw cutting mechanism can realize the cutting posture adjustment under hydraulic drive. Step 4, Electrical connection of the chainsaw drive unit: Connect the power input terminal of the chainsaw drive unit to the electrical control cabinet and the matching control system through an explosion-proof cable; Step 5, Installation and connection of control system and signal device: Install the machine information acquisition and control processing system on the tracked machine body, and install the front three-dimensional working condition scanning device of the cutting mechanism, the rear three-dimensional environment scanning device of the machine body and the remote control signal transceiver device in the corresponding positions, and establish a communication connection with the machine information acquisition and control processing system. Step 6, Hydraulic and electrical system linkage debugging: Connect the integrated explosion-proof hydraulic pump station to the electrical control cabinet and the supporting control system, and perform linkage debugging on the chainsaw drive device and the hydraulic drive device. Step 7, forming a chainsaw trencher: After completing the above steps, the chainsaw trencher based on the modified mining cantilever tunneling machine is formed.

[0013] To achieve the above objectives, the present invention also provides an operation control method based on the above-described chainsaw-type trencher, comprising the following steps: Step 1, Preparation and Temporary Deployment: Set up ground travel markers on the tunnel floor; transport the tracked machine to the work site, assemble and connect the hydraulic lines and cables, start the front three-dimensional working condition scanning device of the cutting mechanism and the rear three-dimensional environment scanning device of the machine, and complete the calibration of the three-dimensional scanning device based on the ground markers and calibration ruler; Step 2, 3D data acquisition: Start the integrated explosion-proof hydraulic pump station to drive the tracked walking drive mechanism so that the equipment can move along the roadway. This enables the synchronous acquisition of 3D roadway data by the rear 3D environment scanning device of the machine body and the front 3D working condition scanning device of the cutting mechanism. The data is then transmitted to the machine body information acquisition and control processing system for storage via the remote control signal transceiver device. Step 3, Parameter setting and virtual trenching simulation: Set the target depth and width parameters of the trench through the remote control platform and transmit them to the machine information acquisition and control processing system. The system combines the three-dimensional data to perform virtual trenching simulation and outputs and displays the recommended values ​​of the operating parameters such as included angle α, chain speed, and walking speed. Step 4, Cutting operation start: After the operator confirms the operation parameters, the hydraulic drive device adjusts the chainsaw cutting arm to the corresponding pitch position, and the chainsaw cutting mechanism cuts according to the planned path. The loading mechanism collects coal and rock debris at the same time to ensure the continuity of travel and operation. Step 5, Real-time correction and angle adaptation: The rear-mounted three-dimensional environment scanning device collects groove forming data in real time and compares it with the pre-simulation data; when forming deviation or obstacle interference occurs, the body information acquisition and control processing system controls the hydraulic drive device to dynamically correct the angle α and pitch attitude. Step 6, Safety Linkage and Closure: When the gas or dust concentration exceeds the threshold, the safety linkage control is triggered; after the operation is completed, an operation report is generated and uploaded, and the tracked machine is modularly disassembled and transferred to the next operation point.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention is based on a modified design of cantilever tunneling machine technology, forming an integrated configuration of "tracked body + chainsaw cutting mechanism + intelligent virtual trenching system + safety protection system". By setting the chainsaw cutting arm in the chainsaw cutting mechanism in a tilting form at the front end of the tracked body, and with the fixed explosion-proof protective shell, a highly efficient trenching operation scheme suitable for narrow underground tunnel environments is realized.

[0015] Unlike traditional cantilever tunneling machines that use large-sized cutting heads, this invention uses a chainsaw cutting mechanism mounting base and a hydraulic drive device to adjust the pitch of the chainsaw cutting arm around the mounting base. This significantly reduces the volume and dimensions of the front-end working mechanism while ensuring cutting depth and forming accuracy, minimizing the space occupied by underground operations and making it more suitable for trench excavation in narrow tunnels and locally deformed tunnels.

[0016] The chainsaw cutting mechanism of the present invention arranges the chainsaw drive components and drive sprockets inside a protective housing. The protective housing adopts an explosion-proof structure design and meets the explosion-proof requirements for mining. The cutting chain and guide wheel are set on the outside of the housing to participate in the cutting operation. Thus, without affecting the normal cutting function of the chainsaw, it effectively protects the chainsaw drive components, reduces the impact of coal and rock splashes, dust intrusion, and potential spark risks on the operational stability of the drive system, and improves the safety and reliability of the equipment in gas and dusty environments.

[0017] The tracked machine adopts a compact modular design. The compact modular tracked machine chassis can be detachably connected to an integrated explosion-proof hydraulic pump station, electrical control cabinet and supporting control system, and chainsaw cutting mechanism mounting base. This allows the whole machine to be disassembled into functional modules and transported to the work area via an underground elevator. The hydraulic pipelines and cables can be quickly connected and assembled at the work point, thereby reducing the requirements for the size of the underground passage for the transportation, relocation and installation of the whole machine, and shortening the equipment deployment and transfer time.

[0018] This invention, while meeting mining explosion-proof and underground safety standards, combines an intelligent virtual trenching system to achieve a combined operation mode of remote control, virtual pre-simulation, and real-time correction. It allows for dynamic adjustment of cutting parameters and posture during trenching, further improving trench forming quality and operational efficiency. Simultaneously, it effectively reduces the need for personnel to enter hazardous work areas, significantly enhancing the safety of underground operations. Furthermore, this invention can be quickly modified and integrated into existing mining cantilever tunneling machines, fully utilizing the original machine structure interfaces to facilitate the installation of the chainsaw cutting mechanism, thereby reducing modification difficulty and construction cycle, and demonstrating excellent engineering applicability. Attached Figure Description

[0019] Figure 1 This is a front view structural diagram of the chainsaw trencher based on a modified mining cantilever tunneling machine of the present invention; wherein, the solid line of the chainsaw cutting mechanism indicates that it is in the minimum pitch angle state, and the dashed line indicates that it is in the maximum pitch angle state during operation. Figure 2 This is a top view of the chainsaw trencher based on a modified mining cantilever tunneling machine according to the present invention. Figure 3 This is a schematic diagram of the chainsaw cutting mechanism of the chainsaw trencher, which is a modified version of a mining cantilever tunneling machine, according to the present invention. Figure 4 This is a top view schematic diagram of the loading mechanism of the chainsaw trencher, which is a modified version of a mining cantilever tunneling machine, according to the present invention. Figure 5 This is a front view structural diagram of the loading mechanism of the chainsaw trencher, which is a modified version of a mining cantilever tunneling machine, according to the present invention.

[0020] Figure 6This is a structural schematic diagram of a mining cantilever tunneling machine; Figure 7 for Figure 6 The diagram shows the structure of a mining cantilever tunneling machine after the cantilever cutting section and cutting head have been removed.

[0021] In the figure: 1. Tracked body, 2. Rear-mounted 3D environment scanning device, 3. Tracked walking drive mechanism, 4. Loading mechanism, 5. Chainsaw cutting mechanism, 6. Front-mounted 3D working condition scanning device for the cutting mechanism, 7. Emergency braking and control system of the body, 8. Information acquisition and control processing system of the body, 9. Remote control signal transceiver. 1.1 Compact modular tracked chassis; 1.2 Electrical control cabinet and supporting control system; 1.3 Integrated explosion-proof hydraulic pump station. 4.1 Conveying channel outlet; 4.2 Waste conveying guide chute; 4.3 Waste conveying channel; 4.4 Conveying channel inlet; 4.5 Star wheel toothed claw; 4.6 Star wheel drive assembly; 4.7 Shovel plate body; 4.8 Bucket cutting edge; 4.9 Bucket cavity. 5.1 Guide wheel, 5.2 Chainsaw cutting arm, 5.3 Chainsaw drive unit, 5.4 Hydraulic drive unit, 5.5 Chainsaw cutting mechanism mounting base. Detailed Implementation

[0022] The present invention will be further illustrated by the following examples.

[0023] The following embodiments focus on describing the chainsaw cutting mechanism 5, which is the core of the modification in this invention, and its installation method and working structure on a mining cantilever tunneling machine. The chainsaw cutting mechanism 5 realizes the trench forming operation function by replacing the original cantilever cutting part. The other structures, including the tracked body, loading mechanism, intelligent virtual trenching system, and safety protection system, are all described as supporting systems to ensure the safe, stable, and controllable operation of the chainsaw cutting mechanism in the underground environment.

[0024] This invention relates to a chainsaw-type trencher based on a modified cantilever tunneling machine. It includes at least a tracked body 1 of the cantilever tunneling machine as an underground walking and explosion-proof base platform, and a cutting mechanism 5 for forming chainsaw grooves at the front end of the tracked body 1. It is combined with a pitch-adjustable chainsaw cutting mechanism mounting base 5.5 and a cutting structure with chainsaw cutting arms 5.2 as pitch components to form a chainsaw-type trencher, which enables controllable trenching in narrow spaces and deformable roadways.

[0025] Specifically, such as Figure 1As shown, the chainsaw trencher, which is a modified version of a mining cantilever tunneling machine, includes a tracked body 1 and a tracked walking drive mechanism 3 equipped with spring tensioning devices on both sides of the tracked body 1. It can adapt to slight undulations in the roadway floor. The tracked body 1 is equipped with an intelligent virtual trenching system and a safety protection system. A chainsaw cutting mechanism 5 is installed on the upper part of the front end of the tracked body 1, and a loading mechanism 4 is installed on the lower part. The chainsaw cutting mechanism 5 and the loading mechanism 4 are connected and controlled by the intelligent virtual trenching system. The intelligent virtual trenching system includes a rear-mounted three-dimensional environment scanning device 2, a front-mounted three-dimensional working condition scanning device 6 for the cutting mechanism, a machine information acquisition and control processing system 8, a remote control signal transceiver device 9, and a remote control platform. The front three-dimensional working condition scanning device 6 of the cutting mechanism is located on the top of the chainsaw cutting mechanism 5, and the rear three-dimensional environment scanning device 2 of the machine body is located behind the tracked machine body 1. The front three-dimensional working condition scanning device 6 of the cutting mechanism and the rear three-dimensional environment scanning device 2 of the machine body are respectively connected to the machine body information acquisition and control processing system 8 through the built-in transmission module. The remote control platform includes a real-time monitoring window and a parameter adjustment panel. It is connected to the machine information acquisition and control processing system 8 via a remote control signal transceiver 9 to complete the three-dimensional data acquisition of the tunnel, virtual trenching pre-simulation and real-time deviation correction. The machine information acquisition and control processing system has a built-in data storage unit and a deviation comparison unit, which supports the backtracking of operation data.

[0026] To facilitate the transport of the tunneling machine body via an underground hoist and to adapt to the narrow passage requirements of underground transport channels, further, such as Figure 2 As shown, the tracked body is the original tracked body 1 of the mining cantilever tunneling machine. During the modification process, its walking structure and explosion-proof function are retained, and it is used as the installation and operation base platform for the chainsaw cutting mechanism 5. The tracked body 1 includes a compact modular tracked body chassis 1.1. The compact modular tracked body chassis 1.1 is detachably connected to an electrical control cabinet and supporting control system 1.2, and an integrated explosion-proof hydraulic pump station 1.3, so that the various parts of the tracked body 1 can be disassembled and transported to the work point by an underground elevator and assembled. During assembly, hydraulic pipelines and cables are connected to restore the overall machine operation function.

[0027] Furthermore, such as Figure 1 and Figure 3As shown, the chainsaw cutting mechanism 5 includes a chainsaw cutting mechanism mounting base 5.5 connected to the front end of the compact modular tracked chassis 1.1, a chainsaw cutting arm 5.2 mounted on the chainsaw cutting mechanism mounting base 5.5, and a hydraulic drive device 5.4 that cooperates with the chainsaw cutting arm 5.2. The chainsaw cutting mechanism mounting base 5.5 is used to connect and fix to the front end of the tracked chassis 1 during the modification process, so as to realize the functional replacement of the original cantilever cutting structure by the chainsaw cutting mechanism 5 without changing the original tracked chassis structure. A non-fully enclosed explosion-proof protective shell is fixedly installed on the chainsaw cutting mechanism mounting base 5.5. The explosion-proof protective shell is equipped with a chainsaw drive device 5.3 and its drive sprocket, which is used to realize the structural and functional replacement of the original cantilever cutting part while retaining the original tracked chassis structure.

[0028] A chainsaw cutting arm 5.2 is provided on the chainsaw cutting mechanism mounting base 5.5. The chainsaw cutting arm 5.2 is set in the form of an integral structure. A chainsaw drive device 5.3 is provided at one end of the chainsaw cutting arm 5.2 near the chainsaw cutting mechanism mounting base 5.5. The output end of the chainsaw drive device 5.3 is connected to a drive sprocket to provide power to the cutting chain. The chainsaw cutting arm 5.2 is equipped with a guide wheel 5.1 at one end near the ground. The guide wheel 5.1 is located in front of the drive sprocket and is used to guide and support the cutting chain. The cutting chain is wound between the drive sprocket and the guide wheel 5.1 to form a closed loop and achieves continuous operation under the drive of the chainsaw drive device 5.3. One end of the hydraulic drive device 5.4 is connected to the chainsaw cutting arm 5.2, and the other end is connected to the lower part of the chainsaw cutting mechanism mounting base 5.5, near the front drive wheel of the tracked walking drive mechanism 3. It is used to drive the chainsaw cutting arm 5.2 to pitch and rotate around a set axis, thereby adjusting the cutting posture of the chainsaw cutting arm 5.2 in the chainsaw cutting mechanism 5.

[0029] The chainsaw cutting mechanism mounting base 5.5 is hinged to the front end of the compact modular tracked chassis 1.1 and is equipped with a hydraulic drive device 5.4. The hydraulic drive device 5.4 is used to drive the chainsaw cutting arm 5.2 in the chainsaw cutting mechanism 5 to rotate relative to the tracked chassis 1, thereby adjusting the included angle α between the chainsaw cutting arm 5.2 in the chainsaw cutting mechanism 5 and the ground to adapt to the trench forming requirements under different trench depths and tunnel conditions. The included angle α is the angle formed between the length direction of the chainsaw cutting arm 5.2 and the ground, and the included angle α can be steplessly adjusted within the range of 30° to 90°.

[0030] The electrical control cabinet and its supporting control system 1.2 integrates a chainsaw drive motor and multiple sets of hydraulic cylinders. The integrated explosion-proof hydraulic pump station 1.3 has a built-in explosion-proof motor, transfer case, and multiple sets of load-sensitive pumps. The multiple sets of hydraulic cylinders drive the hydraulic drive device 5.4 and the tension adjustment component respectively, ensuring stable power output under fluctuating cutting loads. The chainsaw drive motor, multiple sets of hydraulic cylinders, explosion-proof motor, transfer case, and multiple sets of load-sensitive pumps work together to meet the comprehensive power and flow requirements during the cutting operation.

[0031] To facilitate the collection of coal and rock debris generated during the cutting operation, further, such as Figure 4 and Figure 5 As shown, the loading mechanism 4 includes a waste conveying channel 4.3, a waste conveying guide 4.2 on the waste conveying channel 4.3, and a conveying channel inlet 4.4 and a conveying channel outlet 4.1 at both ends. The conveying channel inlet 4.4 is connected to the shovel body 4.7, and the shovel body 4.7 forms a bucket cavity 4.9 inside. The front end is connected to the bucket cutting edge 4.8. The bucket cavity 4.9 is connected to the star wheel tooth 4.5 through the star wheel drive assembly 4.6.

[0032] Furthermore, the safety protection system includes internal and external spray dust suppression components, gas sensors, machine body emergency braking and control system 7, and personnel approach protection system; the internal and external spray dust suppression components are located on both sides of the chainsaw cutting mechanism mounting base 5.5, and the gas sensors and personnel approach protection system are interlocked with the tracked machine body 1 through the machine body information acquisition and control processing system 8; the machine body emergency braking and control system 7 is located at the front end of the tracked machine body 1, and can realize local emergency shutdown operation when the remote control system fails.

[0033] The operation control method based on the above-mentioned chainsaw trencher includes the following steps: The three-dimensional working condition scanning device 6 in front of the cutting mechanism and the three-dimensional environment scanning device 2 behind the machine body are used to obtain the spatial information of the tunnel and construct a three-dimensional model of the tunnel. Virtual trenching pre-simulation is performed based on the 3D model of the tunnel to generate corresponding cutting posture and operation parameters; Under the control of the remote control platform, the chainsaw cutting arm 5.2 in the drive chainsaw cutting mechanism 5 performs trenching operations according to the operating parameters; During the trenching process, based on the real-time operation data collected by the front three-dimensional working condition scanning device 6 of the cutting mechanism and the rear three-dimensional environment scanning device 2 of the machine body, the pitch attitude of the chainsaw cutting arm 5.2 in the chainsaw cutting mechanism 5 is dynamically corrected, and the operation interlock control is realized in combination with the safety protection system.

[0034] Specific Implementation Method: Modified Implementation Based on Mining Cantilever Roadheader Based on the existing mining cantilever tunneling machine, the present invention is a mining remote-controlled chainsaw trencher, and the modification process is as follows.

[0035] like Figure 6 The diagram shows a structural schematic of a mining cantilever tunneling machine, which includes a tracked body, a cantilever cutting section located at the front end of the tracked body, and a cutting head installed at the front end of the cantilever cutting section.

[0036] When modifying this mining cantilever roadheader, the original cantilever cutting section and its cutting head were first removed, forming a structure like... Figure 7 The basic body structure shown.

[0037] On the aforementioned basic structural body, install such as Figure 3 The chainsaw cutting mechanism 5 is shown. The chainsaw cutting mechanism mounting base 5.5 is connected and fixed to the body connection part remaining after the original cantilever cutting part is removed through the pre-set connection hole at its upper end, thereby realizing the reliable installation between the chainsaw cutting mechanism 5 and the tracked body.

[0038] Furthermore, one end of the hydraulic drive device 5.4 is hinged to the chainsaw cutting arm 5.2, and the other end is hinged to the corresponding position of the chainsaw cutting mechanism mounting base 5.5; and the hydraulic drive device 5.4 is connected to the integrated explosion-proof hydraulic pump station 1.3 in the tracked body through a hydraulic oil pipe to realize the pitch drive of the chainsaw cutting arm 5.2.

[0039] Simultaneously, the chainsaw drive unit 5.3 is electrically connected to the electrical control cabinet and its supporting control system 1.2 via an explosion-proof cable, enabling the chainsaw drive unit 5.3 to be controlled for start-up, shutdown, and speed adjustment. The machine information acquisition and control processing system 8 is installed on the tracked machine body and establishes communication connections with the remote control signal transceiver 9, the front-mounted three-dimensional working condition scanning device 6 of the cutting mechanism, and the rear-mounted three-dimensional environment scanning device 2 of the machine body. This enables remote control, virtual trenching pre-simulation, and data acquisition during the operation process, thereby forming a system such as... Figure 1 The image shows a chainsaw-type trencher based on a modified cantilever tunneling machine.

[0040] Through the above-mentioned modification, the present invention can achieve rapid integration of chainsaw-type trench cutting function and remote control / virtual trenching system while making full use of the existing foundation structure of mining cantilever tunneling machine. The modification process is simple, the construction period is short, and it has good engineering applicability.

[0041] In specific use, the control steps of the chainsaw trencher based on the modified mining cantilever tunneling machine are as follows: Step 1, Preparation and Temporary Deployment: Set up ground travel markers on the tunnel floor; transport the tracked machine body 1 to the work point for assembly and connect the hydraulic pipelines and cables; start the front three-dimensional working condition scanning device 6 of the cutting mechanism and the rear three-dimensional environment scanning device 2 of the machine body; and complete the calibration of the three-dimensional scanning device based on the ground markers and calibration ruler.

[0042] Step 2, 3D data acquisition: Start the integrated explosion-proof hydraulic pump station 1.3 to drive the tracked walking drive mechanism 3 so that the equipment moves along the roadway, realize the synchronous acquisition of roadway 3D data by the front and rear 3D scanning devices 6 and 2, and transmit it to the machine information acquisition and control processing system 8 for storage via the remote control signal transceiver device 9.

[0043] Step 3, Parameter Setting and Virtual Trenching Pre-simulation: Set the target depth and width parameters of the trench through the remote control platform and transmit them to the machine information acquisition and control processing system 8. The system combines the three-dimensional data to perform virtual trenching pre-simulation, and outputs and displays recommended values ​​for operation parameters such as included angle α, chain speed, and walking speed.

[0044] Step 4, Start of cutting operation: After the operator confirms the parameters, the hydraulic drive device 5.4 adjusts the chainsaw cutting arm 5.2 to the corresponding pitch posture, and the chainsaw cutting mechanism 5 cuts according to the planned path. The loading mechanism 4 collects coal and rock debris simultaneously to ensure the continuity of movement and operation.

[0045] Step 5, Real-time correction and angle adaptation: The rear-mounted three-dimensional environment scanning device 2 collects groove forming data in real time and compares it with the pre-simulation data; when forming deviation or obstacle interference occurs, the machine information acquisition and control processing system 8 controls the hydraulic drive device 5.4 to dynamically correct the angle α and pitch attitude.

[0046] Step 6, Safety Linkage and Closure: When the gas or dust concentration exceeds the threshold, the safety linkage control is triggered; after the operation is completed, an operation report is generated and uploaded, and the tracked machine body 1 is modularly disassembled and transferred to the next operation point.

Claims

1. A chainsaw-type trencher based on a modified mining cantilever tunneling machine, characterized in that, The chainsaw trencher is a modified version of the mining cantilever tunneling machine. After removing the original cantilever cutting section and cutting head, the tracked body (1) is retained as the underground walking and explosion-proof basic platform. A chainsaw cutting mechanism (5) is installed at the front end of the tracked body (1). The chainsaw cutting mechanism (5) serves as the structural and functional replacement unit of the original cantilever cutting section and is used to realize trench forming operations. The tracked machine body (1) is equipped with a tracked walking drive mechanism (3) with spring tensioning devices on both sides. The tracked machine body (1) is equipped with an intelligent virtual trenching system and a safety protection system. The tracked machine body (1) is equipped with a loading mechanism (4) at the bottom. The chainsaw cutting mechanism (5) and the loading mechanism (4) are used to work together to complete trench cutting and material collection operations, and are connected and controlled by the intelligent virtual trenching system. The intelligent virtual trenching system includes a rear-mounted three-dimensional environment scanning device (2), a front-mounted three-dimensional working condition scanning device for the cutting mechanism (6), a machine information acquisition and control processing system (8), a remote control signal transceiver device (9), and a remote control platform; The front three-dimensional working condition scanning device (6) of the cutting mechanism is located on the top of the chainsaw cutting mechanism (5), and the rear three-dimensional environment scanning device (2) of the machine body is located behind the tracked machine body (1). The front three-dimensional working condition scanning device (6) of the cutting mechanism and the rear three-dimensional environment scanning device (2) of the machine body are respectively connected to the machine body information acquisition and control processing system (8) through the built-in transmission module. The remote control platform communicates with the machine information acquisition and control processing system (8) through the remote control signal transceiver (9) to complete the three-dimensional data acquisition of the tunnel, virtual trenching pre-study and real-time deviation correction. The machine information acquisition and control processing system (8) has a built-in data storage unit and a deviation comparison unit, which supports the backtracking of operation data.

2. The chainsaw-type trencher based on a modified mining cantilever tunneling machine according to claim 1, characterized in that, The tracked body (1) is the original tracked body of the mining cantilever tunneling machine. During the modification process, its walking structure and explosion-proof function are retained. It is used as the installation and operation base platform for the chainsaw cutting mechanism (5). The tracked body (1) includes a compact modular tracked body chassis (1.1). The compact modular tracked body chassis (1.1) is detachably connected to an electrical control cabinet and a supporting control system (1.2) and an integrated explosion-proof hydraulic pump station (1.3).

3. The chainsaw-type trencher based on a modified mining cantilever tunneling machine according to claim 2, characterized in that, The chainsaw cutting mechanism (5) includes a chainsaw cutting mechanism mounting base (5.5) connected to the front end of the compact modular tracked chassis (1.1), a chainsaw cutting arm (5.2) set on the chainsaw cutting mechanism mounting base (5.5), and a hydraulic drive device (5.4) that cooperates with the chainsaw cutting arm (5.2). The chainsaw cutting mechanism mounting base (5.5) is used to connect and fix to the front end of the tracked machine body (1) during the modification process, so as to realize the function replacement of the original cantilever cutting structure by the chainsaw cutting mechanism (5) without changing the original tracked machine body structure. A non-fully enclosed explosion-proof protective shell is fixedly installed on the chainsaw cutting mechanism mounting base (5.5), and a chainsaw drive device (5.3) and its drive sprocket are installed inside the explosion-proof protective shell. The chainsaw cutting arm (5.2) is set in an integral structure. The chainsaw drive device (5.3) is installed at the end of the arms closest to the chainsaw cutting mechanism mounting base (5.5). The output end of the chainsaw drive device (5.3) is connected to the drive sprocket to provide power to the cutting chain. The chainsaw cutting arm (5.2) is equipped with a guide wheel (5.1) at the end closest to the ground. The guide wheel (5.1) is located in front of the drive sprocket and is used to guide and support the cutting chain. The cutting chain is wound around the drive sprocket and the guide wheel (5.1) to form a closed loop and achieves continuous operation under the drive of the chainsaw drive device (5.3). One end of the hydraulic drive unit (5.4) is connected to the chainsaw cutting arm (5.2), and the other end is connected to the position below the chainsaw cutting mechanism mounting base (5.5) near the front drive wheel of the tracked walking drive mechanism (3), and is used to drive the chainsaw cutting arm (5.2) to adjust the pitch of the cutting posture.

4. The chainsaw-type trencher based on a modified mining cantilever tunneling machine according to claim 3, characterized in that, The chainsaw cutting mechanism mounting base (5.5) is hinged to the front end of the compact modular tracked chassis (1.1). The hydraulic drive device (5.4) is used to control the angle α between the chainsaw cutting arm (5.2) and the ground in the chainsaw cutting mechanism (5). The angle α can be steplessly adjusted within the range of 30° to 90°.

5. The chainsaw-type trencher based on a modified mining cantilever tunneling machine according to claim 1, characterized in that, The loading mechanism (4) includes a waste conveying channel (4.3), a waste conveying guide groove (4.2) is provided on the waste conveying channel (4.3), and a conveying channel inlet (4.4) and a conveying channel outlet (4.1) are provided at both ends respectively. The conveying channel inlet (4.4) is connected to the shovel body (4.7), and a bucket cavity (4.9) is formed inside the shovel body (4.7). A bucket cutting edge (4.8) is connected to the front end, and a star wheel toothed claw (4.5) is connected inside the bucket cavity (4.9) through a star wheel drive assembly (4.6).

6. The chainsaw-type trencher based on a modified mining cantilever tunneling machine according to claim 3, characterized in that, The safety protection system includes internal and external spray dust removal components, gas sensors, machine body emergency braking and control system (7), and personnel approach protection system, which are used to achieve safety linkage control during chainsaw cutting operations and the operation of modified equipment; the internal and external spray dust removal components are located on both sides of the chainsaw cutting mechanism mounting base (5.5), and the gas sensors and personnel approach protection system are interlocked with the tracked machine body (1) through the machine body information acquisition and control processing system (8); the machine body emergency braking and control system (7) is located at the front end of the tracked machine body (1).

7. A method for modifying a chainsaw-type trencher based on a modified mining cantilever tunneling machine, characterized in that, Includes the following steps: Step 1, dismantling of the original cantilever cutting section and preparation of the basic machine body: dismantle the original cantilever cutting section and its cutting head of the mining cantilever tunneling machine, retain the tracked machine body (1) as the underground walking and explosion-proof basic platform, and clean the machine body connection parts retained after the original cantilever cutting section is dismantled; Step 2, mechanical installation of chainsaw cutting mechanism: The chainsaw cutting mechanism mounting base (5.5) with the chainsaw cutting mechanism (5) installed is placed at the front end of the tracked machine body (1), and is connected and fixed to the machine body connection part remaining after the original cantilever cutting part is removed through the pre-set connection hole at the upper end of the chainsaw cutting mechanism mounting base (5.5), so that it can be used as a groove forming operation mechanism to replace the original cantilever cutting part. Step 3, Installation and connection of hydraulic drive device (5.4) to hydraulic system: Hinge one end of the hydraulic drive device (5.4) used to drive the pitch adjustment of the chainsaw cutting mechanism to the chainsaw cutting arm (5.2), and connect the other end to the lower position of the chainsaw cutting mechanism mounting base (5.5). Connect the hydraulic drive device (5.4) to the integrated explosion-proof hydraulic pump station (1.3) set in the tracked machine body through hydraulic oil pipe, so that the chainsaw cutting mechanism (5) can realize the cutting posture adjustment under hydraulic drive; Step 4, Electrical connection of the chainsaw drive unit (5.3): Connect the power input end of the chainsaw drive unit (5.3) to the electrical control cabinet and the matching control system (1.2) through an explosion-proof cable; Step 5, Installation and connection of control system and signal device: Install the machine information acquisition and control processing system (8) on the tracked machine body (1), and install the cutting mechanism front three-dimensional working condition scanning device (6), the machine body rear three-dimensional environment scanning device (2) and the remote control signal transceiver device (9) in the corresponding positions, and establish a communication connection with the machine information acquisition and control processing system (8). Step 6, Hydraulic and electrical system linkage debugging: Connect the integrated explosion-proof hydraulic pump station (1.3) with the electrical control cabinet and supporting control system (1.2), and perform linkage debugging on the chainsaw drive device (5.3) and hydraulic drive device (5.4); Step 7, forming a chainsaw trencher: After completing the above steps, a chainsaw trencher based on a modified mining cantilever tunneling machine as described in claim 3 is formed.

8. The operation control method for the chainsaw-type trencher according to claim 3, characterized in that, Includes the following steps: Step 1, Preparation and Temporary Deployment: Set up ground movement markers on the tunnel floor; Transport the tracked machine body (1) to the work site for assembly and connect the hydraulic pipeline and cable. Start the front three-dimensional working condition scanning device (6) of the cutting mechanism and the rear three-dimensional environment scanning device (2) of the machine body. Complete the calibration of the three-dimensional scanning device based on ground markers and calibration ruler. Step 2, 3D data acquisition: Start the integrated explosion-proof hydraulic pump station (1.3) and drive the tracked walking drive mechanism (3) to make the equipment move along the roadway, realize the synchronous acquisition of the roadway 3D data by the rear 3D environment scanning device (2) of the machine body and the front 3D working condition scanning device (6) of the cutting mechanism, and transmit it to the machine body information acquisition and control processing system 8 for storage via the remote control signal transceiver device (9); Step 3, parameter setting and virtual trenching simulation: Set the target depth and width parameters of the trench through the remote control platform and transmit them to the machine information acquisition and control processing system (8). The system combines the three-dimensional data to perform virtual trenching simulation, output and display the recommended values ​​of the included angle α, chain speed and walking speed operation parameters; Step 4, start the cutting operation: After the operator confirms the operation parameters, the hydraulic drive device (5.4) adjusts the chainsaw cutting arm (5.2) to the corresponding pitch posture, the chainsaw cutting mechanism (5) cuts according to the planned path, and the loading mechanism (4) collects coal and rock debris simultaneously to ensure the continuity of walking and operation. Step 5, Real-time correction and angle adaptation: The rear three-dimensional environment scanning device (2) collects groove forming data in real time and compares it with the pre-simulation data; when forming deviation or obstacle interference occurs, the machine information acquisition and control processing system (8) controls the hydraulic drive device (5.4) to dynamically correct the angle α and pitch attitude; Step 6, Safety Interlock and Closure: When the gas or dust concentration exceeds the threshold, the safety interlock control is triggered; After the operation is completed, an operation report is generated and uploaded, and the tracked machine body (1) is modularly disassembled and transferred to the next operation point.

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