A horizontal and vertical dual-mode collaborative cutting section, a tunneling machine and its control method

Abstract

This invention discloses a horizontal and vertical dual-mode collaborative cutting unit, a tunneling machine, and its control method, belonging to the technical field of coal mine roadway tunneling machines. The horizontal and vertical dual-mode collaborative cutting unit integrates a right-hand / left-hand rotating blast head, a rotating head body, a blast head connecting part, and a cutting drive unit. It is equipped with independent horizontal and vertical power components and torque monitoring components. The blast head is equipped with double-sided toothed cutting teeth, and the rotating head body achieves power transmission through bevel gears and internal meshing gear pairs. The tunneling machine consists of this cutting unit, a rotary table, a main body, etc., forming a continuous operation process of cutting, loading, and transporting. The control method is based on the monitoring value of the torque sensor, combined with the Protodyakonov coefficient of coal and rock to quantitatively determine the strength, and automatically switches between horizontal axis, vertical axis, and horizontal and vertical dual-mode collaborative cutting modes. This invention significantly improves the adaptability of the tunneling machine to roadways with different coal and rock strengths, balances cutting stability and operating efficiency, improves the level of tunneling intelligence, reduces equipment investment costs, and adapts to complex underground operating environments.

Description

Technical Field

[0001] This invention relates to the field of coal mine roadway tunneling machine technology, and in particular to a horizontal and vertical dual-mode collaborative cutting section, a tunneling machine and its control method. Background Technology

[0002] Tunnel boring machines are key equipment for mining and tunnel excavation. However, underground tunnels in coal mines generally face complex geological conditions, limited space, and harsh environments. Therefore, the tunnels to be excavated may simultaneously encounter various complex geological conditions such as coal, semi-coal rock, soft rock, and hard rock, which places stringent requirements on the efficiency, adaptability, stability, and safety of tunnel excavation equipment.

[0003] Currently, underground roadway tunneling machines in coal mines mainly include horizontal axis tunneling machines and vertical axis tunneling machines. Among them, the cutting head of the horizontal axis tunneling machine is arranged perpendicular to the longitudinal axis of the machine. The cutting teeth of the cutting head are arranged in a spatial spiral and directly cut into the roadway cross-section along the tunneling direction. When cutting harder rock, it has low vibration and good stability. Moreover, the wheel system of the cutting head has a large moment of inertia, which provides good impact resistance when encountering increased cutting resistance at the roadway cross-section. It is mainly used for cutting and tunneling in semi-coal-rock, soft rock, and hard rock roadways. However, its single cutting depth is only about 100mm, requiring multiple left and right swings to reach the set cutting depth. The cutting efficiency is low, the dust volume is huge, and the roadway cross-section cutting quality is poor, which can easily lead to over-cutting and under-cutting.

[0004] The cutting head of the longitudinal axis roadheader is arranged along the longitudinal axis of the roadheader. The cutting teeth of the cutting head are arranged in a spatial spiral and drill into the roadway cross-section along the longitudinal axis of the roadheader. During operation, the roadheader needs to advance the cutting head along the longitudinal axis so that the cutting teeth of the cutting head rotate along the longitudinal axis and drill into the roadway cross-section. The cutting head can directly reach the set cutting depth, with high drilling efficiency and can cut out a relatively flat roadway. However, when facing hard rock roadway excavation, the cutting head bears severe eccentric load, which greatly reduces the stability of the cutting operation and may even lead to situations where hard rock roadways cannot be cut. It can only be adapted to the excavation of coal roadways and semi-coal-rock roadways, and has poor applicability to high-strength rock roadways.

[0005] Therefore, in order to address the above problems, there is an urgent need to develop a tunneling machine that is highly adaptable, efficient, reliable, and stable, capable of coordinating horizontal and vertical cutting operations, in order to solve the problem of efficient tunneling operations in complex underground roadways of coal mines and improve the applicability and utilization rate of tunneling equipment in roadways with different conditions. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides a horizontal and vertical dual-mode collaborative cutting unit, a tunneling machine, and its control method, which can achieve horizontal and vertical dual-mode collaborative cutting, and the cutting mode can be automatically switched, thereby improving the adaptability of the tunneling machine to complex geology and the stability and efficiency of cutting operations.

[0007] The technical solution adopted by the present invention to solve its technical problem is: a horizontal and vertical dual-mode cooperative cutting part, including a right-hand rotating cannon head, a left-hand rotating cannon head, a rotating head body, a cannon head connecting part, and a cutting drive part; The right-hand and left-hand cannon heads are respectively fixed at both ends of the horizontal axis of the rotating head body, and both adopt double-sided toothed cutting teeth arranged along the spiral line on the surface of the head body. The double-sided toothed cutting teeth can simultaneously bear the horizontal axis cutting load and the longitudinal cutting load, and the right-hand and left-hand cannon heads can rotate synchronously with the rotating head body around its horizontal axis to achieve horizontal axis rotation cutting. One side of the gun head connecting part is fixedly connected to the cutting drive part, and the other side is rotatably connected to the rotating shell of the rotating head body, so as to realize the rotation of the rotating head body around its longitudinal axis, thereby driving the right-hand rotating gun head and the left-hand rotating gun head to rotate synchronously around the longitudinal axis for cutting. The cutting drive unit integrates a horizontal axis power component, a vertical axis power component, and a torque monitoring component. The horizontal axis power component provides power for the horizontal axis rotation cutting of the right-hand and left-hand cannon heads. The vertical axis power component provides power for the vertical axis rotation cutting driven by the rotating head body to drive the right-hand and left-hand cannon heads. The torque monitoring component is used to monitor the torque values ​​of the horizontal and vertical axis cutting in real time.

[0008] Furthermore, the rotating head body includes a rotating housing, a horizontal shaft driven bevel gear, a horizontal shaft driving bevel gear, a rotating gear ring, and at least one driving rotating gear shaft; the horizontal shaft driven bevel gear is rotatably installed in the horizontal direction within the rotating housing, and both ends of the shaft of the horizontal shaft bevel gear are fixedly connected to the right-hand rotating gun head and the left-hand rotating gun head, respectively; the horizontal shaft driven bevel gear meshes with the horizontal shaft driving bevel gear to form a bevel gear pair; The horizontal shaft drive bevel gear is located on the longitudinal axis of the rotating head body and is connected to the horizontal shaft power assembly of the cutting drive unit. The rotating gear ring is fixed to the inner wall of the rotating housing near the cutting drive unit. The active rotating gear shaft is supported by a bearing and forms an internal meshing gear pair with the rotating gear ring. The active rotating gear shaft is connected to the longitudinal axis power assembly of the cutting drive unit.

[0009] Furthermore, there are multiple active rotating gear shafts, and these multiple active rotating gear shafts are evenly distributed around the longitudinal axis of the rotating head body. The number of longitudinal axis power components matches the number of active rotating gear shafts.

[0010] Furthermore, the gun head connection includes a rotary connecting retaining ring, a rotary main bearing, and a connecting seat; one side of the connecting seat is fixedly connected to the housing of the cutting drive unit, and the other side is rotatably connected to the rotating housing through the rotary connecting retaining ring and the rotary main bearing, and the rotary connecting retaining ring is used to limit the axial displacement of the rotating head body.

[0011] Furthermore, the cutting drive unit includes a cutting drive unit housing, a horizontal axis cutting reducer, a horizontal axis cutting torque sensor, a horizontal axis cutting motor, a vertical axis cutting reducer, a vertical axis cutting torque sensor, and a vertical axis cutting motor. The horizontal axis cutting reducer, the horizontal axis cutting torque sensor, and the horizontal axis cutting motor are sequentially connected to form the horizontal axis power assembly, and the vertical axis cutting reducer, the vertical axis cutting torque sensor, and the vertical axis cutting motor are sequentially connected to form the vertical axis power assembly. The horizontal axis cutting torque sensor and the vertical axis cutting torque sensor together constitute the torque monitoring component; the output shaft of the horizontal axis cutting reducer is fixedly connected to the horizontal axis drive bevel gear of the rotating head body, and the output shaft of the vertical axis cutting reducer is fixedly connected to the drive rotating gear shaft of the rotating head body; the horizontal axis cutting motor and the vertical axis cutting motor are both fixedly arranged on the mounting plate of the cutting drive housing.

[0012] The present invention also provides a transverse and longitudinal dual-mode collaborative cutting tunneling machine, including the aforementioned transverse and longitudinal dual-mode collaborative cutting unit, a rotary table, a main body, a loading unit, a transfer unit, and two traveling units; the rotary table is rotatably mounted on the main body, and the transverse and longitudinal dual-mode collaborative cutting unit is hinged to the rotary table through the lug plate of the cutting drive unit housing and the pitch lifting cylinder, and can swing left and right around the center of the rotary table and pitch around the axis connecting the rotary table and the pitch lifting cylinder, so as to realize transverse axis cutting, longitudinal axis cutting, and transverse and longitudinal dual-mode collaborative cutting of the roadway section to be excavated; The main body is fixedly mounted on two traveling sections for connecting and fixing the various components of the tunneling machine. The traveling sections are fixedly connected to the main body and are equipped with a tracked self-propelled mechanism for enabling the tunneling machine to move autonomously. The loading section is mounted at the front end of the main body for loading rock debris scattered during the cutting process. The transfer section is mounted at the rear end of the main body for transferring the rock debris loaded by the loading section to the rear of the tunneling machine.

[0013] Furthermore, the main body is equipped with a control system, which is electrically connected to the horizontal axis cutting motor, the vertical axis cutting motor, the horizontal axis cutting torque sensor, and the vertical axis cutting torque sensor of the cutting section, and is also electrically connected to the drive mechanism of the traveling section, the loading section, and the transfer section, for receiving torque monitoring data and controlling the action and mode switching of each component.

[0014] This invention also provides a control method for a transverse and longitudinal dual-mode collaborative cutting tunneling machine. Based on the aforementioned transverse and longitudinal dual-mode collaborative cutting tunneling machine, the cutting torque value is monitored in real time by the transverse axis cutting torque sensor and the longitudinal axis cutting torque sensor of the transverse and longitudinal dual-mode collaborative cutting unit. The strength of the coal and rock in the roadway to be tunneled is determined according to the correspondence between the cutting torque and the coal and rock strength quantified by the Protodyakonov coefficient f. Then, the control system of the tunneling machine automatically switches between three operating modes: transverse axis cutting, longitudinal axis cutting, and transverse and longitudinal dual-mode collaborative cutting. The preset threshold values ​​for the torque of the transverse axis cutting are set to M1 and M2; the preset threshold values ​​for the torque of the longitudinal axis cutting are set to N1 and N2. The torque values ​​M1 and N1 are experimentally calibrated to correspond to the Protodyakonov coefficient f=3 for coal and rock; the torque values ​​M2 and N2 are experimentally calibrated to correspond to the Protodyakonov coefficient f=8 for coal and rock. The control method includes the following steps: S1. Start the tunneling machine. The control system turns on the horizontal axis cutting motor by default. The tunneling machine enters the horizontal axis cutting mode. At the same time, the horizontal axis cutting torque sensor monitors the cutting torque value of the horizontal axis cutting motor in real time. The strength of the coal and rock in the roadway is predicted according to the pre-calibrated mapping relationship between the torque value and the Protodyakonov coefficient f. S2. When the horizontal axis cutting torque value is greater than M2, the Protodyakonov coefficient of coal and rock is determined to be greater than 8, which indicates that the strength of the coal and rock in the roadway to be excavated is of a relatively high level. Maintain the horizontal axis cutting mode until the roadway excavation is completed, then turn off all cutting motors and end the operation. S3. When M1≤horizontal axis cutting torque value≤M2, the coal and rock Protodyakonov coefficient 3≤f≤8 is determined, which indicates that the coal and rock strength of the roadway to be excavated is of medium grade. At this time, the tunneling machine control system starts the longitudinal axis cutting motor and enters the horizontal and longitudinal dual-mode collaborative cutting mode. At the same time, the cutting torque of the longitudinal axis cutting motor is monitored by the longitudinal axis cutting torque sensor. If the longitudinal axis cutting torque value is greater than N2, the Protodyakonov coefficient of the coal and rock is determined to be greater than 8, which indicates that the strength of the coal and rock has increased from medium to high level. At this time, the tunneling machine control system shuts down the longitudinal axis cutting motor and switches back to the transverse axis cutting mode. If the longitudinal cutting torque value is ≤ N2, the Protodyakonov coefficient of coal and rock is determined to be ≤ 8, which indicates that the strength of coal and rock remains at a medium level, and the cross-sectional and longitudinal dual-mode collaborative cutting mode continues to be maintained. S4. When the horizontal axis cutting torque value is < M1, it is determined that the coal and rock Protodyakonov coefficient f < 3, which indicates that the coal and rock strength of the roadway to be excavated is of a low level. The control system starts the longitudinal axis cutting motor and shuts down the horizontal axis cutting motor. The tunneling machine switches to the longitudinal axis cutting mode. At the same time, the longitudinal axis cutting torque sensor monitors the cutting torque value of the longitudinal axis cutting motor in real time. If the longitudinal cutting torque value is ≥ N1, the Protodyakonov coefficient of the coal and rock is determined to be ≥ 3, which indicates that the strength of the coal and rock has increased from low to medium level. The transverse cutting motor is started and switched back to the transverse and longitudinal dual-mode collaborative cutting mode. If the longitudinal cutting torque value is < N1, the Protodyakonov coefficient f is determined to be < 3, which indicates that the coal and rock strength remains at a low level, and the longitudinal cutting mode should continue.

[0015] Furthermore, the mapping relationship between torque value and the Protodyakonov coefficient f of coal and rock is obtained through pre-calibration of coal and rock roadway excavation tests with different Protodyakonov coefficients f in underground coal mines. The torque monitoring value increases positively correlated with the increase of the Protodyakonov coefficient f of coal and rock. The preset threshold M1 is the critical torque value obtained by calibration through excavation tests with a Protodyakonov coefficient f=3 in underground coal mines under the horizontal axis truncation mode; the preset threshold M2 is the critical torque value obtained by calibration through excavation tests with a Protodyakonov coefficient f=8 in underground coal mines under the horizontal axis truncation mode; the preset threshold N1 is the critical torque value obtained by calibration through excavation tests with a Protodyakonov coefficient f=3 in underground coal mines under the vertical axis truncation mode; and the preset threshold N2 is the critical torque value obtained by calibration through excavation tests with a Protodyakonov coefficient f=8 in underground coal mines under the vertical axis truncation mode.

[0016] The beneficial effects of this invention are: 1. This invention breaks through the limitations of the traditional single cutting mode of tunneling machines, realizing intelligent switching between three modes: horizontal axis cutting, vertical axis cutting, and horizontal and vertical dual-mode collaborative cutting. Combined with the Protodyakonov coefficient f to quantitatively determine the strength of coal and rock, it can accurately adapt to various geological roadways such as low-strength, medium-strength, and high-strength coal, semi-coal and rock, soft rock, and hard rock. It solves the technical problems of low cutting efficiency of traditional horizontal axis tunneling machines in low-strength coal and rock and severe off-center loading of vertical axis tunneling machines in high-strength hard rock. One device can replace two traditional tunneling machines, significantly reducing the investment and operation and maintenance costs of underground tunneling equipment in coal mines.

[0017] 2. The cutting section of this invention adopts an integrated and modular design. The horizontal and vertical power components are independently driven without interference. The rotating head body achieves efficient power transmission through a bevel gear pair and an internal meshing gear pair. The double-sided toothed cutting teeth of the blast head can withstand horizontal and vertical loads, improving the service life of the cutting teeth and the cutting stability. At the same time, it retains the advantages of horizontal axis cutting for impact resistance and vertical axis cutting for a smooth cross section, reducing the phenomenon of over- and under-excavation in the roadway and improving the quality of the tunneling cross section.

[0018] 3. This invention matches the optimal cutting mode for different coal and rock strengths. For high-strength coal and rock, horizontal axis cutting is used to ensure stable operation. For medium-strength coal and rock, horizontal and vertical dual-mode collaborative cutting is used to combine the efficiency advantages of both. For low-strength coal and rock, vertical axis cutting is used to take advantage of its fast feed rate, maximizing the cutting efficiency. Based on the real-time monitoring data of the torque sensor and the calibration mapping relationship between the coal and rock Protodyakonov coefficient, the control system realizes automatic judgment and automatic switching of the cutting mode without manual intervention, adapting to the complex working conditions of dynamic changes in coal and rock strength underground. Attached Figure Description

[0019] Figure 1This is a schematic diagram of the overall structure of a horizontal and vertical dual-mode collaborative cutting tunneling machine in working position 1 according to an embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the overall structure of a horizontal and vertical dual-mode collaborative cutting tunneling machine in working position 2 according to an embodiment of the present invention.

[0021] Figure 3 This is an overall schematic diagram of the working posture 1 of the horizontal and vertical dual-mode collaborative cutting unit in an embodiment of the present invention.

[0022] Figure 4 This is a schematic diagram of the overall working posture 2 of the horizontal and vertical dual-mode collaborative cutting part in an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram of the internal structure of the horizontal and vertical dual-mode collaborative cutting unit in the working posture 1 of an embodiment of the present invention.

[0024] Figure 6 This is a schematic diagram of the internal structure of the working posture 2 of the horizontal and vertical dual-mode collaborative cutting part according to an embodiment of the present invention.

[0025] Figure 7 This is a schematic diagram of the internal drive and transmission structure of the horizontal and vertical dual-mode collaborative cutting section according to an embodiment of the present invention.

[0026] Figure 8 This is a schematic diagram of the structure of the gun head connecting part connecting seat according to an embodiment of the present invention.

[0027] Figure 9 This is a schematic diagram of the structure of the cutting drive housing according to an embodiment of the present invention.

[0028] Figure 10 This is a schematic diagram of the arrangement of the right-handed and left-handed cutting teeth of the cannon head according to an embodiment of the present invention.

[0029] Figure 11 This is a flowchart of a control method for a horizontal and vertical dual-mode collaborative cutting tunneling machine according to an embodiment of the present invention.

[0030] In the diagram: 1. Horizontal and vertical dual-mode collaborative cutting unit; 2. Rotary table; 3. Main body; 4. Loading unit; 5. Transfer unit; 6. Traveling unit; 11. Right-hand rotating cannon head; 12. Left-hand rotating cannon head; 13. Rotating head body; 14. Cannon head connecting unit; 15. Cutting drive unit; 131. Rotating housing; 132. Horizontal shaft driven bevel gear; 133. Horizontal shaft driving bevel gear; 134. Rotating gear ring; 135. Driving rotating gear shaft; 141. Rotating connecting retaining ring; 142. Rotating main bearing; 143. Connecting seat; 151. Cutting drive unit housing; 152. Horizontal shaft cutting reducer; 153. Horizontal shaft cutting torque sensor; 154. Horizontal shaft cutting motor; 155. Vertical shaft cutting reducer; 156. Vertical shaft cutting torque sensor; 157. Vertical shaft cutting motor; 158. Mounting plate; 159. Ear plate. Detailed Implementation

[0031] The present invention will be further described in detail below with reference to the accompanying drawings.

[0032] This invention discloses a horizontal and vertical dual-mode collaborative cutting section.

[0033] Reference Figure 3 and Figure 4 A dual-mode collaborative cutting unit is a core operating component of a coal mine roadway tunneling machine. It includes a right-hand rotating blast head 11, a left-hand rotating blast head 12, a rotating head body 13, a blast head connecting part 14, and a cutting drive part 15. Through the transmission cooperation and structural linkage of each component, it realizes the operation functions of horizontal axis cutting, vertical axis cutting, and dual-mode collaborative cutting, and adapts to the roadway tunneling needs of different coal and rock strengths.

[0034] The right-hand rotating head 11 and the left-hand rotating head 12 are respectively fixed at both ends of the horizontal axis of the rotating head body 13. Both adopt double-sided toothed cutting teeth arranged in a regular spiral along the surface of the head body. The structural design of the double-sided toothed cutting teeth allows them to withstand the radial load during the horizontal axis cutting process and the axial load during the longitudinal cutting process, effectively improving the wear resistance and service life of the cutting teeth. At the same time, the right-hand rotating head 11 and the left-hand rotating head 12 can rotate synchronously with the horizontal axis bevel gear of the rotating head body 13 around the horizontal axis. The spiral arrangement of the cutting teeth enables the horizontal axis rotational cutting of the roadway section, ensuring the cutting stability during the cutting process.

[0035] The gun head connecting part 14 serves as the connecting hub between the rotating head body 13 and the cutting drive part 15. One side is fixedly connected to the cutting drive part 15, and the other side is rotatably connected to the rotating housing 131 of the rotating head body 13. This enables the rotating head body 13 to rotate 360° around its own longitudinal axis, thereby driving the right-hand rotating gun head 11 and the left-hand rotating gun head 12, which are fixed on the rotating head body 13, to rotate synchronously around the longitudinal axis, completing the longitudinal axis rotational cutting of the roadway cross section through the structural adaptation of transverse and longitudinal cutting. The rotating head body 13 integrates a bevel gear transmission pair and an internal meshing gear transmission pair. The two transmission pairs independently complete the power transmission in the transverse and longitudinal directions.

[0036] The cutting drive unit 15 adopts an integrated design, with a built-in horizontal axis power component, vertical axis power component and torque monitoring component. The horizontal axis power component provides power output for the horizontal axis rotation cutting of the right-hand rotating cannon head 11 and the left-hand rotating cannon head 12, and the vertical axis power component provides power support for the vertical axis rotation cutting of the cannon head driven by the rotating head body 13. The torque monitoring component can monitor the torque value in real time and accurately during the horizontal axis and vertical axis cutting process, providing reliable quantitative data for subsequent cutting mode switching.

[0037] Reference Figures 5 to 9 The rotating head body 13 includes a rotating housing 131, a horizontal shaft driven bevel gear 132, a horizontal shaft driving bevel gear 133, a rotating gear ring 134, and at least one driving rotating gear shaft 135. The internal transmission structure is arranged in the sealed cavity of the rotating housing 131 to prevent coal and rock dust from entering the transmission surface and affecting the transmission effect. The horizontal shaft driven bevel gear 132 is rotatably mounted in the horizontal direction in the rotating housing 131 through bearings. Its two ends are rigidly fixedly connected to the right-hand rotating head 11 and the left-hand rotating head 12, respectively. The horizontal shaft driven bevel gear 132 and the horizontal shaft driving bevel gear 133 mesh with each other to form a bevel gear pair, realizing the reversal of power transmission from the longitudinal axis direction to the horizontal axis direction, ensuring efficient output of horizontal cutting power. The horizontal shaft driving bevel gear 133 is coaxially arranged at the longitudinal axis of the rotating head body 13 and is connected to the horizontal axis power assembly of the cutting drive unit 15, so that the power of the horizontal axis power assembly is transmitted to the bevel gear pair.

[0038] The rotating gear ring 134 is fixed to the inner wall of the rotating housing 131 near the cutting drive unit 15 by bolts. The active rotating gear shaft 135 is radially supported by bearings and forms an internal meshing gear pair with the rotating gear ring 134. The active rotating gear shaft 135 is connected to the longitudinal axis power assembly of the cutting drive unit 15 for transmission. The longitudinal axis power is transmitted through the transmission form of the internal meshing gear pair, which drives the rotating housing 131 to rotate around the longitudinal axis.

[0039] To further improve the uniformity of force transmission during longitudinal cutting and avoid the problem of eccentric rotation of the rotating head 13, the number of active rotating gear shafts 135 can be set to multiple. In this embodiment, two active rotating gear shafts 135 are provided. The two active rotating gear shafts 135 are symmetrically distributed around the longitudinal axis of the rotating head 13. The number of longitudinal power components matches the number of active rotating gear shafts 135, so as to realize multi-point synchronous force transmission and ensure the coaxiality and stability of the longitudinal rotation of the rotating head 13.

[0040] The gun head connecting part 14 includes a rotary connecting retaining ring 141, a rotary main bearing 142, and a connecting seat 143, which form a combined connecting structure that balances the fixation of the connection with the flexibility of rotation. One side of the connecting seat 143 is rigidly fixed to the housing of the cutting drive part 15 through flange bolts, and the other side is rotatably connected to the rotating housing 131 through the rotary connecting retaining ring 141 and the rotary main bearing 142. The rotary main bearing 142 provides rotational support for the longitudinal axis rotation of the rotating head body 13, while the rotary connecting retaining ring 141 provides axial limit for the rotating head body 13, effectively restricting the movement of the rotating head body 13 in the longitudinal direction.

[0041] The cutting drive unit 15 consists of a cutting drive unit housing 151, a horizontal axis cutting reducer 152, a horizontal axis cutting torque sensor 153, a horizontal axis cutting motor 154, a vertical axis cutting reducer 155, a vertical axis cutting torque sensor 156, and a vertical axis cutting motor 157. The horizontal axis cutting reducer 152, the horizontal axis cutting torque sensor 153, and the horizontal axis cutting motor 154 are sequentially connected to form a horizontal axis power assembly. The vertical axis cutting reducer 155, the vertical axis cutting torque sensor 156, and the vertical axis cutting motor 157 are sequentially connected to form a vertical axis power assembly. The two power assemblies are designed and output independently, and can work individually or synchronously according to cutting requirements. The horizontal axis cutting torque sensor 153 and the vertical axis cutting torque sensor 156 together form a torque monitoring assembly, which collects the output torque of the horizontal axis and the vertical axis cutting motor 157 in real time.

[0042] The output shaft of the horizontal axis cutting reducer 152 is coaxially and fixedly connected to the horizontal axis drive bevel gear 133 of the rotating head body 13, and the output shaft of the vertical axis cutting reducer 155 is coaxially and fixedly connected to the drive rotating gear shaft 135 of the rotating head body 13; the horizontal axis cutting motor 154 and the vertical axis cutting motor 157 are both fixedly arranged on the mounting plate 158 of the cutting drive housing 151 by bolt groups.

[0043] The present invention also discloses a horizontal and vertical dual-mode collaborative cutting tunneling machine.

[0044] Reference Figure 1 and Figure 2A dual-mode collaborative cutting tunneling machine includes a dual-mode collaborative cutting unit 1, a rotary table 2, a main body 3, a loading unit 4, a transfer unit 5, and two traveling units 6. The rotary table 2 is rotatably mounted on the upper front end of the main body 3 via a rotary joint. The cutting unit is hinged to the rotary table 2 via an ear plate 159 on the outer side of its cutting drive housing 151 and a pitch lifting cylinder. With the rotational cooperation between the rotary table 2 and the main body 3, the cutting unit can complete the left and right swinging motion around the center of the rotary table 2. Through the extension and retraction drive of the pitch lifting cylinder, the cutting unit can complete the pitching motion around the axis connecting the rotary table 2 and the pitch lifting cylinder. Through the linkage of the left and right swinging and pitching motions, the cutting unit can achieve operation coverage of different positions and angles of the tunnel cross-section, thereby completing the horizontal axis cutting, vertical axis cutting, and dual-mode collaborative cutting operations of the tunnel cross-section to be excavated, meeting the full-section excavation requirements of the tunnel cross-section.

[0045] The main body 3, as the core load-bearing component of the tunneling machine, is fixedly mounted on two traveling parts 6 at its bottom. The traveling parts 6 are fixedly connected to the main body 3 and are equipped with a tracked self-propelled mechanism. The shoveling part 4 is installed at the lower front end of the main body 3 by means of a hinge, adjacent to the working area of ​​the cutting part, so as to shovel and collect the coal and rock slag scattered during the cutting process in a timely manner. The transfer part 5 is installed at the rear end of the main body 3 and is connected to the discharge port of the shoveling part 4. It can continuously and efficiently transfer the coal and rock slag loaded by the shoveling part 4 to the rear of the tunneling machine, effectively avoiding the accumulation of coal and rock slag in the working area and affecting the cutting operation, thus improving the overall operating efficiency of the tunnel excavation.

[0046] The main body 3 integrates a control system, which is electrically connected to the horizontal axis cutting motor 154, the vertical axis cutting motor 157, the horizontal axis cutting torque sensor 153, and the vertical axis cutting torque sensor 156 of the cutting unit. It is also electrically connected to the drive mechanisms of the traveling unit 6, the loading unit 4, and the transfer unit 5. It can receive torque data collected by the torque monitoring component in real time, and issue action commands to the drive mechanisms of each component according to the operation requirements, so as to realize the linkage control of each working component and the automatic switching of the cutting mode.

[0047] The present invention also discloses a control method for a horizontal and vertical dual-mode collaborative cutting tunneling machine.

[0048] Reference Figure 10 and Figure 11The control method of the horizontal and vertical dual-mode collaborative cutting tunneling machine is based on the aforementioned horizontal and vertical dual-mode collaborative cutting tunneling machine. This method takes cutting torque as the core quantitative index. The torque value during the cutting process is monitored in real time and continuously by the horizontal axis cutting torque sensor 153 and the vertical axis cutting torque sensor 156 of the horizontal and vertical dual-mode collaborative cutting unit 1. Combined with the positive correlation between cutting torque and coal and rock strength quantified by Protodyakonov coefficient f, the coal and rock strength level of the roadway to be tunneled is accurately determined. Then, the control system of the tunneling machine automatically completes the intelligent switching of three operation modes: horizontal axis cutting, vertical axis cutting, and horizontal and vertical dual-mode collaborative cutting. This makes the cutting mode of the tunneling machine compatible with the coal and rock strength, taking into account both the stability and efficiency of the tunneling operation.

[0049] Specifically, torque preset thresholds M1 and M2 are set for the horizontal axis cutting mode, and torque preset thresholds N1 and N2 are set for the vertical axis cutting mode. All preset thresholds are calibrated through actual-scale tunneling tests in coal mines. Preset thresholds M1 and N1 are the torque critical values ​​corresponding to the Protodyakonov coefficient f=3 for coal and rock, and preset thresholds M2 and N2 are the torque critical values ​​corresponding to the Protodyakonov coefficient f=8 for coal and rock. By quantifying the strength of coal and rock through the Protodyakonov coefficient, the setting of torque thresholds is made more scientific and practical.

[0050] The specific operational logic of this control method is as follows: S1. After starting the tunneling machine, the control system defaults to activating the horizontal axis cutting motor 154, and the tunneling machine enters the horizontal axis cutting mode. This mode is the basic mode for high-strength coal and rock tunneling, which has the advantages of impact resistance and strong stability. At the same time, the horizontal axis cutting torque sensor 153 monitors the cutting torque value of the horizontal axis cutting motor 154 in real time. The control system makes real-time predictions on the coal and rock strength of the tunnel based on the mapping relationship between the torque value obtained in advance through coal and rock roadway tunneling tests with different Protodyakonov coefficients f in underground coal mines and the Protodyakonov coefficient f. In this mapping relationship, the torque monitoring value increases positively correlated with the increase of the Protodyakonov coefficient f, providing an accurate basis for judging the coal and rock strength.

[0051] S2. When the horizontal axis cutting torque value is greater than M2, the control system determines that the coal and rock Protodyakonov coefficient f is greater than 8, which means that the coal and rock strength of the roadway to be excavated is of a high grade. At this time, the tunneling machine continues to operate in the horizontal axis cutting mode until the roadway section is excavated. Then the control system shuts down all cutting motors and ends the current tunneling operation. S3. When M1≤horizontal axis cutting torque value≤M2, the control system determines that the coal and rock Protodyakonov coefficient 3≤f≤8, which indicates that the coal and rock strength of the roadway to be excavated is of medium grade. At this time, the tunneling machine control system automatically starts the longitudinal axis cutting motor 157, and the tunneling machine switches to the horizontal and longitudinal dual-mode collaborative cutting mode, which fully combines the stability of horizontal axis cutting and the efficiency of longitudinal axis cutting. At the same time, the cutting torque of the longitudinal axis cutting motor 157 is monitored in real time through the longitudinal axis cutting torque sensor 156. If the longitudinal axis cutting torque value is greater than N2, the Protodyakonov coefficient f of the coal and rock is determined to be greater than 8, which indicates that the strength of the coal and rock has increased from medium to high level. At this time, the tunneling machine control system immediately shuts down the longitudinal axis cutting motor 157 and quickly switches back to the transverse axis cutting mode to ensure the stability of high-strength coal and rock cutting. If the longitudinal cutting torque value is ≤ N2, the Protodyakonov coefficient of the coal and rock is determined to be ≤ 8, which indicates that the strength of the coal and rock remains at a medium level. Therefore, the cross-sectional and longitudinal dual-mode collaborative cutting mode is continued to ensure the tunneling efficiency of medium-strength coal and rock.

[0052] S4. When the horizontal axis cutting torque value is < M1, the control system determines that the coal and rock Protodyakonov coefficient f < 3, which indicates that the coal and rock strength of the roadway to be excavated is of a low level. At this time, the control system automatically starts the longitudinal axis cutting motor 157 and shuts down the horizontal axis cutting motor 154. The tunneling machine switches to the longitudinal axis cutting mode and uses the advantages of fast cutting speed and high efficiency of longitudinal axis cutting to complete the tunneling of low-strength coal and rock. At the same time, the longitudinal axis cutting torque sensor 156 monitors the cutting torque value of the longitudinal axis cutting motor 157 in real time. If the longitudinal cutting torque value is ≥ N1, the Protodyakonov coefficient of the coal and rock is determined to be ≥ 3, which indicates that the strength of the coal and rock has increased from low to medium level. The control system immediately starts the transverse cutting motor 154 and switches back to the transverse and longitudinal dual-mode collaborative cutting mode. If the longitudinal cutting torque value is < N1, the Protodyakonov coefficient f of the coal and rock is determined to be < 3, which indicates that the strength of the coal and rock remains at a low level. At this time, the longitudinal cutting mode should be maintained to give full play to the efficiency advantage of longitudinal cutting in the tunneling of low-strength coal and rock.

Claims

1. A horizontal and vertical dual-mode collaborative cutting section, characterized in that: It includes a right-hand rotating cannon head (11), a left-hand rotating cannon head (12), a rotating head body (13), a cannon head connecting part (14), and a cutting drive part (15); The right-handed cannon head (11) and the left-handed cannon head (12) are respectively fixed at both ends of the transverse axis of the rotating head body (13), and both adopt double-sided toothed cutting teeth arranged along the spiral line on the surface of the head body. The double-sided toothed cutting teeth can simultaneously bear the transverse axis cutting load and the longitudinal cutting load, and the right-handed cannon head (11) and the left-handed cannon head (12) can rotate synchronously with the rotating head body (13) around its transverse axis to realize transverse axis rotation cutting; One side of the gun head connecting part (14) is fixedly connected to the cutting drive part (15), and the other side is rotatably connected to the rotating shell (131) of the rotating head body (13), so as to realize the rotation of the rotating head body (13) around its longitudinal axis, thereby driving the right-hand rotating gun head (11) and the left-hand rotating gun head (12) to rotate synchronously around the longitudinal axis for cutting. The cutting drive unit (15) integrates a horizontal axis power component, a vertical axis power component and a torque monitoring component. The horizontal axis power component provides power for the horizontal axis rotation cutting of the right-hand rotating cannon head (11) and the left-hand rotating cannon head (12). The vertical axis power component provides power for the vertical axis rotation cutting of the right-hand rotating cannon head (11) and the left-hand rotating cannon head (12) driven by the rotating head body (13). The torque monitoring component is used to monitor the torque values ​​of the horizontal axis and vertical axis cutting in real time. The rotating head body (13) includes a rotating housing (131), a horizontal shaft driven bevel gear (132), a horizontal shaft driving bevel gear (133), a rotating gear ring (134), and at least one driving rotating gear shaft (135); the horizontal shaft driven bevel gear (132) is rotatably mounted in the horizontal direction within the rotating housing (131), and the two ends of the shaft of the horizontal shaft bevel gear are fixedly connected to the right-hand rotating gun head (11) and the left-hand rotating gun head (12), respectively; the horizontal shaft driven bevel gear (132) meshes with the horizontal shaft driving bevel gear (133) to form a bevel gear pair; The horizontal shaft active bevel gear (133) is located on the longitudinal axis of the rotating head body (13) and is connected to the horizontal shaft power assembly of the cutting drive unit (15) for transmission. The rotating gear ring (134) is fixedly mounted on the inner wall of the rotating housing (131) near the end of the cutting drive unit (15). The active rotating gear shaft (135) is supported by a bearing and forms an internal meshing gear pair with the rotating gear ring (134). The active rotating gear shaft (135) is connected to the longitudinal axis power assembly of the cutting drive unit (15) for transmission. The cutting drive unit (15) includes a cutting drive unit housing (151), a horizontal axis cutting reducer (152), a horizontal axis cutting torque sensor (153), a horizontal axis cutting motor (154), a vertical axis cutting reducer (155), a vertical axis cutting torque sensor (156), and a vertical axis cutting motor (157). The horizontal axis cutting reducer (152), the horizontal axis cutting torque sensor (153), and the horizontal axis cutting motor (154) are sequentially connected to form the horizontal axis power assembly, and the vertical axis cutting reducer (155), the vertical axis cutting torque sensor (156), and the vertical axis cutting motor (157) are sequentially connected to form the vertical axis power assembly. The horizontal axis cutting torque sensor (153) and the vertical axis cutting torque sensor (156) together constitute the torque monitoring component; the output shaft of the horizontal axis cutting reducer (152) is fixedly connected to the horizontal axis active bevel gear (133) of the rotating head body (13), and the output shaft of the vertical axis cutting reducer (155) is fixedly connected to the active rotating gear shaft (135) of the rotating head body (13); the horizontal axis cutting motor (154) and the vertical axis cutting motor (157) are both fixedly arranged on the mounting plate (158) of the cutting drive housing (151).

2. The transverse and longitudinal dual-mode collaborative cutting section according to claim 1, characterized in that: The number of active rotating gear shafts (135) is multiple, and the multiple active rotating gear shafts (135) are evenly distributed around the longitudinal axis of the rotating head body (13). The number of the longitudinal axis power components matches the number of active rotating gear shafts (135).

3. The transverse and longitudinal dual-mode collaborative cutting section according to claim 2, characterized in that: The gun head connecting part (14) includes a rotating connecting retaining ring (141), a rotating main bearing (142), and a connecting seat (143); one side of the connecting seat (143) is fixedly connected to the housing of the cutting drive part (15), and the other side is rotatably connected to the rotating housing (131) through the rotating connecting retaining ring (141) and the rotating main bearing (142). The rotating connecting retaining ring (141) is used to limit the axial displacement of the rotating head body (13).

4. A transverse and longitudinal dual-mode collaborative cutting tunneling machine, characterized in that: It includes the horizontal and vertical dual-mode collaborative cutting unit (1), rotary table (2), main body (3), loading unit (4), transfer unit (5) and two walking units (6) as described in claim 3; the rotary table (2) is rotatably mounted on the main body (3), and the horizontal and vertical dual-mode collaborative cutting unit (1) is hinged to the rotary table (2) through the ear plate (159) of the cutting drive housing (151) and the pitch lifting cylinder, and can swing left and right around the center of the rotary table (2) and pitch around the axis connecting the rotary table (2) and the pitch lifting cylinder, so as to realize the horizontal axis cutting, vertical axis cutting and horizontal and vertical dual-mode collaborative cutting of the roadway section to be excavated; The main body (3) is fixedly installed on two walking parts (6) to realize the connection and fixed installation of various components of the tunneling machine; the walking parts (6) are fixedly connected to the main body (3), and the walking parts (6) are equipped with a tracked self-propelled mechanism to realize the autonomous movement of the tunneling machine; the loading part (4) is installed at the front end of the main body (3) to load the rock debris scattered during the cutting process; the transfer part (5) is installed at the rear end of the main body (3) to transfer the rock debris loaded by the loading part (4) to the rear of the tunneling machine.

5. A transverse and longitudinal dual-mode collaborative cutting tunneling machine according to claim 4, characterized in that: The main body (3) is equipped with a control system, which is electrically connected to the horizontal axis cutting motor (154), the vertical axis cutting motor (157), the horizontal axis cutting torque sensor (153), and the vertical axis cutting torque sensor (156) of the cutting section, and is also electrically connected to the drive mechanism of the walking section (6), the loading section (4), and the transfer section (5), for receiving torque monitoring data and controlling the action and mode switching of each component.

6. A control method for a horizontal and vertical dual-mode collaborative cutting tunneling machine, characterized in that: Based on the horizontal and vertical dual-mode collaborative cutting tunneling machine as described in claim 5, the cutting torque value is monitored in real time by the horizontal axis cutting torque sensor (153) and the vertical axis cutting torque sensor (156) of the horizontal and vertical dual-mode collaborative cutting unit (1). The strength of the coal and rock in the tunnel to be tunneled is determined according to the correspondence between the cutting torque and the coal and rock strength quantified by the Protodyakonov coefficient f. Then, the control system of the tunneling machine automatically switches between three operating modes: horizontal axis cutting, vertical axis cutting, and horizontal and vertical dual-mode collaborative cutting. Among them, the preset threshold of torque for horizontal axis cutting is set to M1 and M2; the preset threshold of torque for vertical axis cutting is set to N1 and N2. The torque values ​​M1 and N1 are tested and calibrated to correspond to the Protodyakonov coefficient f=3 for coal and rock; the torque values ​​M2 and N2 are tested and calibrated to correspond to the Protodyakonov coefficient f=8 for coal and rock. The control method includes the following steps: S1. Start the tunneling machine. The control system defaults to turning on the horizontal axis cutting motor (154). The tunneling machine enters the horizontal axis cutting mode. At the same time, the horizontal axis cutting torque sensor (153) monitors the cutting torque value of the horizontal axis cutting motor (154) in real time. The strength of the coal and rock in the roadway is predicted according to the pre-calibrated mapping relationship between the torque value and the Protodyakonov coefficient f. S2. When the horizontal axis cutting torque value is greater than M2, the Protodyakonov coefficient of coal and rock is determined to be greater than 8, which indicates that the strength of the coal and rock in the roadway to be excavated is of a relatively high level. Maintain the horizontal axis cutting mode until the roadway excavation is completed, then turn off all cutting motors and end the operation. S3. When M1≤horizontal axis cutting torque value≤M2, the coal and rock Protodyakonov coefficient 3≤f≤8 is determined, which indicates that the coal and rock strength of the roadway to be excavated is of medium grade. At this time, the tunneling machine control system starts the longitudinal axis cutting motor (157) and enters the horizontal and vertical dual-mode collaborative cutting mode. At the same time, the cutting torque of the longitudinal axis cutting motor (157) is monitored by the longitudinal axis cutting torque sensor (156). If the longitudinal axis cutting torque value is greater than N2, the Protodyakonov coefficient f of the coal and rock is determined to be greater than 8, which indicates that the strength of the coal and rock has increased from medium to high level. At this time, the tunneling machine control system shuts down the longitudinal axis cutting motor (157) and switches back to the transverse axis cutting mode. If the longitudinal cutting torque value is ≤ N2, the Protodyakonov coefficient of coal and rock is determined to be ≤ 8, which indicates that the strength of coal and rock remains at a medium level, and the cross-sectional and longitudinal dual-mode collaborative cutting mode continues to be maintained. S4. When the horizontal axis cutting torque value is < M1, it is determined that the coal and rock Protodyakonov coefficient f < 3, which indicates that the coal and rock strength of the roadway to be excavated is of a low level. The control system starts the longitudinal axis cutting motor (157) and shuts down the horizontal axis cutting motor (154). The tunneling machine switches to the longitudinal axis cutting mode. At the same time, the longitudinal axis cutting torque sensor (156) monitors the cutting torque value of the longitudinal axis cutting motor (157) in real time. If the longitudinal cutting torque value is ≥ N1, the Protodyakonov coefficient of coal and rock is determined to be ≥ 3, which indicates that the strength of coal and rock has increased from low to medium level. The transverse cutting motor (154) is started and switched back to the transverse and longitudinal dual-mode collaborative cutting mode. If the longitudinal cutting torque value is < N1, the Protodyakonov coefficient f is determined to be < 3, which indicates that the coal and rock strength remains at a low level, and the longitudinal cutting mode should continue.

7. The control method for a transverse and longitudinal dual-mode collaborative cutting tunneling machine according to claim 6, characterized in that: The mapping relationship between torque value and the Protodyakonov coefficient f of coal and rock was obtained by pre-calibration through coal and rock roadway excavation tests with different Protodyakonov coefficients f in underground coal mines. The torque monitoring value increases positively correlated with the increase of the Protodyakonov coefficient f of coal and rock. The preset threshold M1 is the critical torque value obtained through tunneling tests with a Protodyakonov coefficient of f=3 for coal and rock in underground coal mines under the horizontal axis cutting mode; the preset threshold M2 is the critical torque value obtained through tunneling tests with a Protodyakonov coefficient of f=8 for coal and rock in underground coal mines under the horizontal axis cutting mode; the preset threshold N1 is the critical torque value obtained through tunneling tests with a Protodyakonov coefficient of f=3 for coal and rock in underground coal mines under the vertical axis cutting mode; and the preset threshold N2 is the critical torque value obtained through tunneling tests with a Protodyakonov coefficient of f=8 for coal and rock in underground coal mines under the vertical axis cutting mode.

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