A coal mine large-inclination roadway tunneling device and method

Abstract

The application discloses a coal mine large-inclination roadway tunneling device and method, and belongs to the technical field of coal mine tunneling devices. The tunneling device comprises a body part, a cutting part, a walking part and a step guiding track. The step guiding track comprises a ground track, a pushing device, a track clamping device one, a track clamping device two and a connecting frame. The ground track is laid in sections along a tunneling direction, each section of the ground track comprises symmetrically arranged parallel guide rails, and one pushing device is arranged on each guide rail. Each pushing device is slidably connected with the guide rails through the track clamping device one and the track clamping device two. The track clamping device one is arranged at an output end of the pushing device, and the track clamping device two is arranged at a rear end of the pushing device. The connecting frame is arranged on the body part and connected with the track clamping device one through a connecting rod three. The application has the functions of large-inclination stable tunneling, step guiding, multi-stage stabilization, auxiliary retreat and anti-inclination, can continuously and stably complete large-inclination tunneling operation, and improves the economic benefits of coal mine production.

Description

Technical Field

[0001] This invention relates to the field of coal mine tunneling technology, specifically to a device and method for tunneling steeply inclined roadways in coal mines. Background Technology

[0002] Steeply inclined coal seams are widely distributed in western my country's mining areas. Taking the fifth section of a coal mine as an example, the tunneling slope ranges from 33° to 42°, which is a typical steeply inclined coal seam tunneling condition. Currently, this mine and similar mines generally use blasting for coal seam tunneling. This technology has many inherent defects: it is prone to generating safety and environmental hazards such as falling rocks and excessive dust during operation; it also has low operating efficiency, poor roadway cross-section quality, and prominent safety risks, making it difficult to meet the requirements of efficient, safe, and green production in underground coal mines.

[0003] At the same time, existing conventional tunneling machines are poorly adapted to this type of steep downhill tunneling condition. When the tunneling slope reaches 40°, the equipment is prone to technical defects such as slippage, machine rollover, insufficient positioning accuracy, and difficulty in control, making it impossible to achieve stable tunneling operations. Summary of the Invention

[0004] The purpose of this invention is to provide a device and method for tunneling steeply inclined roadways in coal mines. By setting up components such as stepping guide rails and anti-tilting devices, it solves the problems of conventional tunneling machines being prone to slippage, overturning, and difficult positioning control under steeply inclined downward tunneling conditions, and significantly improves the adaptability and operational stability of the tunneling machine in roadways with an inclination of 33°~42°.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A coal mine steep-angle roadway excavation device includes a main body, a cutting section, a traveling section, and an auxiliary climbing mechanism;

[0007] The auxiliary climbing mechanism is a tracked walking mechanism, symmetrically arranged on the outer side of the walking section;

[0008] The auxiliary climbing mechanism includes guide wheels, track rollers, drive wheels, track assembly, and clamping device;

[0009] The clamping device includes mounting plate one, a swing arm, mounting plate two, and a connecting rod;

[0010] The upper end of the swing arm is connected to the main body through mounting plate one, and the lower end of the swing arm is connected to mounting plate two. Several connecting rods are provided on the mounting plate. The number and position of the connecting rods match the support rollers, and each connecting rod is connected to the support rollers.

[0011] The swing arm is equipped with a hydraulic cylinder for driving, which achieves the clamping of the support roller.

[0012] Preferably, each auxiliary climbing mechanism is equipped with a ground anchor stabilization mechanism;

[0013] The ground anchor stabilization mechanism includes a lifting device, a rotating device, and a spiral anchoring assembly;

[0014] The lifting device is connected to the auxiliary climbing mechanism, the output end of the lifting device is connected to the slewing device, and the slewing device is connected to the helical anchoring assembly.

[0015] As a preferred embodiment, a front support device is also provided on the main body;

[0016] The front support device includes a telescopic rod and a support head; one end of the telescopic rod is connected to the front end of the main body, and the other end is connected to the support head, which is used to support the tunneling face.

[0017] As a preferred embodiment, it also includes an anti-tilting device, which is symmetrically arranged on both sides of the main body of the tunneling device;

[0018] The anti-tilting device includes a fixed base, a support arm, and a support arm drive device;

[0019] The fixed base is located at the rear of the main body; the bottom end of the support arm is hinged to the fixed base, and the top end of the support arm is connected to the anti-slip tooth plate. The anti-slip tooth plate is evenly distributed with several conical anti-slip teeth for engaging with the roadway roof to prevent slippage; the support arm drive device is used to drive the support arm to unfold and fold upward.

[0020] Preferably, the main body is also equipped with a shovel and conveying mechanism, including a shovel head, a receiving turntable and a scraper conveying unit;

[0021] The scraper conveyor unit includes a shovel head section and a conveying section. The shovel head section is located in the middle of the shovel head, and a stop is provided at the front end of the shovel head section to prevent coal from falling. The conveying section is connected to the rear of the shovel head section to further convey the coal.

[0022] The shovel head section divides the shovel plate surface of the shovel head into a symmetrical left shovel plate surface and a right shovel plate surface, and the left shovel plate surface and the right shovel plate surface are respectively arranged with a fixed downward angle relative to the plane where the conveyor belt is located;

[0023] A receiving turntable is set on the left and right shovel surfaces respectively. The receiving turntables are symmetrically arranged about the shovel head section and are used to transfer the coal material on the shovel head into the shovel head section.

[0024] As a preferred embodiment, the main body is also provided with a stepping guide rail, including a ground rail, a pushing device, a rail clamp one, a rail clamp two, and a connecting frame;

[0025] The ground track consists of two parallel guide rails with a toothed rail in the middle.

[0026] Each guide rail is equipped with a rail clamp 1 at the front end and a rail clamp 2 at the rear end; a connecting post 1 connects the two rail clamps 1; a connecting post 2 connects the two rail clamps 2.

[0027] Follower meshing gears are respectively fitted on connecting column one and connecting column two, and the follower meshing gears mesh with the toothed rail;

[0028] A pushing device is provided between connecting post one and connecting post two. The output end of the pushing device is connected to connecting post one, and the rear end of the pushing device is connected to connecting post two.

[0029] One end of the connecting frame is connected to the connecting column, and the other end of the connecting frame is connected to the main body.

[0030] Preferably, rail clamp one and rail clamp two have the same structure, both including a mounting plate, a linear drive device one, a Y-shaped fork, a clamping claw and a clamping device;

[0031] The Y-shaped shift fork includes a handle and two symmetrically arranged fork arms;

[0032] Two clamping claws are symmetrically arranged. Each clamping claw includes a clamping part and a connecting part. The clamping part is used to clamp the side of the guide rail. Each connecting part is provided with a guide slide III. The fork arm of each Y-shaped fork is slidably connected to the corresponding clamping claw through the guide slide III.

[0033] The upper end of the mounting plate is provided with a linear drive device 1, the output end of which is connected to the handle of the Y-shaped shift fork; the lower part of the linear drive device 1 is provided with a vertical guide slide 1, which is slidably connected to the handle of the Y-shaped shift fork.

[0034] A mounting groove is provided below the guide slide I; two transverse guide slides II are symmetrically provided at the lower end of the mounting plate, and each guide slide II is slidably connected to the connecting part of the corresponding clamping claw.

[0035] The clamping device is located in the mounting groove and is connected to the handle of the Y-shaped shift fork. The clamping device is used to clamp the upper surface of the guide rail.

[0036] Preferably, the clamping device includes a linkage mechanism, a linear drive device, an upper wedge-shaped clamping block, and a lower wedge-shaped self-locking block;

[0037] The upper end of the second linear drive device is connected to the handle of the Y-shaped shift fork, and the lower end of the second linear drive device is connected to the lower wedge-shaped self-locking block; the output end of the second linear drive device is hinged to one end of the linkage mechanism to provide a horizontal forward driving force to the linkage mechanism, and the other end of the linkage mechanism is hinged to the upper wedge-shaped clamping block.

[0038] The upper wedge-shaped clamping block and the lower wedge-shaped self-locking block form a wedge-shaped meshing pair, with the bottom surface of the upper wedge-shaped clamping block fitting against the upper surface of the guide rail.

[0039] A method for tunneling steeply inclined roadways in coal mines includes the following steps:

[0040] S1. Lay the initial section of ground track, move the tunneling device to the initial work position, and complete the installation of each component of the stepping guide track;

[0041] Start the rail clamps one and two to lock the guide rails, and at the same time start the ground anchor stabilization mechanism to anchor the roadway floor, thereby braking the tunneling device;

[0042] S2. Perform a single coal and rock cutting operation at the initial work station, including:

[0043] S2-1, Moving forward: Unlock the ground anchor stabilizing mechanism, rail clamp one loosens the rail, rail clamp two keeps the rail locked;

[0044] The traveling unit, auxiliary climbing mechanism, and stepping guide rail pusher are activated, and the three work together to drive the tunneling device to move forward one step in a straight line;

[0045] S2-2, Coal and Rock Cutting and Transport: Start the cutting unit and transport mechanism to complete the cutting and transport of coal and rock during the advance of the tunneling device;

[0046] S3. Support and anchor the tunnel, including:

[0047] S3-1, Reverse: The starting unit, auxiliary climbing mechanism and stepping guide rail push device work together to drive the tunneling device to retreat a preset distance in a straight line to make way for the anchoring operation;

[0048] The clamping device of the auxiliary climbing mechanism drives the support rollers to clamp the tracks, thereby increasing the ground pressure and providing climbing driving force;

[0049] S3-2, Braking: Activate the ground anchor stabilization mechanism to anchor the roadway floor, activate rail clamp one and rail clamp two to lock the guide rail, and activate the front support device to provide jacking support to the tunneling face, thereby achieving braking of the tunneling device;

[0050] S3-3, Support and Anchoring: Deploy the support unit to provide temporary support for the roadway roof, complete the permanent anchoring of the roadway roof, and retract the front support device;

[0051] S4. Repeat steps S2-S3 to complete the coal and rock cutting and transportation of the initial section of the ground track and the support and anchoring of the corresponding roadway.

[0052] S5. Along the tunneling direction, lay the second section of ground track in front of the initial section of ground track, and remove the pushing device, rail clamp one, and rail clamp two from the initial section of ground track and install them on the second section of ground track.

[0053] Referring to step S4, complete the coal and rock cutting and transportation of the second section of the ground track and the support and anchoring of the corresponding roadway;

[0054] S6. Following step S5, complete the laying of all ground tracks, coal and rock cutting and transportation, and roadway support and anchoring in sequence.

[0055] As a preferred option, when the front end of the tunneling machine tilts forward and the rear end tilts up, the anti-tilting device is activated. The anti-tilting device supports the roof of the roadway to achieve longitudinal limitation of the tunneling machine.

[0056] The present invention has the following beneficial effects:

[0057] 1. This invention features an auxiliary climbing mechanism to assist the tunneling device in reversing. The auxiliary climbing mechanism works in conjunction with the four-wheel drive track walking unit to provide auxiliary reversing driving force and increase ground pressure, solving the problem of difficulty in reversing the tunneling machine in steep roadways, improving the continuity of operation. Combined with the double fixation of the ground anchor stabilization mechanism, it enables the tunneling machine to walk in a stepping manner and brake reliably, effectively ensuring the stability of the whole machine during steep cutting operations and reducing safety hazards.

[0058] 2. The anti-tilting device of the present invention can quickly support the roadway roof to achieve longitudinal limiting through the cooperation of the folding arm and the anti-slip toothed plate. Combined with the tension of the stepping guide rail, it can effectively prevent the tunneling device from tilting and becoming unstable under large inclination conditions, thus enhancing the safety of operation.

[0059] 3. The front support device of this invention can quickly build a working platform, and together with the temporary support of the support section and the manual permanent anchoring operation, it can realize the integrated coordination of cutting and support, and solve the problems of poor cross-section forming quality and untimely support in the existing process.

[0060] 4. In this invention, the scraper conveying unit of the shovel mechanism is located at the center of the shovel head, and the material collection turntable is symmetrically arranged on the left and right sides. This structure can reduce the installation angle of the shovel mechanism and facilitate the collection of coal.

[0061] 5. This invention features a stepping guide rail to guide the tunneling device and provide an upward pull to prevent it from sliding down. Combined with the stepping movement of the tunneling device, the ground track laying and guidance, coal and rock cutting and transportation, and roadway support and anchoring are completed in sections, enabling the tunneling device to move forward or backward in a straight line. This solves the problems of conventional tunneling machines being prone to sliding down and having difficulty in positioning and control under steep inclination conditions, and significantly improves the adaptability and operational stability of the tunneling machine in roadways with an inclination of 33° to 42°. Attached Figure Description

[0062] Figure 1 This is a schematic diagram of the installation layout of the steep-angle tunnel excavation device of the present invention.

[0063] Figure 2This is a schematic diagram of the overall structure of the steep-angle tunnel excavation device of the present invention.

[0064] Figure 3 This is a schematic diagram of the stepping guide track structure of the steep-angle tunnel excavation device of the present invention.

[0065] Figure 4 This is a schematic diagram of the rail clamp of the steep-angle tunnel excavation device of the present invention.

[0066] Figure 5 This is a schematic diagram of the auxiliary climbing mechanism of the steep-angle tunnel excavation device of the present invention.

[0067] Figure 6 This is a schematic diagram of the clamping device structure of the steep-angle tunnel excavation device of the present invention.

[0068] Figure 7 This is a schematic diagram of the front support device of the steep-angle tunnel excavation device of the present invention.

[0069] Figure 8 This is a schematic diagram of the anti-tilting device of the steep-angle tunnel excavation device of the present invention.

[0070] Figure 9 This is a schematic diagram of the ground anchor stabilization mechanism of the steep-angle tunnel excavation device of the present invention.

[0071] Figure 10 This is a schematic diagram of the shovel and transport mechanism of the steep-angle tunnel excavation device of the present invention.

[0072] The components include: 1. Body section; 2. Cutting section; 3. Walking section; 4. Support section;

[0073] 5. Stepping guide track;

[0074] 51. Connecting frame; 52. Ground track; 53. Pushing device; 54. Rail clamp one; 55. Rail clamp two;

[0075] 541. Mounting plate; 542. Linear drive device one; 543. Y-shaped shift fork; 544. Clamping claw; 545. Pressing device; 546. Linkage mechanism; 547. Linear drive device two; 548. Upper wedge-shaped pressing block; 549. Lower wedge-shaped self-locking block;

[0076] 6. Auxiliary climbing mechanism;

[0077] 61. Guide wheel; 62. Track roller; 63. Drive wheel; 64. Track assembly; 65. Clamping device;

[0078] 651. Mounting plate one; 652. Swing arm; 653. Mounting plate two; 654. Connecting column; 655. Guide rail plate;

[0079] 7. Ground anchor stabilization mechanism;

[0080] 71. Lifting device; 72. Rotation device; 73. Spiral anchoring assembly;

[0081] 8. Front support device;

[0082] 81. Telescopic pole; 82. Support head;

[0083] 9. Anti-tilting device;

[0084] 91. Fixed base; 92. Support arm; 93. Support arm drive device;

[0085] 10. Loading and transporting mechanism;

[0086] 101. Shovel head; 102. Receiving turntable; 103. Scraper conveyor unit;

[0087] 1031. Shovel head section; 1032. Conveying section; 1033. Stop block. Detailed Implementation

[0088] The present invention will now be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

[0089] In the description of this invention, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this invention. The specific dimensions used in this embodiment are only for illustrating the technical solution and do not limit the scope of protection of this invention.

[0090] like Figures 1-10 As shown, a coal mine steep-angle roadway excavation device includes a main body 1 for the integrated connection and control of various components of the excavation device. The main body 1 is provided with a cutting part 2, a traveling part 3 and a support part 4.

[0091] The cutting section 2 is located at the front end of the main body 1 and adopts a multi-stage feed cutting method to realize fixed-point, fixed-shape, and directional cutting of the roadway. The traveling section 3 adopts a four-wheel drive track structure and is symmetrically arranged on the left and right sides below the chassis of the main body 1. The support section 4 is located above the cutting section 2 and is used for temporary roadway support operations.

[0092] The main body 1 is equipped with a braking device for a steeply inclined coal and rock roadway excavation mechanism, specifically a stepping guide rail 5, which is used to guide and brake the excavation device. The stepping guide rail 5 includes a ground rail 52, a pushing device 53, a rail clamp 1 54, a rail clamp 2 55, and a connecting frame 51.

[0093] The ground track 52 includes two parallel guide rails and one toothed track, with the toothed track positioned in the middle of the two guide rails. Each guide rail has a rail catcher 54 at its front end, with two rail catchers 54 arranged symmetrically; each guide rail has a rail catcher 55 at its rear end, with two rail catchers 55 arranged symmetrically. A connecting post 1 connects the two rail catchers 54; a connecting post 2 connects the two rail catchers 55. Each connecting post 1 and connecting post 2 is fitted with a following meshing gear, and each following meshing gear meshes with the toothed track.

[0094] A pushing device 53 is also provided between connecting column one and connecting column two. Two pushing devices 53 are symmetrically arranged on the left and right sides. The output end (front end) of each pushing device 53 is connected to connecting column one, and the rear end of each pushing device 53 is connected to connecting column two. The pushing device 53 is preferably a hydraulic cylinder. The connecting frame includes two symmetrically arranged connecting rods one. One end of each connecting rod one is connected to connecting column one, and the other end of each connecting rod one is connected to the main body 1.

[0095] Rail clamp 1 54 and rail clamp 2 55 have the same structure, such as Figure 4 As shown, each includes a mounting plate 541, a linear drive device 542, a Y-shaped shift fork 543, a clamping jaw 544, and a clamping device 545. The Y-shaped shift fork 543 includes a handle and two symmetrically arranged fork arms, each fork arm having a stop at its lower end.

[0096] Two clamping claws 544 are symmetrically arranged. Each clamping claw 544 includes a clamping part and a connecting part. The inner side of each clamping part is provided with an anti-slip clamping surface adapted to the contour of the guide rail, which is used to grip the side of the guide rail to provide horizontal braking force. The anti-slip clamping surface is provided with a toothed structure that intersects with the tooth groove of the guide rail. When clamping, a surface-tooth meshing is formed, which improves the anti-slip load-bearing capacity and braking stability under large tilt angle conditions. Each connecting part is provided with a guide slide III. The shape of the guide slide III matches the fork arm of the Y-shaped shift fork 543. The fork arm of each Y-shaped shift fork 543 is slidably connected to the corresponding clamping claw 544 through the guide slide III, and the stop block abuts against the lower surface of the connecting part.

[0097] A linear drive device 542 is provided at the upper end of the mounting plate 541. The output end of the linear drive device 542 is connected to the handle of the Y-shaped shift fork 543, providing vertical driving force for the Y-shaped shift fork 543. A limiting block is also sleeved on the output end of the linear drive device 542, which is connected to the mounting plate 541 to limit the upward stroke of the Y-shaped shift fork 543. The linear drive device 542 is preferably configured as a hydraulic cylinder. A vertical guide slide I is provided on the mounting plate 541 below the linear drive device 542. The guide slide I is slidably connected to the handle of the Y-shaped shift fork 543, providing vertical guidance for the Y-shaped shift fork 543. A hollow mounting groove is provided below the guide slide I for installing the clamping device 545. Two horizontal guide slides II are symmetrically provided at the lower end of the mounting plate 541. Each guide slide II is slidably connected to the connecting part of the corresponding clamping claw 544, providing horizontal guidance for the clamping claw 544. Guide slide I and guide slide II are preferably configured as dovetail groove structures.

[0098] A clamping device 545 is located within the mounting groove and is connected to the handle of the Y-shaped shift fork 543. The clamping device 545 is used to clamp the upper surface of the guide rail. The clamping device 545 includes a linkage mechanism 546, a second linear drive device 547, an upper wedge-shaped clamping block 548, and a lower wedge-shaped self-locking block 549. The upper end of the second linear drive device 547 is connected to the handle of the Y-shaped shift fork 543, and the lower end of the second linear drive device 547 is connected to the lower wedge-shaped self-locking block 549. The output end of the second linear drive device 547 is hinged to one end of the linkage mechanism 546, providing a horizontal forward driving force to the linkage mechanism 546. The other end of the linkage mechanism 546 is hinged to the upper wedge-shaped clamping block 548. The second linear drive device 547 is preferably configured as a hydraulic cylinder. During upward movement, the upper end face of the second linear drive device 547 abuts against the mounting groove, forming a limiting structure to prevent excessive slippage and damage to the components.

[0099] The bottom surface of the upper wedge-shaped clamping block 548 is in contact with the upper surface of the guide rail; the upper part of the upper wedge-shaped clamping block 548 is provided with an upward inclined surface one, and the lower part of the lower wedge-shaped self-locking block 549 is provided with an inclined surface two that matches the inclined surface one. The inclination angles of the inclined surface one and the inclined surface two are both less than the friction angle. The upper wedge-shaped clamping block 548 and the lower wedge-shaped self-locking block 549 form a wedge-shaped meshing pair, which can clamp the guide rail under vertical pressure and form a self-locking effect in the clamped state to prevent loosening after the braking force is unloaded.

[0100] The ground track 52 is provided in several sections, and the length of each section can be designed according to the actual working conditions such as the step length of the tunneling device. In this embodiment, one step length of the tunneling device is set to 1.1m, and the length of the ground track 52 is set to 3.3m (three steps). The ground track 52 is laid in sections to facilitate control of the tunneling direction.

[0101] The auxiliary climbing mechanism 6 is a tracked walking mechanism, with two of them symmetrically arranged on the outside of the walking part 3, used to assist the tunneling device in backward movement. Each auxiliary climbing mechanism 6 includes a guide wheel 61, a support wheel 62, a drive wheel 63, a track assembly 64, and a clamping device 65.

[0102] The guide wheel 61 is located at the front end, and the drive wheel 63 is located at the rear end. A drive device is installed on the drive wheel 63 to provide power. The support wheel 62 is located between the guide wheel 61 and the drive wheel 63. In this embodiment, there are two support wheels 62, which are used for supporting and tensioning the track assembly 64.

[0103] The clamping device 65 is used to clamp and adjust the support roller 62, and includes mounting plate 1 651, swing arm 652, mounting plate 2 653, connecting column 654, and guide rail plate 655. The clamping device can force the track to conform to the uneven bottom plate (including undulating terrain with loose coal and gangue) throughout its entire length, ensuring the ground contact area and ground contact length, so that the traction force is evenly distributed throughout the entire track ground contact section, and avoids the interruption of traction force due to local suspension.

[0104] The upper end of the swing arm 652 is connected to the side of the main body 13 via mounting plate 1 651, and the lower end of the swing arm 652 is connected to mounting plate 2 653. Several connecting posts 654 are provided on the mounting plate, the number and position of which match the support roller 62. Each connecting post 654 is connected to the center of the support roller 62. A hydraulic cylinder is installed inside the swing arm 652 for driving, thereby pressing the support roller 62 against the track. Preferably, a guide rail plate 655 is fitted on the outer side of the connecting post 654 for limiting its movement.

[0105] Each auxiliary climbing mechanism 6 is equipped with a ground anchor stabilizing mechanism 7 on its side to ensure the stability of the entire machine during the cutting operation of the tunneling device. There are two ground anchor stabilizing mechanisms 7, each of which includes a lifting device 71, a rotating device 72, and a spiral anchoring assembly 73.

[0106] The lifting device 71 is connected to the auxiliary climbing mechanism 6, and the output end of the lifting device 71 is connected to the slewing device 72. The slewing device 72 is connected to the helical anchoring assembly 73. The lifting device 71 is used to realize the vertical movement of the helical anchoring assembly 73, and the slewing device 72 is used to realize the lateral slewing adjustment of the helical anchoring assembly 73. The helical anchoring assembly 73 includes a drive device for providing anchoring power.

[0107] The main body 1 is also equipped with a front support device 8, which is used to support and anchor the front of the tunneling device and build the working platform. The front support device 8 includes a telescopic rod 81 and a support head 82; one end of the telescopic rod 81 is connected to the front end of the main body 1, and the other end is connected to the support head 82, which is used to support the tunneling face. There are two front support devices 8, which are symmetrically arranged on the left and right sides of the front end of the main body 1.

[0108] The main body 1 is also equipped with an anti-tilting device 9. There are two anti-tilting devices 9, which are symmetrically arranged on the left and right sides of the main body 1 of the tunneling device. They are used to realize the anti-tilting and limiting operation of the tunneling device, including a fixed base 91, a support arm 92 and a support arm drive device 93.

[0109] The fixed base 91 is located at the tail of the main body 1; the bottom end of the support arm 92 is hinged to the fixed base 91, and the top end of the support arm 92 is connected to the anti-slip tooth plate. The anti-slip tooth plate is evenly provided with a number of conical anti-slip teeth for engaging with the roof of the roadway to prevent slippage.

[0110] The support arm drive device 93 is used to drive the support arm 92 to unfold and fold upwards. The support arm drive device 93 specifically includes a power cylinder and a middle folding arm. One end of the middle folding arm is hinged to the fixed base 91, and the other end is hinged to the middle of the support arm 92. The power cylinder is installed on the fixed base 91, and the output end of the power cylinder is connected to the middle folding arm to push it to unfold or fold.

[0111] The main body 1 is also equipped with a shovel and conveyor mechanism 10, which is located at the front end of the main body 1 and is used to collect and transfer coal materials. It includes a shovel head 101, a receiving turntable 102 and a scraper conveyor unit 103.

[0112] The shovel head 101 has a shovel-shaped structure and is used to efficiently collect falling coal in steeply inclined roadways. The scraper conveying unit 103 includes a shovel head section 1031 and a conveying section 1032. The shovel head section 1031 is vertically arranged in the middle of the shovel head 101. A triangular stop is provided at the front end of the shovel head section 1031 to prevent coal from falling. The conveying section 1032 is straight and connected to the rear of the shovel head section 1031 to further convey the coal.

[0113] The shovel head section 1031 divides the shovel plate surface of the shovel plate head 101 into a symmetrical left shovel plate surface and a right shovel plate surface. The left shovel plate surface and the right shovel plate surface are respectively arranged with a fixed downward angle relative to the plane where the conveyor belt is located. The fixed downward angle is preferably 5-10°. The entire shovel plate head presents an inverted V shape with a high middle and low ends.

[0114] Two material receiving turntables 102 are respectively installed on the left and right shovel surfaces. They are symmetrically arranged about the shovel head section 1031 to assist in collecting coal and transferring the coal on the shovel head 101 into the shovel head section 1031.

[0115] Because the roadway has a large inclination angle, the installation inclination angle of the shovel and haulage mechanism should not be too large. The structure of this application can reduce the installation inclination angle of the shovel and haulage mechanism. The preferred installation inclination angle of the shovel and haulage mechanism in this application is 5°.

[0116] The scraper conveying unit 103 is equipped with a drive unit and a tension adjustment unit at its tail. The drive unit provides power for the cyclic movement of the scraper chain, and the tension adjustment unit adjusts the center distance of the sprockets through a hydraulic cylinder to compensate for the elastic elongation of the scraper chain and ensure the stable operation of the conveying system.

[0117] The scraper conveying unit 103 includes a scraper chain, a central trough, a drive sprocket, and a driven wheel, used to realize the backward transfer of coal. The scraper conveying unit 103 is also equipped with a sliding device to realize the forward and backward movement of the shovel mechanism 10.

[0118] A method for tunneling steeply inclined roadways in coal mines includes the following steps.

[0119] Step 1, Initial State Locking: Move the tunneling device in its initial state to the initial work position, lay the initial section of ground track 52 and complete the installation of each component; activate two rail clamps 1 54 and two rail clamps 2 55 to lock the guide rails, and at the same time activate the ground anchor stabilizing mechanism 7 to drill the spiral anchoring component 73 into the tunnel floor to achieve stable braking of the entire tunneling device.

[0120] Step 2: Perform a single coal and rock cutting operation at the initial work station, including:

[0121] Unlock and retract the ground anchor stabilizing mechanism 7, loosen the two rail clamps 54 of the stepping guide rail 5, and keep the other two rail clamps 55 locked. Start the pushing device 53, the traveling part 3 and the auxiliary climbing mechanism 6. The three work together to drive the tunneling device to move forward in a straight line.

[0122] During the downward excavation process, the stepping guide rail 5 simultaneously provides auxiliary tension to prevent the excavation device from sliding down due to gravity caused by excessive ground inclination.

[0123] Simultaneously, the cutting section 2 and the shoveling and transporting mechanism 10 are activated. During the advance of the tunneling device, the cutting section 2 performs fixed-point, fixed-shape, and directional cutting of the coal and rock, while the shoveling and transporting mechanism 10 moves forward to simultaneously complete the shoveling, collection, and transportation of the fallen coal.

[0124] Step 3: Support and anchor the tunnel, including:

[0125] After the tunneling device moves forward one step (1.1m), it retreats a preset distance (0.4-0.6m) to provide working space for the workers to anchor. During the retreat, the two rail clamps 54 of the stepping guide rail 5 remain in the slack state, while the other two rail clamps 55 remain in the locked state. The pushing device 53, the traveling unit 3, and the auxiliary climbing mechanism 6 are activated, and the three work together to drive the tunneling device to move backward in a straight line.

[0126] During the backward movement of the auxiliary climbing mechanism 6, the clamping device 65 drives the support roller 62 to clamp the track, increasing the ground pressure of the equipment and providing auxiliary climbing driving force to ensure smooth climbing.

[0127] After the device is moved into position, the ground anchor stabilization mechanism 7, rail clamp 1 54, rail clamp 2 55, and front support device 8 are activated simultaneously. The spiral anchoring assembly 73 re-anchors the bottom plate, and rail clamps 1 54 and 2 55 are fully locked and braked. The front support device 8 provides jacking support to the tunneling face, achieving stable braking of the entire tunneling device. At this time, the support section 4 is deployed to provide temporary support to the tunnel roof.

[0128] Workers can build an anchoring platform using the telescopic rod 81 of the front support device 8, and use a pneumatic anchoring drill to complete the permanent anchoring operation of the top plate on the platform.

[0129] Step 4: Proceed to the next cutting position: The front support device 8 is retracted, the workers leave the excavation face, the spiral anchoring component 73 is retracted, the rail clamp 1 54 is loosened, the rail clamp 2 55 is locked, the pushing device 53, the traveling part 3 and the auxiliary climbing mechanism 6 are started, and the whole machine is driven to the next cutting position.

[0130] After the tunneling device has traveled three steps (3.3m in length of ground track 52), the second section of ground track 52 is laid along the tunneling direction. The pushing device 53, rail clamp 1 54, and rail clamp 2 55 on the initial section of ground track 52 are removed and installed on the second section of ground track 52. Then, the tunneling device is driven to continue moving forward. This segmented installation of the ground track 52 and the stepping guide track 5 ensures that the tunneling device's travel path is straight, making it easy to position and effectively preventing rollover.

[0131] Following the above process, the laying of all ground tracks 52, coal and rock cutting and shoveling, and roadway support and anchoring are completed in sequence: repeating the single cutting, shoveling, retreating, support, manual anchoring, and stepping feed cycle to complete the integrated continuous operation of cutting, shoveling, walking, and support.

[0132] Step 5: When the tunneling device is tunneling downwards, if the front end of the main body 1 tilts forward and the rear end lifts up, activate the anti-tilting device 9. The anti-tilting device 9 supports the roadway roof to achieve longitudinal limit of the tunneling machine. Under the combined action of the support force of the anti-tilting device 9 and the tension of the stepping guide rail 5, the tunneling device is prevented from tilting backward and becoming unstable under large tilt angle conditions.

[0133] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the protection scope of the present invention.

Claims

1. A coal mine steep-angle roadway excavation device, characterized in that, It includes the main body, the cutting section, the walking section, and the auxiliary climbing mechanism; The auxiliary climbing mechanism is a tracked walking mechanism, symmetrically arranged on the outer side of the walking section; The auxiliary climbing mechanism includes guide wheels, track rollers, drive wheels, track assembly, and clamping device; The clamping device includes mounting plate one, a swing arm, mounting plate two, and a connecting rod; The upper end of the swing arm is connected to the main body through mounting plate one, and the lower end of the swing arm is connected to mounting plate two. Several connecting rods are provided on the mounting plate. The number and position of the connecting rods match the support rollers, and each connecting rod is connected to the support rollers. The swing arm is equipped with a hydraulic cylinder for driving, which achieves the clamping of the support roller.

2. The coal mine steep-angle roadway excavation device according to claim 1, characterized in that, Each auxiliary climbing mechanism is equipped with a ground anchor stabilization mechanism; The ground anchor stabilization mechanism includes a lifting device, a rotating device, and a spiral anchoring assembly; The lifting device is connected to the auxiliary climbing mechanism, the output end of the lifting device is connected to the slewing device, and the slewing device is connected to the helical anchoring assembly.

3. The coal mine steep-angle roadway excavation device according to claim 1, characterized in that, The main body is also equipped with a front support device; The front support device includes a telescopic rod and a support head; one end of the telescopic rod is connected to the front end of the main body, and the other end is connected to the support head, which is used to support the tunneling face.

4. The coal mine steep-angle roadway excavation device according to claim 1, characterized in that, It also includes anti-tilting devices, which are symmetrically arranged on both sides of the main body of the tunneling device; The anti-tilting device includes a fixed base, a support arm, and a support arm drive device; The fixed base is located at the rear of the main body; the bottom end of the support arm is hinged to the fixed base, and the top end of the support arm is connected to the anti-slip tooth plate. The anti-slip tooth plate is evenly distributed with several conical anti-slip teeth for engaging with the roadway roof to prevent slippage; the support arm drive device is used to drive the support arm to unfold and fold upward.

5. A coal mine steep-angle roadway excavation device according to claim 1, characterized in that, The main body is also equipped with a shovel and conveyor mechanism, including a shovel head, a receiving turntable, and a scraper conveyor unit; The scraper conveyor unit includes a shovel head section and a conveying section. The shovel head section is located in the middle of the shovel head, and a stop is provided at the front end of the shovel head section to prevent coal from falling. The conveying section is connected to the rear of the shovel head section to further convey the coal. The shovel head section divides the shovel plate surface of the shovel head into a symmetrical left shovel plate surface and a right shovel plate surface, and the left shovel plate surface and the right shovel plate surface are respectively arranged with a fixed downward angle relative to the plane where the conveyor belt is located; A receiving turntable is set on the left and right shovel surfaces respectively. The receiving turntables are symmetrically arranged about the shovel head section and are used to transfer the coal material on the shovel head into the shovel head section.

6. A coal mine steep-angle roadway excavation device according to claim 1, characterized in that, The main body is also equipped with stepping guide rails, including ground rails, a pushing device, rail clamp one, rail clamp two, and a connecting frame; The ground track consists of two parallel guide rails with a toothed rail in the middle. Each guide rail is equipped with a rail clamp 1 at the front end and a rail clamp 2 at the rear end; a connecting post 1 connects the two rail clamps 1; a connecting post 2 connects the two rail clamps 2. Follower meshing gears are respectively fitted on connecting column one and connecting column two, and the follower meshing gears mesh with the toothed rail; A pushing device is provided between connecting post one and connecting post two. The output end of the pushing device is connected to connecting post one, and the rear end of the pushing device is connected to connecting post two. One end of the connecting frame is connected to the connecting column, and the other end of the connecting frame is connected to the main body.

7. A coal mine steep-angle roadway excavation device according to claim 6, characterized in that, Rail clamp one and rail clamp two have the same structure, both including a mounting plate, linear drive device one, Y-shaped fork, clamping claw and clamping device; The Y-shaped shift fork includes a handle and two symmetrically arranged fork arms; Two clamping claws are symmetrically arranged. Each clamping claw includes a clamping part and a connecting part. The clamping part is used to clamp the side of the guide rail. Each connecting part is provided with a guide slide III. The fork arm of each Y-shaped fork is slidably connected to the corresponding clamping claw through the guide slide III. The upper end of the mounting plate is provided with a linear drive device 1, the output end of which is connected to the handle of the Y-shaped shift fork; the lower part of the linear drive device 1 is provided with a vertical guide slide 1, which is slidably connected to the handle of the Y-shaped shift fork. A mounting groove is provided below the guide slide I; two transverse guide slides II are symmetrically provided at the lower end of the mounting plate, and each guide slide II is slidably connected to the connecting part of the corresponding clamping claw. The clamping device is located in the mounting groove and is connected to the handle of the Y-shaped shift fork. The clamping device is used to clamp the upper surface of the guide rail.

8. A coal mine steep-angle roadway excavation device according to claim 7, characterized in that, The clamping device includes a linkage mechanism, a linear drive device, an upper wedge-shaped clamping block, and a lower wedge-shaped self-locking block; The upper end of the second linear drive device is connected to the handle of the Y-shaped shift fork, and the lower end of the second linear drive device is connected to the lower wedge-shaped self-locking block; the output end of the second linear drive device is hinged to one end of the linkage mechanism to provide a horizontal forward driving force to the linkage mechanism, and the other end of the linkage mechanism is hinged to the upper wedge-shaped clamping block. The upper wedge-shaped clamping block and the lower wedge-shaped self-locking block form a wedge-shaped meshing pair, with the bottom surface of the upper wedge-shaped clamping block fitting against the upper surface of the guide rail.

9. A method for tunneling steeply inclined roadways in coal mines, characterized in that, Includes the following steps: S1. Lay the initial section of ground track, move the tunneling device to the initial work position, and complete the installation of each component of the stepping guide track; Start the rail clamps one and two to lock the guide rails, and at the same time start the ground anchor stabilization mechanism to anchor the roadway floor, thereby braking the tunneling device; S2. Perform a single coal and rock cutting operation at the initial work station, including: S2-1, Moving forward: Unlock the ground anchor stabilizing mechanism, rail clamp one loosens the rail, rail clamp two keeps the rail locked; The traveling unit, auxiliary climbing mechanism, and stepping guide rail pusher are activated, and the three work together to drive the tunneling device to move forward one step in a straight line; S2-2, Coal and Rock Cutting and Transport: Start the cutting unit and transport mechanism to complete the cutting and transport of coal and rock during the advance of the tunneling device; S3. Support and anchor the tunnel, including: S3-1, Reverse: The starting unit, auxiliary climbing mechanism and stepping guide rail push device work together to drive the tunneling device to retreat a preset distance in a straight line to make way for the anchoring operation; The clamping device of the auxiliary climbing mechanism drives the support rollers to clamp the tracks, thereby increasing the ground pressure and providing climbing driving force; S3-2, Braking: Activate the ground anchor stabilization mechanism to anchor the roadway floor, activate rail clamp one and rail clamp two to lock the guide rail, and activate the front support device to provide jacking support to the tunneling face, thereby achieving braking of the tunneling device; S3-3, Support and Anchoring: Deploy the support unit to provide temporary support for the roadway roof, complete the permanent anchoring of the roadway roof, and retract the front support device; S4. Repeat steps S2-S3 to complete the coal and rock cutting and transportation of the initial section of the ground track and the support and anchoring of the corresponding roadway. S5. Along the tunneling direction, lay the second section of ground track in front of the initial section of ground track, and remove the pushing device, rail clamp one, and rail clamp two from the initial section of ground track and install them on the second section of ground track. Referring to step S4, complete the coal and rock cutting and transportation of the second section of the ground track and the support and anchoring of the corresponding roadway; S6. Following step S5, complete the laying of all ground tracks, coal and rock cutting and transportation, and roadway support and anchoring in sequence.

10. A method for tunneling steeply inclined roadways in a coal mine according to claim 9, characterized in that, When the tunneling machine tilts forward at the front and tilts upward at the rear, the anti-tilting device is activated. The anti-tilting device supports the roof of the roadway to achieve longitudinal limitation of the tunneling machine.

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