1674 results about "Roadheader" patented technology

The invention discloses a real-time dynamic optimization adjustment method and system for a tunneling process, and relates to the technical field of intelligent tunneling, and the method comprises the following steps: obtaining the operation state data of tunneling equipment in real time, and recording the dynamic change characteristics of a stratum; the tunneling parameters are optimized and adjusted in real time, the tunneling machine is prevented from entering a resonance interval, fatigue damage of key components such as a cutter head and a thrust cylinder is reduced, the stability of equipment is improved, and the service life of the equipment is prolonged. A multi-objective optimization control strategy is adopted, and an intelligent algorithm is combined, so that the tunneling mode is automatically adjusted, the tunneling efficiency is improved, and manual intervention is reduced. According to the stratum prediction method based on machine learning, the adaptability of the heading machine to complex stratums is enhanced, stratum sudden change risks are warned in advance, and construction potential safety hazards are reduced. And meanwhile, an abnormal state emergency processing mechanism ensures that the tunneling process is stable and controllable, and the construction safety and reliability are improved.

The invention belongs to the technical field of hard rock cutting and tunneling, and particularly relates to a front eccentric block excitation cutting disc rock breaking device which comprises a cutting assembly, an eccentric excitation device, a driving assembly and a supporting assembly, and the rear portion of the supporting assembly is fixedly connected with a cutting arm of a tunneling machine; the driving assembly comprises a motor, a main shaft and various connecting devices; an eccentric excitation device and a cutting assembly are mounted at the front end of the main shaft; the cutting assembly is mounted at the front end of the main shaft; the driving device ensures stable rotation of the cutterhead and enables vibration generated by the eccentric excitation device to be transmitted to the cutterhead. Vibration generated by rotation of the eccentric block is utilized to enable the cutter head to impact the rock, so that the rock is collapsed, and the rock is efficiently cut; as the cutter head cuts the rock mainly by means of vibration impact generated by the eccentric device, compared with a self-rotating mode and a traditional milling rock breaking mode and a TBM rolling mode, the efficiency of cutting the rock is improved, and the service life of the cutter is prolonged.

The invention provides a multi-arm drill jumbo self-adaptive drilling track planning method based on visual navigation, which relates to the technical field of visual identification, and comprises the following steps: acquiring image data, identifying a working surface change area, generating a drilling grid with topological optimization, determining a target drilling position set and a drilling direction set, and performing drilling grouping. Generating a space-time conflict constraint for each group of drill holes, and iteratively optimizing to determine a multi-arm collaborative operation sequence; in the process of executing the multi-arm operation sequence, a structured light projection technology and a visual phase shift method are adopted to obtain a deformation field of the surface of a rock mass, rock mass response characteristics including elastic deformation, plastic deformation and abnormal deformation information are established, and according to the rock mass response characteristics, a progressive B-spline track adjustment algorithm is adopted to adjust the drilling track in real time.

The invention relates to a heading machine cutting path planning system and method. The method comprises the steps that at least one coordinate value of a roadway under a local machine coordinate system is determined; acquiring a preset cutting path of the tunneling equipment according to the coordinate value; in response to tunneling equipment for tunneling based on the preset cutting path, obtaining a deviation between the real-time pose of the cutting head and the preset cutting path; and adjusting the cutting head according to the deviation. By determining the coordinate value of the roadway under the coordinate system of the machine, the tunneling equipment can obtain a more accurate preset cutting path according to the coordinate value; when the tunneling equipment carries out tunneling based on the preset cutting path, feedback adjustment is carried out on the swing of the cutting head through the deviation between the real-time pose of the cutting head and the preset cutting path, so that the tunneling equipment can obtain a more accurate cutting path through feedback adjustment, unnecessary repeated movement is avoided, manual intervention is reduced to the maximum extent, and the tunneling efficiency is improved. And the method has wide applicability.

The present invention provides a support assembly and a tunnel boring machine. The support assembly is applied to the tunnel boring machine and includes: a base; a drive assembly, one end of which is connected to the tunnel boring machine and the other end of which is connected to the base, for driving the base to move; a support plate, which is arranged on the base and is used to support the anchor net; and a support beam assembly, which is arranged on the base and is used to lift and support the top beam. The present application integrates the support beam assembly on the support assembly, improves the functional integration of the tunnel boring machine, saves equipment space, improves the production efficiency of the equipment, and saves the production cost of the equipment. In addition, the support plate and the support beam assembly share a set of drive assemblies, thus saving a set of drive assemblies. Compared with the separate arrangement of temporary support and support beam device, the number of components is greatly simplified, and the contradiction that the temporary support and support beam device cannot be installed on the tunnel boring machine at the same time due to the overlapping installation positions of the temporary support and the support beam device is resolved, providing more operating space for the anchoring operation and beam erection operation of the tunnel boring machine.

The invention discloses comprehensive rock drift rapid tunneling equipment and a using method thereof.According to the tunneling equipment, a drilling and anchoring integrated multifunctional drilling machine is arranged on one side of a cantilever type tunneling machine body, and a temporary supporting mechanism is arranged above an oscillation cutting part; a deep hole is formed in a to-be-crushed rock by utilizing the multifunctional drilling machine, the deep hole is further expanded and cracked by utilizing the pulsating fracturing system, the strength of a rock mass is weakened, then the rock mass is milled by adopting the oscillating cutting part, and finally, the rock mass is anchored and protected by utilizing the multifunctional drilling machine and the temporary supporting device, so that a guarantee is provided for an operation environment. According to the equipment and the technology, a traditional roadway tunneling procedure is simplified into a continuous procedure, the tunneling efficiency of roadway rock mass is greatly improved, and meanwhile the cost is saved.

The utility model discloses a pea gravel pump energy-saving system and a pea gravel conveying system, the pea gravel pump energy-saving system comprises an automatic valve, an air volume sensor and a pressure sensor which are arranged on an air inlet pipeline of a pea gravel pump, and the automatic valve, the air volume sensor, the pressure sensor and the pea gravel pump are all connected with a control unit; the pea gravel conveying system comprises the pea gravel pump energy-saving system. The control unit controls the rotating speed of a motor of the pea gravel pump according to the real-time detection structure of the pressure sensor and can also control the opening degree of the automatic valve according to the real-time detection structures of the air volume sensor and the pressure sensor. The problems that a pea gravel pump is large in energy consumption, an air inlet pipeline cannot be automatically adjusted, and the pressure is too high due to pipeline blockage can be effectively solved, the construction cost is effectively reduced, the construction efficiency is improved, and the development of the heading machine in the environment-friendly, low-carbon and intelligent directions is promoted.

The invention provides a fusion geological prediction method, system and device, a storage medium and a program product, and relates to the technical field of tunnel advanced geological prediction. The method comprises the following steps: an upper computer receives multiple groups of seismic data and acquisition time of each group of seismic data sent by a data acquisition instrument; the upper computer determines the type of seismic data according to the acquisition time, the pre-recorded working time period of the heading machine and the vibration time period of the seismic source; the upper computer extracts micro-seismic analysis data, active source analysis data and passive source analysis data from the multiple sets of seismic data according to the data types; the upper computer generates rockburst risk data according to the micro-seismic analysis data, and generates geological risk data according to the active source analysis data and the passive source analysis data; and reconstructing and displaying a three-dimensional visual image according to the rockburst risk data and the geological risk data. The problems that in the prior art, due to the fact that sensors are arranged repeatedly, equipment layout is disordered, construction streamlines are blocked, and construction efficiency and equipment safety are seriously affected are solved.

The invention discloses a tunnel surrounding rock deformation prediction method, system and equipment. The tunnel surrounding rock deformation prediction method comprises the steps that actual multi-source data in the tunneling process of a tunnel boring machine (TBM) are obtained, and the multi-source data at least comprise surrounding rock deformation monitoring data, tunneling data of the tunnel boring machine and vibration signal data; the multi-source data is input into a pre-trained prediction model, a prediction result of the tunnel surrounding rock deformation condition in the TBM tunneling process is obtained, and the prediction model is pre-trained with the pre-obtained multi-source data as a training sample and the tunnel surrounding rock deformation condition as a label. According to the embodiment of the invention, the method can achieve the advanced prediction of the deformation of the surrounding rock through the real-time data in the construction process of the tunnel boring machine, provides a scientific basis for the construction parameter optimization and risk early warning of the tunnel boring machine, reduces the workload of manual monitoring, and improves the construction automation level.

The invention discloses a high-precision intelligent distance measurement positioning device for a heading machine, and belongs to the technical field of heading positioning. An elastic base station network comprises a plurality of groups of miniature base stations arranged on the side wall and the top plate of a roadway; the multi-source sensing module fuses multi-source data through the data acquisition and processing device to realize continuous dynamic positioning in the working process of the heading machine, the target card provides an absolute distance reference, the inertial navigation unit calculates the pose of the heading machine in real time through a built-in MEMS gyroscope and an accelerometer, the geological radar scans the stratum structure in the heading direction in real time, and the real-time positioning of the heading machine is realized. And the laser radar scans a roadway contour by emitting a laser beam to perform point cloud matching with a preset three-dimensional digital map. The probability of tunneling deviation caused by settlement or displacement is reduced by arranging the vertical crossing positioning network and dynamically correcting the positioning reference, the working environment and self state information of the tunneling machine can be comprehensively sensed from different dimensions, and the actual distance and position relation between the tunneling machine and objects around a roadway can be judged in an auxiliary mode.

The invention provides a rear support of a heading machine and the heading machine, and belongs to the field of tunneling equipment. The rear support of the heading machine comprises a rear support body, a vertical direction adjusting device and a horizontal direction adjusting device which are connected to the rear support body, and further comprises a limiting structure and a matching structure, one of the limiting structure and the matching structure is installed on the rear support body, and the other one is used for being installed on a main beam or an inner yoke. The limiting structure comprises at least two limiting parts which are arranged front and back, the matching structure comprises a limiting matching part which is located between the two limiting parts which are adjacent front and back, and gaps are reserved between the limiting matching part and the limiting part which is adjacent to the front side and / or the limiting part which is adjacent to the rear side. The heading machine comprises the heading machine rear support. The limiting structure and the matching structure can be matched in a limiting mode after the up-down steering amplitude or the left-right steering amplitude of the heading machine exceeds a design value, so that the rear supporting body deflects adaptively, and damage to the knuckle bearing is avoided.

The present invention provides a method for designing an abrasive water jet-disc cutter combined rock-breaking cutter head, a system therefor, a cutter head and a tunnel boring machine (TBM), wherein the key technology of designing the abrasive water jet-disc cutter combined rock-breaking cutter head of the TBM are provided from the aspects of determining a combined rock-breaking combination mode, configuration of cutter operation parameters and optimization of the combined cutter head; the performance of the abrasive water jet-disc cutter combined rock-breaking cutter head manufactured according to the optimized layout parameters is improved; and a new idea is provided for the development and application of a full-section rock tunneling machine in the field of underground engineering.

The utility model provides a temporary supporting device and a heading machine, and relates to the technical field of heading equipment. The temporary supporting device comprises a base, a supporting arm, a supporting assembly and a first driving piece. The base is used for being arranged on the heading machine, the supporting arm is rotationally arranged on the base, the first driving part is arranged on the base, and the first driving part is connected with the supporting arm to drive the supporting arm to swing; the supporting assembly comprises a supporting frame, a side turning frame and a second driving part, the supporting frame is arranged at the end, away from the base, of the supporting arm and used for supporting the working face, the side turning frame is rotationally arranged on the side edge of the supporting frame, and the second driving part is arranged on the supporting frame and connected with the side turning frame so as to drive the side turning frame to abut against the working face. According to the temporary supporting device, the supporting area is increased, and the protection effect is improved.

The invention provides a rear support of a heading machine and the heading machine, and belongs to the field of tunnel construction equipment. The rear support of the heading machine comprises a supporting arm assembly, a vertical direction adjusting device and a horizontal direction adjusting device, the supporting arm assembly comprises a supporting arm mounting base and a moving base which is arranged on the supporting arm mounting base in a guiding mode and can move on the supporting arm mounting base in a guiding mode in the left-right direction, and the vertical direction adjusting device and the horizontal direction adjusting device are both installed on the moving base. A moving driving device used for driving the moving base to move is arranged on the supporting arm mounting base, and a supporting structure used for tightly supporting the tunnel wall leftwards and rightwards is arranged on the supporting arm mounting base. The heading machine comprises the heading machine rear support. The vertical direction adjusting device and the horizontal direction adjusting device are arranged on the moving seat capable of moving left and right on the supporting arm mounting seat, so that the moving seat can be used for driving the tail end of the main beam or the inner yoke to have larger left-right deflection amplitude, a supporting shoe tool does not need to be used, and the construction efficiency is improved.

The invention is suitable for the technical field of tunneling excavation. The invention discloses a cantilever tunneling device for controlling surrounding rock deformation, which comprises a tunneling cantilever mounted at the front end of a tunneling machine, a cutting drill bit mounted at one end, far away from the tunneling machine, of the tunneling cantilever, two longitudinal driving parts symmetrically mounted on two sides of the tunneling machine, and a longitudinal strip-shaped assembly seat detachably connected to the output end of each longitudinal driving part, a plurality of supporting type guiding mechanisms are installed between the two longitudinal strip-shaped assembling bases, a universal pipe inserting mechanism is connected between the two longitudinal strip-shaped assembling bases and located on the sides, away from the inner circumferential wall of a tunnel, of the supporting type guiding mechanisms, and an active guniting mechanism is installed on the supporting type guiding mechanism located at the foremost end of the heading machine. According to the method, the problems that the surrounding rock deforms unevenly and intrudes into the preliminary bracing limit when the cantilever tunneling machine is adopted to excavate the tunnel under the soft stratum condition are solved, the tunnel surrounding rock over-excavation and under-excavation are controlled, and normal construction of the tunnel preliminary bracing is guaranteed.

The invention discloses a multi-posture combined pipe jacking device, a pipe jacking construction method and a pipe roof structure, and relates to the technical field of tunnel construction.The multi-posture combined pipe jacking device comprises a tunneling system and a propelling system; the tunneling system comprises a jacking assembly and a plurality of tunneling assemblies, the jacking assembly comprises a jacking machine head and a jacking guide pipe detachably installed on the tail portion of the jacking machine head, each tunneling assembly comprises a tunneling machine head and a tunneling guide pipe detachably installed on the tail portion of the tunneling machine head, and the tunneling machine heads are installed on the two sides of the jacking machine head respectively. The multiple tunneling guide pipes are arranged on the two sides of the jacking guide pipe in an engaged mode to form engaged guide pipes. The propelling system can push the jacking guide pipe and the tunneling guide pipe to move in the tunneling direction and push the jacking machine head and the tunneling machine heads to move in the tunneling direction through the jacking guide pipe and the tunneling guide pipes correspondingly. The pipe jacking construction of the occlusion guide pipe can be achieved, the jacking efficiency is high, the construction period is short, and the construction cost is low.

The invention discloses an intelligent bottom-along tunneling control method and system for a tunneling and anchoring all-in-one machine, and relates to the technical field of intelligent control, and the method comprises the following steps: obtaining a cutting instruction set for roadway coal rock; according to the cutting instruction set, manual teaching memory is carried out by a worker, and then a memory automatic cutting stage is entered; in the automatic operation process of the digging and anchoring all-in-one machine, the ground penetrating radar obtains monitoring data in real time and carries out noise reduction processing, and therefore clear roadway floor radar image signals are obtained; inputting the obtained roadway floor radar image signal into a preset roadway floor coal seam thickness estimation model to obtain the thickness of the roadway floor remaining coal; the multi-sensor information fusion technology is adopted, cutting medium attributes in the tunneling process of the tunneling and anchoring all-in-one machine are recognized on line, dynamic optimization control is conducted on the cutting action of the tunneling and anchoring all-in-one machine according to the recognition result, and a comprehensive cutting state monitoring and intelligent cutting solution is provided for a roadway tunneling face.

According to the impact-cutting composite rock breaking hydraulic system and method for the mining heading machine, hydraulic damping and impact hammer collaborative operation are integrated, and the problems that a traditional heading machine is low in rock breaking efficiency, poor in stability and insufficient in adaptability are solved. The system comprises a cutting arm hydraulic damping system and an impact hammer hydraulic impact system, and multi-parameter closed-loop regulation and control are achieved through a controller. The device is characterized in that a double overflow protection mechanism is adopted, a proportional overflow valve and an external control overflow valve cooperate with each other, a hydraulic control one-way valve is combined for compensating an oil path, and the pressure difference of a hydraulic cylinder is dynamically kept stable; the impact hammer system adjusts the pressure of an energy accumulator through a proportional pressure reducing valve and is matched with a hydraulic control switch valve to realize variable impact energy control; based on feedback of a vibration sensor and a pressure sensor, damping and impact parameters of the cutting arm are adjusted in a self-adaptive mode through a nonlinear algorithm, and intelligent rock breaking operation under different rock stratum hardness is achieved. According to the system, the impact resistance stability, the rock breaking efficiency and the operation intelligence level of the heading machine are remarkably improved.

The invention discloses a cantilever heading machine excavation refined simulation method considering vibration. The method comprises the steps that design data and geological condition data of a tunnel are obtained; according to the design data and the geological condition data of the tunnel, a refined numerical model of tunnel excavation is established; vibration displacements of the cantilever heading machine in the X (drilling direction) direction, the Y (horizontal direction) direction and the Z (vertical direction) direction during construction under various different working conditions are obtained; noise reduction is carried out by using wavelet transform, a vibration trend term is extracted, and rigid body displacement and vibration waves are decomposed; and the construction working condition is obtained, the excavation process of the numerical model is adjusted according to the milling and excavation path of the construction working condition, the vibration waves are loaded, and the deformation result of tunnel excavation is obtained. According to the method, the influence of the vibration on the excavation process is also considered besides the influence of the construction process of block excavation of the cantilever tunneling machine, and the vibration is subjected to noise reduction by utilizing wavelet transform, so that the precision of cantilever tunneling excavation simulation is improved, and a basis is provided for design and construction of related tunnels.

The invention discloses an autonomous walking track planning method and equipment of a heading machine based on a reinforcement learning algorithm, and the method achieves the optimal track planning of the heading machine from the current position to a roadway head-on by comprehensively considering the key parameters of the real-time body pose (including the position, the pitch angle, the yaw angle and the roll angle) of the heading machine, the roadway size and the like. Through a reinforcement learning algorithm, the heading machine can autonomously decide a walking path, the dependence on manual intervention is reduced, and the autonomy of a walking track is improved; the walking track is dynamically adjusted according to the position and posture of the machine body and the size information of the roadway collected in real time, and unnecessary adjustment time and energy consumption are reduced; through an intelligent decision and obstacle avoidance strategy, collision between the heading machine and a roadway wall is avoided, and operation safety is ensured; by adjusting model parameters or retraining, the heading machine can quickly adapt to roadway environments with different sizes and geological conditions.

A mine-used tunneling jumbo drill vehicle, comprising a vehicle body (1), a drill arm assembly, and a tunneling mechanism (3), wherein the drill arm assembly comprises a telescopic arm mechanism (21), a lifting driver (22), a leveling mechanism (23), a turning mechanism (24) and a swinging mechanism (25). One end of the telescopic arm mechanism (21) is rotatably mounted to the vehicle body (1); the lifting driver (22) is mounted to the vehicle body (1), and the lifting driver (22) is connected to the telescopic arm mechanism (21) to drive the telescopic arm mechanism (21) to rotate in the vertical plane; the leveling mechanism (23) is mounted to the telescopic arm mechanism (21); the turning mechanism (24) is mounted to the leveling mechanism (23); and the swinging mechanism (25) is mounted to the turning mechanism (24), and the tunneling mechanism (3) is mounted to the swinging mechanism (25). The jumbo drill vehicle can adapt to complex and changeable operating conditions in mine drilling operations.

The invention discloses an energy-saving and consumption-reducing control method for a heading machine, a medium and equipment, and relates to the technical field of energy consumption control. The method comprises the steps that working face surrounding rock state detection is executed, and tunneling state scene monitoring is executed; according to the working face surrounding rock state, mechanical driving analysis is executed, and a first control strategy is determined; performing system module segmentation on the heading machine, excavating a multi-module coupling rule under complete machine driving, performing energy consumption out-of-limit analysis on a heading state scene by taking any system module as a judgment basis, determining a module consumption reduction amplitude, performing complete machine same-amplitude adjustment in combination with the multi-module coupling rule, and determining a second control strategy; and coupling the first control strategy and the second control strategy, and performing low-energy-consumption operation regulation and control on the heading machine. The technical problems that in the prior art, a heading machine is high in energy consumption and poor in energy-saving effect are solved, and the technical effects that accurate energy consumption control is achieved through a multi-level control strategy and system module coupling adjustment, the energy consumption of the heading machine is reduced, and the working efficiency is improved are achieved.

The invention discloses movable ore extraction equipment with a dust falling function, and relates to the technical field of plate type ore extraction, the movable ore extraction equipment comprises a heading machine body, a driving mechanism is mounted on one side of the heading machine body, and a cutting head is fixedly connected to one side of the driving mechanism. The pretreatment device is arranged, a first motor reversely runs, a percussion drill body is far away from ore, at the moment, an expansion cracking device body begins to move towards the direction of the ore, after the expansion cracking device body reaches a designated position, a corresponding hydraulic cylinder is started, the expansion cracking device body is pushed to go deep into a drill hole, then the expansion cracking device body is started, cracks in the ore are expanded through hydraulic pressure, and thus the ore is fractured. And after expansion cracking is completed, the first motor is started again, so that the expansion cracking device body is reset to the initial position, the pretreatment mode effectively reduces the strength of ore, the follow-up operation of the cutting head is smoother, the overall working efficiency of mining equipment is improved, meanwhile, the abrasion of the cutting head is reduced, and the service life of the cutting head is prolonged.

The invention discloses an intelligent control method and system for a tunneling path of a tunneling machine, and relates to the technical field of tunneling machine control, and the method comprises the steps: building a tunneling space risk distribution model; performing hierarchical surrounding collision detection on the tunneling space risk distribution model, and constructing a safe tunneling motion space model; performing tunneling path planning on the safe tunneling motion space model, and building a first tunneling path planning domain; performing overrun feedback optimization on the first tunneling path planning domain, and establishing a second tunneling path planning domain; joint optimization is carried out, and a tunneling path optimization result is determined; and performing tunneling path tracking control on the tunneling machine. The technical problems of poor safety and low efficiency of tunneling operation caused by insufficient risk prejudgment of the tunneling area and insufficient consideration of technical parameters and tunneling targets of the tunneling machine in path planning in the prior art are solved, accurate path tracking control of the tunneling machine is realized, and the tunneling efficiency is improved. And the technical effects of safety and high efficiency of tunneling operation are improved.

The utility model belongs to the technical field of cutting arms, and particularly relates to an impact-resistant cutting arm for a hard rock heading machine. Comprising a cantilever cylinder; the cutting main shaft is installed in the cantilever cylinder, a self-aligning roller bearing, a thrust bearing and a cylindrical roller bearing are sequentially arranged between the cutting main shaft and the cantilever cylinder from front to back, a framework oil seal II is arranged behind the cylindrical roller bearing, and a framework oil seal I is arranged in front of the self-aligning roller bearing; the front end of the cantilever cylinder is provided with a floating sealing frame sleeved on the cutting main shaft, the front end of the floating sealing frame is provided with a floating sealing seat sleeved on the cutting main shaft, the floating sealing seat is provided with a mechanical labyrinth seal, and a floating seal is arranged between the floating sealing frame and the floating sealing seat; and the cutting head is fixed at the front end of the cutting main shaft. When the cutting arm of the hard rock heading machine is used for cutting rocks of which the compressive strength is more than 70MPa, the service life of the cutting arm is prolonged.

The present invention belongs to the technical field of roadheader loading, and specifically relates to a chain-belt combined active loading mechanism. It includes a scraper plate body, a scraper chain, a belt redirecting roller, a discharging device, a tensioning device, a conveyor belt and a redirecting drive device. The scraper plate body is the main frame, and the redirecting drive device is installed at the front end of the scraper plate body. Belt redirecting rollers are respectively installed on both sides of the rear end of the scraper plate body. Tensioning devices are respectively installed on both sides inside the scraper plate body, and the telescopic ends of the tensioning devices are connected to the corresponding belt redirecting rollers. A scraper chain is arranged on the upper surface of the middle part of the scraper plate body, and the front end of the scraper chain is connected to the redirecting drive device fixed on the scraper plate body. The rear end of the scraper chain passes through the scraper conveyor and is connected to the drive motor. Both ends of the redirecting drive device are respectively connected to the belt redirecting rollers through two conveyor belts. Two discharging devices are symmetrically arranged on the upper surfaces of both sides of the scraper plate body, and the bottom of the discharging device is in contact with the upper surface of the conveyor belt. The present invention solves the problems of low loading efficiency or the existence of loading dead zones.

The invention discloses a comprehensive test system for coal crushing and dust production characteristics of a heading machine, which comprises a bracket, a cutting device connected above the bracket, a confining pressure loading device connected to the power output end of the cutting device, a uniaxial compression device connected to the outer side of the confining pressure loading device above the bracket, a vibrating screening device corresponding to the confining pressure loading device is arranged below the support, a placing plate is connected to the support and located below the cutting device, and a main control box and a dust collecting and analyzing device connected with the vibrating screening device are arranged on the placing plate; and the main control box is connected with and controls the cutting device, the confining pressure loading device, the single-shaft compression device, the vibration screening device and the dust collecting and analyzing device. The device can comprehensively simulate actual working conditions, not only can cut the coal body and quantitatively analyze the particle size of cut dust, but also can measure the compressive strength of the coal body, and provides a basis for dust prevention and control and tunneling process optimization in coal mining.

The invention discloses an early warning method and system for coal and gas outburst danger of a mechanical driving face, and belongs to the technical field of coal mine safety, and the method specifically comprises the following steps: collecting data of the working face in real time, constructing a comprehensive early warning model to realize trend prediction and anomaly detection, triggering early warning and evaluating a risk level; a mine GIS is combined, an early warning area is accurately positioned, an intelligent decision support system of a knowledge graph and a rule engine is used, an optimal emergency plan is rapidly matched, and an emergency response plan is generated; according to the system and the method, workers of the heading machine can take refuge or escape measures in time when an accident occurs, so that the mine operation safety and the emergency response efficiency are improved, and the operation effect of the heading machine is improved.

The invention relates to the technical field of tunnel engineering, in particular to a tunnel door closing type collapse rapid curve rescue heading machine. According to the rapid curve rescue heading machine for the door-closing type collapse of the tunnel, a curve rescue channel can be formed from the side of the tunnel or the lower portion of an inverted arch to bypass a collapse body and reach a person trapped area, obstruction of the collapse body to heading of the rescue channel is effectively reduced, and rapid and safe rescue of the door-closing type collapse of the tunnel is achieved.

The invention discloses a path planning method for a heading machine, a medium and equipment, and relates to the related technical field of heading machines, the method comprises the following steps: constructing a coal mine operation graph network, and segmenting to obtain a plurality of operation areas; respectively executing heading machine advancing control error analysis, and determining a plurality of advancing control error distributions; constructing an identification operation graph network; and with the shortest overall idle running path and the shortest overall operation time as targets, collaborative optimization of multiple tunneling paths is carried out according to the coal mining operation target and the current equipment distribution, and an optimal tunneling path plan is output. The technical problems that in the prior art, coal mine operation area differences cannot be fully considered, so that heading machine advancing control errors are large, multi-heading-machine cooperative operation efficiency is low, the idle running path is long and time length waste is serious are solved, multi-heading-path cooperative optimization is achieved, the overall idle running path is shortest, the overall operation time length is shortest, and the working efficiency is improved. And the safety and efficiency of the tunneling operation are improved.