Six degrees of freedom hybrid fully hydraulic roadheader

Abstract

The invention discloses a six-freedom-degree series-parallel full-hydraulic tunneling machine. The six-freedom-degree series-parallel full-hydraulic tunneling machine comprises a loading part, walking parts, a scraper conveyor, a machine body, a two-freedom-degree rotation base, a parallel-connection working arm and a cutting head. The loading part is located at the front end of the machine body. The machine body is arranged on the walking parts. The cutting head is connected with the machine body through the parallel-connection working arm and the two-freedom-degree rotation base in sequence. The walking parts are driven by walking motors arranged on caterpillar band frames. Two conveying motors arranged on the tail portion of the scraper conveyor drive a scraper chain so that materials can be conveyed through the scraper conveyor. The cutting head is driven by three cutting motors at the same time. The cutting head has four independent movement freedom degrees including one space independent movement freedom degree and three space independent rotation freedom degrees. Two redundancy rotation freedom degrees exist in the horizontal direction. The six-freedom-degree series-parallel full-hydraulic tunneling machine has the advantages that the operation space is large and posture adjustment is convenient. The six-freedom-degree series-parallel full-hydraulic tunneling machine further has the advantages of being compact in structure, good in control decoupling property, convenient to adjust and maintain, and the like.

Description

Technical field [0001] The invention relates to a roadheader, in particular to a six-degree-of-freedom hybrid full-hydraulic roadheader, which can simultaneously realize a space of a cutting head, one translation, three rotations, and four independent degrees of freedom. Background technique [0002] Coal mining in my country is dominated by underground mining. In 2005, 90.72% of the raw coal output of key state-owned coal mines came from underground mining. The coal seams in my country have complex conditions and diversity. The thickness of coal seams varies from a few tenths of a meter to several tens of meters. In order to mine coal, a large number of coal and rock roadways need to be excavated. At the same time, with the development of fully mechanized mining technology, super working faces with an annual output of several million tons or even ten million tons have emerged in China, which has greatly increased the number of annual consumption of mining roadways, thereby makin...

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Problems solved by technology

[0008] Aiming at the problems of insufficient freedom of movement and limited working space of existing roadheaders, existing patent documents have also proposed some solutions. For example, a Chinese patent with application number 201210289363.2 discloses a roadheader propulsion device and full-face tunneling The propulsion device of the roadheader and the roadheader forms a redundantly driven 6SPS six-degree-of-freedom parallel mechanism. The mechanism does not have decoupling and is difficult to control; due to the use of a large number of difficult-to-process ball joints, it is difficult to manufacture the equipment and increase the cost. working space of the cutting head

The Chinese patent application number 201510146648.4 discloses a roadheader with a cantilever using a parallel mechanism. The structure of the parallel mechanism used is 2RPS+2SPS. Although the cutting head has four degrees of freedom in space, its rotation degrees of freedom The amplitude is limited, which affects the actual working space of the cutting head

The model selection of the parallel mechanism in the above design scheme is unreasonable, the strength of the selected support chain is not high, and the range of motion realized by the parallel mechanism cannot meet the needs of underground work

Although the parallel mechanism has the characteristics of high structural rigidity, high positioning and motion precision, strong bearing capacity, and many degrees of freedom of movement, it also has shortcomings such as small working space. The cantilever of the roadheader solves the technical problems existing in the existing roadheader

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