СИСТЕМА СТАБИЛИЗАЦИИ ДЛЯ ГОРНОЙ МАШИНЫ

FIELD: mining. SUBSTANCE: group of inventions relates to the mining machine stabilization tool relative to the first mine working surface and the second mine working surface, opposite the first mine working surface, as well as to the mining machine. Method comprises extending first actuator to first mine working surface to achieve a predetermined value by at least one force indicator, acting between actuator and first mine working surface. First actuator retraction for first preset time. First actuator extension during first preset time plus additional time. Extending the second actuator to the second mine working surface to achieve a predetermined value by at least one force indicator, acting between second actuator and second surface of mine working. Suction of second actuator during second preset time and extension of second actuator for second preset time plus additional time. Mining machine comprises first actuator to stabilize frame relative to mine working surface, wherein the first actuator is connected to the frame and includes a first end extending in the first direction to interact with the mine working surface. Controller connected to first actuator and configured to control first actuator, wherein controller comprises timer, determining time required for extension of first end into position, in which at least one indicator of the force acting between the first actuator and the mine working surface reaches a predetermined value. Controller is configured to control the extension of the first end based on the specified time. EFFECT: technical result consists in improvement of mining machine stabilization. 18 cl, 21 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 740 182 C2 (51) МПК E21C 35/24 (2006.01) E21D 9/10 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК E21C 35/24 (2020.08); E21D 9/10 (2020.08) (21)(22) Заявка: 2017114510, 03.08.2012 (24) Дата начала отсчета срока действия патента: (73) ...

ОБНАРУЖИВАЮЩАЯ, РОЮЩАЯ, ПОДДЕРЖИВАЮЩАЯ, АНКЕРУЮЩАЯ И ПЕРЕДАЮЩАЯ КОМПЛЕКСНАЯ МАШИННАЯ СИСТЕМА ДЛЯ БЫСТРОГО РЫТЬЯ СКВАЖИНЫ И СПОСОБ ЕЕ ПРИМЕНЕНИЯ

FIELD: oil industry.SUBSTANCE: detecting, digging, supporting, anchoring and transmitting complex machine system for rapid digging of a well is proposed. The system contains case (1) of the longitudinal-axial type. On case (1), there are drilling part (2) with two rocker arms, anchoring and supporting part (3), baffle plate (4), and detecting part (5). Drilling part (2) contains mounting bracket (2.6) and engine (2.4). Anchoring and supporting part (3) contains lower plate (3.2), feed sliding block (3.1), rail (3.3), second rotary engine (3.8), first rotary engine (3.6), hydraulic cylinder (3.7), and sliding block (3.9). Drilling machine slides relatively to block (3.9). Connecting plate is equipped with cylinder (3.10.4) and cylinder (3.10.5) corresponding to cylinder (3.10.4). The lower part of casing (3.10.1) is equipped with frame (3.10.8) welded to frame (3.10.6). Frame (3.10.8) is connected to block (3.10.7) by means of cylinder (3.10.3). Clamping block (3.10.7) is connected to the end of cylinder (3.10.2), and the other end of cylinder (3.10.2) is pivotally articulated to frame (3.10.8). Baffle plate includes the lower plate welded on the rear side of case (1). Plate (4.4) is located on the lower plate by means of rail (4.7). Plate (4.4) is activated in sliding by means of cylinder (4.8) mounted on the lower plate. Plate (4.4) is pivotally articulated to first baffle (4.3). First baffle (4.3) is actuated by means of cylinder (4.6) mounted on plate (4.4). Baffle (4.3) is pivotally articulated to second baffle (4.2), participating in mounting and temporary maintaining of the anchor grid. Second baffle (4.2) is actuated for alignment by means of cylinder (4.5) mounted on first baffle (4.3). Detecting part (5) contains fixed guide rail fixed on case (1) and table (5.10) for sliding a telescopic rod located on a slide guide. Table (5.10) is activated in sliding by means of cylinder (5.11) located on case (1). Base (5.9) of the telescopic rod is located on table (5 ...

VERFAHREN UND EINRICHTUNG ZUR UEBERWACHUNG UND/ODER STEUERUNG EINER VORTRIEBSMASCHINE, INSBESONDERE EINER TEILSCHNITTMASCHINE

REGULATION APPARATUS FOR A TUNNELLING MACHINE

Methods and systems for controlling the heading of a mining machine

Methods and systems for controlling the heading of a mining machine while the mining machine performs a cutting operation. One system includes a cutting system and a set of left and right tracks of the mining machine. The system also includes a lidar sensor mounted to the mining machine. The system also includes an electronic processor configured to receive the data from the lidar sensor. The electronic processor is also configured to determine a current heading of the mining machine based on the data received from the lidar sensor and compare the current heading to a target heading of the mining machine. In response to the current heading not being different from the target heading of the mining machine by a predetermined amount, the electronic processor is configured to control the mining machine to adjust the current heading of the mining machine.

PROCEDURE FOR STEERING THE MOVEMENT OF AN ALL-SIDE OF TILTABLE SCHRAEMARMES A TEILSCHNITTSCHRAEM ONE OF A MACHINE AS WELL AS DEVICE TO THE EXECUTION OF THIS PROCEDURE

VERFAHREN ZUM STEUERN DES SCHNEIDPROZESSES UND EINRICHTUNG ZUR ERFASSUNG DER EINBRUCHSTIEFE VON SCHRÄMWERKZEUGEN

PROCEDURE FOR THE LOOSENING OF THE WORKING FACE WITH A TUNNEL BORING MACHINE WITH A TO AN GENERALLY TILTABLE SUPPORT ARM STORAGE RELEASE TOOL

PROCEDURE FOR STEERING THE MOVEMENT OF AN ALL-SIDE OF TILTABLE SCHRAEMARMES A TEILSCHNITTSCHRAEM ONE OF A MACHINE AS WELL AS DEVICE TO THE EXECUTION OF THIS PROCEDURE

PROCEDURE FOR STEERING THE GUMPTION PROCESS AND MECHANISM TO THE COLLECTION OF THE BREAK-DOWN DEPTH OF SCHRÄMWERKZEUGEN

Rule device for tunnel milling machines

Stabilization system for a mining machine

A mining machine including a frame, a cutting head moveably coupled to the frame and pivotable about an axis that is substantially perpendicular to a first mine surface, and a first actuator for stabilizing the frame relative to the first mine surface. The first actuator is coupled to the frame and includes a first end extendable in a first direction to engage the first mine surface. The extension of the first actuator is automatically controlled based on measurements of at least one indicator of the force between the first actuator and the first mine surface.

Automatic control of a machine used for excavating drifts, tunnels, stopes, caverns or the like

Continuous control system for a mining or tunnelling machine

PROCESS FOR CONTROLLING THE MOVEMENT OF AN UNIVERSALLY SWIVELLABLE CUTTING ARM OF A PARTIAL CUT CUTTING MACHINE AS WELL AS APPARATUS FOR PERFORMING THIS PROCESS

An apparatus and method are disclosed for controlling the movement of the universally swivellable cutting arm of a partial cut cutting machine of the kind having a first hydraulic drive for lifting and lowering the cutting arm in order to preselect the depth of cut and a further hydraulic drive for swivelling the cutting arm transversely relative to the direction of lifting and lowering movement. The time interval elapsed for actuating one of the drives of the cutting arm and/or the volumetric amount of pressurized fluid supplied to the respective drive is measured, and in dependence in the desired preselected depth of cut and after having attained the time interval of actuating one drive required for the preselected depth of cut or after having attained the volumetric amount required for the displacement in direction of the preselected depth of cut, the supply of pressurized fluid to said drive is shut off, and only the supply of pressurized fluid to the advancing drive is maintained.

Verfahren und Vorrichtung zur Regelung der Frästrommelrotation und des Längsvorschubs für Maschinen zum Vortrieb unterirdischer Strecken

DISMANTLING MACHINE TO REDUCING FROM ROCK OR MINERALS.

MECHANISM FOR THE POWER ADJUSTMENT OF A PARTIAL TUNNEL CUTTER.

Method and system for automatically operating a continuous miner

Heading machine and control method thereof

Milling and excavating type tunneling loader

Tunnel boring machine

PROCESS AND DEVICE TO REGULATE THE ROTATION OF TAMBORES PORTA-FRESAS AND THE LONGITUDINAL ADVANCE FOR YOU SCHEME DESTINED THE OPENING OF UNDERGROUND TICKETS

METHOD FOR REGULATING THE DRIVE OF A SHEARING OR HEADING MACHINE

In a method for regulating the drive of a shearing or heading machine for cutting a round as a function of actuating variables such as movement speed of the extension arm, position of the cutting tools and/or power consumption of the drive motors or pressure in hydraulic actuating cylinders, a minimum and a maximum setpoint value are determined for the movement speed of the extension arm, and at least two factors having values in each case between 0 and 1 are calculated as a function of measured values for the actuating variables, wherein the measured values comprise at least positional data of the cutting tools in comparison with setpoint data which correspond to a setpoint profile, motor loading measured data and extension arm movement speed measured data, and the movement speed of the extension arm is regulated as a function of the product of the setpoint speed and the respectively calculated factors.

AUTOMATED PRE-TRAMMING OPERATION OF A MINING MACHINE

Methods and systems for automatically operating a continuous mining machine. One method includes accessing at least one coordinate of a cutting face stored in a computer-readable medium, automatically operating a first actuator to position a platform a predetermined clearance distance from the at least one coordinate, the platform supporting a cutterhead, and automatically operating a second actuator to position an arm at a tramming position after positioning the platform the predetermined clearance distance from the at least one coordinate, the arm coupled to the platform and including the cutterhead.

АВТОМАТИЗИРОВАННЫЕ ОПЕРАЦИИ ГОРНОЙ МАШИНЫ

FIELD: mining. SUBSTANCE: embodiments of the present invention relate to automated operations of mining machines, such as mining machines of continuous action for the exploitation of solid mountain rocks. The methods and the system of automatic control of mining tunneling machine of continuous action. One method involves automatic controlling of at least one actuator for setting the platform carrying the shearer head to a predetermined position for start-up, automatic control of at least one actuator for extending the platform to the face being exploited before entering the shearer head into contact with the face being exploited and the excess of at least one indicator of physical force between the shearer head and the pit-face exploited, of a predetermined value, and automatical saving of at least one coordinate of the face being exploited on a computer readable medium, wherein at least one of the coordinates is based on the parameter of at least one actuator when the indicator exceeds the predetermined value. EFFECT: invention provides higher safety and efficiency of work. 122 cl, 26 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 617 498 C2 (51) МПК E02F 9/20 (2006.01) E21C 35/24 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ФОРМУЛА (21)(22) Заявка: ИЗОБРЕТЕНИЯ К ПАТЕНТУ РОССИЙСКОЙ ФЕДЕРАЦИИ 2014107845, 03.08.2012 (24) Дата начала отсчета срока действия патента: 03.08.2012 (72) Автор(ы): ДЖОКОНИА Персистенс (ZA) (73) Патентообладатель(и): ДЖОЙ ЭмЭм ДЕЛАВЭР, ИНК. (US) Дата регистрации: (56) Список документов, цитированных в отчете о поиске: RU 2065959 C1, 27.08.1996. EA Приоритет(ы): (30) Конвенционный приоритет: 11331 B1, 27.02.2009. US 7695071 B2, 13.04.2010. US 20060087443 A1, 27.04.2006. US 20070168100 A1, 19.07.2007. (43) Дата публикации заявки: 10.09.2015 Бюл. № 25 (45) Опубликовано: 25.04.2017 Бюл. № 12 (85) Дата начала рассмотрения заявки PCT на национальной фазе: 03.03.2014 (86) Заявка PCT: 2 6 1 7 4 9 8 03.08.2011 US 61/514,542; 03.08. ...

Verfahren zur Richtungssteuerung einer im Untertagebetrieb eingesetzten Maschine sowie zur Durchführung des Verfahrens geeignete Maschine

Method of driving an underground space, in particular a roadway or a tunnel

Method of driving an underground space, in particular a roadway or a tunnel, by means of a selective-cut heading machine with a travelling mechanism and a rock-working unit, the rock-working unit having at least one boom with boom drive as well as at least one cutting head with mounted cutting picks and cutting-head drive, and the rock-working unit being controlled with respect to the rock. At least one parameter important for the power requirement of at least one of the drives is measured and analysed, in the course of which a parameter average and a superimposed parameter frequency related to the frequency of the rotation of the cutting head are determined. The control with respect to the rock is carried out in accordance with the parameter frequency. Determination of the stability of the rock and corresponding adaptation of the bearing capacity of the support are also possible.

PROCEDURE FOR THE CONTROLLING OF A TUNNEL DRIVING MACHINE

CONTROL DEVICE OF THE RESULTING SPEED FOR MECHANISMS, AT THE SAME TIME IN THE DIRECTIONS TWO COMPONENTS MOVES ROUGHENING.

MECHANISM AS A CHECK OF THE POSITION OF A TUNNELING MACHINE

Material handling system for mining machine

A mining machine for cutting material from a mine wall includes a cutting head that is moveable to engage the mine wall, a vacuum duct positioned proximate the cutting head and including an inlet for receiving the material that is cut from the mine wall, and a sizer for reducing the size of material that passes into the vacuum duct, the sizer being positioned proximate the inlet.

Tunnel excavation device, and control method therefor

This excavator (10) is provided with: a front body section (11); a rear body section (13); a prescribed intermediate folding point (Px); a parallel link mechanism (14); an input unit (21); an intermediate-folding-point position calculation unit (23); and a jack control unit (26). The parallel link mechanism (14) includes a plurality of thrust jacks (14a-14f) which change the position of the front body section (11) relative to the rear body section (13). The intermediate-folding-point position calculation unit (23) calculates the position of the intermediate folding point (Px) on the basis of the content of a received operation input from the input unit (21), a centre line and a centre point of the rear body section (13), and the position of a centre point of the front body section (11). The jack control unit (26) controls the strokes of the thrust jacks (14a-14f) so as to achieve forward movement which corresponds to a curve generated from the respective positions of the centre point of ...

TUNNEL BORING DEVICE, AND CONTROL METHOD THEREFOR

A boring machine (10) comprises a forward section (11), a rear section (13), an articulation point (Px), a parallel link mechanism (14), an input component (21), an articulation point position computer (23), and a jack controller (26). The parallel link mechanism (14) includes a plurality of thrust jacks (14a to 14f) that change the position of the forward section (11) with respect to the rear section (13). The articulation point position computer (23) computes the position of the articulation point (Px) on the basis of the control inputs received by the input component (21), and the positions of the center line and center point of the rear section (13) and the center point of the forward section (11). The jack controller (26) controls the stroke amounts of the thrust jacks (14a to 14f) so as to produce movement corresponding to a curve generated from the positions of the center point of the rear section (13), the articulation point (Px), and the center point of the forward section (11) ...

DEVICE FOR MONITORING THE STATE OF ROTATION OF A DISK CUTTER ARRANGEMENT OF A SHIELD TUNNEL BORING MACHINE AND DISK CUTTER ARRANGEMENT FOR A SHIELD TUNNEL BORING MACHINE

A compact monitoring device (6) for monitoring the state of rotation of a disk cutter (5) of a shield tunnel boring machine is integrated into a clamping element (15) for fastening the disk cutter (5). A sensor module (33) of the monitoring device (6) is arranged in close proximity to the disk cutter (5) but without touching so that a state of rotation of the disk cutter (5) generated by transmitters (34) mounted in the disk cutter (5) is reliably ensured even under the rough environmental conditions prevailing in shield tunnel boring.

Tunnel boring robot and remote mobile terminal command system

A tunnel boring robot includes a tunnel boring machine, a sensing unit, an intelligent decision unit, and a controller unit. The sensing unit, the intelligent decision unit and the controller unit are disposed at the tunnel boring machine. The sensing unit is configured to sense, in real time, boring operation data of a current cycle during which the tunnel boring machine is working according to set boring parameter information. The intelligent decision unit is configured to receive the boring operation data sent by the sensing unit, and generate the set boring parameter information for a next cycle according to a preset prediction algorithm, the boring operation data and a desired boring effect. The controller unit is configured to receive the set boring parameter information, and control the tunnel boring machine to perform a boring operation for the next cycle according to the set boring parameter information.

AUTOMATED OPERATIONS OF A MINING MACHINE

СИСТЕМА СТАБИЛИЗАЦИИ ДЛЯ ГОРНОЙ МАШИНЫ

СПОСОБЫ И СИСТЕМЫ УПРАВЛЕНИЯ НАПРАВЛЕНИЕМ ПРОХОДКИ ГОРНОЙ МАШИНЫ

РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2019 116 847 A (51) МПК E21C 45/00 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ЗАЯВКА НА ИЗОБРЕТЕНИЕ (21)(22) Заявка: 2019116847, 31.05.2019 (71) Заявитель(и): ДЖОЙ ГЛОБАЛ АНДЕРГРАУНД МАЙНИНГ ЭлЭлСи (US) Приоритет(ы): (30) Конвенционный приоритет: 01.06.2018 US 62/679,424; 06.06.2018 US 62/681,345 R U (57) Формула изобретения 1. Система для управления направлением проходки горной машины при выполнении горной машиной операции врубки, содержащая: врубовую систему горной машины; множество гусениц горной машины, содержащее левую гусеницу и правую гусеницу; лидарный датчик, установленный на горной машине, причем лидарный датчик выполнен с возможностью испускания светового импульса к поверхности ранее вырезанной горной выработки и приема светового импульса, отраженного обратно от поверхности ранее вырезанной горной выработки; и электронный процессор, выполненный с возможностью: приема данных с лидарного датчика на основе светового импульса, принятого лидарным датчиком, определения текущего направления проходки горной машины на основе данных, принятых с лидарного датчика, сравнения текущего направления проходки с направлением на цель проходки горной машины, и в ответ на текущее направление проходки, отличающееся от направления на цель проходки горной машины на заданную величину, управление горной машиной для корректировки текущего направления проходки горной машины. 2. Система по п. 1, в которой лидарный датчик установлен на задней части горной машины. 3. Система по п. 2, дополнительно содержащая второй лидарный датчик, установленный на задней части горной машины, при этом первый лидарный датчик имеет первую дальность обнаружения, а второй лидарный датчик имеет вторую дальность обнаружения, отличающуюся от первой дальности обнаружения. Стр.: 1 A 2 0 1 9 1 1 6 8 4 7 A (54) СПОСОБЫ И СИСТЕМЫ УПРАВЛЕНИЯ НАПРАВЛЕНИЕМ ПРОХОДКИ ГОРНОЙ МАШИНЫ 2 0 1 9 1 1 6 8 4 7 Адрес для переписки: 129090, Москва, ул. Б. Спасская, ...

СПОСОБ УПРАВЛЕНИЯ ПРОДВИЖЕНИЕМ БУРИЛЬНОЙ УСТАНОВКИ И УСТРОЙСТВО ДЛЯ ЕГО ОСУЩЕСТВЛЕНИЯ

FIELD: well drilling. SUBSTANCE: method to control motion of drilling plant in ground or rock includes using of power unit immovably installed at lateral wall of protective pipe. A force is applied to the pipe. Information on pressure is transmitted from actuator driven by medium or from pressure gage. Motion force created by power unit id controlled on the base of data on the pressure received from the actuator or pressure gage placed in drilling head of the drilling plant. Device for controlling the motion of the drilling plant includes power unit for continuous travel of the drilling plant immovably fastened to the lateral wall of the protection pipe for transmitting the force, or pressure gage for transmitting information on pressure, and control unit. The device is provided with pressure transmission lines from actuator or pressure gage to the control unit for controlling the force of the power unit on the base of the pressure measured in the actuator and pressure gage placed in the drilling head. EFFECT: high productivity. 9 cl, 5 dwg рзЗ3с90с ПЧ ГЭ (19) РОССИЙСКОЕ АГЕНТСТВО ПО ПАТЕНТАМ И ТОВАРНЫМ ЗНАКАМ (51) МПК 13) ВИ "” 2 062 881‘ С1 Е 210 9/00, Е 02 Е 5/18 12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ РОССИЙСКОЙ ФЕДЕРАЦИИ (21), (22) Заявка: 5011803103, 21.09.1990 (30) Приоритет: 27.09.1989 Е| 894558 (46) Дата публикации: 27.06.1996 (56) Ссылки: Авторское свидетельство СССР М 351976, кл. Е 210 9/10,1972. (86) Заявка РСТ: Е1 90/00232 (27.09.90) (71) Заявитель: Вальто Иломяки[Е!] (72) Изобретатель: Вальто Иломяки[Р!] (73) Патентообладатель: Вальто Иломяки[Е |] (54) СПОСОБ УПРАВЛЕНИЯ ПРОДВИЖЕНИЕМ БУРИЛЬНОЙ УСТАНОВКИ И УСТРОЙСТВО ДЛЯ ЕГО ОСУЩЕСТВЛЕНИЯ (57) Реферат: Использование: относится к способу управления продвижением — бурильной установки и устройству для его осуществления. Сущность изобретения: способ управления продвижением бурильной установки в грунте или породе, согласно которому бурильную установку непрерывно перемещают посредством силового блока, неподвижно ...

СИСТЕМА СТАБИЛИЗАЦИИ ДЛЯ ГОРНОЙ МАШИНЫ

... 1. Горная машина, содержащая:раму;врубовую головку, подвижно соединенную с рамой, причем врубовая головка выполнена с возможностью поворота вокруг оси, по существу, перпендикулярной первой поверхности горной выработки; ипервый исполнительный механизм для стабилизации рамы относительно первой поверхности горной выработки, причем первый исполнительный механизм соединяется с рамой и включает в себя первый конец, выдвигающийся в первом направлении для взаимодействия с первой поверхностью горной выработки, причем выдвижение первого исполнительного механизма автоматически регулируется на основе измерений по меньшей мере одного индикатора силы, действующей между первым исполнительным механизмом и первой поверхностью горной выработки.2. Горная машина по п. 1, дополнительно содержащая второй исполнительный механизм для стабилизации рамы относительно второй поверхности горной выработки, причем второй исполнительный механизм соединяется с рамой и включает в себя первый конец, выдвигающийся во втором ...

СИСТЕМА ПЕРЕМЕЩЕНИЯ ПОРОДЫ ДЛЯ ГОРНОЙ МАШИНЫ

1.Горная машина для отбойки породы в забое горной выработки, содержащая:врубовую головку, выполненную с возможностью перемещения для взаимодействия с забоем горной выработки;вакуумный воздуховод, установленный вблизи врубовой головки, включающий в себя впуск для приема породы, отбитой на забое горной выработки; идробилку для уменьшения крупности породы, проходящей в вакуумный воздуховод, причем дробилка установлена вблизи впуска.2. Горная машина по п.1, в которой врубовая головка выполнена с возможностью поворота вокруг оси для взаимодействия с забоем горной выработки, причем ось ориентирована по существу перпендикулярно подошве горной выработки.3. Горная машина по п.1, в которой врубовая головка включает в себя опережающую сторону и заднюю сторону, причем опережающая сторона перемещается в забой горной выработки перед задней стороной, и при этом вакуумный воздуховод установлен смежно с задней стороной врубовой головки.4. Горная машина по п.1, в которой дробилка включает в себя вал и по меньшей мере один молоток, соединенный с валом, причем молоток проходит от вала и производит удары по породе, проходящей в вакуумный воздуховод, при вращении вала.5. Горная машина по п.1, в которой дробилка включает в себя барабан и по меньшей мере один зубок, соединенный с барабаном для производства ударов по породе, проходящей в вакуумный воздуховод, при вращении барабана.6. Горная машина по п.1, в которой дробилка установлена снаружи вакуумного воздуховода, причем дробилка производит удары по породе перед приемом породы во впуск.7. Горная машина по п.1, дополнительно содержащая захватывающую систему, содержащую:водораспылительн РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (51) МПК E21C 35/18 (13) 2014 107 846 A (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ЗАЯВКА НА ИЗОБРЕТЕНИЕ (21)(22) Заявка: 2014107846/03, 03.08.2012 (71) Заявитель(и): ДЖОЙ ЭмЭм ДЕЛАВЭР, ИНК. (US) Приоритет(ы): (30) Конвенционный приоритет: (72) Автор(ы): НАИДОО Душендра (ZA), МАККЕЙ Грэм (ZA) (43) ...

АВТОМАТИЗИРОВАННЫЕ ОПЕРАЦИИ ГОРНОЙ МАШИНЫ

... 1. Способ автоматического управления горной проходческой машиной непрерывного действия, в котором осуществляют:автоматическое управление по меньшей мере одним исполнительным механизмом для установки платформы, несущей врубовую головку, в заданное положение для пуска;автоматическое управление по меньшей мере одним исполнительным механизмом для выдвижения платформы к разрабатываемому забою до входа врубовой головки в контакт с разрабатываемым забоем и превышения по меньшей мере одним индикатором физической силы, действующей между врубовой головкой и разрабатываемым забоем заданного значения; иавтоматическое сохранение по меньшей мере одной координаты разрабатываемого забоя на машиночитаемом носителе, причем по меньшей мере одна координата основана на параметре по меньшей мере одного исполнительного механизма, когда индикатор превышает заданное значение.2. Способ по п.1, дополнительно содержащий прием из блока дистанционного управления команд для инициирования автоматизированной операции обнаружения ...

Device for guiding a loosening tool of a selective-cut heading machine during roadway drivage

The invention relates to a device for guiding the loosening tool 6 of a selective-cut heading machine 1 during roadway drivage, the supporting arm 4 of which can be pivoted about an axis 5, directed at right angles to the face and parallel to the roadway floor, and is fitted with a shearer drum 6 which has an axis 7 of rotation parallel to the pivot axis 5 of the supporting arm 4. By means of a winch 3, this selective-cut heading machine 1 can be moved over the width of the roadway on a guide frame 11 equipped with a toothed rack 12. On the goaf side, the guide frame 11 of the machine 1 has a scale 18, and the selective-cut heading machine 1 movable on this frame 11 is equipped with a circular scale 9 lying concentrically to the pivot axis 5 of its supporting arm 4. The graduations of both scales 9, 18 are matched to one another in accordance with the roadway profile to be driven in such a way that a graduation of the scale 18 of the guide frame 11 always has allocated to it a corresponding ...

DEVICE FOR CONTROLLING THE POSITION OF A TUNNEL BORING MACHINE

LOCATING MOBILE CUTTING MEANS

Methods and systems for controlling the heading of a mining machine

MECHANISM AS A CHECK OF THE POSITION OF A TUNNELING MACHINE

MECHANISM FOR CONTINUOUS CONTROL A MINING INDUSTRY OR TUNNEL BORING MACHINE

CONTROL PROCEDURE FOR DRILLING EQUIPMENT

VERFAHREN ZUM REGELN DES ANTRIEBS EINER VORTRIEBS- ODER GEWINNUNGSMASCHINE

In a method for regulating the drive of a shearing or heading machine for cutting a round as a function of actuating variables such as movement speed of the extension arm, position of the cutting tools and/or power consumption of the drive motors or pressure in hydraulic actuating cylinders, a minimum and a maximum setpoint value are determined for the movement speed of the extension arm, and at least two factors having values in each case between 0 and 1 are calculated as a function of measured values for the actuating variables, wherein the measured values comprise at least positional data of the cutting tools in comparison with setpoint data which correspond to a setpoint profile, motor loading measured data and extension arm movement speed measured data, and the movement speed of the extension arm is regulated as a function of the product of the setpoint speed and the respectively calculated factors.

VERFAHREN ZUM REGELN DES ANTRIEBS EINER VORTRIEBS- ODER GEWINNUNGSMASCHINE

VERFAHREN ZUM LOESEN DER ORTSBRUST MIT EINER VORTRIEBSMASCHINE MIT EINEM AN EINEM ALLSEITIG SCHWENKBAREN TRAGARM GELAGERTEN LOESEWERKZEUG

VERFAHREN ZUM STEUERN DER BEWEGUNG EINES ALLSEITS SCHWENKBAREN SCHRAEMARMES EINER TEILSCHNITTSCHRAEM- MASCHINE SOWIE VORRICHTUNG ZUR DURCHFUEHRUNG DIESES VERFAHRENS

PROCEDURE FOR THE LOESEN OF THE WORKING FACE WITH A TUNNEL BORING MACHINE WITH A TO AN GENERALLY TILTABLE SUPPORT ARM STORAGE LOESEWERKZEUG

VERFAHREN ZUM STEUERN DES SCHNEIDPROZESSES UND EINRICHTUNG ZUR ERFASSUNG DER EINBRUCHSTIEFE VON SCHRÄMWERKZEUGEN

Stabilization system for a mining machine

A control system for operating at least one stabilization member to engage a support surface is disclosed. The control system comprises a sensor configured to detect at least one indicator of a force exerted between an end of the stabilization member and the support surface. The control system comprises a controller in communication with the sensor. The controller is configured to retract the stabilization member, for a predetermined amount of time, from a position at which the at least one indicator of the force between the stabilization member and the support surface satisfies a specified range. The controller is further configured to extend the stabilization member for the predetermined amount of time plus an additional amount of time. A mining machine is also disclosed. 10929024 1 (GHMatters) P96143.AU.2 534-I ...

DEVICE FOR CONTROLLING THE POSITION OF A DIVIDING CUTTING

DEVICE FOR CONTROLLING THE POSITION OF A DIVIDING CUTTING

An apparatus for controlling the position of a dividing cutting machine having a longitudinal axis in a drift: two light beam sources or laser beam sources spaced longitudinally from the machine, the sources emitting beams which are parallel to each other and to the drift axis and which are in different vertical planes extending longitudinally of the drift; and two beam receivers arranged on the machine, the receivers being in transversely spaced apart positions relative to the longitudinal axis of the machine, and the transverse distance between the receivers corresponding to the transverse distance between the two beams.

METHODS AND SYSTEMS FOR CONTROLLING THE HEADING OF A MINING MACHINE

Methods and systems for controlling the heading of a mining machine while the mining machine performs a cutting operation. One system includes a cutting system and a set of left and right tracks of the mining machine. The system also includes a lidar sensor mounted to the mining machine. The system also includes an electronic processor configured to receive the data from the lidar sensor. The electronic processor is also configured to determine a current heading of the mining machine based on the data received from the lidar sensor and compare the current heading to a target heading of the mining machine. In response to the current heading not being different from the target heading of the mining machine by a predetermined amount, the electronic processor is configured to control the mining machine to adjust the current heading of the mining machine.

TUNNEL BORING DEVICE, AND CONTROL METHOD THEREFOR

A boring machine (10) comprises a forward section (11), a rear section (13), a parallel link mechanism (14), stroke sensors (16a to 160, pressure sensors (17a to 17h), and a controller (26). The parallel link mechanism (14) includes eight thrust jacks (14a to 14h) that change the position and attitude of the forward section (11) with respect to the rear section (13). The controller (26) computes a target allocation force to be allocated to eight thrust jacks (14a to 14h) on the basis of the sensing result from the stroke sensors (16a to 16f) and the pressure sensors (17a to 17h), and controls the thrust jacks 14a to 14h so as to perform stroke control on six of the thrust jacks (14a to 14f) and perform force control on two of the thrust jacks (14g and 14h).

DEVICE FOR MONITORING THE STATE OF ROTATION OF A DISK CUTTER ARRANGEMENT OF A SHIELD TUNNEL BORING MACHINE AND DISK CUTTER ARRANGEMENT FOR A SHIELD TUNNEL BORING MACHINE

A compact monitoring device (6) for monitoring the state of rotation of a disk cutter (5) of a shield tunnel boring machine is integrated into a clamping element (15) for fastening the disk cutter (5). A sensor module (33) of the monitoring device (6) is arranged in close proximity to the disk cutter (5) but without touching so that a state of rotation of the disk cutter (5) generated by transmitters (34) mounted in the disk cutter (5) is reliably ensured even under the rough environmental conditions prevailing in shield tunnel boring.

CONTROL METHOD AND CONTROL EQUIPMENT FOR DRILLING APPARATUS

... 2066217 9105138 PCTABS00004 A method for controlling the forward drive of tunnel drilling apparatus in soil or rock, by means of which forward drive of the entire apparatus is effected through pushing by a power unit (72) and wherein the driving force of the power unit and the simultaneous forward drive of the drill head are controlled by means of information about applied pressure medium, this information being received from a medium-driven actuator (67) or a pressure sensor in the tool head.

MACHINE OF DIGGING Of a TUNNEL

L'invention a pour objet une machine de creusement d'un tunnel comprenant une enveloppe cylindrique (2) à l'avant de laquelle sont disposées une tête de coupe (10) et une cloison (11) verticale et fixe formant avant ladite tête de coupe (10) une chambre de malaxage (12) du matériau arraché avec un produit additionnel. La cloison (11) est munie à sa partie inférieure d'une ouverture dans laquelle débouche un transporteur à vis (7). La chambre de malaxage (12) comporte, à sa partie inférieure, des moyens (25) de détection de la pression du matériau dans ladite chambre de travail (12) reliés à des moyens de commande de la vitesse de rotation de la vis (7b) du transporteur (7) et/ ou de la tête de coupe (10) et/ ou de la vitesse de déplacement en translation de ladite tête de coupe.

Method and machine for digging an underground gallery with positioning of the machine

A gallery is dug by means of a machine whose excavating head 5 is mounted at the end of a movable arm 4, which can be steered in at least two directions (vertical and horizontal) with respect to a tracked vehicle (1) carrying the assembly. For each excavation pass, the machine is positioned with respect to a laser beam 9 transmitted by a transmitter 8, by means of an optical sensor which is sensitive to this beam and is placed on the arm 4 in the immediate vicinity of the excavation head 5. The position of the excavation head 5 is measured by means of the position of the movable arm. It is brought in line with a reference axis represented by the laser beam 9. The movements are then carried out in such a way that the head sweeps the area inside the desired gallery profile.

CONTINUOUS CONTROL SYSTEM FOR A MINING OR TUNNELLING MACHINE

A continuous control system for a mining or tunnelling machine having a boom (12) with a motor driven cutting head (14) at one of its ends and a rotatable turret (20) at the other end, the control system comprising angular encoders (40, 44) for continuously measuring the angles of the boom (12) and of the turret (20) and a linear encoder (55) for continuously measuring the linear position of the cutting head (14), and further having pressure transducers (P1, P2, P3, P4) for continuously measuring the pressures of the various hydraulic cylinders or drives (41, 43) used to operate the boom (12) and the turret (20). It may also have a power transducer (57) for continuously measuring the power input to the motor (18) driving the cutting head (14) to control the RPM of the latter. The signals from the above various measurements are continuously processed by a computer (46) in accordance with a predetermined computer program and a controller (47) is provided which is responsive to the computer ...

Continuous control system for a mining or tunnelling machine

A continuous control system for a mining or tunnelling machine having a boom (12) with a motor driven cutting head (14) at one of its ends and a rotatable turret (20) at the other end, the control system comprising angular encoders (40, 44) for continuously measuring the angles of the boom (12) and of the turret (20) and a linear encoder (55) for continuously measuring the linear position of the cutting head (14), and further having pressure transducers (P1, P2, P3, P4) for continuously measuring the pressures of the various hydraulic cylinders or drives (41, 43) used to operate the boom (12) and the turret (20). It may also have a power transducer (57) for continuously measuring the power input to the motor (18) driving the cutting head (14) to control the RPM of the latter. The signals from the above various measurements are continuously processed by a computer (46) in accordance with a predetermined computer program and a controller (47) is provided which is responsive to the computer ...

СПОСОБЫ И СИСТЕМЫ УПРАВЛЕНИЯ НАПРАВЛЕНИЕМ ПРОХОДКИ ГОРНОЙ МАШИНЫ

Изобретение относится к способам и системам для управления направлением проходки горной машины, когда горная машина выполняет операцию врубки. Система содержит врубовую систему горной машины, множество гусениц горной машины, содержащее левую гусеницу и правую гусеницу. Лидарный датчик, установленный на горной машине, причем лидарный датчик выполнен с возможностью испускания светового импульса к поверхности ранее вырезанной горной выработки и приема светового импульса, отраженного обратно от поверхности ранее вырезанной горной выработки. Электронный процессор, выполненный с возможностью: приема данных с лидарного датчика на основе светового импульса, принятого лидарным датчиком, определения текущего направления проходки горной машины на основе данных, принятых с лидарного датчика, сравнения текущего направления проходки с направлением на цель проходки горной машины, в ответ на текущее направление проходки, отличающееся от направления на цель проходки горной машины на заданную величину, управления ...

Устройство для контроля положения горной машины

STEUERUNGSVERFAHREN FÜR BOHRGERÄTE

Improvements in or relating to methods and apparatus for controlling rotary speed and feed rate of the cutter head of a tunnelling machine

... 1,182,666. Tunnelling machines. ATLAS COPCO MCT AB. 22 March, 1967 [31 March, 1966], No. 13341/67. Heading E1F. Control system for the regulation of the rotary speed and feed rate of the cutter head of a tunnelling machine, the system being actuable in accordance with signals initiated by the load conditions of the drive means of cutter assemblies mounted on to be independently rotatable of the head.

Control of hydraulic booms

Automatic electronic control means are for the movement of hydraulic boom(s) or e.g. in tunnel- boring and road-header machines. The automatic boom control is in accordance with stored information relating to a desired path of boom movement by means of hydraulic control valves connected in the hydraulic control circuit of the boom and uses feedback control. The boom includes a turret rotatable about a vertical axis, and a jib mounted on the turret for rotation about a horizontal axis. Two mechanically operated hydraulic control valves are connected in the hydraulic control circuit for the independent control of the movements of the turret and jib, and further mechanically operated control valve(s) control their speed of movement about their respective axis. ...

EINRICHTUNG ZUR KONTROLLE DER POSITION EINER STRECKENVORTRIEBSMASCHINE

Automated operations of a mining machine

Methods and system for automatically operating a continuous mining machine. One method includes automatically operating at least one actuator to position a platform supporting a cutterhead at a predetermined starting position, automatically operating the at least one actuator to advance the platform toward a cutting face until the cutterhead contacts the cutting face and at least one indicator of a physical force between the cutterhead and the cutting face exceeds a predetermined value, and automatically saving at least one coordinate of the cutting face to a computer-readable medium, the at least one coordinate based on a parameter of the at least one actuator when the indicator exceeds the predetermined value.

MOBILE CONTINUOUS MINING MACHINE

... 2083181 9118184 PCTABS00008 Mining apparatus is disclosed in which a cutting wheel (36) supporting a plurality of roller-cutters (44) rotates about a horizontal axis and is supported on a slewing boom (17) for cutting a tunnel with a flat floor (80) and roof (81) and elliptical walls as it slews across a mining face. The slewing boom is supported on a main beam assembly (14), the front end of which rests on powered crawler tracks (60) and the rear end of which passes through a gripper assembly (24) which may be clamped between the floor (80) and roof (81) of the tunnel, and against which the main beam assembly (14) may be urged forward for engaging the roller-cutters (44) with the mining face. A preload crawler (22) is urged against the roof (81) of the tunnel above the powered crawler tracks (60) to locate the main beam assembly (14) rigidly relative to the tunnel such that the roller-cutters (44) may cut the rock in the mining face with minimal loss of cutting force due to vibration.

PROCEDE ET DISPOSITIF DE SURVEILLANCE ET/OU DE COMMANDE D'UNE MACHINE DE CREUSEMENT ET NOTAMMENT D'UNE MACHINE PONCTUELLE

L'INVENTION CONCERNE UN PROCEDE ET UN DISPOSITIF DE DETERMINATION DE LA POSITION DE LA TETE DE FRAISAGE 6, D'UNE MACHINE DE CREUSEMENT, NOTAMMENT D'UNE MACHINE PONCTUELLE. SELON L'INVENTION, LA DETERMINATION DE LA POSITION DE LA TETE DE FRAISAGE 6 EST REALISEE AUTOMATIQUEMENT ET EN ETANT COMMANDEE PAR UNE CALCULATRICE ENTRE UN POINT DE REFERENCE CONNU ET FIXE A, ELOIGNE DE LA MACHINE, ET UN BRAS DE FRAISAGE 5, PAR UNE MESURE PAR TRACE POLYGONAL, A L'AIDE DES SECTIONS MESUREES PAR LASER REPRESENTANT LES COTES DU POLYGONE. LE SYSTEME DE MESURE PERMET D'OBTENIR LA POSITION PRECISE DE LA TETE DE FRAISAGE PENDANT L'ABATTAGE ET DE CE FAIT UNE SURVEILLANCE FIABLE ETOU UNE COMMANDE PRECISE DU BRAS DE FRAISAGE POUR OBTENIR LE PROFIL DESIRE.

METHOD AND MACHINE FOR TUNNELING, A FORMWORK ELEMENT AND A FORMWORK SYSTEM

The invention relates to a tunneling method according to which a slot is made on the working face in the ground such that it advances while encircling the tunnel periphery. A supporting layer, which is made of a hardened material and which encircles the tunnel periphery, is formed inside said slot, whereby material is then excavated from the working face. A formwork element is slid inside the slot in order to hold the material while it hardens. A formwork element (13) for casing and bearing a supporting layer (10) in the tunnel construction can be displaceably fastened to a supporting frame (40). A formwork system has a number of these formwork elements and a supporting frame (40), to which the formwork elements are displaceably fastened. A tunneling machine has a tool (12, 70), which excavates a slot (15), said slot encircling the tunnel periphery, on the working face (14) in the ground (17), and which is displaceably fastened to a supporting frame (71) and automatically guided by a control ...

CONTINUOUS CONTROL SYSTEM FOR A MINING OR TUNNELLING MACHINE

СИСТЕМА СТАБИЛИЗАЦИИ ДЛЯ ГОРНОЙ МАШИНЫ

Группа изобретений относится к горнодобывающему оборудованию, в частности к машинам непрерывного действия. Технический результат – обеспечение максимальных возможностей создания крепи и оптимального горизонтирования. Способ стабилизации горной машины относительно первой поверхности горной выработки и второй поверхности горной выработки содержит выдвижение первого исполнительного механизма к первой поверхности горной выработки до достижения заданного значения по меньшей мере одним индикатором силы, действующей между первым исполнительным механизмом и первой поверхностью горной выработки, втягивание первого исполнительного механизма на первое заданное расстояние, выдвижение первого исполнительного механизма на первое заданное расстояние плюс расстояние смещения, выдвижение второго исполнительного механизма ко второй поверхности горной выработки до достижения заданного значения по меньшей мере одним индикатором силы, действующей между вторым исполнительным механизмом и второй поверхностью горной выработки, втягивание второго исполнительного механизма на второе заданное расстояние и выдвижение второго исполнительного механизма на второе заданное расстояние плюс расстояние смещения. Горная машина для реализации способа. 3 н. и 22 з.п. ф-лы, 21 ил. РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 618 005 C2 (51) МПК E21C 27/00 (2006.01) E21D 9/10 (2006.01) E21D 23/16 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ФОРМУЛА (21)(22) Заявка: ИЗОБРЕТЕНИЯ К ПАТЕНТУ РОССИЙСКОЙ ФЕДЕРАЦИИ 2014107893, 03.08.2012 (24) Дата начала отсчета срока действия патента: 03.08.2012 (72) Автор(ы): УЭЙД Колин Энтони (ZA), ЙОНКЕР Якобус Игнатиус (ZA) (73) Патентообладатель(и): ДЖОЙ ЭмЭм ДЕЛАВЭР, ИНК. (US) Дата регистрации: (56) Список документов, цитированных в отчете о поиске: US 2009/0058172 A1, 05.03.2009. SU Приоритет(ы): (30) Конвенционный приоритет: (43) Дата публикации заявки: 10.09.2015 Бюл. № 25 (45) Опубликовано: 02.05.2017 Бюл. № 13 (85) Дата начала рассмотрения заявки ...

Patent RU2017114510A3

ВУ” 2017114510” АЗ Дата публикации: 29.09.2020 Форма № 18 ИЗПМ-2011 Федеральная служба по интеллектуальной собственности Федеральное государственное бюджетное учреждение 5 «Федеральный институт промышленной собственности» (ФИПС) ОТЧЕТ О ПОИСКЕ 1. . ИДЕНТИФИКАЦИЯ ЗАЯВКИ Регистрационный номер Дата подачи 2017114510/03(025284) 03.08.2012 Приоритет установлен по дате: [ ] подачи заявки [ ] поступления дополнительных материалов от к ранее поданной заявке № [Х] приоритета 03.08.2012 по первоначальной заявке № 2014107893 из которой данная заявка выделена [ ] подачи первоначальной заявки № из которой данная заявка выделена [ ] подачи ранее поданной заявки № [Х] подачи первой(ых) заявки(ок) в государстве-участнике Парижской конвенции (31) Номер первой(ых) заявки(ок) (32) Дата подачи первой(ых) заявки(ок) (33) Код страны 1. 61/514,566 03.08.2011 05 2. 61/514,543 03.08.2011 05 3. 61/514,542 03.08.2011 05 Название изобретения (полезной модели): [Х] - как заявлено; [ ] - уточненное (см. Примечания) СИСТЕМА СТАБИЛИЗАЦИИ ДЛЯ ГОРНОЙ МАШИНЫ Заявитель: ДЖОЙ ГЛОБАЛ АНДЕРГРАУНД МАЙНИНГ ЭлЭлСи, 0$ 2. ЕДИНСТВО ИЗОБРЕТЕНИЯ [Х] соблюдено [ ] не соблюдено. Пояснения: см. Примечания 3. ФОРМУЛА ИЗОБРЕТЕНИЯ: [Х] приняты во внимание все пункты (см. п см. Примечания [ ] приняты во внимание следующие пункты: р [ ] принята во внимание измененная формула изобретения (см. Примечания) 4. КЛАССИФИКАЦИЯ ОБЪЕКТА ИЗОБРЕТЕНИЯ (ПОЛЕЗНОЙ МОДЕЛИ) (Указываются индексы МПК и индикатор текущей версии) Е21С 35/24 (2006.01) Е21О 9/10 (2006.01) 5. ОБЛАСТЬ ПОИСКА 5.1 Проверенный минимум документации РСТ (указывается индексами МПК) Е21С 25/00, 25/06, 25/16, 31/12; 35/00, 35/06, 35/08, 35/10, 35/24; Е? 1 9/00, 9/10, Е2ЛЕ 13/06; ©6050 1/02 5.2 Другая проверенная документация в той мере, в какой она включена в поисковые подборки: 5.3 Электронные базы данных, использованные при поиске (название базы, и если, возможно, поисковые термины): РУ/РТ, ЕАРАТГЬ, Езрасепев, 7-Р]а Рас РАТЕМТЗСОРЕ, Раеагсв, КОРТО, ИЗРТО 6. ...

STEUERUNGSVERFAHREN FÜR BOHRGERÄTE

TUNNELLING MACHINES OF THE TYPE HAVING A TOOL CARRIED BY A PIVOTED SUPPORT ARM

... 1496819 Computer controlled tunnelling machine GEBR EICKHOFF MASCHINENFABRIK U EISENGIESSEREI mbH 10 Oct 1975 [11 Dec 1974] 41546/75 Heading G3N [Also in Division E1] A tunnelling machine 1 uses laser alignment and computer control to produce a desired roadway 3 cross-section. The machine 1 works the heading face 2 using a getting tool formed as a cutting drum 4 mounted on arm 7 which is horizontally and vertically pivotable by hydraulic jack cylinder pairs 8, 9. The machine traverses roadway floor 11 by endless track 10 and picks up the debris with shovel 12 for rearward delivery through conveyor 13. A laser 14, Fig. 3, on the roadway passes its beam 15 to a receiver 17 which can be vertically and horizontally displaced by servos to ensure that the beam always hits the receiver surface centrally. Angular deviations of machine 1 with respect to beam 15 are measured and offsets around the machine longitudinal axis are detected by two gyroscopes, in machine casing 19, which respectively rotate ...

MONITORING/CONTROLLING MOBILE CUTTING MEANS

CONTINUOUS CONTROL SYSTEM FOR A MINING OR TUNNELLING MACHINE

A continuous control system for a mining or tunnelling machine having a boom with a motor driven cutting head at one of its ends and a rotatable turret at the other end, the control system comprising angular encoders for continuously measuring the angles of the boom and of the turret and a linear encoder for continuously measuring the linear position of the cutting head, and further having pressure transducers for continuously measuring the pressures of the various hydraulic cylinders or drives used to operate the boom and the turret. It may also have a power transducer for continuously measuring the power input to the motor driving the cutting head to control the RPM of the latter. The signals from the above various measurements are continuously processed by a computer in accordance with a predetermined computer program and a controller is provided which is responsive to the computer and which continuously controls the various parameters so as to cut a preselected profile at a predetermined ...

Stabilization system for a mining machine

采掘机的稳定系统，该采掘机包括：框架；可移动地联接到框架和可绕基本垂直于第一矿井表面的轴线枢转的刀头：以及用于使框架相对于第一矿井表面稳定的第一致动器。第一致动器联接到框架且包括可沿第一方向伸展以接合第一矿井表面的第一端部。第一致动器的伸展根据在第一致动器和第一矿井表面之间的力的至少一个指示的测量而得以自动控制。

CUTTING ASSEMBLY FOR A MINING MACHINE

A cutting assembly for a mining machine includes a central hub having at least one arm extending radially outwards from the central hub. The arm includes at least one cutting means carrier movably arranged for radial movement along the arm and a primary actuator configured to control the radial position of the cutting means carrier. The cutting assembly further includes a locking means movable between an unlocked and a locked position, wherein the locking means in its locked position locks the cutting means carrier to the arm such that radial movement of the cutting means carrier is prevented. The locking means includes at least one locking member provided on the arm such that the locking member is movable between an extended position and a withdrawn position. The locking member in the extended position extends to engage the cutting means carrier such that movement of the cutting means carrier is prevented.

Tunnelling machine

A tunnelling machine, especially suitable for tunnelling through soft material, comprises a support (20), an arm (46) pivotally mounted on the support about a generally horizontal axis, and a rotary cutter (50) mounted on the arm for cutting a slot in a tunnel end face. The arm (46) is linearly extensible and retractable while the slot is being cut so that, for example, tunnels of non-circular cross-section can be cut if desired. The machine will normally include drive means (65,66) for moving the arm about the horizontal axis and for extending and retracting it, sensors (70,71) for sensing the pivotal position and length of the arm, and a controller that controls the drive means in response to the sensors so that the cutter (50) can be moved through a predetermined arcuate profile. The machine may include a concrete supply arrangement for supplying concrete into the slot behind the cutter. ...

БУРОВЗРЫВНАЯ ПРОХОДЧЕСКАЯ МАШИНА

FIELD: machine building. SUBSTANCE: invention relates to tunneling machines, in particular to a drilling and blasting tunneling machine. Drilling and blasting tunneling machine contains a drilling and blasting device, an angle adjustment device, a telescopic reciprocating machine and a cantilever type tunneling machine. Drilling and blasting device is mounted on a reciprocating component of a reciprocating telescopic device by means of an angle adjustment device. In this case, the reciprocating telescopic device is installed on a cantilever type tunneling machine. Drilling and blasting device contains a fastening support, as well as a drilling component and an explosive component rigidly mounted on the mounting support, respectively. Angle adjustment device comprises an installation base, an auxiliary rotary hydraulic motor, an adjusting hydraulic cylinder and a main rotary hydraulic motor. And when the reciprocating component of the reciprocating telescopic device is fully extended, the distance from the front end of the drilling and blasting device to the working plane is less than the distance from the front end of the cutting head of the cantilever type tunneling machine to the work plane. EFFECT: technical result consists in increasing the efficiency of penetration, creating a compact machine design with the ability to perform fast drilling and blasting operations on a strong rock bed. 8 cl, 4 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 673 569 C1 (51) МПК E21D 9/10 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК E21D 9/1013 (2006.01) (21)(22) Заявка: 2017146567, 11.08.2016 (24) Дата начала отсчета срока действия патента: Дата регистрации: 28.11.2018 14.03.2016 CN 201610142395.8 (73) Патентообладатель(и): ЧАЙНА ЮНИВЕРСИТИ ОФ МАЙНИНГ ЭНД ТЕКНОЛОДЖИ (CN) (45) Опубликовано: 28.11.2018 Бюл. № 34 (85) Дата начала рассмотрения заявки PCT на национальной фазе: 28.12.2017 (56) Список документов, цитированных ...

EINRICHTUNG ZUR LEISTUNGSREGELUNG EINER TEILSCHNITT-VORTRIEBSMASCHINE

Control system for tunnelling appts.

The tunnelling machine has a cutting head and a system for transferring the spoil rearwards to the transport system. The whole machine is controlled by a processor which adapts the operation to suit different rock structures. The cutting pressure is maintained at a set level and the processor monitors the cutting head frequency and/or the cutting rate. Another parameter monitored is the rate of flow of spoil.The processor computes a reference level for the parameters and the varying instant levels. The cutting head and transfer system are driven electrically or hydraulically, with the flowrate of power to the drives also monitored ...

Machine for driving underground roadways - has equipment controlling machine and cutting tool position in the roadway

Machine for driving tunnels and underground roadways includes a universally pivoting arm with cutting tool and equipment for ascertaining inclinations and angular and parallel deviations and a computer coupled to equipment for producing proportional signals to the inclinations and angular and parallel deviations of the machine. The machine (1) is also fitted with a housing (14) carried by damping links in which is mounted a laser and the equipment for determining the inclinations and angular deviations. The laser is fastened in position parallel to the floor (11) of the roadway and lined up against a receiver (18) positioned in the roadway (3). The receiver (18) is receiving a light beam (17) from the laser and is transmitting correcting signals corresponding to the parallel deviations to the machine (1).

Boring in the ground

A method for determining the position and location of a device for producing a connecting boring in the ground between two vertical bores. This cross borer device having a front part 2 and rear part 3 moving in alternation, the operation of determining the position and location is carried out by incrementally adding together the vectors of movement of the cross borer. For this purpose the coordinate axes of the rear part 3 are determined by means of a starting part remaining in the starting hole of the crossbore. After the front part 2 bearing a boring head has moved forward the coordinate axes of the front part 2 are determined in relation to the rear part 3. The rear part 3 is then moved up into position, the situation and location being determined relative to the front part 2 and used in relation to the latter as a reference coordinate. ...

Locating mobile cutting means

A system serves to establish the spatial positions of a cutter head of a tunnel driving machine with precision and monitors and/or controls this position automatically. The system uses a computer-controlled laser beam scanning technique to locate the three-dimensional positions of mirror devices in successive measuring stations spaced along the tunnel.

COMBINED ROCK-BREAKING TBM TUNNELING METHOD IN COMPLEX STRATA FOR REALIZING THREE-WAY FORCE DETECTION

Disclosed a combined rock-breaking TBM tunneling method in complex strata for realizing three-way force detection, comprising the steps of preparing a combined mechanical-hydraulic rock-breaking cutter head for TBM construction; starting construction; advancing the combined mechanical-hydraulic rock-breaking cutter head; pushing and pressing against a tunnel face by a mechanical cutter tool; subjecting a three-way force detection cutter to squeezing forces; feeding back three-way force data by a three-way force sensor; processing information by a TBM back-end control processor; obtaining a value of rock-cutter contact angle φ; feeding back parameter information to a TBM cutter head control center by a lithology index center; responding by the TBM cutter head control center, obtaining and adjusting parameters by the mechanical cutter tool equipped with the three-way force sensor; and breaking rock by the combined mechanical-hydraulic rock-breaking cutter head. The method disclosed is energy-saving and efficient, and has high rock-breaking efficiency. 1. A combined rock-breaking TBM tunneling method in complex strata for realizing three-way force detection , comprising:{'b': 1', '1', '17, 'Step : preparing a combined mechanical-hydraulic rock-breaking cutter head () of a combined rock-breaking tunneling apparatus () for TBM construction;'}{'b': 2', '17, 'Step : starting construction by the combined rock-breaking tunneling apparatus ();'}{'b': 3', '1, 'Step : advancing the combined mechanical-hydraulic rock-breaking cutter head ();'}{'b': 4', '15', '1', '111, 'Step : pushing and pressing against a tunnel face () by a mechanical cutter tool (.);'}{'b': '5', 'Step : subjecting a three-way force detection cutter to squeezing forces;'}{'b': 6', '1', '122, 'Step : feeding back three-way force data by a three-way force sensor (.);'}{'b': '7', 'Step : processing information by a TBM back-end control processor;'}{'b': '8', 'Step : obtaining a value of rock-cutter contact angle ...

Drive system with both fixed-displacement hydraulic motors and variable-displacement hydraulic motors for cutter head of boring machine and control method thereof

A drive system with both fixed-displacement hydraulic motors and variable-displacement hydraulic motors for a cutter head of a boring machine and a control method thereof are provided. The drive system includes a variable-displacement hydraulic motor group, a fixed-displacement hydraulic motor group and a variable-displacement hydraulic pump group. The variable-displacement hydraulic motor group, the fixed-displacement hydraulic motor group, and the variable-displacement hydraulic pump group are all connected to a main oil circuit of a cutter head system of the boring machine. The variable-displacement hydraulic pump group inputs flow to the main oil circuit; and, the variable-displacement hydraulic motor group and the fixed-displacement hydraulic motor group acquire flow from the main oil circuit. Displacements of the fixed-displacement hydraulic motor group and the variable-displacement hydraulic motor group are set in a way of specific displacement combination. The present invention decreases an engineering cost, and improves system reliability and efficiency. 112-. (canceled)13. A drive system with both fixed-displacement hydraulic motors and variable-displacement hydraulic motors for a cutter head of a boring machine , comprising a variable-displacement hydraulic motor group , a fixed-displacement hydraulic motor group , and a variable-displacement hydraulic pump group , wherein: the variable-displacement hydraulic motor group , the fixed-displacement hydraulic motor group , and the variable-displacement hydraulic pump group are all connected to a main oil circuit of a cutter head system of the boring machine; the variable-displacement hydraulic pump group inputs flow to the main oil circuit; and , the variable-displacement hydraulic motor group and the fixed-displacement hydraulic motor group acquire flow from the main oil circuit.14. The drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the ...

Ram accelerator augmented drilling system

Systems for drilling or tunneling include an assembly for accelerating a projectile into a region of geologic material. An interaction between the projectile and the geologic material extends a borehole and forms debris. The debris may be reduced in size by moving the debris to a crushing device. The reduced-size debris is then moved toward the surface using fluid movement. Water jets or other types of devices may be used to cut or deform a perimeter of a region of geologic material before the projectile is accelerated to control the shape of the borehole and the manner in which debris is broken from the geologic material.

SQUEEZING DEVICE FOR UNDERGROUND PROJECT

A squeezing device for an underground project, comprising a guide body, a vibration system, a lubricating system, a guide system, a cutting mechanism and a gate, wherein the vibration system is located on four walls of the guide body, the lubricating system is internally provided with a lubricating pipeline along the four walls of the guide body and communicates with a corresponding lubricating nozzle, the guide system is located on four walls at a front end of the guide body, and the cutting mechanism is located at a front end of an inner cavity of the guide body, and the gate is located in a functional bin. 1. A soil-squeezing device for underground project , comprising: conductor , vibration system , lubrication system , guidance system , cutting structure and sluice. The vibration system is located in the four inner walls of the conductor. The lubrication system is located in the lubrication pipes along the four inner walls of the conductor and connected with the lubrication nozzle in proper positions. The guidance system is located in the four inner walls on the front end. The cutting structure located in the front end of inner cavity of the conductor , and the sluice is located in the function chamber of the conductor.2123412314544554120208202034202094552020205714891011121314414. The soil-squeezing device for underground project according to claim 1 , wherein the mentioned conductor includes squeezing chamber () claim 1 , shell integuments () claim 1 , reinforcing plate () and function chamber (). The squeezing chamber () is a trapezoid-shaped or cone-shaped hollow cavity with certain length claim 1 , width and height claim 1 , and the projecting area of the front end of the squeezing chamber is less than the back end. The shell integument () is a grid steel structure which is made of two layers of panels claim 1 , and between which a reinforced board () is added so as to strengthen the thickness and strength of the shell. The conductor includes front and back ...

TUNNEL BORING MACHINE OPERATING ARRANGEMENT AND METHOD

An operating arrangement for operating a tunnel boring machine for constructing a tunnel in a ground, the operating arrangement including a feed drive that is configured to advance the tunnel boring machine in the ground; a tool drive that is configured to drive a mining tool of the tunnel boring machine so that a successive removal of the ground is performable; at least one fluid tank for storing a drive fluid; at least one filtering arrangement for filtering the drive fluid; at least one cooling arrangement for cooling the drive fluid; and at least one control arrangement by which the feed drive and/or the tool drive is controllable wherein at least the feed drive and the tool drive are jointly arrangeable in a container. 1. A operating arrangement for operating a tunnel boring machine for constructing a tunnel in a ground , the operating arrangement comprising:a feed drive that is configured to advance the tunnel boring machine in the ground;a tool drive that is configured to drive a mining tool of the tunnel boring machine so that a successive removal of the ground is performable;at least one first fluid tank for storing a drive fluid;at least one filtering arrangement for filtering the drive fluid;at least one cooling arrangement for cooling the drive fluid; andat least one control arrangement by which the feed drive or the tool drive is controllable,{'b': '5', 'wherein at least the feed drive () and the tool drive are jointly arrangeable in a container;'}a second fluid tank wherein the at least one first fluid tank is associated with the feed drive and the second fluid tank is associated with the tool drive so that the feed drive and the tool drive cooperate with separate fluid tanks, andwherein the tool drive together with the second fluid tank forms a tool drive module that is removable from the container so that an operating connection between the tool drive and the second fluid tank is maintained continuously.2. The operating arrangement according to claim ...

TUNNEL BORING MACHINE

The tunnel boring machine includes a data processing unit configured to obtain error data (E) based on a current measurement value (Vp) of the strain sensor obtained at a current angle (θ) of the cutter head and a past corresponding measurement value (Vo) obtained at a corresponding angle corresponding to the current angle, to correct the current measurement data using the error data. 1. A tunnel boring machine , comprising:a cutter head;a cutter support supporting the cutter head and configured to rotate with the cutter head;a cutter driving unit for rotationally driving the cutter head and the cutter support;a rotational angle sensing unit for sensing a rotational angle of the cutter head;a strain sensor provided in the cutter head or the cutter support; anda data processing unit for obtaining measurement data (F) of a force acting on the cutter head, based on a measurement result of the strain sensor,{'sub': 'r', 'wherein the data processing unit is configured to obtain error data (E) based on a current measurement value (Vp) of the strain sensor obtained at a current angle (θ) of the cutter head and a past corresponding measurement value (Vo) obtained at a rotational angle corresponding to the current angle, to correct the current measurement data using the error data.'}2. The tunnel boring machine according to claim 1 , wherein the corresponding measurement value is a measurement value of the strain sensor obtained one rotation prior to the current angle.3. The tunnel boring machine according to claim 1 , wherein the data processing unit is configured to calculate the error data using a reference value (AG) claim 1 , the current measurement value and the corresponding measurement value claim 1 , the reference value being calculated using a plurality of measurement values of the strain sensor over at least one past rotation.4. The tunnel boring machine according to claim 3 , wherein the reference value is an average value of the measurement values of the strain ...

Rock cutting device

A rock excavating device includes a shaft and a cutting element. The shaft includes a first portion and a second portion connected to an end of the first portion. The first portion is rotatable about a first axis. The second portion extends along a second axis that is oblique with respect to the first axis. The cutting element includes a cutting edge. The cutting element is supported on the second portion and rotatable about the second axis. Rotation of the first portion of the shaft about the first axis changes the orientation of the second axis and the cutting element.

Tunneling for Underground Power & Pipelines

The present application describes a rapid burrowing robot (RBR) that can dig tunnels using ultra high temperature rotating plasma torches.

TUNNELING AND MINING METHOD USING PRE-CONDITIONED HOLE PATTERN

Systems for forming or extending a tunnel or shaft within geologic material may include a ram accelerator assembly for accelerating one or more projectiles into geologic material to weaken a region of the geologic material. The projectile(s) pre-condition the geologic material, such as by forming one or more holes in a central region of the material or to define a perimeter of the region to be displaced. A cutting tool or subsequent projectile impacts may then be used to remove the weakened material. The voids formed by the first projectile(s) cause compressive forces from subsequent impacts or cutting operations to be converted to tension forces that more efficiently break geologic material, which may fall into the voids created by the first projectile(s). The voids created by the projectile impacts may also control the material that is removed and the shape of a resulting section of the tunnel or shaft. 1. A method comprising: the geologic material includes a second region that encloses the first region; and', 'a first interaction between the one or more first projectiles and the first region weakens geologic material at the first region and forms a first void by displacing geologic material; and, 'accelerating one or more first projectiles into contact with a first region of geologic material, wherein a second interaction between the second projectile and the one or more of the first region or the second region applies a compressive force to the geologic material;', 'the compressive force interacts with the first void to form a first tension force; and', 'the first tension force displaces at least a portion of the geologic material of the first region into the first void., 'accelerating a second projectile into contact with one or more of the first region or the second region, wherein2. The method of claim 1 , further comprising:accelerating one or more third projectiles into contact with the second region, wherein:a third interaction between the one or more ...

Optimization of boring by a tunnel boring machine as a function of ground/machine interactions

The invention relates to a method (S10) for optimizing the characteristics of a tunnel boring machine, particularly a tunnel boring machine of the slurry pressure or VD type, said method comprising the following steps: S0: determining a ground/machine interaction model, S11: instantaneous measurement of the set of specific boring parameters of the tunnel boring machine, S13: determining the group of individuals corresponding to the boring parameters measured in step S11 by means of the ground/machine interaction model, S14: optimizing the characteristics of the tunnel boring machine as a function of the group of individuals thus determined.

CONTROL SYSTEM FOR MACHINE HAVING ROTARY CUTTING HEAD

A control system may be provided for operating a machine having a rotary cutting head. The control system may include a wrist capable of rotating about a wrist axis, a gear mechanism capable of driving rotation of the wrist. A cutting head may be attached to the wrist and capable of rotating about a cutter axis that is substantially perpendicular to the wrist axis. The control system may also include primary and redundant angular sensors capable of generating signals indicative of angular orientations of the wrist. The control system may additionally include a controller, capable of controlling operation of the wrist and the cutting head, comparing an actual angular orientation of the wrist to a target angular orientation, as indicated by the primary and secondary signals, and selectively inhibiting the cutting head from operating when the actual angular orientation differs from the target angular orientation by an operation threshold. 1. A control system for a machine , the control system comprising:a wrist configured to rotate about a wrist axis;a gear mechanism configured to drive rotation of the wrist;a cutting head coupled to the wrist and configured to rotate about a cutter axis that is substantially perpendicular to the wrist axis;a primary angular sensor configured to generate primary signals indicative of angular orientations of the wrist;at least one redundant angular sensor configured to generate secondary signals indicative of angular orientations of the wrist; and control operation of the wrist and the cutting head;', 'compare an actual angular orientation of the wrist, as indicated by one or more of the primary signals or the secondary signals, to a target angular orientation; and', 'selectively inhibit the cutting head from operating when the controller determines that the actual angular orientation differs from the target angular orientation by an operation threshold., 'a controller configured to2. The control system of claim 1 , wherein the ...

LIDAR-BASED CONVERGENCE DEFORMATION MONITORING SYSTEM FOR SURROUNDING ROCK AROUND TBM SHIELD REGION

A lidar-based convergence deformation monitoring system for surrounding rock around a TBM shield region, including a data acquisition module. The data acquisition module includes: a lidar, a push-rod motor, an H-bridge circuit, a power supply module, an ARM chip, a guide rod, a linear bearing, a tempered glass cover and a protective case. The lidar and the push-rod motor are connected to a lidar connector to acquire raw data of the surrounding rock and store the raw data in the ARM chip. A middle portion of a top plate of the protective case allows the lidar to extend out of the protective case. The protective case is fastened to an inner wall of the TBM shield through two mounting brackets on both sides of the protective case, and the inner wall facilitates the lidar to extend out of the protective case to perform a measurement. 1. A lidar-based convergence deformation monitoring system for surrounding rock around a tunnel boring machine (TBM) shield region , comprising:a data acquisition module, comprising a lidar, a push-rod motor, an H-bridge circuit, a power supply module, an ARM chip, a guide rod, a linear bearing, a tempered glass cover and a protective case,wherein: the lidar and the push-rod motor are connected by a lidar connector and a push-rod connection head, to acquire raw data of the surrounding rock and store the raw data in the ARM chip; the push-rod motor is fastened to a mounting plate of the protective case through a fastening plate of the push-rod motor; the ARM chip, the fastening plate of the push-rod motor and the H-bridge circuit are fastened to the mounting plate of the protective case by screws; the power supply module is fastened within the protective case; a middle portion of a top plate of the protective case directly opposite to the lidar is provided with a lidar hole having a same size as the lidar, to allow the lidar to extend out of the protective case; the tempered glass cover is mounted above the lidar hole, and the tempered glass ...

Rock breaking seismic source and active source three-dimensional seismic combined advanced detection system using tunnel boring machine

A rock breaking seismic source and active source three-dimensional seismic combined detection system uses a tunnel boring machine for three-dimensional seismic combined detection by active seismic source and rock breaking seismic source methods. Long-distance advanced prediction and position recognition of a geological anomalous body are realized using the active source seismic method. Machine construction is adjusted and optimized according to the detection result; real-time short-distance accurate prediction of the body is realized using the cutter head rock breaking vibration having weak energy but containing a high proportion of transverse wave components as seismic sources and adopting an unconventional rock breaking seismic source seism recording and handling method. An area surrounding rock quality to be excavated is represented and assessed. A comprehensive judgment is made to the geological condition in front of the working face with the results of active source and rock breaking seismic source three-dimensional seismic advanced detection.

TUNNEL BORING DEVICE, AND CONTROL METHOD THEREFOR

A boring machine comprises a forward section, a rear section, a parallel link mechanism, stroke sensors, pressure sensors, and a controller. The parallel link mechanism includes eight thrust jacks that change the position and attitude of the forward section with respect to the rear section. The controller computes a target allocation force to be allocated to eight thrust jacks on the basis of the sensing result from the stroke sensors and the pressure sensors, and controls the thrust jacks to perform stroke control on six of the thrust jacks and perform force control on two of the thrust jacks. 1. A tunnel boring device , comprising:a forward section having a plurality of cutters at an excavation-side surface;a rear section disposed to a rear of the forward section and having grippers for obtaining counterforce during excavation;a parallel link mechanism including (6+n) thrust jacks disposed in parallel between the forward section and the rear section, linking the forward section and the rear section, and changing a position and attitude of the forward section with respect to the rear section, where n is a positive integer;a plurality of stroke sensors attached to the thrust jacks to sense stroke amounts of the thrust jacks;a plurality of force sensors attached to the thrust jacks to sense a load to which the thrust jacks are subjected; anda controller configured to compute a target allocation force to be allocated to the (6+n) thrust jacks on the basis of sensing results of the plurality of stroke sensors and the plurality of force sensors, and control the thrust jacks so that a stroke control is performed for six of the thrust jacks, and a force control involving the allocation force is performed for the other n number of thrust jacks.2. The tunnel boring device according to claim 1 , whereinthe controller computes an external force to which the forward section is subjected on the basis of a relative position and an attitude of the forward section with respect to ...

TUNNEL BORING DEVICE, AND CONTROL METHOD THEREFOR

A boring machine comprises a forward section, a rear section, an articulation point, a parallel link mechanism, an input component, an articulation point position computer, and a jack controller. The parallel link mechanism includes a plurality of thrust jacks that change the position of the forward section with respect to the rear section. The articulation point position computer computes the position of the articulation point on the basis of the control inputs received by the input component, and the positions of the center line and center point of the rear section and the center point of the forward section. The jack controller controls the stroke amounts of the thrust jacks to produce movement corresponding to a curve generated from the positions of the center point of the rear section, the articulation point, and the center point of the forward section. 1. A tunnel boring device , comprising:a forward section having a plurality of cutters at an excavation-side surface;a rear section disposed to a rear side of the forward section and having grippers for obtaining counterforce during excavation;an articulation point provided between the forward section and the rear section;a parallel link mechanism including a plurality of thrust jacks that are disposed in parallel between the forward section and the rear section, link the forward section and the rear section, and change a position of the forward section with respect to the rear section;an input component configured to receive control inputs related to a movement direction of the forward section from an operator;a computer configured to compute a position of the articulation point on the basis of the control input received by the input component, and a positions of the center line and a center point of the rear section and a center point of the forward section; anda jack controller configured to control a stroke of each of the plurality of thrust jacks included in the parallel link mechanism so that movement will ...

Cutting apparatus using a clearing arrangement

A cutting unit for use with a cutting apparatus suitable for creating tunnels or subterranean roadways and the like, includes a cutting arm configured for pivotal movement around at least one pivot axis and a cutting head mounted to the cutting arm. The cutting head includes at least one rotatable cutting element for detaching material from a rock face, and a clearing arrangement mounted to the cutting arm. The clearing arrangement has a clearing blade for pushing detached rock material onto a loading table of the cutting apparatus, the clearing blade being guided by a first guiding mechanism to allow a free movement of the clearing blade in a first direction.

TUNNELING FOR UNDERGROUND POWER AND PIPELINES

The present application describes a rapid burrowing robot (RBR) that can dig tunnels using ultra high temperature rotating plasma torches. 1. (canceled)2. A tunnel boring machine , comprising:a propulsion system;a torch support structure carried by the propulsion system including a disc mounted on a rotatable shaft; anda plurality of plasma torches carried by the torch support structure, wherein at least selected ones of the plurality of plasma torches are mounted to the disc.3. The tunnel boring machine of claim 2 , wherein the plurality of plasma torches are arranged on the torch support structure in a spiral pattern.4. The tunnel boring machine of claim 3 , wherein the plurality of plasma torches are arranged on the torch support structure in a Fibonacci spiral.5. The tunnel boring machine of claim 2 , further comprising a laser positioned proximate the center of the disc.6. The tunnel boring machine of claim 2 , wherein at least selected ones of the plurality of plasma torches comprise non-transferred arc plasma torches.7. The tunnel boring machine of claim 2 , wherein at least selected ones of the plurality of plasma torches comprise transferred arc plasma torches.8. A tunnel boring machine claim 2 , comprising:a propulsion system;a torch support structure carried by the propulsion system, wherein the torch support structure comprises a disc mounted on a rotatable shaft carried by the enclosure;a plurality of plasma torches mounted to the disc;a power supply cable adapted to supply power to the boring machine from one or more power sources; anda control system configured to select the one or more power sources from among multiple available power sources based on a corresponding cost and a corresponding availability of each of the multiple available power sources.9. The tunnel boring machine of claim 8 , wherein the multiple available power sources comprise at least two of solar power claim 8 , wind power claim 8 , geothermal power claim 8 , hydro power claim 8 ...

System and method for real-time guidance and mapping of a tunnel boring machine and tunnel

A system and methods are disclosed for providing the location of a tunnel boring machine (TBM) by establishing of a plurality of known locations or “monuments”; from these monuments located at least on, over or within the TBM's start point, known in the art as a “pit”. The present invention provides among other things an integrated navigation system that provides real-time parametric guidance information to the TBM, relative to the tunnel origin, past course and current trajectory, while simultaneously employing a non-contact measuring system in concert with said origin and course information for the final provision of an as-built map of tunnel dimensions and centerline.

Stabilization system for a mining machine

A mining machine including a frame, a cutting head moveably coupled to the frame and pivotable about an axis that is substantially perpendicular to a first mine surface, and a first actuator for stabilizing the frame relative to the first mine surface. The first actuator is coupled to the frame and includes a first end extendable in a first direction to engage the first mine surface. The extension of the first actuator is automatically controlled based on measurements of at least one indicator of the force between the first actuator and the first mine surface.

TUNNEL BORING ROBOT AND REMOTE MOBILE TERMINAL COMMAND SYSTEM

A tunnel boring robot includes a tunnel boring machine, a sensing unit, an intelligent decision unit, and a controller unit. The sensing unit, the intelligent decision unit and the controller unit are disposed at the tunnel boring machine. The sensing unit is configured to sense, in real time, boring operation data of a current cycle during which the tunnel boring machine is working according to set boring parameter information. The intelligent decision unit is configured to receive the boring operation data sent by the sensing unit, and generate the set boring parameter information for a next cycle according to a preset prediction algorithm, the boring operation data and a desired boring effect. The controller unit is configured to receive the set boring parameter information, and control the tunnel boring machine to perform a boring operation for the next cycle according to the set boring parameter information. 1. A tunnel boring robot , comprising:a tunnel boring machine,a sensing unit,an intelligent decision unit connected to the sensing unit, anda controller unit connected to the intelligent decision unit, wherein:the sensing unit, the intelligent decision unit and the controller unit are disposed at the tunnel boring machine,the sensing unit is configured to sense, in real time, boring operation data of a current cycle during which the tunnel boring machine is working according to set boring parameter information, wherein the boring operation data comprises tunnel wall rock state information, tunnel geological forecasting information, fine exploration information, precision lining information, a real-time boring effect information indicator and real-time boring parameter information,the intelligent decision unit is configured to receive the boring operation data sent by the sensing unit, and generate the set boring parameter information for a next cycle according to a preset prediction algorithm, the boring operation data and a desired boring effect,the ...

WIRE SAW EXCAVATION APPARATUS CAPABLE OF CHANGING CUTTING LINE IN ACCORDANCE WITH CUTTING SECTION AND TUNNEL EXCAVATION METHOD USING SAME

The present invention relates to a wire saw excavation apparatus that is installed on a plurality of entry holes drilled according to a cutting section of a target surface of rock to be excavated so that the target surface is excavated by using wire saws, and more particularly, to a wire saw excavation apparatus that mounts N pulleys on one entry arm to cut the rock in N directions all at once, thereby remarkably improving the work efficiency. 1. A wire saw excavation method comprising the steps of:drilling a plurality of entry holes selectively on the edge lines and the crossing points of lattice type cutting lines of a target surface of rock to be excavated and inserting a plurality of entry arms into the plurality of entry holes, each entry arm having multi-directional pulleys on which wire saws are wired according to directions thereof so as to segmentedly cut the entire section of the rock to be excavated to removable sizes all at once through the wire saws; collecting to a driving roller the wire saws that are located in horizontal, vertical, and diagonal directions in such a manner as to rotate in different directions from one another to perform the cutting operations for cutting sections; and operating the driving roller with a support force generated from a support frame supporting the entry arms inserted into the entry holes to segmentedly cut the edge lines and the lattice type cutting sections of the target surface to the removable sizes all at once.2. A wire saw excavation apparatus for segmentedly cutting the entire section of rock to be excavated all at once , the apparatus comprising:two or more multi-directional entry arm pulleys inserted into entry holes drilled on the crossing points of the cutting lines of the entire section of the rock to be excavated in such a manner as to be mounted selectively on the end portions of entry arms in any one direction of horizontal, vertical, and diagonal directions, the number of pulleys inserted into each entry ...

Cutting apparatus

A cutting apparatus suitable for creating tunnels and subterranean roadways includes independently pivoting supports that each carry a respective independently pivoting arm and a rotatable cutting head. Each cutting head via the supports and arms, is configured to slew laterally outward in a sideways direction and to pivot in a vertical upward and downward direction. The supports and arms are mounted on a linear moving sled carried by a main frame.

Methods and systems for controlling the heading of a mining machine

Methods and systems for controlling the heading of a mining machine while the mining machine performs a cutting operation. One system includes a cutting system and a set of left and right tracks of the mining machine. The system also includes a lidar sensor mounted to the mining machine. The system also includes an electronic processor configured to receive the data from the lidar sensor. The electronic processor is also configured to determine a current heading of the mining machine based on the data received from the lidar sensor and compare the current heading to a target heading of the mining machine. In response to the current heading not being different from the target heading of the mining machine by a predetermined amount, the electronic processor is configured to control the mining machine to adjust the current heading of the mining machine.

一种自动测绘定位的掘进方法及系统

本发明提供一种自动测绘定位的掘进方法及系统，包括：将设计系统给出的井巷模型离散为底板中轴多段线和井巷断面轮廓多边形；以掘进机的右侧指向为X轴、以掘进机的机头方向指向为Y轴、以与XOY面垂直且总体指向上为Z轴设置掘进机的机身坐标系；按照所述机身坐标系的坐标轴增量标定激光靶球位置到掘进机回转中心的相对位置坐标增量；利用定位机器人和指北仪定位掘进机激光靶球的位置坐标；根据所述激光靶球的位置坐标和激光靶球位置在机身坐标系中的相对位置坐标增量计算掘进机悬臂的运动基点坐标；根据底板中轴多段线、井巷断面轮廓多边形和掘进机悬臂的运动基点坐标控制掘进机对径向断面进行截割。本发明能够精确定位掘进机，操作无人化。

Catoptric projection optical system, exposure apparatus using the same, and device fabricating method

물체면 위의 패턴을 상면에 투영하기 위한 반사형 투영 광학계는 복수의 미러를 포함하고, 상기 상면으로부터 광로를 따라서 배치된 두번째 미러는 집광 광속을 수광하고, -0.14 이하의 근축배율을 가진다. A reflective projection optical system for projecting a pattern on an object plane onto an image plane includes a plurality of mirrors, and a second mirror disposed along the optical path from the image plane receives a condensing luminous flux and has a paraxial magnification of -0.14 or less.

一种液压铣钻机及其工作方法

本发明公开了一种液压铣钻机及其工作方法，该铣钻机包括可移动的机体，还包括大臂、摆臂油缸、铣钻组件和姿态调整油缸，所述大臂可转动连接在机体前端，所述摆臂油缸底端与机体可转动连接，摆臂油缸输出端与大臂可转动连接，所述铣钻组件可转动连接在大臂前端，所述姿态调整油缸底端与大臂可转动连接，姿态调整油缸输出端与铣钻组件可转动连接。该铣钻机在铣钻时工作稳定性好，且采用液压驱动，动力强劲，铣钻效率高，可适用于大体积岩石的破碎铣钻工作，施工成本低，且施工环境好。

Method of production by impact cutting and impact cutting loading machine for method implementation

FIELD: oil and gas industry.SUBSTANCE: impact guiding part is installed. Two ends of the impact guiding part are fitted with impact heads or one end of the impact guiding part is fitted with the impact head, and another end is fitted with the counterbalance. The impact guiding part is installed in the guiding device, the power impact part is installed. The power impact part is installed in the impact actuating unit. The guiding device and the impact actuating unit are integrated with formation of the reciprocating impact part; the power impact part puts the impact guiding part into reciprocating movement. The impact guiding part puts in action impact heads / impact head for impact effect on a coal or rock wall for material crushing; the frame is installed. The frame is fitted or not fitted with the lifting device. The reciprocating impact part is installed on the frame or on the lifting device; the frame is installed on the housing of the machine, or the frame and the lifting device are integrated and installed on the machine housing, the mobile part is installed. The mobile part is installed in the lower part of the machine housing. The mobile part puts the machine housing in motion; the machine housing supports impact heads / impact head for impact effect in a reciprocating manner for material crushing. The impact cutting loading machine contains: the machine housing, the mobile part and the reciprocating impact part. The reciprocating impact part contains the guiding device and the impact actuating unit. The guiding device contains the impact guiding part; meanwhile the reciprocating impact part also contains the impact head, two ends of the impact guiding part have impact heads, or one end of the impact guiding part has the impact head, and another end has the counterbalance; and the impact actuating unit contains the power impact part; the power impact part puts in action impact heads / impact head for execution of reciprocating motion; the impact guiding part ...

A kind of impact grinding combination tup of rock tunnelling bolting combined machine

本实用新型提供了一种掘锚机组的冲击破碎组合锤头，其特点是破碎锤头伸缩部包括破碎锤组、外套筒、伸缩油缸、前伸缩油缸销、后伸缩油缸销；其破碎锤组三个锤头、左、右两侧夹板、两个前伸缩油缸销孔隔板、高强度螺栓螺母、以及导柱；通过高强度螺栓螺母连接组装成一体；在左、右两侧夹板外侧分别安装导柱；所述导柱与外套筒内的导套配合，并构成滑动摩擦付，破碎锤组装在外套筒内，在伸缩油缸作用下带动破碎锤组进行前后伸缩，并推动破碎锤组的钎杆前移，插入岩巷掘进工作面，破岩角度上下、左右调节灵活，且对巷道的清底及修帮作业，减少了掘进、清底及修帮时间。

Device for cutting rock

Группа изобретений относится к горным и выемочным машинам и, в частности, к режущему устройству для горной или выемочной машины. Технический результат - компактность, простота конструкции, упрощение управление стрелой. Устройство для выемки горных пород содержит: вал, содержащий первую часть и вторую часть, соединенную с концом первой части, режущий элемент, содержащий режущую кромку, причем режущий элемент поддерживается на второй части вала и выполнен с возможностью вращения вокруг второй оси, и эксцентрическую массу, расположенную смежно первой части вала. Причем первая часть вала выполнена с возможностью вращения вокруг первой оси, при этом вторая часть вала проходит вдоль второй оси, которая наклонена относительно первой оси. При этом режущий элемент содержит переднюю часть и заднюю часть, причем передняя часть выполнена с возможностью вхождения в контакт с пластом породы, задняя часть расположена на расстоянии от передней части в направлении, параллельном второй оси, причем вращение первой части вала вокруг первой оси изменяет ориентацию второй оси и ориентацию передней части. Эксцентрическая масса выполнена с возможностью приведения во вращение вокруг оси возбудителя, при этом вращение эксцентрической массы вызывает колебания вала и режущего элемента. 3 н. и 22 з.п. ф-лы, 16 ил. РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (51) МПК E21C 25/06 E21C 25/16 E21C 27/00 E21C 31/00 E21C 27/24 E21C 31/04 (11) (13) 2 754 529 C2 (2006.01) (2006.01) (2006.01) (2006.01) (2006.01) (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК E21C 25/06 (2021.05); E21C 25/16 (2021.05); E21C 27/00 (2021.05); E21C 27/24 (2021.05); E21C 31/00 (2021.05) (21)(22) Заявка: 2019112099, 22.09.2017 22.09.2017 (73) Патентообладатель(и): ДЖОЙ ГЛОБАЛ АНДЕРГРАУНД МАЙНИНГ ЭлЭлСи (US) Дата регистрации: 03.09.2021 (56) Список документов, цитированных в отчете о поиске: US 20070090678 A1, 26.04.2007. US 20140077578 A1, 20.03.2014. US 5601153 A, 11.02.1997. US ...

Tunneling machine for rounded hexagonal tunnel

一种圆角六边形隧道挖掘机，动力器一、动力器二、动力器三、动力器四、动力器五、动力器六、动力器七在运转过程中分别通过其前端的一个钻杆驱动其前端的一个钻头旋转；六个转杆一在转动中分别通过固定杆带动搅杆旋转；七个钻头在旋转中将其前部的土体切削、由此成七个圆洞组成的近似的六边形孔洞，六个转杆一上的搅杆在转动中将近似的六边形孔洞的六条边的泥土切削，切削的泥土传入输送装置中，由输送装置输送到隧道外；圆角六边形隧道挖掘机在推进过程中形成圆角六边形隧道。

Tunnelling machine

FIELD: mining. SUBSTANCE: invention relates to mining industry, namely to the tunnelling machine. The invention relates to mining industry, namely to the tunnelling machine. The tunnelling machine contains the running gear (3), the main frame (2) and at least one tool support (7, 8) installed with a possibility of rotation around the horizontal axis (17) of rotation which bears several roller cutting tools and is intended for rotary driving in both directions by means of the actuating unit. At least two roll-shaped tool supports (7, 8) are installed with a possibility of rotation around the common axis (17) of rotation which bear on their periphery several roller cutting tools (9) located with distribution in the partial peripheral zone (α). The actuating unit interacts with tool supports (7, 8) so that both two of the named at least two tool supports (7, 8) rotate at the rotary movement in both directions at least within the part of the rotary movement in opposite directions with reference to each other. The cutting tools (9) of one of opposite rotating tool supports (7) are located with the distribution in the partial peripheral zone (α) which, at least, in the point of return of rotary movement is displaced in the circumferential direction with reference to the partial peripheral zone (α) along which the cutting tools (9) of another of opposite rotating tool supports are arranged with distribution (8). EFFECT: providing the cutting mode along the whole surface of the profile without the need for additional cutting of remaining rock edges. 24 cl, 7 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 572 632 C2 (51) МПК E21C 25/16 (2006.01) E21C 27/24 (2006.01) E21D 9/10 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ (21)(22) Заявка: ИЗОБРЕТЕНИЯ К ПАТЕНТУ 2013126793/03, 04.10.2011 (24) Дата начала отсчета срока действия патента: 04.10.2011 Приоритет(ы): (30) Конвенционный приоритет: (43) Дата публикации заявки: 20.12.2014 Бюл. № 35 (45) ...

Intelligent tunnel digging and supporting machine and method for rapidly forming tunnel

本发明涉及巷道掘进领域，公开了一种巷道智能掘支机及其快速成巷的方法，该巷道智能掘支机包括：截割单元、智能控制系统、支架运输单元和锚杆作业单元；支架运输单元包括：安装机械手、支架运输机和拆卸机械手；支架运输机上设有若干个液压支架；截割单元和安装机械手均设置在支架运输机的前端一侧，锚杆作业单元和拆卸机械手均设置在支架运输机的后端一侧；智能控制系统监测截割单元、支架运输单元和锚杆作业单元的工作状态，分别控制截割单元、支架运输单元和锚杆作业单元。本发明提供的巷道智能掘支机，通过在掘进工作面智能化的架设液压支架，在掘支机后方打设锚杆，解决了掘进与支护相互干扰、不能平行作业的问题。

METHOD AND DEVICE FOR MONITORING AND / OR CONTROLLING A CRUSHING MACHINE AND IN PARTICULAR A PUNCTUAL MACHINE

L'INVENTION CONCERNE UN PROCEDE ET UN DISPOSITIF DE DETERMINATION DE LA POSITION DE LA TETE DE FRAISAGE 6, D'UNE MACHINE DE CREUSEMENT, NOTAMMENT D'UNE MACHINE PONCTUELLE. SELON L'INVENTION, LA DETERMINATION DE LA POSITION DE LA TETE DE FRAISAGE 6 EST REALISEE AUTOMATIQUEMENT ET EN ETANT COMMANDEE PAR UNE CALCULATRICE ENTRE UN POINT DE REFERENCE CONNU ET FIXE A, ELOIGNE DE LA MACHINE, ET UN BRAS DE FRAISAGE 5, PAR UNE MESURE PAR TRACE POLYGONAL, A L'AIDE DES SECTIONS MESUREES PAR LASER REPRESENTANT LES COTES DU POLYGONE. LE SYSTEME DE MESURE PERMET D'OBTENIR LA POSITION PRECISE DE LA TETE DE FRAISAGE PENDANT L'ABATTAGE ET DE CE FAIT UNE SURVEILLANCE FIABLE ETOU UNE COMMANDE PRECISE DU BRAS DE FRAISAGE POUR OBTENIR LE PROFIL DESIRE.

Cantilever excavator and construction method thereof

本发明公开了一种悬臂掘进机及其施工方法，解决了现有技术中悬臂掘进机不能变径开挖的问题。本发明包括掘进机本体，所述掘进机本体的前部设有多自由度悬臂和清渣机构，多自由度悬臂位于清渣机构的上方，多自由度悬臂的前部设有扩挖截割装置。本发明悬臂掘进机的多自由度悬臂配合扩挖截割装置对开挖面进行多自由度灵活开挖，开挖位置和开挖角度便于调节，保证开挖精度。扩挖截割装置的中心刀盘对开挖面进行滚刀的挤压破岩在先开挖，伸缩悬切臂的悬切滚刀对中心刀盘开挖的洞壁进行在后悬切开挖，完成隧道的开挖、扩挖一次成型，提高开挖效率。

Slewing device for mining machines

Cutting head of roadheader and stretching structure with rake teeth and subsidiary drilling tool

本发明是一种带耙齿的掘进机截割头及伸缩结构与附带钻具，属于矿山设备类。它是现有掘进机改制而成，特征是：使原截割臂的不会伸缩或伸缩时的一处承压，变成两头承压的伸缩结构，解决了承压面过小问题，动力使用液压马达直接驱动。外喷雾改为内喷水结构，使截齿有效降温，纵向推力，使用两个液压缸直接推拉，截割头上加装了多功能活动耙齿，使其具有了扒渣机功能，截割臂上增设有3个浅孔钻具，仍使用现有的闲置动力，能高速打孔，再配合适当的爆破技术，整体构成了一种软、硬岩包括特硬岩真正都能打的换代新型掘进机，它消耗小，掘进速度快，机身轻巧灵活，也能打较小规格的巷道。

Cutting apparatus

FIELD: soil or rock drilling; mining.SUBSTANCE: invention relates to tunneling machines. Tunneling machine suitable for creating tunnels or subterranean roadways comprises a main frame; first and second supports, rotatably mounted relative to the main frame; at least one first and second support actuator; a first and a second arm, each pivotally mounted to the respective first and second support via a respective arm pivot axis aligned in a direction extending transverse, including perpendicular to each support pivot axis to enable the first and second arms to pivot independently of one another and to pivot relative to each of the respective first and second supports in an upward and downward direction; at least one first and second arm actuator to actuate independently pivoting of the first and second arms; a rotatable cutting head mounted at each of the first and second arms, each head rotatable about a head axis, orientated to extend substantially transverse to each respective arm pivot axis.EFFECT: technical result is high efficiency of penetration of solid rock with a hardness exceeding 120 MPa.21 cl, 7 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 678 294 C2 (51) МПК E21C 27/24 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК E21C 27/24 (2018.05) (21)(22) Заявка: 2017115842, 06.10.2014 (24) Дата начала отсчета срока действия патента: (73) Патентообладатель(и): САНДВИК ИНТЕЛЛЕКЧУАЛ ПРОПЕРТИ АБ (SE) Дата регистрации: 24.01.2019 (56) Список документов, цитированных в отчете о поиске: GB 2124407 A, 15.02.1984. DE (43) Дата публикации заявки: 12.11.2018 Бюл. № 32 (45) Опубликовано: 24.01.2019 Бюл. № 3 4131132 A1, 23.03.1993. US 2003/0230925 A1, 18.12.2003. WO 2012/156841 A2, 22.11.2012. WO 2012/058701 A2, 10.05.2012. US 3663054 A, 16.05.1972. RU 2441155 C1, 27.01.2012. (85) Дата начала рассмотрения заявки PCT на национальной фазе: 10.05.2017 2 6 7 8 2 9 4 Приоритет(ы): (22) Дата подачи заявки: 06.10.2014 R U ...

The executive body of the tunnel miner

Connecting passage tunneling machine and connecting passage construction method

本发明公开了一种联络通道掘进机及联络通道施工方法，包括掘进机本体、掘进刀具和切割刀具；转动驱动装置，转动驱动装置与切割刀具连接、以带动掘进刀具绕掘进机本体的轴线转动；滑移驱动装置，滑移驱动装置与掘进刀具连接、以带动掘进刀具沿掘进机本体的轴向移动。应用该装置，通过切割刀具和掘进刀具分别进行管片切割和土体掘进，在始发端可通过掘进刀具直接对始发端管片进行粉碎破除，无需人工辅助排除破碎管片；在接收端通过切割刀具对钢筋混凝土管片进行切割，以解决接收端主隧道管片与刀盘呈反弧接触，难以快速破除管片的问题；通过滑移驱动装置带动掘进刀具沿掘进方向进行小范围移动破碎；增加掘进刀具的掘进范围。

Drilling and bursting type heading machine

本发明公开了一种钻涨式掘进机，钻涨装置、角度控制装置、前后伸缩装置和悬臂式掘进机，钻涨装置通过角度控制装置安装在前后伸缩装置的前后移动部件上，前后伸缩装置安装在悬臂式掘进机上；钻涨装置包括固定架、分别固定安装在固定架上的凿岩机部件和涨裂器部件；角度控制装置包括安装座、副回转液压马达、调整液压缸和主回转液压马达；前后伸缩装置的前后移动部件完全伸出时钻涨装置前端至工作面之间的距离小于悬臂式掘进机截割头前端至工作面之间的距离。本钻涨式掘进机结构紧凑，能够在不增加能耗的前提下实现对岩层硬度f>10的坚硬岩层快速打孔并涨裂，进而实现提高掘进效率、降低安全隐患的目的。

Patent RU2019112098A3

ВИ“? 2019112098” АЗ Дата публикации: 16.11.2020 Форма № 18 ИЗИМ-2011 Федеральная служба по интеллектуальной собственности Федеральное государственное бюджетное учреждение 5 «Федеральный институт промышленной собственности» (ФИПС) ОТЧЕТ О ПОИСКЕ 1. . ИДЕНТИФИКАЦИЯ ЗАЯВКИ Регистрационный номер Дата подачи 2019112098/03(023520) 22.09.2017 РСТД52017/052884 22.09.2017 Приоритет установлен по дате: [ ] подачи заявки [ ] поступления дополнительных материалов от к ранее поданной заявке № [ ] приоритета по первоначальной заявке № из которой данная заявка выделена [ ] подачи первоначальной заявки № из которой данная заявка выделена [ ] подачи ранее поданной заявки № [Х] подачи первой(ых) заявки(ок) в государстве-участнике Парижской конвенции (31) Номер первой(ых) заявки(ок) (32) Дата подачи первой(ых) заявки(ок) (33) Код страны 1. 62/398,834 23.09.2016 05 2. 62/398,744 23.09.2016 05 3. 62/398,717 23.09.2016 05 Название изобретения (полезной модели): [Х] - как заявлено; [ ] - уточненное (см. Примечания) МАШИНА, НЕСУЩАЯ РЕЖУЩЕЕ ГОРНУЮ ПОРОДУ УСТРОЙСТВО Заявитель: ДЖОЙ ГЛОБАЛ АНДЕРГРАУНД МАЙНИНГ ЭлЭлСи, 0$ 2. ЕДИНСТВО ИЗОБРЕТЕНИЯ [Х] соблюдено [ ] не соблюдено. Пояснения: см. Примечания 3. ФОРМУЛА ИЗОБРЕТЕНИЯ: [Х] приняты во внимание все пункты (см. Примечания) [ ] приняты во внимание следующие пункты: [ ] принята во внимание измененная формула изобретения (см. Примечания) 4. КЛАССИФИКАЦИЯ ОБЪЕКТА ИЗОБРЕТЕНИЯ (ПОЛЕЗНОЙ МОДЕЛИ) (Указываются индексы МПК и индикатор текущей версии) Е21С 27/24 (2006.01) Е21С 25/06 (2006.01) Е21С 25/16 (2006.01) Е21С 31/10 (2006.01) 5. ОБЛАСТЬ ПОИСКА 5.1 Проверенный минимум документации РСТ (указывается индексами МПК) Е21С25/00, Е21С25/06, Е21С25/10, Е21С25/16, Е21С25/22, Е21С25/24, Е21С27/00, Е21С27/10, Е21С27/12, Е21С27/14, Е21С27/20, Е21С27/22, Е21С27/24, Е21С311/00, Е21С31/02, Е21С31/04, Е21С31/10, Е21С35/00, Е21С35/06, Е0209/00, Е0209/06, Е2119/08, Е21С9/087, Е0209/093, Е2109/10, Е0209/14 5.2 Другая проверенная документация в той мере, в какой ...

An apparatus for tracing drilling route and method for tracing drilling route using the same

본 발명은 천공 경로 탐색 장치 및 이를 이용한 천공 경로 탐색 방법에 관한 것으로, 천공 경로 탐색 장치는 하우징; 상기 하우징에 설치되어 상기 하우징을 홀 내에서 이동시키는 복수의 이동 유닛들; 상기 하우징 내에 설치되고, 상기 하우징의 기울기를 측정하는 기울기 센서; 상기 하우징의 이동 거리를 측정하는 이동거리 측정 유닛; 및 상기 기울기 센서에서 측정한 기울기 정보와 상기 이동거리 측정 유닛에서 측정한 이동 거리 정보를 이용하여 상기 홀의 경로 정보를 생성하는 컨트롤러를 포함할 수 있다. The present invention relates to a puncture path search apparatus and a puncture path search method using the same, the puncture path search apparatus includes a housing; A plurality of moving units installed in the housing to move the housing within the hole; A tilt sensor installed in the housing and measuring a tilt of the housing; A moving distance measuring unit that measures a moving distance of the housing; And a controller that generates path information of the hole by using tilt information measured by the tilt sensor and moving distance information measured by the moving distance measuring unit.

Stabilization system for mining machine

采掘机的稳定系统，该采掘机包括：框架；可移动地联接到框架和可绕基本垂直于第一矿井表面的轴线枢转的刀头：以及用于使框架相对于第一矿井表面稳定的第一致动器。第一致动器联接到框架且包括可沿第一方向伸展以接合第一矿井表面的第一端部。第一致动器的伸展根据在第一致动器和第一矿井表面之间的力的至少一个指示的测量而得以自动控制。

Apparatus for pipeline excavation and methods of pipe propulsion construction

The present invention relates to a non-excavation type drilling apparatus and a pipe driving method using the same, and the objective of the present invention is to provide a non-excavation type drilling apparatus operating a bit unit by driving, rotating, and hitting forces to smoothly dig through the ground, and a pipe driving method using the same. According to the present invention, the non-excavation type drilling apparatus comprises a driving unit and a drilling unit. The drilling unit comprises: a guide pipe connected and installed to the driving unit; a first guide inner pipe disposed in the guide pipe; the bit unit connected and installed to the front end of the first guide inner pipe to be placed on the front end of the guide pipe; a hitting unit installed in the first guide inner pipe to be placed on the rear side of the bit unit and operating a hammer by supplied compressed air to provide the hitting force to a bit of the bit unit; a second guide inner pipe installed in the guide pipe to be placed on the rear end of the first guide inner part and supporting the first guide inner pipe with a bearing; a rotary unit installed in the second guide inner pipe and rotated by supplied high pressure water; a reducer installed in the second guide inner pipe to receive the driving force of the rotary unit, and reducing and transferring the rotating force of the rotary unit to the first guide inner pipe having the bit unit installed therein; a high pressure water supply pipe installed between the guide pipe and the second guide inner pipe to supply the high pressure water to the rotary unit; a compressed air supply pipeline installed between the guide pipe and the second guide inner pipe to supply the compressed air to the hitting unit; and a soil discharge pipe installed among the guide pipe, and the first and second guide inner pipes to receive discharged soil excavated by the bit unit.

Actuating member of entry-driving machine

Non-vibration rock excavating apparatus using rotation-expansion type rock excavating apparatus therewith

The present invention relates to a device for crushing rock using a rotation expansion method to crush the rock and a rock crushing construction method using the same capable of satisfying non-noise, non-vibration, and safety properties in a construction work such as a road, a tunnel, an excavation construction, etc. The device for crushing the rock using the rotation expansion method can crush rock in which an insertion hole is formed as an insertion hole is expanded while a rotation expansion block connected between hollow shafts by a hinge installed to surround a core rod is folded or unfolded as the core rod is moved forward and backward (tension, compression) by using a center hole cylinder jack.

Block-controlled cutter head of push bench

本发明涉及顶管技术领域，是一种分块控制的顶管机刀盘，该顶管机刀盘的中心安装中心刀，沿刀盘径向设置凸起的辐条，辐条上布置切刀，在相邻两个辐条之间预留安装槽，安装槽内连接特制螺旋刀，刀盘由液压马达驱动，切刀和特制螺旋刀随着刀盘公转。顶管机顶进施工时，切刀对土体进行切削，根据监测数据确定顶管机在软硬不均地层中的偏移趋势，利用螺旋摆动液压缸驱动特制螺旋刀破碎特定区域内的岩土，降低该区域的土压力，使顶管机产生一定的偏转角度，实现运动纠偏。所述特制螺旋刀能实现单回次浅钻，多回次破碎岩土的作用。

Continuous lengthening and jacking construction method for pipeline

本发明公开了一种管道连续接长顶拉施工方法，其特征在于包括以下步骤：（1）开挖工作井和接收井，并设置顶拉设备；（2）顶拉设备的导向钻头自接收井下部钻向工作井下部形成导向孔；（3）将导向钻头更换成扩孔钻头，扩孔钻头带动最前一个管道单元沿导向孔自工作井向接收井逐渐移动；（4）当管道连接帽与顶推板之间的各管道单元伸入导向孔时，连接新的管道单元，然后继续驱动扩孔钻头转动前进；（5）重复步骤（4）的操作，依次连接的各个管道单元组成管道。这种管道连续接长顶拉施工方法能够进行长距离的管道平稳铺设，避免铺设时各个管道单元相互脱离。

Horizontal excavating devidce for pushing steel pipe

본 고안의 목적은 관로 공사용 강관압입시 지반의 굴착 속도를 증진하고, 지하에 설치되는 장비의 수해를 방지할 수 있는 강관압입 굴착용 수평 굴착 장치를 제공하는 데 있다. It is an object of the present invention to provide a horizontal drilling device for steel pipe indentation excavation that can increase the excavation speed of the ground when the steel pipe indentation for pipeline construction, and prevent the damage of the equipment installed underground. 이를 위해 본 고안은 상하수도관등을 매설하기 위한 소규모 터널 시공시 사용하는 압입용 강관을 가압하여 지반 밑을 수평으로 굴착하여 매설하도록 작업구내에 유압잭 기구를 포함하여 구성되는 강관압입 굴착용 수평 굴착 장치에 있어서, To this end, the present invention is a horizontal excavation device for steel pipe indentation excavation that includes a hydraulic jack mechanism in the work area to bury the pressurized steel pipe used in the construction of a small tunnel for embedding water and sewage pipes and to dig it horizontally under the ground. In 상기 강관내에 회전 가능하게 수용되어 그의 선단으로부터 땅을 굴착하여 후방으로 이송하는 스크류 굴착기와; A screw excavator which is rotatably received in the steel pipe and excavates and transports the ground back from its tip; 상기 스크류 굴착기를 회전시키기 위해 구동되는 스크류 구동용 유압 모터와, A screw drive hydraulic motor driven to rotate the screw excavator; 상기 모터의 회전력을 스크류 굴착기에 전달하는 회전 감속기와; A rotation reducer for transmitting the rotational force of the motor to a screw excavator; 상기 회전 감속기와 유압 모터 등을 수용 및 지지하며 상기 스크류 굴착기의 후단에 접속되어 강관의 후단을 지지하는 본체인 장치 케이스와, 상기 스크류 굴착기로부터 이송되어온 흙을 상기 장치 케이스의 외부로 배출 안내하도록 형성된 배출구를 포함한 오가유니트와; It is formed to receive and support the rotary reducer and the hydraulic motor, the device case which is a main body connected to the rear end of the screw excavator to support the rear end of the steel pipe, and discharges the soil transferred from the screw excavator to the outside of the device case Oga unit including an outlet; 상기 장치 케이스의 후방에 설치되어 상기 장치 케이스를 가압하여 전방으로 밀어내도록 작동하는 상기 유압잭기구와; A hydraulic jack mechanism installed at a rear of the apparatus case and operable to press the apparatus case to push it forward; 상기 유압잭 기구에 유압을 공급하도록 작동하는 유압펌프와, 그 유압펌프를가동하는 전기모터로 구성되는 유압유니트와; ...

Machine carrying a rock cutting device

FIELD: mining industry. SUBSTANCE: invention relates to machines for sinking or excavating rock. The rock-excavating machine contains a frame, a cutting device, an arrow bearing the cutting device, and a vibration generating device. The cutting device includes a shaft and a cutting disc having a cutting edge, wherein the cutting disc is installed with the possibility of free rotation relatively to the shaft around the axis of the cutting device. The arrow contains the first end, the second end, and the axis of the arrow, wherein the arrow contains the first part and the second part. The first part is connected to the frame of rotation around the first rotary axis between the raised position and the lowered position, and the second part is connected to the cutting device. In addition, the second part is rotated around the second rotary axis between the raised position and the lowered position. The vibration generating device comprises a vibrator shaft and eccentric mass located adjacent to the end of the shaft of the cutting device with the possibility of rotation around the axis of the vibrator so that the rotation of the vibrator shaft and the eccentric mass create vibrations of the shaft and the cutting disc. EFFECT: compactness, operational flexibility and ease of rotating the arrow. 11 cl, 26 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (51) МПК E21C 27/24 E21C 25/06 E21C 25/16 E21C 31/10 (11) (13) 2 753 485 C2 (2006.01) (2006.01) (2006.01) (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК E21C 27/24 (2021.05); E21C 25/06 (2021.05); E21C 25/16 (2021.05); E21C 31/10 (2021.05) (21)(22) Заявка: 2019112098, 22.09.2017 (24) Дата начала отсчета срока действия патента: Дата регистрации: 17.08.2021 23.09.2016 US 62/398,834; 23.09.2016 US 62/398,744; 23.09.2016 US 62/398,717 (43) Дата публикации заявки: 26.10.2020 Бюл. № 30 (45) Опубликовано: 17.08.2021 Бюл. № 23 C 2 C 2 (85) Дата начала рассмотрения заявки PCT на ...

A kind of boom-type roadheader excavated for tunnel

本发明涉及掘进机技术领域，且公开了一种用于隧洞挖掘的悬臂式掘进机，包括掘进机机体，所述掘进机机体上表面的左侧固定连接有箱体，所述掘进机机体的底部固定连接有驱动支撑装置，所述驱动支撑装置的外表面传动连接有履带，所述箱体的左侧活动连接有支撑臂，所述支撑臂的左端活动套接有传动臂，传动臂的左端通过紧固装置卡接有掘进头。该用于隧洞挖掘的悬臂式掘进机，通过以两个除尘装置与输送管呈九十度的夹角，便于对掘进头进行开采的地方喷上适量的防尘沫防尘沫起凝固灰尘的作用，喷洒覆盖率广，降低了隧洞中灰尘的飘扬度，提高了使用者视野的清晰度，同时防尘沫不会对遇水即化、极易崩解的地质进行融化，便于使用者进行挖掘。

Connection structure of host machine and main jacking device of dual-mode tunneling machine and construction method of connection structure

本发明涉及一种双模式掘进机主机与主顶进装置的连接结构及其施工方法，包括：一端固定于掘进机主机的壳体，壳体靠近掘进机主机的一端形成有与容置空间相连通的开口；与壳体呈T型设置且与壳体焊接固定的圈板；以及间隔固设于掘进机主机尾端且长度可调的若干伸缩杆，伸缩杆自开口伸出并抵住圈板；通过伸长伸缩杆，以使得伸缩杆抵顶于圈板与掘进机主机的尾端之间。本发明解决了双模掘进机在由盾构模式向顶管模式进行模式转换时的顶力传递的问题，通过连接结构连接主顶进装置和掘进机主机，使得盾构施工功能与顶管施工功能集成于一体，且增强了连接部分的可靠性，减小安全隐患，提升施工效率和施工质量。

Bionic micropore diameter bores expansion formula underground mole

本发明涉及一种仿生微孔径钻扩式地下掘进装置，其包括依次安装的钻扩机构、转向机构及支撑推进机构；钻扩机构的结构为在前电机壳内安装正反转电机及联轴器，联轴器连接丝杆与电机输出轴，丝杆转动支撑安装于与前电机壳及前机壳内；丝杆的前端部安装钻头，在丝杆上安装丝杆螺母，该丝杆螺母同轴安装连杆铰接座，扩张板连杆的一端与连杆铰接座铰装，另一端伸出所述前机壳与扩张板前部铰装，扩张板后部铰装于前电机壳前部的固定环；支撑推进机构包括尾部机壳、直流减速电机、支撑爪及支撑爪驱动单元；转向机构的舵机的转动轴通过连接架与前电机壳固定安装。本发明无需外部动力设备，独立掘进，以钻扩结合掘进方式对微小孔径进行非开挖掘进。

COMBINING COMBINE

1. Проходческий комбайн, содержащий имеющую ходовую часть (3) основную раму (2) и по меньшей мере один установленный с возможностью поворота вокруг горизонтальной оси (17) вращения инструментальный суппорт (7, 8), который несет несколько роликовых режущих инструментов и предназначен для приведения в поворотное движение туда и обратно с помощью приводного устройства, отличающийся тем, что по меньшей мере два имеющих форму валка инструментальных суппорта (7, 8) установлены с возможностью поворота вокруг общей оси (17) вращения, которые несут на своей периферии несколько расположенных с распределением в частичной периферийной зоне (α) роликовых режущих инструментов (9), и что приводное устройство взаимодействует с инструментальными суппортами (7, 8) так, что каждые два из упомянутых по меньшей мере двух инструментальных суппортов (7, 8) поворачиваются при поворотном туда и обратно движении по меньшей мере в части поворотного движения в противоположных направлениях относительно друг друга, при этом режущие инструменты (9) одного из поворачиваемых противоположно инструментальных суппортов (7) расположены с распределением в частичной периферийной зоне (α), которая по меньшей мере в точке возврата поворотного движения смещена в окружном направлении относительно частичной периферийной зоне (α), по которой расположены с распределением режущие инструменты (9) другого из поворачиваемых противоположно инструментальных суппортов (8).2. Проходческий комбайн по п.1, отличающийся тем, что частичная периферийная зона (α), по которой расположены с распределением режущие инструменты (9) на соответствующем инструментальном суппорте (7, 8), п РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (51) МПК E21C 27/24 (13) 2013 126 793 A (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ЗАЯВКА НА ИЗОБРЕТЕНИЕ (21)(22) Заявка: 2013126793/03, 04.10.2011 (71) Заявитель(и): САНДВИК МАЙНИНГ ЭНД КОНСТРАКШН Г.М.Б.Х. (AT) Приоритет(ы): (30) Конвенционный приоритет: 12.11.2010 AT A1870/2010 (85) Дата ...

Prediction method for thrust parameters of tbm and excavation monitoring system providing the same

본 발명은, 터널 보링 머신(Tunnel Boring Machine, 이하, 'TBM'이라 함)이 단위 굴착거리만큼 굴착할 때마다, 터널 보링 머신(TBM)이 다음에 굴착할 단위 굴착거리에 대한 추력 파라미터(Thrust Parameter)를 예측하는 TBM의 추력 파라미터 예측 방법 및 그 방법을 제공하는 굴착 모니터링 시스템에 관한 것으로, 본 발명의 굴착 모니터링 시스템은, 제N 단위 굴착거리에 대한 굴착이 완료되면, 제N+1 단위 굴착거리에 대응하는 추력 파라미터를 예측하는 굴착 모니터링 시스템에 있어서, 상기 제N 단위 굴착거리의 위치에서 전방 시추공까지 거리에 대응하는 제1 가중 파라미터와, 상기 제N 단위 굴착거리의 위치에서 후방 시추공까지 거리에 대응하는 제2 가중 파라미터와, 상기 전방 시추공 위치의 지리적 정보를 포함하는 전방 지반 파라미터와, 상기 후방 시추공 위치의 지리적 정보를 포함하는 후방 지반 파라미터에 기초하여 상기 제N 단위 굴착거리에 대응하는 지반 파라미터를 추정하는 전처리 시스템을 포함하고, 상기 전처리 시스템은, 제1 단위 굴착거리 내지 제N 단위 굴착거리 각각에 대해, 상기 추력 파라미터 및 상기 지반 파라미터를 포함하는 굴착 데이터 셋을 생성한다.

A kind of method that push pipe formula colliery small section tunnel independently tunnels

一种顶管式煤矿小断面巷道自主掘进的方法，利用顶管式煤矿自主掘进装备，在煤矿进行小断面巷道施工，一次成型断面，施工效率高，工具管在机头的后侧，工具管和机头的外径尺寸相同，采用承插式连接方式，后一根管的前法兰和前一根管的后法兰紧密贴合，工作硐室内安装了主顶装置，利用主顶装置推顶管，当主顶油缸前伸到位时，将主顶油缸收回，硐室上方搭建了工字钢和电动葫芦，使用电动葫芦将辅助硐室里摆放的工具管吊装到主顶导轨上，将管路和电缆连接后，继续向前顶进，完成巷道的施工。本发明优点：掘进速度快、工人劳动强度小，降低了作业难度。降低了作业危险性，减小了工人的劳动强度，对煤矿行业降本增效具有重要意义。

Catoptric projection optical system

A catoptric projection optical system for projecting a pattern on an object surface onto an image surface includes plural mirrors, wherein a second mirror from the image surface through the optical path receives convergent pencil of rays, and has a paraxial magnification of -0.14 or smaller.

Tunnel excavation device, and control method therefor

掘进机(10)具备前胴部(11)、后胴部(13)、规定的中折点(Px)、平行连杆机构(14)、输入部(21)、中折点位置计算部(23)和千斤顶控制部(26)。平行连杆机构(14)包括改变前胴部(11)相对于后胴部(13)的位置的多个推进千斤顶(14a～14f)。中折点位置计算部(23)基于在输入部(21)接收的操作输入的内容、后胴部(13)的中心线及中心点、前胴部(11)的中心点的位置，对中折点(Px)的位置进行计算。千斤顶控制部(26)对推进千斤顶(14a～14f)的行程进行控制，从而与根据后胴部(13)的中心点、中折点(Px)、前胴部(11)的中心点的各自的位置生成的曲线对应地前进。

Exploring, supporting and anchoring all-in-one machine system for underground rapid tunneling and using method thereof

本发明公开了一种井下快速掘进的探掘支锚运一体机系统及其使用方法，该一体机系统包括纵轴式掘进机体，所述纵轴式掘进机体上设置有双摇臂截割部、配有自动换杆机构的锚支部、用于起到临时支护和防护锚支部作用的挡板、用于预探测的探测部，设置有探测部，可以进行先探测再施钻，提高了安全性和工作效率；回转电机一、回转电机二、电机液压缸共同构成一个类人腕关节，使得锚杆钻机操作更加灵活，更能适应井下复杂的工作环境，护板结构的设置解决了现有巷道掘进过程中掘、支、锚时间不匹配的问题，大大提高了掘进效率，设置有自动换杆机构，可以自动进行锚杆的换杆输送，大大提高了工作效率。

Tunnel boring machine.

Pipe towing excavator supporting underground piping bury

본 발명의 일 실시 예는, 지중 암석에 대한 파쇄를 수행하여 터널을 굴착하는 굴착 모듈, 상기 굴착 모듈의 후방에 연결되어 상기 배관 견인식 굴착기의 방향 전환을 수행하는 조향 모듈, 및 상기 조향 모듈의 후방에 연결되어 배관을 견인하는 견인 모듈을 포함하고, 상기 견인 모듈은, 상기 배관의 견인과 관련하여 상기 배관이 체결되는 경우, 상기 배관으로부터 인가되는 압력에 의해 적어도 일부의 형상이 변형되는, 지중 배관 매설을 지원하는 배관 견인식 굴착기를 개시한다. 이 외에도 명세서를 통하여 파악되는 다양한 실시 예가 가능하다.

Automatic control tunnel drilling device

本发明实施例提供了一种隧道钻孔装置，该装置的的第一电机、第一旋转平台、驱动装置和第二电机安装在钻孔支座内；第一电机的输出端与驱动装置电连接，并可通过驱动装置驱动钻孔支座沿着轨道移动；第二电机的输出端与第一旋转平台连接，并带动伸缩臂沿着与轨道垂直的方向以第一预设角度摆动；伸缩臂的输出端安装有第二旋转平台，第二旋转平台与钻模连接。本发明实施例在对隧道壁面打孔时，通过控制器操作本发明实施例的隧道钻孔装置自动在隧道壁上持续长时间、快速地打孔，由此可见，应用本发明实施例提供的方案能够提高钻孔效率。

Cutting apparatus

一种适合用于产生隧道和地下道路的切削设备(100)。该设备包括独立地枢转的支撑件(120)，所述支撑件每一个载有相应的独立地枢转的臂(121)和可旋转的切削头(128)。每一个切削头经由所述支撑件和臂被构造成在侧向方向上横向地向外回转并且在竖直向上方向和向下方向上枢转。所述支撑件和臂被安装在由主框架(102)承载的线性移动滑撬(104)上。

Full-automatic coal roadway self-induction unmanned tunneling device and using method

一种全自动煤巷自感应无人掘进装置，包括底板、传动轴一、传动轴二、齿轮齿条转向器，连接杆，所述底板内部设有控制芯片，本发明有益的效果是：本发明结构简单，操作简便，能够自动对煤巷进行分区域式掘进，能够自动掘进出比设备面积大的煤巷巷道，在掘进过程中对于能够避免煤尘飞扬而产生的粉尘爆炸，能够对煤巷进行，避免了传统设备掘进中易出现巷道塌陷的问题，能够对巷道内的死角进行掘进，能够将掘进过程中产生的煤进行粉碎后收集并送出巷道外，全程自动化无需人工操作，保护了工作人员的身体健康，大大的提高了生产效率。

Compound broken rock blade disc and shield constructs machine including this blade disc

本发明公开了一种复合破岩刀盘及包括该刀盘的盾构机，包括滚刀盘和动盾盘，所述的动盾盘设置在滚刀盘的前方，动盾盘与滚刀盘均通过盾构机主轴驱动；所述的沿着滚刀盘的圆周方向在滚刀盘上设置边滚刀、正滚刀和出渣口，沿着滚刀盘的径向方向设置多个凹槽，每个凹槽内安装有第一滑移装置，在所述的第一滑移装置上设置有火焰喷嘴头和低温喷水嘴，所述的火焰喷嘴头和低温喷水嘴朝向岩石表面喷射；在所述动盾盘上设有可以沿着动盾盘径向方向移动的第二滑移装置，在所述的第二滑移装置上固定有切刀，所述的第一滑移装置与第二滑移装置同步移动。

Rock drilling and splitting integrated device

本发明公开了凿岩劈裂一体装置，它包括回转支撑机构，所述回转支撑机构上配合安装有用于在岩石断面上切削钻孔取芯的切削钻孔机构；用于凿取劈裂孔的凿岩钻孔机构；用于对岩石劈裂的劈裂机构；所述切削钻孔机构包括钻孔推进梁装置，所述钻孔推进梁装置上滑动配合安装有回转齿轮箱装置，所述回转齿轮箱装置的输出轴安装有钻孔钻具，所述钻孔推进梁装置上安装有用于供水的通水导杆装置。通过将凿岩钻孔装置，切削钻孔装置，岩石劈裂装置布置在回转主梁上，呈圆周方向布置，切削钻孔装置用于在断面上切削钻孔取芯，形成一定形状的自由面，凿岩钻孔装置用于在断面上钻一定数量的用于劈裂的劈裂孔，岩石劈裂装置插入劈裂孔中，将岩石或矿石静态分裂。

Boring apparatus with multi core-drill and method for securing free surface usinf the same

본 발명의 군집 다축코어드릴이 구비된 보링장치는 내측이 비어있는 원통형의 실린더와 실린더의 일단에 원형의 절삭날인 크라운이 구비되는 코어드릴, 다수 개의 코어드릴이 평행하게 배치되되, 각각의 크라운이 동일평면에 형성되는 가상의 원주상에 배치되도록 결합되는 헤드 및 각각의 코어드릴이 각각의 실린더 중앙을 잇는 회전축을 중심으로 회전되도록 구동력이 발생되고, 다수 개의 코어드릴이 헤드의 전면으로 돌출 이송되도록 구비되는 이송유닛이 포함될 수 있다. 또한, 상술한 보링장치를 이용한 터널 굴착을 위한 자유면 확보 방법이 게시된다. Boring device equipped with a multi-core core drill of the present invention is a core cylinder having a hollow cylindrical cylinder and a circular cutting edge crown at one end of the cylinder, a plurality of core drill is arranged in parallel, each crown The driving force is generated such that the head and each core drill coupled to be disposed on an imaginary circumference formed on the same plane are rotated about a rotation axis connecting the center of each cylinder, and a plurality of core drills are projected to the front of the head. It may include a transfer unit provided. In addition, a method for securing a free surface for tunnel excavation using the above-described boring apparatus is disclosed.

ROCK CUTTING MACHINE

РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2021 123 542 A (51) МПК E21C 27/24 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ЗАЯВКА НА ИЗОБРЕТЕНИЕ (21)(22) Заявка: 2021123542, 22.09.2017 (71) Заявитель(и): ДЖОЙ ГЛОБАЛ АНДЕРГРАУНД МАЙНИНГ ЭлЭлСи (US) Приоритет(ы): (30) Конвенционный приоритет: (72) Автор(ы): ЛАГГ, Питер, А. (AU), КИЧ, Джеффри, В. (AU), РИВЗ, Стюарт (AU), ДАЕР, Наги (AU) Адрес для переписки: 129090, Москва, ул. Б.Спасская, 25, строение 3, ООО "Юридическая фирма Городисский и Партнеры" R U (57) Формула изобретения 1. Машина для выемки горной породы, содержащая: шасси, включающее в себя по меньшей мере одно устройство фрикционного привода; стрелу, которую несет шасси; режущее устройство, которое несет стрела, причем режущее устройство содержит режущий диск, имеющий режущую кромку и выполненный с возможностью вращения вокруг оси режущего устройства; и стабилизатор для закрепления шасси относительно поверхности горной выработки, причем стабилизатор содержит подушку, исполнительный механизм и несущий элемент, причем подушка выполнена с возможностью взаимодействия с поверхностью горной выработки, исполнительный механизм содержит первый конец, соединенный c шасси, и второй конец, соединенный c подушкой, несущий элемент содержит первый конец, соединенный c шасси, и второй конец, соединенный по меньшей мере с одним из подушки и исполнительного механизма. 2. Машина по п. 1, в которой стрела содержит первую часть и вторую часть, причем первая часть выполнена с возможностью поворота вокруг первой поворотной оси между поднятым положением и опущенным положением, вторая часть соединена c режущим устройством и выполнена с возможностью поворота вокруг второй поворотной оси между поднятым положением и опущенным положением. 3. Машина по п. 1 или 2, дополнительно содержащая множество домкратов, соединенных c шасси, причем домкраты содержат подушку, выдвигаемую для взаимодействия с несущей поверхностью и подъема шасси от несущей поверхности для Стр.: 1 A ...

Wire-saw excavation apparatus that can change the cutting line according to the cutting section tunnel excavation method using the same

본 발명은 굴착하고자 하는 암반의 대상면의 절단구획에 따라 천공된 복수의 진입공에 설치되어 와이어-쏘를 이용하여 상기 대상면을 굴착하는 와이어-쏘 굴착장치에 관한 것으로서, 특히 본 발명의 일 실시예에 따른 와이어-쏘 굴착장치는 하나의 지지암에 N개의 풀리를 설치함으로써 N개의 방향으로 암석을 1회에 절단할 수 있어 작업효율을 현저히 향상시킬 수 있다. The present invention relates to a wire-saw excavation apparatus for excavating the target surface using a wire-saw installed in a plurality of entry holes drilled according to the cut section of the target surface of the rock to be excavated, and in particular, one of the present invention. The wire-saw excavation apparatus according to the embodiment can cut rocks in N directions at once by installing N pulleys on one support arm, and thus work efficiency can be remarkably improved.

A kind of drill steel and hydraulic crushing hammer mechanism and its driving method

本发明涉及一种钎杆和液压破碎锤机构及其掘进方法，属于矿山机械设备技术领域，用以解决现有技术在硬度F8及以上岩层掘进效率低下的技术问题，钎杆包括钎杆本体，其撞击端为棱锥尖部，其每个锥面上均设有用以方便及时排除碎岩的排屑槽。液压破碎锤机构包括底座、液压破碎锤和上述钎杆，液压破碎锤通过设置滑套从而滑动连接在底座上的滑杆上，用以推动液压破碎锤滑动的驱动装置固定端安装在底座上，动力输出端安装在液压破碎锤上，从而以正压力驱使液压破碎锤沿滑杆直线推进，进而使钎杆持续锤击在岩体上，提高巷道掘进效率。一种掘进方法，使用上述钎杆及上述液压破碎锤以直线推进破坏岩体的抗压及抗拉强度，使本方法对硬岩的破岩效率更高。

Roadway driving system

本发明公开了一种巷道掘进系统，包括掘锚机，运锚一体机，转载机，自移机尾和胶带输送机，掘锚机包括机架、截割装置、钻探装置和控制装置，截割装置具有最低摆动角度和最高摆动角度，钻探装置设于机架，钻探装置包括钻机和传感器，控制装置适于接收、分析传感器监测的监测数据信号，并根据监测数据信号调节最低摆动角度和最高摆动角度；转载机的一端与运锚一体机相连并与运锚一体机可同步移动，转载机设在运锚一体机后方，转载机的另一端与自移机尾搭接，且自移机尾可向后退机移动；胶带输送机设在自移机尾后方，胶带输送机适于转接自移机尾输送的煤岩。本发明的巷道掘进系统提高了回采率和掘进效率，延长了设备的使用寿命。

Intelligent cantilever type digging and anchoring machine based on image recognition and construction method

本发明涉及一种基于图像识别的智能悬臂式掘锚机及施工方法，包括：变频调速自动行走机构设于机体的下方；变频调速自动行走机构用于带动机体在煤矿岩巷下的移动；悬臂液压破碎锤组连接于机体的前方；悬臂液压破碎锤组用于破碎岩石；自动接杆多功能钻臂通过伸缩工作臂与机体相连，自动接杆多功能钻臂用于对岩石钻孔；高速摄像装置设置于机体的上方；高速摄像装置用于拍摄巷道掌子面图像；接触传感器用于感知第一接触信号和第二接触信号；变频调速自动行走机构、悬臂液压破碎锤组、自动接杆多功能钻臂、高速摄像装置以及接触传感器均与中央控制器连接，中央控制器用于智能调控整个装置的运行。本发明能够实现掘锚机的高效全自动工作。

Patent FR2470242B1

Patent FR2484526B1

Patent FR2137241B2

Shield for tunneling, equipped with a cutter intended for clearing the ground

Patent FR2191017A1

Driving devices for drilling tools of mine tunnel drilling machines

Patent FR2136907A2

DRUM MACHINE FOR SLAUGHTERING ROCKS IN UNDERGROUND WORKS

L'INVENTION CONCERNE UNE MACHINE POUR L'ABATTAGE DE ROCHES DANS DES TRAVAUX SOUTERRAINS. LA MACHINE COMPREND UNE VOIE DE GLISSIERE 15, UN TRAINEAU 8 SUR CETTE VOIE DE GLISSIERE 15, UN CHASSIS DE MACHINE 6 ARTICULE PAR RAPPORT AU TRAINEAU 8, UN BRAS 3 ARTICULE PAR RAPPORT AU CHASSIS DE MACHINE 6, ET UN TAMBOUR D'ABATTAGE 1 MONTE PAR RAPPORT AU BRAS 3. LES DIMENSIONS DU TAMBOUR D'ABATTAGE 1, DU BRAS 3, DU CHASSIS DE MACHINE 6 ET DU TRAINEAU 8 AINSI QUE LES MOUVEMENTS OSCILLANTS COMMUNIQUES AU CHASSIS DE MACHINE 6 ET AU BRAS 3 SONT TELS QUE L'UNIQUE TAMBOUR D'ABATTAGE 1 PEUT DEGAGER LA MACHINE AUX DEUX EXTREMITES DE LA VOIE DE GLISSIERE 15. APPLICATION: LA MACHINE PERMET D'ABATTRE DE COURTS FRONTS DANS DES GALERIES DE MINE ET PERMET D'Y PERCER DES GALERIES, COULOIRS ET TUNNELS DE GRANDE HAUTEUR. THE INVENTION RELATES TO A MACHINE FOR FELLING ROCKS IN UNDERGROUND WORK. THE MACHINE INCLUDES A SLIDE TRACK 15, A SLIDE 8 ON THIS SLIDE TRACK 15, A MACHINE CHASSIS 6 ARTICULATED TO THE SLIDE 8, AN ARM 3 ARTICULATED TO THE MACHINE CHASSIS 6, AND A FELLING DRUM 1 FITTED IN RELATION TO ARM 3. THE DIMENSIONS OF SLAUGHTER DRUM 1, ARM 3, MACHINE FRAME 6 AND SADDLE 8 AS WELL AS THE OSCILLATING MOVEMENTS COMMUNICATED TO MACHINE FRAME 6 AND ARM 3 ARE AS ONE SLAUGHTER DRUM 1 CAN CLEAR THE MACHINE AT BOTH ENDS OF THE SLIDE TRACK 15. APPLICATION: THE MACHINE ALLOWS SHORT FRONTS IN MINE GALLERIES AND ALLOWS THE DRILLING OF VERY HEIGHT GALLERIES, CORRIDORS AND TUNNELS .

Patent FR2136907B2

Continuous control system for a mining or tunnelling machine

A continuous control system for a mining or tunnelling machine having a boom with a motor driven cutting head at one of its ends and a rotatable turret at the other end, the control system comprising angular encoders for continuously measuring the angles of the boom and of the turret and a linear encoder for continuously measuring the linear position of the cutting head, and further having pressure transducers for continuously measuring the pressures of the various hydraulic cylinders or drives used to operate the boom and the turret. It may also have a power transducer for continuously measuring the power input to the motor driving the cutting head to control the RPM of the latter. The signals from the above various measurements are continuously processed by a computer in accordance with a predetermined computer program and a controller is provided which is responsive to the computer and which continuously controls the various parameters so as to cut a preselected profile at a predetermined depth of cut and rate of advance.

Tunnel boring device, and control method therefor

A boring machine (10) comprises a forward section (11), a rear section (13), a parallel link mechanism (14), stroke sensors (16a to 160, pressure sensors (17a to 17h), and a controller (26). The parallel link mechanism (14) includes eight thrust jacks (14a to 14h) that change the position and attitude of the forward section (11) with respect to the rear section (13). The controller (26) computes a target allocation force to be allocated to eight thrust jacks (14a to 14h) on the basis of the sensing result from the stroke sensors (16a to 16f) and the pressure sensors (17a to 17h), and controls the thrust jacks 14a to 14h so as to perform stroke control on six of the thrust jacks (14a to 14f) and perform force control on two of the thrust jacks (14g and 14h).

EXCAVATOR MACHINE FOR UNDERGROUND GALLERY

TUNNEL EXCAVATION MACHINE

Rotary tool head fora continuous boeing or cutting machine

Tunnel boring machine

Tunnel boring machine comprising a transmission housing (11) which during boring is fixed relative to the tunnel. The boring head (15) is axially displaceable relative to an outgoing shaft (14) of the transmission housing while transferring torque from the outgoing shaft to the boring head. A number of fluid cylinders (16) are arranged between the transmission housing and a bearing housing (19,30) for the boring head in order to press the boring head against a tunnel front.

Heading machine pose deviation rectifying method, system and terminal based on vision and strapdown inertial navigation

本发明提供了一种基于视觉和捷联惯导的掘进机位姿纠偏方法、系统及终端，其不受巷道高度变化的影响，能够在掘进机工作的过程中，校正捷联惯导的误差，以给出准确的姿态和位置测量结果，确保挖掘精度，方法包括以下步骤：在巷道内设置激光靶和激光指向仪，激光指向仪在激光靶上形成光斑；获取激光靶到巷道起始位置的位移；在掘进机上设置摄像头，通过摄像头拍摄光斑，获取光斑相对摄像头的位移；根据激光靶到巷道起始位置的位移和光斑相对摄像头的位移计算得到掘进机相对巷道起始位置的位移；掘进机的捷联惯导系统根据计算得到的掘进机相对巷道起始位置的位移进行误差校正。