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公开(公告)号：US20240141784A1
公开(公告)日：2024-05-02
申请号：US18031869
申请日：2022-09-30
Applicant: China University of Mining and Technology
Inventor： Hongxiang JIANG , Zhencai ZHU , Songyong LIU , Gang SHEN , Xiaodi ZHANG , Huihe ZHAO , Hongsheng LI
CPC classification number: E21D9/108 , E21D9/003 , E21D9/1066 , E21D9/1093
Abstract: Disclose are a roadway/tunnel excavation robot and an automatic cutting control method. The robot includes a rack, a moving platform, a supporting and stabilizing mechanism, a milling mechanism, a telescoping mechanism, an inclined cutting feed adjusting mechanism, a horizontal swinging mechanism, a lifting mechanism and a controller. The milling mechanism includes a drive unit, a milling shaft, an eccentric rotary casing, a high-pressure jet nozzle unit, a tension and compression sensor and a direction sensor. Through the deflection of a center line of an inner hole of the eccentric rotary casing, the milling mechanism drives a milling cutter head to carry out a rotational oscillation motion for rock breaking; and the milling cutter head is in discontinuous contact with a rock mass. The telescoping mechanism, the inclined cutting feed adjusting mechanism, the lifting mechanism and the horizontal swinging mechanism are controlled such that the milling mechanism performs coal rocks milling.
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公开(公告)号：US20160230552A1
公开(公告)日：2016-08-11
申请号：US15022996
申请日：2014-11-05
Applicant: KOMATSU LTD.
Inventor： Toyoshi KURAMOTO
CPC classification number: E21D9/003 , E21D9/108 , E21D9/1093 , E21D9/11 , E21D9/112
Abstract: 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.
Abstract translation: 镗床包括前段，后段，平行连杆机构，行程传感器，压力传感器和控制器。 平行连杆机构包括八个推力千斤顶，它们改变前部相对于后部的位置和姿态。 控制器基于来自行程传感器和压力传感器的感测结果计算分配给八个推力千斤顶的目标分配力，并且控制推力千斤顶对六个推力千斤顶进行行程控制，并对 两个推力千斤顶。
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公开(公告)号：US20150078831A1
公开(公告)日：2015-03-19
申请号：US14394538
申请日：2013-06-11
Applicant: KOMATSU LTD.
Inventor： Kazunari Kawai , Shinichi Terada , Yuuichi Kodama , Masaaki Uetake , Hiroshi Asano , Takashi Minami , Junya Tanimoto
Abstract: An auxiliary tunneling apparatus includes a reaction force receiver and first and second split components. In the excavation of a second tunnel by a boring machine, the reaction force receiver forms a replacement face of a side wall of the second tunnel on a first tunnel side where the first and second tunnels intersect each other, and a gripper of the boring machine pushes against the replacement face. The first and second split components are installed to push against the side wall of the first tunnel, support the reaction force receiver within the first tunnel, and move back and forth with respect to the side wall of the first tunnel.
Abstract translation: 辅助隧道装置包括反作用力接收器和第一和第二分离部件。 在通过钻孔机挖掘第二隧道时，反作用力接收器在第一和第二隧道彼此相交的第一隧道侧上形成第二隧道的侧壁的替换面，并且钻孔机的夹持器 推动更换脸。 第一和第二分裂部件安装成推压第一隧道的侧壁，在第一隧道内支撑反作用力接收器，并相对于第一隧道的侧壁来回移动。
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公开(公告)号：US07438365B2
公开(公告)日：2008-10-21
申请号：US11510880
申请日：2006-08-28
Applicant: Manfred Kaiser , Thorsten Reich , Thomas Studer , Peter Schmah
Inventor： Manfred Kaiser , Thorsten Reich , Thomas Studer , Peter Schmah
IPC: E21D9/10
CPC classification number: E21C27/24 , E21D9/1093
Abstract: A mining device for subsurface extraction of raw materials off rocks includes bracing means for the reversible bracing of the mining device in a hollow space, a frame, and tunneling means stationarily connected with the bracing means, whereby the frame is movable by the tunneling means in a predefined direction. A rotatable roller is arranged on the frame, at the circumference of which cutting tools and clearing devices are arranged such that a rectangular mining cross-section can be created and such that the mining device and also the frame of the mining device is movable into a mining tunnel created by these cutting tools.
Abstract translation: 用于岩石中原料的地下提取的采矿装置包括用于在中空空间中的采矿装置的可逆支撑的支撑装置，框架和与支撑装置固定连接的隧道装置，由此框架可以通过隧道装置移动 一个预定义的方向。 一个可旋转的滚轮布置在框架上，在其周边设有切割工具和清理装置，使得可以产生矩形的开采横截面，并且采矿装置以及采矿装置的框架可移动到 这些切割工具创建的采矿隧道。
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公开(公告)号：US5205613A
公开(公告)日：1993-04-27
申请号：US716849
申请日：1991-06-17
Applicant: Howard K. Brown, Jr.
Inventor： Howard K. Brown, Jr.
CPC classification number: E21D9/1093
Abstract: A tunnel boring machine includes a cutterhead having a plurality of cutting units and being rotatable on a machine frame. Two sets of three anchor shoes float relative to the frame and are disposed circumferentially, with the anchor shoes of the two sets alternating on the frame. The two sets of three anchor shoes allow continuous advance of the tunnel boring machine. Connection between the two sets of anchor shoes and the frame is provided by two sets of three thrust cylinder bipods. One set of three thrust cylinder bipods is connected to each set of three floating anchor shoes, with one bipod attached to each anchor shoe. All of the anchor shoes in each set are interconnected by three pairs of floating gripper cylinders, with each pair of gripper cylinders longitudinally spaced on the two anchor shoes that they connect. Each of the two sets of three anchor shoes is sequentially gripped and ungripped with the tunnel wall by the attached gripper cylinders and independently of the other set of anchor shoes. The ungripped set of three anchor shoes and the frame are advanced with respect to the gripped set of three anchor shoes by the three thrust cylinder bipods connected to the gripped set of three anchor shoes.
Abstract translation: 隧道掘进机包括具有多个切割单元并可在机架上旋转的刀架。 两组三个锚定鞋相对于框架浮动并且周向地设置，两组的锚固鞋在框架上交替。 两套三锚鞋允许隧道掘进机连续推进。 两套锚鞋和框架之间的连接由两套三个推力缸二脚架提供。 一组三个推力缸双脚架连接到每组三个浮动锚鞋，一个双脚架连接到每个锚鞋。 每组中的所有锚鞋通过三对浮动夹持器缸相互连接，每对夹持器缸在其连接的两个锚鞋上纵向间隔开。 两组三个锚鞋中的每一个依次被夹持并且被附着的夹持器气缸与隧道壁不相配，并且独立于另一组锚固鞋。 三个锚定鞋和框架相对于夹持的三个锚定鞋组由三个推力缸二脚架连接到三个锚定鞋的夹持组一起前进。
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Patent Agency Ranking
公开(公告)号：US4362337A
公开(公告)日：1982-12-07
申请号：US160459
申请日：1980-06-18
Applicant: Paul Casanova
Inventor： Paul Casanova
CPC classification number: E21D9/102 , E21C27/22 , E21C29/24 , E21D9/1026 , E21D9/1093
Abstract: The system for digging subterranean galeries comprises a cutting tool articulated on a frame and mounted so as to be movable along the height of the mine face. This frame is provided with ground support means and with propulsion means for following the progress of the cutting, the articulation point of the cutting tool being situated in the upper half of the system in operating position. The articulation point of the cutting tool may be situated on a member movable with respect to the frame and movable in a direction substantially parallel to the direction of advance. The shaft bearing the cutting tool may be mounted on two bearings, one of which is movable vertically to give the tool an oblique path in a pre-determined direction.
Abstract translation: 用于挖掘地下运动器材的系统包括铰接在框架上的切割工具，并且安装成能够沿着矿井的高度移动。 该框架设置有地面支撑装置和用于跟随切割进展的推进装置，切割工具的铰接点位于系统的上半部位于操作位置。 切割工具的铰接点可以位于可相对于框架移动的构件上，并且可在基本上平行于前进方向的方向上移动。 承载切削工具的轴可以安装在两个轴承上，其中一个轴承可以垂直移动，以使工具沿预定方向倾斜。
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公开(公告)号：US4303275A
公开(公告)日：1981-12-01
申请号：US99096
申请日：1979-11-30
Applicant: Francis A. Haskew , Leslie A. Jones
Inventor： Francis A. Haskew , Leslie A. Jones
CPC classification number: E21D9/1093 , E21D9/065 , E21D9/0875
Abstract: A slideway arrangement comprises a slideway component and a slide component guidably slidable with respect to the slideway component under the action of a hydraulic ram. At least one of the components comprises at least one wedge arrangement and a hydraulic ram for urging the wedge arrangement to releasably wedge one of the components to the other of the components.
Abstract translation: 滑道装置包括滑动部件和滑动部件，滑动部件可在液压压头的作用下相对于滑道部件可引导地滑动。 至少一个部件包括至少一个楔形装置和用于推动楔形装置以将部件中的一个可释放地楔入另一个部件的液压柱塞。
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8.发明授权
公开(公告)号：US4278293A
公开(公告)日：1981-07-14
申请号：US90621
申请日：1979-11-02
Applicant: Friedrich-Wilhelm Paurat , Roland Paurat
Inventor： Friedrich-Wilhelm Paurat , Roland Paurat
CPC classification number: E21D9/1093 , E21D9/10
Abstract: An apparatus for cutting a flat elongated channel, chamber or passage in subterranean strata, e.g. a crosscut between two mine galleries or shafts, which comprises upper and lower shoes or shields which can be spread apart by a fluid-cylinder system and to which a frame is connected by further fluid cylinders, this frame carrying an excavating worm whose flights are formed with picks for removing the face of the channel to be advanced. A conveyor extends past the frame or through the latter to carry rearwardly the detritus excavated by the worm.
Abstract translation: 一种用于切割地下地层中的扁平细长通道，室或通道的装置，例如。 两个矿井或轴之间的横切，其包括可由流体缸系统分开的上，下鞋或盾，并且框架通过另外的流体缸连接到该框架上，该框架承载有形成的叶片的挖掘蜗杆 用于移除要提前的通道的脸部。 输送机延伸穿过框架或通过后者向后运送由蜗杆挖出的碎屑。
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公开(公告)号：US4190294A
公开(公告)日：1980-02-26
申请号：US934511
申请日：1978-08-17
Applicant: Tyman H. Fikse
Inventor： Tyman H. Fikse
CPC classification number: E21D9/1093 , E21D9/0875
Abstract: An earth digging tool is mounted on the head of a tripod, the legs of which are double-acting hydraulic cylinders. The rear ends of the cylinders are connected to a rotor which is supported in a tunneling shield for rotation about an axis extending longitudinally of the tunnel. The cylinders are selectively extended and retracted for the purpose of moving the cutting tool forwardly and rearwardly and also up and down and sideways. The entire excavator is rotated for changing the sideways attitude of the digging tool. Universal joints are provided at both ends of each hydraulic cylinder, for substantially isolating them from bending moments and torque. A telescopic torque tube assembly is interconnected between the cutting tool mounting head and a gimbal carried by the rotor. The torque tube carries the bending moments and torque loads and transmits them back to the rotor.
Abstract translation: 一个挖土工具安装在三脚架的头部，其三脚架是双作用液压缸。 气缸的后端连接到转子，该转子被支撑在隧道屏蔽件中以围绕沿隧道纵向延伸的轴线旋转。 选择性地延伸和缩回圆柱体，用于向前和向后以及上下移动切割工具和侧向移动的目的。 整个挖掘机旋转以改变挖掘工具的侧向姿态。 通用接头设置在每个液压缸的两端，用于将它们与弯矩和转矩基本隔离。 伸缩扭矩管组件在切割工具安装头和由转子承载的万向架之间互连。 扭矩管承载弯矩和扭矩负载并将其传回回转子。
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公开(公告)号：US3979151A
公开(公告)日：1976-09-07
申请号：US549725
申请日：1975-02-13
Applicant: Derek Plummer
Inventor： Derek Plummer
CPC classification number: E21D9/1013 , E21D23/0095 , E21D9/1093 , E21D9/117
Abstract: A rock excavating machine for forming an arch type underground roadway includes a base carrying a forwardly extending cutter carrying arm having a cutter for cutting rock adjacent to the roadway floor and an upwardly extending cutter carrying arm having a cutter for cutting rock adjacent to the raodway roof. The forwardly extending cutter is mounted on an arm which swings around a vertical axis, and which is elevatable along the vertical axis. The upwardly extending cutter carrying arm swings around a horizontal axis. Roof support jacks and beams are mounted on the base rearwardly of the cutters. Lateral jacks anchor the machine in the tunnel during cutting.
Abstract translation: 用于形成拱形地下道路的岩石挖掘机包括一个承载着向前延伸的切割器承载臂的基座，该基座具有用于切割邻近道路地板的岩石的切割器和一个向上延伸的切割器承载臂，该刀具具有用于切割靠近走廊屋顶的岩石的切割器 。 向前延伸的切割器安装在围绕垂直轴线摆动的臂上，并且其可沿竖直轴线升高。 向上延伸的刀具承载臂围绕水平轴线摆动。 屋顶支撑千斤顶和梁安装在刀具后方的基座上。 横向千斤顶在切割过程中将机器固定在隧道内。
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