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英文原文
Discussion on key technology
of mine boom type heavy roadheade
[Abstract]:The paperproposed the key technological issues of the hard rock cutting for themine boom type heavy roadheader. In combined with the research and developmentof the EBZ300TY mine heavy roadheader, the paperdiscussed the technicalmeasuresmade. Accordingto the certain geological conditions of the client, the proposed the alternatives on the rationalmatching of theworking parameters, the cut-ter improvementdesign direction, the selected type cutting head, the stabilization and layout of the roadheader, the development of thekey parts, the orientation position, the face cross sectionmonitoring and others.
[Key words]:mine heavy roadheader; hard rock cutting; key technology
Cantilevered boring machines have made express from 1960s during the 20th century in China, with continued research, testing and improvement in recent 50 years, the performance of machine has increased: cutting power range from 50kW to 220 kW, from light to heavy-duty models of the more than 20 kinds of products, in the coal mine coal and semi-mechanized coal-rock tunnel boring widely used in China in recent years to meet the basic the rapid development of the coal industry needs. Along with the mine working face size and the continuous improvement of production, the modernization of a large number of million-ton mine-building, especially the construction of new wells in the rock to open up the roadway, on whole-rock boring machine demand increases every year, its technical capabilities and requirements for continuing raised.
The development of cutting power reaches 300 kW, the machine to adapt to the quality of over 100t roadway section 30 ~ 50 m2, cutting of rock uniaxial compressive strength reached 120MPa heavy hard rock boring machine, it is in growing demand and rapid advancement of technology boring machine made under the premise. With the development of the past 50 years compared to the boring machine, it is not a simple local improvement, nor is it a successful model of the past, zoom in or out, boring machine technology but a far-reaching changes in many aspects. This is because some of its key technologies will be applied to other products on the boring machine, boring machine and then bring the whole technology industry. The following boring machine at home and abroad according to the present developments and the development experience of heavy hard rock boring machine for cutting the key technologies are discussed.
Cutting capacity 1
Cutting capacity is heavy hard rock boring machine restricted the use of the most important factor in the development of heavy-duty boring machine at the heart of the level of their ability are usually measured by three indicators, namely, tooth loss cut-off rate (to / m3), production capacity (m3 / h) and cutting energy consumption than the (kW ? h/m3), which cut the rate of tooth loss is more decisive role. Cutting in hard rock boring machine, if the hardness of rock, or grinding teeth of a strong lead to the actual loss rate cut more than 1 / m3, then they would pick as a result of consumption of high cost and frequent replacement of the cutter and machine vibration increased increase in maintenance costs compared with the drilling and blasting method becomes uneconomical. Therefore, heavy boring machine's ability to adapt to cutting hard rock cutting is essential, for this body of work needs to choose the parameters, the type of cutting head and cutting tool, such as an in-depth study.
1 ? 1 operating parameters of a reasonable match with the performance prediction
Cutting in the process, and one of the most important parameter is the most basic cutting thickness (coal cutter rock cutting depth), and the rock cutting nature of the cutting is not suitable thickness will reduce cutting efficiency and Pick of the wear and tear, resulting in more dust. Different cut-off in the rock structure, the formation of different mechanical properties. Because of the specificity of cutting hard rock, hard rock boring machine during the design, user-specific nature of the geological conditions of rock parameters for the selection and matching of heavy hard rock boring machine is designed to correct the premise. In the different rock types, such as strength, abrasion, and rock types, such as cutting tests conducted on the basis of the combination of dedicated design software for cutting optimization of operating parameters of the design, hard-rock boring machine is cutting to achieve high performance the only way .
In addition, the design parameters for performance prediction of the success of the use of boring machine is an important factor. According to research institutions abroad, the research results [2], can be forecast according to certain formula for the cut-off rate of tooth loss and to predict cutting capacity. Will be by way of cutting the rock compressive strength, cutting power, boring machine weight, diameter of cutting head as the standardization of parameters such as parameters.
Come to the conclusion that the hardness in cutting when the cutter reached 120MPa consumption rate of a more economical level.
1 ? 2 tool to improve the design
The last 50 years, researchers in order to improve Cutting capacity rock tests done a lot of research, such as increasing the weight of the machine, the design of solid rack, a big increase in power, such as cutting. Test shows that the constraints of the main factors driving hard rock is still the pick, as the cut-off performance is good or bad teeth, the length of life boring machine a direct impact on the economy, thus cutting the need for an in-depth study tool.
At present, the extensive use of boring machine with cone-shaped alloy head pick-ho, as they have since the blade and impact resistance and have been affirmed, in a variety of boring machine has been widely used and become standardized. In addition, through the introduction of new welding technology, increasing the diameter of the first alloy and improve abrasion resistance, such as cut-off method of tooth roots, pick a larger improvement in the durability of cutter. Despite the ho-shaped cutter to carry out an in-depth research, manufacturing process has been greatly improved, but still can not economically stronger for grinding of hard rock mining. This is because when the ho-shaped cutter with the rock when the contact area, and in the higher stages of wear and tear become blunt and sharp teeth, the posterior horn of the negative, the plane of the wear and tear and extrusion of rock have a lot of rock powder, work to be larger than the energy, cutting efficiency is very low, if the pick-shaped cutter to stop rotating, then the performance of their cutting the rate of deterioration will be increased.
Shoul improve the design tools to enable the transfer to the rock through the tool of power and energy to achieve maximum value. Recently developed new tools, the United States of Geology, University of Colorado School of Mines Research Institute of the disc machine cutting tool [3], and mining services company in Australia, the development of the era of chain-shaped cutter head alloy. Before the adoption of a rotary cutting tool for cutting hard rock, due to large size tools and boring machine cutting head size is limited to use; the latter has a cutting tool than the energy stability, the extent of tool use has been a sharp remain unchanged, less dust, vibration small degree block is characterized by the more hard rock boring machine ideal choice, and the use of broad prospects.
1 ? 3 types of cutting head
The design of cutting head usually meet the following requirements: tool consumption in small, even by force, good stability, high cutting efficiency. To achieve this
These requirements is the main criteria for the design of each tool rotary cutting head in a week can cut the same materials. Practice shows that in the horizontal boring machine, two kinds of longitudinal cutting head type, the horizontal boring machine is more suitable for hard rock cutting [4-5]. This is due to cut-off horizontal cutting head and cut off the small side, at the same time to participate in cutting the number of teeth less than the cut-off, the machine allows the greatest resistance to the same work, they can force the use of larger single-pole; horizontal cutting head cutting line spacing small , can be cut smaller deep, single-tooth cutting resistance on the smaller, the horizontal than the vertical axis of the high hardness cutting; forward open horizontal cut, as cutting edge and are located in traction with the cantilever axis parallel to the plane, you can take full advantage of the weight of the machine, cutting good stability, and pick and Chip of the effect of Better than the vertical axis type.
2 job stability and the whole arrangement
Evaluation of the stability of boring machine is an important indicator of performance, cutting a direct impact on the performance and reliability of machines. Affect the stability of the boring machine by many factors, such as the cutting head of the load, the balance of machine layout, grounding area, body height, cantilever rack, and other major components of the weight and stiffness, cutting head type and so on.
Heavy boring machine is designed for cutting hard rock, and its main characteristic is that the weight of big machinery, big power. The quality of a big machine for cutting the work of providing a more solid platform to effectively reduce the vibration machine, but it also brought about a balanced arrangement of hard to machine, machine ground pressure of the big problems, how to make the whole arrangement of a balanced center of gravity position reasonable is a heavy-duty design difficult.
Heavy boring machine weighing more than a 100, ton although the horizontal cutting of the work agencies have good stability, but the weight of cutting big institutions, so that whole center of gravity forward, causing the front track ground pressure is too large, the need for running chassis to the rack, as well as the arrangement of special means, on the one hand, adjust the rack and track the structural design of aircraft, reasonable weight and to increase its strength and stiffness, the parameters to match the requirements on the other hand, as far as increasing ground track area to reduce ground pressure.
3 key components of development and design
Performance requirements of new technologies and the increasing weight and power of the machine by making the boring machine parts the machine can not fully meet the overall requirements, the need for a pilot study of key components. Heavy Cutting excessive body weight, the traditional slewing bearing slewing mechanism can not meet the work requirements, the need to develop new-type rotary body design. Rack and pinion has a carrying capacity of rotating bodies, and rotary constant force, vibration and strong impact resistance, smooth operation, the advantages of compact structure.
Heavy boring machine ground pressure, and makes walking traction device efficiency is not high, especially in the soft, wet ground. Telescopic cutting a large extent, solved the problem, it can be static in the machines, the machines take full advantage of gravity and track traction device of the friction with the ground, so that cutting head to promote greater traction. However, within the traditional telescopic spline and T-slot outside the telescopic structure, not only structurally complex, processing difficulties, and the relatively high failure rate, so the need for heavy-duty cantilever Cutting the characteristics of the development of strong and stable institutions of stretching.
4 Boring Machine-oriented positioning and monitoring section
Bulky heavy boring machine, the driver line of sight worse, according to the traditional approach to accurate driving and cutting cross-section to promote the right direction to ensure that it is very difficult, often boring machine drivers rely on the experience and technology, in most cases the need for duplication of ultra-cutting or patch cutting region, therefore it is difficult to control operating costs. How in the shortest possible time, the greatest precision cutting, the use of the lowest operating costs, it is hard rock boring machine needs to be resolved another difficult
Address these problems, usually boring machine automated positioning system. This is through the use of a high level of integration of computer-driven boring machine operations to complete the display, as shown in Figure 2. Display can be clearly marked on the boring machine precise position and orientation information; the design of roadway cross-section profile of the axial projection; boring machine cutting head section in an ideal location on the real-time. Through the use of the system can achieve precise control of the cross-section; to ensure that the design of roadway in accordance with the direction; raise boring machine footage; be completed roadway cutting part is not visible; automatically advanced site features such as measurement of theodolite.
5 Accessibility
5 ? 1 Heading Face Comprehensive Dust Removal System technology
At present, the wet roadway dust removal system results in tunneling a major factor in the poor is that the dust removal system is not able to face boring machine, as well as the wind system for supporting effective, so a comprehensive dust removal system heading face technology research in general is supporting heavy boring machine One of the main research and development studies. In addition, the large cross-section of dust control technology studies and the role of charged dust device is controlled mechanized excavation face the spread of dust from outside air. One of the key issues and technical problems is the formation of mural mural hairdryer wind speed to determine the best effect, the need for an in-depth study on this.
5 ? 2 bolt support system
Bolting is the coal mine roadway support the main form of support will bolt drilling and boring machine arm system integrated in one, the realization of a fully mechanized excavation face bolt hole drilling and bolt installation mechanized operations, a very care to improve the efficiency of the earth anchor to reduce the time for auxiliary operations, effective care to shorten the operating cycle time anchor. In addition, the anchor of care to achieve automation and control operations, further improve the efficiency of the anchor retaining staff and reducing the number of operations to improve the care of the anchor of the security operation.
6 Conclusion
1) specific nature of the geological conditions of rock to choose and match the parameters of heavy hard rock boring machine is designed to correct the premise.
2) the use of cutting energy consumption than the stable, remain the same sharpness of the new alloy ornament-shaped cutter, heavy hard rock boring machine is a better choice.
3) In order to better adapt to cutting hard rock, heavy use of hard rock boring machine horizontal cutting way, with production capacity, and job stability, and lower than the energy consumption characteristics.
4) heavy-duty boring machine according to the characteristics of the balanced arrangement of parts, and a reasonable weight.
5) heavy-duty boring machine according to the characteristics of the development of strong and stable cutting telescopic slewing mechanism and heavy-duty.
6) the use of boring machine-oriented cross-section location and surveillance systems, to improve the performance of heavy boring machine.
中文譯文
懸臂式重型掘進機關(guān)鍵技術(shù)探討
【摘 要】:提出了懸臂式重型掘進機硬巖切割的關(guān)鍵技術(shù)問題,并結(jié)合EBZ300TY重型掘進機的研制開發(fā),對所采取的技術(shù)措施進行了探討。提出了根據(jù)用戶特定地質(zhì)條件進行工作參數(shù)合理匹配、刀具改進設(shè)計方向、截割頭選取的類型、整機穩(wěn)定性及布置、關(guān)鍵部件的開發(fā)和導向定位及斷面監(jiān)視等方案。
【關(guān)鍵詞】:重型掘進機;硬巖切割;關(guān)鍵技術(shù)
我國懸臂式掘進機是20世紀60年代發(fā)展起來的,經(jīng)近50年的研究、試驗和改進,機器性能不
斷提高,已開發(fā)出截割功率50~220 kW,從輕型到重型的20多種型號的系列產(chǎn)品,在煤礦井下煤及半煤巖巷道的機械化掘進中廣泛應用,基本滿足了近年來我國煤炭工業(yè)快速發(fā)展的需求。隨著我國礦井規(guī)模和工作面單產(chǎn)的不斷提高,大批千萬噸級現(xiàn)代化礦井的建設(shè),特別是新井建設(shè)中巖石巷道的開拓,對全巖掘進機的需求逐年增加,對其技術(shù)能力和要求也持續(xù)提高。
研制截割功率達到300 kW,機器質(zhì)量超過100t適應巷道斷面30~50 m2,截割巖石單軸抗壓強度達到120MPa的重型硬巖掘進機,正是在不斷增長的需求和掘進機技術(shù)快速進步的前提下提出的。同過去50年研制的掘進機相比,它不是簡單的局部改進,也不是以往成功機型的放大或縮小,而是掘進機技術(shù)一次意義深遠的多方面變革。這是因為它的一些關(guān)鍵技術(shù)將會推廣應用到其他掘進機產(chǎn)品上,進而帶動整個掘進機行業(yè)的技術(shù)進步。下面根據(jù)目前國內(nèi)外掘進機的發(fā)展動態(tài)和開發(fā)體會,對重型掘進機硬巖切割的關(guān)鍵技術(shù)進行初步探討。
1 截割能力
硬巖切割能力是重型掘進機使用范圍受限制的最主要因素,也是重型掘進機研制的核心所在,其能力高低通常有3個指標來衡量,即截齒損耗率(把/m3)、生產(chǎn)能力(m3/h)和截割比能耗(kW·h/m3),其中以截齒損耗率更具決定作用。在掘進機切割硬巖時,如果巖石硬度高或者研磨性很強導致截齒實際損耗率超過1把/m3,那么就會由于高昂的截齒消耗費用,以及經(jīng)常更換截齒和機器的振動加劇增加的維護費等與鉆爆法相比變得不經(jīng)濟。因此,使重型掘進機的截割能力適應硬巖切割至關(guān)重要,為此需要對工作機構(gòu)的參數(shù)選擇、截割頭類型和截割刀具等進行深入研究。
1·1 工作參數(shù)合理匹配與性能預測
在掘進機截割過程中,一個最重要且最基本的參數(shù)是切削厚度(截齒截割煤巖體的深度),與被截割巖石性質(zhì)不適合的切削厚度只會降低截割效率,增加截齒的磨損,產(chǎn)生更多的粉塵。在巖石截構(gòu)各異,形成的力學性質(zhì)千差萬別。由于切割硬巖的特殊性,在進行硬巖掘進機設(shè)計時,針對用戶特定地質(zhì)條件的巖石性質(zhì)來進行參數(shù)選擇和匹配是重型硬巖掘進機正確設(shè)計的前提。在針對不同巖石類型,如強度、磨蝕性、巖石類型等進行截割試驗的基礎(chǔ)上,結(jié)合專用設(shè)計軟件來進行截割工作參數(shù)的優(yōu)化設(shè)計,是使硬巖掘進機達到高截割性能的必由之路。
此外,對設(shè)計參數(shù)的性能預測是掘進機成功使用的一個重要因素。根據(jù)國外研究機構(gòu)的研究成果[2],可根據(jù)一定的預測方程式對截齒損耗率和截割生產(chǎn)能力進行預測。將所截割巖石的單向抗壓強度、截割功率、掘進機重量、截割頭直徑等參數(shù)作為標準化參數(shù)。
得出的結(jié)論是在截割硬度達到120MPa時截齒消耗率達到較經(jīng)濟的水平。
1·2 刀具改進設(shè)計
近50年來,科研人員為了提高掘進機截割巖石的能力做了大量的試驗研究,比如增加機器的重量,設(shè)計堅固的機架,增大截割功率等。試驗表明,制約硬巖掘進的主要因素仍是截齒,由于截齒性能的好壞、壽命的長短直接影響掘進機的經(jīng)濟性,因此就需要對截割刀具進行深入研究。
目前,在掘進機上大量使用的帶錐形合金頭的鎬形截齒,由于其所具有的自刃性、耐沖擊性而得到了肯定,在各種掘進機上被廣泛使用并趨于標準化。另外,通過采用新的焊接技術(shù)、增大合金頭直徑和提高截齒根部抗磨性等方法,較大改善了鎬形截齒的耐用性。盡管對鎬形截齒進行了深入研究,制造工藝也有了極大的改善,但仍然無法經(jīng)濟地用于研磨性較強的硬巖挖掘。這是由于當鎬形截齒工作時與巖石的接觸面積大,在磨損較高的階段齒尖變鈍時,會產(chǎn)生負的后角,大的磨損平面擠壓巖石并產(chǎn)生大量的巖粉,工作時需較大的比能,截割效率很低,如果鎬形截齒停止旋轉(zhuǎn),那么其截割性能惡化速度還會加劇。
應該改善刀具的外形設(shè)計,使通過刀具轉(zhuǎn)移給巖石的力和能量達到最大值。最近研制的新型刀具,有美國科羅拉多礦業(yè)大學地質(zhì)機械研究院研制的圓盤截割刀具[3],還有澳大利亞時代礦業(yè)服務公司開發(fā)的鋃形合金頭截齒。前一種刀具通過旋轉(zhuǎn)截割用于硬巖切割,由于刀具的外形尺寸大而掘進機截割頭尺寸小使用受到限制;后一種刀具具有截割比能耗穩(wěn)定,刀具使用中銳利程度一直保持不變,粉塵少、震動小、塊度大的特點,是硬巖掘進機較理想的選擇,并具有廣闊的使用前景。
1·3 截割頭類型
截割頭的設(shè)計通常滿足以下要求:刀具消耗小,受力均勻,穩(wěn)定性好,截割效率高。要實現(xiàn)這些要求,主要的設(shè)計準則就是每個刀具在截割頭旋轉(zhuǎn)一周時能夠切下相同的物料。實踐表明,在掘進機的橫、縱軸2種型式的截割頭中,橫軸掘進機更適合硬巖切割[4-5]。這是由于橫軸截割頭截割斷面小,同時參加截割的截齒數(shù)量少,在機器允許最大工作阻力相同時,就可以采用較大的單刀力;橫軸截割頭截線間距小,可以采用較小的截深,單齒截割阻力就較小,因此橫軸式比縱軸式的截割硬度高;橫軸式前進開切時,由于截割力和牽引力都位于與懸臂軸線相平行的平面內(nèi),可以充分利用機器的重量,截割穩(wěn)定性好,且截齒的受力和排屑效果都較縱軸式好。
2 工作穩(wěn)定性和整機的布置
穩(wěn)定性是評價掘進機性能的一項重要指標,直接影響著截割性能和機器的可靠性。影響掘進機穩(wěn)定性的因素有很多,如截割頭的載荷、整機布置的均衡、接地面積、機身高度、機架和懸臂等主要構(gòu)件的重量及剛度、截割頭型式等等。
重型掘進機主要是為切割硬巖而設(shè)計, 它的主要特點是機器重量大,功率大。大的機器質(zhì)量可以為截割提供更加穩(wěn)固的工作平臺,有效降低機器的震動,但同時也帶來整機均衡布置難,機器的接地比壓大的問題,如何使整機布置均衡,重心位置合理是重型機設(shè)計的一項難點。重型掘進機重量超過了100 ,t雖然采用橫軸式截割機構(gòu)具有良好的工作穩(wěn)定性,但截割機構(gòu)的重量大,使整機重心靠前,致使履帶前部接地比壓過大,需要對機架以及行走底盤的布置采取特殊手段,一方面調(diào)整機架和履帶架的結(jié)構(gòu)設(shè)計,合理配重,并增加其強度和剛度,另一方面在參數(shù)匹配要求范圍內(nèi),盡量增大履帶接地面積以降低接地比壓。
3 關(guān)鍵部件的開發(fā)設(shè)計
新的技術(shù)性能要求以及不斷增加的機器重量和功率,使以往掘進機的部件已經(jīng)不能完全滿足機器整體要求,需要對關(guān)鍵部件進行試驗研究?！ ≈匦途蜻M機截割機構(gòu)重量過大,傳統(tǒng)的回轉(zhuǎn)支承無法滿足回轉(zhuǎn)機構(gòu)的工作要求,需開發(fā)設(shè)計新型回轉(zhuǎn)機構(gòu)。齒輪齒條回轉(zhuǎn)機構(gòu)具有承載能力大、回轉(zhuǎn)牽引力恒定、抗沖擊振動能力強、運轉(zhuǎn)平穩(wěn)、結(jié)構(gòu)緊湊等優(yōu)點。
重型掘進機接地比壓大,使得行走牽引裝置效率不高,尤其是在松軟、潮濕的地面上。伸縮式截割在很大程度上解決了這個問題,它可以在機器靜止的情況下,充分利用機器的重力及履帶牽引裝置與地面的摩擦力,使截割頭產(chǎn)生更大的推進牽引力。然而,傳統(tǒng)的花鍵內(nèi)伸縮和T型槽外伸縮結(jié)構(gòu),不僅結(jié)構(gòu)復雜、加工困難,而且故障率比較高,因此需要針對重型掘進機截割懸臂的特點開發(fā)堅固穩(wěn)定的伸縮機構(gòu)。
4 掘進機導向定位及斷面監(jiān)視
重型掘進機體積大,司機視線差,按照傳統(tǒng)的掘進方法去精確切割斷面并確保推進方向正確是非常困難的,常常依靠掘進機司機的經(jīng)驗和技術(shù),大多數(shù)情況下需要重復切割或修補超切區(qū)域,因此操作成本很難控制。如何在最短的時間、最大切割精確度、使用最少的操作成本,是硬巖掘進機需要解決的又一個難點。
解決上述問題,通常采用掘進機自動化定位系統(tǒng)。這是通過使用一個高集成度計算機驅(qū)動的掘進機操作顯示器來完成的,如圖2所示。顯示器可以清晰標出精確的掘進機位置和方向信息;設(shè)計巷道斷面的軸向投影輪廓;掘進機切割頭在理想斷面上的實時位置。通過使用該系統(tǒng)可以實現(xiàn)精確的斷面控制;保證巷道按照設(shè)計方向推進;提高掘進機進尺;可以完成不可見部分巷道切割;自動超前測量經(jīng)緯儀站點等功能。
5 輔助功能
5·1 掘進工作面綜合除塵系統(tǒng)總體配套技術(shù)
目前濕式除塵系統(tǒng)在掘進巷道使用效果不佳的一個主要因素就是,除塵系統(tǒng)沒有能和掘進機以及工作面供風系統(tǒng)進行有效的配套,所以掘進工作面綜合除塵系統(tǒng)總體配套技術(shù)研究也是重型掘進機研制中的一個主要研究內(nèi)容。另外,大斷面控塵技術(shù)的研究及控塵裝置的作用,是控制綜掘工作面含塵氣流向外擴散。其中的關(guān)鍵問題和技術(shù)難點就是附壁風筒形成附壁效應最佳風速的確定,需要對此進行深入研究。
5·2 錨桿支護系統(tǒng)
錨桿支護是目前煤礦井下巷道支護主要支護形式,將錨桿鉆臂系統(tǒng)與掘進機集成于一體,實現(xiàn)了綜掘工作面錨桿孔鉆進和錨桿安裝的機械化作業(yè),極大地提高錨護效率,減少輔助作業(yè)時間,有效縮短錨護作業(yè)循環(huán)時間。另外,錨護作業(yè)自動化控制的實現(xiàn),進一步提高了錨護效率并減少了作業(yè)人員數(shù)量,提高了錨護作業(yè)的安全性。
6 結(jié) 語
1)針對特定地質(zhì)條件的巖石性質(zhì)來進行參數(shù)選擇和匹配是重型硬巖掘進機正確設(shè)計的前提。
2)采用截割比能耗穩(wěn)定,銳利程度保持不變的新型鋃形合金截齒,是重型硬巖掘進機較理想的選擇。
3)為了更好地適應硬巖切割,重型硬巖掘進機采用橫軸式截割方式,具有生產(chǎn)能力大、工作穩(wěn)定性好、比能耗低的特點。
4)應根據(jù)重型掘進機的特點對各部件均衡布置,并合理配重。
5)根據(jù)重型掘進機的特點,開發(fā)堅固穩(wěn)定的伸縮式截割機構(gòu)和重載回轉(zhuǎn)機構(gòu)。
6)采用掘進機導向定位及斷面監(jiān)視系統(tǒng),改善重型掘進機操作性能。
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