CN117662208A - Roadway support operation method - Google Patents
Roadway support operation method Download PDFInfo
- Publication number
- CN117662208A CN117662208A CN202311482422.2A CN202311482422A CN117662208A CN 117662208 A CN117662208 A CN 117662208A CN 202311482422 A CN202311482422 A CN 202311482422A CN 117662208 A CN117662208 A CN 117662208A
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- Prior art keywords
- anchor
- rod
- tilting
- drilling
- oil cylinder
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000005553 drilling Methods 0.000 claims abstract description 146
- 230000007246 mechanism Effects 0.000 claims abstract description 105
- 238000004873 anchoring Methods 0.000 claims abstract description 68
- 238000009434 installation Methods 0.000 claims abstract description 18
- 239000000463 material Substances 0.000 claims abstract description 8
- 238000004519 manufacturing process Methods 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims description 19
- 238000003860 storage Methods 0.000 claims description 17
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000003795 chemical substances by application Substances 0.000 description 53
- 230000001502 supplementing effect Effects 0.000 description 5
- 239000003245 coal Substances 0.000 description 4
- 238000012840 feeding operation Methods 0.000 description 4
- 239000011435 rock Substances 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000004801 process automation Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000011900 installation process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000037452 priming Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/02—Setting anchoring-bolts with provisions for grouting
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D21/00—Anchoring-bolts for roof, floor in galleries or longwall working, or shaft-lining protection
- E21D21/008—Anchoring or tensioning means
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a roadway support operation method, which comprises the following steps: step one, positioning operation flow, namely realizing anchor positioning of a support drilling machine through a support positioning device; step two, an automatic anchor drilling operation flow is used for realizing anchor drilling of a support drilling machine; step three, an anchoring agent automatic filling operation flow is used for realizing automatic filling of the anchoring agent; step four, an automatic anchor net laying operation flow is used for realizing automatic anchor net laying; step five, automating the anchor rod installation operation flow, realizing the automatic installation of the anchor rod through a robot working arm, and completing the anchoring and protecting of the anchor rod; and step six, feeding the materials in the drill rod/anchor rod bin, the anchoring agent bin and the anchor net laying mechanism on the workbench by using the feeding bin after finishing the operation amount of one production shift of the anchor rod support. According to the invention, the automatic filling of the anchoring agent is realized by adopting the robot working arm, so that the efficiency is improved.
Description
Technical Field
The invention relates to the technical field of roadway support, in particular to a roadway support operation method.
Background
The anchor bolt support can effectively control the deformation of surrounding rock, and has been widely applied in the fields of coal mines, metal mines and the like. Taking coal mine roadway support as an example, the anchor bolt support process flow comprises the following steps: drilling holes in surrounding rock of a coal roadway by using a drill rod, manually plugging the resin anchoring agent into the drilled holes, placing the anchor rod into the holes for stirring, and pre-tightening the anchor rod after the anchoring agent is solidified. However, the following problems exist in the anchor bolt support construction process: after the hole is drilled, surrounding rock is easy to collapse under the action of mining stress, the step of manually plugging the anchoring agent into the drilled hole is difficult, and especially when the coal rock body is broken or the wall of the drilled hole is uneven, the anchoring agent can be installed only by taking a certain time, so that the supporting efficiency is reduced.
Disclosure of Invention
The invention aims to provide a roadway support operation method, which solves the problems in the prior art, adopts a robot operation arm to realize automatic filling of an anchoring agent, and improves the efficiency.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides a roadway support operation method, which realizes automatic, safe and efficient support operation and full-flow automation of support, compared with the traditional roadway support operation mode, the method releases hands of workers through a robot operation mode, brings revolutionary changes to the roadway support operation mode and further leads new technical trend of intelligent mine construction of each mine, and the method comprises the following steps:
step one, positioning operation flow, namely realizing anchor positioning of a support drilling machine through a support positioning device; mainly by arranging anchor drill positioning monitoring sensors, the large-scale multi-angle sensing positioning adjustment is realized;
step two, an automatic anchor drilling operation flow is used for realizing anchor drilling of a support drilling machine; the automatic drilling operation of the anchor protection hole is realized by utilizing the cooperation of a robot working arm and a rod bin and a support drilling machine;
step three, an anchoring agent automatic filling operation flow is used for realizing automatic filling of the anchoring agent; the automatic taking, automatic hole alignment and automatic spraying of the anchoring agent filling operation of the anchoring agent are realized by utilizing the cooperation of a robot working arm and an anchoring agent bin and a supporting drilling machine;
step four, an automatic anchor net laying operation flow is used for realizing automatic anchor net laying; the automatic laying of the anchor net is realized by utilizing the robot working arm and the anchor net laying mechanism to be matched with the support drilling machine;
step five, automating the anchor rod installation operation flow, realizing the automatic installation of the anchor rod through a robot working arm, and completing the anchoring and protecting of the anchor rod; the automatic rod taking, automatic mounting and automatic fastening of the anchor rod are realized by utilizing the cooperation of a robot working arm, a rod bin and an anchoring agent bin and a support drilling machine;
and step six, feeding the materials in the drill rod/anchor rod bin, the anchoring agent bin and the anchor net laying mechanism on the workbench by using the feeding bin after finishing the operation amount of one production shift of the anchor rod support.
Optionally, the supporting positioning device comprises a fixed track device, an upper moving track mechanism is slidably connected above the fixed track device, a lower moving track mechanism is slidably connected below the fixed track device, the upper moving track mechanism and the lower moving track mechanism are respectively connected with a track telescopic cylinder, track telescopic position sensors are arranged on the track telescopic cylinders, double-tilting mechanisms are arranged on the upper moving track mechanism and the lower moving track mechanism in a penetrating manner, double-tilting cylinders are respectively connected above and below the double-tilting mechanisms, the double-tilting cylinders can drive the double-tilting mechanisms to rotate along opposite directions, one ends of the double-tilting cylinders are hinged with the supporting drilling machine through horizontal connecting rods, and the supporting drilling machine is connected with front-rear tilting cylinders; the single-tilting mechanism is arranged on the fixed track device in a penetrating way, one side of the single-tilting mechanism is connected with a single-tilting oil cylinder, the single-tilting oil cylinder can drive the single-tilting mechanism to rotate, one end of the single-tilting oil cylinder is hinged with a support drilling machine through a horizontal connecting rod, the support drilling machine is connected with a front-rear tilting oil cylinder, front-rear tilting position sensors are arranged on the front-rear tilting oil cylinder, and tilting oil cylinder position sensors are respectively arranged on the double-tilting oil cylinder and the single-tilting oil cylinder; the supporting and positioning device is used for adjusting the pose of the supporting drilling machine, and can realize left and right movement pose adjustment, left and right inclination angle adjustment and front and rear inclination angle adjustment of the supporting drilling machine.
Optionally, the supporting drilling machine comprises a drilling machine main frame, the drilling machine main frame is hinged with one end of the double-tilting mechanism or the single-tilting mechanism through a horizontal connecting rod, a propping mechanism is slidably connected to one side of the drilling machine main frame, a propping mechanism displacement sensor is arranged on the propping mechanism, the propping mechanism is used for propping the roof bolt drilling machine in the anchoring operation process, a carriage mechanism is movably arranged above the drilling machine main frame, the bottom of the carriage mechanism is connected with a secondary feeding oil cylinder, a secondary feeding oil cylinder displacement sensor is arranged on the secondary feeding oil cylinder, a drilling motor is slidably arranged on one side, far away from the propping mechanism, of the carriage mechanism, a primary feeding oil cylinder is arranged on the top of the drilling motor guiding device, a primary feeding oil cylinder displacement sensor is arranged on the primary feeding oil cylinder, a drilling motor rotation speed sensor is arranged on the drilling motor, an electrohydraulic control box is arranged on one side of the drilling machine main frame, and a drill rod clamping device is arranged on the top of the propping mechanism; the secondary feeding oil cylinder can drive the sliding frame mechanism to move relative to the main frame of the drilling machine to realize primary feeding of the drilling motor, and the secondary feeding oil cylinder displacement sensor is used for sensing the feeding amount of the secondary feeding oil cylinder; the primary feeding oil cylinder can drive the drilling motor guide device to move relative to the carriage mechanism, so that secondary feeding of the drilling motor is realized, and the primary feeding oil cylinder displacement sensor is used for sensing the feeding amount of the primary feeding oil cylinder; the drilling motor rotating speed sensor is used for sensing the rotating speed of the drilling motor; the drill rod clamping device is used for clamping and protecting a drill rod in the anchoring process of the jumbolter; the electrohydraulic control box gives out feedback control signals through the anchor drilling states sensed by the sensors, so that intelligent anchor drilling control is realized.
Optionally, the rod bin includes the rod bin mounting bracket, rod bin mounting bracket one side is equipped with the rod installation draw-in groove bearing roller, the rod installation groove has been seted up in the rod installation draw-in groove bearing roller outside, be used for joint drilling rod or stock in the rod installation groove.
Optionally, anchor net laying mechanism is including fixedly locating lower telescopic tube on the workstation, lower telescopic tube top activity is inserted and is equipped with the telescopic tube, go up the telescopic tube with telescopic tube in the lower telescopic tube is flexible hydro-cylinder and is connected, go up telescopic tube top and install the net piece and arrange the platform, net piece arrangement bench is equipped with the net piece.
Optionally, the robot working arm comprises an automatic control system and a rotating base fixedly arranged on the workbench, a rotating upper supporting seat is movably arranged on the rotating base, a third working mechanical arm is movably connected to the rotating upper supporting seat, a second working mechanical arm is arranged on the third working mechanical arm, and a mechanical arm is connected to the second working mechanical arm through a first working mechanical arm; the first operation mechanical arm is used for realizing up-and-down rotation and left-and-right rotation of the mechanical arm relative to the second operation mechanical arm; the second operation mechanical arm is driven by the first servo motor to rotate left and right relative to the third operation mechanical arm, and is driven by the second servo motor to rotate up and down relative to the third operation mechanical arm; the third operation mechanical arm is driven by a third servo motor to realize up-and-down rotation relative to the rotary upper supporting seat; the rotary upper supporting seat is driven by a fourth servo motor to rotate left and right relative to the rotary base; the automatic control system is used for controlling each action of the robot working arm.
Optionally, the anchoring agent bin comprises a bin body, wherein a stirrer and an anchoring agent storage pipe are arranged on one side of the bin body, and an anchoring agent is inserted into the anchoring agent storage pipe.
Optionally, the workbench comprises a chassis and a platform main body, one side of the platform main body is connected with a slide rail connecting seat, and the fixed rail device is connected with the slide rail connecting seat; a front connecting rod hinging seat is arranged below the sliding rail connecting seat, a rear connecting rod hinging seat is arranged below the platform main body, an anchor net laying mechanism mounting seat is arranged on the platform main body, and the anchor net laying mechanism is mounted on the anchor net laying mechanism mounting seat; the chassis comprises a middle frame, a left crawler frame and a right crawler frame are symmetrically arranged on two sides of the middle frame, and a tail frame is arranged on the rear side of the middle frame; the middle frame is provided with a chassis rear connecting rod hinging seat and a chassis front connecting rod hinging seat; the chassis rear connecting rod hinging seat and the chassis front connecting rod hinging seat are connected with the platform main body.
Compared with the prior art, the invention has the following technical effects:
the invention integrates robots, and replaces manual work with the robots to complete the whole process automation of anchor net laying, anchor protection drilling, anchor agent filling, anchor rod installation and anchor rod fastening. Realize unmanned support operation, automation, safe and high-efficient support operation. The full-process automation of anchor net laying, anchor protection drilling, anchor agent filling, anchor rod installation and anchor rod fastening is realized. Realizing the posture positioning adjustment of the anchor drilling machine and the adjustment of the space, the row spacing and the supporting posture of the anchor drilling machine.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a roadway support operation method;
FIG. 2 is a schematic view of a support positioning device;
FIG. 3 is a schematic structural view of a replenishing bin;
FIG. 4 is a schematic structural view of a support rig;
FIG. 5 is a schematic view of the construction of the rod magazine;
FIG. 6 is a schematic view of a robotic arm configuration;
FIG. 7 is a schematic structural view of an anchor cartridge;
FIG. 8 is a schematic structural view of an anchor net laying mechanism;
FIG. 9 is a schematic diagram of a positioning operation flow;
FIG. 10 is a schematic illustration of an automatic anchor drilling operation flow;
FIG. 11 is a schematic illustration of an automatic anchor priming operation;
FIG. 12 is a schematic diagram of an automated anchor net laying operation flow;
FIG. 13 is a schematic illustration of an automated bolt installation process;
FIG. 14 is a schematic diagram of a feed operation flow;
fig. 15 is a schematic view of another angle structure of the supporting and positioning device.
Reference numerals illustrate: 1-positioning operation flow, 2-automatic anchor drilling operation flow, 3-anchoring agent automatic filling operation flow, 4-automatic anchor net laying operation flow, 5-automatic anchor rod installation operation flow, 6-feeding operation flow, 7-supporting positioning device, 8-feeding bin, 9-supporting drilling machine, 10-rod bin, 11-robot arm, 12-anchoring agent bin, 13-anchor net laying mechanism, 14-up moving rail mechanism, 15-double tilting mechanism, 16-double tilting cylinder, 17-rail pressing bar, 18-single tilting mechanism, 19-single tilting cylinder, 20-fixed rail device, 21-down moving rail mechanism, 22-front-back tilting cylinder, 23-front-back tilting position sensor, 24-rail telescopic cylinder, 25-track telescopic pose sensor, 26-inclined oil cylinder pose sensor, 27-propping mechanism, 28-propping mechanism displacement sensor, 29-carriage mechanism, 30-primary feed oil cylinder, 31-primary feed oil cylinder displacement sensor, 32-drilling motor guide device, 33-drilling machine main frame, 34-secondary feed oil cylinder, 35-secondary feed oil cylinder displacement sensor, 36-drilling motor, 37-drilling motor rotating speed sensor, 38-electrohydraulic control box, 39-drill clamping device, 40-drill rod, 41-rod bin mounting frame, 42-rod mounting groove, 43-rod mounting clamping groove carrier roller, 44-anchor rod, 45-manipulator, 46-first operation mechanical arm, 47-second operation mechanical arm, 48-first servo motor, 49-second servo motor, 50-third operation mechanical arm, 51-third servo motor, 52-fourth servo motor, 53-rotation upper supporting seat, 54-rotation base, 55-automatic control system, 56-bin body, 57-stirrer, 58-anchoring agent storage tube, 59-anchoring agent, 60-net piece, 61-net piece arranging table, 62-upper telescopic sleeve, 63-lower telescopic sleeve and 64-sleeve telescopic cylinder.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a roadway support operation method, which solves the problems in the prior art, adopts a robot operation arm to realize automatic filling of an anchoring agent, and improves the efficiency.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1, the robot arm type unmanned supporting operation method of the embodiment of the invention comprises six parts of operation contents of a positioning operation flow 1, an automatic anchor drilling operation flow 2, an anchor agent automatic filling operation flow 3, an automatic anchor net laying operation flow 4, an automatic anchor rod installing operation flow 5 and a feeding operation flow 6, and the related supporting operation mechanism comprises a supporting positioning device 7, a feeding bin 8, a supporting drilling machine 9, a rod bin 10, a robot operation arm 11, an anchor agent bin 12 and an anchor net laying mechanism 13.
The positioning operation flow 1 mainly realizes large-scale multi-angle sensing positioning adjustment by arranging anchor drill positioning monitoring sensors; the automatic anchor drilling operation flow 2 is to realize the automatic drilling operation of anchor protection holes by utilizing a robot working arm 11 and a rod bin 10 to be matched with a support drilling machine 9; the automatic filling operation flow 3 of the anchoring agent is realized by utilizing a robot working arm 11 and an anchoring agent bin 12 to be matched with a support drilling machine 9, so that the automation of the automatic taking, automatic hole alignment and automatic spraying of the anchoring agent filling operation of the anchoring agent is realized; the automatic anchor net laying operation flow 4 is that the robot working arm 11 and the anchor net laying mechanism 13 are matched with the support drilling machine 9 to realize the automatic laying of the anchor net; the automatic anchor rod installation operation flow 5 is that an operating arm 11, a rod bin 10 and an anchoring agent bin 12 of a robot are matched with a support drilling machine 9 to realize automatic rod taking, automatic installation and automatic fastening of an anchor rod; the material supplementing operation flow 6 is an operation process of supplementing materials in the rod bin 10, the anchoring agent bin 12 and the anchor net laying mechanism 13 by utilizing the supplementing bin 8 after finishing the operation amount of one production shift of the anchor rod support.
Specifically, as shown in fig. 2 and 15, the support positioning device 7 is composed of an upper moving rail mechanism 14, a double tilting mechanism 15, a double tilting cylinder 16, a rail trim 17, a single tilting mechanism 18, a single tilting cylinder 19, a fixed rail device 20, a lower moving rail mechanism 21, a front-rear tilting cylinder 22, a front-rear tilting position sensor 23, a rail telescopic cylinder 24, a rail telescopic position sensor 25, and a tilting cylinder position sensor 26. The supporting and positioning device 7 is mainly used for adjusting the pose of the supporting drilling machine 9, and can realize the left and right movement pose adjustment, left and right inclination angle adjustment and front and back inclination angle adjustment of the supporting drilling machine 9. The upper moving track mechanism 14 realizes the transverse distance adjustment of the left side support drilling machine 9 by sliding the track telescopic oil cylinder 24 relative to the fixed track device 20, the maximum adjustment distance is 1100mm, and the lower moving track mechanism 21 realizes the transverse distance adjustment of the right side support drilling machine 9 by sliding the track telescopic oil cylinder 24 relative to the fixed track device 20; the double-tilting mechanism 15 pushes the left and right outer side support drilling machine 9 to tilt at a large angle of-5-95 degrees under the action of the double-tilting oil cylinders 16, so that the whole machine can realize the anchoring of the top anchor rod and the anchoring of the upper anchor rod; the single tilting mechanism 18 pushes the left and right inner side support drilling machine 9 to tilt by-5-5 degrees under the action of the single tilting oil cylinder 19, so that the left and right tilting angles of the inner side two support drilling machines 9 are adjusted; the front-back inclined pose sensor 23, the track telescopic pose sensor 25 and the inclined oil cylinder pose sensor 26 jointly act to realize the perception of the movement pose of the support positioning device 7.
Specifically, as shown in fig. 3, the material supplementing bin 8 is mainly used for supplementing materials such as anchor rods and anchoring agents for supporting a fully-automatic anchoring robot.
Specifically, as shown in fig. 4, the support drilling machine 9 is composed of a propping mechanism 27, a propping mechanism displacement sensor 28, a carriage mechanism 29, a primary feed cylinder 30, a primary feed cylinder displacement sensor 31, a drilling motor guide device 32, a drilling machine main frame 33, a secondary feed cylinder 34, a secondary feed cylinder displacement sensor 35, a drilling motor 36, a drilling motor rotation speed sensor 37, an electrohydraulic control box 38, and a drill clamping device 39. The support drilling machine 9 is a main executing mechanism of the full-automatic anchoring robot. The propping mechanism 27 is used for propping the supporting drilling machine 9 in the anchoring operation process, so that the stability of the supporting drilling machine 9 is ensured, and a propping mechanism displacement sensor 28 is arranged in the propping mechanism 27 and used for sensing the movement position of the propping mechanism 27; the carriage mechanism 29 utilizes a secondary feeding oil cylinder 34 to drive the drill main frame 33 to move so as to realize primary feeding of the drilling motor 36, and a secondary feeding oil cylinder displacement sensor 35 is used for sensing the feeding amount of the secondary feeding oil cylinder 34; the primary feeding cylinder 30 drives the drilling motor guide device 32 to move relative to the carriage mechanism 29 to realize secondary feeding of the drilling motor 36, and the primary feeding cylinder displacement sensor 31 is used for sensing the feeding amount of the primary feeding cylinder 30; the drilling motor rotation speed sensor 37 is used for sensing the rotation speed of the drilling motor 36; the drill rod clamping device 39 is mainly used for clamping and protecting a drill rod in the anchoring process of the support drilling machine 9; the electrohydraulic control box 38 gives feedback control signals through the anchor drilling states sensed by the sensors, and realizes anchor drilling control.
Specifically, as shown in fig. 5, the rod magazine 10 is composed of a drill rod 40, a rod magazine mounting bracket 41, a rod mounting groove 42, a rod mounting clamping groove carrier roller 43, and an anchor rod 44. The rod bin 10 is a main mechanism of the robot working arm 11 for realizing rod taking and rod storage of the drill rod 40 and the anchor rod 44, and the anchor rod storage capacity can ensure the use amount of one production class. The fixing of the drill rod 40 and the anchor rod 44 is mainly realized by using a clamping groove formed by the rod mounting clamping groove carrier roller 43 and the rod mounting groove 42.
Specifically, as shown in fig. 6, the robot arm 11 is composed of a manipulator 45, a first work arm 46, a second work arm 47, a first servo motor 48, a second servo motor 49, a third work arm 50, a third servo motor 51, a fourth servo motor 52, a rotating upper support 53, a rotating base 54, and an automatic control system 55. The manipulator 45 is a key working mechanism of the robot working arm 11, and is mainly used for completing the installation of drill rods and anchor rods, the filling of anchoring agents, the laying of meshes and other working contents, and the gripping characteristics of the manipulator are developed according to the support requirements, so that the specific actions such as the gripping of the drill rods and the anchor rods, the gripping of the meshes and the like can be realized; the first work arm 46 is configured to perform up-and-down rotation and left-and-right rotation of the manipulator 45 with respect to the second work arm 47; the second work machine arm 47 is driven by the first servo motor 48 to rotate left and right with respect to the third work machine arm 50, and driven by the second servo motor 49 to rotate up and down with respect to the third work machine arm 50; the third working mechanical arm 50 is driven by a third servo motor 51 to rotate up and down relative to the upper rotary support base 53; the rotating upper support seat 53 is driven by the fourth servo motor 52 to rotate left and right relative to the rotating base 54; the automatic control system 55 is used to control each operation of the robot arm 11.
Specifically, as shown in fig. 7, the anchor agent cartridge 12 is composed of a cartridge body 56, a stirrer 57, an anchor agent storage tube 58, and an anchor agent 59. The anchor agent magazine 12 can store an anchor agent 59 that meets one production class support requirement.
Specifically, as shown in fig. 8, the anchor net laying mechanism 13 is composed of a net 60, a net arranging table 61, an upper telescopic sleeve 62, a lower telescopic sleeve 63, and a sleeve telescopic cylinder 64. The mesh arranging table 61 is mainly used for arranging the mesh 60; the upper telescopic sleeve 62 is lifted and lowered relative to the lower telescopic sleeve 63 by a sleeve telescopic cylinder 64.
As shown in fig. 9, the positioning operation flow 1 is mainly used for realizing the anchor positioning of the support drilling machine 9. Specifically, when the fully-automatic anchor robot is in an anchor drilling operation state, the upper moving rail mechanism 14 and the lower moving rail mechanism 21 of the support positioning device 7 for anchor drilling positioning of the support drilling machine 9 move to an anchor drilling position under the action of the rail telescopic oil cylinder 24, the left-right inclination angle and the front-rear inclination angle are adjusted by utilizing the double-inclination mechanism 15 and the front-rear inclination oil cylinder 22, the anchor drilling positioning pose is monitored by the rail telescopic pose sensor 25, the front-rear inclination pose sensor 23 and the inclination oil cylinder pose sensor 26, the anchor drilling positioning adjustment of the support drilling machine 9 is realized, the solid arrow direction in the figure is the moving or rotating direction, and the hollow arrow direction is the step flow advancing direction.
As shown in fig. 10, the automatic anchor drilling operation flow 2 is mainly used for realizing anchor drilling of the support drilling machine 9. Specifically, the propping mechanism 27 of the support drilling machine 9 props, the robot working arm 11 clamps the drill rod 40 from the rod bin 10 and places the drill rod 40 on the drilling motor 36 of the support drilling machine 9, the drilling motor 36 rotates, meanwhile, the secondary feeding oil cylinder 34 and the primary feeding oil cylinder 30 act, the carriage mechanism 29 and the drilling motor guiding device 32 drive the drilling motor 36 to realize two-stage feeding, after anchor drilling is finished, the drilling motor 36 is reset to the initial position, and the robot working arm 11 clamps the drill rod 40 and places the drill rod in the rod bin 10.
As shown in fig. 11, the automatic anchor filling operation flow 3 is mainly used for realizing the automatic filling of the anchor. The robot working arm 11 clamps the anchoring agent storage tube 58 from the anchoring agent bin 12 and places the anchoring agent storage tube 58 on the drilling motor 36 of the support drilling machine 9, the mechanical arm 45 of the robot working arm 11 clamps the upper part of the anchoring agent storage tube 58, the drilling motor 36 rotates, the anchoring agent storage tube 58 is screwed and combined with the drilling motor 36, the drilling motor 36 feeds to the top of the anchoring agent storage tube 58, the anchoring agent 59 in the anchoring agent storage tube 58 is sprayed into an anchor drilling hole through high-pressure pulse air flow, the drilling motor 36 returns to an initial position, the mechanical arm 45 of the robot working arm 11 clamps the upper part of the anchoring agent storage tube 58, the drilling motor 36 reversely rotates, the anchoring agent storage tube 58 is separated from the drilling motor 36, and the robot working arm 11 places the anchoring agent storage tube 58 back to the anchoring agent bin 12.
As shown in fig. 12, the automatic anchor net laying work flow 4 is mainly used for realizing automatic laying of an anchor net. The propping mechanism 27 of the supporting drilling machine 9 is retracted to the initial position, the three robot working arms 11 clamp the net sheet 60 positioned on the anchor net laying mechanism 13 to be arranged in the area of the top of the roadway to be anchored, the propping mechanism 27 of the supporting drilling machine 9 props the top, the net sheet 60 is fixed on the top of the roadway, and the automatic laying of the anchor net is realized.
As shown in fig. 13, the automated anchor rod installation work flow 5 mainly realizes the automatic installation of anchor rods by the robotic work arm 11. The robot working arm 11 clamps the stirrer 57 from the anchoring agent bin 12 and places the stirrer 57 on the drilling motor 36 of the support drilling machine 9, clamps the anchor rod 44 with the tray and the nut from the rod bin 10 and places the stirrer 57 on the drilling motor 36, simultaneously, the drilling motor 36 feeds to send the anchor rod 44 into a roadway anchor drill hole, in the rotating process, the anchoring agent is adhered to the anchor rod 44, and after the top is reached, the drilling motor 36 locks the nut through the stirrer 57, so that the anchoring of the anchor rod 44 is completed.
As shown in fig. 14, the feeding operation flow 6 mainly performs feeding operation of the materials in the rod bin 10, the anchor agent bin 12, and the anchor net laying mechanism 13 by using the feeding bin 8 after finishing the operation amount of one production shift of the anchor bolt support.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (8)
1. A roadway support operation method is characterized in that: the method comprises the following steps:
step one, positioning operation flow, namely realizing anchor positioning of a support drilling machine through a support positioning device;
step two, an automatic anchor drilling operation flow is used for realizing anchor drilling of a support drilling machine;
step three, an anchoring agent automatic filling operation flow is used for realizing automatic filling of the anchoring agent;
step four, an automatic anchor net laying operation flow is used for realizing automatic anchor net laying;
step five, automating the anchor rod installation operation flow, realizing the automatic installation of the anchor rod through a robot working arm, and completing the anchoring and protecting of the anchor rod;
and step six, feeding the materials in the drill rod/anchor rod bin, the anchoring agent bin and the anchor net laying mechanism on the workbench by using the feeding bin after finishing the operation amount of one production shift of the anchor rod support.
2. The roadway support operation method of claim 1, wherein: the supporting positioning device comprises a fixed track device, an upper moving track mechanism is connected above the fixed track device in a sliding manner, a lower moving track mechanism is connected below the fixed track device in a sliding manner, the upper moving track mechanism and the lower moving track mechanism are respectively connected with a track telescopic cylinder, track telescopic position sensors are arranged on the track telescopic cylinders, double-tilting mechanisms penetrate through the upper moving track mechanism and the lower moving track mechanism, double-tilting cylinders are respectively connected above and below the double-tilting mechanisms, the double-tilting cylinders can drive the double-tilting mechanisms to rotate in opposite directions, one ends of the double-tilting cylinders are hinged with the supporting drilling machine through horizontal connecting rods, and the supporting drilling machine is connected with front-rear tilting cylinders; the single-tilting mechanism is arranged on the fixed track device in a penetrating way, one side of the single-tilting mechanism is connected with a single-tilting oil cylinder, the single-tilting oil cylinder can drive the single-tilting mechanism to rotate, one end of the single-tilting oil cylinder is hinged with a support drilling machine through a horizontal connecting rod, the support drilling machine is connected with a front-rear tilting oil cylinder, front-rear tilting position sensors are arranged on the front-rear tilting oil cylinder, and tilting oil cylinder position sensors are respectively arranged on the double-tilting oil cylinder and the single-tilting oil cylinder; the supporting and positioning device is used for adjusting the pose of the supporting drilling machine, and can realize left and right movement pose adjustment, left and right inclination angle adjustment and front and rear inclination angle adjustment of the supporting drilling machine.
3. The roadway support operation method of claim 2, wherein: the supporting drilling machine comprises a drilling machine main frame, wherein the drilling machine main frame is hinged with one end of the double-tilting mechanism or the single-tilting mechanism through a horizontal connecting rod, one side of the drilling machine main frame is connected with a supporting mechanism in a sliding manner, a supporting mechanism displacement sensor is arranged on the supporting mechanism, the supporting mechanism is used for supporting the roof bolt drilling machine in the anchoring operation process, a sliding frame mechanism is movably arranged above the drilling machine main frame, the bottom of the sliding frame mechanism is connected with a secondary feeding oil cylinder, a secondary feeding oil cylinder displacement sensor is arranged on the secondary feeding oil cylinder, a drilling motor guide device is slidably arranged on one side, far away from the supporting mechanism, of the sliding frame mechanism, a drilling motor is arranged on the outer side of the drilling motor guide device, the top of the drilling motor guide device is connected with a primary feeding oil cylinder, a primary feeding oil cylinder displacement sensor is arranged on the primary feeding motor, an electrohydraulic control box is arranged on one side of the drilling machine main frame, and a drill rod clamping device is arranged on the top of the supporting mechanism; the secondary feeding oil cylinder can drive the sliding frame mechanism to move relative to the main frame of the drilling machine to realize primary feeding of the drilling motor, and the secondary feeding oil cylinder displacement sensor is used for sensing the feeding amount of the secondary feeding oil cylinder; the primary feeding oil cylinder can drive the drilling motor guide device to move relative to the carriage mechanism, so that secondary feeding of the drilling motor is realized, and the primary feeding oil cylinder displacement sensor is used for sensing the feeding amount of the primary feeding oil cylinder; the drilling motor rotating speed sensor is used for sensing the rotating speed of the drilling motor; the drill rod clamping device is used for clamping and protecting a drill rod in the anchoring process of the jumbolter; the electrohydraulic control box gives out feedback control signals through the anchor drilling states sensed by the sensors, so that intelligent anchor drilling control is realized.
4. The roadway support operation method of claim 1, wherein: the rod bin comprises a rod bin mounting frame, a rod mounting clamping groove carrier roller is arranged on one side of the rod bin mounting frame, a rod mounting groove is formed in the outer side of the rod mounting clamping groove carrier roller, and a drill rod or an anchor rod is clamped in the rod mounting groove.
5. The roadway support operation method of claim 1, wherein: the anchor net laying mechanism comprises a lower telescopic sleeve fixedly arranged on the workbench, an upper telescopic sleeve is movably inserted at the top of the lower telescopic sleeve, the upper telescopic sleeve is connected with a telescopic cylinder of the sleeve in the lower telescopic sleeve, a net arranging table is arranged at the top of the upper telescopic sleeve, and net is arranged on the net arranging table.
6. The roadway support operation method of claim 1, wherein: the robot working arm comprises an automatic control system and a rotating base fixedly arranged on a workbench, a rotating upper supporting seat is movably arranged on the rotating base, a third working mechanical arm is movably connected to the rotating upper supporting seat, a second working mechanical arm is arranged on the third working mechanical arm, and a mechanical arm is connected to the second working mechanical arm through a first working mechanical arm; the first operation mechanical arm is used for realizing up-and-down rotation and left-and-right rotation of the mechanical arm relative to the second operation mechanical arm; the second operation mechanical arm is driven by the first servo motor to rotate left and right relative to the third operation mechanical arm, and is driven by the second servo motor to rotate up and down relative to the third operation mechanical arm; the third operation mechanical arm is driven by a third servo motor to realize up-and-down rotation relative to the rotary upper supporting seat; the rotary upper supporting seat is driven by a fourth servo motor to rotate left and right relative to the rotary base; the automatic control system is used for controlling each action of the robot working arm.
7. The roadway support operation method of claim 1, wherein: the anchoring agent bin comprises a bin body, wherein a stirrer and an anchoring agent storage pipe are arranged on one side of the bin body, and anchoring agent is inserted into the anchoring agent storage pipe.
8. The roadway support operation method of claim 2, wherein: the workbench comprises a chassis and a platform main body, one side of the platform main body is connected with a sliding rail connecting seat, and the fixed rail device is connected with the sliding rail connecting seat; a front connecting rod hinging seat is arranged below the sliding rail connecting seat, a rear connecting rod hinging seat is arranged below the platform main body, an anchor net laying mechanism mounting seat is arranged on the platform main body, and the anchor net laying mechanism is mounted on the anchor net laying mechanism mounting seat; the chassis comprises a middle frame, a left crawler frame and a right crawler frame are symmetrically arranged on two sides of the middle frame, and a tail frame is arranged on the rear side of the middle frame; the middle frame is provided with a chassis rear connecting rod hinging seat and a chassis front connecting rod hinging seat; the chassis rear connecting rod hinging seat and the chassis front connecting rod hinging seat are connected with the platform main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311482422.2A CN117662208A (en) | 2023-11-09 | 2023-11-09 | Roadway support operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311482422.2A CN117662208A (en) | 2023-11-09 | 2023-11-09 | Roadway support operation method |
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| Publication Number | Publication Date |
|---|---|
| CN117662208A true CN117662208A (en) | 2024-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311482422.2A Pending CN117662208A (en) | 2023-11-09 | 2023-11-09 | Roadway support operation method |
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| Country | Link |
|---|---|
| CN (1) | CN117662208A (en) |
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2023
- 2023-11-09 CN CN202311482422.2A patent/CN117662208A/en active Pending
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