CN-121976829-A - Single-cycle supporting method and system for coal mine anchor rod

CN121976829ACN 121976829 ACN121976829 ACN 121976829ACN-121976829-A

Abstract

The invention discloses a coal mine anchor rod single-cycle supporting method and system. The coal mine anchor rod single-cycle support method comprises the steps of moving the anchor rod support equipment to an anchor rod support position, filling a cartridge into a cartridge rod, placing a drill rod, the cartridge rod and an anchor rod into a rod storage mechanism, starting the anchor rod support equipment to sequentially perform drilling, drug injection and anchoring procedures, supplementing the anchor rod into the rod storage mechanism, replacing the cartridge in the cartridge rod, repeating the steps and the steps, and continuing the anchor rod support operation. The embodiment of the invention can realize automatic operation of drilling, medicine injection and anchoring, reduces labor intensity, improves working efficiency, has good practicability, can avoid human intervention and has good stability.

Inventors

GAO ZHIQIANG
ZHANG WEIGUO
ZUO GANGYONG
WANG ZHUANG
ZHOU JIE
ZHAO PENGCHENG
WU ZHUOHONG
QIU WEIJIAN
MENG WENJIE
GONG XUFENG
WANG WEI
WANG FUQIANG
LIU JIE
SANG SHENGYUAN
CHEN MINGJIAN

Assignees

中国煤炭科工集团太原研究院有限公司
山西天地煤机装备有限公司

Dates

Publication Date: 20260505
Application Date: 20251218

Claims (10)

1. The single-cycle support method for the coal mine anchor rod is characterized in that an anchor rod support device is used for performing construction operation, the anchor rod support device comprises a mechanical system, a detection system and a control system, the mechanical system comprises a rod storage mechanism, a pushing mechanism and an executing mechanism, the rod storage mechanism is used for storing a drill rod, a cartridge rod and an anchor rod and moving any one of the stored drill rod, the cartridge rod and the anchor rod to a working position, the pushing mechanism is used for grabbing any one of the drill rod, the cartridge rod and the anchor rod in the rod storage mechanism, moving the any one of the drill rod, the cartridge rod and the anchor rod to the executing mechanism, grabbing the drill rod or the cartridge rod on the executing mechanism and moving the drill rod to the rod storage mechanism, and the executing mechanism is used for connecting the drill rod for drilling operation, connecting the cartridge rod for adding medicine into a drill hole and connecting the anchor rod for anchor rod support; the detection system comprises a displacement sensor and a pressure sensor, wherein the displacement sensor and the pressure sensor are used for detecting the action states of all mechanisms in the mechanical system and acquiring detection signals; The control system is connected with the mechanical system and the detection system, and is used for receiving detection signals and controlling the actions of all mechanisms in the mechanical system based on the detection signals; The coal mine anchor rod single-cycle supporting method comprises the following steps: moving the anchor support device to an anchor support position; Filling the cartridge into a cartridge rod, and placing the drill rod, the cartridge rod and the anchor rod into a rod storage mechanism; starting the anchor bolt supporting equipment to sequentially perform the operations of a drilling process, a medicine injection process and an anchoring process; And supplementing an anchor rod into the rod storage mechanism, replacing the anchor rod supporting position with the cartridge in the cartridge rod, repeating the steps and the steps, and continuing the anchor rod supporting operation.
2. The method according to claim 1, wherein the control system comprises a data receiving and outputting module and a data processing module, the data processing module is used for judging the received detection signals and outputting control signals based on set values, and the data receiving and outputting module is used for receiving the detection signals of the displacement sensor and the pressure sensor and feeding back the control signals of the data processing module to the mechanical system so as to control the actions of all mechanisms in the mechanical system.
3. The method of single cycle support of a coal mine bolt according to claim 1, wherein the step of activating the bolt support apparatus to sequentially perform the operations of a drilling process, a chemical injection process and an anchoring process comprises: Judging whether the drill rod is in a to-be-operated position of the rod storage mechanism, if so, the pushing mechanism grabs the drill rod and moves the drill rod to the executing mechanism, and the executing mechanism is in butt joint with the drill rod; The pushing mechanism loosens the drill rod, and the executing mechanism drives the drill rod to perform drilling operation; After the drilling operation is completed, the executing mechanism drives the drill rod to reset to a rod withdrawing station, the pushing mechanism grabs the drill rod, the executing mechanism is separated from the drill rod to withdraw the drill rod, and the pushing mechanism withdraws the drill rod into the rod storing mechanism; judging whether the cartridge rod is positioned at a to-be-operated position of the rod storage mechanism, if so, grabbing the cartridge rod by the pushing mechanism and moving the cartridge rod to the executing mechanism, wherein the executing mechanism is in butt joint with the cartridge rod; the pushing mechanism loosens the cartridge rod, and the executing mechanism drives the cartridge rod to be in butt joint with the drill hole and pushes the cartridge in the cartridge rod into the drill hole; After the dosing operation is finished, the actuating mechanism drives the medicine roll rod to reset to a rod withdrawing station, the pushing mechanism grabs the medicine roll rod, the actuating mechanism is separated from the medicine roll rod to finish rod withdrawing, and the pushing mechanism withdraws the medicine roll rod into the rod storing mechanism; Judging whether the anchor rod is in a to-be-operated position of the rod storage mechanism, if so, the pushing mechanism grabs the anchor rod and moves the anchor rod to the executing mechanism, and the executing mechanism is in butt joint with the anchor rod; The pushing mechanism loosens the anchor rod, and the actuating mechanism fastens the anchor rod in a drilled hole; after the anchor rod anchoring operation is completed, the executing mechanism, the rod storage mechanism and the pushing mechanism are reset to the initial positions.
4. A method of single loop support of a coal mine roof bolt according to claim 3, wherein the displacement sensors in the detection system comprise at least a first displacement sensor, a second displacement sensor, a third displacement sensor and a fourth displacement sensor, and the pressure sensors in the detection system comprise at least a first pressure sensor, a second pressure sensor and a third pressure sensor; The first displacement sensor is arranged in the rod storage mechanism and is used for detecting the position to be grabbed of the drill rod in the rod storage mechanism The position to be grasped of the cartridge rod And the position of the anchor rod to be grasped ; The pushing mechanism comprises a grabbing component and a pushing component, and the first pressure sensor is used for detecting grabbing pressure when the grabbing component grabs the rod piece The second displacement sensor is used for detecting the grabbing stroke of the grabbing assembly when grabbing the rod piece The third displacement sensor is used for detecting the pushing stroke of the pushing assembly when the rod piece is moved between the rod storage mechanism and the actuating mechanism ; The actuating mechanism comprises a drilling box assembly and a pumping assembly, and the fourth displacement sensor is used for detecting the displacement of the drilling box assembly The displacement is Involving abutment or removal of the lever Displacement of drill hole Displacement of medicine injection And anchoring displacement The second pressure sensor is used for detecting the butt joint pressure of the drilling box assembly Fastening pressure The third pressure sensor is used for detecting the drilling water pressure of the pumping assembly And cartridge pushing water pressure 。
5. The method of single loop coal mine bolt support of claim 4, wherein the step of determining whether the drill rod is in a position of the rod storage mechanism to be operated comprises: Acquiring a detection signal, and judging whether a part of the detection signal meets the following formula based on a preset value in the control system: ; Wherein, the The position to be grabbed of the drill rod is preset in the control system; if yes, performing the next operation, if not, enabling the rod storage mechanism to act, adjusting the position of the drill rod, and repeating the previous step; The step of the pushing mechanism grabbing the drill rod and moving the drill rod to the executing mechanism comprises the following steps: the pushing mechanism executes the actions of grabbing the drill rod and pushing the drill rod, obtains a detection signal, and judges whether the part of the detection signal meets the following formula based on a preset value in the control system: ; Wherein, the In the control system and pushing stroke for the pushing component when pushing the rod piece The corresponding preset value is set to be a preset value, In the control system and the grabbing stroke when grabbing the rod piece for the grabbing component The corresponding preset value is set to be a preset value, The control system and the gripping pressure for the gripping assembly when gripping the rod A corresponding preset value; if yes, the next operation is carried out, and if not, the previous step is repeated; The step of abutting the actuating mechanism with the drill rod comprises the following steps: The executing mechanism executes the butt joint action to acquire a detection signal, and judges whether the part of the detection signal meets the following formula based on a preset value in the control system: ; Wherein, the In the control system and displacement when the actuating mechanism is in butt joint with the drill rod or the rod is detached The corresponding preset value is set to be a preset value, The control system is used for controlling the pressure of the actuating mechanism and the butt joint pressure in the control system when the actuating mechanism is butt jointed with the drill rod A corresponding preset value; if yes, the next operation is carried out, and if not, the previous step is repeated; the step of driving the drill rod to perform drilling operation by the executing mechanism comprises the following steps: the executing mechanism drives the drill rod to execute drilling operation, a detection signal is obtained, and whether the part of the detection signal meets the following formula is judged based on a preset value in the control system: ; Wherein, the For controlling the water pressure in the system and drilling water pressure during drilling The corresponding preset value is set to be a preset value, For controlling the displacement between the middle part and the drilling hole when drilling holes A corresponding preset value; if yes, the next operation is carried out, and if not, the previous step is repeated; the step of the actuating mechanism driving the drill rod to reset to the position of the rod withdrawing station comprises the following steps: the executing mechanism drives the drill rod to exit the drilling hole, a detection signal is obtained, and whether the part of the detection signal meets the following formula is judged based on a preset value in the control system: ; if yes, the next operation is carried out, and if not, the previous step is repeated; The step of the propulsion mechanism retracting the drill rod into the rod storage mechanism comprises the following steps: The pushing mechanism executes drill rod recovery action to acquire detection signals, and judges whether part of the detection signals meet the following formula based on preset values in the control system: ; if yes, the next operation is carried out, and if not, the previous step is repeated.
6. The method of single loop coal mine bolt support according to claim 5, wherein the step of determining whether the cartridge rod is in a to-be-actuated position of the rod storage mechanism comprises: Acquiring a detection signal, and judging whether a part of the detection signal meets the following formula based on a preset value in the control system: ; Wherein, the The position to be grabbed of the preset cartridge rod in the control system is set; If yes, performing the next operation, if not, enabling the rod storage mechanism to act, adjusting the position of the cartridge rod, and repeating the previous step; step the propulsion mechanism snatches the cartridge pole and moves the cartridge pole to actuating mechanism department includes: The propelling mechanism executes actions of grabbing the cartridge rod and pushing the cartridge rod, obtains detection signals, and judges whether parts in the detection signals meet the following formula based on preset values in the control system: ; if yes, the next operation is carried out, and if not, the previous step is repeated; The step of the actuating mechanism being in butt joint with the cartridge rod comprises the following steps: The executing mechanism executes the butt joint action to acquire a detection signal, and judges whether the part of the detection signal meets the following formula based on a preset value in the control system: ; if yes, the next operation is carried out, and if not, the previous step is repeated; pushing the cartridge in the cartridge rod into the borehole, comprising: The actuating mechanism drives the cartridge to enter the drill hole, a detection signal is obtained, and whether the part of the detection signal meets the following formula is judged based on a preset value in the control system: ; Wherein, the For the injection, the water pressure between the control system and the cartridge is pushed The corresponding preset value is set to be a preset value, For the displacement between the control system and the injection during injection A corresponding preset value; if yes, the next operation is carried out, and if not, the previous step is repeated; The step of the actuating mechanism driving the medicine roll rod to reset to the rod withdrawing station comprises the following steps: The actuating mechanism drives the cartridge rod to exit from the drill hole, a detection signal is obtained, and whether the part of the detection signal meets the following formula is judged based on a preset value in the control system: ; if yes, the next operation is carried out, and if not, the previous step is repeated; the step of the pushing mechanism retracting the cartridge rod into the rod storage mechanism comprises the following steps: The propelling mechanism executes the cartridge rod recovery action, acquires a detection signal, and judges whether part of the detection signal meets the following formula based on a preset value in the control system: ; if yes, the next operation is carried out, and if not, the previous step is repeated.
7. A method of single loop support of a coal mine bolt according to claim 3, wherein the step of determining whether the bolt is in a position of the storage mechanism to be operated comprises: Acquiring a detection signal, and judging whether a part of the detection signal meets the following formula based on a preset value in the control system: ; Wherein, the The position to be grabbed of the preset anchor rod in the control system is set; If yes, performing the next operation, if not, enabling the rod storage mechanism to act, adjusting the position of the anchor rod, and repeating the previous step; The step that the pushing mechanism grabs the anchor rod and moves the anchor rod to the actuating mechanism comprises the following steps: The pushing mechanism executes the action of grabbing the drill rod and the action of pushing the drill rod, obtains a detection signal, and judges whether part of the detection signal meets the following formula based on a preset value in the control system: ; if yes, the next operation is carried out, and if not, the previous step is repeated; the step of abutting the actuating mechanism with the anchor rod comprises the following steps: The executing mechanism executes the butt joint action to acquire a detection signal, and judges whether the part of the detection signal meets the following formula based on a preset value in the control system: ; if yes, the next operation is carried out, and if not, the previous step is repeated; the step of the actuator securing the bolt in the borehole comprises: The actuating mechanism executes the anchor rod fastening action to acquire a detection signal, and judges whether the part of the detection signal meets the following formula based on a preset value in the control system: ; Wherein, the For controlling the pressure in and for fastening the anchor rod The corresponding preset value is set to be a preset value, For controlling displacement of the medium and anchor in the system when fastening the bolt A corresponding preset value; if yes, the next operation is carried out, and if not, the previous step is repeated; the step of resetting the actuating mechanism, the rod storage mechanism and the propelling mechanism to initial positions comprises the following steps: the actuating mechanism, the rod storage mechanism and the propelling mechanism execute reset actions, detection signals are obtained, and whether the parts in the detection signals meet the following formula is judged based on preset values in the control system: ; if yes, the next operation is carried out, and if not, the previous step is repeated.
8. A method of single cycle support of a coal mine bolt according to claim 3, wherein the storage rod mechanism has an initial position in which the drill rod is in a position to be worked.
9. A coal mine bolt single cycle support system comprising the coal mine bolt single cycle support method of any one of claims 1-8.
10. The coal mine bolt single-cycle support system of claim 9, wherein the mechanical system has a frame, the rod storage mechanism, the actuator and the pushing mechanism are all disposed on the frame, the rod storage mechanism and the actuator are opposite in a first direction, and the pushing mechanism is configured to grasp a rod and push the rod to move in the first direction.

Description

Single-cycle supporting method and system for coal mine anchor rod Technical Field The invention belongs to the technical field of underground coal mine support, and particularly relates to a coal mine anchor rod single-cycle support method and system. Background In the related art, the anchor bolt support operation has the advantages of multiple steps, long time and high labor intensity, and restricts the intelligent development of coal mine tunnel excavation. The automation of the anchor bolt support operation is the key for solving the pain point of the anchor bolt support construction. The construction process of the anchor bolt support comprises three working procedures of drilling, medicine injection and anchoring. The single drilling machine can only complete drilling operation, the drilling process still needs manual assistance, the follow-up medicine injection and anchoring processes are all completed manually, and the degree of automation is low. The automatic operation of drilling and anchoring can be realized to partly airborne stock drilling carriage, but annotate medicine and linking between the process still need artifical auxiliary completion, work efficiency is low. Disclosure of Invention The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, the embodiment of the invention provides a coal mine anchor rod single-cycle supporting method with high supporting efficiency. The embodiment of the invention provides a coal mine anchor rod single-cycle support system. According to the coal mine anchor rod single-cycle support method, construction operation is carried out by using anchor rod support equipment, the anchor rod support equipment comprises a mechanical system, a detection system and a control system, the mechanical system comprises a rod storage mechanism, a pushing mechanism and an executing mechanism, the rod storage mechanism is used for storing drill rods, explosive cartridges and anchor rods and moving any one of the stored drill rods, the explosive cartridges and the anchor rods to a to-be-operated position, the pushing mechanism is used for grabbing any one of the drill rods, the explosive cartridges and the anchor rods in the rod storage mechanism, moving the any one of the drill rods, the explosive cartridges and the anchor rods to the executing mechanism, grabbing the drill rods or the explosive cartridges on the executing mechanism and moving the drill rods or the explosive cartridges to the rod storage mechanism, and the executing mechanism is used for connecting the drill rods to carry out drilling operation, connecting the explosive cartridges to feed in a drill hole and connecting the anchor rods to carry out anchor rod support; the detection system comprises a displacement sensor and a pressure sensor, wherein the displacement sensor and the pressure sensor are used for detecting the action states of all mechanisms in the mechanical system and acquiring detection signals; The control system is connected with the mechanical system and the detection system, and is used for receiving detection signals and controlling the actions of all mechanisms in the mechanical system based on the detection signals; The coal mine anchor rod single-cycle supporting method comprises the following steps: moving the anchor support device to an anchor support position; Filling the cartridge into a cartridge rod, and placing the drill rod, the cartridge rod and the anchor rod into a rod storage mechanism; starting the anchor bolt supporting equipment to sequentially perform the operations of a drilling process, a medicine injection process and an anchoring process; And supplementing an anchor rod into the rod storage mechanism, replacing the anchor rod supporting position with the cartridge in the cartridge rod, repeating the steps and the steps, and continuing the anchor rod supporting operation. The embodiment of the invention can realize automatic operation of drilling, medicine injection and anchoring, reduces labor intensity, improves working efficiency, has good practicability, can avoid human intervention and has good stability. In some embodiments, the control system includes a data receiving and outputting module and a data processing module, the data processing module is used for judging the received detection signals and outputting control signals based on set values, and the data receiving and outputting module is used for receiving the detection signals of the displacement sensor and the pressure sensor and feeding back the control signals of the data processing module to the mechanical system so as to control the actions of all mechanisms in the mechanical system. In some embodiments, the step of activating the operation of the anchor bolt support apparatus to sequentially perform a drilling procedure, a drug injection procedure, and an anchoring procedure includes: Judging whether the drill rod is in a to-be-opera