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CN-122014273-A - Anchor protection and reinforcement integrated equipment and pre-judging type reinforcement method

CN122014273ACN 122014273 ACN122014273 ACN 122014273ACN-122014273-A

Abstract

The invention relates to the field of coal mine roadway support, in particular to anchor protection and reinforcement integrated equipment and a pre-judging type reinforcement method, wherein the anchor protection and reinforcement integrated equipment comprises an installation base, a tunneling device, an anchor rod installation device, a support device and a pre-judging type reinforcement device which are sequentially arranged on the installation base from front to back, a protection shell is fixedly connected on the installation base, a cab is formed in the protection shell, walking tracks for driving equipment to travel are arranged below the installation base, the number of the support devices is 2, the support devices are transversely arranged on two opposite sides of the installation base, and the pre-judging type reinforcement device comprises reinforcement spray heads for spraying curing agents to the top wall and the side wall of a roadway. The invention integrates tunneling, supporting, reinforcing, anchor rod mounting and other devices, improves the integration of equipment and the safety of operators, and is provided with the multi-stage supporting devices at two sides of the equipment, wherein the supporting plate of each side supporting device can independently control the supporting state and the supporting position, thereby ensuring the supporting effect at each point position of the side wall.

Inventors

  • Geng Xuesheng
  • ZHUANG WENTAO
  • LIU XIAOJUN
  • JIA YONG
  • YUN LONG

Assignees

  • 山东李楼煤业有限公司

Dates

Publication Date
20260512
Application Date
20260306

Claims (10)

  1. 1. An anchoring and protecting integrated device is characterized by comprising a mounting base (11), a tunneling device, an anchor rod mounting device, a supporting device and a pre-judging type reinforcing device which are sequentially arranged on the mounting base (11) from front to back, wherein a protective shell (12) is fixedly connected to the mounting base (11), a cab (13) is formed in the protective shell (12), walking tracks (14) for driving the device to move are arranged below the mounting base (11), the number of the supporting devices is 2, the supporting devices are transversely arranged on two opposite sides of the mounting base (11), the supporting devices comprise a fixed supporting frame (41), a first supporting plate (42), a second supporting plate (43), a first supporting cylinder (44) and a second supporting cylinder (45), the fixed supporting frame (41) is fixedly connected to the mounting base (11), the free end of one side, close to a roadway side, of the fixed supporting frame (41) is hinged with the upper end of the first supporting plate (42), the number of the second supporting plate (43) is multiple, the second supporting plate (43) is arranged along the advancing direction of the driving device, the second supporting plate (42) can slide between the first supporting plate (43) and the second supporting plate (43) is hinged to the inner side of the first supporting plate (41), the second support oil cylinder (45) is hinged between the top of the inner side of the first support plate (42) and the top of the inner side of the second support plate (43), and the pre-judging type reinforcing device comprises a reinforcing spray head for spraying a curing agent to the top wall and the side wall of the roadway.
  2. 2. The integrated anchor and reinforcement device according to claim 1, wherein the pre-determined reinforcement device comprises a first reinforcement mechanism and a second reinforcement mechanism, the first reinforcement mechanism is arranged at the top of the fixed support frame (41) and comprises a plurality of first reinforcement slide rails (531), a first reinforcement slide block (532), a reinforcement connecting rod (533), a first nozzle connecting frame (534), a first reinforcement nozzle (535) and a first reinforcement motor (536), the first reinforcement slide rails (531) are fixedly arranged at the top of the fixed support frame (41) along the traveling direction of the traveling crawler (14), the first reinforcement slide blocks (532) are slidably arranged on the first reinforcement slide rails (531), the first reinforcement slide blocks (532) are sequentially hinged with the reinforcement connecting rod (533), the first nozzle connecting frame (534) and the reinforcement nozzle (535), the first reinforcement motor (536) is arranged on the first reinforcement slide block (532), the reinforcement connecting rod (533) and the first nozzle connecting frame (534) for controlling the reinforcement connecting rod (533), the first nozzle (535) and the first nozzle connecting frame (534) to be fixedly arranged at the top of the fixed support frame (41), the first reinforcement slide blocks (532) are slidably arranged on the first reinforcement slide rails (532), the reinforcement nozzle (535) is arranged on the first support frame (534), the reinforcement nozzle (535) is arranged on the first nozzle connecting frame (534), the reinforcement motor (535), the reinforcement motor (536) is arranged on the reinforcement motor, and the reinforcement motor is arranged on the first nozzle connecting rod, and the reinforcement motor (533) is arranged on the reinforcement cylinder The utility model provides a reinforcing motor (548) is consolidated to second, the quantity of gear (541) is a plurality of, rotatable setting is on installation base (11) in the horizontal plane to along the advancing direction equipartition of walking track (14), be provided with on the installation base (11) and be used for holding rack runner (543) of rack (542), rack (542) inboard and be no less than 2 gears (541) meshing simultaneously, and slide in rack runner (543), rack (542) outside fixed connection rack connecting block (544), articulated reinforcing cylinder (545), second shower nozzle link (546) and second reinforcing shower nozzle (547) in proper order in rack connecting block (544) outside, the quantity of second reinforcing motor (548) is a plurality of, and sets up in rack connecting block (544), reinforcing cylinder (545) and second shower nozzle link (546) department for control reinforcing cylinder (545), second shower nozzle link (546) and second reinforcing shower nozzle (547) rotation angle.
  3. 3. The anchoring and reinforcing integrated device according to claim 1, wherein the pre-judging reinforcing device further comprises a pre-judging camera (511), an infrared ranging sensor (513), a plurality of pressure sensors (521) and an acoustic emission sensor (522), wherein the pre-judging camera (511) and the infrared ranging sensor (513) are arranged at the top of the fixed support (41), the pre-judging camera (511) is used for shooting an image of the top wall of the roadway, the infrared ranging sensors (513) are arranged in a two-dimensional rectangular grid array mode and used for detecting the distance between the infrared ranging sensors and the top wall of the roadway, the pressure sensors (521) and the acoustic emission sensor (522) are arranged on the outer surface of the primary support plate (42), the pressure sensors (521) are arranged in a plurality of two-dimensional rectangular grid array mode and used for detecting the pressure of the side wall of the roadway to the primary support plate (42), and the acoustic emission sensor (522) is arranged in a plurality of two-dimensional rectangular grid array mode and used for detecting the acoustic wave frequency of the side wall of the roadway.
  4. 4. The anchoring and reinforcing integrated device according to claim 1, further comprising an imaging device, wherein the imaging device comprises an infrared array emitter (61) and an infrared profile camera (62), the infrared array emitter (61) is arranged on the top and opposite sides of the device and is positioned on the same plane, the plane is perpendicular to the travelling direction of the travelling crawler (14), and the infrared profile camera (62) is arranged on the top and opposite sides of the device and is used for receiving the profile information of the roadway surface in the direction.
  5. 5. An integrated anchor and reinforcement device according to claim 1, characterized in that the tunneling device comprises a cutting head (21), cutting arms (22), a shovel plate (23) and star wheels (24), the cutting arms (22) are used for connecting the cutting head (21) to the front part of the mounting base (11), the shovel plate (23) is arranged below the cutting head (21), the star wheels (24) are rotatably mounted on the shovel plate (23), and the number of the star wheels (24) is 2 and relatively rotated.
  6. 6. An anchoring and reinforcing integrated device according to claim 1, wherein the anchor rod mounting device comprises an anchor rod sliding guide rail (31), a pushing oil cylinder (32), a sliding seat (33), an anchor rod rotating motor (34), an anchor rod mounting frame (35) and an anchor rod mounting push rod (36), the anchor rod sliding guide rail (31) is fixedly mounted on the mounting base (11) along the advancing direction of the walking crawler (14), the sliding seat (33) is slidably arranged on the anchor rod sliding guide rail (31) and is driven and moved by the pushing oil cylinder (32), the anchor rod rotating motor (34) is mounted in front of the sliding seat (33) and drives the anchor rod mounting frame (35) to rotate, the anchor rod mounting push rod (36) is mounted on the anchor rod mounting frame (35) along the direction facing the side wall of a roadway and pushes the anchor rod pushing frame (37) to reciprocate, anchor rod clamping jaws (38) for clamping an anchor rod (39) are hinged on the anchor rod pushing frame (37) in pairs and are opened and closed relatively.
  7. 7. An anchoring and reinforcing integrated device according to claim 1, wherein the mounting base (11) is sequentially hinged with a supporting jack (15) and supporting bases (16), the supporting bases (16) are supported on the roadway surface when the travelling crawler (14) stops travelling, and the number of the supporting bases (16) is plural and is arranged at the rear part and opposite sides of the mounting base (11).
  8. 8. The anchoring and reinforcing integrated device according to claim 1, further comprising a panoramic camera (63) and a thermal imaging recognition camera (64), wherein the panoramic camera (63) is used for shooting roadway images for finishing reinforcement and anchoring, and the thermal imaging recognition camera (64) is used for recognizing whether people stay in front of the advancing direction.
  9. 9. A method of pre-determined reinforcement, characterized in that the anchor reinforcement integrated device according to any one of claims 1 to 8 is used, comprising the steps of: s1, a walking crawler belt (14) drives equipment to travel to a preset anchoring position, and the walking crawler belt (14) stops acting; S2, the cutting arm (22) drives the cutting head (21) to move and rotate so as to cut; s3, spraying a first layer of curing agent on the surface of the top surface and the side surface of the roadway by the reinforcing spray head; S4, supporting the sprayed roadway side wall by a supporting device, expanding a first-stage supporting plate (42) and a second-stage supporting plate (43) and abutting against the side wall, and under the condition that a pressure sensor (521) and an acoustic emission sensor (522) detect that no acting force is applied to the side wall, judging whether the side wall has a sheet risk or not, if the sheet risk does not exist, continuously supporting the side wall by the supporting device, if the sheet risk exists, recovering the first-stage supporting plate (42) and/or the second-stage supporting plate (43) in a risk area, spraying a second-stage curing agent to the area, and repeating the judging process of the step until the judging result is that the sheet risk does not exist; S5, a pre-judging camera (511) and an infrared ranging sensor (513) detect whether the top surface of the roadway has a top sheet risk, if the top sheet risk does not exist, the step S6 is carried out, if the top sheet risk exists, a second layer of curing agent is sprayed to the area, and the judging process of the step is repeated until the judging result is that the top sheet risk does not exist; S6, installing an anchor rod (39) to a preset position of the roadway by the anchor rod installation device, and anchoring and protecting the roadway; s7, the walking crawler belt (14) forwards advances to the next working position, and the steps are repeated.
  10. 10. A pre-determined reinforcement method according to claim 9, it is characterized in that the method comprises the steps of, The step S3 includes: S3-1. Definition For the pressure value detected by the pressure sensor (521) of the ith row and jth column, In order to generate the empirical value of the pressure generated by the side wall when the side wall sheet is in the overflow state, a group of adjacent 4 pressure sensors (521) which are arranged in a rectangular shape is taken as a group, the pressure weight of the corresponding region of the group is comprehensively calculated, namely, the comprehensive pressure weight of the nth region is (3-1) Wherein k is a positive integer; S3-2, calculating the weight value of the sound wave frequency of the nth region (3-2) Wherein the method comprises the steps of For the acoustic wave frequency values measured by the acoustic emission sensor (522) in the nth zone, Empirical values for sidewall acoustic frequency at which sidewall delamination occurs; S3-3. Calculating the predicted sidewall cap in the nth region (3-3) Wherein the method comprises the steps of Is the coefficient of the pressure sheet cap, and the pressure sheet cap is provided with a plurality of pressure sheets, The coefficients are the audio frequency chips; S3-4, setting a side wall slice cap threshold Will be And (3) with Comparing if The nth region is considered to be at risk for sheet formation and needs to be cured; The step S4 includes: s4-1, d is defined as the measurement time, d-1 is the last time, For the distance value detected by the infrared distance measuring sensor (513) of the ith row and the jth column, the distance weight corresponding to the group of areas is comprehensively calculated by taking the adjacent 4 infrared distance measuring sensors which are arranged in a rectangular shape as a group, namely the distance weight of the mth area at the mth moment is (4-1) Wherein b and c are positive integers; s4-2, calculating the crack weight of the mth region (4-2) Wherein the method comprises the steps of In order to predict the crack length of the mth region obtained by photographing by the camera (511), An empirical value for cracking when chipping occurs on the top surface; s4-3, calculating the top surface slice cap predicted value of the mth region (4-3) Wherein the method comprises the steps of For the distance slice, the coefficient is the coefficient, The crack chip cap coefficient; S4-4, setting a top surface slice cap threshold value Will be And (3) with Comparing if Considering that the m-th area has a sheet risk and needs to be cured; the step S7 includes: s7-1, during the walking of the walking crawler belt (14), acquiring roadway surface image information of which anchoring is finished by an infrared contour camera (62), uploading the roadway surface image information to an upper computer and generating a roadway three-dimensional image; S7-2, the upper computer compares the roadway three-dimensional image with a roadway morphology feature data set with collapse and roof collapse risks, and judges whether roof collapse and collapse risks exist at the comparison position; s7-3, if roof collapse and collapse risks exist, the walking crawler belt (14) drives the equipment to retract to the position, and the solidifying agent is sprayed again through the reinforcing spray head.

Description

Anchor protection and reinforcement integrated equipment and pre-judging type reinforcement method Technical Field The invention relates to the field of coal mine roadway support, in particular to anchor protection and reinforcement integrated equipment and a pre-judging type reinforcement method. Background The development machine is mainly applied to the preparation stage of coal mining, is used for development of a roadway, and has important significance for safety and intelligence of coal mine in development of development equipment. After the tunneling of the tunneling machine is completed, the tunneling surface is reinforced by the roof bolter, so that the surrounding rock of the roadway is reinforced, collapse is prevented, and roof fall accidents are prevented. Most of the tunneling equipment used at the current stage cannot pre-judge roof fall during tunneling, cannot drill holes on a tunneling working face and drive anchor rods in time, and needs personnel to perform site construction according to experience, so that great potential safety hazards are caused to personnel and equipment. The newly developed tunneling and anchoring integrated machine can reduce the time difference between the tunneling stage and the anchoring stage, and the safety of personnel and the tunneling and anchoring integrated machine is threatened still in the anchoring stage, so that the risk of roof fall exists. Disclosure of Invention The invention aims to solve the problems, and provides an anchor, protection and reinforcement integrated device and a pre-judging type reinforcement method, which adopt the following technical scheme: The anchoring and protecting integrated equipment comprises an installation base, a tunneling device, an anchor rod installation device, a supporting device and a pre-judging type reinforcing device, wherein the tunneling device, the anchor rod installation device, the supporting device and the pre-judging type reinforcing device are sequentially arranged on the installation base from front to back, a plurality of protecting shells are fixedly connected to the installation base, a cab is formed in each protecting shell, walking tracks for driving equipment to travel are arranged below the installation base, the number of the supporting devices is 2, the supporting devices are transversely arranged on two opposite sides of the installation base, each supporting device comprises a fixed supporting frame, a first supporting plate, a second supporting plate, a first supporting cylinder and a second supporting cylinder, the fixed supporting frame is fixedly connected to the installation base, the upper ends of the first supporting plates are hinged to the free ends of one side, close to the side walls of a roadway, of the fixed supporting frames are arranged in a plurality of the first supporting plates, the second supporting plates are slidably connected to the inner sides of the first supporting plates, the first supporting cylinders are hinged between the fixed supporting frames and the inner sides of the second supporting plates, the second supporting cylinders are hinged between the tops of the inner sides of the first supporting plates and the inner sides of the second supporting plates, the pre-judging type reinforcing device comprises a top wall and a curing spray nozzle for curing agent to the side walls of the roadway. On the basis of the scheme, the pre-judging type reinforcing device comprises a first reinforcing mechanism and a second reinforcing mechanism, wherein the first reinforcing mechanism is arranged at the top of a fixed support frame and comprises a first reinforcing sliding rail, a first reinforcing sliding block, a reinforcing connecting rod, a first nozzle connecting frame, a first reinforcing nozzle and a first reinforcing motor, the first reinforcing sliding rail is fixedly arranged at the top of the fixed support frame along the travelling direction of a walking track, the first reinforcing sliding block is slidably arranged on the first reinforcing sliding rail, the first reinforcing sliding block is sequentially hinged with the reinforcing connecting rod, the first nozzle connecting frame and the reinforcing nozzle, the number of the first reinforcing motors is multiple, the first reinforcing sliding block, the reinforcing connecting rod and the first nozzle connecting frame are arranged on the first reinforcing sliding block, the first nozzle connecting frame are used for controlling the rotation angle of the reinforcing connecting rod, the first nozzle connecting frame and the first reinforcing nozzle, the second reinforcing mechanism is arranged below the fixed support frame and comprises a plurality of gears, a rack, a connecting block, a reinforcing cylinder, a second nozzle connecting frame, a second reinforcing motor and a second reinforcing motor, the number of the gears is multiple, the reinforcing cylinders are rotatably arranged on the first reinforcing sl