Novel digging and anchoring all-in-one machine and control method thereof

Abstract

The invention provides a novel driving and anchoring all-in-one machine and a control method thereof, relates to the technical field of driving equipment, and solves the problems that an existing anchoring and drilling system is tedious in anchor rod supporting step and prone to failure. The novel digging and anchoring all-in-one machine comprises a top anchor drilling system, the top anchor drilling system comprises a first anchoring and drilling integrated drilling machine and a top anchor sliding lifting mechanism, the top anchor sliding lifting mechanism is used for driving the first anchoring and drilling integrated drilling machine to move in the vertical direction, and the first anchoring and drilling integrated drilling machine is used for installing an anchoring and drilling integrated anchor rod on a roadway roof; the side anchoring and drilling system is arranged at the two ends of the rear side of the digging and anchoring all-in-one machine and comprises a second anchoring and drilling integrated drilling machine and a transverse sliding mechanism, the transverse sliding mechanism is used for driving the second anchoring and drilling integrated drilling machine to move in the left-right direction, and the second anchoring and drilling integrated drilling machine is used for installing an anchoring and drilling integrated anchor rod to the side of the roadway. The digging and anchoring all-in-one machine provided by the invention can realize the function of driving an anchor rod at one time, effectively improve the working efficiency and reduce the labor intensity of workers.

Description

Technical Field

[0001] The present invention relates to the technical field of tunneling equipment, and in particular to a novel integrated tunneling and anchoring machine and a control method thereof. Background Art

[0002] The integrated miner and anchor machine (abbreviated as the miner and anchor machine) is a mainstream model of coal mine tunneling equipment and a key component of the rapid tunneling system. When paired with a shuttle car and supporting equipment after rapid tunneling, it enables efficient coal tunneling operations. The miner and anchor machine integrates nine major systems: cutting, loading, temporary support, transportation, travel, anchoring, spray dust removal, advanced water exploration, and a composite navigation system. This not only enables efficient coal cutting and transfer, maintaining rapid tunneling, but also simultaneously supports top and side anchor bolts during mining operations, reducing support operation time and effectively increasing tunneling progress.

[0003] The existing anchor drilling system for bolters is a traditional anchor drilling system. The operation process is to first use a drill rod to drill a hole, then insert the drug roll (solidifying material) into the hole, and finally insert the anchor rod into the hole and tighten it with a mixer. A total of six steps are required (preparation, drilling, installing the anchoring agent, inserting the anchor rod, tightening the tray and nut, inspection and acceptance).

[0004] In the process of realizing the present invention, the inventors found that there are at least the following problems in the prior art: the anchor support steps of the anchor drilling system of the anchor miner are cumbersome and prone to failure, resulting in a large number of people, long time consumption and low efficiency. Summary of the Invention

[0005] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0006] To this end, the purpose of the present invention is to propose a new integrated anchoring machine and a control method thereof, so as to automate the entire anchor installation process, effectively improve the operation efficiency and reduce the labor intensity of the operator.

[0007] To achieve the above-mentioned object, the present invention provides a novel integrated miner and anchoring machine in a first aspect, comprising: A top anchor drilling system is provided at both ends of the front side of the anchor drilling machine, the top anchor drilling system comprising a first anchor drilling integrated drilling rig and a top anchor sliding lifting mechanism, the top anchor sliding lifting mechanism being used to drive the first anchor drilling integrated drilling rig to move in an up and down direction, the first anchor drilling integrated drilling rig being used to install an anchor drilling integrated anchor rod on the roadway roof; The auxiliary anchor drilling system is arranged at both ends of the rear side of the anchor drilling machine. The auxiliary anchor drilling system includes a second anchor drilling integrated drilling rig and a lateral sliding mechanism. The lateral sliding mechanism is used to drive the second anchor drilling integrated drilling rig to move in the left and right directions. The second anchor drilling integrated drilling rig is used to install anchor drilling integrated anchor rods on the side of the tunnel.

[0008] The beneficial effects of a new type of anchoring and drilling machine according to the present invention are: by setting a first anchor-drilling integrated drilling rig, a second anchor-drilling integrated drilling rig, a top anchor sliding lifting mechanism and a lateral sliding mechanism, the anchor-drilling integrated drilling rig can be installed with an anchor-drilling integrated anchor rod, and can realize the one-time anchor rod driving function, effectively improving work efficiency and reducing the labor intensity of workers. Since the length of the anchor-drilling integrated anchor rod is longer than that of the ordinary anchor rod, the top anchor sliding lifting mechanism can enable the first anchor-drilling integrated drilling rig to maintain a top-connected state and meet the one-time anchor rod driving requirement. Similarly, the lateral sliding mechanism can enable the second anchor-drilling integrated drilling rig to support the coal wall at the side to meet the one-time anchor rod driving requirement.

[0009] According to one embodiment of the present invention, the top anchor drilling system also includes a sliding cylinder and a track, the track is arranged along the left and right directions, the top anchor sliding lifting mechanism is slidingly connected to the track, the top anchor sliding lifting mechanism is arranged on the track, and the sliding cylinder is used to drive the top anchor sliding lifting mechanism to translate along the left and right directions.

[0010] According to one embodiment of the present invention, the top anchor sliding lifting mechanism includes a forward and backward swinging mechanism, a first rotating oil cylinder, a sliding lifting frame, a slider and a lifting oil cylinder. The slider is slidingly connected to the sliding lifting frame, and the lifting oil cylinder is used to drive the slider to move in the up and down directions. One side of the forward and backward swinging mechanism is connected to the first anchor drilling integrated drilling rig, and the other side of the forward and backward swinging mechanism is connected to the first rotating oil cylinder. The output end of the first rotating oil cylinder is connected to the slider. The forward and backward swinging mechanism is used to drive the first anchor drilling integrated drilling rig to swing forward and backward, and the first rotating oil cylinder is used to drive the first anchor drilling integrated drilling rig to swing left and right.

[0011] According to one embodiment of the present invention, the front and rear swing mechanism includes a base, a swing seat, a pin shaft and a front and rear swing cylinder. The base and the swing seat form a rotatable connection through the pin shaft, and the two ends of the front and rear swing cylinder are respectively connected to the base and the swing seat.

[0012] According to one embodiment of the present invention, the front-to-back swing mechanism further includes a limit block and a limit rod, a limit hole is provided on the swing seat, the limit block is provided on the side of the base close to the swing seat, the limit block is located in the limit hole, and the limit rod is provided on the side of the base away from the swing seat, for limiting the left and right swing angles of the front-to-back swing mechanism.

[0013] According to one embodiment of the present invention, the auxiliary anchor drilling system also includes a lifting mechanism frame, a long feed cylinder, a sliding frame, a short feed cylinder, a secondary slider and a second rotating cylinder. The sliding frame is slidingly connected to the lifting mechanism frame, the secondary slider is slidingly connected to the sliding frame, the second rotating cylinder is connected to the secondary slider, the second anchor drilling integrated drilling rig is arranged on the output end of the second rotating cylinder, the short feed cylinder is arranged on the sliding frame, the long feed cylinder is used to drive the second anchor drilling integrated drilling rig to feed once, the short feed cylinder is used to drive the second anchor drilling integrated drilling rig to feed twice, and the second rotating cylinder is used to drive the second anchor drilling integrated drilling rig to swing up and down.

[0014] According to one embodiment of the present invention, the lateral sliding mechanism includes a fixed base, a lateral pushing cylinder, a sliding base and a sliding shoe pressure cover, the sliding base and the sliding shoe pressure cover are connected to form a sliding groove, the fixed base is slidingly connected to the sliding groove, and the two ends of the lateral pushing cylinder are respectively connected to the fixed base and the sliding base.

[0015] According to one embodiment of the present invention, a visual monitoring system is further included, which includes multiple binocular cameras and multiple photosensitive elements. The binocular cameras are installed on the anchoring and mining machine, and are used to monitor the real-time position changes of the photosensitive elements.

[0016] A second aspect of the present invention provides a control method for a novel integrated miner and anchor machine, which is based on the novel integrated miner and anchor machine described in the first aspect. The control method includes: Step S101, anchor bolt support is performed on the roadway roof and roadway side; Step S102: the anchor miner performs cutting at one row spacing; Step S103: laying the top mesh and then connecting the top mesh, wherein steps S101 to S103 are performed simultaneously; Step S104, placing a photosensitive element on the top mesh; Step S105, the binocular camera monitors the real-time position of the photosensitive element; Step S106, analyzing the deformation of the tunnel according to the real-time position of the photosensitive element; Step S107: Determine the new support density of the top wall anchor bolts based on the roadway deformation, while the anchoring and mining machine moves forward one row pitch. Step S108, go to step S101, and perform anchor support according to the new anchor support density.

[0017] The beneficial effect of the control method of a new type of integrated anchor and digger according to the present invention is that the anchor drilling support, mesh laying, cutting and tunnel deformation monitoring work together to maximize the excavation efficiency of the anchor and digger while ensuring the support strength. The time required for a single row can be shortened to less than 15 minutes, which greatly reduces the number of workers and reduces the labor intensity of the workers.

[0018] According to one embodiment of the present invention, step S101 specifically includes: The first anchor-drilling integrated drilling rig performs top anchor support from both sides of the tunnel roof to the middle in sequence. At the same time, the second anchor-drilling integrated drilling rig performs side anchor support on the tunnel side from top to bottom in sequence.

[0019] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference numerals are used throughout the accompanying drawings to denote the same components. Figure 1 It is a schematic diagram of the overall structure of the integrated miner and anchor machine proposed in one embodiment of the present invention.

[0021] Figure 2 It is a structural schematic diagram of the left top anchor drilling system proposed in one embodiment of the present invention.

[0022] Figure 3 It is a schematic diagram of a top anchor sliding lifting mechanism proposed in one embodiment of the present invention.

[0023] Figure 4 Schematic diagram of a forward and backward swing mechanism according to an embodiment of the present invention.

[0024] Figure 5 It is a schematic diagram of another angle of the forward and backward swing mechanism proposed in one embodiment of the present invention.

[0025] Figure 6 It is a partial cross-sectional view of a front-rear swing mechanism proposed in one embodiment of the present invention.

[0026] Figure 7 It is a structural diagram of an anchor drilling system proposed in one embodiment of the present invention.

[0027] Figure 8 This is a comparison diagram of the lifting and lowering of the anchor drilling system proposed in one embodiment of the present invention.

[0028] Figure 9 Schematic diagram of a lateral sliding mechanism according to an embodiment of the present invention.

[0029] Figure 10 This is a comparison diagram of the slippage of the anchor drilling system proposed in one embodiment of the present invention.

[0030] Figure 11 2 is a schematic diagram of the working of a visual inspection system proposed in one embodiment of the present invention.

[0031] Figure 12 The present invention is a flowchart of a control method for a novel integrated drilling and anchoring machine according to an embodiment of the present invention.

[0032] Description of reference numerals: 1-cutting system, 2-loading system, 3-travel system, 4-temporary support system, 5-transportation system, 6-side anchor drilling system, 7-visual monitoring system, 8-electrical system, 9-top anchor drilling system, 10-dust removal system, 11-hydraulic system, 61-side mechanism fixing seat, 62-lifting mechanism frame, 63-long feed cylinder, 64-sliding frame, 65-short feed cylinder, 66-secondary slide block, 67-lateral sliding mechanism, 68-second anchor drilling integrated drilling rig, 69-second rotating cylinder, 71-front right binocular camera, 72-front left binocular camera, 73-rear right binocular camera, 74-rear left binocular camera, 75-photosensitive element, 91-top anchor sliding lifting mechanism, 92-first Anchor drill integrated drilling rig, 93-sliding cylinder, 94-track, 95-extension platform, 96-external ceiling, 97-inner ceiling, 98-operating table, 99-support frame, 671-fixed base, 672-lateral push cylinder, 673-sliding base, 674-sliding shoe pressure cover, 911-sliding lifting frame, 912-pressure cover, 913-guide rail, 914-slider, 915-attachment plate, 916-first rotating cylinder, 917-lifting cylinder, 918-forward and backward swing mechanism, 9181-base, 9182-swing seat, 9183-limit block, 9184-pin, 9185-pin pressure cover, 9186-sleeve, 9187-forward and backward swing cylinder, 9188-limit rod. DETAILED DESCRIPTION

[0033] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention. On the contrary, the embodiments of the present invention include all variations, modifications, and equivalents that fall within the spirit and scope of the appended claims.

[0034] Refer to the following Figures 1 to 11, describing a new integrated miner and anchor machine according to an embodiment of the present invention.

[0035] Combine Figures 1 to 3 、 Figure 7 and Figure 10 As shown, a novel integrated anchor drilling machine according to an embodiment of the present invention includes a top anchor drilling system 9 and an auxiliary anchor drilling system 6.

[0036] The top anchor drilling system 9 is located at both ends of the front side of the anchoring and mining machine. It includes a first anchor drilling rig 92 and a top anchor sliding and lifting mechanism 91. The top anchor sliding and lifting mechanism 91 is used to drive the first anchor drilling rig 92 in the vertical direction. The first anchor drilling rig 92 is used to install the anchor drilling integrated bolt into the roadway roof. The side anchor drilling system 6 is located at both ends of the rear side of the anchoring and mining machine. The side anchor drilling system 6 includes a second anchor drilling rig 68 and a lateral sliding mechanism 67. The lateral sliding mechanism 67 is used to drive the second anchor drilling rig 68 in the horizontal direction. The second anchor drilling rig 68 is used to install the anchor drilling integrated bolt into the roadway side.

[0037] The anchor-drilling integrated drilling rig is a drilling rig system that integrates the functions of drilling, hole cleaning, anchor bolt installation, and preload application. The anchor-drilling integrated anchor bolt is an anchor bolt specially designed for the anchor-drilling integrated drilling rig, and its length is longer than that of a conventional anchor bolt. The top anchor sliding lifting mechanism 91 and the lateral sliding mechanism 67 can adopt a single-stage or multi-stage telescopic mechanism. The stroke of the top anchor sliding lifting mechanism 91 and the lateral sliding mechanism 67 must ensure that the head of the first anchor-drilling integrated drilling rig 92 can contact the top plate of the tunnel, and the head of the second anchor-drilling integrated drilling rig 68 can contact the side of the tunnel. Even under complex working conditions such as roof collapse and side spalling, anchor support operations can still be performed.

[0038] The integrated anchor-drilling rig and integrated anchor-drilling bolt have revolutionized the traditional bolting process. This rig drives the integrated anchor-drilling bolt directly into the coal wall, then solidifies it through A / B grouting, followed by direct pre-tightening. This eliminates the traditional six-step bolting process. For example, A / B grouting is a two-component, fast-setting resin material.

[0039] According to a new type of integrated drilling and anchoring machine in an embodiment of the present invention, by setting a first anchor-drilling integrated drilling rig 92, a second anchor-drilling integrated drilling rig 68, a top anchor sliding hoisting mechanism 91 and a lateral sliding mechanism 67, the anchor-drilling integrated drilling rig can install an anchor-drilling integrated anchor rod, and can realize the function of drilling and installing the anchor rod in one time, effectively improving the working efficiency and reducing the labor intensity of the workers. Since the length of the anchor-drilling integrated anchor rod is longer than that of the ordinary anchor rod, the top anchor sliding hoisting mechanism 91 can enable the first anchor-drilling integrated drilling rig 92 to always maintain a top-connected state, thereby meeting the need for one-time anchor rod driving. Similarly, the lateral sliding mechanism 67 can enable the second anchor-drilling integrated drilling rig 68 to support the coal wall at the side to meet the need for one-time anchor rod driving.

[0040] Of course, in some embodiments, such as Figure 1 As shown, a novel integrated miner and anchor machine also includes a cutting system 1, a loading system 2, a travel system 3, a temporary support system 4, a transport system 5, an electrical system 8, a dust removal system 10, and a hydraulic system 11. The cutting system 1, located at the front of the miner and anchor machine, is responsible for cutting coal and excavating tunnels. The loading system 2 and transport system 5 are responsible for loading and transporting coal. The travel system 3 is responsible for maneuvering the machine. The temporary support system 4 provides immediate support for the tunnel to prevent roof collapse. The dust removal system 10 reduces dust concentration in the working environment. The electrical system 8 is located on both sides of the machine and provides power to the entire machine. The hydraulic system 11 provides hydraulic power to all components that require power.

[0041] like Figure 2 As shown, in some embodiments, the first integrated anchor-drilling rig 92 is capable of left-right movement, left-right swing, and forward-backward swing to expand the support range. The top anchor drilling system 9 also includes a sliding cylinder 93 and a track 94. The track 94 is arranged in a left-right direction. The top anchor sliding hoisting mechanism 91 is slidably connected to the track 94. The sliding cylinder 93 is used to drive the top anchor sliding hoisting mechanism 91 to move horizontally, thereby achieving left-right translation of the first integrated anchor-drilling rig 92. This meets the needs of large-scale vertical support for roadway top anchors.

[0042] Figure 2 The top anchor drilling system 9 on the left side of the machine is also included. The top anchor drilling system 9 also includes an extension platform 95, an outer ceiling 96, an inner ceiling 97, an operating table 98, and a support frame 99. The top anchor drilling system 9 is secured to the upper portion of the traveling system 3 via the support frame 99. The extension platform 95, outer ceiling 96, and inner ceiling 97 are all mounted on the support frame 99 to ensure operator safety. The extension platform 95 can be extended and retracted. The operating table 98 is secured to the inner ceiling 97 for convenient operation. The operating table 98 can be extended and retracted, providing ample operating space for the operator when securing the outermost anchor rods in the top anchor support.

[0043] Combine Figure 2 and Figure 3As shown, in some embodiments, the top anchor sliding lifting mechanism 91 includes a forward and backward swinging mechanism 918, a first rotating cylinder 916, a guide rail 913, a slider 914 and a lifting cylinder 917. The slider 914 is slidingly connected to the guide rail 913. The lifting cylinder 917 is used to drive the slider 914 to move in the up and down directions. One side of the forward and backward swinging mechanism 918 is connected to the first anchor drilling integrated drilling rig 92, and the other side of the forward and backward swinging mechanism 918 is connected to the first rotating cylinder 916. The output end of the first rotating cylinder 916 is connected to the slider 914. The forward and backward swinging mechanism 918 is used to drive the first anchor drilling integrated drilling rig 92 to swing forward and backward, and the first rotating cylinder 916 is used to drive the first anchor drilling integrated drilling rig 92 to swing left and right.

[0044] The top anchor sliding lift mechanism 91 also includes a sliding lift frame 911, a pressure cap 912, and an attachment plate 915. The sliding lift frame 911 is mounted on the support frame 99. Two parallel guide rails 913 are connected to the sliding lift frame 911. A pressure cap 912 is located at the top of the guide rails 913 and is connected to the sliding lift frame 911. A first rotary cylinder 916 is secured to the slider 914 via an attachment plate 915.

[0045] As can be seen, the rotation of the first rotary cylinder 916 can drive the first anchor drilling rig 92 to swing left and right, increasing the support range. The lifting cylinder 917 can lift the first anchor drilling rig 92 up and down to adapt to the changes in the height of the roadway.

[0046] Combine Figures 3 to 6 As shown, in some embodiments, the front and rear swing mechanism 918 includes a base 9181, a swing seat 9182, a pin shaft 9184 and a front and rear swing cylinder 9187. The base 9181 and the swing seat 9182 form a rotatable connection through the pin shaft 9184, and the two ends of the front and rear swing cylinder 9187 are respectively connected to the base 9181 and the swing seat 9182.

[0047] In one example, in order to avoid damage to people or equipment due to excessive swing angles during support operations, a limit block 9183 and a limit rod 9188 for limiting the swing angle are provided on the front and rear swing mechanism 918. A limit hole is provided on the swing seat 9182, and the limit block 9183 is provided on the side of the base 9181 close to the swing seat 9182, and the limit block 9183 is located in the limit hole. In this way, the lateral width of the limit hole limits the maximum front and rear swing angle of the swing seat 9182. The limit rod 9188 is provided on the side of the base 9181 away from the swing seat 9182, and is used to limit the left and right swing angles of the front and rear swing mechanism 918. Specifically, the limit rod 9188 is provided between the two guide rails 913. As shown Figure 6As shown, the front-rear swing mechanism 918 also includes a pin cover 9185 and a sleeve 9186. The pin cover 9185 is positioned opposite one end face of the pin 9184 and is connected via a plurality of fasteners to prevent separation between the base 9181 and the swing seat 9182. The sleeve 9186 fits over the cylindrical surface of the pin 9184, thereby extending the service life of the pin 9184.

[0048] Combine Figures 7 to 10 As shown, in some embodiments, the anchor drilling system 6 further includes a side support mechanism fixing base 61, a lifting mechanism frame 62, a long feed cylinder 63, a sliding frame 64, a short feed cylinder 65, a secondary slider 66, and a second rotary cylinder 69. The lifting mechanism frame 62 is disposed on the side support mechanism fixing base 61. The sliding frame 64 is slidably connected to the lifting mechanism frame 62, the secondary slider 66 is slidably connected to the sliding frame 64, the second rotary cylinder 69 is connected to the secondary slider 66, the second anchor drilling rig 68 is disposed at the output end of the second rotary cylinder 69, the short feed cylinder 65 is disposed on the sliding frame 64, the long feed cylinder 63 is used to drive the second anchor drilling rig 68 to perform a primary feed, the short feed cylinder 65 is used to drive the second anchor drilling rig 68 to perform a secondary feed, and the second rotary cylinder 69 is used to drive the second anchor drilling rig 68 to swing up and down.

[0049] from Figure 8 As can be seen, the long feed cylinder 63 and the short feed cylinder 65 achieve a two-stage lift, capable of lifting a distance X, meeting the needs of wide-range vertical support for the sidewall. The second rotary cylinder 69 enables the up and down swinging of the second anchor drill rig 68, further increasing the support range.

[0050] like Figure 9 As shown, the lateral sliding mechanism 67 includes a fixed base 671, a lateral push oil cylinder 672, a sliding base 673 and a sliding shoe pressure cover 674. The sliding base 673 and the sliding shoe pressure cover 674 are connected to form a slide groove. The fixed base 671 is slidably connected to the slide groove. The two ends of the lateral push oil cylinder 672 are respectively connected to the fixed base 671 and the sliding base 673. Figure 10 As shown, the lateral sliding mechanism 67 can enable the second anchor-drilling integrated drilling rig 68 to achieve a lateral sliding distance Y toward the coal wall. When some tunnels have severe spalling, the second anchor-drilling integrated drilling rig 68 will not be able to support the coal wall, resulting in the inability to construct the anchor-drilling integrated anchor rod. The lateral sliding mechanism 67 is matched with the pressure sensor of the second anchor-drilling integrated drilling rig 68 to realize the one-time anchor rod driving function in the case of severe tunnel spalling.

[0051] It should be noted that corresponding sensors (such as displacement sensors, angle sensors) can be set in the long feed cylinder 63, the short feed cylinder 65, the second rotating cylinder 69, the sliding cylinder 93, the lateral push cylinder 672, the first rotating cylinder 916, the lifting cylinder 917, and the front and rear swing cylinder 9187 in the above embodiments. After being configured with a display device, a digital cylinder is formed, which can display the rotation angle or extension length of the cylinder in real time, thereby accurately positioning the support position of the anchor drilling integrated drilling rig.

[0052] In some embodiments, as Figure 11 As shown, a new type of anchoring and digging machine also includes a visual monitoring system 7, which includes multiple binocular cameras and multiple photosensitive elements 75. The multiple photosensitive elements 75 are distributed on the anchor rod or anchor net, and the binocular camera is installed on the anchoring and digging machine. The binocular camera is used to monitor the real-time position changes of the photosensitive element 75. The specific type of the photosensitive element 75 is set according to actual needs and is not limited to this. For example, the photosensitive element 75 is a metal ball with a smooth surface, which contains magnetic parts inside and is easy to be adsorbed on the anchor rod or anchor net. For ease of understanding, in Figure 11 In the figure, the visual range of the binocular cameras is indicated by lines. The number of binocular cameras can be set based on actual needs and is not limited. In this example, there are four binocular cameras: a front right binocular camera 71, a front left binocular camera 72, a rear right binocular camera 73, and a rear left binocular camera 74. The front right binocular camera 71 and the front left binocular camera 72 observe the photosensitive element 75 in front of the device, while the rear right binocular camera 73 and the rear left binocular camera 74 observe the photosensitive element 75 behind the device.

[0053] The relative position of each photosensitive element 75 can be accurately located through the front and rear sets of binocular cameras. When the tunnel is deformed, the photosensitive element 75 will deviate from its initial position. At this time, the tunnel deformation is analyzed by the industrial computer, and the tunnel support density parameters are adjusted accordingly to improve the excavation efficiency.

[0054] The novel integrated anchoring and digging machine proposed in the above embodiment has the following beneficial effects: 1. The anchor drill is integrated into the anchor miner, realizing the one-step anchoring technology. The traditional six-step anchoring process is simplified to one step, which improves support efficiency and reduces labor intensity.

[0055] 2. Each degree of freedom cylinder is integrated with displacement, angle or pressure sensors, which can realize unmanned operation of the anchor drilling system.

[0056] 3. The bolter miner is equipped with a visual monitoring system 7, which can monitor tunnel deformation at any time and provide real-time guidance on anchor support density, thus realizing intelligent tunnel monitoring and support strength guidance technology.

[0057] 4. A conventional anchoring and digging machine requires 11 people in total, including 4 anchoring operators, 2 auxiliary anchoring operators, 2 online operators, 2 material transporters, and 1 driver. However, the anchoring and digging machine proposed in this embodiment only requires 5 people, including 2 anchor bolt installers, 2 material loading and transporting operators, and 1 driver.

[0058] Combine Figures 1 to 12 As shown, the embodiment of the present invention further proposes a control method for a novel integrated digging and anchoring machine. The control method is based on the novel integrated digging and anchoring machine of the above embodiment, and includes the following steps: Step S101: Anchor support is performed on the tunnel roof and tunnel sides.

[0059] In this embodiment, the anchor support of the tunnel roof and the tunnel side support are carried out simultaneously.

[0060] In step S102, the anchor-mining machine performs cutting of one row.

[0061] In this embodiment, when the cutting system 1 reaches a preset distance (one row distance) along the tunnel direction, the cutting action is stopped.

[0062] Step S103 , laying the top mesh, and then connecting the top mesh, wherein steps S101 to S103 are performed simultaneously.

[0063] Step S104: placing a photosensitive element 75 on the top mesh.

[0064] In this embodiment, the number of the photosensitive element 75 is required to be at least one per square meter.

[0065] In step S105 , the binocular camera monitors the real-time position of the photosensitive element 75 .

[0066] In this embodiment, in order for the binocular camera to clearly capture the positions of all photosensitive elements 75, the binocular camera is usually installed on the top of the anchoring and digging machine to ensure a wide field of view.

[0067] Step S106 , analyzing the tunnel deformation according to the real-time position of the light-sensing element 75 .

[0068] In this embodiment, an industrial computer is used to calculate the three-dimensional coordinates of each photosensitive element 75. By comparing the coordinate changes at different time points, it is determined whether the photosensitive element 75 has moved, and a threshold is set to trigger an alarm mechanism.

[0069] Step S107: Determine the new support density of the top anchor bolts according to the deformation of the tunnel, and at the same time, the anchor miner moves forward one row.

[0070] Step S108, go to step S101, and perform anchor support according to the new anchor support density.

[0071] According to a new control method for an integrated anchor and digger machine in an embodiment of the present invention, anchor drilling support, mesh laying, cutting, and tunnel deformation monitoring are coordinated to maximize the excavation efficiency of the anchor and digger machine while ensuring support strength. The time required for a single row can be shortened to less than 15 minutes, significantly reducing the number of workers and lowering their labor intensity.

[0072] In some embodiments, step S101 specifically includes: The first integrated anchor-drilling rig 92 performs top anchor support from both sides to the middle of the tunnel roof in sequence. At the same time, the second integrated anchor-drilling rig 68 performs side anchor support on the tunnel side from top to bottom in sequence.

[0073] In this embodiment, since the roof anchor support and the side anchor support are carried out simultaneously, a roof and side combined support structure can be formed to achieve effective reinforcement and stable control of the tunnel.

[0074] It should be noted that, in the description of the present invention, the terms "first," "second," etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0075] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0076] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0077] In the description of the present invention, the terms "left", "right", "front", "rear", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0078] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0079] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0080] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A new type of integrated anchoring and digging machine, characterized in that: include: A top anchor drilling system (9) is provided at both ends of the front side of the anchor drilling machine, the top anchor drilling system (9) comprising a first anchor drilling integrated drilling rig (92) and a top anchor sliding lifting mechanism (91), the top anchor sliding lifting mechanism (91) being used to drive the first anchor drilling integrated drilling rig (92) to move in an up-down direction, the first anchor drilling integrated drilling rig (92) being used to install an anchor drilling integrated anchor rod on the roadway roof; The auxiliary anchor drilling system (6) is arranged at both ends of the rear side of the anchor drilling machine. The auxiliary anchor drilling system (6) includes a second anchor drilling integrated drilling machine (68) and a lateral sliding mechanism (67). The lateral sliding mechanism (67) is used to drive the second anchor drilling integrated drilling machine (68) to move in the left and right directions. The second anchor drilling integrated drilling machine (68) is used to install the anchor drilling integrated anchor rod on the side of the tunnel.

2. The novel integrated anchoring and digging machine according to claim 1 is characterized in that: The top anchor drilling system (9) further comprises a sliding oil cylinder (93) and a track (94), wherein the track (94) is arranged in the left-right direction, the top anchor sliding lifting mechanism (91) is slidably connected to the track (94), the top anchor sliding lifting mechanism (91) is arranged on the track (94), and the sliding oil cylinder (93) is used to drive the top anchor sliding lifting mechanism (91) to move horizontally in the left-right direction.

3. The novel integrated anchoring and digging machine according to claim 2 is characterized in that: The top anchor sliding lifting mechanism (91) includes a front-back swing mechanism (918), a first rotating oil cylinder (916), a guide rail (913), a slider (914) and a lifting oil cylinder (917), wherein the slider (914) is slidably connected to the guide rail (913), and the lifting oil cylinder (917) is used to drive the slider (914) to move in the up-down direction. One side of the front-back swing mechanism (918) is connected to the first anchor-drilling integrated drilling rig (92), and the other side of the front-back swing mechanism (918) is connected to the first rotating oil cylinder (916). The output end of the first rotating oil cylinder (916) is connected to the slider (914), and the front-back swing mechanism (918) is used to drive the first anchor-drilling integrated drilling rig (92) to swing back and forth, and the first rotating oil cylinder (916) is used to drive the first anchor-drilling integrated drilling rig (92) to swing left and right.

4. The novel integrated anchoring and digging machine according to claim 3 is characterized in that: The front-rear swing mechanism (918) comprises a base (9181), a swing seat (9182), a pin (9184) and a front-rear swing cylinder (9187). The base (9181) and the swing seat (9182) are rotatably connected via the pin (9184). The two ends of the front-rear swing cylinder (9187) are respectively connected to the base (9181) and the swing seat (9182).

5. The novel integrated anchoring and digging machine according to claim 4 is characterized in that: The front-to-back swing mechanism (918) further comprises a limit block (9183) and a limit rod (9188); a limit hole is provided on the swing seat (9182); the limit block (9183) is provided on a side of the base (9181) close to the swing seat (9182); the limit block (9183) is located in the limit hole; the limit rod (9188) is provided on a side of the base (9181) away from the swing seat (9182), and is used to limit the left-right swing angle of the front-to-back swing mechanism (918).

6. The novel integrated anchoring and digging machine according to claim 1 is characterized in that: The auxiliary anchor drilling system (6) also includes a lifting mechanism frame (62), a long feed oil cylinder (63), a sliding frame (64), a short feed oil cylinder (65), a secondary slider (66) and a second rotating oil cylinder (69), wherein the sliding frame (64) is slidably connected to the lifting mechanism frame (62), the secondary slider (66) is slidably connected to the sliding frame (64), the second rotating oil cylinder (69) is connected to the secondary slider (66), the second anchor drilling integrated drilling rig (68) is arranged on the output end of the second rotating oil cylinder (69), the short feed oil cylinder (65) is arranged on the sliding frame (64), the long feed oil cylinder (63) is used to drive the second anchor drilling integrated drilling rig (68) to feed once, the short feed oil cylinder (65) is used to drive the second anchor drilling integrated drilling rig (68) to feed twice, and the second rotating oil cylinder (69) is used to drive the second anchor drilling integrated drilling rig (68) to swing up and down.

7. The novel integrated anchoring and digging machine according to claim 6 is characterized in that: The lateral sliding mechanism (67) includes a fixed base (671), a lateral push cylinder (672), a sliding base (673) and a sliding shoe pressure cover (674); the sliding base (673) and the sliding shoe pressure cover (674) are connected to form a slide groove; the fixed base (671) is slidably connected to the slide groove; and the two ends of the lateral push cylinder (672) are respectively connected to the fixed base (671) and the sliding base (673).

8. A novel integrated anchoring and digging machine according to any one of claims 1 to 7, characterized in that: The invention also includes a visual monitoring system (7), wherein the visual monitoring system (7) includes a plurality of binocular cameras and a plurality of photosensitive elements (75), wherein the plurality of photosensitive elements (75) are distributed on the anchor rod or the anchor net, and the binocular cameras are arranged on the anchoring machine, and are used to monitor the real-time position changes of the photosensitive elements (75).

9. A novel control method for an integrated anchoring and digging machine, characterized in that: A novel integrated miner and anchoring machine according to any one of claims 1 to 8 is provided, wherein the control method comprises: Step S101, anchor bolt support is performed on the roadway roof and roadway side; Step S102: the anchor miner performs cutting at one row spacing; Step S103: laying the top mesh and then connecting the top mesh, wherein steps S101 to S103 are performed simultaneously; Step S104, placing a photosensitive element (75) on the top mesh; Step S105, the binocular camera monitors the real-time position of the photosensitive element (75); Step S106, analyzing the deformation of the tunnel according to the real-time position of the photosensitive element (75); Step S107: Determine the new support density of the top wall anchor bolts based on the roadway deformation, while the anchoring and mining machine moves forward one row pitch. Step S108, go to step S101, and perform anchor support according to the new anchor support density.

10. The control method of the novel integrated anchoring and digging machine according to claim 9, characterized in that: The step S101 specifically includes: The first anchor-drilling integrated drilling rig (92) performs top anchor rod support in sequence from both sides to the middle of the roadway roof, while the second anchor-drilling integrated drilling rig (68) performs side anchor rod support in sequence from top to bottom of the roadway roof.

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