Automatic anchor net laying equipment and method

Abstract

The present invention provides an automated mesh laying and anchoring net equipment and a mesh laying method, which belongs to the technical field of underground tunnel support in coal mines. The automated mesh laying and anchoring net equipment includes an automated anchor drilling machine and a mesh laying component; the automated anchor drilling machine is equipped with a machine vision system, and the mesh laying component includes a diamond metal mesh, a steel belt, a mesh frame, and a mesh frame telescopic arm; the bottom surface of the mesh frame is provided with a fixed seat, and the bottom surface of the fixed seat is provided with a rotating seat; the first end of the mesh frame telescopic arm is connected to the rotating seat, and the second end is connected to the automated anchor drilling machine; the steel belt is detachably fixed to the top surface of the mesh frame, and the steel belt hole is a long waist hole; the diamond metal mesh is laid on the steel belt, and the diamond hole is aligned with the steel belt hole, and the diamond metal mesh and the steel belt are connected by a limit sleeve. The present invention can realize the automation of mesh laying and anchoring net, reduce the labor intensity of anchoring personnel, and improve production efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of underground tunnel support in coal mines, and specifically discloses an automatic mesh laying and anchoring net device and a mesh laying method. Background Art

[0002] Bolt support is the main support form for coal mine tunnel excavation. At present, in mines with large tunnel support operations, bolt support requires diamond metal mesh and steel belt to cooperate with bolt support to achieve reliable support strength.

[0003] The underground working face is excavated by a tunnel boring machine. The diamond metal mesh and steel belt can be used by the tunnel boring machine to achieve semi-manual and semi-automatic operation. The specific process is as follows:

[0004] 1) First, connect the diamond-shaped metal mesh to be laid with the laid diamond-shaped metal mesh at the rear of the head to form a mesh for supporting the top of the head, and then adjust the lower corners of the diamond-shaped metal mesh to be laid so that it droops naturally and hangs flat;

[0005] 2) Arrangement of steel belts: Start the tunnel boring machine, adjust the onboard top protection mechanism of the tunnel boring machine to a suitable position in front of the cutting head, open the side guard plate of the support device, shut down the power supply of the tunnel boring machine and lock it. Multiple personnel will work together to place the steel belts horizontally on the top frame of the support device in turn, adjust the position of the steel belts to make the center of gravity stable and the center line, torque, row spacing, etc. meet the requirements, use the strong magnet on the top frame of the support device to suck the steel belts firmly, unfold the diamond metal mesh to be laid and lay it on the steel belts, tie it with wire, and then evacuate the personnel to a safe place;

[0006] 3) Start the tunnel boring machine, operate the support device to fold and lift, so that the top frame drives the steel belt and the diamond metal mesh to be laid to rise slowly and steadily, and stop rising when it is about 200mm close to the top plate. Personnel stand under the permanent support and on both sides of the tunnel boring machine, and use special long-handled tools to adjust the position of the diamond metal mesh and steel belt. After it meets the layout requirements, personnel evacuate to a safe place, start the tunnel boring machine, and operate the control valve of the support device to make the top frame firmly connected to the top plate;

[0007] 4) Personnel enter under the temporary support and carry out permanent anchor net support operations in the construction order of "from outside to inside, top first and then support". If the top anchor cannot be constructed due to the position occupied by the top frame, it is required to first complete the anchoring of the constructible anchor, then evacuate personnel to a safe place, start the tunnel boring machine, give up the occupied position, and personnel continue to use the pneumatic anchor drilling rig for anchor drilling operations.

[0008] Whether it is pure manual operation or tunnel boring machine-assisted manual operation, there are the following shortcomings: during the construction of diamond metal mesh and steel belt, anchor protection personnel need to complete the above-mentioned drilling operations in the empty top area for a long time, which has high labor intensity and low production efficiency. There are also potential safety accidents such as roof collapse, gas dust, and hand-held drill rod winch. Summary of the invention

[0009] The present invention provides an automated anchor net laying device and a method, which realizes the automation of anchor net laying through the cooperation of an automated anchor drilling machine and the above-mentioned anchor net laying component, reduces the labor intensity of anchor maintenance personnel, and improves production efficiency.

[0010] The present invention provides an automated anchor net laying equipment, comprising an automated anchor drilling machine and a net laying component; the automated anchor drilling machine is equipped with a machine vision system, the net laying component comprises a diamond metal net, a steel belt, a net frame, and a net frame telescopic arm; a fixed seat is arranged on the bottom surface of the net frame, and a rotating seat is arranged on the bottom surface of the fixed seat; the first end of the net frame telescopic arm is connected to the rotating seat, and the second end is connected to the automated anchor drilling machine; the steel belt is detachably fixed to the top surface of the net frame, and the steel belt hole is a long waist hole; the diamond metal net is laid on the steel belt, and the diamond hole is connected to the rotating seat. The holes of the steel belt are aligned, and the diamond metal mesh and the steel belt are connected by a limit sleeve; the limit sleeve is made of non-metallic brittle material, and the surface is coated with a color for being recognized by the machine vision system, including an annular limit end plate, a cylinder and a limit part; the annular limit end plate is fixed to the top of the cylinder, and the edge is located outside the cylinder; the two limit parts are symmetrically arranged outside the cylinder; the two limit parts of the limit sleeve pass through the diamond holes and the steel belt holes along the length direction of the steel belt holes, rotate 90°, the annular limit end plate presses the diamond metal mesh, and the two limit parts press the steel belt.

[0011] Furthermore, the limiting portion is an inverted wedge-shaped block fixed outside the cylinder.

[0012] Furthermore, the limiting portion is an outward-turned spring piece with an opening facing upward, and the bottom end of the outward-turned spring piece is fixed outside the cylinder.

[0013] Furthermore, the steel strip is a trapezoidal steel strip or a W-shaped steel strip.

[0014] Furthermore, the grid frame includes an intermediate frame and side frames arranged on both sides of the intermediate frame; two shaft sleeves are arranged on the intermediate frame; the two side frames are rotatably connected to the two sides of the intermediate frame respectively and can be translated, and both side frames are provided with limiting shafts for plugging with the shaft sleeves after the side frames are unfolded.

[0015] Furthermore, the grid also includes a bidirectional telescopic cylinder and a linear guide rail; the cylinder body of the bidirectional telescopic cylinder is fixed in a fixed seat, and the piston rods at both ends are rotatably connected to the intermediate frame; the guide rail seat of the linear guide rail is fixed in the fixed seat, and the two ends of the linear shaft are fixedly connected to the intermediate frame.

[0016] Furthermore, strong magnets are arranged on the middle frame and the side frame, and the steel strip is adsorbed on the strong magnets.

[0017] The present invention also provides an automated net laying and anchoring method, which is implemented using the automated net laying and anchoring equipment, and includes the following steps:

[0018] S1, unfold the diamond metal mesh and lay it on the steel belt, tie it with binding wire, and leave the same margin at both ends of the steel belt;

[0019] S2, pass the two limiting parts of the limiting sleeve through the diamond hole and the steel belt hole along the length direction of the steel belt hole, rotate 90 degrees, the annular limiting end plate presses the diamond metal mesh, the two limiting parts press the steel belt, press the diamond metal mesh on the steel belt, pull the diamond metal mesh so that each steel belt hole can be inserted into the limiting sleeve;

[0020] S3, the grid is rotated to the lowest position, and the steel belt is installed to the middle position on the grid;

[0021] S4, starting the automatic mesh laying program of the automated anchor drilling rig, and transporting the steel belt and the diamond metal mesh thereon to the top of the automated anchor drilling rig;

[0022] S5, the machine vision system of the automated anchor drilling rig automatically identifies the position of the limit sleeve, thereby determining the position of the steel belt hole, and feeds back the position coordinates of the steel belt hole to the control system of the automated anchor drilling rig;

[0023] S6, the anchor net device of the automated anchor drilling rig is automatically positioned under the first steel belt hole, and automatically completes the entire process of drilling, feeding the medicine roll, inserting the anchor rod, and mixing and tightening in the limiting sleeve of the first steel belt hole.

[0024] S7, the anchor net device is automatically positioned under the second steel belt hole, and step S6 is repeated until all support of this row of anchor rods is completed;

[0025] S8, the automated anchor drilling rig starts the automatic return program of the grid frame, the grid frame descends, and automatically returns to the tail of the machine, is in the lowest position, and is ready to go online, and steps S3 to S7 are repeated.

[0026] In step S5, the machine vision system includes a camera and an image recognition unit. The camera transmits the image of the limit sleeve with a regular shape to the image recognition unit. The image recognition unit compares and analyzes the sample previously learned by the machine to accurately identify the geometric center of the limit sleeve hole. The regular circular shape ensures the reliability of recognition accuracy. The image recognition unit transmits the spatial coordinates of the geometric center of the limit sleeve hole to the whole machine control system to provide target information for the anchor net device.

[0027] The present invention has the following beneficial effects:

[0028] 1. The above-mentioned automatic mesh laying and anchoring equipment uses a limit sleeve to pre-connect the diamond metal mesh and the steel belt. The entire process of drilling, feeding the medicine roll, inserting the anchor rod and stirring and tightening is carried out through the limit sleeve, which can ensure that there is no metal wire of the diamond metal mesh in the steel belt hole, avoid manual cutting of the metal wire in the steel belt hole, and simplify the mesh laying process;

[0029] 2. The above-mentioned automated mesh laying and anchoring equipment is coated with a color for being recognized by a machine vision system on the limit sleeve. The limit sleeve is recognized by the machine vision system of the automated anchor drilling rig, automatically positioned under the steel belt hole, and the entire process of drilling, delivering medicine rolls, inserting anchor rods, and stirring and tightening is automatically completed in the limit sleeve hole of the steel belt hole, thereby realizing the automation of mesh laying and anchoring, reducing the labor intensity of anchor maintenance personnel, and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 It is a structural diagram of the web laying component;

[0032] Figure 2 This is the structural diagram of the first type of limit sleeve;

[0033] Figure 3 This is a structural diagram of the second type of limit sleeve;

[0034] Figure 4 This is a state diagram of the first type of limit sleeve passing through the diamond metal mesh and the trapezoidal steel belt;

[0035] Figure 5 This is the state diagram of the first type of limit sleeve passing through the diamond metal mesh and the W steel belt;

[0036] Figure 6 This is an exploded view of the grid;

[0037] Figure 7 This is the bottom view of the grid;

[0038] Figure 8 This is the effect diagram of the anchor rod being inserted after the limit sleeve is installed (the arrow direction in the figure is the direction of the anchor rod being pressed);

[0039] Fig. 9 This is the effect picture after the anchor bolt is tightened;

[0040] Fig.10 The schematic diagram of the machine vision system automatically identifying the position of the limit sleeve;

[0041] Fig.11 The process of automated net laying and anchoring method.

[0042] Icons: 1-diamond metal mesh; 2-steel belt; 2.1-trapezoidal steel belt; 2.2-W steel belt; 3-grid; 3.1-middle frame; 3.2-left frame; 3.3-right frame; 3.4-rotating shaft; 3.5-magnet seat; 3.6-strong magnet; 3.7-linear guide; 3.8-bidirectional telescopic cylinder; 3.9-fixed seat; 3.10-rotating seat; 3.11-sleeve; 3.12-limiting shaft; 4-mesh overlapping area; 5-anchor rod; 5.1-anchor rod body; 5.2-anchor rod tray; 5.3-anchor rod nut; 6-grid telescopic arm; 7-limiting sleeve; 7.1-annular limiting end plate; 7.2-cylinder body; 7.3-inverted wedge block; 7.4-outward-turned spring piece; 8.1-camera; 8.2-image recognition unit; 9-whole machine control system. DETAILED DESCRIPTION

[0043] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Example 1

[0045] The present embodiment provides an automated mesh laying and anchoring equipment, including an automated anchor drilling rig and a mesh laying component; the automated anchor drilling rig is installed with a machine vision system, and the mesh laying component includes a diamond metal mesh 1, a steel belt 2, a mesh frame 3, and a mesh frame telescopic arm 6.

[0046] The diamond metal mesh 1 is laid on the steel belt 2, and the diamond holes are aligned with the steel belt holes, and the steel belt holes are long waist holes; the diamond metal mesh 1 and the steel belt 2 are connected by a limit sleeve 7; the limit sleeve 7 is made of non-metallic brittle material to ensure that the anchoring torque of the anchor rod 5 can crush the limit sleeve 7 without affecting the anchoring effect, and the limit sleeve 7 includes an annular limit end plate 7.1, a cylinder 7.2 and a limit part; the annular limit end plate 7.1 is fixed on the top of the cylinder 7.2, and the edge is located outside the cylinder 7.2; the two limit parts are symmetrically arranged outside the cylinder 7.2; the two limit parts of the limit sleeve 7 pass through the diamond holes and the steel belt holes along the length direction of the steel belt holes, rotate 90°, the annular limit end plate 7.1 presses the diamond metal mesh 1, and the two limit parts press the steel belt 2.

[0047] The limit sleeve 7 is coated with a color for being recognized by the machine vision system 8. The limit sleeve 7 adopts a color system with a large contrast with the steel belt 2, such as bright red, fluorescent color, black, etc., which is convenient for the machine vision system to recognize and realize automatic positioning of the steel belt hole.

[0048] According to different limiting principles, the limiting part is an inverted wedge-shaped block 7.3 or an outward-turned spring piece 7.4. Figure 2As shown, the inverted wedge-shaped block 7.2 is fixed outside the cylinder 7.2. Figure 3 As shown, the opening of the outward-turned spring piece 7.4 faces upward, and the bottom end is fixed outside the cylinder body 7.2.

[0049] like Figure 4 , Figure 5 As shown, the limiting sleeve 7 is not only applicable to the trapezoidal steel strip 2.1, but also applicable to the W steel strip 2.2.

[0050] Furthermore, the above-mentioned mesh laying component also includes a grid frame 3. During the automated mesh laying operation, the grid frame 3 plays many functions such as supporting, conveying, positioning and separating the diamond metal mesh 1 and the steel belt 2; multiple steel belts 2 are detachably fixed on the grid frame 3, and each steel belt 2 is equipped with a diamond metal mesh 1 through a limiting sleeve 7. The adjacent two diamond metal meshes 1 are overlapped up and down and tied by binding wires, that is, Figure 1 The mesh overlap area 4.

[0051] Furthermore, if Figure 6 , Figure 7 As shown, the grid frame 3 includes a middle frame 3.1 and a left frame 3.2 and a right frame 3.3 arranged on both sides of the middle frame 3.1; two shaft sleeves 3.11 are arranged on the middle frame 3.1; the left frame 3.2 and the right frame 3.3 are respectively connected to the two sides of the middle frame 3.1 through a rotating shaft 3.4 and a rotating hole, and the rotating shaft 3.4 can be translated in the rotating hole. The two side frames are provided with a limit shaft 3.12 for plugging with the shaft sleeve 3.11 after the side frame is unfolded. After the left frame 3.2 and the right frame 3.3 are unfolded, they are pushed toward the middle frame 3.1, and the limit shaft 3.12 is inserted into the shaft sleeve 3.11 to limit the side frame from folding around the middle frame 3.1. After the left frame 3.2 and the right frame 3.3 are folded, the length of the entire grid frame 3 can be reduced to 1 / 3 of the unfolded length, which is suitable for cross operation with equipment such as tunneling machines and belt conveyors. The final length of the grid 3 after unfolding generally depends on the length of the diamond metal mesh 1 used. There is a certain matching relationship between the two. Generally, the diamond metal mesh 1 is about 400 mm longer than the grid 3.

[0052] In order to ensure the rigidity of the grid 3 to the maximum extent and reduce the weight of the grid 3, the grid 3 is made of cold-drawn seamless square tubes.

[0053] Furthermore, if Figure 7 As shown, the bottom surface of the intermediate frame 3.1 is provided with a fixed seat 3.9, and the bottom surface of the fixed seat 3.9 is provided with a rotating seat 3.10; the mesh laying assembly also includes a mesh frame telescopic arm 6, the first end of the mesh frame telescopic arm 6 is connected to the rotating seat 3.10, and the second end is connected to the automatic anchor drilling machine. The mesh frame 3 can rotate around the first end of the mesh frame telescopic arm 6, so that the diamond metal mesh 1 and the steel belt 2 can be swung and fine-tuned at a small angle.

[0054] Furthermore, if Figure 7As shown, the above-mentioned grid 3 also includes a two-way telescopic cylinder 3.8 and a linear guide 3.7; the cylinder body of the two-way telescopic cylinder 3.8 is fixed in the fixed seat 3.9, and the piston rods at both ends are rotatably connected to the middle frame 3.1; the guide seat of the linear guide 3.7 is fixed in the fixed seat 3.9, and the two ends of the linear axis are fixedly connected to the middle frame 3.1. Through the telescopic movement of the two-way telescopic cylinder 3.8, the middle frame 3.1, the left frame 3.2, and the right frame 3.3 are translated left and right relative to the fixed seat 3.9 and the grid telescopic arm 6, so that the grid 3 can adapt to the unevenness of the top plate and the misalignment of the automatic laying and anchoring equipment, which is conducive to the automation of laying steel strips and wire mesh in anchoring operations. Under the double fine-tuning effect, the laying effect is ensured.

[0055] Furthermore, if Figure 6 As shown, the middle frame 3.1 and the side frame are provided with a magnet seat 3.5, and a strong magnet 3.6 is pressed on the magnet seat 3.5 by a countersunk screw. Through reasonable magnetic force calculation, it can be ensured that the assembled steel strip 2 is reliably adsorbed on the middle frame 3.1 and the side frame by the strong magnet 3.6.

[0056] Example 2

[0057] This embodiment provides an automated net laying and anchoring method, which is implemented using the automated net laying and anchoring equipment described above and includes the following steps.

[0058] 1) Unfold the diamond metal mesh 1 and lay it on the steel belt 2, tie it with binding wire, and make sure that the margins of the diamond metal mesh 1 at both ends of the steel belt 2 are basically the same by visual inspection.

[0059] 2) Pass the two limiting parts of the limiting sleeve 7 through the diamond hole and the steel belt hole along the length direction of the steel belt hole, rotate 90°, and the annular limiting end plate 7.1 presses the diamond metal mesh 1, and the two limiting parts press the steel belt 2 to ensure that the diamond metal mesh 1 is pressed against the steel belt 2. Through appropriate pulling, ensure that each steel belt hole can be inserted into the limiting sleeve 7.

[0060] 3) The grid frame 3 rotates to the lowest position, and two personnel work together to adsorb the steel belt 2 onto the strong magnet 3.6 of the grid frame 3 to ensure that the steel belt 2 is basically in the middle of the grid frame 3.

[0061] 4) Start the automatic mesh laying program of the automated anchor drilling rig, and transport the steel belt 2 and the diamond metal mesh 1 thereon to just above the automated anchor drilling rig.

[0062] 5) The machine vision system of the automated anchor drilling rig automatically identifies the position of the limit sleeve 7, thereby determining the position of the steel belt hole, and feeds back the position coordinates of the steel belt hole to the control system of the automated anchor drilling rig. Specifically, the machine vision system includes a camera 8.1 and an image recognition unit 8.2. The camera 8.1 transmits the image of the limit sleeve 7 with a regular shape to the image recognition unit 8.2. The image recognition unit 8.2 compares and analyzes the samples previously learned by the machine to accurately identify the geometric center of the limit sleeve hole. The regular circular shape ensures the accuracy and reliability of the recognition. The image recognition unit 8.2 transmits the spatial coordinates of the geometric center of the limit sleeve hole to the whole machine control system 9 to provide target information for the anchor net device.

[0063] 6) The anchor net device of the automated anchor drilling rig is automatically positioned under the first steel belt hole, and automatically completes the entire process of drilling, feeding the medicine roll, inserting the anchor rod, and stirring and tightening in the limiting sleeve 7 of the first steel belt hole.

[0064] 7) The anchor net device is automatically positioned under the second steel belt hole, and step 6 is repeated until all support for this row of anchor rods is completed.

[0065] 8) The automated anchor drilling rig starts the automatic return program of the grid frame, the grid frame 3 descends, automatically returns to the tail of the machine, is in the lowest position, and is ready to go online, and steps 3 to 7 are repeated.

[0066] like Figure 8 As shown, after adding the limit sleeve 7, the effective width of the anchor rod 5 inserted into the steel belt hole needs to reduce the wall thickness of the cylinder 7.2 on the original basis. The wall thickness of the cylinder 7.2 is generally about 2mm. This order of magnitude reduction has basically no effect on the construction of the anchor rod 5. Fig. 9 As shown, at this time, the strong anchoring torque has crushed the brittle limit sleeve 7. Part of the fragments fell to the ground, and the remaining part was pressed against the top plate near the anchor hole by the anchor tray 5.2. Since the anchoring length of the anchor 5 depends on the wrapping length of the anchor rod body 5.1 by the anchoring agent in the borehole and the anchoring torque applied by the drill box to the anchor nut 5.3, the fragments of the limit sleeve 7 have no effect on the performance index of the anchor support.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automated anchor net laying equipment, comprising an automated anchor drilling machine and a net laying component; the automated anchor drilling machine is equipped with a machine vision system, characterized in that: The mesh laying assembly includes a diamond metal mesh, a steel belt, a mesh frame, and a mesh frame telescopic arm; The bottom surface of the grid is provided with a fixed seat, and the bottom surface of the fixed seat is provided with a rotating seat; The first end of the telescopic arm of the grid is connected to the rotating seat, and the second end is connected to the automated anchor drilling machine; The steel belt is detachably fixed on the top surface of the grid, and the holes of the steel belt are long waist holes; The diamond-shaped metal mesh is laid on the steel belt, the diamond-shaped holes are aligned with the steel belt holes, and the diamond-shaped metal mesh and the steel belt are connected by a limiting sleeve; The limit sleeve is made of non-metallic brittle material, and its surface is coated with a color for being recognized by a machine vision system, and comprises an annular limit end plate, a cylinder and a limit portion; The annular limiting end plate is fixed to the top of the cylinder, and the edge is located outside the cylinder; Two limiting parts are symmetrically arranged outside the cylinder; The two limiting parts of the limiting sleeve pass through the diamond hole and the steel belt hole along the length direction of the steel belt hole, rotate 90 degrees, the annular limiting end plate presses the diamond metal mesh, and the two limiting parts press the steel belt.

2. The automatic anchoring net laying equipment according to claim 1 is characterized in that: The limiting part is an inverted wedge-shaped block fixed outside the cylinder.

3. The automatic anchoring net laying equipment according to claim 1 is characterized in that: The limiting portion is an outward-turned spring piece with an opening facing upward, and the bottom end of the outward-turned spring piece is fixed outside the cylinder.

4. The automatic anchoring net laying equipment according to claim 1, characterized in that: The steel belt is a trapezoidal steel belt or a W steel belt.

5. The automatic anchoring net laying equipment according to any one of claims 1 to 4, characterized in that: The grid frame includes a middle frame and side frames arranged on both sides of the middle frame; Two shaft sleeves are arranged on the intermediate frame; The two side frames are rotatably connected to the two sides of the middle frame respectively and can translate. The two side frames are both provided with limiting shafts for plugging with the shaft sleeves after the side frames are unfolded.

6. The automatic anchoring net laying equipment according to claim 5, characterized in that: The grid also includes a bidirectional telescopic cylinder and a linear guide rail; The cylinder body of the bidirectional telescopic oil cylinder is fixed in the fixed seat, and the piston rods at both ends are rotatably connected with the middle frame; The guide rail seat of the linear guide rail is fixed in the fixed seat, and the two ends of the linear shaft are fixedly connected to the intermediate frame.

7. The automatic anchoring net laying equipment according to claim 6, characterized in that: Strong magnets are arranged on the middle frame and the side frames, and the steel belt is adsorbed on the strong magnets.

8. An automated method for laying and anchoring a net, characterized in that: The method is implemented by using the automated anchor net laying equipment according to any one of claims 1 to 7, comprising the following steps: S1, unfold the diamond metal mesh and lay it on the steel belt, tie it with binding wire, and leave the same margin at both ends of the steel belt; S2, pass the two limiting parts of the limiting sleeve through the diamond hole and the steel belt hole along the length direction of the steel belt hole, rotate 90 degrees, the annular limiting end plate presses the diamond metal mesh, the two limiting parts press the steel belt, press the diamond metal mesh on the steel belt, pull the diamond metal mesh so that each steel belt hole can be inserted into the limiting sleeve; S3, the grid is rotated to the lowest position, and the steel belt is installed to the middle position on the grid; S4, starting the automatic mesh laying program of the automated anchor drilling rig, and transporting the steel belt and the diamond metal mesh thereon to the top of the automated anchor drilling rig; S5, the machine vision system of the automated anchor drilling rig automatically identifies the position of the limit sleeve, thereby determining the position of the steel belt hole, and feeds back the position coordinates of the steel belt hole to the control system of the automated anchor drilling rig; S6, the anchor net device is automatically positioned under the first steel belt hole, and automatically completes the whole process of drilling, feeding the medicine roll, inserting the anchor rod and stirring and tightening in the limiting sleeve of the first steel belt hole; S7, the anchor net device is automatically positioned under the second steel belt hole, and step S6 is repeated until all support of this row of anchor rods is completed.

9. The automated anchoring method according to claim 8, characterized in that: The process also includes S8, wherein the automated anchor drilling rig starts the automatic return program of the grid frame, the grid frame descends, and automatically returns to the tail of the machine to the lowest position, ready to go online, and steps S3 to S7 are repeated.

10. The automated anchoring method according to claim 8, characterized in that: In step S5, the machine vision system includes a camera and an image recognition unit. The camera transmits the image of the limit sleeve with a regular shape to the image recognition unit. The image recognition unit compares and analyzes the sample previously learned by the machine to accurately identify the geometric center of the limit sleeve hole. The regular circular shape ensures the reliability of recognition accuracy. The image recognition unit transmits the spatial coordinates of the geometric center of the limit sleeve hole to the whole machine control system to provide target information for the anchor net device.

Images