A net laying component and automatic net laying and anchoring equipment

Abstract

The present invention provides a mesh laying component and an automated mesh laying and anchoring net equipment, which belong to the technical field of underground tunnel support in coal mines. The mesh laying component includes a steel belt and a rhombus metal mesh laid on the steel belt, and the rhombus metal mesh and the steel belt are connected by a limiting sleeve; the limiting sleeve is made of a non-metallic brittle material, including an annular limiting end plate, a cylinder and a limiting part; 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 rhombus 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 rhombus metal mesh, and the two limiting parts press the steel belt. The mesh laying component can effectively avoid the phenomenon of the metal wire of the rhombus metal mesh in the steel belt hole, and the automated mesh laying and anchoring net equipment realizes the automation of mesh laying and anchoring net through the cooperation of the automated anchor drilling machine and the above-mentioned mesh laying component, reduces the labor intensity of anchoring personnel, and improves production efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of underground coal mine tunnel support, and specifically discloses a mesh laying component and automatic mesh laying and anchoring equipment. 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 is hung flat;

[0005] 2) Arrangement of steel belts: Start the TBM, adjust the onboard top protection mechanism of the TBM 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 TBM 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 their center of gravity stable and the center line, torque, row spacing, etc. meet the requirements, use the strong magnets 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 TBM, 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 TBM, 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 TBM, operate the control valve of the support device, and 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; if there happens to be metal wire of the diamond metal mesh in the hole of the steel belt, it is necessary to manually cut the metal wire to install the anchor rod. Summary of the invention

[0009] The present invention provides a mesh laying component, which can effectively avoid the phenomenon of metal wires of the diamond metal mesh existing in the holes of the steel belt, simplifying the mesh laying process, and also provides an automated mesh laying and anchoring net equipment, which realizes the automation of mesh laying and anchoring net through the cooperation of an automated anchor drilling rig and the above-mentioned mesh laying component, thereby reducing the labor intensity of anchor maintenance personnel and improving production efficiency.

[0010] The present invention provides a mesh laying component, comprising a steel belt and a diamond-shaped metal mesh laid on the steel belt, wherein the diamond-shaped holes are aligned with the steel belt holes, and the steel belt holes are long waist holes; the diamond-shaped metal mesh and the steel belt are connected by a limiting sleeve; the limiting sleeve is made of a non-metallic brittle material, comprising an annular limiting end plate, a cylinder and a limiting portion; the annular limiting end plate is fixed on the top of the cylinder, and the edge is located outside the cylinder; two limiting portions are symmetrically arranged outside the cylinder; the two limiting portions of the limiting sleeve pass through the diamond-shaped holes and the steel belt holes along the length direction of the steel belt holes, rotate 90 degrees, the annular limiting end plate presses the diamond-shaped metal mesh, and the two limiting portions 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 above-mentioned mesh laying component also includes a grid frame; multiple steel belts are detachably fixed on the grid frame, and a diamond-shaped metal mesh is installed on each steel belt through a limiting sleeve, and two adjacent diamond-shaped metal meshes are overlapped up and down and tied with binding wires.

[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, a fixed seat is arranged on the bottom surface of the intermediate frame, and a rotating seat is arranged on the bottom surface of the fixed seat; the mesh laying assembly also includes a mesh frame telescopic arm, and a first end of the mesh frame telescopic arm is connected to the rotating seat.

[0016] Furthermore, the above-mentioned 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.

[0017] Furthermore, strong magnets are arranged on the middle frame and the side frames.

[0018] The present invention also provides an automated mesh laying and anchoring equipment, comprising an automated anchor drilling rig equipped with a machine vision system and the above-mentioned mesh laying assembly; in the mesh laying assembly, the second end of the telescopic arm of the grid is connected to the automated anchor drilling rig, and the limiting sleeve is coated with a color for being recognized by the machine vision system.

[0019] Furthermore, the machine vision system includes a camera and an image recognition unit. The camera is used to transmit the image of the limit sleeve with a regular shape to the image recognition unit. The image recognition unit is used to compare and analyze the image with the samples previously learned by the machine, accurately identify the geometric center of the limit sleeve hole, and transmit the spatial coordinates of the geometric center of the limit sleeve hole to the control system of the whole machine.

[0020] The present invention has the following beneficial effects:

[0021] 1. The above-mentioned mesh laying assembly 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 holes of the steel belt, simplifying the mesh laying process;

[0022] 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

[0023] 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.

[0024] Figure 1 It is a structural diagram of the web laying component;

[0025] Figure 2 This is the structural diagram of the first type of limit sleeve;

[0026] Figure 3 This is a structural diagram of the second type of limit sleeve;

[0027] 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;

[0028] 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;

[0029] Figure 6 This is an exploded view of the grid;

[0030] Figure 7 This is the bottom view of the grid;

[0031] Figure 8 This is the effect diagram of the anchor rod being inserted after the limit sleeve is installed (the direction of the arrow in the figure is the direction of the anchor rod being pressed);

[0032] Fig. 9 This is the effect picture after the anchor bolt is tightened;

[0033] Fig.10 Schematic diagram for automatically identifying the position of the limit sleeve by a machine vision system.

[0034] 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

[0035] 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.

[0036] Example 1

[0037] The present embodiment provides a mesh laying assembly, comprising a steel belt 2 and a diamond metal mesh 1 laid on the steel belt 2, wherein 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 limiting sleeve 7; the limiting sleeve 7 is made of a non-metallic brittle material to ensure that the anchoring torque of the anchor rod 5 can crush the limiting sleeve 7 without affecting the anchoring effect, and the limiting sleeve 7 comprises an annular limiting end plate 7.1, a cylinder 7.2 and a limiting portion; the annular limiting end plate 7.1 is fixed to the top of the cylinder 7.2, and the edge is located outside the cylinder 7.2; the two limiting portions are symmetrically arranged outside the cylinder 7.2; the two limiting portions of the limiting 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 limiting end plate 7.1 presses the diamond metal mesh 1, and the two limiting portions press the steel belt 2.

[0038] 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 2 As 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.

[0039] 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.

[0040] 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.

[0041] Furthermore, if Figure 6 , Figure 7As 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.

[0042] 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.

[0043] Furthermore, if Figure 7 As shown, a fixed seat 3.9 is provided on the bottom surface of the intermediate frame 3.1, and a rotating seat 3.10 is provided on the bottom surface of the fixed seat 3.9; the mesh laying assembly also includes a telescopic arm 6 of the mesh frame, and the first end of the telescopic arm 6 is connected to the rotating seat 3.10, and the mesh frame 3 can rotate around the first end of the 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.

[0044] Furthermore, if Figure 7 As 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.

[0045] 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.

[0046] Example 2

[0047] This embodiment provides an automated anchor net laying equipment, including an automated anchor drill equipped with a machine vision system and the net laying assembly described in Embodiment 1; in the net laying assembly, the second end of the mesh frame telescopic arm 6 is connected to the automated anchor drill, and the limit sleeve 7 is coated with a color for being recognized by the machine vision system. The limit sleeve 7 uses a color system with a large contrast difference with the color of the steel belt 2, such as bright red, fluorescent color, black, etc., to facilitate the machine vision system to recognize and realize the automatic positioning of the steel belt hole.

[0048] The working process of the above-mentioned automatic laying and anchoring net equipment is as follows.

[0049] 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.

[0050] 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.

[0051] 3) The grid 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 3 to ensure that the steel belt 2 is basically in the middle of the grid 3.

[0052] 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.

[0053] 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 whole machine 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.

[0054] 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.

[0055] 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.

[0056] 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 repeats steps 3 to 7.

[0057] 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.

[0058] 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. A mesh laying assembly, comprising a steel belt and a diamond-shaped metal mesh laid on the steel belt, wherein the diamond-shaped holes are aligned with the holes of the steel belt, and the holes of the steel belt are long waist holes; characterized in that: The diamond metal mesh and the steel belt are connected by a limiting sleeve; The limiting sleeve is made of non-metallic brittle material and includes an annular limiting end plate, a cylinder and a limiting 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 web laying assembly according to claim 1, characterized in that: The limiting part is an inverted wedge-shaped block fixed outside the cylinder.

3. The web laying assembly according to claim 1, 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 web laying assembly according to any one of claims 1 to 3, characterized in that: Also includes mesh racks; A plurality of steel belts are detachably fixed on the grid frame, a diamond-shaped metal mesh is installed on each steel belt through a limiting sleeve, and two adjacent diamond-shaped metal meshes are overlapped up and down and tied by binding wires.

5. The web laying assembly according to claim 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 web laying assembly according to claim 5, characterized in that: The bottom surface of the middle frame is provided with a fixed seat, and the bottom surface of the fixed seat is provided with a rotating seat; The net laying assembly also includes a telescopic arm of the net frame, and the first end of the telescopic arm of the net frame is connected to the rotating seat.

7. The web laying assembly according to claim 6, 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.

8. The web laying assembly according to claim 7, characterized in that: Strong magnets are provided on the middle frame and the side frames.

9. An automated anchor net laying device, comprising an automated anchor drilling machine equipped with a machine vision system, characterized in that: Also includes the web laying assembly according to any one of claims 6 to 8; In the mesh laying assembly, the second end of the mesh frame telescopic arm is connected to the automated anchor drilling rig, and the limit sleeve is painted with a color for being recognized by the machine vision system.

10. The automatic anchoring net laying equipment according to claim 9, characterized in that: The machine vision system includes a camera and an image recognition unit. The camera is used to transmit the image of the limit sleeve with a regular shape to the image recognition unit. The image recognition unit is used to compare and analyze the image with the samples previously learned by the machine, accurately identify the geometric center of the limit sleeve hole, and transmit the spatial coordinates of the geometric center of the limit sleeve hole to the control system of the whole machine.

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