Support system, heading machine and heading and support operation method

Abstract

The application discloses an on-board support system, a heading machine and a heading and supporting operation method. The transport track is suitable for being installed on the heading machine and is movable along the heading machine from the front end to the rear end. The track vehicle is arranged on the transport track and is movable along the extension direction of the transport track. The net laying device is arranged on the track vehicle and is suitable for laying an anchor net to the roadway sidewall. The drilling machine device is arranged on the track vehicle and is suitable for driving an anchor rod to the laid anchor net to fix the anchor net. The anchor rod rack and the rod taking device are both arranged on the track vehicle. The anchor rod rack is suitable for storing a plurality of anchor rods. The rod taking device is suitable for grabbing the anchor rod from the anchor rod rack and installing the anchor rod on the drilling machine device. The on-board support system, the heading machine and the heading and supporting operation method of the embodiment of the application can realize the automatic and continuous operation of the heading, the net laying and the anchor rod driving in the roadway heading process through the cooperation with the heading machine, reduce the manual labor intensity, and have the characteristics of high heading efficiency and good safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunneling support, in particular to a tunneling machine on-board automatic support system, a tunneling machine applying the support system and a tunneling support operation method. BACKGROUND

[0002] Support is an indispensable process for underground tunneling working face. Tunneling face support mainly realizes the stability of underground development roadway surrounding rock and ensures the safety of underground workers by laying metal nets and driving anchor rods. With the development of integrated and integrated underground comprehensive tunneling equipment, more and more integrated tunneling and anchoring machines are applied to integrate temporary support on the tunneling machine to realize integration.

[0003] In the related art, tunneling, net laying and anchor rod driving operations are relatively separated, still need a lot of manual participation, cannot realize automatic continuous operation of tunneling and support, have certain safety hazards, are inconvenient to operate, and seriously affect the safe, efficient and intelligent production of coal mines. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art to some extent.

[0005] To this end, the present application provides a tunneling machine on-board support system capable of realizing continuous operation of tunneling, net laying and anchor rod driving.

[0006] The present application also provides a tunneling machine applying the above support system.

[0007] The present application also provides a tunneling support operation method applying the above tunneling machine.

[0008] The on-board support system of the present application comprises a transportation track, a track car, a net laying device, a drilling device, an anchor rod rack and a rod taking device. The transportation track is adapted to be installed on the tunneling machine, and the transportation track is movable along the direction of the tunneling machine from the front end to the rear end. The track car is arranged on the transportation track, and the track car is movable along the extension direction of the transportation track. The extension direction of the transportation track is consistent with the direction of the tunneling machine from the front end to the rear end. The net laying device is arranged on the track car, and the net laying device is adapted to lay anchor net to the roadway side wall. The drilling device is arranged on the track car, and the drilling device is adapted to drive anchor rods into the laid anchor net to fix the anchor net. The anchor rod rack and the rod taking device are both arranged on the track car, and the rod taking device is arranged between the anchor rod rack and the drilling device. The anchor rod rack is adapted to store a plurality of anchor rods, and the rod taking device is adapted to grab anchor rods from the anchor rod rack and install them on the drilling device.

[0009] The on-board support system of the embodiment of the present application can realize automatic and continuous operation of tunneling, net laying and anchor rod driving in the tunneling process through cooperation with the tunneling machine, thereby reducing labor intensity and having the characteristics of high tunneling efficiency and good safety.

[0010] In some embodiments, the net laying device comprises a net roll bin and a roll grabbing assembly, the net roll bin and the roll grabbing assembly are both arranged on the track vehicle, the net roll bin is adapted to store anchor net rolls, and the roll grabbing assembly is adapted to grab anchor net rolls from the net roll bin and transfer the anchor net rolls to the roadway sidewall.

[0011] In some embodiments, the roll grabbing assembly comprises a rotating table, a first arm, a second arm, a first oil cylinder, a second oil cylinder and a roll grabbing hand, the rotating table is arranged on the track vehicle and is rotatable and liftable relative to the track vehicle, the first arm is arranged between the second arm and the rotating table and is rotatable relative to the second arm and the rotating table, the second arm is telescopic and has a telescopic end, two ends of the first oil cylinder are rotatably connected to the rotating table and the first arm respectively to drive the first arm to perform pitching motion relative to the rotating table, two ends of the second oil cylinder are rotatably connected to the first arm and the second arm respectively to drive the second arm to perform pitching motion relative to the first arm, and the roll grabbing hand is arranged at the telescopic end and is adapted to grab the anchor net roll.

[0012] In some embodiments, the roll grabbing assembly further comprises a first base, a first drive and a second drive, the first base is arranged on the track vehicle, the rotating table is movably arranged on the first base and is rotatable and liftable relative to the first base, the first drive is adapted to drive the rotating table to lift, and the second drive is adapted to drive the rotating table to rotate.

[0013] In some embodiments, the drilling machine device comprises a third arm, a fourth arm, a fifth arm, a third oil cylinder, a drill stand, a drilling machine, a third drive and a fourth drive, the third arm is arranged on the track vehicle, the fourth arm has a first end and a second end, the fifth arm has a third end and a fourth end, the first end is rotatably connected to the third arm, the second end is rotatably connected to the third end, two ends of the third oil cylinder are rotatably connected to the third arm and the fourth arm respectively to drive the fourth arm to perform pitching motion relative to the third arm, the drill stand is rotatably connected to the fourth end, the drilling machine is arranged on the drill stand and is slidable along the extension direction of the drill stand, the drilling machine is adapted to mount an anchor rod to drive the anchor rod into the roadway sidewall on which the anchor net is laid, the third drive is arranged at the connection between the second end and the third end to drive the fifth arm to rotate, and the fourth drive is arranged at the connection between the fourth end and the drill stand to drive the drill stand to rotate.

[0014] In some embodiments, the anchor rod rack comprises a mounting rack, a plurality of trays, a fifth drive, a plurality of sixth drives and a plurality of dividing discs, the mounting rack is rotatably arranged on the rail car, the trays are rotatably arranged on the mounting rack, and a plurality of the trays are distributed along the circumference of the mounting rack, the trays are adapted to place a plurality of anchor rods thereon, and a plurality of the anchor rods are distributed along the circumference of the trays, the fifth drive is adapted to drive the mounting rack to rotate relative to the rail car, a plurality of the sixth drives correspond to a plurality of the trays one-to-one, the sixth drives are adapted to drive the corresponding trays to rotate relative to the mounting rack, a plurality of the dividing discs are arranged above a plurality of the trays one-to-one, and the corresponding dividing discs and the trays can rotate synchronously, the dividing discs are provided with a plurality of clamping grooves, and the anchor rods on the trays are adapted to be fitted in the clamping grooves one-to-one, and the clamping grooves are adapted to support and guide the anchor rods.

[0015] In some embodiments, the anchor rod taking device comprises a lifting rotary seat, a supporting rod and a grabbing hand, the lifting rotary seat is arranged on the rail car, the supporting rod is arranged on the lifting rotary seat, the lifting rotary seat is adapted to drive the supporting rod to lift and rotate relative to the rail car, and the grabbing hand is arranged on the supporting rod and is adapted to grab the anchor rods.

[0016] The tunneling machine of the embodiments of the present application comprises the airborne support system of any of the above embodiments.

[0017] In some embodiments, the tunneling machine further comprises a frame, a traveling device, a cutting part, a rotating device, a fourth oil cylinder, a fifth oil cylinder, a loading device, a conveying device, a rear support device, a dust removal device and a control device, the traveling device is arranged at the lower part of the frame, the traveling device provides the tunneling machine with traveling, the cutting part is arranged at the front end of the frame, the cutting part is connected with the frame through the rotating device to rotate in the left-right direction, the cutting part can swing up and down relative to the rotating device, the cutting part is suitable for tunneling, the fourth oil cylinder is arranged between the frame and the rotating device, the fourth oil cylinder is suitable for driving the cutting part to swing in the left-right direction, the fifth oil cylinder is arranged between the rotating device and the cutting part, the fifth oil cylinder is suitable for driving the cutting part to swing up and down, the loading device is connected with the front end of the frame and located below the cutting part, the loading device is suitable for loading the coal and rock cut by the cutting part, the conveying device penetrates through the front end to the rear end of the frame, the front end of the conveying device is connected with the loading device to convey the coal and rock in the loading device, the rear support device is arranged at the lower part of the rear side of the frame, the rear support device is suitable for stabilizing the tunneling machine during working, the dust removal device is arranged on the frame, the dust removal device is suitable for dust treatment during working of the tunneling machine, and the control device is arranged on the frame, the control device is suitable for controlling the operation of the tunneling machine.

[0018] The tunneling and supporting operation method based on the tunneling machine in the embodiment of the application comprises the following steps:

[0019] The conveying track is arranged at the rear end of the tunneling machine, the track car is arranged at the rear end of the conveying track, and the loading device and the rear support device are controlled to contact the roadway floor respectively;

[0020] The loading device and the conveying device are started respectively, then the cutting part is controlled to cut the roadway until the required section is cut, and then the cutting part, the loading device and the conveying device are closed in sequence;

[0021] The conveying track is controlled to move to the front end of the tunneling machine, and the track car is controlled to move to the front end of the conveying track;

[0022] The netting device is controlled to grab the anchor net roll from the net roll warehouse and place it at the roadway side wall where the anchor net is required to be laid;

[0023] The rod taking device is controlled to grab the first anchor rod from the anchor rod rack and install it on the drilling machine device, then the drilling machine device is controlled to drive the first anchor rod into the free end of the anchor net roll;

[0024] controlling the net-laying device to deploy the anchor net roll, and respectively controlling the anchor rod rack, the rod-taking device and the drilling device to sequentially drive a plurality of anchor rods into the anchor net roll deployed by the net-laying device until the laying and fixing of the anchor net roll are completed;

[0025] after the anchor net roll supporting operation is completed, respectively controlling the loading device and the rear supporting device to be lifted up, and controlling the tunneling machine to move forward;

[0026] repeating the above steps to complete the tunneling and supporting of the roadway. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a structural schematic view of the tunneling machine in the embodiment of the present application.

[0028] Figure 2 is a structural schematic view of the track vehicle in the embodiment of the present application.

[0029] Figure 3 is a structural schematic view of the installation of the net-laying device, the drilling device, the anchor rod rack and the rod-taking device in the embodiment of the present application.

[0030] Figure 4 is a structural schematic view of the roll-grasping assembly in the embodiment of the present application.

[0031] Figure 5 is a structural schematic view of the anchor rod rack in the embodiment of the present application.

[0032] Figure 6 is a sectional structural schematic view of the anchor rod rack in the embodiment of the present application.

[0033] Figure 7 is a structural schematic view of the net-laying device and the drilling device in the embodiment of the present application.

[0034] REFERENCE SIGNS:

[0035] transportation track 1; sliding supporting assembly 11; rolling supporting assembly 12;

[0036] track vehicle 2; vehicle frame 21; wheel set 22; supporting platform 23;

[0037] net-laying device 3; net roll bin 31; anchor net roll 311; roll-grasping assembly 32; turret 321; first base 322; bottom plate 3221; first drive 323; second drive 3241; first gear 3242; gear ring 3243; first arm 325; second arm 326; first oil cylinder 327; second oil cylinder 328; roll-grasping hand 329; net roll rack 33;

[0038] drilling device 4; third arm 41; fourth arm 42; fifth arm 43; third oil cylinder 44; drilling frame 45; guide plate 451; drilling machine 46;

[0039] Anchor rod rack 5; mounting rack 51; tray 52; fifth drive 531; second gear 532; third gear 533; rotating shaft 534; sixth drive 54; split disc 55; anchor rod 56; pressing plate 561; second base 57; longitudinal rod 58;

[0040] Rod taking device 6; lifting rotary seat 61; support rod 62; rod grabbing hand 63;

[0041] Frame 71; walking device 72; cutting part 73; rotating device 74; loading device 75; transporting device 76; rear support device 77; dust removal device 78; control device 79. DETAILED DESCRIPTION

[0042] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0043] As Figures 1-7 shown, the on-board support system of the embodiment of the present application comprises a transport track 1, a track vehicle 2, a net laying device 3, a drilling device 4, an anchor rod rack 5 and a rod taking device 6, the transport track 1 is adapted to be mounted on a heading machine, and the transport track 1 is movable along the heading machine from the front end to the rear end.

[0044] Specifically, the transport track 1 can be connected with the frame 71 of the heading machine through a sliding support assembly 11 and a rolling support assembly 12, so that the transport track 1 can slide along the front-rear direction of the heading machine, wherein the sliding support assembly 11 can include two guide blocks which can be symmetrically movably clamped at the left and right sides of the transport track 1, and the guide blocks can be fixedly connected with the frame 71 of the heading machine by means of bolt connection, when the transport track 1 slides along the front-rear direction on the upper part of the frame 71 of the heading machine, the guide blocks can play a positioning guiding role for the transport track 1, so as to avoid deviation of the transport track 1 when sliding.

[0045] The rolling support assembly 12 can include two rollers which can be rotatably installed on the upper part of the frame 71 of the heading machine and distributed at the left and right sides of the lower part of the transport track 1, and the rolling support assembly 12 can make the sliding effect of the transport track 1 relative to the frame 71 of the heading machine better.

[0046] It can be understood that the transport track 1 can be connected with the frame 71 of the heading machine through a plurality of sliding support assemblies 11 and a plurality of rolling support assemblies 12, for example, the number of the sliding support assemblies 11 and the rolling support assemblies 12 can be 2 groups, 3 groups, 4 groups, etc.

[0047] In addition, the rack 71 of the heading machine is further provided with a driving device for driving the transportation track 1 to move along the rack 71 of the heading machine. The driving device can adopt a structure in which a motor drives a threaded rod to rotate, so as to achieve the movement of the transportation track 1 along the rack 71 of the heading machine in a threaded transmission manner. Alternatively, the driving device can adopt a hydraulic cylinder to drive the transportation track 1.

[0048] The track vehicle 2 is arranged on the transportation track 1 and is movable along the extension direction of the transportation track 1, which is consistent with the direction from the front end to the rear end of the heading machine.

[0049] Specifically, as shown in Figure 1 and Figure 2 , the track vehicle 2 can include a vehicle frame 21, a wheel set 22, and a support platform 23. The wheel set 22 can be symmetrically arranged on the left and right sides of the vehicle frame 21, and the left and right sides of the transportation track 1 are provided with tracks matched with the wheel set 22. A motor for driving the wheel set 22 to rotate can be further arranged on the vehicle frame 21. When the motor operates, the track vehicle 2 can move along the front-rear direction on the transportation track 1.

[0050] The support platform 23 can be horizontally arranged on the upper portion of the vehicle frame 21 and include a hydraulic lifting assembly for driving the support platform 23 to lift, so as to control the net laying device 3, the drilling device 4, the anchor rod rack 5, and the rod taking device 6 to lift, facilitating adaptive adjustment according to the height of the roadway side wall when laying the net and driving the anchor rod 56.

[0051] The net laying device 3 is arranged on the track vehicle 2 and is adapted to lay the anchor net on the roadway side wall. The drilling device 4 is arranged on the track vehicle 2 and is adapted to drive the anchor rod 56 into the laid anchor net to fix the anchor net. The anchor rod rack 5 and the rod taking device 6 are both arranged on the track vehicle 2. The rod taking device 6 is arranged between the anchor rod rack 5 and the drilling device 4. The anchor rod rack 5 is adapted to store a plurality of anchor rods 56. The rod taking device 6 is adapted to grab the anchor rod 56 from the anchor rod rack 5 and install it on the drilling device 4.

[0052] Specifically, as shown in Figure 1 and Figure 3 , the net laying device 3 can be arranged at the front end of the support platform 23. During work, the net laying device 3 can lay the anchor net on the two side walls and the top wall of the roadway. The drilling device 4 can be arranged on the rear side of the net laying device 3 on the support platform 23. During work, the drilling device 4 can drive the anchor rod 56 into the roadway side wall where the anchor net is laid, so as to fix the anchor net. The anchor rod rack 5 can be arranged at the rear end of the support platform 23. Before work, a plurality of anchor rods 56 can be pre-stored on the anchor rod rack 5. The rod taking device 6 can be arranged between the drilling device 4 and the anchor rod rack 5 on the support platform 23. The rod taking device 6 can automatically grab the anchor rod 56 on the anchor rod rack 5 and install it on the drilling device 4, so as to facilitate the driving of the anchor rod 56.

[0053] The on-board support system of the embodiment of the present application can realize automatic and continuous operation of tunneling, net laying and anchor rod 56 driving in the process of roadway tunneling by cooperating with the tunneling machine, thereby reducing the labor intensity and having the characteristics of high tunneling efficiency and good safety, and can realize continuous operation of unmanned tunneling, net laying and anchor rod 56 driving at the tunneling working face by cooperating with intelligent remote control operation.

[0054] In some embodiments, the net laying device 3 comprises a net roll bin 31 and a roll grabbing assembly 32, both of which are arranged on the rail car 2. The net roll bin 31 is adapted to store anchor net rolls 311, and the roll grabbing assembly 32 is adapted to grab the anchor net rolls 311 from the net roll bin 31 and transfer them to the sidewall of the roadway.

[0055] Specifically, as shown in Figure 1 and Figure 3 , the net laying device 3 further comprises a net roll rack 33, which can be fixedly installed on the upper portion of the support platform 23. The net roll bin 31 can be fixedly installed at the front end of the upper portion of the net roll rack 33. A plurality of neatly arranged anchor net rolls 311 can be stored in the net roll bin 31. The anchor net roll 311 can include a central shaft and an anchor net, and the anchor net is wound around the central shaft. The two ends of the central shaft can protrude from the wound anchor net. The roll grabbing assembly 32 can be fixedly installed on the rear side of the net roll bin 31 of the net roll rack 33. The roll grabbing assembly 32 can grab the two ends of the central shaft of the anchor net roll 311 located in the net roll bin 31 and transfer the anchor net roll 311 to the sidewall or top wall of the roadway.

[0056] In some embodiments, the roll grabbing assembly 32 comprises a turntable 321, a first base 322, a first drive 323 and a second drive 3241. The first base 322 is arranged on the rail car 2. The turntable 321 is movably coupled to the first base 322, and the turntable 321 can rotate and slide up and down relative to the first base 322. The first drive 323 is adapted to drive the turntable 321 to lift and lower. The second drive 3241 is adapted to drive the turntable 321 to rotate.

[0057] Specifically, as shown in Figure 3 and Figure 4 , the first base 322 can be fixedly installed on the upper portion of the support platform 23. The first base 322 has a first cavity therein. The lower portion of the turntable 321 can be movably coupled to the first cavity. The first drive 323 can be arranged in the first cavity, and the first drive 323 can be a vertically arranged hydraulic cylinder. The bottom end of the first drive 323 can be fixedly connected to the first base 322, and the top end can be rotatably connected to the turntable 321. The first drive 323 can be controlled to extend and retract, thereby adjusting the height of the turntable 321.

[0058] The first cavity in the first base 322 can also be provided with a bottom plate 3221, the bottom plate 3221 can be movably sleeved on the outer circumferential side of the first drive 323, the bottom plate 3221 can slide in the up-down direction relative to the first base 322, and the bottom plate 3221 cannot rotate relative to the first base 322, the turntable 321 and the bottom plate 3221 can be horizontally rotatably connected, the second drive 3241 can be fixedly installed on the upper portion of the bottom plate 3221, the second drive 3241 can be a motor, a first gear 3242 can be fixedly installed at the output end of the second drive 3241, and a gear ring 3243 that can be in meshing transmission with the first gear 3242 can be installed on the inner wall of the turntable 321, when the second drive 3241 operates, the turntable 321 can be driven to rotate relative to the first base 322.

[0059] The structures of the first drive 323 and the second drive 3241 can adjust the height and the horizontal rotation angle of the turntable 321, which is convenient for grabbing and laying the anchor net roll 311. The first drive 323 and the second drive 3241 are arranged in the first cavity of the first base 322, and the turntable 321 covers the upper portion of the first base 322, so that the first cavity in the first base 322 is relatively sealed, and the influence of dust and the like on the first drive 323 and the second drive 3241 can be avoided as much as possible during work.

[0060] In some embodiments, the roll grabbing assembly 32 further comprises a first arm 325, a second arm 326, a first oil cylinder 327, a second oil cylinder 328 and a roll grabbing hand 329. The first arm 325 is arranged between the second arm 326 and the turntable 321, and the first arm 325 is rotatably connected with the second arm 326 and the turntable 321 respectively. The second arm 326 is telescopic and has a telescopic end. The two ends of the first oil cylinder 327 are rotatably connected with the turntable 321 and the first arm 325 respectively, so as to drive the first arm 325 to perform pitching motion relative to the turntable 321. The two ends of the second oil cylinder 328 are rotatably connected with the first arm 325 and the second arm 326 respectively, so as to drive the second arm 326 to perform pitching motion relative to the first arm 325. The roll grabbing hand 329 is arranged at the telescopic end, and the roll grabbing hand 329 is adapted to grab the anchor net roll 311.

[0061] Specifically, as shown in Figure 3 and Figure 4 the lower end of the first arm 325 can be hinged to the turntable 321, the upper end of the first arm 325 can be hinged to the second wall, the upper end and the lower end of the first oil cylinder 327 can be hinged to the first arm 325 and the turntable 321 respectively, when the first oil cylinder 327 is controlled to extend or retract, the first arm 325 can be driven to perform pitching motion relative to the turntable 321, the upper end and the lower end of the second oil cylinder 328 can be hinged to the second wall and the first arm 325 respectively, when the second oil cylinder 328 is controlled to extend or retract, the second arm 326 can be driven to perform pitching motion relative to the first arm 325.

[0062] The second arm 326 can realize its telescopic function in the way of hydraulic or electric push rod, the grabbing hand 329 can be connected at the telescopic end of the second arm 326 through the connecting head, and the two ends of the connecting head can be respectively hinged with the grabbing hand 329 and the second arm 326, so that the grabbing hand 329 can swing in the plane formed by the second arm 326 and the grabbing hand 329, so that when the grabbing hand 329 grabs the anchor net roll 311 and transfers to the sidewall of the roadway, the grabbing hand 329 can be adaptively adjusted according to the actual situation of the sidewall, and the laying effect of the anchor net can be improved.

[0063] The grabbing hand 329 can include a grabbing frame, which can be a U-shaped structure, and pneumatic fingers can be arranged at both ends of the grabbing frame to clamp and fix the two ends of the central shaft in the anchor net roll 311, so as to complete the grabbing work of the anchor net roll 311.

[0064] The second arm 326 can include a first section and a second section, the telescopic end of the second wall is located at one end of the first section, the other end of the first section can be movably fitted in the second section, and the cross section of the first section and the cross section of the inner chamber of the second section are both square structures. When the driving part in the second arm 326 drives the first section to telescope, the relative rotation between the first section and the second section can be avoided.

[0065] During the process of the anchor net, the height of the rotating table 321 can be adjusted by selectively controlling the first drive 323 to telescope, the angle of the rotating table 321 can be adjusted by controlling the second drive 3241 to operate, the angle of the first arm 325 relative to the rotating table 321 can be adjusted by controlling the first oil cylinder 327 to telescope, the angle of the second arm 326 relative to the first arm 325 can be adjusted by controlling the second oil cylinder 328 to telescope, the length of the grabbing hand 329 extending out can be adjusted by controlling the second arm 326 to telescope, and the anchor net roll 311 in the net roll warehouse 31 can be transferred to the sidewall of the roadway by controlling the grabbing hand 329 to work.

[0066] In some embodiments, the drilling device 4 comprises a third arm 41, a fourth arm 42, a fifth arm 43, a third oil cylinder 44, a drilling frame 45, a drilling machine 46, a third drive and a fourth drive, the third arm 41 is arranged on the rail car 2, the fourth arm 42 has a first end and a second end, the fifth arm 43 has a third end and a fourth end, the first end is rotatably connected with the third arm 41, the second end and the third end are rotatably connected, two ends of the third oil cylinder 44 are rotatably connected with the third arm 41 and the fourth arm 42 respectively, so as to drive the fourth arm 42 to perform pitching motion relative to the third arm 41, the drilling frame 45 is rotatably connected with the fourth end, the drilling machine 46 is arranged on the drilling frame 45 and can slide along the extension direction of the drilling frame 45, the anchor rod 56 is arranged on the drilling machine 46, so as to drive the anchor rod 56 to be punched into the roadway sidewall on which the anchor net is laid, the third drive is arranged at the connection between the second end and the third end, so as to drive the fifth arm 43 to rotate, and the fourth drive is arranged at the connection between the fourth end and the drilling frame 45, so as to drive the drilling frame 45 to rotate.

[0067] Specifically, as shown in Figure 1 and Figure 3 , the third arm 41 can be arranged horizontally in front and back, the front end of the third arm 41 can be fixedly installed on the rear side of the net winding frame 33 through a flange structure, when the third oil cylinder 44 is controlled to extend and retract, the fourth arm 42 can be driven to swing in the front and back directions, the third drive and the fourth drive can both be rotary motors, when the third drive is controlled to operate, the fifth arm 43 can be driven to swing in the left and right directions, and when the fourth drive is controlled to operate, the drilling frame 45 can be driven to swing in the left and right directions.

[0068] The drilling machine 46 is slidably connected with the drilling frame 45, and a driving device is further arranged on the drilling machine 46, which can drive the drilling machine 46 to slide along the extension direction of the drilling frame 45 when working, the anchor rod 56 can be arranged on the drilling machine 46, and a guide plate 451 can be further arranged on the drilling frame 45, which can be arranged at the end of the drilling frame 45 away from the drilling machine 46, a clamping hole is arranged on the guide plate 451, which can be used for the anchor rod 56 to pass through, so that when the drilling machine 46 moves along the drilling frame 45 and the anchor rod 56 is punched into the roadway sidewall, the guide plate 451 can play a role of positioning and guiding the anchor rod 56, so that the stability when the anchor rod 56 is punched is better, and the effect and efficiency when the anchor rod 56 is punched are improved.

[0069] In the process of driving the anchor rod 56, the swing angle of the fourth arm 42 in the front-rear direction can be adjusted by selectively controlling the extension and retraction of the third oil cylinder 44, the rotation angle of the fifth arm 43 in the left-right direction can be adjusted by controlling the third driving operation, the rotation angle of the drilling frame 45 in the left-right direction can be adjusted by controlling the fourth driving operation, and the drilling machine 46 can be driven to move along the extension direction of the drilling frame 45 by controlling the driving device on the drilling frame 45, and the drilling machine 46 can be operated, that is, the anchor rod 56 mounted on the drilling machine 46 can be driven into the anchor net on the sidewall or the top wall of the roadway.

[0070] In some embodiments, the anchor rod rack 5 comprises a mounting rack 51, a plurality of trays 52, a fifth driving device 531, a plurality of sixth driving devices 54, and a plurality of split discs 55. The mounting rack 51 is rotatably arranged on the rail car 2. The trays 52 are rotatably arranged on the mounting rack 51 and are spaced apart along the circumference of the mounting rack 51. The trays 52 are adapted to accommodate a plurality of anchor rods 56, which are spaced apart along the circumference of the trays 52. The fifth driving device 531 is adapted to drive the mounting rack 51 to rotate relative to the rail car 2. The sixth driving devices 54 correspond to the trays 52 one-to-one. The sixth driving devices 54 are adapted to drive the corresponding trays 52 to rotate relative to the mounting rack 51. The split discs 55 are arranged above the trays 52 one-to-one and can synchronously rotate with the corresponding split discs 55 and trays 52. The split discs 55 are provided with a plurality of clamping grooves, and the anchor rods 56 on the trays 52 are adapted to be fitted in the clamping grooves one-to-one. The clamping grooves are adapted to support and guide the anchor rods 56.

[0071] Specifically, as shown in Figure 3 、 Figure 5 and Figure 6 , a second base 57 is fixedly installed at the rear end of the upper part of the support platform 23. The second base 57 can have a second cavity therein. The lower end of the rotating shaft 534 can extend into the second cavity from the upper part of the second base 57 and be rotatably connected to the bottom surface of the second cavity. The upper part of the second base 57 can be rotatably connected to the rotating shaft 534. The mounting rack 51 arranged above the second base 57 can surround the outer circumferential side of the rotating shaft 534 and be fixedly connected to the rotating shaft 534.

[0072] The fifth driving device 531 can be an electric motor. A second gear 532 can be fixedly installed at the output end of the electric motor. A third gear 533 can be fixedly installed around the rotating shaft 534. The second gear 532 and the third gear 533 are meshingly and drivingly connected. When the fifth driving device 531 is controlled to operate, the rotating shaft 534 can be driven to rotate, and in turn, the mounting rack 51 can be driven to rotate relative to the support platform 23.

[0073] The tray 52 can be provided with a plurality of insertion holes which are uniformly distributed around the outer circumferential side of the longitudinal rod 58, and the anchor rods 56 can be inserted into the insertion holes to store the anchor rods 56, wherein the lower part of the anchor rod 56 can be fixedly provided with a pressing plate 561 which is arranged around the outer circumferential side of the anchor rod 56, and when the anchor rod 56 is inserted into the insertion hole, the tray 52 can abut against the pressing plate 561, and when the anchor rod 56 is driven into the sidewall of the roadway, the pressing plate 561 can press the anchor net.

[0074] A plurality of longitudinal rods 58 can be arranged on the upper part of the mounting frame 51, and the longitudinal rods 58 can be uniformly distributed around the mounting frame 51 and fixedly arranged on the upper part of the tray 52 one by one, the plurality of split discs 55 can be fixedly connected to the plurality of longitudinal rods 58 one by one, and the sixth drive 54 can include a motor, the sixth drive 54 can be arranged on the lower part of the tray 52, and the output end of the sixth drive 54 can be connected to the tray 52, and when the sixth drive 54 is operated, the tray 52, the longitudinal rod 58 and the split disc 55 can be driven to rotate synchronously.

[0075] For example, the mounting frame 51 can be provided with 10 trays 52, and the sixth drive 54, the longitudinal rod 58 and the split disc 55 can also be 10 in number, and the number of anchor rods 56 arranged on each tray 52 can be 6, and the number of insertion holes on the tray 52 and the number of clamping grooves on the split disc 55 can also be 6.

[0076] Taking the mounting frame 51 provided with 10 trays 52 and each tray 52 provided with 6 anchor rods 56 as an example, when the anchor rods 56 are grabbed, after the rod taking device 6 completes the grabbing of an anchor rod 56 on one of the trays 52, the sixth drive 54 arranged on the tray 52 can be controlled to operate, and the tray 52 can be driven to rotate by 60 degrees, that is, the rod taking device 6 can be controlled to complete the grabbing of the adjacent anchor rod 56, and the above steps can be repeated to complete the grabbing of the 6 anchor rods 56 on the tray 52, and then the fifth drive 531 can be controlled to operate, and the mounting frame 51 can be driven to rotate by 36 degrees, that is, the anchor rods 56 on the adjacent tray 52 can be grabbed, and after all the anchor rods 56 on the mounting frame 51 are grabbed, the anchor rods 56 can be stored on the mounting frame 51 again.

[0077] In some embodiments, the rod taking device 6 includes a lifting and rotating seat 61, a support rod 62 and a grabbing hand 63, the lifting and rotating seat 61 is arranged on the track vehicle 2, the support rod 62 is arranged on the lifting and rotating seat 61, the lifting and rotating seat 61 is adapted to drive the support rod 62 to lift and rotate relative to the track vehicle 2, and the grabbing hand 63 is arranged on the support rod 62 and is adapted to grab the anchor rod 56.

[0078] Specifically, as shown in Figure 3 and Figure 5As shown, the lifting-rotating seat 61 can be installed on the upper portion of the support platform 23, the grab hands 63 can include two, and the two grab hands 63 can be installed on the support rod 62 in the up-down extending direction of the support rod 62, and the grab hands 63 can adopt a pneumatic finger structure to grab the anchor rod 56.

[0079] In the process of installing the anchor rod 56 on the drilling machine 46, first, the lifting-rotating seat 61 can be controlled to drive the support rod 62 to rotate until the grab hands 63 are directed to one side of the anchor rod rack 5, the grab hands 63 are controlled to clamp the anchor rod 56 on the anchor rod rack 5, then the lifting-rotating seat 61 is controlled to drive the support rod 62 to rise until the anchor rod 56 clamped by the grab hands 63 is separated from the tray 52 insertion hole, then the lifting-rotating seat 61 is controlled to drive the support rod 62 and the grab hands 63 to rotate towards the drilling machine 46, after the lower end of the anchor rod 56 is located directly above the drilling machine 46 insertion hole, the lifting-rotating seat 61 is controlled to drive the anchor rod 56 to descend, and the installation of the anchor rod 56 on the drilling machine 46 is completed.

[0080] The tunneling machine of the embodiment of the present application is described below.

[0081] The tunneling machine of the embodiment of the present application can be the airborne support system described in the above embodiment.

[0082] In some embodiments, the tunneling machine further comprises a frame 71, a traveling device 72, a cutting part 73, a rotating device 74, a fourth oil cylinder, a fifth oil cylinder, a loading device 75, a conveying device 76, a rear support device 77, a dust removal device 78 and a control device 79.

[0083] The traveling device 72 is arranged at the lower portion of the frame 71, and the traveling device 72 provides the tunneling machine with traveling, specifically, Figure 1 As shown, the traveling device 72 can adopt a caterpillar traveling structure and be distributed at the left and right sides of the lower portion of the frame 71, which can facilitate the traction of the tunneling machine to move and walk, and can make the tunneling machine have better stability when walking.

[0084] The cutting part 73 is arranged at the front end of the frame 71, the cutting part 73 is connected with the frame 71 through the rotating device 74 to rotate in the left-right direction, the cutting part 73 can swing up and down relative to the rotating device 74, the cutting part 73 is suitable for tunneling, the fourth oil cylinder is arranged between the frame 71 and the rotating device 74, the fourth oil cylinder is suitable for driving the cutting part 73 to swing in the left-right direction, the fifth oil cylinder is arranged between the rotating device 74 and the cutting part 73, the fifth oil cylinder is suitable for driving the cutting part 73 to swing up and down, the loading device 75 is connected with the front end of the frame 71 and is arranged below the cutting part 73, the loading device 75 is suitable for loading the coal and rock cut by the cutting part 73, the conveying device 76 penetrates through the front end to the rear end of the frame 71, the front end of the conveying device 76 is connected with the loading device 75 to convey the coal and rock in the loading device 75, the rear support device 77 is arranged at the lower part of the rear side of the frame 71, the rear support device 77 is suitable for realizing the stability when the tunneling machine works, the dust removal device 78 is arranged on the frame 71, the dust removal device 78 is suitable for dust treatment when the tunneling machine works, and the control device 79 is arranged on the frame 71, the control device 79 is suitable for controlling the operation of the tunneling machine.

[0085] Specifically, as shown in the figure, Figure 1 the rotating device 74 can be installed between the cutting part 73 and the front end of the frame 71, and the rotating device 74 can rotate horizontally relative to the frame 71, the cutting part 73 can be installed in a hinged manner at the front end of the rotating device 74, and the cutting part 73 can swing up and down relative to the rotating device 74, the two ends of the fourth oil cylinder can be hinged with the rotating device 74 and the frame 71 respectively, and controlling the extension and contraction of the fourth oil cylinder can drive the rotating device 74 to rotate, thereby driving the cutting part 73 to swing in the left-right direction relative to the frame 71, the two ends of the fifth oil cylinder can be hinged with the cutting part 73 and the rotating device 74 respectively, and controlling the extension and contraction of the fifth oil cylinder can drive the cutting part 73 to swing in the up-down direction relative to the frame 71, after starting the cutting part 73 to work, the cutting range of the tunnel working face can be expanded under the cooperation of the fourth oil cylinder and the fifth oil cylinder.

[0086] The dust removal device 78 can be arranged on the left and right sides of the frame 71 to improve the dust treatment effect during tunneling, the loading device 75 can be installed in a hinged manner at the front end of the frame 71, and a driving device for driving the loading device 75 to swing up and down is also arranged on the frame 71, and the control device 79 can be used to control the operation of the electrical, hydraulic and other components involved in the entire tunneling machine.

[0087] The tunneling machine of the embodiment of the present application can realize automatic and continuous operation of tunneling, net laying and anchor rod 56 driving during tunneling, reduces the labor intensity, has the characteristics of high tunneling efficiency and good safety, and can realize the continuous operation of unmanned tunneling, net laying and anchor rod 56 driving of the tunnel working face through cooperation with intelligent remote control operation.

[0088] The tunneling and supporting operation method based on the tunneling machine according to the embodiment of the present application is described as follows.

[0089] The tunneling and supporting operation method based on the tunneling machine according to the embodiment of the present application comprises the following steps:

[0090] S1: Firstly, a certain amount of anchor net rolls 311 can be stored in the net roll warehouse 31 on the net roll rack 33, and a certain amount of anchor rods 56 can be loaded on the anchor rod rack 5, and the tunneling machine can be driven into the tunnel by the traveling device 72.

[0091] S2: The transport track 1 is placed at the rear end of the tunneling machine, the track car 2 is placed at the rear end of the transport track 1, and the loading device 75 and the rear support device 77 are respectively controlled to contact the tunnel floor 3221.

[0092] Specifically, before the cutting part 73 is controlled to start the tunneling, the transport track can be driven to move to the last end of the machine frame 71, and the track car 2 can be driven to move to the last end of the transport track 1, so as to avoid the influence of the track car 2 and the net laying device 3, the drilling device 4, the anchor rod rack 5, the rod taking device 6 and the like installed on the track car 2 on the operation of the cutting part 73.

[0093] The loading device 75 and the rear support device 77 are controlled to abut against the tunnel floor 3221, so as to improve the stability of the tunneling machine body during operation.

[0094] S3: The loading device 75 and the transport device 76 are started, then the cutting part 73 is controlled to cut the tunnel until the required cross section is obtained, and then the cutting part 73, the loading device 75 and the transport device 76 are closed in sequence.

[0095] Specifically, the loading device 75 and the transport device 76 are controlled to operate, then the cutting part 73 is controlled to operate, i.e. the tunnel working face is cut, in the process, the fourth oil cylinder and the fifth oil cylinder are respectively controlled to extend and retract, so as to swing the cutting part 73 in the up-down direction and the left-right direction, the cutting range is expanded, until the required cross section is obtained, the operation of the cutting part 73, the loading device 75 and the transport device 76 is closed in sequence, and the fifth oil cylinder is controlled to drive the cutting part 73 to swing downward to the lowest position.

[0096] S4: The transport track 1 is controlled to move to the front end of the tunneling machine, and the track car 2 is controlled to move to the front end of the transport track 1.

[0097] Specifically, the driving device is controlled to operate to drive the transport track 1 to move to the front end of the machine frame 71, and the track car 2 is driven to move to the front end of the transport track 1, so that the track car 2 is finally located at the head position of the tunneling machine.

[0098] S5: control the net laying device 3 to grab the anchor net roll 311 from the net roll warehouse 31 and place it at the roadway side wall where the anchor net is needed to be laid.

[0099] Specifically, according to the position of the roadway side wall where the anchor net is to be laid, the height of the rotating table 321 can be adjusted by controlling the first drive 323 to extend or retract, the horizontal angle of the rotating table 321 can be adjusted by controlling the second drive 3241 to rotate, the angle of the first arm 325 relative to the rotating table 321 can be adjusted by controlling the first oil cylinder 327 to extend or retract, the angle of the second arm 326 relative to the first arm 325 can be adjusted by controlling the second oil cylinder 328 to extend or retract, the length of the grab roll hand 329 can be adjusted by controlling the second arm 326 to extend or retract, and the anchor net roll 311 in the net roll warehouse 31 can be transferred to the roadway side wall by controlling the grab roll hand 329 to work.

[0100] S6: control the rod taking device 6 to grab the first anchor rod 56 from the anchor rod rack 5 and install it on the drilling device 4, and then control the drilling device 4 to drill the first anchor rod 56 into the free end of the anchor net roll 311.

[0101] Specifically, the grabbing process of the anchor rod 56: first, the support rod 62 can be driven by the lifting and rotating seat 61 to rotate until the grab rod hand 63 faces one side of the anchor rod rack 5, the anchor rod 56 on the anchor rod rack 5 can be clamped by the grab rod hand 63, then the support rod 62 can be lifted by the lifting and rotating seat 61 until the anchor rod 56 clamped by the grab rod hand 63 is separated from the insertion hole in the tray 52, then the support rod 62 and the grab rod hand 63 can be driven by the lifting and rotating seat 61 to rotate towards the drilling device 46, after the lower end of the anchor rod 56 is located directly above the insertion hole of the drilling device 46, the anchor rod 56 can be installed on the drilling device 46 by controlling the lifting and rotating seat 61 to drive the anchor rod 56 to descend.

[0102] The drilling process of the anchor rod 56: according to the position of the anchor net roll 311 where the anchor rod 56 is to be drilled, the swing angle of the fourth arm 42 in the front and back directions can be adjusted by controlling the third oil cylinder 44 to extend or retract, the rotation angle of the fifth arm 43 in the left and right directions can be adjusted by controlling the third drive to rotate, the rotation angle of the drilling stand 45 in the left and right directions can be adjusted by controlling the fourth drive to rotate, the drilling device 46 can be driven by the driving device on the drilling stand 45 to move along the extension direction of the drilling stand 45, and the drilling device 46 can be controlled to rotate, so that the anchor rod 56 installed on the drilling device 46 can be drilled into the side wall corresponding to the free end of the anchor net roll 311 transferred by the net laying device 3, and the pressing plate 561 provided on the anchor rod 56 can press the anchor net.

[0103] S7: control the net laying device 3 to unfold the anchor net roll 311, and control the anchor rod rack 5, the rod taking device 6 and the drilling device 4 respectively to drill a plurality of anchor rods 56 into the anchor net unfolded by the anchor net roll 311 in sequence, until the laying and fixing of the anchor net roll 311 are completed.

[0104] Specifically, after the free end of the anchor net roll 311 is fixed, the anchor net roll 311 can be unfolded along the sidewall under the cooperation of the first drive 323, the second drive 3241, the first oil cylinder 327, the second oil cylinder 328 and the second arm 326, and a plurality of anchor rods 56 can be sequentially driven into the unfolded anchor net under the cooperation of the anchor rod rack 5, the rod taking device 6 and the drilling device 4, until the laying and fixing of the anchor net roll 311 are completed.

[0105] The process in which the anchor rod rack 5 supplies the anchor rods 56 is as follows: after the rod taking device 6 completes the grabbing of an anchor rod 56 on one of the trays 52, the sixth drive 54 at the tray 52 can be controlled to operate, driving the tray 52 to rotate by a certain angle, i.e., the rod taking device 6 can be controlled to complete the grabbing of the adjacent anchor rod 56, and in this way, the grabbing of the plurality of anchor rods 56 on the tray 52 can be completed, then the fifth drive 531 can be controlled to operate, driving the mounting rack 51 to rotate by a certain angle, and the foregoing steps can be continued, i.e., the anchor rods 56 on the adjacent tray 52 can be grabbed, and after all the anchor rods 56 on the mounting rack 51 are grabbed, the anchor rods 56 can be re-stored on the mounting rack 51.

[0106] S8: After the anchor net roll 311 support operation is completed, the loading device 75 and the rear support device 77 are respectively controlled to be lifted, and the roadheader is controlled to move forward.

[0107] Specifically, steps S5 to S7 can be repeated according to the cross section of the roadway, and after the roadway in the cross section is laid with the anchor net and supported by the anchor rods 56, the loading device 75 and the rear support device 77 can be respectively controlled to be lifted, so as to be separated from the roadway floor 3221, and the traveling device 72 of the roadheader can be started to continue to drive the roadheader to move forward by a certain distance.

[0108] S9: The foregoing steps are repeated to complete the driving and supporting of the roadway. Specifically, steps S2 to S8 are repeated, so as to complete the driving and supporting of the roadway.

[0109] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms “center”, “longitudinal”, “transverse”, “length”, “width”, “thickness”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential” and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0110] In addition, the terms "first", "second", etc. are used only for the purpose of description and do not imply or imply relative importance or imply the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly defined.

[0111] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication or interaction of two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0112] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0113] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms is not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art can combine and combine different embodiments or features of different embodiments or examples described in the present application without contradiction.

[0114] Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and cannot be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. An in-situ support system, characterized in that, The application relates to a tunneling machine, comprising: a transport track adapted to be mounted on the tunneling machine and movable along the tunneling machine from a front end to a rear end; a track vehicle arranged on the transport track and movable along the extension direction of the transport track, which is consistent with the direction from the front end to the rear end of the tunneling machine; a net laying device arranged on the track vehicle and adapted to lay an anchor net on the sidewall of a tunnel; a drilling device arranged on the track vehicle and adapted to drill anchor rods into the laid anchor net to fix the anchor net; an anchor rod rack and a rod taking device, both arranged on the track vehicle, the rod taking device being arranged between the anchor rod rack and the drilling device, the anchor rod rack being adapted to store a plurality of anchor rods, and the rod taking device being adapted to grab an anchor rod from the anchor rod rack and mount it on the drilling device; the net laying device comprises a net roll bin and a roll grabbing assembly, both arranged on the track vehicle, the net roll bin being adapted to store anchor net rolls, and the roll grabbing assembly being adapted to grab an anchor net roll from the net roll bin and transfer it to the sidewall of the tunnel, the roll grabbing assembly comprising: a rotary table arranged on the track vehicle and being rotatable and liftable relative to the track vehicle; a first arm and a second arm, the first arm being arranged between the second arm and the rotary table and being rotatable relative to the second arm and the rotary table respectively, and the second arm being telescopic and having a telescopic end; a first oil cylinder, two ends of the first oil cylinder being rotatable relative to the rotary table and the first arm respectively, so as to drive the first arm to perform pitching movement relative to the rotary table; a second oil cylinder, two ends of the second oil cylinder being rotatable relative to the first arm and the second arm respectively, so as to drive the second arm to perform pitching movement relative to the first arm; a roll grabbing hand adapted to grab the anchor net roll, the roll grabbing hand being connected to the telescopic end of the second arm through a connecting head, and two ends of the connecting head being hinged to the roll grabbing hand and the second arm respectively, so that the roll grabbing hand swings on the plane formed by the second arm and the roll grabbing hand, the roll grabbing hand comprising a grabbing frame, pneumatic fingers being arranged at two ends of the grabbing frame to clamp and fix two ends of the central shaft in the anchor net roll, so as to complete the grabbing work of the anchor net roll; after the free end of the anchor net roll is fixed, the roll grabbing assembly can spread the anchor net roll along the sidewall during net laying.

2. The powered support system of claim 1, wherein, the roll grabbing assembly further comprises: a first base arranged on the track vehicle, the rotary table being movably fitted on the first base and being rotatable and liftable relative to the first base; a first drive adapted to drive the rotary table to lift; a second drive adapted to drive the rotary table to rotate.

3. The powered support system of claim 1, wherein, the drilling device comprises: a third arm arranged on the track vehicle; A fourth arm having a first end and a second end, and a fifth arm having a third end and a fourth end, the first end being rotatably connected to the third arm, and the second end being rotatably connected to the third end; A third oil cylinder having two ends rotatably connected to the third arm and the fourth arm respectively, so as to drive the fourth arm to perform a pitching motion relative to the third arm; A drill stand rotatably connected to the fourth end, and a drill provided on the drill stand and slidable along the extension direction of the drill stand, the drill being adapted to mount an anchor rod so as to drive the anchor rod into the wall of a roadway in which an anchor net is laid; A third drive provided at the connection between the second end and the third end so as to drive the fifth arm to rotate, and a fourth drive provided at the connection between the fourth end and the drill stand so as to drive the drill stand to rotate.

4. The powered support system of claim 1, wherein, The anchor rod holder comprises: A mounting rack rotatably provided on the rail car; A plurality of trays rotatably provided on the mounting rack and spaced along the circumferential direction of the mounting rack, the trays being adapted to place a plurality of anchor rods, the anchor rods being spaced along the circumferential direction of the trays; A fifth drive adapted to drive the mounting rack to rotate relative to the rail car, and a plurality of sixth drives corresponding to the plurality of trays, the sixth drives being adapted to drive the corresponding trays to rotate relative to the mounting rack; A plurality of dividing discs provided above the plurality of trays in a one-to-one correspondence, the corresponding dividing discs and trays being synchronously rotatable, the dividing discs being provided with a plurality of clamping grooves, the anchor rods on the trays being adapted to be fitted in the clamping grooves in a one-to-one correspondence, the clamping grooves being adapted to support and guide the anchor rods.

5. The powered support system of claim 1, wherein, The anchor rod taking device comprises: A lifting and rotating seat provided on the rail car; A support rod provided on the lifting and rotating seat, the lifting and rotating seat being adapted to drive the support rod to lift and rotate relative to the rail car; A rod gripping hand provided on the support rod, the rod gripping hand being adapted to grip the anchor rod.

6. A heading machine characterized by The machine-mounted support system comprises the machine-mounted support system according to any one of claims 2-5.

7. A heading machine according to claim 6, characterised in that Further comprising: A machine frame; A walking device provided on the lower part of the machine frame, the walking device providing walking for the tunneling machine; A cutting part provided on the front end of the machine frame, the cutting part being rotatably connected to the machine frame in the left-right direction through a rotating device, the cutting part being adapted to tunnel a roadway and being able to swing up and down relative to the rotating device; A fourth oil cylinder provided between the machine frame and the rotating device, the fourth oil cylinder being adapted to drive the cutting part to swing in the left-right direction, and a fifth oil cylinder provided between the rotating device and the cutting part, the fifth oil cylinder being adapted to drive the cutting part to swing up and down. A loading device connected to the front end of the frame and located below the cutting part, the loading device being adapted to load the coal and rock cut by the cutting part; A conveying device extending through the front end to the rear end of the frame, the front end of the conveying device being connected to the loading device to be adapted to convey the coal and rock in the loading device; A rear support device provided at the lower part of the rear side of the frame, the rear support device being adapted to realize the stability of the heading machine during operation; A dust removal device provided on the frame, the dust removal device being adapted to treat dust during operation of the heading machine; A control device provided on the frame, the control device being adapted to control the operation of the heading machine.

8. A method of tunneling and supporting work based on the tunneling machine according to claim 7, characterized by, The steps include: Placing the conveying rail at the rear end of the heading machine, placing the rail car at the rear end of the conveying rail, and respectively controlling the loading device and the rear support device to contact the roadway floor; Respectively starting the loading device and the conveying device, then controlling the cutting part to cut the roadway until the required section is cut, and then sequentially closing the cutting part, the loading device and the conveying device; Controlling the conveying rail to move to the front end of the heading machine, and controlling the rail car to move to the front end of the conveying rail; Controlling the net laying device to grab the anchor net roll from the net roll warehouse and place it at the roadway sidewall where the anchor net needs to be laid; Controlling the rod taking device to grab the first anchor rod from the anchor rod rack and install it on the drilling device, and then controlling the drilling device to drill the first anchor rod into the free end of the anchor net roll; Controlling the net laying device to expand the anchor net roll, while respectively controlling the anchor rod rack, the rod taking device and the drilling device to drill a plurality of anchor rods into the anchor net expanded by the anchor net roll in sequence until the laying and fixing of the anchor net roll are completed; After the anchor net roll support operation is completed, respectively controlling the loading device and the rear support device to lift up, and controlling the heading machine to move forward; Repeating the above steps to complete the heading and support of the roadway.

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