Tunneling anchor protection equipment

Abstract

The tunneling anchor protection equipment disclosed by the application comprises a tunneling machine, a connecting device and a support operation vehicle, the connecting device comprises a rear frame, a rear top support device and a rear bottom support device, one side of the rear frame is connected with the tunneling machine, the rear top support device has a first fixed end and a first telescopic end, the first fixed end is connected with the rear frame, and the first telescopic end can protrude from the top surface of the rear frame, the rear bottom support device has a second fixed end and a second telescopic end, the second fixed end is connected with the rear frame, and the second telescopic end can protrude from the bottom surface of the rear frame; the other side of the rear frame is connected with the support operation vehicle, and a final bottom support device is arranged on the support operation vehicle, the final bottom support device has a third fixed end and a third telescopic end, the third fixed end is connected with the support operation vehicle, and the third telescopic end can protrude from the bottom surface of the support operation vehicle. The tunneling anchor protection equipment of the application increases the stability of the tunneling machine during cutting operation and improves the stability of anchor protection operation.

Description

Technical Field

[0001] This invention relates to the field of tunneling in rock tunnels, and more particularly to a tunneling anchoring device. Background Technology

[0002] The excavation of rock tunnels is a multi-stage, alternating process, mainly consisting of three major stages: rock breaking, loading and unloading, and support. For underground tunnels with high rock hardness, the cutting process involves significant vibration and low stability of the tunneling machine. Furthermore, face support operations are mostly manual, with mesh laying and anchor bolt installation being relatively separate, resulting in high labor intensity and long working hours. Although some mines have adopted support methods such as onboard anchor drilling rigs for tunneling machines, they still cannot achieve fully automated underground support operations. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of this invention propose a tunneling anchoring device that makes the tunneling and cutting process more stable.

[0004] The tunneling anchoring equipment of this invention includes:

[0005] Tunneling machine;

[0006] A connecting device, comprising a rear frame, a rear top support device, and a rear bottom support device, wherein one side of the rear frame is connected to the tunneling machine; the rear top support device has a first fixed end and a first telescopic end, the first fixed end being connected to the rear frame, and the first telescopic end protruding from the top surface of the rear frame; the rear bottom support device has a second fixed end and a second telescopic end, the second fixed end being connected to the rear frame, and the second telescopic end protruding from the bottom surface of the rear frame; and

[0007] The support work vehicle has a rear frame connected to the other side of the support work vehicle. The support work vehicle is equipped with a bottom support device. The bottom support device has a third fixed end and a third telescopic end. The third fixed end is connected to the support work vehicle, and the third telescopic end can protrude from the bottom surface of the support work vehicle.

[0008] The tunneling anchoring equipment of this invention increases the stability of the tunneling machine during cutting operations and improves the stability of anchoring operations.

[0009] In some embodiments, a first telescopic device is provided on one side of the rear frame;

[0010] The tunneling machine includes:

[0011] Front frame, the front frame being connected to the first telescopic device;

[0012] The second telescopic device, wherein at least two second telescopic devices are spaced apart in a first direction at the bottom of the front frame, each second telescopic device having a fourth fixed end and a fourth telescopic end, the fourth fixed end being connected to the front frame, and each of the fourth telescopic end and the third telescopic end being provided with a sliding shoe; optionally, each of the fourth telescopic end and the third telescopic end is provided with a spherical head, and the sliding shoe is provided with a ball head seat, the spherical head fitting into the ball head seat; and

[0013] A front top support device, the front top support device having a fifth fixed end and a fifth telescopic end, the fifth fixed end being disposed on the front frame, and the fifth telescopic end being able to protrude from the top surface of the front frame.

[0014] In some embodiments, the tunneling machine further includes:

[0015] An upper support, on which a cutting device is provided;

[0016] A cross-shaped hinge shaft having a first shaft extending in a first direction and a second shaft extending in a second direction, the first shaft and the second shaft being connected, a first end and a second end of the first shaft being pivotally connected to the front frame, and a first end and a second end of the second shaft being pivotally connected to the upper support; and

[0017] The third telescopic device, having at least two third telescopic devices spaced apart along a first direction, is located on either side of the center of the first shaft. The third telescopic devices are misaligned with the axis of the second shaft. The first end of the third telescopic device is hinged to the front frame, and the second end of the third telescopic device is hinged to the upper support.

[0018] In some embodiments, the tunneling machine further includes:

[0019] A conveyor that runs through the front frame, the rear frame, and the support vehicle along the length direction of the front frame, the length direction being orthogonal to the first direction and the second direction;

[0020] A fourth telescopic device is hinged between the front frame and the conveyor and is used to raise and lower the conveyor;

[0021] A shovel plate, the shovel plate being positioned on the side of the conveyor near the cutting device and hinged to the conveyor; and

[0022] A fifth telescopic device is hinged between the shovel and the conveyor to facilitate driving the shovel to deflect relative to the conveyor.

[0023] In some embodiments, the support vehicle includes:

[0024] The work vehicle body is connected to the other side of the rear frame, and the work vehicle body is equipped with a support platform; and located on the support platform:

[0025] A net laying device, comprising a first robotic arm and a coil gripper, wherein the free end of the first robotic arm is provided with the coil gripper, which is used to grip the anchor net roll;

[0026] A drill rod assembly, comprising a second robotic arm and a drill rig, wherein the drill rig is mounted on the free end of the second robotic arm, and the second robotic arm is used to move the drill rig to a set position, the drill rig being used to drill an anchor rod into the set position; and

[0027] The rod mounting device includes a base, a rotating shaft, a first drive device, a bracket, a gripping rod assembly, multiple second drive devices, and multiple trays. The rotating shaft is mounted on and rotatably connected to the base. The first drive device is mounted on the base and is drively connected to the rotating shaft to drive it to rotate. The bracket includes a first end and a second end. The first end is mounted on the rotating shaft, and the second end surrounds the rotating shaft. Multiple second drive devices are mounted on the second end and spaced apart circumferentially along the rotating shaft. Multiple trays are correspondingly mounted on the multiple second drive devices. Each tray is rotatable about its axis under the drive of the second drive devices. Each tray has multiple mounting holes spaced apart circumferentially along its axis for inserting anchor bolts. The gripping rod assembly is spaced apart from the base and is used to grip the anchor bolts on the trays and move and mount them onto the drilling rig.

[0028] In some embodiments, the upper lever device further includes:

[0029] Multiple connecting posts, with each of the trays having a connecting post;

[0030] Multiple partition plates are provided on each of the connecting columns. Each partition plate has multiple slots, and each slot corresponds to a plurality of mounting holes. The slots are used to cooperate with anchor rods.

[0031] In some embodiments, the netting apparatus further includes:

[0032] The wire reel compartment, wherein the wire reel compartment is located on the support platform; and

[0033] A platform is provided on the net roll storage compartment. The platform has a placement chamber with an open upper end. The platform has a plurality of first sliding grooves on one side of its upper end face and a plurality of second sliding grooves on the other side of its upper end face. The plurality of first sliding grooves and the plurality of second sliding grooves correspond one-to-one. Each of the first sliding grooves and the second sliding grooves extends vertically and communicates with the placement chamber. The placement chamber is used to stack a plurality of anchor net rolls vertically.

[0034] In some embodiments, the netting apparatus further includes:

[0035] A turntable base, wherein the turntable base is disposed on the wire reel compartment;

[0036] A turntable, rotatably connected to a turntable base, wherein the first robotic arm is mounted on the turntable; and

[0037] A sixth telescopic device is installed on the turntable base. One end of the sixth telescopic device is connected to the turntable base, and the other end of the sixth telescopic device is rotatably connected to the turntable. The turntable can move along the axial direction of the turntable under the drive of the sixth telescopic device.

[0038] In some embodiments, the first robotic arm includes:

[0039] The main arm, one end of which is hinged to the turntable;

[0040] A seventh telescopic device, one end of which is hinged to the turntable, and the other end of which is hinged to the boom;

[0041] The eighth telescopic device and the seventh telescopic device are respectively located on both sides of the main arm in its width direction, and one end of the eighth telescopic device is hinged to the main arm;

[0042] The connecting arm, wherein each of the other end of the large arm and the other end of the eighth telescopic device is hinged to the connecting arm; and

[0043] A ninth telescopic device, one end of which is located on the connecting arm and opposite to the other end of the eighth telescopic device, and the other end of which is connected to the gripper.

[0044] In some embodiments, the second robotic arm includes:

[0045] The first rotary drive device is mounted on the wire roll compartment;

[0046] A tenth telescopic device, one end of which is located at the power output end of the first rotary drive device, and the first rotary drive device drives the tenth telescopic device to rotate.

[0047] The second rotary drive device is located at the other end of the tenth telescopic device;

[0048] A slewing arm, one end of which is located at the power output end of the second slewing drive device, which drives the slewing arm to rotate; and

[0049] The third rotary drive device is located at the other end of the rotary arm, and the power output end of the third rotary drive device is connected to the drilling rig. The third rotary drive device drives the drilling rig to rotate. Attached Figure Description

[0050] Figure 1 This is one of the structural schematic diagrams of the tunneling anchoring equipment according to an embodiment of the present invention;

[0051] Figure 2 This is the second structural schematic diagram of the tunneling anchoring equipment according to an embodiment of the present invention;

[0052] Figure 3 This is a schematic diagram of the sliding component according to an embodiment of the present invention;

[0053] Figure 4 This is one of the structural schematic diagrams of the support vehicle according to an embodiment of the present invention;

[0054] Figure 5 This is one of the partial structural schematic diagrams of the support vehicle according to an embodiment of the present invention;

[0055] Figure 6 This is a second partial structural schematic diagram of the support vehicle according to an embodiment of the present invention;

[0056] Figure 7 This is a schematic diagram of the structure of the first robotic arm, turntable base, turntable, and sixth telescopic device according to an embodiment of the present invention.

[0057] Figure 8 This is one of the schematic diagrams of the upper rod device structure according to an embodiment of the present invention;

[0058] Figure 9 This is the second schematic diagram of the upper rod device structure according to an embodiment of the present invention;

[0059] Figure 10 This is a schematic diagram of the support operation of the support vehicle according to an embodiment of the present invention.

[0060] Figure label:

[0061] Anchor bolt 001, anchor mesh roll 002;

[0062] 1000 tunneling anchoring equipment;

[0063] Tunneling machine 100;

[0064] Front frame 11, track wheel 1101, second telescopic device 12, ball head 122, slipper 123, ball head seat 124, front top support device 13, upper bracket 14, connecting ear 141, cutting device 15, power unit 151, mounting base 1511, hydraulic motor 1512, cutter head 152, cross hinge shaft 16, third telescopic device 17, conveyor 18, fourth telescopic device 19, shovel 110, fifth telescopic device 111;

[0065] Connecting device 200, rear frame 21, guide 211, rear top support device 22, rear bottom support device 23, first telescopic device 24;

[0066] 300 support vehicle;

[0067] The components include: an upper pole device 31, a base 311, a rotating shaft 312, a first drive device 313, a bracket 314, a first end 3141, a second end 3142, a connecting rod 3143, a mounting plate 3144, a second drive device 315, a tray 316, a connecting column 317, a partition plate 318, a grab bar assembly 319, a lifting and rotating seat 3191, a support member 3192, and a grab bar hand 3193.

[0068] The work vehicle body is 32, the support platform is 321, and the climbing ladder is 322.

[0069] Net laying device 33, coil gripper 331, connecting rod 3311, clamping part 3312, movable plate 3313, net roll bin 332, frame 333, first chute 3331, turntable base 334, turntable 335, turntable frame 3352, drive motor 3351, sixth telescopic device 336, first mechanical arm 337, upper arm 3371, seventh telescopic device 3372, eighth telescopic device 3373, connecting arm 3374, ninth telescopic device 3375, fixed part 33751, telescopic part 33752;

[0070] Drill rod assembly 34, second mechanical arm 341, first rotary drive device 3411, tenth telescopic device 3412, second rotary drive device 3413, rotary arm 3414, third rotary drive device 3415, connecting cylinder 3416, connecting rod 3417, drilling rig 342.

[0071] End support device 35. Detailed Implementation

[0072] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0073] Description of the structure of anchor bolts 001 and anchor mesh rolls 002 used for support at the tunnel face: Anchor bolt 001 includes a bolt body and a support plate. The support plate is located on one side of the bolt body in the direction of its extension; that is, the bolt body passes through the support plate. Figure 4 The anchor bolt 001 is shown in the diagram. The anchor mesh roll 002 includes a main shaft and an anchor mesh, with the anchor mesh wound around the main shaft. The length of the main shaft is greater than the width of the anchor mesh, meaning that the two sides of the main shaft along its length are not covered by the anchor mesh. These two sides of the main shaft along its length constitute the two sides of the anchor mesh roll 002. The outermost end of the anchor mesh in the anchor mesh roll 002 is the free end of the anchor mesh roll 002.

[0074] The following describes the tunneling anchoring equipment 1000 according to an embodiment of the present invention.

[0075] like Figures 1 to 10 As shown, the tunneling and anchoring equipment 1000 according to an embodiment of the present invention includes a tunneling machine 100, a connecting device 200, and a support operation vehicle 300.

[0076] The connecting device 200 includes a rear frame 21, a rear top support device 22, and a rear bottom support device 23. One side of the rear frame 21 is connected to the tunneling machine 100. The rear top support device 22 has a first fixed end and a first telescopic end. The first fixed end is connected to the rear frame 21, and the first telescopic end can protrude from the top surface of the rear frame 21. The rear bottom support device 23 has a second fixed end and a second telescopic end. The second fixed end is connected to the rear frame 21, and the second telescopic end can protrude from the bottom surface of the rear frame 21.

[0077] The other side of the rear frame 21 is connected to the support vehicle 300. The support vehicle 300 is equipped with a bottom support device 35. The bottom support device 35 has a third fixed end and a third telescopic end. The third fixed end is connected to the support vehicle 300, and the third telescopic end can protrude from the bottom surface of the support vehicle 300.

[0078] In this embodiment of the invention, the tunneling and anchoring equipment 1000 comprises a tunneling machine 100 used for cutting the tunnel rock wall, and a support vehicle 300 used for anchoring the tunnel by laying anchor nets and installing anchor bolts. Before operation, the tunneling and anchoring equipment 1000 enters the tunnel. The first telescopic end of the rear top support device 22 protrudes from the top surface of the rear frame 21 and contacts the tunnel roof, while the second telescopic end of the rear bottom support device 23 protrudes from the bottom surface of the rear frame 21 and contacts the tunnel floor. Thus, the connecting device 200 is fixedly clamped between the tunnel roof and the tunnel floor. As a connecting component of the tunneling machine 100, the connecting device 200 absorbs some of the vibration from the tunneling machine 100. Therefore, the connecting device 200, fixed to the tunnel roof and tunnel floor, reduces the impact of vibrations generated during tunnel rock wall cutting on the tunneling machine 100, thereby increasing the stability of the tunneling machine 100 during tunnel rock wall cutting. The third telescopic end of the bottom support device 35 protrudes from the bottom surface of the support vehicle 300 and contacts the floor of the roadway. The support vehicle 300 is clamped between the roadway roof and the roadway floor by the bottom support device 35, which can further reduce the impact of the vibration generated by the tunneling machine 100 cutting the roadway rock wall on the support vehicle 300. At the same time, it reduces the impact of the vibration generated by the support vehicle 300 when it performs anchoring operations on the anchoring operation process, and improves the stability of the support vehicle 300 and the accuracy and efficiency of the anchoring operation.

[0079] The tunneling anchoring equipment 1000 of this invention increases the stability of the tunneling machine 100 during cutting operations and improves the stability of anchoring operations.

[0080] To make the scheme of this application easier to understand, Figures 1 to 10 Let's take an example to illustrate this. In... Figure 1 In the example shown, the tunneling and anchoring equipment 1000 of this embodiment of the invention includes a tunneling machine 100, a connecting device 200, and a support operation vehicle 300, which are arranged in a front-to-back direction.

[0081] The tunneling machine 100 includes a front frame 11, an upper support 14, a cross hinge shaft 16, a third telescopic device 17, a second telescopic device 12, and a front top support device 13.

[0082] The front frame 11 is the main frame of the tunneling machine 100. The bottom of the front frame 11 has track wheels 1101, and the bottom surface of the track wheels 1101 forms the bottom surface of the front frame 11. The front frame 11 moves into the rock face cutting position or out of the tunnel via the track wheels 1101. In other words, the track wheels 1101 are used for moving the machine.

[0083] A cutting device 15 is provided on the upper support 14. The cross hinge 16 has a direction along a first direction (e.g., Figure 2 The first axis extends in the left-right direction and along the second direction (e.g.) Figure 1 The first and second axes are connected to each other (vertically in the vertical direction). The first and second ends of the first axis are pivotally connected to the front frame 11, and the first and second ends of the second axis are pivotally connected to the upper support 14. The cross hinge 16 is used to connect the upper support 14 and the front frame 11, and at the same time facilitates the upper support 14 to rotate relative to the front frame 11 along the first axis and along the second axis, thereby increasing the flexibility of the front frame 11.

[0084] At least two third telescopic devices 17 are spaced apart along the first direction. The at least two third telescopic devices 17 are located on both sides of the center of the first shaft. The third telescopic devices 17 are arranged in a staggered manner with the axis of the second shaft. The first end of the third telescopic device 17 is hinged to the front frame 11, and the second end of the third telescopic device 17 is hinged to the upper support 14.

[0085] It should be noted that the third telescopic device 17 is ball-jointed with the front frame 11, and the third telescopic device 17 is ball-jointed with the upper support 14.

[0086] According to an embodiment of the present invention, the tunneling machine 100 has an upper support 14 capable of various movements, as follows:

[0087] When the third telescopic devices 17 on both sides of the center of the first shaft move in opposite directions (for example, one side of the third telescopic device 17 extends and the other side of the third telescopic device 17 shortens), the upper support 14 rotates along the axis of the second shaft and drives the cutting device 15 to deflect left and right; when the third telescopic devices 17 on both sides of the center of the first shaft move in the same direction (all telescopic devices extend or shorten at the same time), the upper support 14 rotates along the axis of the first shaft and drives the cutting device 15 to deflect up and down.

[0088] Therefore, the cutting device 15 moves more flexibly and has more diverse cutting methods. Compared with the TBM method, which can only cut circular cross sections, the cutting device 15 in this embodiment can also cut cross sections of other shapes such as rectangles. Thus, the flexibility of the cutting method is greatly improved. In addition, the range of motion of the cutting device 15 in this embodiment is still limited by the size of the tunnel space, and it can flexibly cut the front rock wall within this small range of motion. Based on this, the cutting device 15 causes less damage to the surrounding rock.

[0089] Specifically, there are two third telescopic devices 17, which are located on both sides of the center of the first shaft.

[0090] Specifically, the third telescopic device 17 can be a first hydraulic cylinder, the cylinder barrel of which is ball-jointed with the front frame 1, and the movable end of the piston rod of which is ball-jointed with the upper bracket 14.

[0091] Specifically, the upper bracket 14 has two connecting ears 141, and the two connecting ears 141 correspond one-to-one with the two third telescopic devices 17. The connecting ears 141 and the corresponding third telescopic devices 17 are ball-jointed.

[0092] In some embodiments, such as Figure 1 As shown, the cutting device 15 includes a power unit 151 and a cutter head 152. The power unit 151 is connected to the upper support 14. The cutter head 152 has a receiving cavity, and the power unit 151 is placed in the receiving cavity and connected to the cutter head 152 to drive the cutter head 152 to rotate.

[0093] Therefore, under the action of the power unit 151, the cutterhead 152 can continuously cut the rock wall with high cutting efficiency. In addition, the cutterhead 152 cuts the rock wall in a rotating manner, resulting in low cutting resistance and high cutting speed. Furthermore, the cutterhead 152 utilizes the principle of rolling rock breaking to achieve cutting of low-lying rock tunnels with high hardness.

[0094] It should be noted that, in the initial state, the plane on which the cutterhead 152 is located is parallel to the roadway floor.

[0095] Specifically, the power unit 151 includes a mounting base 1511. The first end of the mounting base 1511 is connected to the upper support 14, and the second end of the mounting base 1511 is rotatably connected to the cutter head 152. Thus, the upper support 14 supports the weight of the cutter head 152 through the mounting base 1511, ensuring the reliability of the cutter head 152 during rotational cutting.

[0096] The power unit 151 also includes a hydraulic motor 1512 or a motor with a reducer. When a hydraulic motor is used, the hydraulic motor 1512 is connected to the mounting base 1511, and the output shaft of the hydraulic motor 1512 is connected to the cutter head 152. Thus, the power of the hydraulic motor 1512 is transmitted to the cutter head 152. The use of the hydraulic motor 1512 makes the transmission smoother and improves the stability of the cutter head 152 when it rotates.

[0097] When a motor with a reducer is selected, the reducer housing is connected to the mounting base 1511, and the reducer output shaft is connected to the cutter head 152. Thus, the motor power is transmitted to the cutter head 152 through the reducer. The selection of a motor with a reducer increases the output torque of the power, reduces the load on the motor, and improves the smoothness of the cutter head 152 during rotation.

[0098] The front frame 11 is connected to the first telescopic device 24, which is located on one side of the rear frame 21. That is, one end of the first telescopic device 24 is connected to the front frame 11, and the other end is connected to that side of the rear frame 21. The front frame 11 and the rear frame 21 can be extended or retracted via the first telescopic device 24, allowing one of them to move along the axial direction of the first telescopic device 24 (e.g., along its axis). Figure 1 The first telescopic device 24 moves relative to the other of the front frame 11 or the rear frame 21 in the front-back direction, that is, it is used to adjust the distance between the front frame 11 and the rear frame 21.

[0099] For example, when the connecting device 200 is fixed to the tunnel roof and tunnel floor, when the first telescopic device 24 extends, it pushes the front frame 11 forward, which in turn pushes the tunneling machine 100 forward, thus achieving the cutting feed. When the first telescopic device 24 retracts, it drives the front frame 11 backward, which in turn drives the tunneling machine 100 backward.

[0100] Specifically, the first telescopic device 24 can be a second hydraulic cylinder.

[0101] In some embodiments, to improve the stability of the relative movement between the front frame 11 and the rear frame 21, the front frame 1 is provided with a slide rail, and the rear frame 21 is provided with a guide member 211 that cooperates with the slide rail. The cooperation between the slide rail and the guide member 211 allows the guide member 211 to move linearly relative to the slide rail, thereby increasing the stability of the relative sliding between the front frame 11 and the rear frame 21.

[0102] The bottom of the front frame 11 is provided in the first direction (e.g.) Figure 2 At least two second telescopic devices 12 are distributed at intervals in the left and right directions. Each second telescopic device 12 has a fourth fixed end and a fourth telescopic end. The fourth fixed end is connected to the front frame 11. Each of the fourth telescopic end and the third telescopic end is provided with a slipper 123.

[0103] The extension of the second telescopic device 12 causes the sliding shoe 123 of the fourth telescopic end to protrude from the bottom surface of the front frame 11, and the sliding shoe 123 abuts against the tunnel floor, thus lifting the front frame 11. The front frame 11 is then positioned between the tunnel roof and the tunnel floor, thereby further increasing the stability of the front frame 11 and reducing the vibration impact on the front frame 11 when the cutterhead 152 cuts the rock wall. Furthermore, when the connecting device 200 is fixed to the tunnel roof and tunnel floor, the sliding shoe 123 abuts against the tunnel floor to facilitate the extension of the first telescopic device 24, which in turn facilitates the forward movement of the front frame 11, thus enabling the tunneling machine 100 to cut and advance.

[0104] If the track wheel 1101 drives the cutterhead 52 to feed, the resistance of the hard rock being cut is high, which will damage the track wheel 1101. However, the slipper 123 installed on the second telescopic device 12 realizes the pushing of the tunneling machine 100 when it feeds, thus avoiding damage to the track wheel 1101. The track wheel 1101 is only responsible for walking and does not participate in feeding and cutting.

[0105] The installation of the slipper 123 not only further increases the stability of the tunneling machine 100 during cutting operations, but also overcomes the problem of damage to the track wheels 1101 of the tunneling machine 100 itself caused by the large resistance during cutting.

[0106] When the bottom support device 35 extends, it can cause the sliding shoe 123 of the third telescopic end to protrude from the bottom surface of the support vehicle 300 and make the sliding shoe 123 abut against the roadway floor. The front frame 11 is lifted, and the rear support vehicle is sandwiched between the roadway roof and the roadway floor. This not only increases the stability of the support vehicle 300 during the cutting operation of the tunneling machine 100, but also, if the rear bottom telescopic device 23 of the connecting device 200 does not abut against the roadway floor and the rear top telescopic device 22 does not abut against the roadway roof, the first telescopic device 24 will shorten, which will drive the rear frame 21 and the support vehicle 300 forward.

[0107] Optionally, each of the fourth telescopic end and the third telescopic end is provided with a spherical head 122, and the sliding shoe 123 is provided with a ball head seat 124, with the spherical head 122 fitting inside the ball head seat 124. The cooperation between the spherical head 122 and the ball head seat 124 allows the sliding shoe 123 to change its position relative to the second telescopic device 12 and relative to the end support device 35. When the roadway floor is uneven or tilted, the contact position between the sliding shoe 123 and the roadway floor can be adaptively changed, thereby ensuring the maximum contact area between the two and further increasing the stability of the front frame 11 and the support vehicle 300.

[0108] It should be noted that the spherical head 122 can rotate relative to the spherical head seat 124, that is, the connection between the spherical head 122 and the spherical head seat 124 is equivalent to a ball joint.

[0109] Specifically, the second telescopic device 12 adopts the first hydraulic cylinder.

[0110] The front support device 13 has a fifth fixed end and a fifth telescopic end. The fifth fixed end is located on the front frame 11, and the fifth telescopic end can protrude from the top surface of the front frame 11. When the tunneling machine 100 cuts the rock wall, the front support device 13 drives its fifth telescopic end to contact the tunnel roof. Then, the front frame 11 is sandwiched between the tunnel roof and the tunnel floor, thereby further increasing the stability of the front frame 11 and further reducing the vibration impact on the front frame 11 when the tunneling machine 100 cuts the rock wall.

[0111] When the roof of the roadway is uneven, in order to prevent the fifth telescopic end of the front roof support device 13 from getting stuck and unable to move, a structural component with appropriate flexibility can be added to the fifth telescopic end of the front roof support device 13. The specific material of the structural component can be rubber, such as fluororubber, styrene-butadiene rubber, etc., and the specific shape of the structural component can be block-shaped, plate-shaped, etc., which are not limited in this embodiment.

[0112] Specifically, the front support device 13 uses a second hydraulic cylinder.

[0113] In some embodiments, such as Figure 1 As shown, the tunneling machine 100 also includes a conveyor 18, a fourth telescopic device 19, a shovel 110, and a fifth telescopic device 111. The conveyor 18 runs along the length of the front frame 11 (e.g., the front-rear direction in Figure 1), passing through the front frame 11, the rear frame 21, and the support vehicle 300, with its length direction orthogonal to the first and second directions. The fourth telescopic device 19 is hinged between the front frame 1 and the conveyor 18 and is used to lift the conveyor 18. The shovel 110 is positioned on the side of the conveyor 18 near the cutting device 15 and is hinged to the conveyor 18. The fifth telescopic device 111 is hinged between the shovel 110 and the conveyor 18 to facilitate driving the shovel 110 to deflect relative to the conveyor 18.

[0114] When cutting the rock face, the stone falls to the ground and enters the conveyor 18 via the shovel 110. The conveyor 18 transports it backward for further processing, thus preventing the stone from accumulating in front of the tunnel boring machine 100's path and affecting construction operations. The fifth telescopic device 111 is used to adjust the loading angle of the shovel 110, ensuring that the shovel 110 remains in contact with the ground in complex tunnel environments, thereby guaranteeing the smooth progress of the loading process.

[0115] Specifically, the fourth telescopic device 19 can be a third hydraulic cylinder, the cylinder barrel of which is hinged to the frame, and the piston rod of which is hinged to the conveyor 18.

[0116] Specifically, the fifth telescopic device 111 may be a fourth hydraulic cylinder, the cylinder barrel of which is hinged to the conveyor 18, and the piston rod of which is hinged to the shovel plate 110.

[0117] Specifically, the conveyor 18 can be a chain conveyor, a belt conveyor, etc.

[0118] Specifically, the shovel plate 110 and the conveyor 18 are hinged by a pin.

[0119] It should be noted that each of the rear frame 21 and the support vehicle 300 is provided with a receiving slot, and the rear part of the conveyor 14 is placed in the receiving slot of the rear frame 21 and the receiving slot of the support vehicle 300 in sequence.

[0120] Since the fourth telescopic device 19 is hinged between the front frame 11 and the conveyor 18, the conveyor 18 can swing appropriately relative to the rear frame 21. This swing can adjust the position of the conveyor 18, making it easier for the conveyor 18 to connect with external equipment.

[0121] It should be noted that there are two fourth telescopic devices 19, which are respectively located on both sides of the conveyor 18 in the first direction, and the fourth telescopic device 19 is located at the front of the conveyor 18.

[0122] The connecting device 200 includes a rear frame 21, a rear top support device 22, and a rear bottom support device 23. One side of the rear frame 21 is connected to the tunneling machine 100. The rear top support device 22 has a first fixed end and a first telescopic end. The first fixed end is connected to the rear frame 21, and the first telescopic end can protrude from the top surface of the rear frame 21. The rear bottom support device 23 has a second fixed end and a second telescopic end. The second fixed end is connected to the rear frame 21, and the second telescopic end can protrude from the bottom surface of the rear frame 21.

[0123] During the feeding process of the cutterhead 152, the rear top support device 22 first contacts the roadway top plate, and the rear bottom support device 23 contacts the roadway bottom plate. That is, the rear top support device 22 is abutted against the roadway top plate and the rear bottom support device 23 is abutted against the roadway bottom plate. As a result, the rear frame 21 is sandwiched between the roadway top plate and the roadway bottom plate and forms a large static friction force between them.

[0124] Subsequently, the first telescopic device 24 drives the front frame 11 to move forward, and the cutting device 15 on the front frame 11 feeds and cuts the rock wall. When the front frame 11 feeds, the sliding shoe 123 corresponding to the second telescopic device 12 and the tunnel floor remain in a stop state, and the front top support device 13 and the tunnel roof remain in a stop state. As a result, a large backward sliding friction force is generated between the front frame 11 and the surrounding rock, and at the same time, the rock wall generates a large backward reaction force on the cutting of the cutter head 152.

[0125] The aforementioned static friction force is used to balance the sliding friction force and the reaction force, thereby ensuring the stability and reliability of the tunneling machine 100 during operation. In other words, the rear frame 21 is used to stabilize the entire machine and resist the frictional and reaction forces of the front frame 11 during operation.

[0126] It should be noted that the arrangement of the rear top support device 22 and the rear bottom support device 23 of the rear frame 21, that is, the rear top support device 22 has four rear top support devices and the rear bottom support device 23 has two rear bottom support devices, is to balance the layout of the sliding shoe 123 on the second telescopic device 12 and the front top support device 13, thereby increasing the stability of the overall structure.

[0127] Specifically, the rear support device 22 can be a third hydraulic cylinder.

[0128] Specifically, the rear bottom support device 23 can be a fourth hydraulic cylinder.

[0129] The 300 support operation vehicle is used to support roadways and stabilize the surrounding rock.

[0130] See Figure 1 , Figure 2 and Figures 4 to 10 For example, the support vehicle 300 includes a vehicle body 32, a mesh laying device 33, a drill rod device 34, and a rod mounting device 31. Figure 1 In the example shown, the net laying device 33, the drill rod device 34, and the rod mounting device 31 are arranged sequentially from front to back.

[0131] like Figure 1 As shown, the work vehicle body 32 adopts a tracked body for better movement within the roadway. The work vehicle body 32 is equipped with a support platform 321, and the work vehicle body 32 is positioned in the first direction (e.g.,...). Figure 1 Ladders 322 are provided on both sides (left and right directions) of the vehicle. The ladders 322 facilitate personnel getting on and off the vehicle, and make it easier for personnel to install the pole device 31 and replenish the anchor net rolls 002 for the net laying device 33.

[0132] The net-laying device 33, drill rod device 34, and rod-raising device 31 are mounted on the support platform 321. The net-laying device 33 is used to lay anchor netting in the roadway, and the drill rod device 34 is used to drive anchor rods through the anchor netting into the rock wall of the roadway. Optionally, multiple net-laying devices 33 and drill rod devices 34 can be provided, with each pair corresponding to a specific width of the roadway. The multiple net-laying devices 33 and drill rod devices 34 are arranged on the support platform 321 along the width direction 3 (e.g., 3) of the roadway. Figure 2 The netting devices 33 and multiple drill rod devices 34 are distributed at intervals in the left and right directions to further improve the anchoring operation speed.

[0133] like Figures 4 to 7 As shown, the net laying device 33 includes a first robotic arm 337, a coil gripper 331, a net roll bin 332, and a platform 333.

[0134] The free end of the first robotic arm 337 is equipped with a gripper 331, which is used to rotate and connect the anchor net roll 002 to grip the anchor net roll 002.

[0135] The net roll 332 is located on the support platform 321, and the net roll 332 can store the anchor net roll 002.

[0136] A frame 333 is mounted on a wire mesh roll storage compartment 332. The frame 333 has a placement chamber with an open upper end. On one side of its upper surface, the frame 333 has multiple first grooves 3331, and on the other side, multiple second grooves. Each of the first and second grooves corresponds to the first and second grooves, which extend vertically and communicate with the placement chamber. The placement chamber is used to stack multiple anchor mesh rolls 002. The frame 333 not only stores the anchor mesh rolls 002, but the first and second grooves also allow the main shaft of the anchor mesh rolls 002 to extend out of the frame 333, facilitating the gripper 331 to grasp the anchor mesh rolls 002 within the placement chamber.

[0137] Specifically, see Figure 5 There are four first sluices 3331 and four second sluices. Multiple anchor mesh rolls 002 are stacked vertically in the placement chamber, forming four rows. One end of the main shaft of the anchor mesh roll 002 passes through the first sluice 3331 and is located outside the platform 333. The other end of the main shaft of the anchor mesh roll 002 passes through the second sluice and is located outside the platform 333. The portion of the main shaft of the anchor mesh roll 002 exposed on the platform 333 facilitates the gripping of the roll grabber 331, ensuring that the roll grabber 331 can quickly grab the anchor mesh roll 002. When grabbing the anchor mesh rolls 002 in the placement chamber, the roll grabber 331 grabs the anchor mesh rolls 002 in a top-to-bottom order. When the anchor mesh rolls 002 in the placement chamber are used up, personnel can replenish the anchor mesh rolls 002 in the roll bin 332 into the placement chamber.

[0138] In some embodiments, the net laying device 33 further includes a turntable base 334, a turntable 335, and a sixth telescopic device 336. The turntable base 334 is disposed on the net roll hopper 332. The turntable 335 is rotatably connected to the turntable base 334, and a first robotic arm 337 is disposed on the turntable 335. The sixth telescopic device 336 is mounted on the turntable base 334, one end of the sixth telescopic device 336 is connected to the turntable base 334, and the other end of the sixth telescopic device 336 is rotatably connected to the turntable 335. The turntable 335 is movable along the axial direction of the turntable 335 under the drive of the sixth telescopic device 336. The net laying device 33, through the arrangement of the turntable base 334, turntable 335 and the sixth telescopic device 336, enables the first robotic arm 337 and the grabber 331 to rotate and move, and adjusts the angle and height of the grabber 331 relative to the roadway, so that the grabber 331 and the anchor net roll 002 have a larger range of motion, and the net laying device 33 can lay a larger anchor net range in the roadway, thereby improving the adaptability of the support operation vehicle 300. At the same time, it is also easier for the grabber 331 to grab the anchor net roll 002 placed in the chamber.

[0139] Specifically, see Figure 7As shown, the turntable 335 includes a turntable frame 3352 and a drive motor 3351. The turntable frame 3352 includes a cylindrical section and a flat section, with the axis of the cylindrical section in the vertical direction. A cavity is provided within the cylindrical section, which is rotatably connected to the sixth telescopic device 336 and the turntable base 334. The drive motor 3351 is located within this cavity, and its output shaft is connected to the cylindrical section via a gear structure to drive the cylindrical section to rotate, thereby realizing the rotation of the turntable 335. The flat section is located on one side of the cylindrical section in its axial direction, and a first robotic arm 337 is mounted on the flat section.

[0140] Specifically, the gear mechanism includes a large gear ring 3353 and a small gear ring 3354. The small gear ring 3354 is mounted on the output shaft of the drive motor 3351, and the large gear ring 3353 is mounted inside the cavity of the cylindrical section. The large gear ring 3353 meshes with the small gear ring 3354. Driven by the drive motor 3351, the turntable 335 rotates around the axis of the large gear ring 3353 as its rotation center.

[0141] Optionally, the drive motor 3351 is a stepper motor.

[0142] Optionally, the sixth telescopic device 336 is the fifth hydraulic cylinder.

[0143] See Figure 7 As shown, the first robotic arm 337 includes a main arm 3371, a seventh telescopic device 3372, an eighth telescopic device 3373, a connecting arm 3374, and a ninth telescopic device 3375. One end of the main arm 3371 is hinged to a turntable 335. One end of the seventh telescopic device 3372 is hinged to the turntable 335, and the other end of the seventh telescopic device 3372 is hinged to the main arm 3371. The eighth telescopic device 3373 and the seventh telescopic device 3372 are located on opposite sides of the main arm 3371 in its width direction, and one end of the eighth telescopic device 3373 is hinged to the main arm 3371. Each of the other ends of the main arm 3371 and the eighth telescopic device 3373 is hinged to the connecting arm 3374. One end of the ninth telescopic device 3375 is located on the connecting arm 3374 and opposite to the other end of the eighth telescopic device 3373; the other end of the ninth telescopic device 3375 is connected to a gripper 331.

[0144] Driven by the extension and retraction of the seventh telescopic device 3372, the boom 3371 can tilt and swing, thereby causing the eighth telescopic device 3373, connecting arm 3374, ninth telescopic device 3375, and coil gripper 331 to move accordingly. Driven by the extension and retraction of the eighth telescopic device 3373, the connecting arm 3374 can tilt and swing, thereby causing the ninth telescopic device 3375 and coil gripper 331 to move accordingly. Driven by the extension and retraction of the ninth telescopic device 3375, the coil gripper 331 can move along with the extension and retraction of the ninth telescopic device 3375.

[0145] Optionally, the seventh telescopic device 3372 is the sixth hydraulic cylinder, and the eighth telescopic device 3373 is the seventh hydraulic cylinder. The ninth telescopic device 3375 is the first electric telescopic mast, see reference. Figure 5 and Figure 7 The first electric telescopic rod includes a fixed part 33751 and a telescopic part 33752. One end of the fixed part 33751 constitutes one end of the ninth telescopic device 3375. The other end of the fixed part 33751 is embedded in the telescopic part and slidably connected to the telescopic part 33752. The free end of the telescopic part 33752 constitutes the other end of the ninth telescopic device 3375. The cross-sectional profile of the telescopic part 33752 is square, and the outer profile of the cross-section of the other end of the fixed part 33751 is a "U" shape that matches the telescopic part 33752.

[0146] The other end of the ninth telescopic device 3375 is hinged to the grabber 331. The rotation center axis of the hinge between the ninth telescopic device 3375 and the grabber 331 is perpendicular to the axis of the anchor mesh roll 002 on the grabber 331, and the rotation center axis of the hinge between the ninth telescopic device 3375 and the grabber 331 is perpendicular to the extension direction of the ninth telescopic device 3375. This allows the grabber 331 to swing at a certain angle relative to the ninth telescopic device 3375. When the grabber 331 is laying the mesh, it can make the anchor mesh roll 002 better fit or contact the rock wall of the tunnel.

[0147] Specifically, the gripper 331 includes a connecting rod 3311, a clamping member 3312, a movable plate 3313, and an eleventh telescopic device (not shown in the figure). One side of the connecting rod 3311 is hinged to the other end of the ninth telescopic device 3375. The clamping member 3312 is L-shaped and includes a connected long plate and a short plate. The long plate is connected to the other side of the connecting rod 3311, and the short plate and the connecting rod 3311 are located on opposite sides of the long plate in the thickness direction. The movable plate 3313 is slidably disposed on the long plate along its length direction, and the movable plate 3313 and the short plate are located on the same side of the long plate in its thickness direction. The eleventh telescopic device is disposed on the long plate and is connected to the movable plate 3313 to drive the movable plate 3313 to move along the length direction of the long plate. Each of the movable plate 3313 and the short plate is provided with a through hole, which mates with the main shaft of the anchor mesh roll 002.

[0148] When the gripper 331 grips the anchor mesh roll 002, the eleventh telescopic device extends to move the movable plate 3313 away from the short plate, thereby increasing the distance between the movable plate 3313 and the short plate. The turntable 335 rotates to position the movable plate 3313 and the short plate of the gripper 331 on opposite sides of the platform 333. The first robotic arm 337 aligns the gripper 331 with the target anchor mesh roll 002. Then, the eleventh telescopic device retracts to move the movable plate 3313 closer to the short plate, inserting both ends of the main shaft of the anchor mesh roll 002 into the through holes of the movable plate 3313 and the short plate, respectively, to grip the anchor mesh roll 002. The anchor mesh roll 002 can then be moved under the action of the first robotic arm 337 and the turntable 335. After the first anchor rod passes through the free end of the anchor mesh, the movement of the gripper 331 driven by the first robotic arm 337 causes the anchor mesh to unfold sequentially.

[0149] Optionally, the eleventh telescopic device is a second electric telescopic pole.

[0150] The pole mounting device 31 includes a base 311, a rotating shaft 312, a first drive device 313, a bracket 314, a gripping rod assembly 319, multiple second drive devices 315, and multiple trays 316.

[0151] A base 311 is mounted on a support platform 321. A rotating shaft 312 is mounted on and rotatably connected to the base 311. A first drive device 313 is mounted on the base 311 and is connected to the rotating shaft 312 to drive the rotating shaft 312 to rotate. A bracket 314 includes a first end 3141 and a second end 3142. The first end 3141 is mounted on the rotating shaft 312, and the second end 3142 surrounds the rotating shaft 312. Multiple second drive devices 315 are mounted on the second end 3142 and are spaced apart circumferentially along the rotating shaft 312. Multiple trays 316 are correspondingly mounted on the multiple second drive devices 315. Under the drive of the second drive devices 315, the trays 316 can rotate around their axis. Each tray 316 has multiple mounting holes spaced apart circumferentially along its length. These mounting holes are used for inserting anchor bolts 3001. The gripping rod assembly 319 is mounted on the support platform 321 and is spaced apart from the base 311. The gripping rod assembly 319 is used to grip the anchor rod 001 on the tray 316 and move and install the anchor rod on the drilling rig 342.

[0152] Anchor bolts 001 can be placed in the mounting holes. The upper rod device 31 has multiple mounting holes, allowing multiple anchor bolts 001 to be placed. The second drive device 315 drives its corresponding tray 316 to rotate, so that each anchor bolt 001 mounted on the tray 316 is rotated to a position corresponding to the gripping rod assembly 319, so that the gripping rod assembly 319 can grip the anchor bolt 001. The first drive device 313 drives the bracket 314 to rotate, so that multiple trays 316 are sequentially rotated to positions corresponding to the gripping rod assembly 319, so that the gripping rod assembly 319 can grip the anchor bolt 001.

[0153] In some embodiments, the rod-mounting device 31 further includes a plurality of connecting posts 317 and a plurality of partition plates 318. Each tray 316 is provided with a connecting post 317. Each connecting post 317 is provided with a partition plate 318, which has a plurality of slots corresponding one-to-one with a plurality of mounting holes. The slots are used to cooperate with the anchor rods 001 to limit the anchor rods 001 inserted into the mounting holes, prevent the anchor rods 001 from deflecting, and thus prevent interference between the plurality of anchor rods 001 on the rod-mounting device 31, so as to ensure that the anchor rods 001 are arranged regularly, so as to facilitate the gripping rod assembly 319 to grip the anchor rods 001, thereby further improving the rod-mounting efficiency.

[0154] In some embodiments, the bracket 314 further includes a plurality of connecting rods 3143 and a plurality of mounting plates 3144. The plurality of connecting rods 3143 are spaced apart along the circumferential direction of the rotating shaft 312. One end of the connecting rod 3143 is connected to the first end 3141, and the other end of the connecting rod 3143 is connected to the mounting plate 3144. The plurality of mounting plates 3144 constitute the second end 3142, and a plurality of second driving devices 315 are correspondingly disposed on the plurality of mounting plates 3144. That is, one second driving device 315 is provided on each mounting plate 3144. The bracket 314 connects the first end 3141 and the plurality of mounting plates 3144 through the plurality of connecting rods 31431, ensuring the installation strength of the mounting plates 3144 while reducing the overall weight of the bracket 314, thereby reducing the energy consumption of the first driving device 313 and achieving the purpose of energy saving.

[0155] Specifically, the first end 3141 is annular and is sleeved on the rotating shaft 312. The connecting rod 3143 is L-shaped, with a simple structure and low manufacturing cost.

[0156] Optionally, the first drive device 313 is an electric motor, and the second drive device 315 is a rotary motor.

[0157] The gripper assembly 319 includes a lifting rotary seat 3191, a support member 3192, and a gripper arm 3193. The lifting rotary seat 3191 is mounted on the support platform 321 and is spaced apart from the base 311. The support member 3192 is mounted on the lifting rotary seat 3191 and is rotatable about the axis of the lifting rotary seat 3191 under the drive of the lifting rotary seat 3191. The support member 3192 is also movable along the axis of the lifting rotary seat 3191 under the drive of the lifting rotary seat 3191. The gripper arm 3193 is mounted on the support member 3192 and is used to grip the anchor rod 001 on the pallet 316 and install it on the drilling rig 342.

[0158] When the gripper assembly 319 is in operation, the lifting rotary seat 3191 rotates to drive the support member 3192 to rotate, so that the gripper 3193 corresponds to the anchor rod 001 on the tray 316. After the gripper 3193 clamps the anchor rod 001, the lifting rotary seat 3191 drives the support member 3192 to move upward. The gripper 3193 drives the anchor rod 001 to move upward, so that the anchor rod 001 is released from the tray 316. Then, the lifting rotary seat 3191 drives the support member 3192 to rotate, so that the anchor rod 001 is aligned with the drilling rig 342, and one end of the anchor rod 001 is installed on the drilling rig 342, thus completing the installation of the anchor rod 001.

[0159] Furthermore, the gripper 3193 includes a first clamping arm, a second clamping arm, a return spring, and an electromagnet. Both the first and second clamping arms are connected to the support member 3192. The first clamping arm is slidable in a direction toward / away from the second clamping arm. The return spring is located between the first and second clamping arms, with one end connected to the first clamping arm and the other end connected to the second clamping arm. The return spring is used to drive the first clamping arm to slide in a direction away from the second clamping arm. The electromagnet is connected to the second clamping arm and is used to drive the first clamping arm to slide in a direction toward the second clamping arm.

[0160] When the gripper 3193 is running, the electromagnet is activated, causing the first clamping arm to slide toward the second clamping arm. The first and second clamping arms clamp the anchor rod 001. After the anchor rod 001 is installed on the drilling rig 342, the electromagnet is deactivated. Under the action of the return spring, the first clamping arm slides away from the second clamping arm, thereby separating the gripper 3193 from the anchor rod 001.

[0161] The drill rod device 34 includes a second robotic arm 341 and a drill rig 342. The drill rig 342 is mounted on the free end of the second robotic arm 341. The second robotic arm 341 is used to drive the drill rig 342 to move to a set position. The drill rig 342 is used to drill the anchor rod 001 into the set position.

[0162] The second robotic arm 341 includes a first rotary drive device 3411, a tenth telescopic device 3412, a second rotary drive device 3413, a rotary arm 3414, and a third rotary drive device 3415. The first rotary drive device 3411 is mounted on the wire reel compartment 332. One end of the tenth telescopic device 3412 is located at the power output end of the first rotary drive device 3411, and the first rotary drive device 3411 drives the tenth telescopic device 3412 to rotate. The second rotary drive device 3413 is located at the other end of the tenth telescopic device 3412, and the extension or retraction of the tenth telescopic device 3412 can drive the second rotary drive device 3413 to move in the extension direction of the tenth telescopic device 3412. One end of the rotary arm 3414 is located at the power output end of the second rotary drive device 3413, and the second rotary drive device 3413 drives the rotary arm 3414 to rotate. The third rotary drive device 3415 is located at the other end of the rotary arm 3414. The power output end of the third rotary drive device 3415 is connected to the drilling rig 342, and the third rotary drive device 3415 drives the drilling rig 342 to rotate.

[0163] Specifically, the rotation center axes of the power output ends of the first rotary drive device 3411, the second rotary drive device 3413, and the third rotary drive device 3415 are parallel.

[0164] Optionally, the first rotary drive device 3411 is a hydraulic rotary motor, the second rotary drive device 3413 is a hydraulic rotary motor, and the third rotary drive device 3415 is a rotary motor.

[0165] Optionally, the tenth telescopic device 3412 is the eighth hydraulic cylinder.

[0166] The second robotic arm 341 also includes a connecting cylinder 3416 and a connecting rod 3417. The connecting cylinder 3416 is located at the power output end of the first rotary drive device 3411. The first rotary drive device 3411 drives the connecting cylinder 3416 and the tenth telescopic device 3412 to rotate synchronously. One end of the tenth telescopic device 3412 is hinged to the connecting cylinder 3416. One end of the connecting rod 3417 is hinged to the connecting cylinder 3416, and the other end of the connecting rod 3417 is hinged to the second rotary drive device 3413 at each of the other ends of the tenth telescopic device 3412. The arrangement of the connecting cylinder 3416 and the connecting rod 3417 ensures that the tenth telescopic device 3412 provides support for the second rotary drive device 3413 when it drives the second rotary drive device 3413, guaranteeing the stability of the second rotary drive device 3413's movement, thereby ensuring the stability and safety of the drill rod device 34 when driving anchor bolts.

[0167] The operation process of the tunneling anchoring equipment 1000 according to an embodiment of the present invention:

[0168] Cutting operations:

[0169] The tunneling machine 100 is driven into the tunnel via the track wheels 1101 on the front frame 11.

[0170] The rear top support device 22 is abutted against the roadway roof, and the rear bottom support device 23 is abutted against the roadway floor to fix the rear frame 21; the end bottom support device 35 drives the sliding shoe 123 on it to abut against the roadway floor to fix the support vehicle 300.

[0171] The sliding shoe 123 corresponding to the second telescopic device 12 stops against the roadway floor under the action of the second telescopic device 12, so that the track wheel 1101 is lifted off the ground, and the front top support device 13 stops against the roadway top.

[0172] The conveyor 18 is lowered by the fourth telescopic device 19 so that the shovel plate 16 contacts the roadway floor. The loading angle of the shovel plate 16 is adjusted by the fifth telescopic device 111.

[0173] Start the conveyor 18 and power unit 151, the cutter head 152 rotates, and the front frame 11 is pushed to move towards the rock wall through the first telescopic device 24, so as to realize the horizontal cutting of the cutter head 52.

[0174] The front frame 11 is pulled back by the first telescopic device 24, and the cutting angle of the cutter head 52 is adjusted by at least two third telescopic devices 17.

[0175] The first telescopic device 24 pushes the cutterhead 52 to move again toward the rock wall to widen the tunnel cross-section.

[0176] Repeat the above steps until the tunnel cross-section meets the development requirements.

[0177] While the cutterhead 52 is cutting the rock wall, the support vehicle 300 provides support for the tunnel roof, sides and floor.

[0178] After the tunnel is cut, shut down the conveyor 18 and the power unit 151.

[0179] The conveyor 18 is lifted and reset via the fourth telescopic device 19.

[0180] The rear top support device 22 and the rear bottom support device 23 are reset, and the rear frame 21 and the support vehicle 300 are pulled to the front frame 11 through the first telescopic device 24.

[0181] Repeat the above steps when cutting the next section of the rock face.

[0182] Anchoring operations:

[0183] Before supporting the tunnel face, the support vehicle 300 inserts the anchor bolt 001 into the mounting hole of the upper rod device 31, i.e., installs the upper rod device 31. After inserting the lower end of the anchor bolt 001 into the mounting hole, the support plate of the anchor bolt 001 is located above the tray 316. The tray 316 contacts the support plate to form support for the support plate. The tray 316 and the mounting hole provide support and fixation for the anchor bolt 001.

[0184] The anchoring process of the 3100 support vehicle is as follows:

[0185] The turntable 335 and the first robotic arm 337 drive the grabber 331 to move toward the platform 333 so that the grabber 331 is opposite to the target anchor net roll 002 in the platform 333. The grabber 331 grabs the target anchor net roll 002. The turntable 335 and the first robotic arm 337 drive the anchor net roll 002 to a set position corresponding to the tunnel wall, such as the two sides and the roof of the tunnel. Under the action of gravity, the free end of the anchor net roll 002 hangs down naturally, so that the free end of the anchor net roll 002 corresponds to the set position.

[0186] The first drive device 313 of the rod mounting device 1 drives the rotating shaft 312 to rotate, thereby driving the bracket 314 to rotate, so that one of the trays 316 corresponds to the grabbing rod assembly 319. The second drive device 315 corresponding to the tray 316 drives the tray 316 to rotate, so that a certain anchor rod 001 on the tray 316 corresponds to the grabbing rod assembly 319. For ease of description and distinction, the anchor rod 001 is referred to as the first anchor rod according to the order of anchor rod installation. The grabbing rod assembly 319 grabs the corresponding first anchor rod, drives the first anchor rod to move it to the drilling rig 342, and installs the first anchor rod on the drilling rig 342, thereby realizing the rod mounting of the first anchor rod.

[0187] The second robotic arm 341 moves the drilling rig 342, aligning it with the set position. The drilling rig 342 then drives the first anchor rod through the free end of the anchor mesh roll 002 into the rock wall of the tunnel, thus fixing the free end of the anchor mesh roll 002 to the rock wall.

[0188] Since the free end of the anchor mesh roll 002 is fixed, the first robotic arm 337 drives the gripper 331 to move along the rock wall, allowing the anchor mesh on the anchor mesh roll 002 to gradually unfold and be laid on the rock wall. The second robotic arm 341 drives the drill rig 342 to reset. The second drive device 315 drives the tray 316 to rotate so that the next anchor rod 0013, i.e., the second anchor rod, rotates to the position corresponding to the gripper assembly 319. The gripper assembly 319 grips the second anchor rod and installs it onto the drill rig 342, realizing the installation of the second anchor rod.

[0189] The second robotic arm 341 drives the drilling rig 342 to a position corresponding to the spread anchor mesh. The drilling rig 342 then operates to drive the second anchor rod on the drilling rig 342 through the anchor mesh roll 002 and into the rock wall of the tunnel.

[0190] The first robotic arm 337 drives the grabbing coil 331 to continue moving along the rock wall so that the anchor net on the anchor net roll 002 is gradually unfolded to lay the rock wall. The rod mounting device 31 and the drill rod device 34 repeat the above actions to continuously drive the anchor rod into the rock wall.

[0191] After the anchor mesh roll 002 is laid, the first robotic arm 337 moves the gripper 331 downwards. The gripper 331 releases its grip on the main shaft of the anchor mesh roll 002, allowing the main shaft to disengage from the gripper 331. The turntable 335 and the first robotic arm 337 then move the gripper 331 to facilitate the gripper 331 in grabbing the second anchor mesh roll 002. The above steps are then repeated to achieve roadway support at the tunnel face.

[0192] The tunneling anchoring equipment 1000 according to an embodiment of the present invention has a compact overall structure, fewer parts and a reasonable arrangement. As a result, the overall size of the machine can be manufactured to be smaller, which facilitates flexible movement in the working environment of underground roadways. In addition, most of the parts are connected by movable connections, so the machine is more flexible when tunneling in underground roadways.

[0193] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0194] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0195] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0196] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0197] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0198] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A tunneling anchoring device, characterized in that, include: Tunneling machine (100); The connecting device (200) includes a rear frame (21), a rear top support device (22), and a rear bottom support device (23). One side of the rear frame (21) is connected to the tunneling machine (100). The rear top support device (22) has a first fixed end and a first telescopic end. The first fixed end is connected to the rear frame (21), and the first telescopic end can protrude from the top surface of the rear frame (21). The rear bottom support device (23) has a second fixed end and a second telescopic end. The second fixed end is connected to the rear frame (21), and the second telescopic end can protrude from the bottom surface of the rear frame (21). and The support work vehicle (300) has a rear frame (21) connected to the support work vehicle (300) on the other side. The support work vehicle (300) is provided with a bottom support device (35). The bottom support device (35) has a third fixed end and a third telescopic end. The third fixed end is connected to the support work vehicle (300), and the third telescopic end can protrude from the bottom surface of the support work vehicle (300). The support vehicle (300) includes: The work vehicle body (32) is connected to the other side of the rear frame (21), and the work vehicle body (32) is provided with a support platform (321); and located on the support platform (321): Net laying device (33), the net laying device (33) includes a first robotic arm (337) and a coil gripper (331), the free end of the first robotic arm (337) is provided with the coil gripper (331), the coil gripper (331) is used to grip the anchor net roll (002); A drill rod assembly (34) includes a second robotic arm (341) and a drill rig (342). The drill rig (342) is mounted on the free end of the second robotic arm (341). The second robotic arm (341) is used to move the drill rig (342) to a set position, and the drill rig (342) is used to drill the anchor rod (001) into the set position. The upper pole device (31) includes a base (311), a rotating shaft (312), a first drive device (313), a bracket (314), a gripping rod assembly (319), multiple second drive devices (315), and multiple trays (316). The rotating shaft (312) is mounted on the base (311) and rotatably connected to the base (311). The first drive device (313) is mounted on the base (311) and is drively connected to the rotating shaft (312) to drive the rotating shaft (312) to rotate. The bracket (314) includes a first end (3141) and a second end (3142). The first end (3141) is mounted on the rotating shaft (312), and the second end (3142) surrounds the rotating shaft (312). Multiple second drive devices (315) are disposed on the second end (3142) and are distributed circumferentially along the rotating shaft (312). Multiple trays (316) are disposed on the multiple second drive devices (315) in a corresponding manner. The trays (316) can rotate around the axis of the tray (316) under the drive of the second drive devices (315). Multiple mounting holes are provided on the trays (316) and are distributed circumferentially along the trays (316). The mounting holes are used for inserting anchor rods (001). The gripping rod assembly (319) is spaced apart from the base (311). The gripping rod assembly (319) is used to grip the anchor rods (001) on the trays (316) and move and install the anchor rods (001) on the drilling rig (342). The upper rod device (31) also includes: Multiple connecting posts (317) are provided on each of the trays (316). Multiple partition plates (318) are provided on each of the connecting columns (317). The partition plates (318) are provided with multiple slots, and the multiple slots correspond one-to-one with the multiple mounting holes. The slots are used to cooperate with the anchor rods (001).

2. The tunneling anchoring equipment according to claim 1, characterized in that, The rear frame (21) is provided with a first telescopic device (24) on one side. The tunneling machine (100) includes: Front frame (11), the front frame (11) is connected to the first telescopic device (24); The second telescopic device (12) is provided at least two of the second telescopic devices (12) spaced apart in a first direction at the bottom of the front frame (11). The second telescopic device (12) has a fourth fixed end and a fourth telescopic end. The fourth fixed end is connected to the front frame (11). Each of the fourth telescopic end and the third telescopic end is provided with a slipper (123). Optionally, each of the fourth telescopic end and the third telescopic end is provided with a spherical head (122). The slipper (123) is provided with a ball head seat (124). The spherical head (122) fits into the ball head seat (124). The front top support device (13) has a fifth fixed end and a fifth telescopic end. The fifth fixed end is located on the front frame (11), and the fifth telescopic end can protrude from the top surface of the front frame (11).

3. The tunneling anchoring equipment according to claim 2, characterized in that, The tunneling machine (100) also includes: The upper support (14) is provided with a cutting device (15). A cross-shaped hinge (16) having a first shaft extending in a first direction and a second shaft extending in a second direction, the first shaft and the second shaft being connected, a first end and a second end of the first shaft being pivotally connected to the front frame (11), and a first end and a second end of the second shaft being pivotally connected to the upper support (14); and The third telescopic device (17) has at least two parts and is spaced apart along the first direction. The at least two parts of the third telescopic device (17) are located on both sides of the center of the first shaft. The third telescopic device (17) is arranged in a staggered manner with the axis of the second shaft. The first end of the third telescopic device (17) is hinged to the front frame (11), and the second end of the third telescopic device (17) is hinged to the upper support (14).

4. The tunneling anchoring equipment according to claim 3, characterized in that, The tunneling machine (100) also includes: A conveyor (18) extends along the length of the front frame (11), the rear frame (21), and the support vehicle (300), the length of which is orthogonal to the first direction and the second direction; The fourth telescopic device (19) is hinged between the front frame (11) and the conveyor (18) and is used to lift the conveyor (18). A shovel plate (110) is positioned on the side of the conveyor (18) near the cutting device (15) and hinged to the conveyor (18); and A fifth telescopic device (111) is hinged between the shovel (110) and the conveyor (18) to drive the shovel (110) to deflect relative to the conveyor (18).

5. The tunneling anchoring equipment according to claim 1, characterized in that, The net-laying device (33) also includes: A wire reel container (332), said wire reel container (332) being disposed on the support platform (321); and A platform (333) is provided on the net roll storage (332). The platform (333) is provided with a placement chamber. The upper end of the placement chamber is open. The platform (333) has a plurality of first sliding grooves (3331) on one side of its upper end face and a plurality of second sliding grooves on the other side of its upper end face. The plurality of first sliding grooves (3331) and the plurality of second sliding grooves correspond one-to-one. Each of the first sliding grooves (3331) and the second sliding grooves extends in the vertical direction and communicates with the placement chamber. The placement chamber is used to stack and place a plurality of anchor net rolls (002) vertically.

6. The tunneling anchoring equipment according to claim 5, characterized in that, The net-laying device (33) also includes: A turntable base (334) is provided on the wire mesh roll compartment (332); A turntable (335), rotatably connected to a turntable base (334), wherein the first robotic arm (337) is mounted on the turntable (335); and A sixth telescopic device (336) is installed on the turntable base (334). One end of the sixth telescopic device (336) is connected to the turntable base (334), and the other end of the sixth telescopic device (336) is rotatably connected to the turntable (335). The turntable (335) is movable along the axial direction of the turntable (335) under the drive of the sixth telescopic device (336).

7. The tunneling anchoring equipment according to claim 6, characterized in that, The first robotic arm (337) includes: The boom (3371) has one end hinged to the turntable (335). A seventh telescopic device (3372) is provided, one end of which is hinged to the turntable (335), and the other end of which is hinged to the boom (3371). The eighth telescopic device (3373) and the seventh telescopic device (3372) are respectively located on both sides of the upper arm (3371) in its width direction, and one end of the eighth telescopic device (3373) is hinged to the upper arm (3371). Connecting arm (3374), each of the other end of the large arm (3371) and the other end of the eighth telescopic device (3373) is hinged to the connecting arm (3374); and The ninth telescopic device (3375) has one end located on the connecting arm (3374) and opposite to the other end of the eighth telescopic device (3373), and the other end of the ninth telescopic device (3375) is connected to the gripper (331).

8. The tunneling anchoring equipment according to claim 5, characterized in that, The second robotic arm (341) includes: The first rotary drive device (3411) is mounted on the wire reel compartment (332); The tenth telescopic device (3412) is located at one end of the power output end of the first rotary drive device (3411), and the first rotary drive device (3411) drives the tenth telescopic device (3412) to rotate. The second rotary drive device (3413) is located at the other end of the tenth telescopic device (3412); A slewing arm (3414), one end of which is located at the power output end of the second slewing drive device (3413), the second slewing drive device (3413) driving the slewing arm (3414) to rotate; and The third rotary drive device (3415) is located at the other end of the rotary arm (3414). The power output end of the third rotary drive device (3415) is connected to the drilling rig (342). The third rotary drive device (3415) drives the drilling rig (342) to rotate.

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