A mine-used integrated equipment for drilling, grouting, anchoring and net hanging

Abstract

The present invention discloses a mine-used integrated equipment for drilling, grouting, anchoring and net hanging, which includes a fixed frame, a net-grabbing manipulator, a drilling and bolt installation mechanism and a resin injection mechanism arranged on the fixed frame. The net-grabbing manipulator is used for grabbing a support net and installing it at the position to be supported. The drilling and bolt installation mechanism is used for drilling operations on a mine roadway and installing bolts. The resin injection mechanism is used for resin perfusion into the holes formed on the mine roadway. The net-grabbing manipulator, the drilling and bolt installation mechanism and the resin injection mechanism can cooperate with each other to realize operations of net hanging, drilling, resin injection and bolt installation. The present invention can integrate functions of net hanging, drilling, resin injection and bolt installation into one equipment, realize automation of underground bolt support operations, save the time for process conversion and connection, reduce the working intensity of workers, and improve operation efficiency, support quality and safety factor.

Description

Technical Field

[0001] The present invention relates to an integrated equipment for drilling, grouting, anchoring and net hanging in mines, belonging to the technical field of mine bolt support equipment. Background Technique

[0002] The support of mine roadways is mainly used to alleviate and reduce the movement of surrounding rocks, so that the roadway section will not be excessively reduced, and at the same time, to prevent the caving of the already scattered and damaged surrounding rocks.

[0003] Taking bolt support as an example, during the process of bolt support, it is necessary to first drill bolt holes, then hang the net, inject anchoring agents such as resin, and then knock in the bolts to fix the net; in the early stage of bolt support, YT28 pneumatic leg pneumatic rock drills were often used for manual drilling, and then manual net hanging, injection of anchoring agents, and installation of bolts; this kind of scheme has high working intensity, low operation efficiency, low support quality, and low safety factor. Therefore, in some subsequent mines, double-boom bolt drill jumbos are used instead. When the double-boom bolt drill jumbo works, one boom drills holes and the other boom installs bolts. Although it solves the initial technical problems such as low safety factor, because this scheme requires two sets of boom control systems, it has a large volume and complex operation. At the same time, the two booms are independent of each other, and it is difficult to align the holes during the process of installing bolts by the other boom after drilling is completed. That is, the initial technical problems such as high working intensity, low operation efficiency, and low support quality still exist, and manual net hanging and resin injection are still required, and the safety of personnel cannot be guaranteed during net hanging.

[0004] However, through research by the applicant, it is found that there are the following problems in the construction process of mine bolt drill jumbos:

[0005] At present, there are mainly three forms of mine bolt drill jumbos, all of which are improved by using the existing whole machine of mine tunneling drill jumbos:

[0006] 1. One of them is based on a single-boom mine hydraulic tunneling drill jumbo, and the operation of tunneling holes and bolt holes is realized by using a folding propulsion beam. This scheme can only realize the drilling operation, and the operations of net hanging, resin injection and bolt installation need to be assisted by personnel standing on the operation platform. During the operation of personnel, dangers such as cave-ins are likely to occur, and the installation speed is slow and the efficiency is low;

[0007] 2. One of them is based on a double-boom mine hydraulic tunneling drill jumbo, and one of the booms is modified into a bolt installation device. One boom is used to drill bolt holes and the other boom installs bolts. This scheme requires two sets of boom control systems, has a large volume and complex operation. At the same time, the two booms are independent of each other, and it is difficult to align the holes during the process of installing bolts by the other boom after drilling is completed; and this scheme can only realize the operations of drilling and bolt installation, and net hanging and resin injection still need to be manually operated. During the operation of personnel, dangers such as cave-ins are likely to occur, and it is impossible to form a full-process mechanized construction of bolt support to realize mechanized replacement of personnel;

[0008] 3. Based on a double - arm mine hydraulic tunneling jumbo, one of the arms is modified into an operation platform, and one drilling arm is used for drilling bolt holes. An auxiliary device for bolt installation is carried on the operation platform of the platform arm, which can assist manual mesh hanging and bolt installation. This solution can realize drilling, mesh hanging, and bolt installation operations. The mesh hanging and bolt installation operations require personnel to stand on the operation platform to assist. When personnel are hanging the mesh and installing bolts, dangers such as cave - ins are likely to occur, and the installation speed is slow, the efficiency is low, which is not conducive to replacing people with mechanization. Summary of the Invention

[0009] The object of the present invention is to overcome the deficiencies in the prior art and provide a mine - used integrated drilling, injecting, anchoring, and mesh - hanging equipment, which can integrate the functions of mesh - hanging, drilling, resin injection, and bolt installation in one equipment, realize the automation of underground bolt support operations, save the time for process conversion and connection, reduce the working intensity of workers, and improve the operation efficiency, support quality, and safety factor.

[0010] To achieve the above - mentioned object, the present invention is implemented by the following technical solutions:

[0011] The present invention provides a mine - used integrated drilling, injecting, anchoring, and mesh - hanging equipment, including a fixed frame, a mesh - grabbing manipulator, a drilling and bolt - installing mechanism, and a resin - injecting mechanism arranged on the fixed frame;

[0012] The mesh - grabbing manipulator is used to grab the support mesh and install it at the position to be supported;

[0013] The drilling and bolt - installing mechanism is used to perform drilling operations on the mine roadway and install bolts;

[0014] The resin - injecting mechanism is used to inject resin into the holes formed on the mine roadway;

[0015] The mesh - grabbing manipulator, the drilling and bolt - installing mechanism, and the resin - injecting mechanism can cooperate with each other to realize mesh - hanging, drilling, resin injection, and bolt installation operations.

[0016] In some embodiments, the mesh - grabbing manipulator includes a fixed seat fixedly connected to the fixed frame, an arm - lifting device connected to the fixed seat, and a jaw device connected to the arm - lifting device. The arm - lifting device includes a telescopic arm and an arm - telescoping oil cylinder for driving the telescopic arm to extend and retract. The jaw device includes a jaw seat and a jaw assembly arranged on the jaw seat, and the jaw assembly is used to realize the picking and placing of the support mesh.

[0017] In some embodiments, a rotating device and a pitching device are arranged between the jaw device and the arm - lifting device. The rotating device is connected to the jaw seat, and the pitching device is respectively connected to the rotating device and the arm - lifting device to realize the rotation of the jaw device relative to the arm - lifting device.

[0018] In some embodiments, the drilling and bolt installation mechanism includes a rock drilling and boring assembly, a thruster assembly, a bolt bin, and a bolt installation assembly. The rock drilling and boring assembly and the bolt installation assembly are provided on the thruster assembly. A drill bit is provided on the rock drilling and boring assembly. The rock drilling and boring assembly can move on the thruster assembly to perform drilling operations. The bolt bin is used for storing and feeding bolts. The bolt installation assembly is used to move on the thruster assembly to install bolts.

[0019] In some embodiments, the drilling and bolt installation mechanism further includes a tip. The tip is used to press the support net when installing the support net. The tip is provided on the fixed frame.

[0020] In some embodiments, the resin injection mechanism includes a mounting seat and a resin delivery pipe, a resin injection station switching device, and a station switching guide block provided on the mounting seat. The resin injection station switching device is used to displace the positions of the resin delivery pipe and the drill bit. The station switching guide block is used to guide the resin injection station switching device.

[0021] In some embodiments, the resin injection mechanism further includes a limit adjustment device. The limit adjustment device is used to adjust the angular deviation of the resin injection station switching device.

[0022] In some embodiments, the resin injection mechanism further includes a resin injection guide. The resin injection guide is used to achieve resin injection guidance.

[0023] In some embodiments, a falling object protection plate is further provided on the resin injection mechanism. The falling object protection plate is fixedly connected to the mounting seat.

[0024] In some embodiments, a bottom protection cover is further included to prevent the rock drilling and boring assembly and the bolt installation assembly from colliding with the bottom or side wall of the mine roadway. The bottom protection cover is provided on the fixed frame.

[0025] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0026] The present invention provides a mine-used integrated equipment for drilling, injecting resin, installing anchor bolts and netting, which includes a fixed frame, a net-grabbing manipulator, a drilling and anchor bolt installation mechanism and a resin injection mechanism arranged on the fixed frame. The net-grabbing manipulator is used to grab the support net and install it at the position to be supported. The drilling and anchor bolt installation mechanism is used to drill the mine roadway and install the anchor bolts. The resin injection mechanism is used to inject resin into the holes formed in the mine roadway. The net-grabbing manipulator, the drilling and anchor bolt installation mechanism and the resin injection mechanism can cooperate with each other to realize the operations of netting, drilling, resin injection and anchor bolt installation, realize the automation of underground anchor bolt support operations, save the time for process conversion and connection, reduce the working intensity of workers, improve the operation efficiency, support quality and safety factor, and realize the replacement of workers with machines and the reduction of workers with automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 FIG. is a schematic structural diagram of a mine-used integrated equipment for drilling, injecting resin, installing anchor bolts and netting provided by an embodiment of the present invention;

[0028] Figure 2 is Figure 1 a schematic structural diagram from another angle of;

[0029] Figure 3 FIG. is a schematic structural diagram of the net-grabbing manipulator in the mine-used integrated equipment for drilling, injecting resin, installing anchor bolts and netting provided by an embodiment of the present invention;

[0030] Figure 4 FIG. is a schematic structural diagram of the resin injection mechanism in the mine-used integrated equipment for drilling, injecting resin, installing anchor bolts and netting provided by an embodiment of the present invention;

[0031] Figure 5 is Figure 4 a schematic structural diagram from another angle of;

[0032] In the figure:

[0033] 1. Fixed frame;

[0034] 2. Net-grabbing manipulator; 21. Fixed seat; 22. Arm lifting device; 221. Telescopic arm; 222. Arm telescopic oil cylinder; 223. Pipe clamp; 23. Claw device; 231. Claw seat; 232. Claw assembly;

[0035] 3. Drilling and anchor bolt installation mechanism; 31. Rock drilling and hole drilling assembly; 311. Drill bit; 32. Thruster assembly; 33. Anchor bolt bin; 34. Anchor bolt installation assembly; 35. Tip;

[0036] 4. Resin injection mechanism; 41. Mounting seat; 42. Resin delivery pipe; 43. Resin injection station switching device; 44. Station switching guide block; 45. Limit adjustment device; 46. Resin injection guide; 47. Falling object protection plate;

[0037] 5. Rotating device;

[0038] 6. Pitching device;

[0039] 7. Bottom protective cover. Detailed implementation manners

[0040] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and cannot be used to limit the protection scope of the present invention.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0042] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

[0043] The present invention provides a mine-used integrated equipment for drilling, grouting, anchoring and net hanging, including a fixed frame 1, a net-grabbing manipulator 2, a drilling and bolt installation mechanism 3 and a resin injection mechanism 4. Please refer to Figures 1 to 2 . The net-grabbing manipulator 2, the drilling and bolt installation mechanism 3 and the resin injection mechanism 4 can cooperate with each other to realize the operations of net hanging, drilling, resin injection and bolt installation.

[0044] Specifically, the net-grabbing manipulator 2, the drilling and bolt installation mechanism 3 and the resin injection mechanism 4 are arranged on the fixed frame 1.

[0045] The net-grabbing manipulator 2 includes a fixed seat 21, an arm lifting device 22 and a jaw device 23. Please refer toFigure 3 The fixed seat 21 is fixedly connected to the fixed frame 1. The arm lifting device 22 is connected to the fixed seat 21, and the jaw device 23 is fixedly connected to the arm lifting device 22.

[0046] In some embodiments, the arm lifting device 22 includes a telescopic arm 221 and an arm telescopic oil cylinder 222. The arm telescopic oil cylinder 222 is used to drive the telescopic arm 221 to expand and contract. The jaw device 23 includes a jaw seat 231 and a jaw assembly 232. The jaw assembly 232 is arranged on the jaw seat 231, and the jaw assembly 232 is used to pick up and place the support net.

[0047] It should be noted that a pipe clamp 223 is further provided on the arm telescopic oil cylinder 222, and the pipe clamp 223 is used to fix the pipeline between the arm telescopic oil cylinders 222. At the same time, the arm lifting device 22 can adopt a swing cylinder or a motor to achieve the same function, and the present invention does not limit this here.

[0048] The support net grabbing manipulator 2 is used to grab the support net and install it at the position to be supported. Those skilled in the art should understand that the support net grabbing manipulator 2 can be made of stainless steel.

[0049] In some embodiments, a rotating device 5 and a pitching device 6 are provided between the jaw device 23 and the arm lifting device 22. The rotating device 5 is connected to the jaw seat 231, and the pitching device 6 is respectively connected to the rotating device 5 and the arm lifting device 22 to realize the rotation of the jaw device 23 relative to the arm lifting device 22. Preferably, the rotating device 5 and the pitching device can rotate 360°, and the arm lifting device 22 can rotate 180°. By the rotation of the rotating device 5, the pitching device and the arm lifting device 22, the support net grabbing manipulator 2 can deliver the support net to any position in the space of the mine roadway.

[0050] In this embodiment, the drilling and bolt installation mechanism 3 is used to perform drilling operations on the mine roadway and install bolts.

[0051] Specifically, the drilling and bolt installation mechanism 3 includes a rock drilling assembly 31, a thruster assembly 32, a bolt bin 33 and a bolt installation assembly 34. The rock drilling assembly 31 and the bolt installation assembly 34 are arranged on the thruster assembly 32. A drill bit 311 is provided on the rock drilling assembly 31. The rock drilling assembly 31 can move on the thruster assembly 32 to perform drilling operations. The bolt bin 33 is used to store and feed the bolts, and the bolt installation assembly 34 is used to move on the thruster assembly 32 to install bolts.

[0052] In some embodiments, the drilling bolt installation mechanism 3 further includes a tip 35 which is used to press the support net when installing the support net, and the tip 35 is arranged on the fixed frame 1. It should be noted that the tip 35 is telescopic and serves as the center of rotation for the working position switching. Among them, the front end shape of the tip 35 can adopt a curved surface shape or a pointed shape.

[0053] It should be noted that the jaw device 23 can be a jaw flipping drive device and a jaw fixed telescopic frame. Those skilled in the art can respectively control the arm telescopic cylinder 222, the rotating device 5, the pitching device, and the jaw flipping drive device of the support net grabbing manipulator 2 through a hydraulic handle or an electric control knob to grab the support net and send the support net to a suitable position on the roadway rock wall, then extend the tip 35 to press the support net, and control the rock drilling and boring assembly 31 to move on the thruster assembly 32 to perform the drilling operation.

[0054] Among them, the rotating device 5 and the pitching device can both adopt a swing cylinder or a motor to achieve the same function.

[0055] The resin injection mechanism 4 is used to inject resin into the holes formed in the mine roadway.

[0056] Specifically, the resin injection mechanism 4 includes a mounting seat 41, a resin delivery pipe 42, a resin injection working position switching device 43, and a working position switching guide block 44, and the resin delivery pipe 42, the resin injection working position switching device 43, and the working position switching guide block 44 are arranged on the mounting seat 41.

[0057] The resin injection working position switching device 43 is used to displace the positions of the resin delivery pipe 42 and the drill bit 311, and the working position switching guide block 44 is used to guide the resin injection working position switching device 43. Specifically, the resin injection working position switching device 43 realizes the displacement of the positions of the resin delivery pipe 42 and the drill bit 311 through a swing cylinder.

[0058] In some embodiments, the resin injection mechanism 4 further includes a limit adjustment device 45 which is used to adjust the angular deviation of the resin injection working position switching device 43. Those skilled in the art should understand that the swinging process is guided by the working position switching guide block 44.

[0059] In some embodiments, the resin injection mechanism 4 further includes a resin injection guide 46 which is used to realize resin injection guidance and effectively ensure the straightness of the drilling and the reliability of resin injection.

[0060] A falling object protection plate 47 is further arranged on the resin injection mechanism 4, and the falling object protection plate 47 is fixedly connected to the mounting seat 41 to prevent the equipment from being damaged by the rocks falling from the upper rock wall during drilling.

[0061] Those skilled in the art can operate the resin injection station switching device 43 through a hydraulic handle or an electric control knob to send the resin delivery pipe 42 to the drilling position, and then inject resin cartridges into the bolt hole. In this case, the bolt bin 33 is operated through a hydraulic handle or an electric control knob to complete the rod feeding operation, and then the drilling bolt installation station switching assembly is operated through a hydraulic handle or an electric control knob to rotate the center of the bolt installation assembly 34 around the center of the tip 35 to the drilling position. Then, the hydraulic handle or the electric control knob is operated to push the bolt installation assembly 34 to move on the thruster assembly 32 to achieve bolt installation.

[0062] It should be noted that the resin injection function mentioned in this embodiment is not limited to resin cartridges, and may also be other anchoring agents such as cement cartridges, and the present invention does not make any restrictions here.

[0063] After the bolt installation is completed, retract the net-grabbing manipulator 2 to make it leave the support net, and then retract or move the tip 35 away from the support net. Find a suitable position again to press the tip 35 against the support net and repeat the processes of drilling, injecting resin, and installing bolts.

[0064] Through repeated operations, until there are an appropriate number of bolts on this support net to make the support net and the rock wall contact reliably, achieving the effect of mesh bolting.

[0065] In some embodiments, the resin injection mechanism 4 further includes a bottom protective cover 7 for preventing the rock drilling assembly 31 and the bolt installation assembly 34 from colliding with the bottom or side wall of the mine roadway, and the bottom protective cover 7 is arranged on the fixed frame 1. During the operation process, the bottom protective cover 7 can effectively prevent the damage caused by the direct collision of the rock drilling assembly 31 and the bolt installation assembly 34 with the roadway floor or the rock wall due to misoperation.

[0066] Through the above operations, it is possible to realize the full-process automation of the bolt support operation in the mine roadway, including hanging the net, drilling, injecting resin, and installing bolts, reducing the working intensity of workers, improving the operation efficiency, support quality, and safety factor, and realizing the replacement of workers with machinery and the reduction of workers with automation.

[0067] That is to say, the present invention provides a mine drilling, injecting, bolting, and net-hanging integrated equipment, which can cooperate with each other through the net-grabbing manipulator 2, the drilling bolt installation mechanism 3, and the resin injection mechanism 4 to realize the operations of hanging the net, drilling, injecting resin, and installing bolts, realize the automation of the underground bolt support operation, can save the process conversion and connection time, reduce the working intensity of workers, improve the operation efficiency, support quality, and safety factor, and realize the replacement of workers with machinery and the reduction of workers with automation.

[0068] When those skilled in the art use this equipment for operation, they can reduce the working intensity, improve the operation efficiency, support quality, and safety factor, and are more suitable for the construction of complex roadway environments in underground mines.

[0069] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A mine-used integrated equipment for drilling, grouting, anchoring and net hanging, characterized in that, It includes a fixed frame, a net-grabbing manipulator, a drilling bolt installation mechanism, and a resin injection mechanism arranged on the fixed frame; The net-grabbing manipulator is used to grab the support net and install it at the position to be supported; The drilling bolt installation mechanism is used to drill the mine roadway and install bolts; The resin injection mechanism is used to inject resin into the holes formed in the mine roadway; The net-grabbing manipulator, the drilling bolt installation mechanism, and the resin injection mechanism can cooperate with each other to realize operations such as net hanging, drilling, resin injection, and bolt installation; The net-grabbing manipulator includes a fixed seat fixedly connected to the fixed frame, an arm lifting device connected to the fixed seat, and a jaw device connected to the arm lifting device. The arm lifting device includes a telescopic arm and an arm telescopic oil cylinder for driving the telescopic arm to extend and retract. The jaw device includes a jaw seat and a jaw assembly arranged on the jaw seat. The jaw assembly is used to realize the picking and placing of the support net; The resin injection mechanism includes a mounting seat, a resin delivery pipe, a resin injection station switching device, and a station switching guide block arranged on the mounting seat. The resin injection station switching device is used to displace the positions of the resin delivery pipe and the drill bit. The station switching guide block is used to guide the resin injection station switching device; 2. The integrated equipment for mine drilling, grouting, anchoring and net hanging according to claim 1, wherein A rotating device and a pitching device are arranged between the jaw device and the arm lifting device. The rotating device is connected to the jaw seat. The pitching device is respectively connected to the rotating device and the arm lifting device to realize the rotation of the jaw device relative to the arm lifting device; 3. The integrated equipment for mine drilling, grouting, anchoring and net hanging according to claim 1, characterized in that, The drilling bolt installation mechanism includes a rock drilling and boring assembly, a thruster assembly, a bolt bin, and a bolt installation assembly. The rock drilling and boring assembly and the bolt installation assembly are arranged on the thruster assembly. A drill bit is arranged on the rock drilling and boring assembly. The rock drilling and boring assembly can move on the thruster assembly to realize the drilling operation. The bolt bin is used for storing and feeding the bolts. The bolt installation assembly is used to move on the thruster assembly to realize the bolt installation; 4. The integrated equipment for mine drilling, grouting, anchoring and net hanging according to claim 3, characterized in that, The drilling bolt installation mechanism further includes a tip, which is used to press the support net when installing the support net. The tip is arranged on the fixed frame; 5. The integrated mining equipment for drilling, grouting, anchoring and net hanging according to claim 1, characterized in that The resin injection mechanism further includes a limit adjustment device, which is used to adjust the angular deviation of the resin injection station switching device; 6. The integrated equipment for mine drilling, grouting, anchoring and net hanging according to claim 1, characterized in that, The resin injection mechanism further includes a resin injection guide, which is used to realize resin injection guiding; 7. The integrated mining equipment for drilling, grouting, anchoring and net hanging according to claim 1, wherein A falling object protection plate is also arranged on the resin injection mechanism. The falling object protection plate is fixedly connected to the mounting seat; 8. The integrated equipment for mine drilling, grouting, anchoring and net hanging according to claim 3, characterized in that, It also includes a bottom protective cover for preventing the rock drilling and boring assembly and the bolt installation assembly from colliding with the bottom or side wall of the mine roadway. The bottom protective cover is arranged on the fixed frame;

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