A reinforcement laying method for underground filling in mines

Abstract

The present invention discloses a reinforcement laying method for underground filling in a mine, wherein a two-layer foldable main and secondary reinforcement steel mesh prepared on the surface is transported and loaded and unloaded to the working face by a special false bottom reinforcement laying trolley, and a single steel mesh is arranged according to the specifications of the mining site, and the single steel mesh is manually assembled through special connecting buckles. The special reinforcement laying trolley includes a control system, an electric system, a driving system, and a reinforcement grabbing system. When the trolley is laying an artificial false bottom, it can lay a modular two-layer steel mesh on pre-leveled slag. One vehicle can quickly realize the reinforcement laying of the entire artificial false bottom of the approach, which is convenient for subsequent concrete pouring or filling operations, and mechanizes the reinforcement laying of the artificial false bottom of the downward approach filling mining method, which has the advantages of fast laying speed, safety, and programming, greatly reduces the labor intensity of workers, shortens the bottom laying time, and improves the production efficiency of the downward approach filling mining method.

Description

Technical Field

[0001] The invention belongs to the field of underground mine erection, and in particular relates to a reinforcement laying method suitable for filling narrow tunnels in mines. Background Art

[0002] As mining progresses, the traditional method of laying and tying reinforcement bars in the artificial false bottom in the downward filling method is no longer practical. The temperature and humidity of the deep mine environment are high, the working space in the underground tunnel is limited, and the manual reinforcement work is intensive and inefficient. The traditional reinforcement is carried out by transporting the main and auxiliary reinforcement bars to the tunnel, and then the workers manually lay, bend and tie them. The harsh underground environment and high-intensity physical labor directly affect the efficiency of laying reinforcement bars in the artificial false bottom.

[0003] At present, the bottom reinforcement technology used by mines at home and abroad has the following disadvantages:

[0004] (1) The traditional and backward process methods and the high labor intensity are not suitable for deep well operations. Traditional reinforcement tying and laying require a large number of workers to participate in the operation underground. The harsh humid and hot environment and heat damage of deep wells greatly reduce the permissible labor intensity of workers underground.

[0005] (2) Low efficiency and long shifts. The traditional process of laying the base and reinforcement in a single shift includes: ballast leveling, plastic sheeting, reinforcement erection, and reinforcement bundling. The process connection between the individual steps cannot be integrated, and the continuity of the operation is poor. In addition, most of the steps are directly participated by human labor, and the average time of the entire shift is about 4 hours. It takes a long time and the operation efficiency is low.

[0006] (3) The quality of reinforcement is difficult to guarantee, and the level of steel mesh bundling is uneven. Limited by traditional reinforcement techniques and process flow, there are large uncertainties in the manually bundled steel bars, and it is difficult to ensure the consistency of the bundling quality at the intersection of the main and secondary reinforcements. Therefore, the artificial false bottom cast on this basis is prone to uneven stress distribution, and the bearing capacity of each part varies greatly, making it difficult to ensure uniform quality.

[0007] To this end, in view of a series of problems existing in the construction of artificial false bottom in underground mines in my country, it is necessary to develop a reinforcement laying method specifically for the underground working environment, so as to achieve rapid reinforcement laying underground, reduce the production time of artificial false bottom, improve the efficiency of downward approach filling mining method, and reduce the economic and time costs of ore mining. Summary of the invention

[0008] In order to solve the above technical problems, the present invention designs a reinforcement laying trolley, double-layer steel grid and reinforcement laying method for underground mine filling, which can effectively cope with underground operations in limited space, solve the shortcomings of existing reinforcement laying and tying, and improve the efficiency of artificial false bottom production in the downward approach filling mining method. The functional integration of the trolley realizes the programming of reinforcement laying operations, directly reduces the physical labor intensity of underground workers, improves the efficiency of production operations, and improves the mechanization and automation level of the entire process.

[0009] The technical solution of the present invention is:

[0010] A reinforcement laying trolley includes a control system, a power supply system, a driving system, and a reinforcement grabbing system. The reinforcement grabbing system includes a beam guide rail mounted on the trolley, a support device for fixing the beam guide rail, a shipping pad installed on the trolley chassis, an electromagnet suction device, and a traveling device for controlling the movement of the electromagnet suction device on the beam guide rail; the beam guide rail includes a longitudinal beam guide rail parallel to the longitudinal direction of the vehicle body, a transverse electromagnet guide rail movably installed on the longitudinal beam guide rail, and a telescopic front guide rail connected to the end of the longitudinal beam guide rail and controlled by workers to pull and retract; the support device is fixed on the trolley, including a front beam bracket and a rear beam bracket respectively connected to the two ends of the longitudinal beam guide rail, and a beam support column connected to the middle of the longitudinal beam guide rail; the electromagnet suction device is installed on the transverse electromagnet guide rail and moves on the longitudinal beam guide rail through the traveling device.

[0011] Furthermore, the traveling device includes a traveling assembly connected to both ends of the transverse electromagnet guide rail, and the traveling assembly moves on the longitudinal hanging beam guide rail in the form of a built-in roller, and the roller is fixed inside the traveling assembly through a roller bearing, and one end of the roller shaft is connected to the transmission gear, and the transmission gear is connected to the traveling motor through a transmission chain, and the traveling motor is powered by a traveling power supply cable, and the exposed part of the cable is an elastic wire similar to a spring shape, and the embedded part is connected to the power battery pack through the rear hanging beam bracket and the trolley chassis, and the roller powered by the traveling motor drives the entire traveling assembly to realize the forward and backward functions on the longitudinal hanging beam guide rail.

[0012] Furthermore, the shape of the longitudinal hanging beam guide rail is designed to be an "I" shape, and the shape of the traveling component is set to be a slot shape matching the "I" shape, and moves through friction between the roller and the upper end of the "I" shape.

[0013] Furthermore, the electromagnet suction device includes a telescopic joint, a hollow connector 1, an electromagnet connecting rod, an electromagnet turntable, a hollow connector 2 and an electromagnet, which are connected in sequence from top to bottom, wherein the electromagnet power supply cable passes through the telescopic joint, the hollow connector 1, the electromagnet connecting rod, the electromagnet turntable and the hollow connector 2 in sequence and is connected to the electromagnet, and the release and recovery of the telescopic joint are controlled by the control panel to realize the up and down lifting of the electromagnet. When the electromagnet reaches the predetermined position, the electromagnet is released to perform the suction operation. After the suction is successful, the steel bar grid is moved to the air above the designated location through the traveling component, and the control panel issues a rotation command, and the electromagnet turntable rotates a predetermined angle accordingly, and the sucked steel bar grid is turned to a suitable aerial position, and then an instruction is issued to release the telescopic joint, and the electromagnet as a whole carries the steel bar grid down to the designated area to complete the reinforcement laying operation.

[0014] Furthermore, the steel grid is an upper and lower two-layer steel grid formed by interweaving and welding a plurality of grid main bars and grid secondary bars arranged at intervals and a plurality of grid interval bars arranged between the grid main and secondary bars. The two layers of grids are connected by a rotating shaft. A plurality of rotating shafts 1 are respectively arranged at both ends of the upper steel grid, and a plurality of rotating shafts 2 are respectively arranged at both ends of the lower steel grid. The rotating shafts 1 and 2 are sleeved and installed, wherein a locking column bayonet is arranged on the rotating shaft 1, and a spring locking column is arranged on the rotating shaft 2. The rotating shafts 1 and 2 are connected with the spring locking column through the locking column bayonet; a link buckle is also arranged on the main bar on one side of the upper steel grid, and the steel grids are fixed to each other through the steel grid link buckle. A limit bayonet is arranged on the outer diameter of the rotating shaft 2, and its diameter is larger than the inner diameter of the sleeve at the lower end of the rotating shaft.

[0015] Furthermore, guide rail brake blocks are arranged at the connection between the longitudinal hanging beam guide rail and the rear hanging beam bracket, and at the end of the telescopic front guide rail away from the longitudinal hanging beam guide rail, for preventing the traveling assembly from leaving the track from both ends; at the same time, a fixed cross beam is installed between the guide rail brake blocks for stabilizing the hanging beam guide rail.

[0016] Furthermore, the control system is integrated on the operating console of the cab, and the PLC realizes the control and debugging of various devices of the whole vehicle, can analyze the data of each sensor, and set a capacitive touch screen and manual interaction buttons as a human-machine interaction operation mode to display and accept some manual adjustments. The control system can be used to check the vehicle's operating status, body load, power status, etc. It can also perform operations such as electromagnet direction movement control and electromagnet extension control.

[0017] Furthermore, the control system contains sensors for various important components, which can provide timely feedback to the display screen to warn the driver when the vehicle condition is abnormal, important components are damaged or short-circuited, etc.

[0018] Furthermore, the power supply system includes a power battery pack, a battery management and control system, a charging port, and an external cable. The power battery pack is installed behind the driver's seat in the cab, in the space above the chassis of the trolley, and is connected to other electrical equipment and devices on the trolley through a circuit. It is the power source of the entire vehicle, realizing functions such as walking, lighting, electromagnet suction, and self-unloading of steel mesh. The battery management and control system is integrated on the control console to monitor the battery operating status in real time. The system intelligently manages and maintains each battery unit to prevent overcharging and over-discharging, extend the service life and ensure safe operation; the charging port is set on the outside of the car close to the battery pack. The external cable is connected to the charging port to directly charge the built-in battery.

[0019] Furthermore, the driving system includes a driving steering wheel, tires, a power pedal, a brake pedal and a driving motor. The driving steering wheel, the power pedal and the brake pedal are all built into the cab. The driving motor is arranged in the upper end space of the rear tire and is connected to the battery pack through the internal cable of the trolley for energy supply. The driving system enables the trolley to complete driving actions such as forward, turning and reverse.

[0020] A method for underground mine filling steel bars that uses the above-mentioned steel bar laying trolley to quickly and safely lay a double-layer steel bar grid, the method comprising the following steps:

[0021] (1) Trolley self-check: When the main power switch of the reinforcement laying machine trolley is turned on, the trolley enters the self-check state and checks the status of each sensor. When the self-check is completed, the trolley enters the waiting state;

[0022] (2) Grid transportation: Drive the reinforcement laying mechanical trolley to the storage location, move the steel grid required for reinforcement laying to the shipping pad of the trolley, and wait for the laying work in the tunnel to be completed;

[0023] (3) Rebar laying preparation: After the workers have completed the coil laying operation, the trolley moves forward to the bottom of the tunnel and then moves back to the length of a steel grid. The workers then manually pull out the telescopic front guide rail and fully extend the front guide rail so that the traveling assembly can be moved above the work area.

[0024] (4) Grid suction work: After the telescopic front rail is fully extended, the driver operates the travel assembly on the longitudinal beam rail through the control panel to move the transverse electromagnet rail to the top of the grid gripper, and then operates the telescopic joint of the electromagnet suction device to release the electromagnet, control the electromagnet to suck the grid gripper to perform the suction operation, and retract the telescopic joint after successful suction to lift the steel grid into the air;

[0025] (5) Grid layout: After the electromagnetic suction device lifts the steel grid, the control panel controls the travel assembly to move the horizontal electromagnetic guide rail to the air above the grid placement area, and then controls the electromagnetic turntable to turn. After adjusting the mid-air angle, the telescopic joint is lowered. When the electromagnet is lowered to the bottom, it is controlled to release the grid gripper to complete the laying of a single steel grid;

[0026] (6) After the steel grid is erected, the electromagnet suction device is retracted, and the traveling assembly is controlled to retract the electromagnet and the transverse electromagnet guide rail, and the trolley retreats to the next steel grid placement area to prepare for laying the reinforcement;

[0027] (7) Grid overlap: After the trolley completes the reinforcement laying operation of the entire lane, the workers manually prop up the steel grid. The specific steps are: lift up the upper grid of the steel grid until the upper grid is perpendicular to the steel grid rotation axis. The steel grid fixing buckle will self-lock when the grid is perpendicular to the rotation axis, and the spring lock column inside it will be released and popped out to keep the steel grid propped up. After all the laid grids in the lane are propped up, the grids are connected to each other through the steel grid buckle to form a whole.

[0028] (8) If the battery of the trolley is insufficient, directly connect the external cable to the charging port for charging.

[0029] Beneficial Effects

[0030] The present invention proposes an underground reinforcement mobile transportation equipment integrating grid transportation and grid bottom laying, a special double-layer steel grid and an efficient reinforcement laying construction method. The labor of workers is replaced by an automated and mechanized mobile trolley, which reduces the labor intensity of underground workers and the labor cost required for mine filling. The high integration of the reinforcement laying function realizes the programming of the operation. The integrated equipment greatly improves the efficiency of constructing the artificial false bottom in the downward filling mining method, and the special trolley structure design can well cope with the special working environment of the narrow space underground. The main outstanding advantages of the present invention are as follows:

[0031] (1) The on-site operation speed of artificial false bottom production in the downward filling mining method is fast. Compared with the traditional manual reinforcement laying and reinforcement construction method, a large number of manual links are saved. The carrying and transportation of mechanical equipment greatly improves the efficiency of artificial false bottom construction. Mechanized process operations reduce manual participation, improve underground production safety and efficiency, and also ensure the safety of workers' operations and reduce the possibility of casualties. The specially made double-layer steel grid structure makes the steel mesh reinforcement process surface-based and mechanized, improves the working environment, and improves the quality and efficiency of reinforcement.

[0032] (2) The control system of the trolley is integrated with other system operation modules. By integrating sensors, travel components and other devices, the parameter feedback and automatic display function of the steering lifting electromagnet in calling and releasing the steel grid can be realized. In addition, the control system can reflect the status of the vehicle body through various parameters in real time, and alarm and display relevant troubleshooting information in time when abnormal data occurs.

[0033] (3) The use of electromagnets is simpler than that of traditional hooks. Manual control of grabbing and releasing is eliminated, and the operation of sucking and releasing the steel grid can be completed directly by controlling the coil current inside the electromagnet. When grabbing the residual grid on the shipping pad, the magnetic force of the electromagnet can be strengthened to absorb it in the air, reducing the space required for the telescopic parts and the volume of the connecting rod and its parts. At the same time, the existence of the telescopic front guide rail reduces the length of the whole vehicle, making it easier for it to travel in narrow tunnel spaces, meeting the special needs of equipment miniaturization required in underground production environments.

[0034] (4) Compared with the traditional grabbing hook, during the electromagnet adsorption process, the entire grid is also magnetized. There is a magnetic field traction between the upper and lower grids, which can offset the influence of gravity. The upper and lower grids will not be completely separated in the air, resulting in self-locking in the air due to misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 - Side view of the reinforcement laying machine trolley according to the embodiment of the present application;

[0036] Figure 2 - A top view of the reinforcement laying machine trolley according to an embodiment of the present application;

[0037] Figure 3 -Schematic diagram of the traveling assembly structure;

[0038] Figure 4 - Schematic diagram of the local structure of the steering lifting electromagnet;

[0039] Figure 5 -Schematic diagram of steel grid structure;

[0040] Figure 6 -Schematic diagram of the steel grid fixing clip structure.

[0041] In the figure: 1-operating platform, 2-driving seat, 3-tire, 4-power battery pack, 5-rear hanging beam bracket, 6-charging interface, 7-consignment pad, 8-trolley chassis, 9-reinforced grid, 10-grid gripper, 11-travel assembly, 12-electromagnet suction device, 13-hanging beam guide rail, 14-front hanging beam bracket, 15-hanging beam support column, 16-telescopic front guide rail, 17-guide rail brake block, 18-longitudinal hanging beam guide rail, 19-transverse electromagnet guide rail, 20-tire baffle, 21-fixed crossbeam, 22-control panel, 23-roller, 24-roller bearing, 2 5-electromagnet turntable, 26-electromagnet connecting rod, 27-telescopic joint, 28-electromagnet, 29-travel motor, 30-transmission gear, 31-transmission chain, 32-travel motor, 33-rotating shaft one, 34-reinforcement grid fixing buckle, 35-link buckle, 36-grid main reinforcement, 37-grid spacing reinforcement, 38-grid secondary reinforcement, 39-spring lock column, 40-spring, 41-lock column bayonet, 42-rotating shaft two, 43-travel power supply cable, 44-electromagnet power supply cable, 45-hollow connector one, 46-hollow connector two, 47-limiting bayonet. DETAILED DESCRIPTION

[0042] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0043] Embodiment 1

[0044] like Figure 1-6 As shown, a reinforcement laying trolley includes a control system, a power supply system, a driving system, and a reinforcement grabbing system. The reinforcement grabbing system includes a beam guide rail 13 mounted on the trolley, a support device for fixing the beam guide rail, a shipping pad 7 mounted on the trolley chassis, an electromagnet suction device 12, and a traveling device for controlling the electromagnet suction device to move on the beam guide rail; the beam guide rail 13 includes a longitudinal beam guide rail 18 parallel to the longitudinal direction of the vehicle body, a transverse electromagnet guide rail 19 movably mounted on the longitudinal beam guide rail 18, and a telescopic front guide rail 16 connected to the end of the longitudinal beam guide rail 18 and controlled to be retracted by workers by pulling, the support device is fixed on the trolley, and includes a front beam bracket 14 and a rear beam bracket 5 respectively connected to the two ends of the longitudinal beam guide rail 18, and a beam support column 15 connected to the middle of the longitudinal beam guide rail 18; the electromagnet suction device 12 is mounted on the transverse electromagnet guide rail 19, and moves on the longitudinal beam guide rail 18 through the traveling device.

[0045] Furthermore, the traveling device includes a traveling component 11 connected to both ends of the transverse electromagnet guide rail 19, and the traveling component 11 moves on the longitudinal suspension beam guide rail 18 in the form of a built-in roller. The roller 23 is fixed inside the traveling component through a roller bearing 24, and one end of the roller shaft is connected to the transmission gear 30. The transmission gear 30 is connected to the traveling motor 32 through a transmission chain 31. The traveling motor 32 is powered by a traveling power supply cable 43. The exposed part of the cable is an elastic wire similar to a spring shape, and the embedded part is connected to the power battery pack 4 through the rear suspension beam bracket 5 and the trolley chassis 8. The roller 23 powered by the traveling motor 32 drives the entire traveling component 11 on the longitudinal suspension beam guide rail 18 to realize the forward and backward functions.

[0046] Furthermore, the shape of the longitudinal hanging beam guide rail 18 is designed to be an "I" shape throughout, and the shape of the traveling component is set to be a slot shape matching the "I" shape, and moves through friction with the upper end of the "I" shape through the roller 23.

[0047] Furthermore, the electromagnet suction device 12 includes a telescopic joint 27, a hollow connector 1 45, an electromagnet connecting rod 26, an electromagnet turntable 25, a hollow connector 2 46 and an electromagnet 28, which are connected in sequence from top to bottom, wherein the electromagnet power supply cable 44 passes through the telescopic joint, the hollow connector 1, the electromagnet connecting rod, the electromagnet turntable and the hollow connector 2 in sequence and is connected to the electromagnet, and the release and recovery of the telescopic joint 27 are controlled by the control panel 22 to realize the up and down lifting of the electromagnet 28. When the electromagnet 28 reaches the predetermined position, the electromagnet 28 is released to perform the suction operation. After the suction is successful, the steel bar grid 9 is moved to the air above the designated location through the traveling component, and the control panel 22 issues a rotation command, and the turntable of the electromagnet 28 rotates a predetermined angle accordingly, and the sucked steel bar grid 9 is turned to a suitable aerial position, and then an instruction is issued to release the telescopic joint 27, and the electromagnet 28 as a whole carries the steel bar grid 9 down to the designated area to complete the reinforcement laying operation.

[0048] Further, the steel grid 9 is an upper and lower two-layer steel grid formed by interweaving and welding a plurality of grid main bars 36 and grid secondary bars 38 arranged at intervals and a plurality of grid spacing bars 37 arranged between the grid main and secondary bars. The two layers of grids are connected by a rotating shaft. A plurality of rotating shafts 1 33 are respectively arranged at both ends of the upper steel grid, and a plurality of rotating shafts 2 42 are respectively arranged at both ends of the lower steel grid. The rotating shafts 1 33 and 2 42 are sleeved and installed, wherein a locking column bayonet 41 is arranged on the rotating shaft 1 33, and a spring locking column 39 is arranged on the rotating shaft 2 42. The rotating shafts 1 and 2 are connected with the spring locking column 39 through the locking column bayonet 41. A link buckle 35 is also arranged on the main bar on one side of the upper steel grid 9, and the steel grids are fixed to each other through the steel grid link buckle 35. A limit bayonet 47 is arranged on the outer diameter of the rotating shaft 2 42, and its diameter is larger than the inner diameter of the sleeve at the lower end of the rotating shaft 1 33.

[0049] When the steel grid 9 is in the transport state, the upper and lower grids are in an overlapping state; after being lifted up by workers, the steel grid 9 is fully unfolded, and in this embodiment becomes a rectangular parallelepiped with a length of 4 meters, a width of 2.3 meters, and a height of 0.2 meters. The principle of grid self-locking is that when the steel grid fixing buckle 34 changes from a lying state to a vertical state, the rotating shaft 1 33 and the rotating shaft 2 42 also rotate accordingly, and at the same time, the internal spring lock column 39 is also driven to rotate to the lock column bayonet 41, releasing the spring 40 at the bottom of the spring lock column, and the lock column pops out from the bayonet to complete the self-locking. The existence of the limit bayonet 47 makes the socketing method between the upper and lower rotating shafts more stable, avoiding the situation of loosening or breaking between the upper and lower rotating shafts.

[0050] Furthermore, guide rail brake blocks 17 are arranged at the connection between the longitudinal suspension beam guide rail 18 and the rear suspension beam bracket 5, and at the end of the telescopic front guide rail 16 away from the longitudinal suspension beam guide rail 18, so as to prevent the traveling assembly from leaving the track from both ends; at the same time, a fixed cross beam 21 is installed between the guide rail brake blocks 17 to stabilize the suspension beam guide rail.

[0051] Furthermore, the control system is integrated on the operating console 1 in the cab, and the PLC realizes the control and debugging of various devices of the whole vehicle, can analyze the data of each sensor, and set a capacitive touch screen and manual interaction buttons as a human-machine interaction operation mode to display and accept some manual adjustments. The control system can be used to check the vehicle operation status, vehicle body load, power status, etc. And it can perform operations such as electromagnet direction movement control and electromagnet extension control.

[0052] Furthermore, the control system contains sensors for various important components, which can provide timely feedback to the display screen to warn the driver when the vehicle condition is abnormal, important components are damaged or short-circuited, etc.

[0053] Furthermore, the power supply system includes a power battery pack 4, a battery management and control system, a charging interface 6, and an external cable. The power battery pack 4 is installed behind the driving seat 2, in the space above the trolley chassis 8, and is connected to other electrical equipment and devices on the trolley through a circuit. It is the power source of the entire vehicle and realizes functions such as walking, lighting, electromagnet suction, and self-unloading of steel mesh. The battery management and control system is integrated on the control console to monitor the battery operating status in real time. The system intelligently manages and maintains each battery unit to prevent overcharging and over-discharging, extend the service life and ensure safe operation; the charging interface 6 is set on the outside of the car close to the battery pack. The external cable is connected to the charging interface 6 to directly charge the built-in battery.

[0054] Furthermore, the driving system includes a driving steering wheel, a tire 3, a power pedal, a brake pedal and a driving motor 29. The driving steering wheel, the power pedal and the brake pedal are all built into the cab. The driving motor 29 is arranged in the upper end space of the rear tire 3 and is connected to the battery pack through the internal cable of the trolley for energy supply. The driving system enables the trolley to complete driving actions such as forward, turning and reverse.

[0055] Embodiment 2

[0056] A method for underground mine filling steel bars that uses the above-mentioned steel bar laying trolley to quickly and safely lay a double-layer steel bar grid, the method comprising the following steps:

[0057] (1) Trolley self-check: When the main power switch of the reinforcement laying machine trolley is turned on, the trolley enters the self-check state and checks the status of each sensor. When the self-check is completed, the trolley enters the waiting state;

[0058] (2) Grid transportation: Drive the reinforcement laying mechanical trolley to the storage location, move the steel grid 9 required for reinforcement laying to the shipping pad 7 of the trolley, and wait for the laying work in the tunnel to be completed;

[0059] (3) Preparation for laying reinforcement: After the workers complete the laying operation, the trolley moves forward to the bottom of the tunnel and moves back to the length of a reinforcement grid. The workers then manually pull out the telescopic front guide rail 16 and fully extend the front guide rail so that the traveling assembly 11 can be moved above the working area.

[0060] (4) Grid suction work: After the telescopic front guide rail 16 is fully extended, the driver operates the travel assembly on the longitudinal suspension beam guide rail 18 through the control panel 22 to move the transverse electromagnet guide rail 19 to the top of the grid gripper, and then operates the telescopic joint 27 of the electromagnet suction device to release the electromagnet 28, control the electromagnet 28 to suck the grid gripper 10 to perform the suction operation, and after the suction is successful, retract the telescopic joint 27 to lift the steel grid into the air;

[0061] (5) Grid layout: After the electromagnetic suction device lifts the steel grid 9, the control panel 22 controls the traveling assembly 11 to move the transverse electromagnetic guide rail 19 to the air above the grid placement area, and then controls the electromagnetic turntable 25 to turn. After adjusting the mid-air angle, the telescopic joint is lowered. When the electromagnet 28 is lowered to the bottom, it is controlled to release the grid gripper 10 to complete the laying of the single steel grid 9;

[0062] (6) After the steel grid 9 is erected, the electromagnet suction device is retracted, and the traveling assembly 11 is controlled to retract the electromagnet 28 and the transverse electromagnet guide rail 19, and the trolley retreats to the next steel grid placement area to prepare for laying the reinforcement;

[0063] (7) Grid overlap: After the trolley completes the reinforcement laying operation of the entire lane, the workers manually prop up the steel grid. The specific steps are: lift up the upper grid of the steel grid 9 until the upper grid is perpendicular to the steel grid rotation axis. The steel grid fixing buckle 34 will self-lock when the grid is perpendicular to the rotation axis, and the spring lock column 39 inside it will be released and popped out to keep the steel grid 9 in the propped state. After all the laid grids in the lane are propped up, the grids are connected to each other through the steel grid buckle 35 as a whole.

[0064] (8) If the battery of the trolley is insufficient, directly connect the external cable to the charging port 6 for charging.

[0065] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical content disclosed by the present invention. At the same time, the terms such as "front", "back", "upper", "middle", "lower", "bottom" and the like cited in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

Claims

1. A reinforcement laying method for underground mine filling, characterized in that: The method comprises the following steps: (1) Trolley self-check: When the main power switch of the reinforcement laying machine trolley is turned on, the trolley enters the self-check state and checks the status of each sensor. When the self-check is completed, the trolley enters the waiting state; (2) Grid transportation: Drive the reinforcement laying mechanical trolley to the storage location, move the steel grid required for reinforcement laying to the shipping pad of the trolley, and wait for the laying work in the tunnel to be completed; (3) Preparation for laying reinforcement: After the workers have completed the laying operation, the trolley moves forward to the bottom of the tunnel and then moves back to the length of a reinforcement grid. The workers then manually pull out the telescopic front guide rail and fully extend the front guide rail so that the traveling assembly can be moved above the working area. (4) Grid suction work: After the telescopic front guide rail is fully extended, the driver operates the travel assembly on the longitudinal lifting beam guide rail through the control panel to move the transverse electromagnet guide rail to the top of the grid gripper, and then operates the telescopic joint of the electromagnet suction device to release the electromagnet, control the electromagnet to suck the grid gripper to perform the suction operation, and retract the telescopic joint after successful suction to lift the steel grid into the air; (5) Grid layout: After the electromagnetic suction device lifts the steel grid, the control panel controls the travel assembly to move the horizontal electromagnetic guide rail to the air above the grid placement area, and then controls the electromagnetic turntable to turn. After adjusting the mid-air angle, lower the telescopic joint. When the electromagnet is lowered to the bottom, control it to release the grid gripper to complete the laying of a single steel grid; (6) After the steel grid is erected, the electromagnet suction device is retracted, and the travel assembly is controlled to retract the electromagnet and the transverse electromagnet guide rail, and the trolley retreats to the next steel grid placement area to prepare for laying the reinforcement; (7) Grid overlap: After the trolley completes the reinforcement laying operation of the entire tunnel, the workers manually support the steel grid. The specific steps are as follows: lift up the upper grid of the steel grid until the upper grid is perpendicular to the steel grid rotation axis. The steel grid fixing buckle will self-lock when the grid is perpendicular to the rotation axis, and the spring lock column inside it will be released and popped out to keep the steel grid in the supported state. After all the laid grids in the tunnel are supported, the grids are connected to each other through the steel grid link buckle as a whole; (8) If the battery of the trolley is insufficient, directly connect the external cable to the charging port for charging; The steel grid is an upper and lower double-layer steel grid formed by interweaving and welding a number of grid main bars and grid secondary bars arranged at intervals and a number of grid interval bars installed between the grid main and secondary bars. The two layers of grids are connected by a rotating shaft. A number of rotating shafts 1 are respectively arranged at both ends of the upper steel grid, and a number of rotating shafts 2 are respectively arranged at both ends of the lower steel grid. The rotating shafts 1 and 2 are sleeved and installed, wherein a locking column bayonet is arranged on the rotating shaft 1, and a spring locking column is arranged on the rotating shaft 2. The rotating shafts 1 and 2 are connected with the spring locking column through the locking column bayonet; a link buckle is also arranged on the main bar on one side of the upper steel grid, and the steel grids are fixed to each other through the steel grid link buckle, and a limit bayonet is arranged on the outer diameter of the rotating shaft 2, and its diameter is larger than the inner diameter of the sleeve at the lower end of the rotating shaft.

2. A method for laying reinforcement for underground mine filling according to claim 1, characterized in that: The rebar laying mechanical trolley includes a control system, a power supply system, a driving system, and a rebar grasping system. The rebar grasping system includes a beam guide rail mounted on the trolley, a supporting device for fixing the beam guide rail, a shipping pad installed on the trolley chassis, an electromagnet suction device, and a traveling device for controlling the movement of the electromagnet suction device on the beam guide rail; the beam guide rail includes a longitudinal beam guide rail parallel to the longitudinal direction of the vehicle body, a transverse electromagnet guide rail movably installed on the longitudinal beam guide rail, and a telescopic front guide rail connected to the end of the longitudinal beam guide rail and controlled to be retracted and extended by workers through pulling; the supporting device is fixed on the trolley, including a front beam bracket and a rear beam bracket respectively connected to the two ends of the longitudinal beam guide rail, and a beam support column connected to the middle part of the longitudinal beam guide rail; the electromagnet suction device is installed on the transverse electromagnet guide rail and moves on the longitudinal beam guide rail through the traveling device.

3. A method for laying reinforcement for underground mine filling according to claim 2, characterized in that: The traveling device includes a traveling assembly connected to both ends of a transverse electromagnet guide rail, the traveling assembly moves on the longitudinal hanging beam guide rail in the form of a built-in roller, the roller is fixed inside the traveling assembly through a roller bearing, one end of the roller shaft is connected to a transmission gear, the transmission gear is connected to a traveling motor through a transmission chain, the electric power of the traveling motor is provided by a traveling power supply cable, the exposed part of the cable is an elastic wire similar to a spring shape, the embedded part is connected to a power battery pack through a rear hanging beam bracket and a trolley chassis, and the roller powered by the traveling motor drives the entire traveling assembly to realize the forward and backward functions on the longitudinal hanging beam guide rail.

4. A method for laying reinforcement for underground mine filling according to claim 3, characterized in that: The shape of the longitudinal hanging beam guide rail is designed to be an "I" shape, and the shape of the traveling component is set to be a slot shape matching the "I" shape, and moves through friction between the roller and the upper end of the "I" shape.

5. A reinforcement laying method for underground mine filling according to claim 3, characterized in that: The electromagnet suction device comprises a telescopic joint, a hollow connector 1, an electromagnet connecting rod, an electromagnet turntable, a hollow connector 2 and an electromagnet, which are sequentially connected from top to bottom, wherein the electromagnet power supply cable sequentially passes through the telescopic joint, the hollow connector 1, the electromagnet connecting rod, the electromagnet turntable and the hollow connector 2 to be connected to the electromagnet, and the electromagnet is lifted and lowered by controlling the release and recovery of the telescopic joint through the control panel. When the electromagnet reaches a predetermined position, the electromagnet is released to perform the suction operation. After the suction is successful, the steel bar grid is moved to the air above the designated location through the traveling component, and the control panel issues a rotation command, and the electromagnet turntable rotates a predetermined angle accordingly, and the sucked steel bar grid is turned to a suitable aerial position, and then an instruction is issued to release the telescopic joint, and the electromagnet as a whole carries the steel bar grid down to the designated area to complete the reinforcement laying operation.

6. A reinforcement laying method for underground mine filling according to claim 2, characterized in that: Guide rail brake blocks are arranged at the connection between the longitudinal suspension beam guide rail and the rear suspension beam bracket, and at the end of the telescopic front guide rail away from the longitudinal suspension beam guide rail, which are used to prevent the traveling components from leaving the track from both ends; at the same time, a fixed cross beam is installed between the guide rail brake blocks to stabilize the suspension beam guide rail.

7. A method for laying reinforcement for underground mine filling according to claim 2, characterized in that: The control system is integrated on the operating console of the cab. The PLC realizes the control and debugging of various equipment of the whole vehicle, analyzes the data of each sensor, and sets a capacitive touch screen and manual interaction buttons as human-computer interaction operation modes to display and accept some manual adjustments. The control system is used to check the vehicle's operating status, body load, power status, and perform electromagnet directional movement control and electromagnet extension and retraction control.

8. A method for laying reinforcement for underground mine filling according to claim 2, characterized in that: The power supply system includes a power battery pack, a battery management and control system, a charging port, and an external cable. The power battery pack is installed behind the driver's seat in the cab, in the space above the trolley chassis, and is connected to the electrical equipment and devices on the trolley through a circuit. It is the power source of the entire vehicle, realizing walking, lighting, electromagnet suction, and self-unloading of steel mesh. The battery management and control system is integrated on the operating console to monitor the battery operating status in real time. The system intelligently manages and maintains each battery unit to prevent overcharging and over-discharging, extending the service life while ensuring safe operation; the charging interface is arranged on the outside of the car close to the battery pack, and the external cable is connected to the charging interface to directly charge the built-in battery.

9. A reinforcement laying method for underground mine filling according to claim 2, characterized in that: The driving system includes a driving steering wheel, tires, a power pedal, a brake pedal and a driving motor, wherein the driving steering wheel, the power pedal and the brake pedal are all built into the cab, and the driving motor is arranged in the upper space of the rear tire and is connected to the battery pack through the internal cables of the trolley for energy supply. The driving system can enable the trolley to move forward, turn and reverse.

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