A single automatic support method for roadway tunneling

Abstract

The present invention discloses a single automatic support method for roadway tunneling. The method includes the following steps: S01, on-board temporary support; S02, drilling holes; S03, installing super prestressed anchor cables into the holes; S04, injecting quick-setting agent into the holes; S05, using a pre-anchor machine for reinforcement support; S06, automatically installing wire meshes. It is to solve the problem that the prior art cannot improve the support efficiency while ensuring safety.

Description

Technical Field

[0001] The present invention relates to the technical field of roadway support, and particularly to a single automatic support method for roadway tunneling. Background Art

[0002] The existing support methods for coal mine roadways are as follows:

[0003] The first step: installing the mesh;

[0004] The second step: drilling bolts and cables;

[0005] The third step: installing bolt and cable trays and pre-tightening the cables;

[0006] The fourth step: thin spraying.

[0007] This support method has the following problems:

[0008] Since there is a roadheader in the roadway before installing the mesh, the space is narrow, so that the mesh can only be installed manually, resulting in low efficiency of installing the mesh;

[0009] Similarly, due to the narrow roadway space, automation of bolting can only be achieved on the premise of using one bolter, resulting in low efficiency of drilling bolts and cables.

[0010] The above reasons lead to low automation and low support efficiency of the existing coal mine roadway support. Summary of the Invention

[0011] In order to solve the above-mentioned shortcomings and deficiencies of the prior art, the purpose of the present invention is to provide a single automatic support method for roadway tunneling.

[0012] The technical solution of the present invention is: a single automatic support method for roadway tunneling, the method comprising the following steps:

[0013] S01. Airborne temporary support;

[0014] S02. Drilling holes;

[0015] S03. Installing super prestressed cables into the holes;

[0016] S04. Injecting quick-setting agent into the holes;

[0017] S05. Using a pre-anchor machine for reinforcement support;

[0018] S06. Automatically installing the mesh.

[0019] Further, it further includes a thin spraying step, and the thin spraying step is arranged between step S04 and S05.

[0020] Further, it also includes a thin spraying step, and the thin spraying step is arranged after step S06.

[0021] Further, the diameter of the super prestressed cable anchor is greater than 28 mm, and the length is greater than 10 m.

[0022] Further, it matches with the drilled pre-super prestressed cable anchor.

[0023] Specifically, in step S05, the super prestressed cable anchor is installed into the drill hole through a super prestressed support device;

[0024] The super prestressed support device includes: a bottom plate, a tray fixture, an anchor feeding mechanism, and a tensioning mechanism;

[0025] A through hole penetrating the upper and lower surfaces of the bottom plate is formed on the bottom plate, the diameter of the through hole is greater than the diameter of the cable anchor, a first lifting rod is fixedly connected to the upper part of the bottom plate, the telescopic direction of the first lifting rod is parallel to the central axis of the through hole, and the upper end of the first lifting rod is fixedly connected to the tray fixture;

[0026] The tray fixture matches the shape of the lower surface of the tray, and the central axis of the tray fixture coincides with the central axis of the through hole;

[0027] An anchor feeding mechanism is further arranged on the upper part of the bottom plate, the anchor feeding mechanism matches the cable anchor, and the central axis of the anchor feeding mechanism coincides with the through hole;

[0028] A tensioning mechanism is fixedly connected to the lower part of the bottom plate, the tensioning mechanism matches the cable anchor, and the central axis of the tensioning mechanism coincides with the through hole.

[0029] Specifically, the tray fixture is annular, and the inner diameter of the tray fixture matches the protruding part of the lower surface of the tray;

[0030] A rubber pad is arranged on the upper surface of the tray fixture;

[0031] Fourth lifting rods are arranged on the lower surface of the bottom plate, there are 4 fourth lifting rods, the 4 fourth lifting rods are distributed at the four corners of the bottom plate, and the lower ends of the fourth lifting rods are fixedly connected to a support plate, and the lower surface of the support plate is perpendicular to the length direction of the fourth lifting rods.

[0032] Specifically, the anchor feeding mechanism includes a controller, a position feedback sensor, a second lifting rod, and a cable anchor gripper;

[0033] There are two second lifting rods, the two second lifting rods are arranged on both sides of the through hole, cable anchor grippers are respectively connected to the upper ends of the two second lifting rods, the telescopic direction of the second lifting rod is parallel to the central axis of the through hole, and the second lifting rod is electrically connected to the controller;

[0034] The position feedback sensor is arranged on the second lifting rod and is electrically connected to the controller.

[0035] Specifically, the cable anchor gripper includes a touch switch, a support arm, a shrapnel, a first movable rod, a second movable rod, a first clamping block, a second clamping block, a stepping motor, a lead screw, a slider, and a control arm;

[0036] One end of the support arm is fixedly connected to the upper end of the second lifting rod. The support arm is perpendicular to the second lifting rod. A clamping rotating shaft is provided on the upper surface of the support arm away from the second lifting rod, and the rotating shaft is parallel to the second lifting rod;

[0037] The first movable rod and the second movable rod are rotatably connected to the clamping rotating shaft;

[0038] The first clamping block is fixedly connected to one end of the first movable rod away from the second lifting rod, and the second clamping block is fixedly connected to one end of the second movable rod away from the second lifting rod. A semi-circular arc is formed on the first clamping block, and the opening of the semi-circular arc faces the second clamping block. The central axis of the semi-circular arc is parallel to the central axis of the through hole. The second clamping block is symmetrical to the first clamping block left and right. When the first clamping block and the second clamping block are in contact with each other, the semi-circular arcs on the first clamping block and the second clamping block enclose a cylindrical hole, and the central axis of the cylindrical hole coincides with the central axis of the through hole;

[0039] The shrapnel is arranged between the first movable rod and the second movable rod, and the elastic force direction of the shrapnel is consistent with the direction in which the first movable rod and the second movable rod open;

[0040] The stepping motor is fixedly connected to the support arm. The axis of the stepping motor is parallel to the length direction of the support arm. A lead screw is fixedly connected to the axis of the stepping motor. The central axis of the lead screw coincides with the central axis of the axis of the stepping motor. The stepping motor is electrically connected to the controller;

[0041] The slider is slidably connected to the support arm. A first screw hole is formed in the slider, and the first screw hole penetrates the slider in the length direction of the support arm. The first screw hole matches the lead screw, and the lead screw is threadedly connected to the first screw hole;

[0042] There are 2 control arms, and the two control arms are symmetrically distributed with the support arm as the central axis. The control arm includes a first branch rod and a second branch rod. The first branch rod and the second branch rod are connected to form an L shape. The first branch rod is fixedly connected to the slider, and the second branch rod contacts the outer side surface of the first movable rod or the second movable rod. The second branch rod of the control arm is located on the side of the clamping rotating shaft close to the second lifting rod;

[0043] The touch switch is fixedly connected to the support arm. Let point A on the support arm be the position where the slider is located when the control arm drives the first clamping block and the second clamping block to contact. The position of the touch switch is at point A on the support arm. The touch switch is normally closed and is electrically connected to the controller.

[0044] Further, the second branch rod is perpendicular to the first movable rod and the second movable rod;

[0045] A roller with its central axis coinciding with the central axis of the second support rod is provided on the second support rod.

[0046] The beneficial effects of the present invention are as follows: Compared with the prior art, the present invention first adopts airborne temporary support. Since people are not directly exposed to the environment, there is no need to consider the falling of crushed stones. Moreover, the airborne temporary support can be directly loaded on the roadheader without being affected by the space occupied by the roadheader. The airborne temporary support can also achieve automated support with relatively high support efficiency. After the airborne temporary support, the roof is temporarily safe. During this period, by installing super prestressed anchor cables with relatively large prestress in the boreholes and grouting, the number of anchor cables can be reduced and the installation efficiency of the anchor cables can be improved. Then, a pre-anchoring machine is used for reinforcement support. After the reinforcement support, the roadheader in the roadway has left and various robotic arms used for support have also been removed. At this time, there is enough space for automated installation of the mesh sheet, and the installation efficiency of the mesh sheet is improved. In summary, the support method of the present invention improves the support efficiency on the premise of ensuring safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a flow chart of the present invention;

[0048] Figure 2 is a three-dimensional structure diagram of the present invention;

[0049] Figure 3 is Figure 2 a partial view at A in

[0050] Figure 4 is a three-dimensional structure diagram of another perspective of the present invention;

[0051] Figure 5 is Figure 4 a partial view at B in

[0052] Figure 6 is a three-dimensional structure diagram of another perspective of the present invention;

[0053] Figure 7 is Figure 6 a partial view at C in

[0054] Figure 8 is a three-dimensional structure diagram of another perspective of the present invention;

[0055] Figure 9 is Figure 8 a partial view at D in

[0056] Figure 10 is Figure 8 a partial view at E in

[0057] Figure 11 is a circuit connection block diagram of the present invention. Detailed implementation mode

[0058] The invention will be further introduced below in conjunction with the attached drawings and specific embodiments:

[0059] Embodiment 1:

[0060] In order to solve the problem that the prior art cannot improve the support efficiency while ensuring safety, referring to Figure 1 , the present invention adopts a single automatic support method for roadway tunneling, and the method includes the following steps:

[0061] S01. Airborne temporary support;

[0062] S02. Drilling holes;

[0063] S03. Install super prestressed anchor cables into the holes;

[0064] S04. Inject quick-setting agent into the holes;

[0065] S05. Use a pre-anchor machine for reinforcement support;

[0066] S06. Automatically install wire mesh.

[0067] During use, first adopt airborne temporary support. Since people are not directly exposed to the environment, there is no need to consider the falling of crushed stones. And the airborne temporary support can be directly loaded on the roadheader, not affected by the space occupied by the roadheader. The airborne temporary support can also achieve automatic support with relatively high support efficiency; after the airborne temporary support, the roof is temporarily safe. During this period, by installing super prestressed anchor cables with relatively large prestress into the holes and grouting, the number of anchor cables can be reduced and the installation efficiency of the anchor cables can be improved; then use a pre-anchor machine for reinforcement support; after the reinforcement support, the roadheader in the roadway has left, and various robotic arms used for support have also been removed. At this time, there is enough space to automatically install wire mesh, and the efficiency of installing wire mesh is improved. In summary, the support method of the present invention realizes the improvement of support efficiency on the premise of ensuring safety.

[0068] Furthermore, it further includes a thin spraying step, and the thin spraying step is arranged between step S04 and S05.

[0069] Further strengthen the support through thin spraying.

[0070] Furthermore, it further includes a thin spraying step, and the thin spraying step is arranged after step S06.

[0071] Further strengthen the support through thin spraying.

[0072] Furthermore, the diameter of the super prestressed cable anchor is greater than 28 mm and the length is greater than 10 m.

[0073] Enable the prestress of the super prestressed cable anchor to reach more than 900 kN.

[0074] Furthermore, it is matched with the drilled pre-super prestressed cable anchor.

[0075] Specifically, referring to Figure 2-11 , in step S05, the super prestressed cable anchor is installed into the drill hole through a super prestressed support device; the super prestressed support device includes: a bottom plate 1, a tray fixture 2-1, an anchor feeding mechanism 4, and a tensioning mechanism 5; a through hole 1-1 penetrating the upper and lower surfaces of the bottom plate 1 is formed on the bottom plate 1, the diameter of the through hole 1-1 is larger than the diameter of the cable anchor 7, a first lifting rod 2-2 is fixedly connected to the upper part of the bottom plate 1, the telescopic direction of the first lifting rod 2-2 is parallel to the central axis of the through hole 1-1, and the upper end of the first lifting rod 2-2 is fixedly connected to the tray fixture 2-1; the tray fixture 2-1 matches the shape of the lower surface of the tray 3, and the central axis of the tray fixture 2-1 coincides with the central axis of the through hole 1-1; a cable anchor feeding mechanism 4 is further provided on the upper part of the bottom plate 1, the cable anchor feeding mechanism 4 matches the cable anchor 7, and the central axis of the cable anchor feeding mechanism 4 coincides with the through hole 1-1; a tensioning mechanism 5 is fixedly connected to the lower part of the bottom plate 1, the tensioning mechanism 5 matches the cable anchor 7, and the central axis of the tensioning mechanism 5 coincides with the through hole 1-1.

[0076] The cable anchor is fed into the drill hole through the cable anchor feeding mechanism, then the cable anchor is tensioned by the tensioning mechanism, and then the tray is lifted to the drill hole position by the tray fixture for fixation, completing the cable anchor support. The present invention integrates cable anchor feeding, tensioning, and tray installation. It can not only feed the cable anchor into the drill hole through the cable anchor feeding mechanism, but also send the tray placed on the tray fixture to the drill hole through the first lifting device. No device needs to be disassembled during the whole process, and there is no need to manually lift the tray, resulting in higher work efficiency.

[0077] Specifically, the tray fixture 2-1 is annular, and the inner diameter of the tray fixture 2-1 matches the protruding part of the lower surface of the tray 3; a rubber pad is provided on the upper surface of the tray fixture 2-1; four fourth lifting rods 6-1 are provided on the lower surface of the bottom plate 1, and the four fourth lifting rods 6-1 are distributed at the four corners of the bottom plate 1. The lower end of the fourth lifting rod 6-1 is fixedly connected to a support plate 6-2, and the lower surface of the support plate 6-2 is perpendicular to the length direction of the fourth lifting rod 6-1.

[0078] During use, the tray 3 can be maintained stable in the horizontal direction through the fixation of the tray fixture 2-1. The rubber pad on the upper surface of the tray fixture 2-1 serves two purposes. One is to increase the friction between the tray fixture 2-1 and the tray 3, and the other is that when the tray 3 contacts the rock wall at the drill hole, the tray fixture 2-1 will not rigidly contact the tray 3 to cause damage to the tray 3.

[0079] Specifically, the cable anchor feeding mechanism 4 includes a controller 10, a position feedback sensor 8, a second lifting rod 4-1, and a cable anchor gripper 4-2. There are two second lifting rods 4-1, which are arranged on both sides of the through hole 1-1. Cable anchor grippers 4-2 are respectively connected to the upper ends of the two second lifting rods 4-1. The telescopic direction of the second lifting rod 4-1 is parallel to the central axis of the through hole 1-1, and the second lifting rod 4-1 is electrically connected to the controller 10. The position feedback sensor 8 is arranged on the second lifting rod 4-1 and is electrically connected to the controller 10.

[0080] During use, the cable anchor 7 is fed into the drill hole by the alternating gripping of the cable anchor gripper and the alternating lifting and lowering of the second lifting rod 4-1.

[0081] Specifically, the cable anchor gripper 4-2 includes a touch switch 4-2-9, a support arm 4-2-13, a shrapnel 4-2-10, a first movable rod 4-2-3, a second movable rod 4-2-4, a first clamping block 4-2-5, a second clamping block 4-2-6, a stepper motor 4-2-11, a lead screw 4-2-12, a slider 4-2-2, and a control arm 4-2-8. One end of the support arm 4-2-13 is fixedly connected to the upper end of the second lifting rod 4-1. The support arm 4-2-13 is perpendicular to the second lifting rod 4-1. A clamping rotating shaft 4-7 is provided on the upper surface of the support arm 4-2-13 away from the second lifting rod 4-1, and the rotating shaft is parallel to the second lifting rod 4-1. The first movable rod 4-2-3 and the second movable rod 4-2-4 are rotatably connected to the clamping rotating shaft 4-7. The first clamping block 4-2-5 is fixedly connected to one end of the first movable rod 4-2-3 away from the second lifting rod 4-1, and the second clamping block 4-2-6 is fixedly connected to one end of the second movable rod 4-2-4 away from the second lifting rod 4-1. A semi-circular arc is formed on the first clamping block 4-2-5, and the opening of the semi-circular arc faces the second clamping block 4-2-6. The central axis of the semi-circular arc is parallel to the central axis of the through hole 1-1. The second clamping block 4-2-6 is symmetric with the first clamping block 4-2-5 left and right. When the first clamping block 4-2-5 and the second clamping block 4-2-6 are in contact with each other, the semi-circular arcs on the first clamping block 4-2-5 and the second clamping block 4-2-6 enclose a cylindrical hole, and the central axis of the cylindrical hole coincides with the central axis of the through hole 1-1. The shrapnel 4-2-10 is arranged between the first movable rod 4-2-3 and the second movable rod 4-2-4, and the elastic force direction of the shrapnel 4-2-10 is consistent with the direction in which the first movable rod 4-2-3 and the second movable rod 4-2-4 open. The stepper motor 4-2-11 is fixedly connected to the support arm 4-2-13. The rotating shaft of the stepper motor 4-2-11 is parallel to the length direction of the support arm 4-2-13. A lead screw 4-2-12 is fixedly connected to the rotating shaft of the stepper motor 4-2-11, and the central axis of the lead screw 4-2-12 coincides with the central axis of the rotating shaft of the stepper motor 4-2-11. The stepper motor 4-2-11 is electrically connected to the controller 10. The slider 4-2-2 is slidably connected to the support arm 4-2-13. A first threaded hole 4-2-1 is formed in the slider 4-2-2, and the first threaded hole 4-2-1 penetrates the slider 4-2-2 in the length direction of the support arm 4-2-13. The first threaded hole 4-2-1 matches the lead screw 4-2-12, and the lead screw 4-2-12 is threadedly connected to the first threaded hole 4-2-1.The control arms 4-2-8 include two, and the two control arms 4-2-8 are symmetrically distributed with the support arm 4-2-13 as the central axis. The control arm 4-2-8 includes a first rod 4-2-8-1 and a second rod 4-2-8-2. The first rod 4-2-8-1 and the second rod 4-2-8-2 are connected to form an L shape. The first rod 4-2-8-1 is fixedly connected to the slider 4-2-2, and the second rod 4-2-8-2 contacts the outer side surface of the first movable rod 4-2-3 or the second movable rod 4-2-4. The second rod 4-2-8-2 of the control arm 4-2-8 is located on the side of the clamping rotating shaft 4-7 close to the second lifting rod 4-1; the touch switch 4-2-9 is fixedly connected to the support arm 4-2-13. When it is set that the slider 4-2-2 is at point A on the support arm 4-2-13 when the control arm 4-2-8 drives the first clamping block 4-2-5 to contact the second clamping block 4-2-6, the position of the touch switch 4-2-9 is at point A on the support arm 4-2-13. The touch switch 4-2-9 is normally closed and is electrically connected to the controller 10.;

[0082] During use, the rotation of the stepping motor 4-2-11 drives the slider 4-2-2 to move along the length direction of the support arm. The movement of the slider 4-2-2 along the length direction of the support arm 4-2-13 drives the control arm 4-2-8 to squeeze the first movable rod 4-2-3 and the second movable rod 4-2-4 in a crossed scissor shape, reducing the included angle. The elastic force of the elastic piece 4-2-10 makes the included angle between the first movable rod 4-2-3 and the second movable rod 4-2-4 tend to increase. The first movable rod 4-2-3 and the second movable rod 4-2-4, through the lever action, clamp and release the first clamping block 4-2-5 and the second clamping block 4-2-6. The function of the touch switch 4-2-9 is to detect whether the first clamping block 4-2-5 and the second clamping block 4-2-6 are clamped.

[0083] Further, the second rod 4-2-8-2 is perpendicular to the first movable rod 4-2-3 and the second movable rod 4-2-4; a roller with a central axis coinciding with the central axis of the second rod 4-2-8-2 is provided on the second rod 4-2-8-2.

[0084] During use, the perpendicularity of the second rod 4-2-8-2 to the first movable rod 4-2-3 and the second movable rod 4-2-4 can ensure that the contact area remains unchanged during the process of the second rod 4-2-8-2 squeezing the first movable rod 4-2-3. Here, the roller can reduce the friction between the second rod 4-2-8-2 and the first movable rod 4-2-3 and the second movable rod 4-2-4.

[0085] Specifically, the tensioning mechanism 5 includes a third lifting rod 5-2 and a fastening disc 5; there are two third lifting rods 5-2. One end of the third lifting rod 5-2 is fixedly connected to the lower surface of the bottom plate 1. The two third lifting rods 5-2 are located on both sides of the through hole 1-1. The third lifting rod 5-2 is parallel to the central axis of the through hole 1-1. The lower end of the third lifting rod 5-2 is fixedly connected to the fastening disc 5; the central axis of the fastening disc 5 is perpendicular to the central axis of the through hole 1-1.

[0086] Here, the fastening disc 5 bites the anchor cable 7 tightly, and then the third lifting rod 5-2 extends for tensioning.

[0087] Specifically, the fastening disc 5 includes a disc body 5-1 and a clamping block 5-3; the diameter of the disc body 5-1 is greater than the distance between the two third lifting rods 5-2. A through hole 5-1-2 penetrating the upper and lower surfaces of the disc body 5-1 is opened at the center of the disc body 5-1. The diameter of the through hole 5-1-2 is greater than the diameter of the anchor cable 7. A chute 5-1-1 penetrating the upper and lower surfaces of the disc body 5-1 is provided on the side wall of the through hole 5-1-2. The two side walls of the chute 5-1-1 at the through hole 5-1-2 are parallel to the central axis of the through hole 5-1-2. The side wall of the chute 5-1-1 opposite to the through hole 5-1-2 is an inclined surface. The distance from the upper edge of the inclined surface to the center of the disc body 5-1 is less than the distance from the lower edge of the inclined surface to the center of the disc body 5-1; the clamping block 5-3 is trapezoidal. The thickness of the clamping block 5-3 matches the distance between the two side walls of the chute 5-1-1. One waist of the clamping block 5-3 is perpendicular to the bottom surface of the clamping block 5-3. The included angle between the other waist of the clamping block 5-3 and the bottom surface of the clamping block 5-3 is the same as the included angle between the inclined surface and the bottom surface of the disc body 5-1. The height of the clamping block 5-3 is greater than the height of the disc body 5-1. An arc surface matching the anchor cable 7 is opened on the waist of the clamping block 5-3 perpendicular to the bottom surface.

[0088] During tensioning, due to the frictional force between the anchor cable 7 and the clamping block 5-3, the disc body 5-1 will move downward under the push of the third lifting rod 5-2, and the clamping block 5-3 will move relatively along the upper part of the chute 5-1-1. Due to the shape settings of the clamping block 5-3 and the slider 4-2-2, the closer the clamping block 5-3 moves upward along the chute 5-1-1, the closer the waist of the clamping block 5-3 perpendicular to the bottom surface will be to the center of the disc body 5-1. Therefore, the anchor cable 7 will be clamped tighter, with a self-locking effect. Therefore, there will be no problem of the anchor cable 7 slipping during tensioning.

[0089] After the tensioning is completed, pulling the disc body 5-1 by the tension of the third lifting rod 5-2 will cause the clamping block 5-3 to slide out of the chute 5-1-1.

[0090] In order to make it easier to separate the fastening disc 5 from the anchor cable 7 after tensioning is completed, further in this embodiment, a pressing plate 5-4 is installed in the sliding groove 5-1-1. The pressing plate 5-4 is parallel to the side of the clamping block 5-3 close to the side wall of the sliding groove 5-1-1. A second screw hole 5-1-3 is formed between each sliding groove 5-1-1 on the fastening disc 5 and the side surface of the fastening disc 5. The second screw hole 5-1-3 is perpendicular to the central axis of the through hole 5-1-2. A fastening bolt 5-5 is threadedly connected in the second screw hole 5-1-3, and one end of the fastening bolt 5-5 is rotatably connected to the pressing plate 5-4.

[0091] During use, the clamping force between the clamping plate and the anchor cable 7 can be reduced by loosening the fastening bolt, so that the clamping block 5-3 is easy to disassemble.

[0092] A support method for the super prestressed support device described in one claim, the method comprising the following steps:

[0093] S01. Set the initial positions of the two second lifting rods 4-1, one in the maximum extended state and the other in the maximum contracted state;

[0094] S02. Pass the anchor cable 7 through the through hole 1-1 and then through the central axes of the 2 anchor cable grippers 4-2;

[0095] S03. Manually feed the anchor cable 7 into the drill hole until it can no longer be pushed in;

[0096] S04. The controller 10 controls the anchor cable gripper 4-2 on the second lifting rod 4-1 in the maximum contracted state to grip the anchor cable 7 tightly; control the anchor cable gripper 4-2 on the second lifting rod 4-1 in the maximum extended state to open to the maximum angle. Let the first state be that the second lifting rod 4-1 is in the maximum extended state and the anchor cable gripper 4-2 is open to the maximum angle, and the second state be that the second lifting rod 4-1 is in the maximum contracted state and the anchor cable gripper 4-2 has the minimum clamping angle;

[0097] S05. The controller 10 controls the second lifting rod 4-1 in the second state to extend until the corresponding position feedback sensor 8 detects that the extension length of the second lifting rod 4-1 is at the maximum value, controls the second lifting rod 4-1 in the first state to contract until the corresponding position feedback sensor 8 detects that the extension length of the second lifting rod 4-1 is at the minimum value, swap the states of the two second lifting rods 4-1, and jump to step S05 until the cable anchor is sent to the designated position or an external termination command is received;

[0098] Among them, the method for judging the state of the second lifting rod 4-1 is as follows. If the position feedback sensor 8 corresponding to the second lifting rod 4-1 detects that the elongation length of the second lifting rod 4-1 is at the maximum value and the state of the corresponding tactile switch 4-2-9 is off, then the state of the second lifting rod 4-1 is the first state. If the position feedback sensor 8 corresponding to the second lifting rod 4-1 detects that the elongation length of the second lifting rod 4-1 is at the minimum value and the state of the corresponding tactile switch 4-2-9 is on, then the state of the second lifting rod 4-1 is the second state.

[0099] Here, the elongation state of the two second lifting rods 4-1 can be detected by the position feedback sensor 8, and the state of the cable grab 4-2 gripping the cable 7 can be detected by the tactile switch 4-2-9. The first state is set as the second lifting rod 4-1 being in the maximum elongation state and the cable grab 4-2 having the maximum opening angle, and the second state is set as the second lifting rod 4-1 being in the maximum contraction state and the cable grab 4-2 having the minimum clamping angle. By switching the two pairs of second lifting rods 4-1 and cable grabs 4-2 between the first state and the second state, the process of feeding the cable 7 into the drill hole is not interrupted, and the efficiency is ensured.

[0100] The above content is a further detailed description of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is only limited to these descriptions. For those of ordinary skill in the technical field to which the present invention belongs, without departing from the concept of the present invention, several simple deductions or substitutions can still be made, and all should be regarded as belonging to the protection scope of the present invention.

Claims

1. A single automatic support method for roadway tunneling, characterized in that, the method comprises the following steps: S01. Airborne temporary support; S02. Drilling holes; S03. Installing super prestressed anchor cables into the holes; S04. Injecting quick-setting agent into the holes; S05. Using a pre-anchoring machine for reinforcement support; S06. Automatically installing wire mesh; It further includes a thin spraying step, and the thin spraying step is set between step S04 and S05; It further includes a thin spraying step, and the thin spraying step is set after step S06; In step S05, installing the super prestressed anchor cable into the hole is carried out through a super prestressed support device; The super prestressed support device includes: a bottom plate (1), a tray fixture (2-1), an anchor cable feeding mechanism (4) and a tensioning mechanism (5); A through hole (1-1) penetrating the upper and lower surfaces of the bottom plate (1) is opened on the bottom plate (1), the diameter of the through hole (1-1) is larger than the diameter of the anchor cable (7), a first lifting rod (2-2) is fixedly connected to the upper part of the bottom plate (1), the telescopic direction of the first lifting rod (2-2) is parallel to the central axis of the through hole (1-1), and the upper end of the first lifting rod (2-2) is fixedly connected to the tray fixture (2-1); The tray fixture (2-1) matches the shape of the lower surface of the tray (3), and the central axis of the tray fixture (2-1) coincides with the central axis of the through hole (1-1); A cable feeding mechanism (4) is further provided on the upper part of the bottom plate (1), the cable feeding mechanism (4) matches the anchor cable (7), and the central axis of the cable feeding mechanism (4) coincides with the through hole (1-1); A tensioning mechanism (5) is fixedly connected to the lower part of the bottom plate (1), the tensioning mechanism (5) matches the anchor cable (7), and the central axis of the tensioning mechanism (5) coincides with the through hole (1-1); The tray fixture (2-1) is annular, and the inner diameter of the tray fixture (2-1) matches the protruding part of the lower surface of the tray (3); A rubber pad is provided on the upper surface of the tray fixture (2-1); A fourth lifting rod (6-1) is provided on the lower surface of the bottom plate (1), there are 4 fourth lifting rods (6-1), the 4 fourth lifting rods (6-1) are distributed at the four corners of the bottom plate (1), the lower ends of the fourth lifting rods (6-1) are fixedly connected to a support plate (6-2), and the lower surface of the support plate (6-2) is perpendicular to the length direction of the fourth lifting rods (6-1); The cable feeding mechanism (4) includes a controller (10), a position feedback sensor (8), a second lifting rod (4-1) and an anchor cable gripper (4-2); There are two second lifting rods (4-1), the two second lifting rods (4-1) are arranged on both sides of the through hole (1-1), the upper ends of the two second lifting rods (4-1) are respectively connected with an anchor cable gripper (4-2), the telescopic direction of the second lifting rod (4-1) is parallel to the central axis of the through hole (1-1), and the second lifting rod (4-1) is electrically connected to the controller (10); The position feedback sensor (8) is arranged on the second lifting rod (4-1), and the position feedback sensor (8) is electrically connected to the controller (10).

2. The single automatic support method for roadway tunneling according to claim 1, characterized in that, The diameter of the super prestressed cable anchor is greater than 28 mm and the length is greater than 10 m.

3. The single automatic support method for roadway tunneling according to claim 2, characterized in that the borehole matches the super prestressed cable anchor.

4. The single automatic support method for roadway tunneling according to claim 1, characterized in that the cable grab (4-2) includes a touch switch (4-2-9), a support arm (4-2-13), a shrapnel (4-2-10), a first movable rod (4-2-3), a second movable rod (4-2-4), a first clamping block (4-2-5), a second clamping block (4-2-6), a stepping motor (4-2-11), a lead screw (4-2-12), a slider (4-2-2) and a control arm (4-2-8); One end of the support arm (4-2-13) is fixedly connected to the upper end of the second lifting rod (4-1). The support arm (4-2-13) is perpendicular to the second lifting rod (4-1). A clamping rotating shaft (4-7) is provided on the upper surface of the support arm (4-2-13) far from the second lifting rod (4-1). The rotating shaft is parallel to the second lifting rod (4-1); The first movable rod (4-2-3) and the second movable rod (4-2-4) are rotatably connected to the clamping rotating shaft (4-7); The first clamping block (4-2-5) is fixedly connected to one end of the first movable rod (4-2-3) far from the second lifting rod (4-1). The second clamping block (4-2-6) is fixedly connected to one end of the second movable rod (4-2-4) far from the second lifting rod (4-1). A semi-circular arc is formed on the first clamping block (4-2-5). The opening of the semi-circular arc faces the second clamping block (4-2-6). The central axis of the semi-circular arc is parallel to the central axis of the through hole (1-1). The second clamping block (4-2-6) is symmetric with the first clamping block (4-2-5). When the first clamping block (4-2-5) and the second clamping block (4-2-6) are in contact with each other, a cylindrical hole is formed by the semi-circular arcs on the first clamping block (4-2-5) and the second clamping block (4-2-6), and the central axis of the cylindrical hole coincides with the central axis of the through hole (1-1); The shrapnel (4-2-10) is arranged between the first movable rod (4-2-3) and the second movable rod (4-2-4). The elastic force direction of the shrapnel (4-2-10) is consistent with the opening direction of the first movable rod (4-2-3) and the second movable rod (4-2-4); The stepping motor (4-2-11) is fixedly connected to the support arm (4-2-13). The rotating shaft of the stepping motor (4-2-11) is parallel to the length direction of the support arm (4-2-13). A lead screw (4-2-12) is fixedly connected to the rotating shaft of the stepping motor (4-2-11). The central axis of the lead screw (4-2-12) coincides with the central axis of the rotating shaft of the stepping motor (4-2-11). The stepping motor (4-2-11) is electrically connected to the controller (10); The slider (4-2-2) is slidably connected to the support arm (4-2-13). A first screw hole (4-2-1) is formed in the slider (4-2-2). The first screw hole (4-2-1) penetrates the slider (4-2-2) in the length direction of the support arm (4-2-13). The first screw hole (4-2-1) matches the lead screw (4-2-12), and the lead screw (4-2-12) is threadedly connected to the first screw hole (4-2-1). There are two control arms (4-2-8). The two control arms (4-2-8) are symmetrically distributed with the support arm (4-2-13) as the central axis. The control arm (4-2-8) includes a first support rod (4-2-8-1) and a second support rod (4-2-8-2). The first support rod (4-2-8-1) and the second support rod (4-2-8-2) are connected to form an L shape. The first support rod (4-2-8-1) is fixedly connected to the slider (4-2-2). The second support rod (4-2-8-2) contacts the outer side surface of the first movable rod (4-2-3) or the second movable rod (4-2-4). The second support rod (4-2-8-2) of the control arm (4-2-8) is located on the side of the clamping rotating shaft (4-7) close to the second lifting rod (4-1). The touch switch (4-2-9) is fixedly connected to the support arm (4-2-13). When it is assumed that the control arm (4-2-8) drives the first clamping block (4-2-5) to contact the second clamping block (4-2-6), the slider (4-2-2) is located at point A on the support arm (4-2-13). The position of the touch switch (4-2-9) is at point A on the support arm (4-2-13). The touch switch (4-2-9) is normally closed and is electrically connected to the controller (10).

5. The single automatic support method for roadway tunneling according to claim 4, characterized in that the second support rod (4-2-8-2) is perpendicular to the first movable rod (4-2-3) and the second movable rod (4-2-4); a roller with a central axis coinciding with the central axis of the second support rod (4-2-8-2) is provided on the second support rod (4-2-8-2).

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