Integrated excavation, support and anchoring equipment and working method thereof

Abstract

The present invention relates to the technical field of coal mine tunnel excavation equipment, and more specifically, to an integrated excavation, support and anchoring excavation equipment and a working method thereof. The excavation equipment includes a driving system, an excavation system, an anchoring system and a support system; the support system includes a main support base plate, a secondary support base plate, a main support top plate, a secondary support top plate, a main lifting column, a secondary lifting column, a crawler walking mechanism and a driving mechanism; the anchoring system includes an anchoring body, an anchor rod mechanism, an anchor cable mechanism and a support mechanism, and the support mechanism is used to separate the anchoring body from the driving system. The excavation operation process of the excavation system, the temporary support process of the support system and the permanent support process of the anchoring system are all independent of each other, so the excavation process and the temporary support process and the permanent support process can be carried out simultaneously, which is conducive to ensuring the balance of excavation and support time, thereby improving the excavation efficiency. The support mechanism can separate the anchoring body and the driving system to avoid the excavation process interfering with the permanent support process.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine tunneling equipment, and in particular to a tunneling equipment integrating tunneling, support and anchoring and a working method thereof. Background Art

[0002] Tunneling equipment is a crucial piece of equipment used in coal mine tunneling. It uses a tunneling system to advance the tunnel, and a crane system to drive the tunneling system. After a certain distance, hydraulic supports are used to support the tunnel roof and sidewalls for temporary support, while anchor trolleys and other devices are used to drive anchors into the tunnel roof and sidewalls for permanent support. During this process, tunneling, temporary support, and permanent support cannot be synchronized, significantly impacting tunneling efficiency.

[0003] At the same time, when the hydraulic support is used to support the tunnel roof, the excavation system advances forward and the hydraulic support also moves forward, which will repeatedly crush the tunnel roof, which can easily cause the roof to break and affect the normal progress of the tunnel excavation.

[0004] In addition, in some tunneling equipment that performs permanent support and tunneling processes simultaneously, when the anchoring system is used to anchor the tunnel roof and side walls, the tunneling system continues to excavate the tunnel. At this time, the vibration generated by the tunneling system will be transmitted to the anchoring system through the driving system, which will affect the stability of the anchoring system and the normal progress of the tunnel excavation. Summary of the Invention

[0005] The present invention is used to solve at least one of the above technical problems.

[0006] In order to solve the above problems, the present invention provides an integrated tunneling equipment including a driving system, a tunneling system, an anchoring system and a support system, wherein the tunneling system, the anchoring system and the support system are all arranged on the driving system;

[0007] The support system includes a main support base plate, a secondary support base plate, a main support top plate, a secondary support top plate, a main lifting column, a secondary lifting column, a crawler walking mechanism, and a driving mechanism, wherein one end of the main lifting column is fixedly connected to the main support base plate, and the other end is fixedly connected to the main support top plate, one end of the secondary lifting column is fixedly connected to the secondary support base plate, and the other end is fixedly connected to the secondary support top plate, the main support base plate and the secondary support base plate are both supported by the tunnel base plate, the main support base plate and the secondary support base plate are connected by transmission through the driving mechanism, the crawler walking mechanism is arranged on the main support base plate, the main lifting column is used to drive the main support top plate to support the tunnel top plate, and the secondary lifting column is used to drive the secondary support top plate to support the tunnel top plate;

[0008] The anchoring system includes an anchoring body, an anchoring mechanism, and a supporting mechanism. The anchoring body is arranged on the driving system, the anchoring mechanism is arranged on the anchoring body, and is used to anchor the tunnel roof and tunnel side walls, and the supporting mechanism is arranged on the anchoring body, and is used to support the tunnel floor to separate the anchoring body from the driving system.

[0009] The technical effect of the present invention is as follows: when the tunneling system performs tunneling operations, the main lifting column is used to drive the main support top plate to support the tunnel top plate. At the same time, a crawler walking mechanism is set to drive the main support bottom plate, the main lifting column, and the main support top plate to follow the tunneling system. A driving mechanism is set to drive the secondary support bottom plate, the secondary lifting column, and the secondary support bottom plate to follow the main support bottom plate. The main support bottom plate and the secondary support bottom plate lifting columns can alternately support the tunnel top plate. The tunneling operation process of the tunneling system and the temporary support process of the support system are independent of each other, so that the tunneling process and the temporary support process can be carried out synchronously. At the same time, when using the tunneling system for tunneling operations, the support mechanism is first used to support the tunnel floor to separate the anchoring body from the driving system. The anchoring mechanism on the anchoring body is then used to anchor the tunnel roof and tunnel sidewalls to achieve permanent support. After anchoring is completed, the support mechanism is retracted, and the anchoring body falls back onto the driving system under the action of gravity. The driving system can drive the anchoring body to move. The tunneling operation process of the tunneling system and the permanent support process of the anchoring system are independent of each other, so that the tunneling process and the permanent support process can be carried out simultaneously. As a result, the tunneling operation process of the tunneling system, the temporary support process of the support system, and the permanent support process of the anchoring system are all independent of each other. The tunneling process, temporary support process, and permanent support process can be carried out simultaneously, which is conducive to ensuring a balance between tunneling and support time, thereby improving tunneling efficiency.

[0010] During permanent support, the support mechanism supports the tunnel floor, separating the anchoring body from the driving system. This prevents vibrations generated by the tunneling system from being transmitted to the anchoring body and anchoring mechanism, preventing the tunneling process from interfering with the permanent support process and further ensuring the synchronization of the tunneling and permanent support processes. Furthermore, during driving, the support mechanism can be retracted, allowing the driving system to drive the anchoring system, eliminating the need for a separate traveling device for the anchoring system and simplifying the structure of the integrated tunneling, support, and anchoring equipment.

[0011] Optionally, the support mechanism includes an anchor base and multiple outrigger cylinders, the anchor base is fixedly connected to the anchor body, one end of the multiple outrigger cylinders is fixedly connected to the anchor base, and the other end is used to support the tunnel floor, and the multiple outrigger cylinders are evenly distributed on the anchor base.

[0012] Optionally, the driving system includes a front car, an articulated mechanism, and a rear car, the excavation system and the support system are both arranged on the front car, the anchoring body is fixedly connected to the articulated mechanism, the front end of the articulated mechanism is articulated to the front car, and the rear end of the articulated mechanism is articulated to the rear car.

[0013] Optionally, the articulated mechanism includes an articulated body, a circular flipping mechanism, a left-right swinging mechanism, and an up-down flipping mechanism. The circumferential flipping mechanism is rotatably connected to the articulated body, the left-right swinging mechanism is arranged on the circumferential flipping mechanism, and the front vehicle is rotatably connected to the circular flipping mechanism through the left-right swinging mechanism; the rear vehicle is rotatably connected to the articulated mechanism through the up-down flipping mechanism.

[0014] Optionally, the articulation system further includes a positioning mechanism, which is arranged on the articulation body; the anchoring system includes a limiting mechanism, which is arranged at the lower end of the anchoring body; the limiting mechanism is used to connect with the positioning mechanism to position the anchoring mechanism.

[0015] Optionally, the driving mechanism includes a lifting cylinder, which is arranged on the main supporting base plate, the lifting cylinder is transmission-connected to the auxiliary supporting base plate, and is used to drive the auxiliary supporting base plate to move in a vertical direction.

[0016] Optionally, the driving mechanism also includes a pulling cylinder, a mounting seat, and a guide rail. The mounting seat is fixedly connected to the movable rod of the lifting cylinder and extends along the front-to-back direction. The pulling cylinder is arranged on the main support base plate and is transmission-connected to the auxiliary support base plate, and is used to drive the auxiliary support base plate to move along the front-to-back direction. The guide rail is arranged on the auxiliary support base plate and is slidably connected to the mounting seat.

[0017] Optionally, the driving mechanism further includes a roller, which is rotatably connected to the mounting seat and is used for rolling relative to the guide rail.

[0018] Optionally, the excavation system includes a cutting part and a shovel plate, and the cutting part and the shovel plate are respectively arranged at the upper and lower ends of the front vehicle, and the cutting part is located in the middle of the front vehicle. The shovel plate includes a shovel plate body, a left rake claw and a right rake claw, and the shovel plate body is arranged on the front vehicle, and the left rake claw and the right rake claw are respectively arranged at the left and right ends of the shovel plate body.

[0019] The present invention further provides a working method of an integrated tunneling equipment for excavation, support and anchoring, which uses the above-mentioned integrated tunneling equipment for excavation, support and anchoring, and the working method of the integrated tunneling equipment for excavation, support and anchoring comprises:

[0020] The tunneling system performs tunneling operations, uses a support mechanism to support the tunnel floor, so as to separate the anchoring body from the traveling system, and then uses the anchoring mechanism on the anchoring body to anchor the tunnel roof and tunnel sidewalls respectively. After the anchoring is completed, the support mechanism is retracted from the tunnel floor, and the main lifting column is used to drive the main support top plate to support the tunnel roof, and the auxiliary lifting column is used to drive the auxiliary support top plate to release the support for the tunnel roof.

[0021] After the excavation operation is completed, the auxiliary lifting column is used to drive the auxiliary support top plate to support the tunnel roof, the main lifting column is used to drive the main support top plate to release the support for the tunnel roof, the driving system is used to drive the excavation system to move, and the crawler walking mechanism is used to drive the main support bottom plate to move so that the main support bottom plate follows the excavation system;

[0022] The main lifting column is used to drive the main support top plate to support the tunnel top plate, and the auxiliary lifting column is used to drive the auxiliary support top plate to release the support for the tunnel top plate, and the driving mechanism is used to drive the auxiliary support bottom plate to move so that the auxiliary support bottom plate follows the main support bottom plate.

[0023] The technical effect of this invention is that during tunneling operations, the support system can be used simultaneously for temporary support and the anchoring system for permanent support, ensuring that the excavation, support, and anchoring processes proceed synchronously. Furthermore, when the tunneling and anchoring systems stop operating, the driving system drives the tunneling system forward, the crawler mechanism drives the main support base plate forward, and the drive mechanism drives the secondary support base plate forward. This ensures that the support system is always located above the tunneling system to support the roadway roof, thus protecting the tunneling system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic structural diagram of the excavation-support-anchor integrated excavation equipment of the present invention;

[0025] Figure 2 It is a partial structural schematic diagram of the excavation-support-anchor integrated excavation equipment of the present invention;

[0026] Figure 3 A schematic structural diagram of the anchoring system of the present invention from one perspective;

[0027] Figure 4 It is a structural schematic diagram of the anchoring system of the present invention from another perspective;

[0028] Figure 5 is a front view of the anchoring system of the present invention;

[0029] Figure 6 This is a diagram showing the anchoring system of the present invention in use;

[0030] Figure 7 Schematic diagram of the structure of the hinge system of the present invention;

[0031] Figure 8 Schematic diagram of the structure of the support system of the present invention;

[0032] Figure 9 It is a partial structural schematic diagram of the support system of the present invention;

[0033] Figure 10 It is a structural schematic diagram of the driving mechanism of the present invention;

[0034] Figure 11 It is a structural schematic diagram of the shovel mechanism of the present invention;

[0035] Figure 12 It is a structural schematic diagram of the support portion of the present invention;

[0036] Figure 13 It is a structural schematic diagram of the rear body of the present invention.

[0037] Reference numerals:

[0038] 1. Driving system; 11. Front driving system; 111. Front body; 112. Front crawler travel mechanism; 113. Front transport mechanism; 12. Articulated mechanism; 121. Articulated body; 122. Circular turning mechanism; 123. Left-right swing mechanism; 124. Up-down turning mechanism; 125. Positioning mechanism; 13. Rear driving system; 131. Rear body; 1311. Platform frame; 1312. Support frame; 1313. Slewing bearing; 1314. Rear mounting frame; 132. Rear crawler travel mechanism; 133. Rear transport mechanism; 2. Excavation system; 21. Cutting section; 22. Shovel mechanism; 221. First mounting hinge ear; 222. Second mounting hinge ear; 223. Lifting hinge ear; 23. Support Support part; 231, shovel lifting cylinder; 232, rear support leg cylinder; 233, rear support leg; 224, support frame; 3, anchoring system; 31, anchoring body; 321, top anchor drilling rig; 322, side anchor drilling rig; 33, anchor cable drilling rig; 34, support leg cylinder; 35, limit mechanism; 36, anchor base; 4, support system; 411, main support bottom plate; 412, main support top plate; 42, auxiliary support bottom plate; 43, circulating support sleeve; 44, main lifting column; 45, crawler walking mechanism; 46, driving mechanism; 461, lifting cylinder; 462, pulling cylinder; 463, mounting seat; 464, guide rail; 465, roller; 47, side support; 5, hydraulic system; 6, electrical system. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0040] This embodiment establishes an XYZ axis coordinate system, where the positive direction of the X axis is the front, the negative direction of the X axis is the back, the positive direction of the Y axis is the left, the negative direction of the Y axis is the right, the positive direction of the Z axis is the top, and the negative direction of the Z axis is the bottom.

[0041] To solve the above problems, Figures 1-6 as well as Figure 8 、 Figure 9 As shown, an integrated excavation, support and anchoring tunneling equipment according to an embodiment of the present invention includes a driving system 1, a tunneling system 2, an anchoring system 3 and a support system 4. The tunneling system 2, the anchoring system 3 and the support system 4 are all arranged on the driving system 1;

[0042] The support system 4 includes a main support base plate 411, a secondary support base plate 42, a main support top plate 412, a secondary support top plate, a main lifting column 44, a secondary lifting column, a crawler walking mechanism 45, and a driving mechanism 46. One end of the main lifting column 44 is fixedly connected to the main support base plate 411, and the other end is fixedly connected to the main support top plate 412. One end of the secondary lifting column is fixedly connected to the secondary support base plate 42, and the other end is fixedly connected to the secondary support top plate. The main support base plate 411 and the secondary support base plate 42 are both supported by the tunnel base plate. The main support base plate 411 and the secondary support base plate 42 are connected by a driving mechanism 46. The crawler walking mechanism 45 is arranged on the main support base plate 411. The main lifting column 44 is used to drive the main support top plate 412 to support the tunnel top plate, and the secondary lifting column is used to drive the secondary support top plate to support the tunnel top plate.

[0043] The anchoring system 3 includes an anchoring body 31, an anchoring mechanism, and a supporting mechanism. The anchoring body 31 is arranged on the driving system 1, the anchoring mechanism is arranged on the anchoring body 31, and the supporting mechanism is arranged on the anchoring body 31 and is used to support the tunnel floor to separate the anchoring body 31 from the driving system 1.

[0044] In this embodiment, for example, the main support top plate 412 and the secondary support top plate each include transverse beams and longitudinal beams, and the transverse beams and longitudinal beams in the main support top plate 412 and the secondary support top plate are staggered. The support system 4 also includes side supports 47. Two main support bottom plates 411 are provided, and are located on the left and right sides of the traveling system 1 respectively. Four main lifting columns 44 are provided, and each main support bottom plate 411 is provided with two main lifting columns. Similarly, two secondary support bottom plates 42 are provided, and are located on the left and right sides of the traveling system 1 respectively. Four secondary lifting columns are provided, and each secondary support bottom plate is provided with two secondary lifting columns. A set of side supports 47 is provided on each of the two main lifting columns 44 on the same side. Similarly, a set of side supports 47 is also provided on each of the two secondary lifting columns on the same side. The side supports 47 on the main lifting columns 44 and the secondary lifting columns are staggered.

[0045] The main lifting column 44 includes a main lifting inner cylinder, a main lifting outer cylinder, and a main lifting oil cylinder, all of which are vertically arranged. The lower end of the main lifting inner cylinder is arranged in the main lifting outer cylinder and is slidably connected to the main lifting outer cylinder. The upper end of the main lifting inner cylinder is fixedly connected to the main support top plate 412, and the lower end of the main lifting outer cylinder is fixedly connected to the main support bottom plate 411. The cylinder body of the main lifting oil cylinder is fixedly connected to the main lifting outer cylinder, and the cylinder rod of the main lifting oil cylinder is fixedly connected to the main lifting inner cylinder; similarly, the auxiliary lifting column includes a auxiliary lifting inner cylinder, a auxiliary lifting outer cylinder, and an auxiliary lifting oil cylinder, all of which are vertically arranged. The lower end of the auxiliary lifting inner cylinder is arranged in the auxiliary lifting outer cylinder and is slidably connected to the auxiliary lifting outer cylinder, the upper end of the auxiliary lifting inner cylinder is fixedly connected to the auxiliary support top plate, the lower end of the auxiliary lifting outer cylinder is fixedly connected to the auxiliary support bottom plate, the cylinder body of the auxiliary lifting oil cylinder is fixedly connected to the auxiliary lifting outer cylinder, and the cylinder rod of the auxiliary lifting cylinder is fixedly connected to the auxiliary lifting inner cylinder.

[0046] During the use of the integrated tunneling equipment, the driving system 1 continuously advances while the tunneling system 2 can continue tunneling. During the tunneling process, the anchoring system 3 can be used to anchor the tunnel roof and tunnel sidewalls for permanent support, and the support system 4 can be used for temporary support at the same time. Specifically, when the tunneling system 2 is performing tunneling operations, the support mechanism is used to support the tunnel floor, and the anchoring body 31 is lifted until the anchoring body 31 and the driving system 1 are separated. The anchoring mechanism on the anchoring body 31 is then used to anchor the tunnel roof and tunnel sidewalls respectively, and the main lifting column 44 is used to drive the main support top plate 412 to support the tunnel roof, and the auxiliary lifting column is used to drive the auxiliary support top plate to release the support for the tunnel roof. When the anchoring and excavation operations are completed, the supporting mechanism is retracted from the tunnel floor. Under the influence of gravity, the anchoring body 31 falls back onto the traveling system 1. At the same time, the auxiliary lifting column is used to drive the auxiliary supporting top plate to support the tunnel roof, and the main lifting column 44 is used to drive the main supporting top plate 412 to release the support for the tunnel roof. The traveling system 1 drives the excavation system 2 forward for a distance, and the crawler walking mechanism 45 is used to drive the main supporting bottom plate 41 forward so that the main supporting bottom plate 411, the main lifting column 44, and the main supporting top plate 412 follow the excavation system 2; the main lifting column 44 is used to drive the main supporting top plate 412 to support the tunnel roof, and the auxiliary lifting column is used to drive the auxiliary supporting top plate to release the support for the tunnel roof, and the driving mechanism is used to drive the auxiliary supporting bottom plate 42 forward so that the auxiliary supporting bottom plate 42, the auxiliary lifting column, and the auxiliary supporting bottom plate follow the main supporting bottom plate 411. At this point, a complete excavation, temporary support and permanent support operation is completed, followed by a continuous cycle to complete the excavation work of the entire tunnel.

[0047] In summary, when the tunneling system 2 performs tunneling operations, the main lifting column 44 is used to drive the main support top plate 412 to support the tunnel top plate. At the same time, a crawler walking mechanism 45 is set to drive the main support bottom plate 411, the main lifting column 44, and the main support top plate 412 to follow the tunneling system 2. A driving mechanism is set to drive the secondary support bottom plate 42, the secondary lifting column, and the secondary support bottom plate to follow the main support bottom plate. The main support top plate 412 and the secondary support bottom plate can alternately support the tunnel top plate. The tunneling operation process of the tunneling system 2 and the temporary support process of the support system 4 are independent of each other, so that the tunneling process and the temporary support process can be carried out synchronously. At the same time, when using the tunneling system 2 for tunneling operations, the support mechanism is first used to support the tunnel floor to separate the anchoring body 31 from the driving system 1. The anchoring mechanism on the anchoring body 31 is then used to anchor the tunnel roof and tunnel sidewalls to achieve permanent support. After anchoring is completed, the support mechanism is retracted, and under the action of gravity, the anchoring body 31 falls back onto the driving system 1. The driving system 1 can drive the anchoring body 31 to move. The tunneling operation process of the tunneling system 2 and the permanent support process of the anchoring system 3 are independent of each other, allowing the tunneling process and the permanent support process to proceed simultaneously. As a result, the tunneling operation process of the tunneling system 2, the temporary support process of the support system 4, and the permanent support process of the anchoring system 3 are all independent of each other. The tunneling process, temporary support process, and permanent support process can be carried out simultaneously, which is conducive to ensuring a balance between the tunneling and support time, thereby improving tunneling efficiency.

[0048] Furthermore, during the permanent support process (anchoring), the support mechanism supports the tunnel floor, separating the anchoring body 31 from the driving system 1. This prevents vibrations generated by the tunneling system 2 from being transmitted to the anchoring body 31 and the anchoring mechanism. This prevents the tunneling process from interfering with the permanent support process, further ensuring the synchronization of the tunneling and permanent support processes. Furthermore, during driving, the support mechanism is retracted, and the driving system 1 can be used to drive the anchoring system 3, eliminating the need for a separate traveling device for the anchoring system 3 and simplifying the structure of the integrated tunneling, support, and anchoring equipment.

[0049] Optionally, the support system 4 further includes a circulating support sleeve 43, which is configured as a crawler structure, and the main support top plate 412 and the auxiliary support top plate are both located in the circulating support sleeve 43. During the process in which the main support top plate 412 and the auxiliary support top plate alternately support the tunnel roof, the auxiliary lifting column can first drive the auxiliary support top plate to support the circulating support sleeve 43, and the upper end of the circulating support sleeve 43 supports the tunnel roof. The upper end of the main lifting column 44 descends to release the support for the tunnel roof, and the crawler walking mechanism 45 drives the main support bottom plate 41 to move, which can synchronously drive the main lifting column 44 and the main support top plate 412 to move. Among them, since the circulating support sleeve 43 is configured as a crawler structure, the auxiliary support top plate can only support the circulating support sleeve 43. Part of the structure of the support sleeve 43 is supported and fixed, and the main support top plate 412 can drive the rest of the circulation support sleeve 43 to move when it moves; similarly, the main lifting column 44 drives the main support top plate 412 to support the circulation support sleeve 43, and the driving mechanism drives the auxiliary support bottom plate to move, which can synchronously drive the auxiliary lifting column and the auxiliary support top plate to move. The main support top plate 412 can only support and fix part of the structure of the circulation support sleeve 43, and when the auxiliary support top plate moves, it can drive the rest of the circulation support sleeve 43 to move.

[0050] Therefore, a circulating support sleeve 43 is set up, and the circulating support sleeve 43 is supported by the main support top plate 412 and the auxiliary support top plate, and then the circulating support sleeve 43 is used to support the tunnel roof. The circulating support sleeve 43 can achieve non-repeated rolling support for the tunnel roof, avoid the tunnel roof from being broken, and thus improve the temporary support effect of the support system 4.

[0051] Optionally, the supporting mechanism includes an anchor base 36 and multiple support leg cylinders 34, the anchor base 36 is fixedly connected to the anchor body 31, one end of the multiple support leg cylinders 34 is fixedly connected to the anchor base 36, and the other end is used to support the tunnel floor, and the multiple support leg cylinders 34 are evenly distributed on the anchor base 36.

[0052] In this embodiment, the upper end of the outrigger cylinder 34 is illustratively connected to the anchor body 31, while the lower end of the outrigger cylinder 34 is used to support the tunnel floor. During the anchoring process, the outrigger cylinder 34 extends until the lower end of the outrigger cylinder 34 supports the tunnel floor. At this point, the anchor system 3 is supported by the outrigger cylinder 34 and separated from the driving system 1. When using the anchor system 3 to anchor, the vibration generated by the tunneling system 2 is not transmitted to the anchor system 3 through the driving system 1, ensuring the stability of the operating state of the anchor system 3. At the same time, when the anchoring is completed, the outrigger cylinder 34 is retracted, and the anchor body 31 is returned to the driving system 1. The driving system 1 can drive the anchor system 3 during operation, eliminating the need for a separate traveling device for the anchor system 3, simplifying the overall structure of the tunneling equipment. At the same time, the provision of the anchor base 36 increases the installation space of the anchor body 31, facilitating the installation of multiple outrigger cylinders 34. Using multiple outrigger cylinders 34 for support simultaneously can ensure the stability of the support for the anchor body 31. Furthermore, evenly distributing the multiple outrigger cylinders 34 on the anchor base 36 ensures that the forces acting on the various structural components of the anchor body 31 are uniform when multiple outrigger cylinders 34 are used for support, thereby improving the stability of the support provided by the multiple outrigger cylinders 34 to the anchor body 31.

[0053] Alternatively, as Figure 3 As shown, the anchoring mechanism includes an anchor rod mechanism and an anchor cable mechanism. The anchor rod mechanism includes four groups of top anchor drills 321 and two groups of side anchor drills 322 , and the anchor cable mechanism includes two groups of anchor cable drills 33 .

[0054] In this embodiment, the anchoring mechanism is configured as an anchor rod mechanism and an anchor cable mechanism. This mechanism can be used to simultaneously anchor the roadway roof and sidewalls, reducing the time required for permanent support and facilitating balanced excavation and support. Furthermore, the anchor rod mechanism is configured as four sets of top anchor drills 321, two sets of side anchor drills 322, and the anchor cable mechanism is configured as two sets of anchor cable drills 33. This allows for simultaneous anchoring of the roadway roof and sidewalls, further reducing the time required for permanent support and maintaining balanced excavation and support.

[0055] Alternatively, as Figure 2 As shown, the driving system 1 includes a front driving car 11, an articulated mechanism 12, and a rear driving car 13. The tunneling system 2 and the support system 4 are both arranged on the front driving car 11. The anchoring body 31 is connected to the articulated mechanism 12. The front end of the articulated mechanism 12 is articulated to the front driving car 11, and the rear end of the articulated mechanism 12 is articulated to the rear driving car 13.

[0056] In this embodiment, the driving system 1 is set as a front vehicle 11 and a rear vehicle 13, and an articulated mechanism 12 is used to connect the front vehicle 11 and the rear vehicle 13. When traveling in a lane with poor road conditions, the front vehicle 11 and the rear vehicle 13 can be offset to a certain extent according to the conditions of the lane floor to ensure that the wheels of the front vehicle 11 and the wheels of the rear vehicle 13 can both fall on the lane floor, thereby ensuring the stability of the driving system 1 during driving.

[0057] Alternatively, as Figure 7 As shown, the articulated mechanism 12 includes an articulated body 121, a circular turning mechanism 122, a left-right swinging mechanism 123, and an up-down turning mechanism 124. The circumferential turning mechanism 122 is rotatably connected to the articulated body 121, and the left-right swinging mechanism 123 is arranged on the circumferential turning mechanism 122. The front vehicle 11 is rotatably connected to the circumferential turning mechanism 122 through the left-right swinging mechanism 123; the rear vehicle 13 is rotatably connected to the articulated mechanism 12 through the up-down turning mechanism 124.

[0058] In this embodiment, the front carriage 11 is connected to the articulated body 121 via a left-right swing mechanism 123 and a circumferential tilt mechanism 122. This allows the articulated body 121 to swing left-right relative to the front carriage 11 and simultaneously rotate about the front-to-back axis relative to the front carriage 11, thereby adjusting the angle between the articulated body 121 and the front carriage 11. Simultaneously, the rear carriage 13 is connected to the articulated body 121 via a vertical tilt mechanism 124. This allows the articulated body 121 to pitch relative to the rear carriage 13, thereby adjusting the angle between the articulated body 121 and the rear carriage 13. Thus, by providing the circular tilt mechanism 122, the left-right swing mechanism 123, and the vertical tilt mechanism 124, the angles between the front and rear ends of the articulated body 121 and the front and rear carriages 11 and 13, respectively, can be adjusted, ensuring that the carriage system 1 can ascend and descend slopes up to 6 degrees, making it suitable for uneven roadway floors and improving the adaptability of the carriage system 1.

[0059] Alternatively, as Figure 5-Figure 7 As shown, the articulation system further includes a positioning mechanism 125, which is arranged on the articulation body 121, and the anchoring system 3 includes a limiting mechanism 35, which is arranged at the lower end of the anchoring body 31, and the limiting mechanism 35 is used to connect with the positioning mechanism 125 to position the anchoring mechanism.

[0060] In this embodiment, for example, the positioning mechanism 125 can be set as two first beams located on the articulated body 121, and the two first beams are extended in the left-right direction. The limiting mechanism 35 can be set as two second beams located on the anchoring body 31, and the two second beams are extended in the left-right direction. The two first beams are located between the two second beams. The anchoring system 3 is set on the articulated body 121. Due to the influence of gravity, the anchoring body 31 can fall on the articulated body 121 and be connected by the limiting mechanism 35 and the positioning mechanism 125. Specifically, the two first beams are located between the two second beams. The two second beams can be clamped with the two first beams to connect the anchoring body 31 and the articulated body 121, thereby ensuring the stability of the connection between the anchoring body 31 and the articulated body 121, which is beneficial for the driving system 1 to drive the anchoring system 3 to move synchronously.

[0061] Alternatively, as Figure 9 and Figure 10 As shown, the driving mechanism 46 includes a lifting cylinder 461, which is arranged on the main supporting base plate 41. The lifting cylinder 461 is transmission-connected to the auxiliary supporting base plate 42 and is used to drive the auxiliary supporting base plate 42 to move in the vertical direction.

[0062] In this embodiment, when the drive mechanism drives the secondary support base plate 42 to follow the main support base plate 41, the secondary support base plate 42 supports the roadway floor. The friction between the secondary support base plate 42 and the roadway floor affects the movement of the secondary support base plate 42. A lifting cylinder 461 is provided on the main support base plate 41. The lifting cylinder 461 drives the secondary support base plate 42 to move upward in the vertical direction to separate the secondary support base plate 42 from the roadway floor. This can reduce or even eliminate the friction between the secondary support base plate 42 and the roadway floor, facilitating the drive mechanism to drive the secondary support base plate 42 to follow the main support base plate 41.

[0063] Alternatively, as Figure 10 As shown, the driving mechanism 46 also includes a pulling cylinder 462, a mounting seat 463, and a guide rail 464. The mounting seat 463 is fixedly connected to the movable rod of the lifting cylinder 461 and extends along the front and rear directions. The pulling cylinder 462 is arranged on the main support base plate 41 and is transmission-connected to the auxiliary support base plate 42, and is used to drive the auxiliary support base plate 42 to move along the front and rear directions. The guide rail 464 is arranged on the auxiliary support base plate 42 and is slidably connected to the mounting seat 463.

[0064] In this embodiment, after the crawler walking mechanism 45 drives the main support base plate 41 forward a certain distance, the pulling cylinder 462 is used to contract to drive the auxiliary support base plate 42 to move forward. By setting a guide rail 464 at the lower end of the lifting cylinder 461 and extending the mounting seat 463 in the front and rear directions, the auxiliary support base plate 42 can use the guide rail 464 to move forward along the mounting seat 463, which can ensure that the auxiliary support base plate 42 moves accurately and stably, and ensure that the auxiliary support base plate 42 moves to the specified position.

[0065] Alternatively, as Figure 10 As shown, the driving mechanism 46 further includes a roller 465 , which is rotatably connected to the mounting seat 463 and is used for relative sliding connection with the guide rail 464 .

[0066] In this embodiment, for example, a roller 465 is provided at the lower end of the mounting seat 463. The roller 465 is provided within the mounting seat 463. When the secondary support base plate 42 moves forward relative to the primary support base plate 41, the guide rail 464 at the upper end of the secondary support base plate 42 can slide relative to the roller 465. Simultaneously, the roller 465 and the mounting seat 463 rotate relative to each other, converting the sliding friction between the guide rail 464 and the mounting seat 463 into rolling friction. This reduces the friction between the guide rail 464 and the mounting seat 463, facilitating the use of the pulling and moving oil cylinder 462 to drive the secondary support base plate 42 to move.

[0067] Alternatively, as Figure 2 As shown, the excavation system 2 includes a cutting part 21 and a shovel mechanism 22, which are respectively arranged at the upper and lower ends of the front vehicle 11. The cutting part 21 is located in the middle of the front vehicle 11, and the shovel mechanism 22 includes a shovel body, a left rake claw and a right rake claw. The shovel body is arranged on the front vehicle 11, and the left rake claw and the right rake claw are respectively arranged at the left and right ends of the shovel body.

[0068] In this embodiment, for example, the shovel body is arranged in the middle of the tunnel. Figure 2 As shown, the front vehicle 11 includes a front body 111, a front crawler walking mechanism 112, and a front transport mechanism 113; the rear vehicle 13 includes a rear body 131, a rear crawler walking mechanism 132, and a rear transport mechanism 133; the front crawler walking mechanism 112 is arranged at the lower end of the front body 111, the front transport mechanism 113 is arranged at the upper end of the front body 111, the rear crawler walking mechanism 132 is arranged at the lower end of the rear body 131, and the rear transport mechanism 133 is arranged at the upper end of the rear body 131; the material receiving port of the front transport mechanism 113 is connected with the shovel body, the material discharging port of the front transport mechanism 113 is located above the material receiving port of the rear transport mechanism 133, and the material discharging port of the rear transport mechanism 133 is connected with a transport mechanism such as a mine car; the cutting part 21 and the shovel mechanism 22 are respectively arranged at the upper and lower ends of the front body 111.

[0069] During excavation, the front crawler mechanism 112 drives the front body 111 forward and simultaneously drags the rear crawler mechanism 132 and the rear body 131. Since the cutting unit 21 and the shovel mechanism 22 are both mounted on the front body 111, they can drive the cutting unit 21 and the shovel mechanism 22 forward synchronously. The cutting unit 21 is used to cut the coal seam, and the coal ore falls onto the shovel body. The shovel body is then sequentially transferred to the front transport mechanism 113, the rear transport mechanism 133, and other transport mechanisms to be transported out of the mine. At the same time, a left rake claw and a right rake claw are provided on the shovel body, and the shovel body is positioned in the middle of the tunnel. The left and right rake claws can expand the shovel body's material collection range and collect coal ore at the edge of the shovel body onto the shovel body. This allows for full-section material collection, reducing energy waste. Furthermore, during the coal mining process, there is no need to drive the shovel body left and right, simplifying the coal mining operation and improving coal mining efficiency.

[0070] Alternatively, as Figure 1 、 2 as well as Figure 13 As shown, the integrated excavation, support and anchor tunneling equipment also includes a hydraulic system 5 and an electrical system 6. The rear body 131 includes a platform frame 1311, a support frame 1312, a slewing support 1313, and a rear mounting frame 1314. The platform frame 1311 is hinged to the support frame 1312. The support frame 1312 is fixedly mounted on the slewing support 1313. The slewing support 1313 is fixedly connected to the rear mounting frame 1314. The hydraulic system 5 and the electrical system 6 are both arranged on the rear mounting frame 1314.

[0071] Alternatively, as Figure 2 、 Figure 12 As shown, the excavation system 2 also includes a support part 23, which includes a shovel plate lifting cylinder 231, a rear support leg cylinder 232, a rear support leg 233, and a support frame 224. The shovel plate also includes a first mounting hinge ear 221, a second mounting hinge ear 222, and a lifting hinge ear 223. The first mounting hinge ear 221 and the second mounting hinge ear 222 are both fixedly connected to the shovel plate body, and are respectively used to be hinged to the front end of the driving system 1 and the support frame 224. The rear end of the support frame 224 is hinged to the front end of the rear support leg cylinder 232, the rear end of the rear support leg cylinder 232 is hinged to the rear end of the rear support leg 233, and the front end of the rear support leg 233 is hinged to the middle part of the support frame 224. One end of the shovel plate lifting cylinder 231 is hinged to the middle part of the support frame 224, and the other end is hinged to the lifting hinge ear 223.

[0072] In this embodiment, when the cutting unit 21 is used to cut the coal seam, the blade lifting cylinder 231 is used to drive the front end of the blade body to abut against the tunnel floor, and the rear leg cylinder 232 is used to drive the rear end of the rear leg 233 to abut against the tunnel floor. Thus, the blade body abuts against the tunnel floor, and the rear leg 233 abuts against the tunnel floor, which supports the front body 111 and prevents vibration generated by the cutting unit 21 from affecting the stability of the front body 111. This ensures stability during coal seam cutting and helps ensure normal tunneling.

[0073] Another embodiment of the present invention provides a working method for an integrated tunneling equipment, characterized in that the integrated tunneling equipment as described above is used. The working method of the integrated tunneling equipment includes:

[0074] The tunneling system 2 performs tunneling operations, using a support mechanism to support the tunnel floor to separate the anchoring body 31 from the driving system 1. The anchoring mechanism on the anchoring body 31 is then used to anchor the tunnel roof and tunnel sidewalls. After anchoring is completed, the support mechanism is retracted from the tunnel floor, and the main lifting column 44 is used to drive the main support top plate 412 to support the tunnel roof, and the auxiliary lifting column is used to drive the auxiliary support top plate to release the support for the tunnel roof.

[0075] After the excavation operation is completed, the auxiliary lifting column is used to drive the auxiliary support top plate to support the tunnel roof, and the main lifting column 44 is used to drive the main support top plate 412 to release the support of the tunnel roof. The driving system 1 is used to drive the excavation system 2 to move, and the crawler walking mechanism 45 is used to drive the main support bottom plate 411 to move so that the main support bottom plate 411 follows the excavation system 2.

[0076] The main lifting column 44 is used to drive the main support top plate 412 to support the tunnel top plate, and the auxiliary lifting column is used to drive the auxiliary support top plate to release the support of the tunnel top plate, and the driving mechanism is used to drive the auxiliary support bottom plate 42 to move so that the auxiliary support bottom plate 42 follows the main support bottom plate 411.

[0077] In this embodiment, specifically, the driving system 1 can drive the tunneling system 2 forward along the roadway. Simultaneously, the crawler mechanism 45 drives the main support base plate 411 forward, simultaneously driving the main support base plate 411, the main lifting columns 44, and the main support top plate 412 forward. Furthermore, the driving mechanism drives the secondary support base plate forward, simultaneously driving the secondary support base plate, the secondary lifting columns, and the secondary support top plate forward. Thus, the tunneling process, temporary support process, and permanent support process are independent of each other. While the tunneling system 2 is tunneling, the support system 4 can be used for temporary support, and the anchoring system 3 can be used for permanent support, ensuring that the tunneling, support, and anchoring processes are performed synchronously. At the same time, when the tunneling system 2 and the anchoring system 3 stop operating, the driving system 1 drives the tunneling system 2 forward, the crawler walking mechanism 45 drives the main support base plate 411 and the main lifting column 44 forward, and the driving mechanism drives the secondary support base plate and the secondary lifting column forward, which can ensure that the support system 4 is always located above the tunneling system 2 to support the tunnel roof, thereby realizing the protection function of the tunneling system 2.

[0078] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A tunneling equipment with integrated support and anchoring, characterized in that: It comprises a driving system (1), a tunneling system (2), an anchoring system (3) and a support system (4), wherein the tunneling system (2), the anchoring system (3) and the support system (4) are all arranged on the driving system (1); The support system (4) comprises a main support base plate (411), a secondary support base plate (42), a main support top plate (412), a secondary support top plate, a main lifting column (44), a secondary lifting column, a crawler walking mechanism (45), and a driving mechanism (46); one end of the main lifting column (44) is fixedly connected to the main support base plate (411), and the other end is fixedly connected to the main support top plate (412); one end of the secondary lifting column is fixedly connected to the secondary support base plate (42), and the other end is fixedly connected to the secondary support top plate The main support bottom plate (411) and the auxiliary support bottom plate (42) are both supported by the tunnel bottom plate, the main support bottom plate (411) and the auxiliary support bottom plate (42) are connected by transmission through the driving mechanism (46), the crawler walking mechanism (45) is arranged on the main support bottom plate (411), the main lifting column (44) is used to drive the main support top plate (412) to support the tunnel top plate, and the auxiliary lifting column is used to drive the auxiliary support top plate to support the tunnel top plate; The anchoring system (3) comprises an anchoring body (31), an anchoring mechanism, and a supporting mechanism. The anchoring body (31) is arranged on the driving system (1). The anchoring mechanism is arranged on the anchoring body (31) and is used to anchor the roadway roof and roadway sidewalls. The supporting mechanism is arranged on the anchoring body (31) and is used to support the roadway floor so as to separate the anchoring body (31) from the driving system (1). The driving mechanism (46) includes a lifting cylinder (461), which is arranged on the main supporting base plate (411), and is in transmission connection with the auxiliary supporting base plate (42), and is used to drive the auxiliary supporting base plate (42) to move in a vertical direction; The driving mechanism (46) further includes a pulling oil cylinder (462), a mounting seat (463), and a guide rail (464); the mounting seat (463) is fixedly connected to the movable rod of the lifting oil cylinder (461) and is extended in the front-to-back direction; the pulling oil cylinder (462) is arranged on the main support base plate (411) and is transmission-connected to the auxiliary support base plate (42); the pulling oil cylinder (462) is used to drive the auxiliary support base plate (42) to move in the front-to-back direction relative to the main support base plate (411); the guide rail (464) is fixed on the auxiliary support base plate (42) and is slidably connected to the mounting seat (463); The driving mechanism (46) further includes a roller (465), which is rotatably connected to the mounting seat (463) and is used to abut against the guide rail (464).

2. The integrated excavation, support and anchoring equipment according to claim 1, characterized in that: The support mechanism comprises an anchor base (36) and a plurality of outrigger oil cylinders (34); the anchor base (36) is fixedly connected to the anchor body (31); one end of the plurality of outrigger oil cylinders (34) is fixedly connected to the anchor base (36), and the other end is used to support the tunnel floor; the plurality of outrigger oil cylinders (34) are evenly distributed on the anchor base (36).

3. The integrated excavation, support and anchoring equipment according to claim 1, characterized in that: The driving system (1) comprises a front driving vehicle (11), an articulated mechanism (12), and a rear driving vehicle (13); the excavation system (2) is arranged on the front driving vehicle (11); the anchoring body (31) is arranged on the articulated mechanism (12); the front end of the articulated mechanism (12) is articulated to the front driving vehicle (11); and the rear end of the articulated mechanism (12) is articulated to the rear driving vehicle (13).

4. The integrated tunneling equipment of excavation, support and anchoring according to claim 3, characterized in that: The articulated mechanism (12) comprises an articulated body (121), a circumferential turning mechanism (122), a left-right swing mechanism (123), and an up-down turning mechanism (124); the circumferential turning mechanism (122) is rotatably connected to the articulated body (121); the left-right swing mechanism (123) is arranged on the circumferential turning mechanism (122); the front vehicle (11) is rotatably connected to the circumferential turning mechanism (122) via the left-right swing mechanism (123); and the rear vehicle (13) is rotatably connected to the articulated mechanism (12) via the up-down turning mechanism (124).

5. The integrated excavation, support and anchoring equipment according to claim 4, characterized in that: The articulated mechanism (12) further comprises a positioning mechanism (125), wherein the positioning mechanism (125) is arranged on the articulated body (121); the anchoring system (3) further comprises a limiting mechanism (35), wherein the limiting mechanism (35) is arranged at the lower end of the anchoring body (31); the limiting mechanism (35) is used to connect with the positioning mechanism (125) to position the anchoring body (31).

6. The integrated tunneling equipment of excavation, support and anchoring according to claim 3, characterized in that: The excavation system (2) includes a cutting part (21) and a shovel mechanism (22), the cutting part (21) and the shovel mechanism (22) are respectively arranged at the upper and lower ends of the front vehicle (11), the cutting part (21) is located in the middle of the front vehicle (11), and the shovel mechanism (22) includes a shovel body, a left rake claw and a right rake claw, the shovel body is arranged on the front vehicle (11), and the left rake claw and the right rake claw are respectively arranged at the left and right ends of the shovel body.

7. A working method of an integrated tunneling equipment, characterized in that: The excavation-support-anchor integrated tunneling equipment according to any one of claims 1 to 6 is used, and the working method of the excavation-support-anchor integrated tunneling equipment includes: The excavation system (2) performs excavation operations, uses a support mechanism to support the tunnel floor, and separates the anchoring body (31) from the driving system (1), and then uses the anchoring mechanism on the anchoring body (31) to anchor the tunnel roof and the tunnel sidewall respectively. After the anchoring is completed, the support mechanism is retracted from the tunnel floor, and the main lifting column (44) is used to drive the main support top plate (412) to support the tunnel roof, and the auxiliary lifting column is used to drive the auxiliary support top plate to release the support for the tunnel roof. After the excavation operation is completed, the auxiliary lifting column is used to drive the auxiliary support top plate to support the tunnel top plate, the main lifting column (44) is used to drive the main support top plate (412) to release the support for the tunnel top plate, the driving system (1) is used to drive the excavation system (2) to move, and the crawler walking mechanism (45) is used to drive the main support bottom plate (411) to move so that the main support bottom plate (411) follows the excavation system (2); The main lifting column (44) is used to drive the main support top plate (412) to support the tunnel top plate, and the auxiliary lifting column is used to drive the auxiliary support top plate to release the support for the tunnel top plate, and the driving mechanism is used to drive the auxiliary support bottom plate (42) to move so that the auxiliary support bottom plate (42) follows the main support bottom plate (411).

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