Anchoring drill rig support reliability testing device and evaluation method

Abstract

The present application relates to coal roadway support technical field, especially to a kind of anchor rod drilling rig support reliability test device and evaluation method, this test device includes underground environment simulation system, anchor rod support monitoring system, anchor rod anchoring image detection system and reliability test system, underground environment simulation system includes simulated roadway and roadway pressure simulation mechanism, simulated roadway is used to simulate the real size and surface topography of roadway, roadway pressure simulation mechanism includes roof pressure simulation, side pressure simulation and roof and side comprehensive pressure simulation, anchor rod support monitoring system is used to monitor the row distance, spacing and three-way displacement of anchor rod support, anchor rod anchoring image detection system is used to detect the straightness of anchor rod and the crack generated in simulated roadway, and reliability test system achieves the reliability test target of multiple rows, multiple anchor rod support, which can simulate real roadway environment and detect the reliability of anchor rod support.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal roadway support, in particular to a device and method for testing and evaluating the support reliability of a rock bolt drilling machine. BACKGROUND

[0002] Rock bolt support is an economical and effective support method for coal roadway, which can significantly improve the support effect of the roadway, reduce the support cost and the labor intensity of workers.

[0003] With the popularization and application of high-efficiency and rapid excavation, the mining intensity, scale and output of coal mines have been greatly improved, and many unprecedented complex roadways such as soft and broken surrounding rock roadways have appeared. Coal roadways are widely used, the cross section of the roadway is developing from small to large, the single roadway layout is developing to multi-roadway layout, the buried depth of the roadway is developing from shallow to deep, the roadway with simple geological conditions is developing to the roadway with complex geological conditions, and the artificial rock bolt support is developing to automatic and intelligent support. These changes put forward higher and more stringent requirements for rock bolt support technology. Safe and reliable rock bolt support is the basis for ensuring the safety of coal mine production and the premise and basis for the intelligent development of coal mines.

[0004] The current rock bolt support quality detection method cannot simulate the roadway environment conditions. For example, the drill machine no-load test cannot reflect the support performance of the roadway, the drill machine drilling test cannot reflect the actual size of the roadway, the additional force of the roof pressure and the free rock mass on the surrounding rock of the roadway cannot be tested, the test items are the traditional test contents, the test times and accelerated test are not examined, the rock bolt support reliability index cannot be tested, the intuitive detection method of the rock bolt support inside the roadway is lacking, the rock bolt support test of the drill machine only detects the performance parameters of the drill machine, the rock bolt support reliability is not detected, and the underground rock bolt support quality detection mainly includes the pull-out test and the acoustic anchoring quality test. The pull-out test is a destructive test, and the acoustic anchoring quality test is not intuitive. The traditional rock bolt detection method cannot reflect the rock bolt support reliability index and cannot show and evaluate the reliability of the mutual adhesion and fixation of the rock bolt and the rock stratum. The coal mine rock bolt detection is a post-detection, which detects the problems, changes the design index of the intelligent rock bolt drilling vehicle, takes a long time and has low efficiency. SUMMARY

[0005] In order to solve the above technical problems, the present application provides a device and method for testing and evaluating the support reliability of a rock bolt drilling machine, which can simulate the real roadway environment and detect the rock bolt support reliability.

[0006] The first aspect of the present application provides a device for testing and evaluating the support reliability of a rock bolt drilling machine, which comprises:

[0007] The underground environment simulation system comprises a simulated roadway and a roadway pressure simulation mechanism, the simulated roadway is used for simulating the real size and surface topography of the roadway, and the roadway pressure simulation mechanism comprises roof coming pressure simulation, side wall coming pressure simulation and comprehensive coming pressure simulation of the roof and the side wall.

[0008] The anchor rod support monitoring system is used for monitoring the row distance, interval and three-way displacement of the anchor rod support.

[0009] The anchor rod anchoring image detection system is used for detecting the straightness of the anchor rod and cracks generated inside the simulated roadway.

[0010] The reliability test system realizes the multiple-row and multiple-anchor rod support reliability test target.

[0011] Optionally, the simulated roadway comprises a mining simulation area, mining equipment, a side wall masonry structure, an anchor rod support test area and a roof masonry structure, the side wall masonry structure and the roof masonry structure form a rectangular chamber structure, the anchor rod support test area is arranged in the rectangular chamber structure, the mining simulation area is arranged at a head-on position of the simulated roadway, the mining equipment performs cutting and feeding operations in the mining simulation area to generate a mining dynamic force, and the mining dynamic force is transmitted from the mining simulation area to the side wall masonry structure and the roof masonry structure.

[0012] Optionally, the simulated roadway comprises, in sequence along a tunneling direction, a leaf-shaped layered rock roadway, a block-shaped rock roadway, a broken rock roadway, a clay filling zone and a broken zone roadway, a semi-coal rock roadway and a coal roadway, and the roof and the side wall surface of the simulated roadway are both uneven surfaces.

[0013] Optionally, the roadway pressure simulation mechanism comprises a column, a side wall pressure simulation structure, a roof pressure loading oil cylinder, a mass block, a limiting block and a cross beam.

[0014] The number of the columns is four, the four columns are symmetrically arranged at two sides of the simulated roadway, the cross beam is arranged at the top of the columns, the mass block penetrates through the columns, the upper part of the column is provided with a limiting hole, the height of the limiting hole is slightly greater than the height of the simulated roadway, the limiting block is arranged in the limiting hole to support the mass block, and the number of the roof pressure loading oil cylinders is two, the two roof pressure loading oil cylinders are symmetrically arranged at two sides of the simulated roadway and located at the inner sides of the columns, the roof pressure loading oil cylinders drive the mass block to reciprocate along the axial direction of the columns to separate and contact the mass block and the roof of the simulated roadway.

[0015] The number of the side pressure simulation structure is four, and the four side pressure simulation structures are symmetrically arranged on the two sides of the simulated roadway.

[0016] Optionally, the anchor rod support monitoring system comprises an anchor rod end, a universal visual sensor, a device coordinate system, a sensor coordinate system and a measurement and control workstation, the anchor rod end is an exposed anchor rod end for completing support, two universal visual sensors are symmetrically arranged on the tunneling and mining equipment, the universal visual sensor comprises a pitch rotation shaft, a control center and a left-right rotation shaft, a signal transmitter and a signal receiver of an integrated image sensor are arranged on the pitch rotation shaft, a limited angle torque motor is connected to an input end of the pitch rotation shaft, and a support arm is arranged outside the limited angle torque motor, a bottom of the support arm is connected to the left-right rotation shaft, the control center drives the limited angle torque motor to drive the pitch rotation shaft, thereby driving the signal transmitter and the signal receiver of the image sensor to rotate in pitch, so as to scan the anchor rod ends arranged on the roof and the side of the simulated roadway in the same row;

[0017] The device coordinate system is arranged at the geometric center of the tunneling and mining equipment, the sensor coordinate system is arranged at the center of the two universal visual sensors, an angle sensor is arranged in the limited angle torque motor, the pitch angle and the left-right rotation angle of the sensor coordinate system are measured by the angle sensor, a laser pulse transmitter, a laser diode, a reflecting prism, a receiver and a counter are arranged in the measurement and control workstation, the laser pulse transmitter periodically drives the laser diode to emit a laser pulse, the reflecting prism guides the laser and uniformly scans, the signal receiver receives the emission signal of the laser diode, the counter counts the time difference between the emission time of the laser diode and the receiving time of the signal receiver, the straight-line distance between the measured point and the reflecting prism is calculated according to the time difference between the laser emission and return and the propagation speed of the laser, the three-dimensional coordinates of the measured point in the sensor coordinate system are calculated according to the horizontal scanning angle and the vertical scanning angle of the laser, and the coordinates of the device coordinate system are transformed to generate the point cloud of the simulated roadway.

[0018] Optionally, the anchor rod anchoring image detection system comprises a test process tank, an image receiver, an anchor rod, an X-ray generator and an anchoring agent, the test process tank is arranged on both sides of the support area of the side wall masonry structure and the roof masonry structure, and is arranged in parallel with the anchor rod support direction, the image receiver and the X-ray generator are arranged in the test process tank, the anchor rod is arranged in the simulated roadway through the anchoring agent and located between the two test process tanks, the X-ray generator is driven to emit X-rays, which penetrate the anchor rod support area between the two test process tanks, and the image receiver receives the X-rays to obtain the internal image information of the anchor rod support area.

[0019] Optionally, the X-ray generator comprises a redirecting wheel, a chain, a connecting plate, an X-ray machine, a narrow slit straightening plate, a guide rail, a wire displacement sensor, a motor, a driving wheel and an electrical control box, the narrow slit straightening plate is arranged at the emission end of the X-ray machine, the X-ray machine is slidably connected with the guide rail, the X-ray machine is connected with the chain through the connecting plate, the two ends of the chain are engaged with the redirecting wheel and the driving wheel respectively, the driving wheel is arranged on the output shaft of the motor through a key, the electrical control box controls the motor to drive the driving wheel to rotate, so as to drive the chain to move around the driving wheel and the redirecting wheel, the chain drives the X-ray machine to move along the guide rail through the connecting plate, one end of the wire displacement sensor is arranged at the end of the guide rail, the other end is arranged at the bottom of the X-ray machine, and the wire displacement sensor is arranged in parallel with the guide rail to collect the displacement data of the X-ray machine.

[0020] The X-ray machine comprises a housing, two supporting plates, a chain mounting plate and a pin shaft, two supporting plates are symmetrically arranged on one end of the housing away from the guide rail along the extension direction of the guide rail, and first grooves are arranged on the two supporting plates, the number of the narrow slit straightening plates is two, and two narrow slit straightening plates are arranged in the two first grooves respectively, and a slit is formed on the opposite side, two groups of cylindrical holes are symmetrically arranged on the housing along the extension direction of the guide rail, and two guide rails pass through the two groups of cylindrical holes respectively, the chain mounting plate is symmetrically arranged on the connecting plate, the pin shaft penetrates the chain mounting plate and the chain, and the pin shaft is in interference fit with the chain mounting plate, and the pin shaft is in clearance fit with the chain, so that the chain rotates around the pin shaft.

[0021] Optionally, the reliability test system comprises a roof test block installation module, a test block bonding and fixing module and a test block dismounting module.

[0022] The top plate test block installation module comprises a test block storage area, a vertical protection plate, a lateral protection plate, a longitudinal support beam, a transverse support beam, a test block and a loader, the loader is used for forking the test block from the test block storage area and sequentially installing the test block on the top plate masonry structure, the longitudinal support beam and the transverse support beam vertically fix the test block, the vertical protection plate is welded on the transverse support beam, and a second groove is formed in the top of the vertical protection plate, and the two ends of the lateral protection plate are arranged in the second grooves of the two adjacent vertical protection plates respectively;

[0023] The test block bonding and fixing module comprises a first working arm, an anchoring agent storage bin, a roller, a partition plate, a cement and a curing agent, the test block gap is arranged between two adjacent test blocks, the anchoring agent storage bin is arranged at the end of the first working arm, and two bin bodies are arranged in the anchoring agent storage bin, the two bin bodies are both provided with flexible filling bags, the cement is arranged in one of the flexible filling bags, the curing agent is arranged in the other flexible filling bag, the partition plate is arranged at one end of the anchoring agent storage bin close to the first working arm, and a V-shaped groove is formed at the other end of the partition plate, the two wings of the V-shaped groove are provided with nozzles, the roller is arranged between the first working arm and the partition plate, the first working arm drives the roller to extrude the partition plate, so that the cement and the curing agent break through the flexible filling bags and flow into the test block gap through the nozzles;

[0024] The test block dismounting module comprises a lifting machine and a cutting machine, the cutting machine is provided with a second working arm, a cutter head is hingedly connected to the end of the second working arm, the lifting machine is provided with four lifting arms, and two adjacent lifting arms are connected through a web plate, the second working arm drives the cutter head to reciprocate along the test block gap to cut the cement and the curing agent in the test block gap, the lifting machine is driven to drive the lifting arms to lift the test block away from the top of the simulated roadway, and the loader lifts the test block on the lifting arms and transports the test block to the test block storage area.

[0025] The second aspect of the present application provides a method for evaluating the reliability of the anchor rod drilling machine support, which is completed based on the anchor rod drilling machine support reliability test device of any one of the above aspects, an anchor rod drilling machine support reliability accelerated test scheme and an anchor rod support reliability evaluation index system matrix are developed, including an anchor rod drilling machine support reliability acceleration index system and an influence factor system of the anchor rod drilling machine support reliability;

[0026] The anchor rod drilling machine support reliability acceleration index system comprises four acceleration indexes, which are increasing the flow of the feeding oil cylinder to improve the feeding speed of the drilling machine, increasing the flow of the drilling box motor to improve the rotation speed of the drilling box, increasing the hardness of the roadway test block to improve the feeding resistance of the drilling machine and the rotation cutting resistance of the drilling box, and increasing the use frequency of the drilling machine;

[0027] The influencing anchor rod drilling machine support reliability factor system includes three dimensions, respectively task profile, roadway geological condition and test examination scheme, the task profile dimension includes two conditions of top anchor and side anchor, the roadway geological condition dimension includes six influencing factors of leaf-like layered rock roadway, massive rock roadway, broken rock roadway, clay filling zone and broken zone roadway, semi-coal rock roadway and coal roadway, and the test examination scheme includes sixteen examination factors of conventional test and different accelerated life test schemes.

[0028] Optionally, the four acceleration indexes are respectively A1, B1, C1 and D1, the normal codes are respectively A0, B0, C0 and D0, at least one code is taken, and fifteen kinds of accelerated test schemes can be obtained according to the permutation and combination theory, wherein the A1B1C1D1 accelerated test scheme is preferentially selected.

[0029] Optionally, the reliability index variable under the task profile of the top anchor of the anchor rod drilling machine is D, and the reliability index system matrix is:

[0030] (5)

[0031] The first row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological condition of the leaf-like layered rock roadway, the second row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological condition of the massive rock roadway, the third row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological condition of the broken rock roadway, the fourth row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological condition of the clay filling zone and broken zone roadway, the fifth row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological condition of the semi-coal rock roadway, and the sixth row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological condition of the coal roadway.

[0032] The reliability index variable under the task profile of the side anchor of the anchor rod drilling machine is B, and the reliability index system matrix is:

[0033] (6)

[0034] The first row of the matrix represents reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological conditions of a blade-shaped layered rock roadway, the second row of the matrix represents reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological conditions of a block-shaped rock roadway, the third row of the matrix represents reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological conditions of a broken rock roadway, the fourth row of the matrix represents reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological conditions of a clay filling zone and a broken zone roadway, the fifth row of the matrix represents reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological conditions of a semi-coal rock roadway, and the sixth row of the matrix represents reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological conditions of a coal roadway.

[0035] Compared with the prior art, the technical scheme provided by the embodiment of the application has the following beneficial effects:

[0036] The anchor rod drilling machine supporting reliability testing device and evaluation method provided by the embodiment of the application comprises a downhole environment simulation system, an anchor rod supporting monitoring system, an anchor rod anchoring image detection system and a reliability test system.

[0037] The downhole environment simulation system comprises a simulated roadway and a roadway pressure simulation mechanism, the simulated roadway is set to make the roadway size and the roadway surface unevenness consistent with the actual situation, different roadway simulation test units are made to achieve the goal of simulating the material difference of the simulated roadway, ensure that the geological conditions of the test roadway are consistent with the actual situation, realize the actual service characteristics of the anchor rod drilling machine supporting, the roadway pressure simulation mechanism is developed to simulate the anchoring reliability of the anchor rod under the action of the roadway pressure, the roadway pressure simulation mechanism comprises a roadway pressure simulation test bed and a roadway pressure semi-physical simulation system, and solves the technical problems of high roadway pressure and high test risk coefficient, the computer simulation of the roadway pressure is realized through the proportional scaling and semi-physical simulation technology, and thus the anchoring reliability of the anchor rod under the action of the roadway pressure is realized.

[0038] The anchor rod supporting monitoring system generates point cloud data of the anchor rod end through complete scanning of the multiple rows and multiple anchor rods of the roadway, generates the roadway anchor rod supporting image through high-speed computer analysis and processing, particle coordinate geometric transformation and image recognition, realizes real-time online precise testing of the anchor rod row distance, spacing and three-way displacement, obtains three-dimensional geometric error data of the anchor rod supporting through comparison with the three-dimensional numerical model, improves the testing precision and testing efficiency, and the test results are intuitive and the testing parameters are more comprehensive.

[0039] The anchor rod anchoring image detection system is used for detecting the straightness of the anchor rod and the cracks generated in the simulated roadway, the detection mode is visual, computer image recognition technology is applied to read and analyze the anchoring quality image detection results of the anchor rod, and data information such as the overall integrity, straightness, parallelism and anchoring angle of the anchor rod in the masonry structure is obtained.

[0040] The reliability test system reflects the reliability of the anchor rod support by providing a large number of test anchor rods, and realizes the multi-row and multi-anchor rod support reliability test goal. BRIEF DESCRIPTION OF DRAWINGS

[0041] The drawings incorporated into the specification and forming a part thereof, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required to be used in the embodiments or the prior art description will be briefly introduced as follows, and obviously, other drawings can also be obtained by those skilled in the art without creative labor.

[0043] Figure 1 The simulated roadway structure schematic diagram described in the embodiments of the present application;

[0044] Figure 2 The structure schematic diagram in the direction of A-A in the embodiments of the present application; Figure 1

[0045] Figure 3 The roadway pressure simulation mechanism structure schematic diagram described in the embodiments of the present application;

[0046] Figure 4 The top view of the side pressure simulation mechanism described in the embodiments of the present application;

[0047] Figure 5 The side view of the side pressure simulation mechanism described in the embodiments of the present application;

[0048] Figure 6 The roadway pressure simulation hydraulic system diagram described in the embodiments of the present application;

[0049] Figure 7 The side view of the anchor rod support monitoring system described in the embodiments of the present application;

[0050] Figure 8 The front view of the anchor rod support monitoring system described in the embodiments of the present application;

[0051] Figure 9 The anchor rod anchoring image detection system schematic diagram described in the embodiments of the present application; ​

[0052] Figure 10 is Figure 9 a structural schematic view of the X-ray generator;

[0053] Figure 11 a structural schematic view of the X-ray generator;

[0054] Figure 12 a structural schematic view of the X-ray generator;

[0055] Figure 13 a structural schematic view of the X-ray generator;

[0056] Figure 14 a structural schematic view of the X-ray generator;

[0057] Figure 15 a structural schematic view of the X-ray generator;

[0058] Figure 16 a structural schematic view of the X-ray generator;

[0059] Figure 17 a structural schematic view of the X-ray generator;

[0060] Figure 18 a structural schematic view of the X-ray generator;

[0061] 1, mining simulation area; 2, mining equipment; 3, side wall masonry structure; 4, anchor rod support test area; 5, roof masonry structure; 6, stand; 7, side wall pressure simulation mechanism; 701, box hinge pin; 702, box; 703, sleeve hinge pin; 704, sleeve; 705, side wall loading oil cylinder; 8, roof pressure loading oil cylinder; 9, mass block; 10, limit block; 11, crossbeam; 12, anchor rod end; 13, universal visual sensor; 14, equipment coordinate system; 15, sensor coordinate system; 16, measurement and control workstation; 17, test process tank; 18, image receiver; 19, nut; 20, tray; 21, anchor rod; 22, X-ray generator; 2201, deflection wheel; 2202, chain; 2203, connecting plate; 2204, X-ray machine; 22041, shell; 22042, supporting plate; 22043, screw; 22044, chain mounting plate; 22045, pin; 2205, narrow gap straightening plate; 2206, guide rail; 2207, wire displacement sensor; 2208, motor; 2209, drive wheel; 2210, electrical control box; 23, anchoring agent; 24, test block storage area; 25, vertical guard plate; 26, lateral guard plate; 27, longitudinal support beam; 28, transverse support beam; 29, test block; 30, loader; 31, glue machine test block bonding and fixing module; 3101, first working arm; 3102, anchoring agent storage bin; 3103, roller; 3104, partition; 3105, mastic; 3106, spout; 3107, curing agent; 32, test block gap; 33, lifting machine; 34, cutting machine; 3401, second working arm. DETAILED DESCRIPTION

[0062] In order to enable the above-mentioned objects, features and advantages of the present application to be more clearly understood, a further description of the present application will be described below. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0063] In the following description, a lot of specific details are set forth in order to give a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the present application, not all the embodiments.

[0064] Reference Figures 1 to 12 As shown in the figure, the embodiment provides an anchor rod drilling machine support reliability test device, which comprises a downhole environment simulation system, an anchor rod support monitoring system, an anchor rod anchoring image detection system and a reliability test system.

[0065] The downhole environment simulation system comprises a simulated roadway and a roadway pressure simulation mechanism. The simulated roadway is used to simulate the real size and surface topography of the roadway. The roadway pressure simulation mechanism comprises roof coming pressure simulation, side wall coming pressure simulation and comprehensive coming pressure simulation of the roof and the side wall. Specifically, the conventional anchor rod drilling machine support test is a type test and a factory test. The factory test does not apply a load, and the type test only uses a simulated test block for drilling test without considering the roadway size, material difference, mining power, roadway surface topography and surrounding rock pressure. The test device simulates the downhole conditions to implement the anchor rod drilling machine support reliability test, so that the roadway size and the roadway surface unevenness are consistent with the actual conditions. Different roadway simulation test units are made to achieve the goal of simulating the material difference of the roadway, ensure that the test roadway geological conditions are consistent with the actual conditions, and realize the detection of the actual service characteristics of the anchor rod drilling machine support. The existing drilling machine test bench only uses rock test blocks to simulate drilling without considering the roadway pressure effect. Due to the effects of mining influence caused by roadway construction and mining, blasting mining, hydraulic support withdrawal and other factors, roof and side wall coming pressure are inevitable geomechanical phenomena of coal mine roadway support. The embodiment develops a roadway pressure simulation mechanism to simulate the anchor rod anchoring reliability under the action of roadway pressure. The roadway pressure simulation mechanism comprises a roadway pressure simulation test bench and a roadway pressure semi-physical simulation system, which solves the technical problems of high roadway pressure and high test risk coefficient. Through scaling and semi-physical simulation technology, computer simulation of roadway pressure is realized, so that the anchor rod anchoring reliability under the action of roadway pressure is detected.

[0066] The anchor rod support monitoring system is used to monitor the row distance, spacing and three-way displacement of the anchor rod support. Specifically, the conventional detection adopts a tape measure for sampling detection of the anchor rod row distance and spacing, which has large detection error and low efficiency, cannot reflect the real-time dynamic change of the anchor rod row distance and spacing, and cannot obtain the overall parameter data of all the anchor rods in the roadway. The test device generates anchor rod end point cloud data by complete scanning of multiple rows and multiple anchor rods in the roadway, generates a roadway anchor rod support image through high-speed computer analysis and processing, particle coordinate geometric transformation and image recognition, realizes real-time online precise test of the anchor rod row distance, spacing and three-way displacement, obtains three-dimensional geometric error data of the anchor rod support through comparison with a three-dimensional numerical model, improves the test precision and test efficiency, and the test results are visual and intuitive, and the test parameters are more comprehensive.

[0067] The anchor rod anchoring image detection system is used to detect the straightness of the anchor rod and the cracks generated in the simulated roadway. The detection method is visual and intuitive, computer image recognition technology is applied to read and analyze the anchoring quality image detection results of the anchor rod, and data information such as the overall integrity, straightness, parallelism and anchoring angle of the anchor rod in the masonry structure is obtained.

[0068] The reliability test system realizes the multiple-row and multiple-anchor-rod-support-reliability-test goal. Specifically, the traditional anchor rod drill test is a factory test and a type test. The factory test is a load test, and the type test only implements a few anchor rod drilling tests. The number of test anchor rods is small, and only the anchor rod support function can be tested, and the anchor rod support reliability cannot be tested. The type test does not consider the surrounding rock pressure, the roadway size, and the unevenness of the roadway surface, does not consider the difference in the roadway material, and the test environment condition and the test load do not conform to the actual situation. The number of test anchor rods provided in the embodiment is greater than 1000, and the test sample can reflect the anchor rod support reliability.

[0069] Further, as shown in Figure 1 and Figure 2 , the simulated roadway includes a mining simulation area 1, a mining and excavation equipment 2, a side wall lining structure 3, an anchor rod support test area 4, and a roof lining structure 5. The side wall lining structure 3 and the roof lining structure 5 form a rectangular chamber structure, the anchor rod support test area 4 is arranged in the rectangular chamber structure, and the mining simulation area 1 is arranged at the head of the simulated roadway. The mining and excavation equipment 2 performs cutting and feeding operations in the mining simulation area 1 to generate a mining dynamic force. The mining dynamic force is transmitted from the mining simulation area 1 to the side wall lining structure 3 and the roof lining structure 5. Specifically, the roof height of the simulated roadway is consistent with the actual underground roadway height, and the side wall width of the simulated roadway is consistent with the actual underground roadway width, realizing size simulation. The mining and excavation equipment 2 performs cutting and feeding operations in the mining simulation area 1 to generate a mining dynamic force. The mining dynamic force affects the stress field distribution of the roadway surrounding rock, and further causes the anchor rod support force to change, affecting the anchor rod support reliability. The mining and excavation equipment 2 is equipped with an automatic anchor rod drill, which completes the anchor rod support construction, realizing the functional integration of mining simulation and anchor rod support construction.

[0070] The simulated roadway includes a leaf-shaped layered rock roadway, a blocky rock roadway, a broken rock roadway, a clay filling zone and a broken zone roadway, a semi-coal rock roadway, and a coal roadway along the driving direction. The roof and side wall surfaces of the simulated roadway are uneven surfaces. Due to the different hardness of different sections of the roadway, the underground roadway surface formed by the cutting of the mining and excavation equipment 2 not only has knife marks but also has undulating curved surfaces, which are not flat surfaces. By developing unevenness of the roadway, the surface topography conditions of the anchor rod support are simulated.

[0071] Referring to Figure 3As shown, the roadway pressure simulation mechanism comprises four upright columns 6, four side pressure simulation structures 7, two roof pressure loading oil cylinders 8, a mass block 9, a limiting block 10 and a crossbeam 11. The four upright columns 6 are symmetrically arranged on both sides of the simulated roadway, the crossbeam 11 is arranged on the top of the upright columns 6, the mass block 9 penetrates the upright columns 6, the upper part of the upright columns 6 is provided with a limiting hole, the height of the limiting hole is slightly greater than the height of the simulated roadway, the limiting block 10 is arranged in the limiting hole to support the mass block 9, the two roof pressure loading oil cylinders 8 are symmetrically arranged on both sides of the simulated roadway and located on the inner side of the upright columns 6, and the roof pressure loading oil cylinders 8 drive the mass block 9 to reciprocate along the axial direction of the upright columns 6 to separate or contact the mass block 9 from the roof of the simulated roadway. Specifically, the mass block 9 and the upright columns 6 constitute a hole-shaft cooperation moving pair, so that the mass block 9 can move along the axial direction of the upright columns 6, and the limiting block 10 supports the mass block 9 when the simulated roadway is not loaded to prevent the mass block 9 from contacting the roof of the simulated roadway.

[0072] Referring to Figure 4 and Figure 5 As shown, the four side pressure simulation structures 7 are symmetrically arranged on both sides of the simulated roadway, the side pressure simulation structure 7 comprises a box body hinged pin 701, a box body 702, a sleeve hinged pin 703, a sleeve 704 and a side loading oil cylinder 705. The box body 702 is composed of a steel plate and arranged on the ground, the inside of the box body 702 is provided with a track, the sleeve 704 is connected with the track to form a moving pair with the box body 702, the cylinder barrel of the side loading oil cylinder 705 is hinged with the box body 702 through the box body hinged pin 701, the piston rod of the side loading oil cylinder 705 is hinged with the sleeve 704 through the sleeve hinged pin 703, the side loading oil cylinder 705 is driven, the piston rod of the side loading oil cylinder 705 is extended to drive the sleeve 704 to contact the side of the simulated roadway.

[0073] Referring to Figure 6As shown, the roadway pressure simulation hydraulic system includes a roof loading circuit and a side loading circuit, the roof loading circuit includes two roof pressure loading cylinders 8, a hydraulic lock, an electro-hydraulic proportional overflow valve, a hydraulic control reversing valve and two switch ball valves, the electro-hydraulic proportional overflow valve is assembled on the oil inlet pipeline of the roof pressure loading cylinder 8, the side loading circuit includes four side loading cylinders 705, an electro-hydraulic proportional overflow valve, a hydraulic control reversing valve and a switch ball valve, the two circuits share a hydraulic pump, a high-pressure filter, an oil return filter, a one-way valve and a hydraulic oil tank. In specific operation, the switch ball valve of the roof loading circuit is opened, the roadway roof pressure simulation program is started, the hydraulic pump drives the piston rod of the roof pressure loading cylinder 8 to extend and contact the mass block 9, the piston rod of the roof pressure loading cylinder 8 continues to extend, so that the mass block 9 moves upward along the axis of the stand 6, the mass block 9 is out of contact with the limiting block 10, the control valve is switched to the middle position, at this time the switch ball valve of the electro-hydraulic proportional overflow valve circuit is in the closed state, the hydraulic lock locks the roof pressure loading cylinder 8, the mass block 9 stops moving, the limiting block 10 is removed, the switch ball valve of the electro-hydraulic proportional overflow valve circuit is opened, the electro-hydraulic proportional overflow valve controls the unloading flow of the roof pressure loading cylinder 8, the piston rod of the roof pressure loading cylinder 8 is retracted, the mass block 9 moves downward along the axis of the stand 6 and contacts the roof of the simulated roadway, starting to apply pressure to the roof of the simulated roadway, the control system sends a command to control the electro-hydraulic proportional overflow valve to unload according to the predetermined pressure, the supporting force of the piston rod of the roof pressure loading cylinder 8 on the mass block 9 decreases in a predetermined manner, so that the mass block 9 applies pressure to the roof of the simulated roadway in a predetermined manner according to the program, and by changing the control command, the purpose of different ways of loading the roof of the simulated roadway is achieved; the switch ball valve of the side loading circuit is opened, the roadway side pressure simulation program is started, the hydraulic pump provides hydraulic power to the side loading cylinder 705, the piston rod of the side loading cylinder 705 extends to drive the sleeve 704 to extend and contact the side of the roadway, the hydraulic pump continues to supply oil to the side loading cylinder 705, the force of the sleeve 704 on the side of the roadway continues to increase, the oil inlet of the side loading cylinder 705 is connected to the hydraulic oil tank through the electro-hydraulic proportional overflow valve, and the control system adjusts the opening of the electro-hydraulic proportional overflow valve to adjust the amplitude of the force of the sleeve 704 on the side of the roadway; opening the switch ball valve of the roof loading circuit and closing the switch ball valve of the side loading circuit can simulate the condition of the roof of the roadway being pressed alone, closing the switch ball valve of the roof loading circuit and opening the switch ball valve of the side loading circuit can simulate the condition of the side of the roadway being pressed alone, and simultaneously opening the switch ball valve of the roof loading circuit and the switch ball valve of the side loading circuit can realize the test condition of the roof and the side of the roadway being pressed simultaneously. By simulating the roof pressure of the roadway caused by mining, faults and free rock blocks, the hydraulic proportional valve and the control system realize the simulation of different pressure growth modes, and the hydraulic simulation analysis realizes the simulation of breaking load and deformation.

[0074] Reference Figure 7 andFigure 8 As shown, the anchor rod support monitoring system comprises an anchor rod end 12, a universal visual sensor 13, a device coordinate system 14, a sensor coordinate system 15 and a measurement and control workstation 16. The anchor rod end 12 is an exposed anchor rod end for completing support. Two universal visual sensors 13 are symmetrically arranged on the tunneling and mining equipment 2. The universal visual sensor 13 comprises a pitch rotation shaft, a control center and a left-right rotation shaft. A signal transmitter and a signal receiver of an integrated image sensor are arranged on the pitch rotation shaft. A limited angle torque motor is connected to an input end of the pitch rotation shaft, and a support arm is arranged outside the pitch rotation shaft. A bottom of the support arm is connected to the left-right rotation shaft. The control center drives the limited angle torque motor to drive the pitch rotation shaft, thereby driving the signal transmitter and the signal receiver of the image sensor to rotate in pitch, so as to scan the anchor rod ends 12 arranged in the same row on the simulated tunnel roof and side slope. Specifically, the anchor rod end 12 is pre-sprayed with a developing agent. The control system drives the limited angle torque motor to rotate at high speed, so as to drive the pitch rotation shaft to rotate at high speed, thereby driving the signal transmitter of the image sensor to rotate and scan the tunnel at high speed. When the signal of the anchor rod end 12 is detected, the reflected signal strength is obviously enhanced. The signal receiver feeds back the signal to the control system. The control system sends an instruction. The rotation speed of the limited angle torque motor is reduced to low speed, so that the signal transmitter of the image sensor finely scans the anchor rod end 12. After the scanning of the anchor rod ends 12 in the same row is completed, the limited angle torque motor drives the pitch rotation shaft to reset. Another limited angle torque motor drives the left-right rotation shaft to rotate at high speed by 90°. The pitch rotation shaft drives the image sensor to complete the scanning of the anchor rod ends in multiple rows.

[0075] With reference to the foregoing Figure 7 and Figure 8As shown, the device coordinate system 14 is set at the geometric center of the mining equipment 2, the inertial navigation system and GPS satellite positioning system are installed on the mining equipment 2, the device geometric center coordinates are known, the sensor coordinate system 15 is set at the center of the two universal vision sensors 13, the inside of the limited rotation torque motor is provided with an angle sensor, the position of the origin of the sensor coordinate system 15 relative to the origin of the device coordinate system 14 can be measured according to the three-dimensional model of the mining equipment 2, the pitch angle and the left-right rotation angle of the sensor coordinate system 15 are measured by the angle sensor, the laser pulse emitter, the laser diode, the reflecting prism, the receiver and the counter are arranged in the measurement and control workstation 16, the laser pulse emitter periodically drives the laser diode to emit laser pulses, the reflecting prism guides the laser and uniformly scans, the signal receiver receives the emission signal of the laser diode, the counter counts the time difference between the emission time of the laser diode and the receiving time of the signal receiver by using the stable quartz clock, the straight-line distance between the measured point and the reflecting prism is calculated according to the time difference between the laser emission and return and the propagation speed of the laser, the transverse scanning angle and the longitudinal scanning angle of each laser pulse are simultaneously measured according to the deflection in the horizontal direction and the vertical direction, then the three-dimensional coordinates of the measured point in the sensor coordinate system 15 are calculated to be transformed into the coordinate values in the device coordinate system 14, and the simulated roadway point cloud is generated.

[0076] Taking the center point of the scanner as the coordinate origin and the horizontal plane as the XY plane, let the distance from the target point to the center of the scanner be S, the included angle between the scanning laser line and the XY plane be , the included angle between the projection of the scanning laser line on the XY plane and the X axis be , and the three-dimensional coordinates of the target point be:

[0077] (1)

[0078] According to the known initial data translation and rotation, the target point data of the sensor coordinate system 15 are converted to the absolute coordinate system, and the following equation is obtained:

[0079] (2)

[0080] In the formula, and , , represent the coordinates of each point converted to the absolute coordinate system, , , represent the coordinates of the center point of the scanner in the absolute coordinate system, represents the included angle between the initial position of the scanner and the north direction in the absolute coordinate system.

[0081] In this embodiment, the laser pulse signal is reflected back to the signal receiver after being diffusely reflected by the roadway surface. The special image processing system stores the coordinate data of the measured points, calculates the straight-line distance between the measured points and the scanner, calculates the three-dimensional coordinates of the measured points in the test system coordinate system according to the transverse scanning angle and the longitudinal scanning angle, and obtains the coordinate values of the measured points in the absolute coordinate system through coordinate transformation by the onboard inertial navigation system and the GPS satellite positioning system. The analog roadway point cloud is generated. The upper computer software reads the anchor rod end point cloud data through the computer, generates the roadway anchor rod end feature, obtains the anchor rod end 12 spacing and row spacing data through data processing, generates the anchor rod end 12 transverse, longitudinal and vertical displacement data through real-time measurement, feature value extraction and calculation, improves the test precision and test efficiency, and makes the test parameters more comprehensive.

[0082] Referring to Figure 9 and Figure 10 As shown in the figure, the anchor rod anchoring image detection system includes a test process tank 17, an image receiver 18, an anchor rod 21, an X-ray generator 22 and an anchoring agent 23. Since the size of the simulated roadway roof and sidewall is large, the X-ray cannot penetrate the entire roadway, so the test process tank 17 is arranged on both sides of the support area of the sidewall masonry structure 3 and the roof masonry structure 5. At least one anchor rod 21 support construction is completed between the two test process tanks 17, and the test process tank 17 is arranged parallel to the support direction of the anchor rod 21. The image receiver 18 and the X-ray generator 22 are arranged inside the test process tank 17. The anchor rod 21 is arranged in the simulated roadway through the anchoring agent 23 and is located between the two test process tanks 17 to form an anchor rod support force. The top of the anchor rod 21 is provided with a tray 20, which is fastened by a nut 19 to form a pre-tightening force, which drives the X-ray generator 22 to emit X-rays to penetrate the anchor rod support area between the two test process tanks 17. The image receiver 18 receives the X-rays to obtain the internal image information of the anchor rod support area.

[0083] Further, referring to Figure 11As shown, the X-ray generator 22 includes a deflection wheel 2201, a chain 2202, a connecting plate 2203, an X-ray machine 2204, a narrow slit straightening plate 2205, a guide rail 2206, a wire displacement sensor 2207, a motor 2208, a drive wheel 2209 and an electrical control box 2210. The narrow slit straightening plate 2205 is arranged at the emission end of the X-ray machine 2204 and is used to straighten the X-ray beam. The X-ray machine 2204 is in sliding connection with the guide rail 2206, and the X-ray machine 2204 is connected with the chain 2202 through the connecting plate 2203. The two ends of the chain 2202 are respectively engaged with the deflection wheel 2201 and the drive wheel 2209. The drive wheel 2209 is arranged on the output shaft of the motor 2208 through a flat key. The electrical control box 2210 realizes the accurate control of the rotational angular displacement and angular velocity of the motor 2208 by accepting the PLC instruction of the control center, controls the motor 2208 to drive the drive wheel 2209 to rotate, so as to drive the chain 2202 to move around the drive wheel 2209 and the deflection wheel 2201. The chain 2202 drives the X-ray machine 2204 to move along the guide rail 2206 through the connecting plate 2203. One end of the wire displacement sensor 2207 is arranged at the end of the guide rail 2206, and the other end is arranged at the bottom of the X-ray machine 2204. The wire displacement sensor 2207 is arranged in parallel with the guide rail 2206 to collect the displacement data of the X-ray machine 2204. The axis of the guide rail 2206 is taken as the Y axis, and the X-ray incident direction is taken as the X axis to establish a coordinate system. The base body of the wire displacement sensor 2207 is fixed with the end face of the guide rail 2206 through a mounting seat, and the wire end is fixed on the reference surface of the shell of the X-ray machine 2204. The wire is parallel to the axis of the guide rail 2206. The wire displacement sensor 2207 monitors the displacement of the X-ray machine 2204 in the Y axis direction. The control center collects the displacement data of the X-ray machine 2204 through the wire displacement sensor 2207 to realize the closed-loop control of the displacement of the X-ray machine 2204. The conical X-ray beam emitted by the X-ray machine 2204 is straightened by the narrow slit straightening plate 2205 to form a planar fan-shaped beam. The X-ray beam of the anchor rod supporting masonry structure is incident into the image receiver 18. The X-ray machine 2204 and the narrow slit straightening plate 2205 make uniform scanning along the Y axis direction. When the X-ray irradiates the selenium photoconductive layer of the image receiver 18 carrying the internal information of the anchor rod support, the conductive characteristics of the amorphous selenium layer change, a certain proportion of electron-hole pairs are generated, the electron-hole pairs are separated and move reversely under the action of the electric field formed by the several-kilovolt bias voltage, and the current is formed. The size of the current is proportional to the number of incident X-ray photons. These current charges are stored on the capacitors with thin film transistors without loss or scattering, and each capacitor forms a minimum unit of collected image, i.e. a pixel.

[0084] Referring to Figure 12As shown, the cone-shaped X-ray beam emitted by the X-ray machine 2204 is converted into a planar fan-shaped beam after being collimated by the narrow slit collimator 2205, and is incident into the anchor support area. The degree of attenuation of the X-ray beam is related to the density of the medium inside the anchor support area. When X-rays of the same intensity are incident through the anchor support area, the X-ray attenuation is different due to the different densities and thicknesses of the anchor, anchor agent, and masonry structure, so the intensity of the X-rays transmitted through the anchor support area is different, forming a difference in X-ray intensity. The X-rays transmitted through the anchor support area are incident on the amorphous selenium flat panel detector, generating a current proportional to the intensity difference. Under the control of the readout signal, the pixel information is read out and amplified, and is converted into a digital signal through A / D conversion. After being processed by the workstation, the digital signal is reconstructed to form a digital image. The digital image reflects the anchor, anchor agent, and masonry structure inside the anchor support area through the gray scale difference affected by optical density. The distribution area and uniformity of the anchor agent are determined by the gray scale difference of the anchor digital image, the straightness of the anchor is obtained through data processing, and the crack initiation inside the masonry structure is determined by the gray scale difference of the masonry structure, so as to evaluate the influence of the anchor support operation on the masonry structure of the roadway.

[0085] Let the detected anchor masonry area thickness be T, the linear attenuation coefficient be , the size of the anchor hole in the direction of the transmitted rays be , the linear attenuation coefficient be , the incident ray intensity be , the transmitted ray intensity without passing through the anchor hole be , the transmitted ray intensity passing through the anchor hole be , and the difference in radiation intensity of the anchor hole and its vicinity be:

[0086] (3)

[0087] Referring to Figure 13As shown, the X-ray machine 2204 includes a housing 22041, two brackets 22042, a chain mounting plate 22044 and a pin shaft 22045, the two brackets 22042 are symmetrically arranged at one end of the housing 22041 away from the guide rail 2206 along the extension direction of the guide rail 2206, and each of the two brackets 22042 is provided with a first groove, the number of narrow slit straightening plates 2205 is two, and the two narrow slit straightening plates 2205 are arranged in the two first grooves respectively, and the opposite sides form a narrow slit, the housing 22041 is symmetrically provided with two groups of cylindrical holes along the extension direction of the guide rail 2206, and the two guide rails 2206 respectively pass through the two groups of cylindrical holes, the chain mounting plate 22044 is symmetrically arranged on the connecting plate 2203, the connecting plate 2203 is arranged on the housing 22041 through screws 22043 and keys, the chain 2202 is a non-closed chain, that is, the annular chain is cut off, and the two ends of the cutting-off part are connected with the chain mounting plate 22044 through the pin shaft 22045, and the pin shaft 22045 is in interference fit with the chain mounting plate 22044, the pin shaft 22045 is in clearance fit with the chain 2202, so that the chain 2202 rotates around the pin shaft 22045 and does not appear to be stuck, which ensures that the pin shaft 22045 does not fall out during movement. The electrical control box 2210 controls the motor 2208 to start, the driving wheel 2209 rotates, the chain 2202 passes around the redirecting wheel 2201, drives the pin shaft 22045, and then drives the chain mounting plate 22044, the connecting plate 2203, the connecting plate 2203 drives the X-ray machine 2204 to move along the axis of the guide rail 2206 through the screws 22043 and the keys, and realizes the scanning of the anchor rod supporting area function.

[0088] The anchor rod anchoring image detection system provided by the embodiment realizes image detection of the anchoring quality of the anchor rod, penetrates into the internal structure of the anchor rod supporting masonry, the detection method is visual and intuitive, avoids the destructive nature of the pull-out test, avoids the non-intuitiveness and noise interference of acoustic detection, realizes image detection of the uniformity and distribution area of the anchoring agent, can visually display the distribution of the anchoring agent, realizes image detection of the internal quality of the roadway masonry structure, can show the crack propagation in the internal structure of the roadway masonry structure before and after anchoring, opens the black box of the internal structure of the anchor rod support, realizes transparent detection of the internal structure of the anchor rod support, can more comprehensively reveal the reliability of the anchor rod drilling machine support, applies computer image recognition technology to read and analyze the image detection results of the anchoring quality of the anchor rod, and obtains data information such as the overall completeness, straightness, parallelism and anchoring angle of the anchor rod in the internal structure of the masonry.

[0089] Reference Figure 14As shown, the reliability test system comprises a top plate test block installation module, a test block bonding and fixing module and a test block dismounting module. The top plate test block installation module comprises a test block storage area 24, a vertical guard plate 25, a lateral guard plate 26, a longitudinal support beam 27, a transverse support beam 28, a test block 29 and a loader 30, the loader 30 is used to pick up the test block 29 from the test block storage area 24 and install the test block 29 on the top plate masonry structure 5 in sequence, the working fork of the loader 30 picks up the test block 29, and the working fork is lifted to align the test block 29 with the top plate masonry structure 5, the push-moving oil cylinder of the loader 30 drives the push-moving mechanical hand to extend, pushes the test block 29 to move to the top plate masonry structure 5, and in this way, the installation of one test block 29 is completed, and the above process is repeated to install multiple test blocks 29 in sequence, the longitudinal support beam 27 and the transverse support beam 28 vertically fix the test block 29, the vertical guard plate 25 is welded on the transverse support beam 28, and a second groove is formed in the top portion of the vertical guard plate 25, the two ends of the lateral guard plate 26 are arranged in the second grooves of the two adjacent vertical guard plates 25, respectively, and the vertical guard plate 25 and the lateral guard plate 26 form a fence with a certain height, which is used to maintain the lateral stability of the roadway surrounding rock test block 29 during the rig anchoring test.

[0090] With reference to Figure 15As shown, the installed test blocks 29 have gaps between each other and cannot transmit load, and the underground roadway surrounding rock is a whole, and the mining force can be transmitted in the roadway surrounding rock of different materials. Therefore, a test block bonding fixing module is developed. The anchor agent is filled in the gap between each test block 29 by using a glue spreading machine 31. The anchor agent is quickly solidified, the test blocks 29 are bonded with each other to form a whole, the integrity of the underground roadway surrounding rock is simulated, the glue spreading machine 31 comprises a first working arm 3101, an anchor agent storage bin 3102, a roller 3103, a partition plate 3104, a cement 3105 and a curing agent 3107, the test block gap 32 is arranged between the adjacent two test blocks 29, the anchor agent storage bin 3102 is arranged at the end of the first working arm 3101, and two bin bodies are arranged in the anchor agent storage bin 3102. The two bin bodies are provided with flexible filling bags, the cement 3105 is arranged in one flexible filling bag, the cement 3105 is a mixture of resin, accelerator, thixotropic agent and filler, the curing agent 3107 is arranged in the other flexible filling bag, holes are arranged in the bottom of the two flexible filling bags, and the holes are closed by flexible films, the partition plate 3104 is arranged at one end of the anchor agent storage bin 3102 close to the first working arm 3101, and a V-shaped groove is arranged at the other end, the two wings of the V-shaped groove have spray ports 3106, the spray ports 3106 are net-shaped hole plates, the roller 3103 is arranged between the first working arm 3101 and the partition plate 3104, the first working arm 3101 is a sleeve structure, and a pressurizing oil cylinder is arranged in the sleeve structure. The pressurizing oil cylinder can drive the roller 3103 to be close to the partition plate 3104 and extrude the partition plate 3104. In this process, the pressurizing oil cylinder keeps the two rollers 3103 in extrusion contact with the surface of the partition plate 3104 through a balance valve, the extrusion force is kept as a predetermined value, the cement 3105 and the curing agent 3107 break through the flexible films at the bottom of the flexible filling bags, flow into the test block gap 32 through the spray ports 3106, the first working arm 3101 drives the anchor agent storage bin 3102 to reciprocate along the test block gap 32, realizes the secondary mixing of the cement 3105 and the curing agent 3107, and gradually fills the test block gap 32. The technical problem of the resin cement and the curing agent 3107 bonding with each other in the glue spreading machine 31 is solved. At the same time, the space is converged and the secondary fusion guarantees the full mixing of the resin cement and the curing agent 3107, the bonding strength and the bonding speed are effectively guaranteed, the test blocks 29 are quickly bonded with each other, and the integrity of the roadway and the stress transmission of the surrounding rock are effectively guaranteed.

[0091] Reference Figure 16As shown, the test block dismounting module comprises a lifting machine 33 and a cutting machine 34, the cutting machine 34 has a second working arm 3401, the second working arm 3401 is a sleeve structure, and a hydraulic cylinder is arranged in the sleeve structure, and a cutter head is hingedly connected to the end of the second working arm 3401, the cutter head is designed as a special material saw blade, is assembled at the front end of the second working arm 3401, and is hingedly connected with the front end of the second working arm 3401; a motor drives the cutter head to rotate through a shaft coupling. The lifting machine 33 has four lifting arms, and adjacent two lifting arms are connected through a web plate to ensure the consistency of the lifting arms when the lifting arms are stretched out, so that the four lifting arms can reach the bottom of the test block 29 at the same time. The second working arm 3401 drives the cutter head to reciprocate along the test block gap 32 to cut the cement 3105 and the curing agent 3107 in the test block gap 32, that is, the cutting machine 34 drives the second working arm 3401 to rise, aligns the cutter head with the test block gap 32, the motor drives the cutter head saw blade to rotate, the workbench drives the second working arm 3401 to descend, the cutter head cuts into the test block gap 32, the second working arm 3401 is stretched out, the cutter head moves along the test block gap 32, and after reaching the end of the test block gap 32, the second working arm 3401 stops stretching out, descends by a certain stroke, the cutter head continues to cut into the test block gap 32, and the second working arm 3401 retracts, drives the cutter head to move along the test block gap 32, and returns to the initial position. Through the above-mentioned reciprocating cycle, the anchoring and bonding agent inside the test block gap 32 is cut, the lifting machine 33 is driven to lift the lifting arm to lift the test block 29 away from the top of the simulated roadway, the loader 30 lifts the test block 29 on the lifting arm, transports the test block 29 to the test block storage area 24, and repeats the above-mentioned process to complete the rapid dismounting of the top plate simulation test block.

[0092] Referring to Figure 17 and Figure 18 As shown, some embodiments of the present application also provide an evaluation method for the support reliability of the roof bolter, which is completed based on the roof bolter support reliability test device, and an accelerated test scheme for the support reliability of the roof bolter and a support reliability evaluation index system matrix are developed, and the characteristics are that the accelerated test scheme for the support reliability of the roof bolter and the support reliability evaluation index system matrix comprise an accelerated index system for the support reliability of the roof bolter and a system of factors influencing the support reliability of the roof bolter.

[0093] Reliability testing of anchor bolt drilling rigs requires a long testing time and a large number of test samples. Accelerated reliability testing of anchor bolt drilling rig support aims to shorten the testing time and reduce the number of test samples. The accelerated reliability index system for anchor bolt drilling rig support includes four acceleration indices: increasing the feed cylinder flow rate to improve the drilling rig feed speed (acceleration code A1, normal code A0); increasing the drill box motor flow rate to improve the drill box rotation speed (acceleration code B1, normal code B0); increasing the roadway test block hardness to improve the drilling rig feed resistance and drill box rotation cutting resistance (acceleration code C1, normal code C0); and increasing the drilling rig usage frequency through continuous testing (acceleration code D1, normal code D0). Accelerated reliability testing of anchor bolt drilling rigs requires selecting at least one of the aforementioned acceleration indicators. Based on the fundamental theory of permutations and combinations, there are fifteen acceptable accelerated testing schemes. Among them, the test condition designated A1B1C1D1 is the most stringent and has the shortest test time. Therefore, for applications with harsh mine conditions, the A1B1C1D1 accelerated testing scheme should be prioritized. This involves increasing the feed cylinder flow rate to improve the drilling rig's feed speed, increasing the drill box motor flow rate to improve the drill box rotation speed, increasing the roadway test block hardness to improve the drilling rig's feed resistance and the drill box's rotational cutting resistance, and increasing the drilling rig's usage frequency through continuous testing. For applications with relatively favorable mine conditions, more lenient accelerated life testing schemes can be selected, such as A0B0C0D1 and A0B0C1D0.

[0094] acceleration coefficient Also known as the acceleration factor, it is a characteristic of product lifespan under normal stress level S0. Product life characteristics under accelerated stress level Si The ratio of the acceleration coefficient Represented as:

[0095] (4)

[0096] Based on the distribution characteristics of the support life of the anchor drilling rig, the acceleration coefficient for the accelerated reliability test of the anchor drilling rig support is determined. When the life follows an exponential distribution, the life characteristic is taken as the average life; when the life follows a Weibull distribution, the life characteristic is taken as the characteristic life; and when the life follows a log-normal distribution, the life characteristic is taken as the median life.

[0097] The influencing factor system of the reliability of the roof bolter support includes three dimensions, namely, a task profile, a roadway geological condition, and a test evaluation scheme. The task profile dimension includes two conditions of roof anchoring and side anchoring. The roadway geological condition dimension includes six influencing factors of a laminated rock roadway, a massive rock roadway, a broken rock roadway, a clay filling zone and a broken zone roadway, a semi-coal rock roadway, and a coal roadway. The test evaluation scheme includes sixteen evaluation factors of a conventional test and different accelerated life test schemes. Two evaluation matrices of the roof anchoring task profile and the side anchoring task profile are generated. Finally, the three-direction displacement of the anchor rod end, the straightness of the anchor rod inside the anchoring area, the distribution area of the anchoring agent, and the number of cracks in the anchoring area are taken as the reliability evaluation indexes of the anchor rod support. 196 kinds of working conditions, the probability distribution curves of the above evaluation indexes, the reliability evaluation knowledge base of the roof bolter support, and an index system that comprehensively covers various use scenarios are obtained. The reliability evaluation method is more scientific, and the reliability evaluation index is more comprehensive and specific.

[0098] The reliability index variable under the roof bolter roof anchoring task profile is D, and the reliability index system matrix is:

[0099] (5)

[0100] The first row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the laminated rock roadway geological condition. The second row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the massive rock roadway geological condition. The third row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the broken rock roadway geological condition. The fourth row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the clay filling zone and broken zone roadway geological condition. The fifth row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the semi-coal rock roadway geological condition. The sixth row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the coal roadway geological condition.

[0101] The reliability index variable under the roof bolter side anchoring task profile is B, and the reliability index system matrix is:

[0102] (6)

[0103] Wherein, the first row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological conditions of the blade-like layered rock roadway, the second row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological conditions of the blocky rock roadway, the third row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological conditions of the broken rock roadway, the fourth row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological conditions of the clay filling zone and broken zone roadway, the fifth row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological conditions of the semi-coal rock roadway, and the sixth row of the matrix represents the reliability index values corresponding to the conventional test and different accelerated life test schemes under the geological conditions of the coal roadway.

[0104] It should be noted that, in this document, relational terms such as "first" and "second", and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Additionally, terms such as "include", "comprise", or "have" are intended to be inclusive and, unless otherwise restricted or limited by context, cover the situation that "consist of" or "consisting of".

[0105] The foregoing is considered as illustrative only of the principles of the application. Numerous modifications and changes will readily occur to those skilled in the art, which modifications and changes are to be understood as intended to be encompassed by the general scope of the application. Therefore, the application is not to be limited to the examples described above, but is to cover all such modifications and variations as permitted by the scope of the appended claims.

Claims

1. A device for testing the reliability of a bolting rig, characterised in that, The invention relates to a downhole environment simulation system, an anchor rod support monitoring system, and an anchor rod anchoring image detection system. The downhole environment simulation system comprises a simulated roadway and a roadway pressure simulation mechanism, the simulated roadway is used for simulating the real size and surface topography of a roadway, and the simulated roadway comprises a mining simulation area (1), mining and excavation equipment (2), a side wall lining structure (3), an anchor rod support test area (4), and a roof lining structure (5), the roadway pressure simulation mechanism comprises roof pressure simulation, side wall pressure simulation, and comprehensive roof and side wall pressure simulation. The anchor rod support monitoring system is used for monitoring the row distance, spacing, and three-way displacement of the anchor rod support. The anchor rod anchoring image detection system is used for detecting the straightness of the anchor rod and the cracks generated inside the simulated roadway. A reliability test system, which realizes multiple rows of anchor rod support reliability test targets; the reliability test system comprises a top plate test block installation module, a test block bonding and fixing module and a test block dismounting module; the top plate test block installation module comprises a test block storage area (24), a vertical protection plate (25), a lateral protection plate (26), a longitudinal support beam (27), a transverse support beam (28), a test block (29) and a loader (30), the loader (30) is used for picking up the test block (29) from the test block storage area (24) and sequentially installing the test block (29) on the top plate masonry structure (5), the longitudinal support beam (27) and the transverse support beam (28) vertically fix the test block (29), the vertical protection plate (25) is welded on the transverse support beam (28), and a second groove is formed in the top portion of the vertical protection plate (25), and the two ends of the lateral protection plate (26) are arranged in the second grooves of two adjacent vertical protection plates (25); the test block bonding and fixing module comprises a first working arm (3101), an anchoring agent storage bin (3102), a roller (3103), a partition plate (3104), a mastic (3105) and a curing agent (3107), there is a test block gap (32) between two adjacent test blocks (29), the anchoring agent storage bin (3102) is arranged at the end of the first working arm (3101), and two bin bodies are arranged in the anchoring agent storage bin (3102), two flexible filling bags are arranged in the bin bodies, the mastic (3105) is arranged in one of the flexible filling bags, the curing agent (3107) is arranged in the other flexible filling bag, the partition plate (3104) is arranged at one end of the anchoring agent storage bin (3102) close to the first working arm (3101), and a V-shaped groove is formed at the other end, two wings of the V-shaped groove are provided with nozzles (3106), the roller (3103) is arranged between the first working arm (3101) and the partition plate (3104), the first working arm (3101) drives the roller (3103) to extrude the partition plate (3104), so that the mastic (3105) and the curing agent (3107) break through the flexible filling bags and flow into the test block gap (32) through the nozzles (3106).The test block dismounting module comprises a lifting machine (33) and a cutting machine (34), the cutting machine (34) has a second working arm (3401), the end of the second working arm (3401) is hingedly connected with a cutter head, the lifting machine (33) has four lifting arms, and adjacent two lifting arms are connected through a web plate, the second working arm (3401) is driven to drive the cutter head to reciprocate along the test block gap (32), so as to cut the cement (3105) and the curing agent (3107) in the test block gap (32), the lifting machine (33) is driven to drive the lifting arms to lift the test block (29) away from the top of the simulated roadway, and the loader (30) lifts the test block (29) on the lifting arms and transports the test block (29) to the test block storage area (24).

2. A jumbolter support reliability testing device according to claim 1, characterised in that, The side wall lining structure (3) and the roof lining structure (5) form a rectangular chamber structure, the anchor rod support test area (4) is arranged in the rectangular chamber structure, the mining simulation area (1) is arranged at the head of the simulated roadway, the mining and excavation equipment (2) performs cutting and feeding operations in the mining simulation area (1) to generate a mining power, and the mining power is transmitted from the mining simulation area (1) to the side wall lining structure (3) and the roof lining structure (5).

3. The jumbolter reliability testing device according to claim 1, characterized in that, The simulated roadway comprises, in sequence along the tunneling direction, a leaf-shaped layered rock roadway, a block-shaped rock roadway, a broken rock roadway, a clay filling belt and a broken belt roadway, a semi-coal rock roadway, and a coal roadway, and the roof and side wall surfaces of the simulated roadway are uneven surfaces.

4. The jumbolter reliability testing device according to claim 1, characterized in that, The roadway pressure simulation mechanism comprises a stand column (6), a side wall pressure simulation structure (7), a roof pressure loading oil cylinder (8), a mass block (9), a limiting block (10), and a cross beam (11). The number of the stand columns (6) is four, the four stand columns (6) are symmetrically arranged on both sides of the simulated roadway, the cross beam (11) is arranged at the top of the stand columns (6), the mass block (9) penetrates through the stand columns (6), the upper part of the stand columns (6) is provided with a limiting hole, the height of the limiting hole is slightly greater than the height of the simulated roadway, the limiting block (10) is arranged in the limiting hole to support the mass block (9), the number of the roof pressure loading oil cylinders (8) is two, the two roof pressure loading oil cylinders (8) are symmetrically arranged on both sides of the simulated roadway and located on the inner side of the stand columns (6), the roof pressure loading oil cylinders (8) drive the mass block (9) to reciprocate along the axis direction of the stand columns (6) to separate and contact the mass block (9) and the roof of the simulated roadway. The number of the side pressure simulation structure (7) is four, four side pressure simulation structures (7) are symmetrically arranged on both sides of the simulated roadway, the side pressure simulation structure (7) includes a box hinged pin shaft (701), a box (702), a sleeve hinged pin shaft (703), a sleeve (704), and a side loading oil cylinder (705), the box (702) is welded by a steel plate and arranged on the ground, the inside of the box (702) is provided with a track, the sleeve (704) is connected with the track, the cylinder barrel of the side loading oil cylinder (705) is hinged with the box (702) through the box hinged pin shaft (701), the piston rod of the side loading oil cylinder (705) is hinged with the sleeve (704) through the sleeve hinged pin shaft (703), the side loading oil cylinder (705) is driven, the piston rod of the side loading oil cylinder (705) is stretched out, the sleeve (704) is driven to stretch out and contact with the side of the simulated roadway.

5. The jumbolter support reliability testing device of claim 2, wherein, The anchor rod support monitoring system comprises an anchor rod end (12), a universal visual sensor (13), a device coordinate system (14), a sensor coordinate system (15) and a measurement and control workstation (16), the anchor rod end (12) is an exposed anchor rod end for completing support, two universal visual sensors (13) are arranged symmetrically on the tunneling and mining equipment (2), the universal visual sensor (13) comprises a pitch rotation shaft, a control center and a left-right rotation shaft, the pitch rotation shaft is provided with an integrated signal transmitter and a signal receiver of an image sensor, the input end of the pitch rotation shaft is connected with a limited angle torque motor, and the outside of the pitch rotation shaft is provided with a support arm, the bottom of the support arm is connected with the left-right rotation shaft, the control center drives the limited angle torque motor to drive the pitch rotation shaft, so as to drive the signal transmitter and the signal receiver of the image sensor to rotate, and to scan the anchor rod end (12) arranged on the roof and the side of the simulated roadway in the same row. The device coordinate system (14) is arranged at the geometric center of the mining equipment (2), the sensor coordinate system (15) is arranged at the center of the two universal vision sensors (13), the limited rotation torque motor is internally provided with an angle sensor, the pitch angle and the left-right rotation angle of the sensor coordinate system (15) are measured by the angle sensor, the measurement and control workstation (16) is internally provided with a laser pulse emitter, a laser diode, a reflecting prism, a receiver and a counter, the laser pulse emitter periodically drives the laser diode to emit laser pulses, the reflecting prism guides and uniformly scans the laser, the signal receiver receives the emission signal of the laser diode, the counter counts the time difference between the emission time of the laser diode and the receiving time of the signal receiver, the straight-line distance between the measured point and the reflecting prism is calculated according to the time difference between the laser emission and return, the propagation speed of the laser, the three-dimensional coordinates of the measured point in the sensor coordinate system (15) are calculated according to the lateral scanning angle and the longitudinal scanning angle of the laser, and the coordinates in the device coordinate system (14) are transformed to generate the simulated roadway point cloud.

6. The jumbolter support reliability testing device of claim 2, wherein, The anchor rod anchoring image detection system comprises a test process tank (17), an image receiver (18), an anchor rod (21), an X-ray generator (22) and an anchoring agent (23), the test process tank (17) is arranged on the two sides of the support area of the side wall masonry structure (3) and the roof masonry structure (5), and the test process tank (17) is arranged in parallel with the support direction of the anchor rod (21), the image receiver (18) and the X-ray generator (22) are arranged in the test process tank (17), the anchor rod (21) is arranged in the simulated roadway through the anchoring agent (23) and is located between the two test process tanks (17), the X-ray generator (22) is driven to emit X-rays, which penetrate the anchor rod support area between the two test process tanks (17), and the image receiver (18) receives the X-rays to obtain the internal image information of the anchor rod support area.

7. A jumbolter support reliability testing device according to claim 6, characterised in that, The X-ray generator (22) includes a deflector wheel (2201), a chain (2202), a connecting plate (2203), an X-ray machine (2204), a narrow slit straightening plate (2205), a guide rail (2206), a wire displacement sensor (2207), a motor (2208), a drive wheel (2209) and an electrical control box (2210), the narrow slit straightening plate (2205) is arranged at the emitting end of the X-ray machine (2204), the X-ray machine (2204) is in sliding connection with the guide rail (2206), and the X-ray machine (2204) is connected with the chain (2202) through the connecting plate (2203), the two ends of the chain (2202) are engaged with the deflector wheel (2201) and the drive wheel (2209) respectively, the drive wheel (2209) is arranged on the output shaft of the motor (2208) through a flat key, the electrical control box (2210) controls the motor (2208) to drive the drive wheel (2209) to rotate, so as to drive the chain (2202) to move around the drive wheel (2209) and the deflector wheel (2201), the chain (2202) drives the X-ray machine (2204) to move along the guide rail (2206) through the connecting plate (2203), one end of the wire displacement sensor (2207) is arranged at the end of the guide rail (2206), the other end is arranged at the bottom of the X-ray machine (2204), and the wire displacement sensor (2207) is arranged in parallel with the guide rail (2206) to collect displacement data of the X-ray machine (2204); The X-ray machine (2204) includes a shell (22041), two supporting plates (22042), a chain mounting plate (22044) and a pin shaft (22045), two supporting plates (22042) are symmetrically arranged at one end of the shell (22041) away from the guide rail (2206) along the extension direction of the guide rail (2206), and first grooves are formed in the two supporting plates (22042), the number of the narrow slit straightening plates (2205) is two, and the two narrow slit straightening plates (2205) are arranged in the two first grooves respectively, and a slit is formed on the opposite side, two groups of cylindrical holes are symmetrically formed in the shell (22041) along the extension direction of the guide rail (2206), and the two guide rails (2206) pass through the two groups of cylindrical holes respectively, the chain mounting plate (22044) is symmetrically arranged on the connecting plate (2203), the pin shaft (22045) penetrates the chain mounting plate (22044) and the chain (2202), and the pin shaft (22045) is in interference fit with the chain mounting plate (22044), and the pin shaft (22045) is in clearance fit with the chain (2202), so that the chain (2202) rotates around the pin shaft (22045).

8. A method for evaluating the reliability of a roof bolting rig, based on the roof bolting rig reliability testing device of any one of claims 1 to 7, a roof bolting rig reliability accelerated testing scheme and a roof bolting reliability evaluation index system matrix are developed, characterized in that, The system comprises an anchor rod drilling machine supporting reliability acceleration index system and an anchor rod drilling machine supporting reliability factor influencing system. The anchor rod drilling machine support reliability acceleration index system comprises four acceleration indexes, respectively increasing the feed cylinder flow to improve the drilling machine feed speed, increasing the drilling box motor flow to improve the drilling box rotation speed, increasing the roadway test block hardness to improve the drilling machine feed resistance and the drilling box rotation cutting resistance, and increasing the drilling machine use frequency; The anchor rod drilling machine support reliability factor system comprises three dimensions, respectively a task profile, a roadway geological condition and a test evaluation scheme, the task profile dimension comprises two conditions of a roof anchor and a side anchor, the roadway geological condition dimension comprises six influence factors of a laminated rock roadway, a massive rock roadway, a broken rock roadway, a clay filling zone and a broken zone roadway, a semi-coal rock roadway and a coal roadway, and the test evaluation scheme comprises sixteen evaluation factors of a conventional test and different acceleration life test schemes.

9. The method of evaluating the reliability of a roof bolter as defined in claim 8, wherein, The four acceleration indexes have acceleration codes A1, B1, C1 and D1 respectively, normal codes A0, B0, C0 and D0 respectively, and at least one code is selected, and fifteen acceleration test schemes can be obtained according to the permutation and combination theory, wherein the A1B1C1D1 acceleration test scheme is preferentially selected.

10. The method of evaluating the reliability of a roof bolter as defined in claim 8, wherein, The reliability index variable under the anchor rod drilling machine roof anchor task profile is D, and the reliability index system matrix is: （5） The first row of the matrix represents the reliability index values corresponding to the conventional test and different acceleration life test schemes under the laminated rock roadway geological condition, the second row of the matrix represents the reliability index values corresponding to the conventional test and different acceleration life test schemes under the massive rock roadway geological condition, the third row of the matrix represents the reliability index values corresponding to the conventional test and different acceleration life test schemes under the broken rock roadway geological condition, the fourth row of the matrix represents the reliability index values corresponding to the conventional test and different acceleration life test schemes under the clay filling zone and broken zone roadway geological condition, the fifth row of the matrix represents the reliability index values corresponding to the conventional test and different acceleration life test schemes under the semi-coal rock roadway geological condition, and the sixth row of the matrix represents the reliability index values corresponding to the conventional test and different acceleration life test schemes under the coal roadway geological condition. The reliability index variable under the anchor rod drilling machine side anchor task profile is B, and the reliability index system matrix is: （6） The first row of the matrix represents the reliability index values corresponding to the conventional test and different acceleration life test schemes under the laminated rock roadway geological condition, the second row of the matrix represents the reliability index values corresponding to the conventional test and different acceleration life test schemes under the massive rock roadway geological condition, the third row of the matrix represents the reliability index values corresponding to the conventional test and different acceleration life test schemes under the broken rock roadway geological condition, the fourth row of the matrix represents the reliability index values corresponding to the conventional test and different acceleration life test schemes under the clay filling zone and broken zone roadway geological condition, the fifth row of the matrix represents the reliability index values corresponding to the conventional test and different acceleration life test schemes under the semi-coal rock roadway geological condition, and the sixth row of the matrix represents the reliability index values corresponding to the conventional test and different acceleration life test schemes under the coal roadway geological condition.

Images