Drilling and anchoring integrated construction method

Abstract

The application discloses a drilling and anchoring integrated construction method, which comprises the following steps: setting a distance threshold d_0 between a support roof and a coal wall, measuring the actual distance d between the support roof and the coal wall, if d>d_0, the support roof advances at a high speed, if d<=d_0, the support roof advances at a low speed, meanwhile, a drilling box advances at a high speed, water is injected, slurry is sucked, the drilling box motor is reversed to punch a hole, when the oil pressure of a support cylinder exceeds a threshold, the support roof stops advancing, when the pressure of the drilling box exceeds a threshold, the drilling box advances to drill a hole at a preset feeding speed, after the drilling of the hole is completed, the drilling box stops advancing, the drilling box motor stops reversing, water injection and slurry suction are stopped, the anchor injection pump discharges slurry, the drilling box motor is positively rotated to pre-tighten, after the pre-tightening is completed, the drilling box motor stops being positively rotated, and the support roof and the drilling box are retreated. In the drilling construction process, all the links are synchronously carried out, the construction period is effectively shortened, the labor intensity is reduced, and the construction quality and efficiency of the coal mine roadway are improved.

Description

Technical Field

[0001] This invention relates to the field of mining support technology, and in particular to an integrated drilling and anchoring construction method. Background Technology

[0002] With the rapid development of the coal mining industry, rock bolt drilling rigs play a crucial role in coal mine roadway support construction. However, the construction methods using rock bolt drilling rigs in related technologies have many shortcomings. For example, during construction, the supporting roof plate of the drill frame first extends to contact the coal wall, then the drill box moves synchronously on the drill frame along with the sliding frame. After the sliding frame moves into position, water is injected into the rock bolt, the drill box motor starts to drive the rock bolt to rotate forward, and finally the drill box moves forward on the sliding frame to drive the rock bolt to drill the hole. After the drilling operation is completed, the equipment operates in the reverse order. The construction steps are carried out independently, requiring frequent manual intervention and equipment switching, resulting in low construction efficiency, high labor intensity, and difficulty in controlling construction quality, which seriously affects the construction progress of coal mine roadways. Summary of the Invention

[0003] The present invention aims to at least partially solve one of the technical problems in the related art.

[0004] Therefore, embodiments of the present invention propose an integrated drilling and anchoring construction method to solve the problem of low efficiency in existing drilling construction processes.

[0005] The drilling-anchor integrated construction method of this invention includes:

[0006] Given a threshold distance d_0 between the supporting roof and the coal wall, measure the actual distance d between the supporting roof and the coal wall;

[0007] If d>d_0, the supporting top plate advances at high speed, the drill box advances at high speed, and at the same time, the anchor bolt is injected with water, the anchor injection pump sucks grout, and the drill box motor reverses to drive the anchor bolt to rotate forward and drill holes;

[0008] If d≤d_0, the supporting top plate advances at a low speed, the drill box advances at a high speed, and at the same time, the anchor bolt is injected with water, the anchor injection pump sucks grout, and the drill box motor reverses to drive the anchor bolt to rotate forward and drill holes.

[0009] The hydraulic pressure of the support cylinder is collected. When the hydraulic pressure of the support cylinder exceeds the preset forward hydraulic pressure threshold, the support top plate stops moving forward.

[0010] The pressure on the drill box is collected. When the pressure on the drill box exceeds the preset pressure threshold, the drill box advances to drill the hole at the preset feed speed.

[0011] After drilling is completed, the drill box stops advancing, the drill box motor stops reversing, the anchor bolts stop injecting water, and the anchor injection pump stops sucking grout.

[0012] The anchor injection pump discharges grout, and the drill box motor rotates forward to pre-tighten the anchor bolts;

[0013] After the pre-tightening is completed, the drill box motor stops rotating forward, and the support top plate and drill box retract.

[0014] The drilling and anchoring integrated construction method of this invention allows all stages of the drilling process to be carried out simultaneously, effectively shortening the construction cycle, reducing labor intensity, and improving the construction quality and efficiency of coal mine roadways.

[0015] In some embodiments, a distance sensor is installed on the supporting roof to measure the actual distance between the supporting roof and the coal wall, and a protective cleaning device is installed on the distance sensor.

[0016] In some embodiments, a force sensor is installed between the drill box and the drill box mounting base to measure the pressure exerted on the drill box.

[0017] In some embodiments, during the high-speed forward movement of the support top plate, the distance between the top of the clamp and the support top plate is less than a set distance threshold.

[0018] In some embodiments, during the drilling process of the drill box, the clamps open when the anchor rod is drilled to a preset depth.

[0019] In some embodiments, during the drilling process, when the oil pressure of the secondary cylinder exceeds a preset forward oil pressure threshold and the feed speed of the drill box is lower than a preset feed speed, the drill box stops moving forward.

[0020] In some embodiments, during the pre-tightening of the anchor bolt by the drill box motor, the drill box motor stops rotating forward when the pre-tightening pressure exceeds a threshold.

[0021] In some embodiments, during the retraction process, if the distance between the top of the clamp and the support plate is greater than a set distance threshold, the support plate and the drill box retract synchronously at high speed.

[0022] During the retraction process, if the distance between the top of the clamp and the support plate is less than the set distance threshold, the drill box will retract at high speed until the distance between the top of the clamp and the support plate is greater than the set distance threshold. Then, the support plate and the drill box will retract synchronously at high speed.

[0023] In some embodiments, when the oil pressure of the secondary cylinder exceeds a preset retraction oil pressure threshold, the drill box stops retracting; when the oil pressure of the support cylinder exceeds a preset retraction oil pressure threshold, the support top plate stops retracting.

[0024] In some embodiments, during the movement of the supporting top plate, the hydraulic oil flow rate of the supporting cylinder is collected. Based on the structural parameters of the supporting cylinder and the hydraulic oil flow rate, the estimated action time t_0 of the supporting top plate from its current position to the target position is calculated, and the actual action time t of the supporting top plate from its current position to the target position is collected. If t∈[t_0-ε, t_0+ε], the supporting top plate moves normally; if t<t_0-ε, t>t_0+ε, the supporting top plate moves abnormally. Attached Figure Description

[0025] Figure 1 This is a structural schematic diagram of the integrated drilling and anchoring bolt drilling machine according to an embodiment of the present invention.

[0026] Figure label:

[0027] 1-Supporting top plate, 2-Drill box, 3-Anchor bolt, 4-Supporting cylinder, 5-Clamping clamp, 6-Secondary cylinder. Detailed Implementation

[0028] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0029] The drilling and anchoring integrated construction method of the present invention is described below with reference to the accompanying drawings.

[0030] The drilling-anchor integrated construction method of this invention is used for, for example Figure 1 The drill-anchor integrated anchor drilling rig shown is comprised of: a drill frame, a sliding frame, a drill box 2, a support cylinder 4, a clamp 5, and a secondary cylinder 6.

[0031] In this system, the top support plate 1 of the drill frame is moved by the support cylinder 4. A sliding frame is mounted on the drill frame, and the clamp 5 is fixed to the upper part of the sliding frame. The drill box 2 is mounted on the sliding frame. The first stroke of the secondary cylinder 6 is used to move the sliding frame, and the second stroke of the secondary cylinder 6 is used to move the drill box 2. That is, the secondary cylinder 6 can move the sliding frame, at which point the drill box 2 and the clamp 5 move synchronously with the sliding frame. Alternatively, the secondary cylinder 6 can also move only the drill box 2 on the sliding frame, creating a relative displacement between the drill box 2 and the clamp 5.

[0032] The drilling-anchor integrated construction method of this invention includes:

[0033] Given a threshold distance d_0 between the supporting roof 1 and the coal wall, measure the actual distance d between the supporting roof 1 and the coal wall.

[0034] If d > d_0, the supporting top plate 1 advances at high speed, the drill box 2 advances at high speed, and at the same time, the anchor rod 3 is injected with water, the anchor injection pump sucks grout, and the drill box motor reverses to drive the anchor rod 3 to rotate forward and drill holes.

[0035] If d≤d_0, the supporting top plate 1 moves forward at a low speed, the drill box 2 moves forward at a high speed, and at the same time, the anchor rod 3 is injected with water, the anchor injection pump sucks up grout, and the drill box motor reverses to drive the anchor rod 3 to rotate forward and drill holes.

[0036] The oil pressure of the support cylinder 4 is collected. When the oil pressure of the support cylinder 4 exceeds the preset forward oil pressure threshold, it is determined that the support roof 1 has contacted the coal wall, and the support roof 1 stops moving forward.

[0037] The pressure on drill box 2 is collected. When the pressure on drill box 2 exceeds the preset pressure threshold, it is determined that anchor bolt 3 has made contact with the coal wall. At this time, drill box 2 begins to advance the borehole at a preset feed rate. It should be noted that during the drilling process, drill box 2 always advances at a stable feed rate.

[0038] After drilling is completed, drill box 2 stops advancing, drill box motor stops reversing, anchor bolt 3 stops injecting water, and anchor injection pump stops sucking grout.

[0039] The grout pump discharges grout to anchor the anchor rod 3. After the grouting is completed, the drill box motor rotates forward to pre-tighten the anchor rod 3.

[0040] After the pre-tightening is completed, the drill box motor stops rotating forward, and the support top plate 1 and drill box 2 retract.

[0041] Therefore, compared with the construction methods in related technologies where each step is carried out independently, the drilling and anchoring integrated construction method of this invention allows each stage of the drilling process to be carried out simultaneously, effectively shortening the construction cycle, reducing labor intensity, and improving the construction quality and efficiency of coal mine roadways.

[0042] In some embodiments, a distance sensor is installed on the supporting roof 1 to measure the actual distance between the supporting roof 1 and the coal wall. For example, a laser sensor, ultrasonic sensor, infrared sensor or any other suitable ranging device can meet the requirements of measurement accuracy and real-time performance.

[0043] During construction, distance sensors monitor the distance d between the supporting roof 1 and the coal face in real time. This measurement is input into the control system and compared with a preset distance threshold d_0 to determine whether the supporting roof 1 advances at high speed or low speed.

[0044] Furthermore, to ensure the reliability and accuracy of the distance sensor in harsh construction environments, a protective cleaning device is installed on the distance sensor. This device is designed to protect the sensor from external impacts, dust, and other environmental factors.

[0045] The protective device includes a robust protective housing made of impact-resistant material, capable of withstanding mechanical shocks and vibrations from the construction process. The housing fits snugly around the sensor, ensuring that the sensor is not damaged during construction.

[0046] The protective device also includes a cleaning mechanism, similar to a car windshield wiper. This mechanism periodically cleans the sensor surface, removing dust and other contaminants that could affect ranging accuracy. The cleaning tool can be automatically activated by the control system or operated manually when necessary.

[0047] For example, cleaning tools are driven by miniature motors or similar actuators, causing them to reciprocate or rotate across the sensor surface, effectively removing dust and dirt. The materials used in the cleaning tools are chosen to ensure that the sensor surface is not scratched or otherwise damaged during the cleaning process.

[0048] In some embodiments, a force sensor is installed between the drill box 2 and the drill box mounting base to measure the pressure exerted on the drill box 2 during construction.

[0049] The force sensor is connected to the control system, transmitting the measured force signal to the control system in real time. Based on the data provided by the force sensor, the control system promptly identifies whether the drill box 2 encounters resistance (when the anchor rod 3 contacts the coal wall), thereby adjusting the feed speed of the drill box 2 and initiating drilling.

[0050] In some embodiments, a distance or pressure sensor is provided between the top of the clamp 5 and the support top plate 1 to detect the state between the two.

[0051] For example, a distance sensor can be installed so that the distance between the top of the clamp 5 and the support plate 1 is less than a set distance threshold during the high-speed forward movement of the support plate 1. Alternatively, a pressure sensor can be installed so that the top of the clamp 5 never contacts the support plate 1 during the high-speed forward movement of the support plate 1, meaning the pressure sensor measures zero.

[0052] Therefore, the clamp 5 is prevented from colliding with the support plate 1 when the support plate 1 moves forward at high speed, thus preventing interference with the movement of the support plate 1 and affecting its stability and speed.

[0053] In some embodiments, during the drilling process of the drill box 2, when the anchor rod 3 is drilled to a preset depth, the clamp 5 opens.

[0054] It is important to note that clamp 5 is used to secure the anchor bolt 3, ensuring that it advances along the predetermined trajectory during drilling and preventing it from shifting or bending. In actual construction, clamp 5 closes to guide the anchor bolt 3 as soon as it contacts the coal face. Once the anchor bolt 3 has been drilled to a certain depth, its trajectory is already established, and clamp 5 is no longer needed. For example, clamp 5 can be opened after the anchor bolt 3 has been drilled halfway in, allowing for better clearance for the drill box 2 to advance.

[0055] In some embodiments, during the drilling process of the drill box 2, when the oil pressure of the secondary cylinder 6 exceeds a preset forward oil pressure threshold and the feed speed of the drill box 2 is lower than a preset feed speed, the drill box 2 stops moving forward.

[0056] Understandably, during the drilling process of drill box 2, the oil pressure of the secondary hydraulic cylinder 6 remains within a stable range, and its feed speed is also uniform. When drill box 2 reaches contact with the coal wall, it is obstructed by the coal wall, causing the oil pressure of the secondary hydraulic cylinder 6 to exceed the forward oil pressure threshold, and the speed of drill box 2 to drop to zero. Therefore, it is determined that drill box 2 has reached the drilling position and stops advancing.

[0057] In some embodiments, pre-tightening pressure is one of the key parameters during the pre-tightening process of the drill box motor for anchor bolt 3. When the pre-tightening pressure exceeds a preset threshold, the control system receives a signal from the sensor and commands the drill box motor to stop rotating forward. At this point, the pre-tightening process is complete, indicating that anchor bolt 3 has reached the predetermined pre-tightening state.

[0058] After pre-tightening is completed, drill box 2 and clamp 5 begin to retract. This process is usually synchronized by the secondary hydraulic cylinder 6 pushing the sliding frame to retract synchronously.

[0059] If the distance between the top of clamp 5 and the support plate 1 exceeds the set distance threshold, the support plate 1 and the drill box 2 will retract synchronously at high speed. In this case, the equipment can return to its initial position as quickly as possible while ensuring safety.

[0060] If the distance between the top of clamp 5 and the supporting top plate 1 is less than the set distance threshold, the drill box 2 will first retract at high speed until the distance between the top of clamp 5 and the supporting top plate 1 is greater than the set distance threshold. Then, the supporting top plate 1 and the drill box 2 will retract synchronously at high speed. This situation takes into account the space constraints and safety requirements in the construction environment.

[0061] When the oil pressure of the secondary cylinder 6 exceeds the preset retraction oil pressure threshold, the drill box 2 stops retracting.

[0062] When the oil pressure of the support cylinder 4 exceeds the preset retraction oil pressure threshold, the support top plate 1 stops retracting.

[0063] Thus, the construction of anchor bolt 3 is completed.

[0064] In some embodiments, during the movement of the supporting top plate 1, the hydraulic oil flow rate of the supporting cylinder 4 is collected. Based on the structural parameters of the supporting cylinder 4 and the hydraulic oil flow rate, the estimated action time t_0 of the supporting top plate 1 from its current position to the target position is calculated, and the actual action time t of the supporting top plate 1 from its current position to the target position is collected.

[0065] If t∈[t_0-ε,t_0+ε], then the top plate 1 moves normally.

[0066] If t < t_0 - ε, then the movement of the top plate 1 is abnormal. The cause may be an abnormality in the sensor that detects the flow of the hydraulic cylinder 4, or an abnormality in the distance sensor, or an abnormality in the signal processing module, or an abnormality in the signal transmission component between the sensor and the signal processing module.

[0067] If t > t_0 + ε, then the movement of the top plate 1 is abnormal. The cause may be damage (leakage) to the support cylinder 4, leakage in the pipeline of the support cylinder 4, abnormality of the sensor that detects the flow of the support cylinder 4, abnormality of the distance sensor, abnormality of the signal processing module, or abnormality of the signal transmission component between the sensor and the signal processing module.

[0068] Therefore, the given time window [t_0-ε, t_0+ε] is a tolerance range. Considering the potential time fluctuations in actual operation, ε represents this tolerable fluctuation range. Normal movement of the supporting top plate 1 means that the movement time of the supporting top plate 1 is within the actual expected time. If the time exceeds this range, it will be judged as abnormal, and fault diagnosis will be performed through preset possible causes, thereby guiding further inspection and maintenance work, which is conducive to ensuring the stable operation of hydraulic transmission equipment.

[0069] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0070] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0071] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0072] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0073] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0074] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. A drilling-anchor integrated construction method, characterized in that, The integrated drilling and anchoring construction method is used in integrated drilling and anchoring anchor drilling rigs. The integrated drilling and anchoring anchor drilling rig includes: a drill frame, a sliding frame, a drill box, a support cylinder, a clamp, and a secondary cylinder. The support top plate of the drill frame is moved by the support cylinder. The sliding frame is mounted on the drill frame, the clamp is fixed to the upper part of the sliding frame, and the drill box is mounted on the sliding frame. When the secondary cylinder moves the sliding frame, the drill box and the clamp move synchronously with the sliding frame. When the secondary cylinder only moves the drill box on the sliding frame, relative movement occurs between the drill box and the clamp. The integrated drilling and anchoring construction method includes: Given a threshold distance d_0 between the supporting roof and the coal wall, measure the actual distance d between the supporting roof and the coal wall; If d>d_0, the supporting top plate advances at high speed, the drill box advances at high speed, and at the same time, the anchor bolt is injected with water, the anchor injection pump sucks grout, and the drill box motor reverses to drive the anchor bolt to rotate forward and drill holes; If d≤d_0, the supporting top plate advances at a low speed, the drill box advances at a high speed, and at the same time, the anchor bolt is injected with water, the anchor injection pump sucks grout, and the drill box motor reverses to drive the anchor bolt to rotate forward and drill holes. The hydraulic pressure of the support cylinder is collected. When the hydraulic pressure of the support cylinder exceeds the preset forward hydraulic pressure threshold, the support top plate stops moving forward. The pressure on the drill box is collected. When the pressure on the drill box exceeds the preset pressure threshold, the drill box advances to drill the hole at the preset feed speed. After drilling is completed, the drill box stops advancing, the drill box motor stops reversing, the anchor bolts stop injecting water, and the anchor injection pump stops sucking grout. The anchor injection pump discharges grout, and the drill box motor rotates forward to pre-tighten the anchor bolts; After the pre-tightening is completed, the drill box motor stops rotating forward, and the support top plate and drill box retract.

2. The drilling-anchor integrated construction method according to claim 1, characterized in that, A distance sensor is installed on the supporting roof to measure the actual distance between the supporting roof and the coal wall. A protective cleaning device is installed on the distance sensor.

3. The drilling-anchor integrated construction method according to claim 1, characterized in that, A force sensor is installed between the drill box and the drill box mounting base to measure the pressure on the drill box.

4. The drilling-anchor integrated construction method according to claim 1, characterized in that, During the high-speed advance of the supporting top plate, the distance between the top of the clamp and the supporting top plate is less than the set distance threshold.

5. The drilling-anchor integrated construction method according to claim 4, characterized in that, During the drilling process, when the anchor rod is drilled to the preset depth, the clamps open.

6. The drilling-anchor integrated construction method according to claim 5, characterized in that, During the drilling process, when the oil pressure of the secondary cylinder exceeds the preset forward oil pressure threshold and the feed speed of the drill box is lower than the preset feed speed, the drill box stops moving forward.

7. The drilling-anchor integrated construction method according to claim 1, characterized in that, When the pre-tightening pressure exceeds the threshold during the pre-tightening process of the drill box motor, the drill box motor stops rotating forward.

8. The drilling-anchor integrated construction method according to claim 4, characterized in that, During the retraction process, if the distance between the top of the clamp and the support plate is greater than the set distance threshold, the support plate and the drill box will retract synchronously at high speed. During the retraction process, if the distance between the top of the clamp and the support plate is less than the set distance threshold, the drill box will retract at high speed until the distance between the top of the clamp and the support plate is greater than the set distance threshold. Then, the support plate and the drill box will retract synchronously at high speed.

9. The drilling-anchor integrated construction method according to claim 8, characterized in that, When the oil pressure of the secondary hydraulic cylinder exceeds the preset retraction oil pressure threshold, the drill box stops retracting; when the oil pressure of the support hydraulic cylinder exceeds the preset retraction oil pressure threshold, the support top plate stops retracting.

10. The drilling-anchor integrated construction method according to any one of claims 1-9, characterized in that, During the movement of the supporting top plate, the hydraulic oil flow rate of the supporting cylinder is collected. Based on the structural parameters of the supporting cylinder and the hydraulic oil flow rate, the estimated action time t_0 of the supporting top plate moving from its current position to the target position is calculated, and the actual action time t of the supporting top plate moving from its current position to the target position is collected. If t∈[t_0-ε,t_0+ε], then the support plate moves normally; If t < t_0 - ε or t > t_0 + ε, then the movement of the supporting top plate is abnormal, where ε represents time fluctuation.

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