High-gas coal roadway rapid tunneling system and method

Abstract

The invention provides a high-gas coal roadway rapid tunneling system and method, and the system comprises a spraying and drilling and anchoring integrated support tunneling and anchoring machine, an anchor rod reversed loader, a bridge type reversed loader, a self-moving tail and a gas extraction drill carriage, the spraying and drilling and anchoring integrated supporting digging and anchoring machine comprises a rack, a cutting part, a spraying mechanical arm, a drilling and anchoring integrated drilling arm, a telescopic sliding device, a spraying material box, an anchoring agent material box and digging-following gas monitoring equipment. By spraying and supporting the surface of the roadway, sealing of the surrounding rock surface of the roadway is achieved, the gas concentration increasing speed of the driving working face is slowed down, and meanwhile gas extraction operation in the tunneling process is dynamically carried out by monitoring the gas concentration of the driving working face. The supporting speed can be increased by adopting the drilling and anchoring integrated drilling arm.

Description

Technical Field

[0001] The present invention relates to the technical field of gas extraction equipment, and in particular to a system and method for rapid excavation of a high-gas coal tunnel. Background Art

[0002] During the excavation of high-gas tunnels in coal mines, gas in the surrounding rock constantly seeps or gushes out, which can easily lead to excessive gas concentration in the excavation face. It is difficult to reduce the gas concentration in the excavation face by relying solely on traditional excavation face ventilation. When the gas concentration in the excavation face is too high, it is easy to cause gas disasters. Excavation should be stopped immediately, the air volume in the excavation face should be increased, or effective gas extraction measures should be taken. Therefore, the traditional excavation system and method have slow excavation speed and low efficiency in the application of high-gas coal tunnels.

[0003] The existing gas extraction technology achieves the purpose of controlling the gas concentration in the excavation working face by extracting the gas in the surrounding rock in advance, and the gas concentration control means are single. It is difficult to achieve dynamic adjustment between the gas extraction operation and the gas concentration in the excavation working face. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, an embodiment of the present invention provides a system and method for rapid excavation of a high-gas coal tunnel, which can realize rapid excavation of a high-gas coal tunnel.

[0005] According to an embodiment of the present invention, a spraying and drilling-anchoring integrated support and anchoring machine is provided, comprising: a frame, a cutting part, a spraying mechanical arm, a drilling-anchoring integrated drill arm, a telescopic sliding device and a gas monitoring device for excavation. The cutting part is arranged at the front end of the frame, and the cutting part is suitable for crushing and cutting coal and rock; the spraying mechanical arm is arranged at the front of the frame, and the spraying mechanical arm is equipped with a spraying pipeline and a spray gun, and the spraying mechanical arm is suitable for spraying a closed support material on the surface of the tunnel surrounding rock, and the spray gun is connected to the spray material box through the spraying pipeline; the drilling-anchoring integrated drill arm is arranged at the front of the frame, and the drilling-anchoring integrated drill arm includes an anchor rod and a drill bit, and the drill bit is connected to the front end of the anchor rod; the telescopic sliding device is connected to the upper part of the frame and connects the spraying mechanical arm and the drilling-anchoring integrated drill arm to adjust the posture of the spraying mechanical arm and the drilling-anchoring integrated drill arm; the gas monitoring device for excavation is installed on the frame to monitor the gas concentration of the excavation working face in real time and feed back the monitoring results to the gas extraction drilling vehicle.

[0006] In some embodiments, the spraying and drilling integrated support anchor digging machine also includes an anchoring agent box, which is arranged at the rear of the frame. The anchoring agent box is connected to a grouting pipe, and a grouting pump is connected to the grouting pipe.

[0007] The second embodiment of the present invention provides a rapid excavation system for a high-gas coal tunnel, including the above-mentioned spraying and drilling-anchoring integrated support and anchoring machine.

[0008] In some embodiments, the high-gas coal tunnel rapid excavation system also includes an anchor transfer machine, a coal flow continuous transportation device and a gas extraction drilling vehicle. The anchor transfer machine is located behind the drill-anchor integrated support and anchor digging machine. The anchor transfer machine and the drill-anchor integrated support and anchor digging machine operate in parallel. The coal flow continuous transportation device is located behind the anchor transfer machine to enable continuous transportation of coal flow. The gas extraction drilling vehicle is used for pre-extraction of gas before tunnel excavation and dynamic extraction of gas during excavation.

[0009] In some embodiments, the coal flow continuous transportation device includes a bridge-type transfer machine and a self-moving tail machine. The bridge-type transfer machine is located behind the anchor transfer machine, and the self-moving tail machine is located behind the bridge-type transfer machine. The bridge-type transfer machine and the self-moving tail machine are used in combination.

[0010] The third aspect of the present invention proposes a method for excavation operations in a gas tunnel, using the above-mentioned high-gas coal tunnel rapid excavation system, the method comprising: during the tunnel excavation operation, monitoring the gas concentration in the tunnel; in response to the gas concentration meeting the excavation operation requirements, controlling the cutting part to perform a cutting task, the cutting task being used to form a tunnel cross-sectional profile; determining a spraying path of a spraying robot arm within the tunnel cross-sectional profile; controlling the spraying robot arm to move along the spraying path, spraying a closed support material onto the tunnel surrounding rock surface.

[0011] In some embodiments, after controlling the spraying robot arm to move along the spraying path and spraying the closed support material onto the tunnel surrounding rock surface, it also includes: controlling the drill-anchor integrated drill arm to perform anchor support on the tunnel surrounding rock surface.

[0012] In some embodiments, the method further includes: driving the telescopic sliding device to slide according to the cross-sectional size of the tunnel and the anchor rod spacing to adjust the posture of the spraying robot arm and the drilling and anchor integrated drill arm.

[0013] In some embodiments, the method further includes: in response to the gas concentration not meeting the operation requirements, suspending the excavation operation in the tunnel; and controlling the gas extraction drilling vehicle to extract gas from the tunnel.

[0014] In some embodiments, the method further includes: before the excavation operation begins, controlling a gas extraction drilling vehicle to extract gas from the tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings.

[0016] in:

[0017] Figure 1It is a structural schematic diagram of a spraying and drilling-anchoring integrated support bolter in an embodiment of the present invention;

[0018] Figure 2 Schematic diagram of the structure of a high-gas coal tunnel rapid excavation system in an embodiment of the present invention;

[0019] Figure 3 A schematic diagram of a process flow of a method for excavating a gas tunnel according to an embodiment of the present invention;

[0020] Figure 4 A schematic diagram of a flow chart of another method for excavating a gas tunnel in an embodiment of the present invention;

[0021] Figure 5 Schematic diagram of the spraying and drilling-anchoring composite support method in an embodiment of the present invention;

[0022] Reference numerals:

[0023] 1. Spraying and drilling and anchoring integrated support and anchoring machine; 2. Anchor transfer machine; 3. Bridge transfer machine; 4. Self-moving machine tail; 5. Gas extraction drilling vehicle; 6. Broken surrounding rock; 7. Anchoring section; 8. Hollow anchor rod body; 9. Anchor tail nut; 10. Anchor tray; 11. Closed support material;

[0024] 101. Cutting unit; 102. Spraying mechanical arm; 103. Drilling and anchoring integrated drill arm; 104. Telescopic sliding device; 105. Gas monitoring equipment during excavation; 106. Anchoring agent box; 107. Spraying material box; 108. Spraying pump. DETAILED DESCRIPTION

[0025] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0026] The following describes a system and method for rapid excavation of a high-gas coal laneway according to an embodiment of the present invention with reference to the accompanying drawings.

[0027] like Figure 1As shown, an embodiment of the present invention provides a spraying and drilling and anchoring integrated support and anchoring machine 1, comprising: a frame, a cutting part 101, a spraying mechanical arm 102, a drilling and anchoring integrated drill arm 103, a telescopic sliding device 104 and a gas monitoring device 105 during excavation, wherein the cutting part 101 is arranged at the front end of the frame, and the cutting part 101 is suitable for crushing and cutting coal and rock; the spraying mechanical arm 102 is arranged at the front part of the frame, and the spraying mechanical arm 102 is equipped with a spraying pipeline and a spray gun, and the spraying mechanical arm 102 is suitable for spraying high-strength closed support materials 11 on the surface of the surrounding rock of the tunnel, and the spray gun is connected to the surrounding rock through the spraying pipeline. A spray material box 107, which is used to store high-strength closed support materials 11; an integrated drill arm 103 for drilling and anchoring is arranged at the front of the frame, and the integrated drill arm 103 for drilling and anchoring includes an anchor rod and a drill bit, and the drill bit is connected to the front end of the anchor rod; a telescopic sliding device 104 is connected to the upper part of the frame and connects the spray mechanical arm 102 and the integrated drill arm 103 for adjusting the posture of the spray mechanical arm 102 and the integrated drill arm 103; an excavation gas monitoring device 105 is installed on the frame to monitor the gas concentration of the excavation working face in real time and feed back the monitoring results to the gas extraction drilling vehicle 5.

[0028] The spraying and drilling and anchoring integrated support boring and anchoring machine 1 of the embodiment of the present invention is based on the traditional cantilever tunneling machine, and adds a spraying support system and a drilling and anchoring integrated anchor support system. The spraying support, namely the spraying mechanical arm 102, effectively controls the rate of increase of gas concentration in the tunneling working face, and the drilling and anchoring integrated anchor support system, namely the drilling and anchoring integrated drill arm 103 and the telescopic sliding device 104, effectively improves the anchor support speed.

[0029] The cutting part 101 of the embodiment of the present invention can crush and cut the coal rock to form a regular tunnel profile according to the tunnel design.

[0030] The spraying robot arm 102 of the embodiment of the present invention can automatically plan along the cross-sectional contour of the tunnel and move along the spraying path, so as to apply the high-strength closed support material 11 to the surface of the tunnel surrounding rock.

[0031] The drilling-anchoring integrated drill arm 103 of the embodiment of the present invention can construct an anchor rod that integrates drilling, anchoring and pre-tightening. The anchor rod is provided with a drill bit in front of it, and reverse drilling can be performed. The anchor rod is hollow, and a pumping channel is provided for a liquid perfusion anchoring agent to achieve rapid anchoring. The nut 9 at the tail of the anchor rod is rotated forward to achieve rapid pre-tightening. By setting the drilling-anchoring integrated drill arm 103, the speed of anchor rod support is improved.

[0032] The telescopic sliding device 104 of the embodiment of the present invention can adjust the posture of the spraying robot arm 102 and the drilling and anchoring integrated drilling arm 103 according to the cross-sectional size of the tunnel and the anchor spacing to adapt to the construction requirements of different tunnel support designs.

[0033] The embodiment of the present invention can realize the dynamic adjustment of the gas concentration in the gas extraction operation and the excavation working face by setting the excavation gas monitoring equipment 105.

[0034] Furthermore, the high-strength closed supporting material 11 in the spray material box 107 is delivered to the spray gun at the end of the spray robot arm 102 through the spray pump 108 .

[0035] In some embodiments, the spraying and drilling integrated support anchor digging machine 1 also includes an anchoring agent box 106, which is arranged at the rear of the frame. The anchoring agent box 106 is connected to a grouting pipe, and a grouting pump is connected to the grouting pipe.

[0036] The anchor material box 106 of the embodiment of the present invention is used to store the hydraulic injection anchor, and the grouting pump is used to suck and discharge the hydraulic injection anchor, thereby improving the support efficiency of the drill-anchor integrated anchor rod.

[0037] like Figure 2 As shown, the second embodiment of the present invention proposes a high-gas coal tunnel rapid excavation system, including the above-mentioned spraying and drilling and anchoring integrated support and anchoring machine 1.

[0038] In some embodiments, the high-gas coal tunnel rapid excavation system also includes an anchor transfer machine 2, a coal flow continuous transportation device and a gas extraction drilling vehicle 5. The anchor transfer machine 2 is located behind the drilling and anchor integrated support and digging anchor machine. The anchor transfer machine 2 and the drilling and anchor integrated support and digging anchor machine operate in parallel. The coal flow continuous transportation device is located behind the anchor transfer machine 2 to enable continuous transportation of coal flow. The gas extraction drilling vehicle 5 is used for pre-extraction of gas before tunnel excavation and dynamic extraction of gas during excavation, and is the main gas prevention and control means.

[0039] The embodiment of the present invention achieves sealing of the surrounding rock surface of the tunnel by spraying support on the tunnel surface, slows down the increase rate of gas concentration in the excavation working face, and simultaneously implements dynamic monitoring of gas concentration in the excavation working face to carry out gas extraction operations during the excavation process. The embodiment of the present invention can increase the support speed by using the drill-anchor integrated drill arm 103.

[0040] The embodiment of the present invention realizes the parallel support of anchor bolts and cables by arranging the anchor bolt transfer machine 2, and operates in parallel with the integrated drilling and anchoring support and anchoring machine to synchronously drive the anchor bolts and cables, thereby improving the support efficiency of the excavation system.

[0041] In some embodiments, the coal flow continuous transportation device includes a bridge transfer machine 3 and a self-moving tail machine 4. The bridge transfer machine 3 is located behind the anchor transfer machine 2, and the self-moving tail machine 4 is located behind the bridge transfer machine 3. The bridge transfer machine 3 and the self-moving tail machine 4 are used in combination.

[0042] By setting up the bridge-type transfer machine 3 and the self-moving tail machine 4, rapid and continuous transportation of coal flow is achieved, transportation efficiency is improved, belt extension operations of the production shift are reduced, excavation efficiency is improved, and rapid excavation of high-gas coal lanes is achieved.

[0043] The third embodiment of the present invention proposes a method for excavating a gas tunnel, using the high-gas coal tunnel rapid excavation system mentioned above.

[0044] Figure 3 A schematic flow chart of a method for excavating a gas tunnel provided in an embodiment of the present application. The method for excavating a gas tunnel can be executed by the excavation system provided in the above embodiment.

[0045] like Figure 3 As shown, the excavation operation method may include but is not limited to the following steps:

[0046] S301, during the tunnel excavation operation, monitor the gas concentration in the tunnel.

[0047] In some embodiments, after the excavation system performs excavation operations in a tunnel, due to the presence of gas in the tunnel, it is necessary to continuously collect the gas concentration in the tunnel during the excavation operation.

[0048] In some embodiments, the excavation system may include an excavation gas monitoring device 105 . Optionally, the gas monitoring device may include one or more gas sensors.

[0049] In some embodiments, the types of gas sensors may include, but are not limited to: catalytic combustion gas sensors, infrared absorption gas sensors, electrochemical gas sensors, thermal conductivity gas sensors, fiber optic gas sensors, and multi-parameter gas sensors.

[0050] In some embodiments, the excavation gas monitoring device 105 can monitor the gas concentration in the tunnel in real time.

[0051] In some embodiments, the excavation gas monitoring device 105 can periodically monitor the gas concentration in the tunnel at time intervals.

[0052] In some embodiments, the excavation gas monitoring device 105 can monitor the gas concentration in the tunnel based on the monitoring instructions input by the user.

[0053] S302, in response to the gas concentration meeting the tunneling operation requirement, controlling the cutting unit 101 to execute a cutting task, wherein the cutting task is used to form a tunnel cross-section profile.

[0054] In some embodiments, after the gas concentration is collected, the gas concentration can be compared with a preset gas concentration threshold to determine whether the gas concentration meets the excavation operation requirements.

[0055] In some embodiments, in response to the gas concentration being less than the gas concentration threshold, it indicates that the gas content in the tunnel is low and the tunnel environment is relatively safe, that is, the gas concentration meets the requirements of the excavation operation.

[0056] Furthermore, when it is determined that the current gas concentration of the tunnel meets the requirements of the tunneling operation, the cutting unit 101 can be controlled to perform the cutting task, and the tunnel cross-sectional profile can be formed in the tunnel by the cutting unit 101 performing the cutting task. In other words, the cutting unit 101 performs the cutting task to crush and cut the coal rock to form a regular tunnel cross-sectional profile according to the tunnel design.

[0057] In some embodiments, in response to the gas concentration being greater than or equal to the gas concentration threshold, it indicates that the gas content in the tunnel is high and there are safety hazards in the tunnel environment, that is, the gas concentration cannot meet the requirements of the excavation operation.

[0058] Furthermore, when it is determined that the current gas concentration in the tunnel does not meet the requirements of the excavation operation, in order to improve the safety of underground workers, some emergency measures need to be implemented, for example, alarm, ventilation and personnel evacuation measures can be taken immediately.

[0059] S303, determining the spraying path of the spraying robot arm 102 within the tunnel cross-sectional profile.

[0060] In some embodiments, the tunnel cross-sectional profile may be imaged to identify the spatial situation of the tunnel cross-sectional profile. Optionally, the acquired image may be processed based on a pre-trained image recognition model to obtain the spatial situation of the tunnel cross-sectional profile. Optionally, the tunnel cross-sectional profile may be three-dimensionally modeled based on point cloud data, and the spatial situation of the tunnel cross-sectional profile may be obtained based on the three-dimensional model of the tunnel cross-sectional profile.

[0061] Furthermore, after obtaining the spatial situation of the tunnel cross-sectional contour, in order to guide the spraying robot arm 102 to spray the surface of the tunnel surrounding rock, the spraying path of the spraying robot arm 102 within the tunnel cross-sectional contour can be planned according to the identified spatial situation of the tunnel cross-sectional contour to determine the spraying path of the spraying robot arm 102 within the tunnel cross-sectional contour.

[0062] S304, control the spraying robot arm 102 to move along the spraying path, and spray the closed support material 11 onto the surface of the tunnel surrounding rock.

[0063] In some embodiments, after determining the spraying path of the spraying robot arm 102 within the cross-sectional contour of the tunnel, the spraying robot arm 102 can be controlled to move along the spraying path, and during the self-moving process, the closed support material 11 is continuously sprayed onto the surface of the tunnel surrounding rock.

[0064] In some embodiments, during the process of self-moving along the spraying path, the closed support material 11 can be sprayed onto the surface of the tunnel surrounding rock according to the set spraying interval to form a closed film on the surface of the tunnel surrounding rock, which can effectively slow down the seepage or outflow speed of gas from the surrounding rock to the excavation working face, thereby reducing the gas concentration in the tunnel.

[0065] In some embodiments, the closed support material 11 sprayed by the spraying robot 102 may be a high-strength closed support material 11. Optionally, the high-strength closed support material 11 may include but is not limited to: Ganik plastic spray sealing material, non-reactive thin spray sealing material and high-strength polymer spray layer material.

[0066] The excavation method for a gas tunnel provided in the embodiment of the present application can control the spraying mechanical arm 102 to spray the closed support material 11 on the surface of the tunnel surrounding rock to form a closed film on the surface of the tunnel surrounding rock, which can effectively slow down the seepage or outflow speed of gas from the surrounding rock to the excavation working face, thereby reducing the gas concentration in the tunnel. Moreover, the closed film formed on the surface of the tunnel surrounding rock has good toughness, high adhesion and high tensile strength. The film formed on the surface of the tunnel surrounding rock plays an active supporting role, which can not only greatly improve the integrity of the broken surrounding rock 6, but also replace the metal support net by spraying the support material to reduce the support cost.

[0067] Figure 4 A schematic flow chart of a method for excavating a gas tunnel provided in an embodiment of the present application. The method for excavating a gas tunnel can be executed by the excavation system provided in the above embodiment.

[0068] like Figure 4 As shown, the excavation operation method may include but is not limited to the following steps:

[0069] S401, controlling the gas extraction drilling vehicle 5 to extract gas from the tunnel.

[0070] In some embodiments, since there is gas in the tunnel, gas extraction can be performed on the tunnel by a gas extraction drilling vehicle 5 before starting the excavation operation to extract the gas in the tunnel, reduce the gas content in the tunnel, improve the safety of the excavation operation, and avoid gas damage to the operators.

[0071] In some embodiments, the gas extraction drilling vehicle 5 can be controlled to extract gas from the tunnel as required during the tunnel excavation operation. For example, an operator can start the gas extraction drilling vehicle 5 to extract gas from the tunnel as required during the excavation operation.

[0072] In some embodiments, during the tunnel excavation operation, the gas extraction drilling vehicle 5 can be controlled according to the monitored gas concentration in the tunnel. For example, if the gas concentration does not meet the excavation operation, that is, when the monitored gas concentration requirement is high, the gas extraction drilling vehicle 5 tunnel can be opened for gas extraction.

[0073] In some embodiments, the excavation gas monitoring equipment 105 in the tunneling system can monitor the gas concentration in the tunneling tunnel in real time and feed back the monitoring results to the gas extraction drilling vehicle 5. When the gas concentration does not meet the requirements of the tunneling work, the gas extraction drilling vehicle 5 can be controlled to extract gas from the tunnel.

[0074] S402, during the tunnel excavation operation, monitor the gas concentration in the tunnel.

[0075] The specific description of step S402 can refer to the description of step S301 in the above embodiment, which will not be repeated here.

[0076] S403, determining whether the gas concentration meets the requirements of the tunneling operation.

[0077] In some embodiments, after the gas concentration is collected, the gas concentration can be compared with a preset gas concentration threshold to determine whether the gas concentration meets the excavation operation requirements.

[0078] In some embodiments, in response to the gas concentration being less than the gas concentration threshold, it indicates that the gas content in the tunnel is low and the tunnel environment is relatively safe, that is, the gas concentration meets the excavation operation requirements, and step S404 is continued.

[0079] In some embodiments, in response to the gas concentration being greater than or equal to the gas concentration threshold, it indicates that the gas content in the tunnel is high and there are safety hazards in the tunnel environment, that is, the gas concentration cannot meet the requirements of the excavation operation. Step S410 is executed and the process returns to step S401 to extract gas from the tunnel and reduce the gas concentration in the tunnel to form a safe working environment.

[0080] S404, controlling the cutting unit 101 to execute a cutting task, wherein the cutting task is used to form a tunnel cross-section profile.

[0081] The specific description of step S404 can be found in the description of step S302 in the above embodiment, which will not be repeated here.

[0082] S405, determining the spraying path of the spraying robot arm 102 within the tunnel cross-sectional profile.

[0083] The specific description of step S405 can refer to the description of step S303 in the above embodiment, which will not be repeated here.

[0084] S406, control the spraying robot arm 102 to move along the spraying path, and spray the closed support material 11 onto the surface of the tunnel surrounding rock.

[0085] In some embodiments, the spraying robot arm 102 is equipped with a spraying pipeline, a spray gun and a spray material box 107. Optionally, the spray material box 107 is used to store high-strength closed support materials 11. The spray pump 108 is used to pump the closed support materials 11 from the spray material box 107 to the spray gun at the end of the robot arm, and spray the closed support materials 11 onto the surface of the surrounding rock of the tunnel through the spray gun.

[0086] For other specific descriptions of step S406, please refer to the description of step S303 in the above embodiment, which will not be repeated here.

[0087] S407, controlling the integrated drilling and anchoring drill arm 103 to perform anchor support on the surrounding rock surface of the tunnel.

[0088] In some embodiments, after the spraying robot arm 102 sprays the closed support material 11 onto the surface of the tunnel surrounding rock, in order to enhance the support strength of the tunnel, the integrated drill arm 103 can be controlled to perform anchor support on the surface of the tunnel surrounding rock.

[0089] In some embodiments, Figure 5 As shown, the integrated drill arm 103 of drilling and anchoring drives the hollow anchor rod body 8 into the broken surrounding rock 6, forms an anchoring section 7 at the top of the hollow anchor rod body 8, and presses the anchor rod tray 10 on the film formed after spraying the closed support material 11. The sprayed closed support material 11 has good toughness, high adhesion and high tensile strength, and can form a layer of active support force on the surface of the surrounding rock, which greatly improves the integrity of the broken surrounding rock 6. At the same time, the support pressure of the anchor support on the broken surrounding rock 6 can be effectively applied. The support effect of the surrounding rock is enhanced by the composite support of spraying and drilling and anchoring, and the stability of the surrounding rock is effectively improved. The sprayed closed support material 11 not only replaces the metal anchor net and improves the support strength, but also forms a closed film on the surface of the tunnel, which effectively slows down the seepage or outflow of gas from the surrounding rock to the excavation working face, which can reduce the frequency of gas extraction during excavation and effectively improve the excavation efficiency.

[0090] In some embodiments, the integrated drilling and anchoring drill arm 103 can construct an anchor rod that integrates drilling, anchoring and pre-tightening. The anchor rod is provided with a drill bit in front of it, and reverse drilling can be performed. The anchor rod is hollow, and a pumping channel is provided for the liquid perfusion anchoring agent to achieve rapid anchoring. The nut 9 at the tail of the anchor rod is rotated forward to achieve rapid pre-tightening. The speed of anchor rod support is improved by the integrated drilling and anchoring drill arm 103.

[0091] In some embodiments, the anchor loader 2 in the tunneling system can realize the zoned parallel support of anchors (anchor cables), and can simultaneously install anchors (anchor cables) during the tunneling and anchoring operation of the tunneling system, thereby improving the support efficiency of the tunneling system.

[0092] In some embodiments, the excavation system is also equipped with an anchoring agent tank 106 and a grouting pump. The anchoring agent tank 106 and the grouting pump are used to store and suck and discharge hydraulic injection anchoring agents. The anchoring agent can enhance the stability of the rock structure and the bearing capacity of the anchor support, and can also quickly solidify and reach sufficient strength in a short time to achieve effective support for the tunnel.

[0093] In some embodiments, the anchoring agent may include, but is not limited to, chemical anchoring agents such as epoxy resin, polyester resin, and acrylate, and mechanical anchoring agents such as expansion bolts and anchor nails.

[0094] In some embodiments, a suitable anchoring agent may be selected based on the rock formation properties of the tunnel.

[0095] In some embodiments, during the tunnel support process, the telescopic sliding device 104 can be driven to slide according to the tunnel cross-sectional dimensions and anchor spacing to adjust the posture of the spraying robot arm 102 and the drilling and anchoring integrated drill arm 103.

[0096] In some embodiments, the cross-sectional dimensions of the tunnel can be determined by detection equipment, and further, the anchor spacing can be determined based on the cross-sectional dimensions of the tunnel. Further, each time spraying and anchor support are performed, spraying and anchor support at the next position need to be performed, and the telescopic sliding device 104 needs to be driven to adjust the posture of the spraying mechanical arm 102 and the drilling and anchoring integrated drill arm 103 through telescopic sliding, so that the posture of the spraying mechanical arm 102 and the drilling and anchoring integrated drill arm 103 can be flexibly adjusted, so that the excavation system can adapt to the construction requirements of different tunnel support designs.

[0097] S408, determining whether the excavation operation of the entire tunnel is completed.

[0098] In some embodiments, in response to the excavation work of the entire tunnel being incomplete, the execution returns to step S402; in response to the excavation work of the entire tunnel being completed, the execution continues to step S409.

[0099] S409, excavation work is carried out on the next tunnel.

[0100] It is understandable that after the operation of the entire tunnel is completed, the excavation operation can be carried out on the next tunnel. It is understandable that the excavation operation of the next tunnel can continue according to the process and schematic diagram provided in the above embodiment.

[0101] S410, suspend the excavation work in the tunnel.

[0102] In some embodiments, in response to the gas concentration being greater than or equal to the gas concentration threshold, it indicates that the gas content in the tunnel is high and there are safety hazards in the tunnel environment, that is, the gas concentration cannot meet the tunneling operation requirements, and the tunneling operation in the tunnel needs to be suspended. Further, returning to step 401, the tunnel is subjected to gas extraction by the gas extraction drilling vehicle 5 to reduce the gas concentration in the tunnel.

[0103] In some embodiments, emergency measures such as ventilation, alarm, and personnel evacuation are also required to avoid safety accidents.

[0104] The excavation method for gas tunnels provided in the embodiment of the present application can effectively slow down the seepage or outflow speed of gas from the surrounding rock to the excavation working face by spraying high-strength closed support material 11 on the surface of the tunnel surrounding rock, thereby reducing the gas concentration in the tunnel. Moreover, the closed film formed on the surface of the tunnel surrounding rock has good toughness, high adhesion and high tensile strength. The film formed on the surface of the tunnel surrounding rock plays an active supporting role, which can not only greatly improve the integrity of the broken surrounding rock 6, but also replace the metal support net by spraying support materials, thereby reducing the support cost. Further, by using anchor support, a more effective support pressure is applied to the broken surrounding rock 6, so that the rock formation is more stable, greatly improving the safety of underground operations.

[0105] Through the integration of pre-extraction of gas before excavation, dynamic extraction of gas during excavation, spraying of sealed gas prevention, spraying support instead of metal mesh, and drill-anchor rapid support, not only can the gas release rate be slowed down and the frequency of extraction be reduced, but also the support strength can be increased, which can effectively improve the excavation efficiency and achieve the goal of rapid excavation of high-gas coal lanes.

[0106] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0107] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0108] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0109] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0110] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0111] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A spraying and drilling integrated support bolter, characterized in that: include: frame; A cutting part, the cutting part is arranged at the front end of the frame, and the cutting part is suitable for crushing and cutting coal and rock; A spraying mechanical arm, the spraying mechanical arm is arranged at the front of the frame, the spraying mechanical arm is equipped with a spraying pipeline and a spray gun, the spraying mechanical arm is suitable for spraying the closed support material on the surface of the tunnel surrounding rock, and the spray gun is connected to the spray material box through the spraying pipeline; A drilling and anchoring integrated drill arm, the drilling and anchoring integrated drill arm is arranged at the front part of the frame, the drilling and anchoring integrated drill arm comprises an anchor rod and a drill bit, and the drill bit is connected to the front end of the anchor rod; A telescopic sliding device, the telescopic sliding device is connected to the upper part of the frame and connects the spraying mechanical arm and the drilling and anchoring integrated drilling arm to adjust the posture of the spraying mechanical arm and the drilling and anchoring integrated drilling arm; The on-the-spot gas monitoring equipment is installed on the frame to monitor the gas concentration of the excavation working face in real time and feed back the monitoring results to the gas extraction drilling vehicle.

2. The spraying and drilling and anchoring integrated support and anchoring machine according to claim 1 is characterized in that: It also includes an anchor material box, which is arranged at the rear of the frame. The anchor material box is connected to a grouting pipe, and a grouting pump is connected to the grouting pipe.

3. A high-gas coal tunnel rapid excavation system, characterized in that: It includes the spraying and drilling-anchoring integrated support anchor digging machine as described in claim 1 or 2.

4. The high-gas coal roadway rapid excavation system according to claim 3 is characterized in that: It also includes an anchor transfer machine, a coal flow continuous transportation device and a gas extraction drilling vehicle. The anchor transfer machine is located behind the drill-anchor integrated support and anchor digging machine. The anchor transfer machine and the drill-anchor integrated support and anchor digging machine operate in parallel. The coal flow continuous transportation device is located behind the anchor transfer machine to enable continuous transportation of coal flow. The gas extraction drilling vehicle is used for pre-extraction of gas before tunnel excavation and dynamic extraction of gas during excavation.

5. The high-gas coal roadway rapid excavation system according to claim 4 is characterized in that: The coal flow continuous transportation device includes a bridge-type transfer machine and a self-moving tail. The bridge-type transfer machine is located behind the anchor transfer machine, and the self-moving tail is located behind the bridge-type transfer machine. The bridge-type transfer machine and the self-moving tail are used in conjunction with each other.

6. A method for excavating a gas tunnel, characterized in that: Utilizing the high-gas coal roadway rapid excavation system according to any one of claims 3 to 5, the method comprises: During tunnel excavation, monitor the gas concentration in the tunnel; In response to the gas concentration meeting the tunneling operation requirement, controlling the cutting unit to perform a cutting task, wherein the cutting task is used to form a tunnel cross-section profile; Determining a spraying path of a spraying robot arm within the cross-sectional profile of the tunnel; The spraying mechanical arm is controlled to move along the spraying path to spray the closed support material onto the surface of the tunnel surrounding rock.

7. The method according to claim 6, characterized in that After controlling the spraying mechanical arm to move along the spraying path and spraying the closed support material onto the surface of the tunnel surrounding rock, the method further includes: The integrated drill arm is controlled to provide anchor support to the surrounding rock surface of the tunnel.

8. The method according to claim 7, characterized in that The method further comprises: According to the cross-sectional dimensions of the tunnel and the spacing between anchor rods, the telescopic sliding device is driven to slide so as to adjust the posture of the spraying robot arm and the drilling and anchoring integrated drilling arm.

9. The method according to claim 6, characterized in that The method further comprises: In response to the gas concentration not meeting the operation requirement, suspending the excavation operation in the tunnel; The gas extraction drilling vehicle is controlled to extract gas from the tunnel.

10. The method according to claim 6, characterized in that The method further comprises: Before the excavation operation begins, the gas extraction drilling vehicle is controlled to extract gas from the tunnel.

Images