Spraying, drilling and anchoring integrated tunneling device

Abstract

The invention provides a spraying and drilling and anchoring integrated tunneling device which comprises a cantilever type tunneling machine, a moving assembly, a drilling and anchoring integrated drill arm, a spraying mechanical arm and a control assembly, the cantilever type tunneling machine comprises a rack, a crawler belt assembly is connected with the rack, and a sliding large arm part can move relative to the rack; the adjusting arm is connected with the sliding large arm and can move relative to the sliding large arm, the drilling and anchoring integrated drilling arm is connected with the adjusting arm and can move relative to the adjusting arm, the drilling and anchoring integrated drilling arm is used for anchoring the wall face of a roadway, and the spraying mechanical arm is connected with the adjusting arm and used for spraying supporting materials to the wall face of the roadway. The control assembly is used for coordinating the movement time sequence of the moving and drilling and anchoring integrated drilling arm and the spraying mechanical arm. According to the drilling and anchoring integrated anchor rod parallel operation tunneling device, tunneling, spraying and drilling and anchoring procedures are carried out on a roadway through cooperative movement and adjustment of a plurality of components, repeated transposition of tunneling and supporting is avoided, and the tunneling efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine tunnel support, and in particular to a spraying and drilling-anchoring integrated tunneling device. Background Art

[0002] In areas with rich coal resources, tunnel excavation is difficult due to complex geological conditions, with a low degree of automation and an average monthly excavation footage of less than 200m. The tunnel excavation footage seriously restricts the efficiency of coal mining. In related technologies, tunnel excavation modes are mostly coordinated by cantilever tunnel boring machines, single top anchor drilling machines, and auxiliary anchor drilling machines. On the one hand, in the "dig-anchor-anchor" operation, excavation and support are repeatedly exchanged, interfering with each other, affecting excavation efficiency. On the other hand, there is a lack of effective temporary support, and anchor construction relies on manual labor, which is labor-intensive, inefficient, and takes a long time. Summary of the invention

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

[0004] To this end, an embodiment of the present invention proposes an integrated spraying and drilling and anchoring excavation device, which can adapt to the tunnel operation needs under different complex geological conditions through coordinated movement and adjustment between multiple components, avoids repeated shifting of excavation and support, and improves excavation efficiency.

[0005] The spraying and drilling-anchoring integrated excavation device according to the embodiment of the present invention comprises:

[0006] A cantilever type tunnel boring machine, the cantilever type tunnel boring machine comprising a frame and a crawler assembly, the crawler assembly being connected to the frame;

[0007] A sliding boom, wherein the sliding boom is connected to the frame and is movable relative to the frame along the length direction of the cantilever type tunnel boring machine;

[0008] An adjusting arm, the adjusting arm is connected to the first end of the sliding arm, and the adjusting arm is movable relative to the sliding arm;

[0009] A drill-anchor integrated drill arm, the drill-anchor integrated drill arm is connected to the first end of the adjustment arm, and the drill-anchor integrated drill arm is movable relative to the adjustment arm, and the drill-anchor integrated drill arm is used to perform anchoring operations on the tunnel wall;

[0010] A spraying mechanical arm, the spraying mechanical arm is connected to the first end of the adjusting arm, and the spraying mechanical arm is used to spray supporting materials onto the wall of the tunnel;

[0011] The control component, the sliding arm, the adjusting arm, the integrated drilling arm and the spraying robot arm are all electrically connected to the control component, and the control component is used to coordinate the movement timing of the sliding arm, the adjusting arm, the integrated drilling arm and the spraying robot arm.

[0012] The movable connection between the drill-anchor integrated drill arm and the adjustment arm of the spraying and drilling-anchor integrated tunneling device of the embodiment of the present invention and the coordinated control of the control components realize the automation of anchor construction. Driven by the adjustment arm, the drill-anchor integrated drill arm can accurately reach the working position and automatically complete the anchoring operation, avoiding the problems of heavy labor, low efficiency and long time occupied in manual anchor construction, and improving the efficiency and quality of anchor construction. In addition, the setting of the spraying mechanical arm provides effective temporary support for the tunnel. The spraying mechanical arm can spray support materials on the tunnel wall and reinforce the tunnel wall in time, making up for the lack of effective temporary support in the prior art.

[0013] In some embodiments, the cantilever tunneling machine also includes a cab, which is disposed on the frame and above the track assembly, the control assembly is disposed in the cab, the sliding boom and the cab are arranged relative to each other in the width direction of the cantilever tunneling machine, the track assembly includes track wheels, and in the height direction of the cantilever tunneling machine, the sliding boom and the track wheels are arranged relative to each other.

[0014] In some embodiments, there are multiple sliding arms, and the multiple sliding arms are arranged relatively on both sides of the cab along the width direction of the cantilever tunneling machine.

[0015] In some embodiments, the spraying and drilling and anchoring integrated excavation device of an embodiment of the present invention also includes a first rotation joint and a second rotation joint, and the first rotation joint and the second rotation joint are connected between the drilling and anchoring integrated drill arm and the adjusting arm, and the first rotation joint is used to drive the drilling and anchoring integrated drill arm to rotate around a first direction, and the second rotation joint is used to drive the drilling and anchoring integrated drill arm to rotate around a second direction, and the first direction is orthogonal to the second direction.

[0016] In some embodiments, the integrated spraying and drilling and anchoring excavation device of the embodiment of the present invention also includes a telescopic part, which is connected to at least one of the sliding arm and the adjusting arm, and the telescopic part is used to drive the adjusting arm to move along a third direction, which is orthogonal to the first direction and the second direction.

[0017] In some embodiments, the spraying and drilling and anchoring integrated excavation device of the embodiment of the present invention also includes a third rotation joint and a fourth rotation joint, and the third rotation joint and the fourth rotation joint are connected between the adjusting arm and the drilling and anchoring integrated drill arm, and the third rotation joint is used to drive the drilling and anchoring integrated drill arm to rotate around a fourth direction, and the fourth rotation joint is used to drive the drilling and anchoring integrated drill arm to rotate around a fifth direction, and the fourth direction is orthogonal to the fifth direction.

[0018] In some embodiments, the integrated spraying and drilling-anchoring excavation device of the embodiment of the present invention further includes an operating platform, which is connected to the adjusting arm and is located at an end of the adjusting arm away from the sliding arm.

[0019] In some embodiments, the integrated spraying and drilling and anchoring tunneling device of an embodiment of the present invention further includes a plurality of spray material boxes, the spray material boxes are connected to the frame, and the spray material boxes are arranged opposite to the spraying robot arm in the length direction of the cantilever tunneling machine, and the spray material boxes are connected to the spraying robot arm to provide spraying material to the spraying robot arm.

[0020] In some embodiments, the integrated spraying and drilling and anchoring tunneling device of the embodiment of the present invention further includes a support frame, which is connected to the frame and is movable relative to the cantilever tunneling machine along the height direction of the cantilever tunneling machine.

[0021] In some embodiments, the control component also includes a scanning unit, an information processing unit and a collaborative control unit. The scanning unit is used to acquire the tunnel cross-section contour data in real time. The information processing unit is used to dynamically adjust the anchor arrangement position of the drill-anchor integrated drill arm and the coverage range of the spraying robot arm according to the contour data. The collaborative control unit is used to issue construction instructions to at least two of the sliding arm, the adjustment arm, the drill-anchor integrated drill arm and the spraying robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a front view of the spraying and drilling-anchoring integrated tunneling device according to an embodiment of the present invention.

[0023] Figure 2 It is a schematic diagram of the three-dimensional structure of the spraying and drilling-anchoring integrated tunneling device according to an embodiment of the present invention.

[0024] Figure 3 It is a schematic diagram of the three-dimensional structure of the first state of the spraying and drilling-anchoring integrated tunneling device according to an embodiment of the present invention.

[0025] Figure 4 It is a schematic diagram of the three-dimensional structure of the spraying and drilling-anchoring integrated tunneling device in the second state according to an embodiment of the present invention.

[0026] Figure 5 It is a right view of the spraying and drilling-anchoring integrated tunneling device according to an embodiment of the present invention.

[0027] Figure 6 It is a partial structural schematic diagram of a spraying and drilling-anchoring integrated tunneling device according to an embodiment of the present invention.

[0028] Reference numerals:

[0029] 1. Cantilever type tunnel boring machine, 11. Frame, 12. Track assembly, 13. Cab, 14. Cutting head, 15. Bucket,

[0030] 2. Sliding boom,

[0031] 3. Adjustment arm,

[0032] 4. Drilling and anchoring integrated drill arm,

[0033] 5. Spraying robot arm,

[0034] 61, first rotation joint, 62, second rotation joint,

[0035] 71, the third rotation joint, 72, the fourth rotation joint,

[0036] 8. Operation platform,

[0037] 9. Spray paint box,

[0038] 10. Support frame. DETAILED DESCRIPTION

[0039] 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.

[0040] like Figure 1-Figure 6 As shown, the spraying and drilling-anchoring integrated tunneling device of the embodiment of the present invention includes: a cantilever tunneling machine 1, a moving component, a drilling-anchoring integrated drill arm 4, a spraying mechanical arm 5 and a control component (not shown in the figure).

[0041] The cantilevered tunnel boring machine 1 comprises a frame 11 and a crawler assembly 12, wherein the crawler assembly 12 is connected to the frame 11. The sliding arm 2 is connected to the frame 11 and is arranged relative to the frame 11 along the length direction of the cantilevered tunnel boring machine 1 (such as Figure 1The adjusting arm 3 is connected to the first end of the sliding arm 2, and the adjusting arm 3 is movable relative to the sliding arm 2. The drilling and anchoring integrated drilling arm 4 is connected to the first end of the adjusting arm 3, and the drilling and anchoring integrated drilling arm 4 is movable relative to the adjusting arm 3, and the drilling and anchoring integrated drilling arm 4 is used to perform anchoring operations on the tunnel wall. The spraying mechanical arm 5 is connected to the first end of the adjusting arm 3, and the spraying mechanical arm 5 is used to spray supporting materials on the tunnel wall. The sliding arm 2, the adjusting arm 3, the drilling and anchoring integrated drilling arm 4 and the spraying mechanical arm 5 are all electrically connected to the control component, and the control component is used to coordinate the movement timing of the sliding arm 2, the adjusting arm 3, the drilling and anchoring integrated drilling arm 4 and the spraying mechanical arm 5. That is, through this electrical connection, the control component can obtain the status information of each component in real time, and coordinate the movement timing of each component according to the preset program and actual operation conditions to achieve collaborative operation between the components.

[0042] Specifically, Figure 1-Figure 6 As shown, the cantilever tunneling machine 1 is the basic bearing part of the whole device. The cantilever tunneling machine 1 includes a frame 11 and a crawler assembly 12. The crawler assembly 12 is located at the bottom of the frame 11 to provide the cantilever tunneling machine 1 with mobility so that it can move freely in the tunnel. The front part of the cantilever tunneling machine 1 is also provided with a cutting head 14 and a bucket 15. The cutting head 14 is inlaid with many picks, which rotate at high speed under the drive of an electric motor or a hydraulic motor. The sharp parts of the picks are used to impact, squeeze and shear the coal and rock, and the coal and rock are broken from the rock mass, thereby opening up tunnel space. The operator can control the swing, lifting and extension of the cantilever to make the cutting head 14 accurately cut the top, side wall and bottom of the tunnel according to the design requirements, thereby ensuring that the shape, size and slope of the tunnel meet the engineering design standards. The bucket 15 is located at the lower front end of the cantilever tunneling machine 1, and is mainly used to collect the coal and rock broken by the cutting head 14 and load it into the transportation system. That is, after the cutting head 14 crushes the coal and rock, the bucket 15 will move forward with the machine to collect the crushed coal and rock materials from the bottom of the working face to prevent the materials from piling up in the tunnel and affecting the normal operation of the tunnel boring machine and the passage in the tunnel.

[0043] The sliding arm 2 is connected to the frame 11 of the cantilever type tunnel boring machine 1 and can move in the front-rear direction relative to the frame 11, so as to provide a larger operating range for the subsequent operation of the drilling and anchoring integrated drilling arm 4 and the spraying mechanical arm 5.

[0044] The adjusting arm 3 is connected to the front end of the sliding arm 2, and the adjusting arm 3 is movable relative to the sliding arm 2, so that the adjusting arm 3 can adjust its position on the sliding arm 2 according to actual working requirements, thereby more accurately delivering the drilling and anchoring integrated drilling arm 4 and the spraying robot arm 5 to the working position.

[0045] The drilling and anchoring integrated drilling arm 4 is connected to the front end of the adjusting arm 3, and the drilling and anchoring integrated drilling arm 4 is movable relative to the adjusting arm 3 to meet the anchoring operation requirements of different tunnel walls. The spraying mechanical arm 5 is connected to the first end of the adjusting arm 3 and has a certain interval with the drilling and anchoring integrated drilling arm 4. The spraying mechanical arm 5 can also adjust its position with the cooperation of the adjusting arm 3, so as to perform comprehensive spraying operations on the tunnel wall.

[0046] It is understandable that the sliding arm 2 can be connected to the frame 11 through a cylinder, an oil cylinder or other equipment with a linear reciprocating function, so that the sliding arm 2 can move in the front-rear direction relative to the frame 11. The adjusting arm 3 and the sliding arm 2 can move relative to each other or rotate relative to each other, that is, the adjusting arm 3 and the sliding arm 2 can be provided with a variety of driving structures so as to drive the adjusting arm 3 to move or rotate relative to the sliding arm 2. Similarly, the drilling and anchoring integrated drilling arm 4 and the spraying mechanical arm 5 can also be provided with different driving devices so that they can move or rotate relative to the adjusting arm 3.

[0047] Alternatively, if Figure 2-Figure 5 As shown, a protrusion is provided at the bottom of the sliding boom 2, and a mounting frame is provided above the track assembly. The mounting frame and the protrusion can cooperate through a slot, so as to provide a good guiding effect for the sliding boom 2, and can ensure that the driven structure moves along a predetermined straight line trajectory, thereby improving the accuracy and stability of the movement.

[0048] Therefore, the mobility of the adjustment arm 3 relative to the sliding arm 2 and the mobility of the drilling and anchoring integrated drilling arm 4 and the spraying mechanical arm 5 relative to the adjustment arm 3 give the entire device a high degree of flexibility. Through the coordinated movement and adjustment between multiple components, it can adapt to the tunnel operation requirements under different complex geological conditions, realize the tunnel excavation, spraying and drilling and anchoring processes, avoid repeated replacement of excavation and support, and improve excavation efficiency.

[0049] In other words, the movable connection between the drill-anchor integrated drill arm 4 and the adjusting arm 3 of the spraying and drilling-anchoring integrated tunneling device of the embodiment of the present invention and the coordinated control of the control components realize the automation of anchor construction. Driven by the adjusting arm 3, the drill-anchor integrated drill arm 4 can accurately reach the working position and automatically complete the anchor bolt anchoring operation, avoiding the problems of heavy labor, low efficiency and long time occupied in manual anchor bolt construction, and improving the efficiency and quality of anchor bolt construction. In addition, the setting of the spraying mechanical arm 5 provides effective temporary support for the tunnel. The spraying mechanical arm 5 can spray support materials on the tunnel wall and reinforce the tunnel wall in time, making up for the lack of effective temporary support in the prior art.

[0050] In some embodiments, the cantilever tunneling machine 1 further includes a cab 13, which is disposed on the frame 11 and above the crawler assembly 12, and the control assembly is disposed in the cab 13. The sliding arm 2 and the cab 13 are arranged in the width direction of the cantilever tunneling machine 1 (such as Figure 1 They are arranged relatively in the left and right directions (in the left and right directions).

[0051] Specifically, Figure 1-Figure 6 As shown, the cab 13 is arranged on the frame 11, and in the space above the crawler assembly 12, the area adjacent to the cab 13 is a vacant area, so that the arrangement of the sliding arm 2 can be facilitated, the spatial layout between the components is more reasonable, and the mutual interference between the components is avoided. When the sliding arm 2 moves forward and backward and drives the integrated drilling arm 4 and the spraying mechanical arm 5 to operate, it will not affect the operator in the cab 13, and at the same time it can ensure that it has enough space to complete the excavation and support operations. In addition, the cab 13 is placed above the crawler assembly 12, which allows the operator to have a better field of vision to observe the tunnel environment.

[0052] The control component is arranged in the cab 13, so that the operator can directly operate the control component in the cab 13, control the various components of the entire tunneling device in real time, and adjust the equipment operation status according to the tunnel operation conditions conveniently and quickly.

[0053] Optionally, there are multiple sliding arms 2 , and the multiple sliding arms 2 are relatively arranged on both sides of the cab 13 along the width direction of the cantilever tunneling machine 1 .

[0054] It is understandable that multiple sliding arms 2 can be provided with integrated drilling and anchoring arms 4 with different functions, so that multiple processes can be carried out simultaneously in different areas of the tunnel. Multiple sliding arms 2 are distributed on both sides of the cab 13, so that anchor bolting and spraying support operations can be carried out at different positions of the tunnel at the same time. Compared with the case of a single sliding arm 2, it can cover a larger tunnel width range, reduce the number of times the equipment moves horizontally in the tunnel to adjust its position, thereby increasing the operating area per unit time and accelerating the progress of tunnel support.

[0055] The sliding arms 2 on both sides can work simultaneously, so that the anchor construction of the integrated drilling arm 4 and the spraying operation of the spraying mechanical arm 5 can be carried out in parallel. For example, when the integrated drilling arm 4 on one side is drilling and installing the anchor, the spraying mechanical arm 5 on the other side can simultaneously spray support the area where the anchoring has been completed, which greatly shortens the time of the entire support operation and improves the comprehensive efficiency of excavation and support.

[0056] Therefore, in some cases where the geological conditions are complex and the tunnel shape is irregular, multiple sliding arms 2 can independently adjust their positions and postures according to actual needs. For example, if there is a bulge or depression on the wall of one side of the tunnel, the sliding arm 2 on that side can be extended or retracted individually, so that the integrated drilling arm 4 and the spraying mechanical arm 5 can better adapt to the wall conditions, complete precise anchoring and spraying operations, and enhance the adaptability of the equipment to different tunnel environments. Of course, the operator can flexibly arrange the operating sequence of the sliding arms 2 on both sides according to the actual situation of tunnel excavation. For example, when a harder rock layer is encountered in front of the tunnel and the excavation speed slows down, the sliding arm 2 on one side can be used for support operations first, and after the excavation progress catches up, the other side can be used to ensure the coordination of excavation and support operations.

[0057] In some embodiments, the spraying and drilling and anchoring integrated excavation device of the embodiment of the present invention also includes a first rotary joint 61 and a second rotary joint 62, and the first rotary joint 61 and the second rotary joint 62 are connected between the drilling and anchoring integrated drill arm 4 and the adjusting arm 3. The first rotary joint 61 is used to drive the drilling and anchoring integrated drill arm 4 to rotate around a first direction, and the second rotary joint 62 is used to drive the drilling and anchoring integrated drill arm 4 to rotate around a second direction, and the first direction is orthogonal to the second direction.

[0058] Specifically, Figure 1-Figure 6 As shown, the first rotating joint 61 is connected to the adjusting arm 3 by hinge connection, and the second rotating joint 62 is hinged between the first rotating joint 61 and the drilling and anchoring integrated drilling arm 4. Among them, the first direction is consistent with the up-down direction, and the second direction is consistent with the left-right direction. Therefore, there are two degrees of freedom between the adjusting arm 3 and the sliding arm 2. That is, the first rotating joint 61 can be used to rotate in the left-right direction, and the second rotating joint 62 can be used to rotate in the up-down direction.

[0059] That is to say, the tunnel wall is not all regular planes, and its angle and shape will vary depending on the geological conditions. The setting of the first rotating joint 61 and the second rotating joint 62 enables the drilling and anchoring integrated drill arm 4 to flexibly adjust its posture. For example, when encountering an inclined tunnel roof or side wall, the drilling and anchoring integrated drill arm 4 can accurately align the position to be anchored through the coordinated rotation of the first rotating joint 61 and the second rotating joint 62, ensuring that the anchor rod can be driven into the tunnel wall vertically or at the angle required by the design, thereby improving the anchoring effect of the anchor rod and the stability of the tunnel support.

[0060] In addition, in a complex tunnel environment, the position of the anchor hole needs to be accurately determined according to the specific support plan. The integrated drill arm 4 can be fine-tuned in the horizontal and vertical directions by rotating the first rotating joint 61 and the second rotating joint 62 to accurately reach the predetermined anchor hole position. Compared with the traditional fixed-angle integrated drill arm 4, this flexibly rotatable integrated drill arm 4 can better meet the needs of anchor construction at various positions in the tunnel, reducing rework and waste caused by inaccurate positioning.

[0061] In some embodiments, the integrated spraying and drilling and anchoring excavation device of the embodiment of the present invention also includes a telescopic part, which is connected to at least one of the sliding arm 2 and the adjusting arm 3, and the telescopic part is used to drive the adjusting arm 3 to move along a third direction, which is orthogonal to the first direction and the second direction.

[0062] It can be understood that the integrated drilling and anchoring drill arm 4 is connected to the adjusting arm 3 through the first rotating joint 61 and the second rotating joint 62 so as to be able to rotate in two directions, and the addition of the telescopic part further enriches the motion structure of the device. That is, the telescopic part can be connected to the sliding arm 2, or to the adjusting arm 3, or to both at the same time, and its function is to drive the adjusting arm 3 to move along the third direction, which is consistent with the front-back direction. Therefore, the spraying and drilling and anchoring integrated excavation device of the embodiment of the present invention adopts a multi-dimensional motion structure to construct a spatial three-dimensional motion system, which greatly improves the operating range and flexibility of the integrated drilling and anchoring drill arm 4 and the spraying mechanical arm 5 in the tunnel.

[0063] That is to say, the telescopic member drives the adjusting arm 3 to move along the third direction, so that the integrated drilling and anchoring drilling arm 4 and the spraying mechanical arm 5 can have a larger range of movement in the depth direction of the tunnel. For example, when performing bolt anchoring and spraying operations in a deeper area of ​​the tunnel, the telescopic member can push the adjusting arm 3 and the integrated drilling and anchoring drilling arm 4 and the spraying mechanical arm 5 connected thereto forward, so that a farther position can be reached without moving the entire excavation device, effectively expanding the tunnel length range that can be covered by a single operation.

[0064] Optionally, the telescopic member may be a telescopic air cylinder or an oil cylinder.

[0065] In some embodiments, the spraying and drilling and anchoring integrated excavation device of the embodiment of the present invention also includes a third rotation joint 71 and a fourth rotation joint 72, and the third rotation joint 71 and the fourth rotation joint 72 are connected between the adjusting arm 3 and the drilling and anchoring integrated drill arm 4, and the third rotation joint 71 is used to drive the drilling and anchoring integrated drill arm 4 to rotate around a fourth direction, and the fourth rotation joint 72 is used to drive the drilling and anchoring integrated drill arm 4 to rotate around a fifth direction, and the fourth direction is orthogonal to the fifth direction.

[0066] It is understandable that if Figure 1-Figure 6As shown, the third rotary joint 71 is connected to the adjustment arm 3 in an articulated manner, and the fourth rotary joint 72 is articulated between the adjustment arm 3 and the drilling and anchoring integrated drilling arm 4. The fourth direction is consistent with the left-right direction, and the fifth direction is consistent with the up-down direction. Thus, there are two degrees of freedom between the adjustment arm 3 and the drilling and anchoring integrated drilling arm 4. That is, the third rotary joint 71 can be used to rotate in the up-down direction, and the second rotary joint 62 can be used to rotate in the left-right direction.

[0067] That is to say, the shape of the tunnel wall is often irregular, and may be tilted, curved, concave or convex. The third rotary joint 71 and the fourth rotary joint 72 are provided so that the drill-anchor integrated drill arm 4 can be precisely adjusted according to the actual shape of the tunnel wall. For example, when encountering an inclined tunnel roof, the drill-anchor integrated drill arm 4 can make the drill bit perpendicular to the roof for drilling operations through the coordinated rotation of the third rotary joint 71 and the fourth rotary joint 72, ensuring that the anchor rod can be accurately driven into the tunnel wall according to the design requirements, thereby improving the anchoring effect of the anchor rod and enhancing the stability of the tunnel support.

[0068] It should be noted that during excavation, Figure 1-Figure 3 As shown in the figure, the spraying robot arm 5 and the drilling and anchoring integrated drilling arm 4 are in the following Figure 1 In the upper right state shown, the spraying mechanical arm 5 is located above the integrated drilling and anchoring arm 4 and lies on the left side of the cab 13. At this time, the sliding arm 2 is in a retracted state, the adjusting arm 3 is also in a retracted state, and the integrated drilling and anchoring arm 4 lies on the left side of the cab 13 as a whole. Figure 1 The structural state of the sliding arm 2 on the right side of the cab 13 is shown in FIG. 1 . At this time, the sliding arm 2 and the adjusting arm 3 are extended, the third rotating joint 71 rotates 90 degrees counterclockwise, and the drilling and anchoring integrated drilling arm 4 stands upright, perpendicular to the top of the tunnel. At this time, the spraying mechanical arm 5 is located in front of the drilling and anchoring integrated drilling arm 4. When the spraying and the drilling and anchoring integrated drilling arm 4 are operated synchronously, the fourth rotating joint needs to be further rotated 90 degrees counterclockwise, that is, Figure 2 As shown, the spraying mechanical arm 5 is located on the right side of the drilling and anchoring integrated drilling arm 4. Of course, the distances from the drilling and anchoring integrated drilling arm 4 and the spraying mechanical arm 5 to the tunnel roof and the two sides can also be adjusted by rotating the first and second rotating joints 62 and adjusting the telescopic amount of the arm 3 to ensure that the anchor rod and the spraying construction are at the preset position to complete the support operation.

[0069] In some embodiments, the integrated spraying and drilling-anchoring excavation device of the embodiment of the present invention further includes an operating platform 8 , which is connected to the adjusting arm 3 and is located at one end of the adjusting arm 3 away from the sliding arm 2 .

[0070] It is understandable that if Figure 1-Figure 6As shown, the operating platform 8 is located at the front end of the adjusting arm 3, so that the operator can stand on the operating platform 8 to operate and monitor the integrated drilling arm 4 and the spraying mechanical arm 5 at close range. When it is necessary to fine-tune the drilling angle and depth of the integrated drilling arm 4, or adjust the spraying range and thickness of the spraying mechanical arm 5, the operator can operate directly on the operating platform 8 without having to walk long distances in the tunnel or frequently get on and off the equipment, which greatly saves the operation time and improves the accuracy of the operation.

[0071] In some embodiments, the integrated spraying and drilling and anchoring tunneling device of an embodiment of the present invention also includes multiple spray material boxes 9, which are connected to the frame 11, and the spray material boxes 9 are arranged opposite to the spraying robot arm 5 in the length direction of the cantilever tunneling machine 1, and the spray material boxes 9 are connected to the spraying robot arm 5 to provide spraying materials to the spraying robot arm 5.

[0072] It is understandable that if Figure 1-Figure 6 As shown, the spray material box 9 is arranged at the rear end of the cantilever tunneling machine 1 and is connected to the spraying mechanical arm 5. The arrangement of multiple spray material boxes 9 can store a large amount of spray material, ensuring that the spraying mechanical arm 5 has sufficient material for continuous spraying operations during tunnel excavation and support. In the construction of longer tunnels, there is no need to frequently replenish spray materials, which reduces the interruption time of operations caused by insufficient material supply and improves operation efficiency. For example, in the construction of large coal mine tunnels, continuous spraying operations can support the tunnel walls in a timely manner, prevent rock weathering and collapse, and ensure construction safety.

[0073] In addition, the spray material box 9 is arranged at the rear end of the cantilever type tunnel boring machine 1, which can also facilitate the construction personnel to add the spray material in advance, so as to avoid affecting the construction progress of the front end.

[0074] In some embodiments, the spraying and drilling-anchoring integrated tunneling device of the embodiment of the present invention further includes a support frame 10, which is connected to the frame 11, and the support frame 10 is movable relative to the cantilever tunneling machine 1 along the height direction of the cantilever tunneling machine 1.

[0075] Specifically, Figure 1-Figure 6 As shown, the support frame 10 is connected to the frame 11 and is located on the top of the frame 11. The support frame 10 and the frame 11 can be connected by a cylinder or an oil cylinder so that the support frame 10 can be driven to support the top of the tunnel during the construction process.

[0076] That is to say, during the tunnel excavation process, the newly excavated tunnel roof is in an unstable state and is prone to collapse and other dangers. The support frame 10 can move in the height direction and can rise quickly after the cantilever tunnel boring machine 1 completes the excavation to provide temporary support for the tunnel roof. It can provide support for the roof in time to prevent the roof rock from falling under the action of gravity, thereby ensuring the safety of operators and equipment. For example, in some tunnels with poor geological conditions and relatively broken roof rocks, the rapid support effect of the support frame 10 is particularly obvious, which can greatly reduce the probability of roof accidents.

[0077] In addition, the tunnel heights of different coal mines may vary, and even in the same coal mine, the tunnel heights of different areas may vary. The mobility of the support frame 10 in the height direction enables it to adapt to tunnels of various heights. When the cantilever roadheader 1 enters tunnels of different heights, the support frame 10 can adjust its height according to actual conditions, provide effective support for the tunnel roof, and improve the versatility and adaptability of the device.

[0078] In some embodiments, the control component also includes a scanning unit, an information processing unit and a collaborative control unit. The scanning unit is used to obtain the tunnel cross-section contour data in real time. The information processing unit is used to dynamically adjust the anchor arrangement position of the drilling and anchor integrated drill arm 4 and the coverage range of the spraying robot arm 5 according to the contour data. The collaborative control unit is used to issue construction instructions to at least two of the sliding arm 2, the adjusting arm 3, the drilling and anchor integrated drill arm 4 and the spraying robot arm 5.

[0079] It is understandable that the tunnel cross-section profile data acquired in real time by the scanning unit reflects the real shape and size of the tunnel. The information processing unit dynamically adjusts the anchor arrangement position of the drill-anchor integrated drill arm 4 based on these data, which can ensure that the anchor is accurately arranged at the position where support is most needed. For example, in the case where there are convexities or concave depressions in the tunnel cross section, the information processing unit can adjust the anchor spacing and angle according to the actual situation, so that the anchor can better play a supporting role and improve the stability of the tunnel.

[0080] For the spraying robot arm 5, the information processing unit determines its coverage according to the tunnel profile data, which can ensure that the spraying material evenly covers the tunnel wall surface. Whether it is the top, side wall or corner of the tunnel, it can be fully sprayed to avoid missed spraying or uneven spraying, thereby improving the effect of spraying support.

[0081] In addition, the geological conditions of the tunnels in different coal mines are complex and changeable, and the cross-sectional profiles of the tunnels are also different. The combination of the scanning unit and the information processing unit enables the device to adapt to these changes in real time. When encountering special geological structures such as faults and folds that cause irregular cross-sections of tunnels, the device can adjust the operating parameters according to the actual contour data to ensure the quality of bolt support and spraying operations, thereby improving the adaptability of the device under complex geological conditions.

[0082] Therefore, through the automated workflow of the scanning unit, information processing unit and collaborative control unit, the manual judgment and operation links are reduced. The operator only needs to monitor the entire operation process without frequently manually adjusting the operating parameters of each component. This not only reduces the labor intensity of the operator, but also reduces the operation errors caused by human factors, further improving the operation efficiency and quality. The collaborative control unit can make adjustments based on the results of the information processing unit.

[0083] 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 referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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 and anchoring integrated excavation device, characterized in that: include: A cantilever type tunnel boring machine, the cantilever type tunnel boring machine comprising a frame and a crawler assembly, the crawler assembly being connected to the frame; A moving assembly, the moving assembly comprising a sliding arm and an adjusting arm, the sliding arm being connected to the frame and movable relative to the frame along the length direction of the cantilever type tunnel boring machine, the adjusting arm being connected to a first end of the sliding arm and movable relative to the sliding arm; A drill-anchor integrated drill arm, the drill-anchor integrated drill arm is connected to the first end of the adjustment arm, and the drill-anchor integrated drill arm is movable relative to the adjustment arm, and the drill-anchor integrated drill arm is used for drilling and anchoring operations on the tunnel wall; A spraying mechanical arm, the spraying mechanical arm is connected to the first end of the adjusting arm, and the spraying mechanical arm is used to spray supporting materials onto the wall of the tunnel; A control component, wherein the control component includes a scanning unit, and the scanning unit is used to obtain the tunnel cross-sectional profile data in real time. The mobile component, the drill-anchor integrated drill arm, and the spraying robot arm are all electrically connected to the control component. The control component is used to coordinate the movement timing of the mobile component, the drill-anchor integrated drill arm, and the spraying robot arm according to the tunnel cross-sectional profile data.

2. The spraying and drilling-anchoring integrated excavation device according to claim 1 is characterized in that: The cantilever tunneling machine also includes a cab, which is arranged on the frame and above the track assembly. The control assembly is arranged in the cab. The sliding arm and the cab are arranged relative to each other in the width direction of the cantilever tunneling machine. The track assembly includes track wheels, and the sliding arm and the track wheels are arranged relative to each other in the height direction of the cantilever tunneling machine.

3. The spraying and drilling-anchoring integrated excavation device according to claim 2 is characterized in that: There are multiple moving assemblies, and the multiple moving assemblies are relatively arranged on both sides of the cab along the width direction of the cantilever tunneling machine.

4. The spraying and drilling-anchoring integrated excavation device according to claim 1 is characterized in that: It also includes a first rotation joint and a second rotation joint, the first rotation joint and the second rotation joint are connected between the drill-anchor integrated drill arm and the adjustment arm, the first rotation joint is used to drive the drill-anchor integrated drill arm to rotate around a first direction, and the second rotation joint is used to drive the drill-anchor integrated drill arm to rotate around a second direction, and the first direction is orthogonal to the second direction.

5. The spraying and drilling-anchoring integrated excavation device according to claim 4 is characterized in that: It also includes a telescopic member, which is connected to at least one of the sliding arm and the adjusting arm, and is used to drive the adjusting arm to move along a third direction, which is orthogonal to the first direction and the second direction.

6. The spraying and drilling-anchoring integrated excavation device according to claim 1, characterized in that: It also includes a third rotation joint and a fourth rotation joint, wherein the third rotation joint and the fourth rotation joint are connected between the adjusting arm and the drilling and anchor integrated drill arm, the third rotation joint is used to drive the drilling and anchor integrated drill arm to rotate around a fourth direction, and the fourth rotation joint is used to drive the drilling and anchor integrated drill arm to rotate around a fifth direction, and the fourth direction is orthogonal to the fifth direction.

7. The spraying and drilling-anchoring integrated excavation device according to claim 6 is characterized in that: It also includes an operating platform, which is connected to the adjusting arm and is located at one end of the adjusting arm away from the sliding arm.

8. The spraying and drilling-anchoring integrated excavation device according to claim 1, characterized in that: It also includes a plurality of spray paint boxes, which are connected to the frame and arranged opposite to the spraying mechanical arm in the length direction of the cantilever tunneling machine. The spray paint boxes are connected to the spraying mechanical arm to provide spraying material for the spraying mechanical arm.

9. The spraying and drilling-anchoring integrated excavation device according to claim 1, characterized in that: It also includes a supporting frame, which is connected to the frame and is movable relative to the cantilever tunneling machine along the height direction of the cantilever tunneling machine.

10. The spraying and drilling-anchoring integrated excavation device according to claim 1, characterized in that: The control component also includes an information processing unit and a collaborative control unit. The information processing unit is used to dynamically adjust the anchor arrangement position of the drill-anchor integrated drill arm and the coverage range of the spraying robot arm according to the contour data. The collaborative control unit is used to issue construction instructions to at least two of the sliding arm, the adjustment arm, the drill-anchor integrated drill arm and the spraying robot arm.

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