Coal mine roadway tunneling anchor cable supporting device and method

Abstract

The invention provides a coal mine roadway tunneling anchor cable supporting device which comprises an anchor cable conveying mechanism, the anchor cable conveying mechanism comprises a main sliding frame, a sliding conveying assembly and a separated clamping conveying assembly, and the main sliding frame has the freedom degrees of movement in the x direction, the y direction and the z direction; the sliding conveying assembly is connected with the main sliding frame and used for conveying the anchor cable to the separating type clamping conveying assembly. The separating type clamping and conveying assembly is connected with the main sliding frame and used for clamping the anchor cable and conveying the anchor cable into the drill hole. The anchor cable is conveyed to the separation type clamping and conveying assembly through the sliding conveying assembly, the anchor cable is clamped and conveyed into a drill hole through the separation type clamping and conveying assembly, and the transverse position, the longitudinal position and the vertical position of the anchor cable can be adjusted through the main sliding frame. According to the anchor cable supporting device, standard storage of anchor cables and automation of anchor cable conveying and mounting are achieved, the efficiency of the anchor cable supporting process can be improved, the number of personnel arranged on a working face is reduced, and the labor intensity of anchor cable mounting personnel is relieved.

Description

Technical Field

[0001] The present application belongs to the technical field of anchor cable support, and more specifically, to a coal mine tunnel excavation anchor cable support device and method. Background Art

[0002] At present, the installation of mine anchor cables is still carried out manually or semi-mechanized. The support process mainly relies on manual cable delivery in combination with a single-type drilling rig and tensioning device to complete the installation of the anchor cable. The process is to fix the tail end of the anchor cable to the drilling rig after manual cable delivery to achieve the mixing of the anchor cable, and the installation of the lock is also completed by a handheld anchor cable tensioner. These methods have high requirements on the physical strength of workers and have great safety hazards, affecting the efficiency of installation.

[0003] In the prior art, the patent with publication number CN118242118A discloses an automated anchoring platform for combined support of anchor rods and anchor cables. The platform integrates a multi-cycle anchor drilling rig, an anchor cable support device, and a temporary support device, and can perform parallel support operations of anchor rods and anchor cables at the same time. However, the anchor cable support device in the platform still requires manual cable feeding, and then the tail end of the anchor cable is manually fixed to the drilling rig, which results in high labor intensity, low efficiency, and potential safety hazards for workers.

[0004] In view of this, the present application provides a coal mine tunnel excavation anchor cable support device for improving the automation level of anchor cable installation, which is of great significance to improving the efficiency and safety of anchor cable support underground in coal mines. Summary of the invention

[0005] To achieve the above-mentioned purpose, the technical solution adopted in this application is: on the one hand, a coal mine tunnel excavation anchor cable support device is provided, including an anchor cable conveying mechanism, the anchor cable conveying mechanism includes a main sliding frame, a sliding conveying assembly and a separate clamping and conveying assembly, the main sliding frame has three degrees of freedom of movement in the x, y and z directions; the sliding conveying assembly is connected to the main sliding frame, and is used to convey the anchor cable to the separate clamping and conveying assembly; the separate clamping and conveying assembly is connected to the main sliding frame, and is used to clamp the anchor cable and convey it into the borehole.

[0006] Optionally, the main sliding frame includes a transverse sliding rail, a base plate, a material rack, a lifting support and a longitudinal cylinder. The base plate is slidably connected to the transverse sliding rail, the lifting support is slidably connected to the base plate, the material rack and the longitudinal cylinder are installed on the base plate, the telescopic end of the longitudinal cylinder is connected to the lifting support, and the sliding conveying assembly and the separate clamping conveying assembly are installed on the lifting support.

[0007] Optionally, the sliding conveying assembly includes a conveying pipe, a sliding cylinder, a first conveying roller and a first motor, the conveying pipe is used to guide the anchor cable, the first motor is connected to the first conveying roller for conveying the anchor cable, a joint is provided at the outlet end of the conveying pipe, the sliding cylinder is installed on the lifting support, and the telescopic end of the sliding cylinder is connected to the joint for docking and separation of the joint with the separate clamping conveying assembly.

[0008] Optionally, a bell mouth is provided at the inlet end of the delivery pipeline.

[0009] Optionally, the separate clamping and conveying assembly includes a separation pipe, a second conveying roller, a second motor and an opening adjustment assembly, the second motor is transmission-connected to the second conveying roller; the separation pipe includes a first pipe fitting and a second pipe fitting that are separated from each other and slidably connected to the lifting support, the first pipe fitting and the second pipe fitting are both connected to a second conveying roller via a rotating shaft; the opening adjustment assembly is used to adjust the spacing between the first pipe fitting and the second pipe fitting.

[0010] Optionally, the opening adjustment assembly includes an opening adjustment cylinder and a connecting rod mechanism, the connecting rod mechanism includes a connecting rod support, a first connecting rod, a second connecting rod and a third connecting rod, the middle part of the second connecting rod is rotatably connected to the connecting rod support, the two ends of the second connecting rod are respectively hinged to the first connecting rod and the third connecting rod, a sliding groove is provided on the connecting rod support, the rotating shaft is slidably connected to the sliding groove, one of the rotating shafts is transmission-connected to the second motor, the second motor is slidably connected to the lifting support, one end of the opening adjustment cylinder is connected to the first pipe fitting or the second pipe fitting, and the other end is connected to the lifting support; and / or, it also includes two groups of position sensors, the two groups of position sensors are arranged in sequence along the length direction of the separation pipe, and are both close to the lower end of the separation pipe, for detecting the position of the anchor cable.

[0011] Optionally, it also includes a drilling and anchoring platform, the anchor cable conveying mechanism is arranged on the drilling and anchoring platform, and the drilling and anchoring platform is provided with a walking mechanism, an anchor cable storage mechanism and a mechanical arm, the anchor cable storage mechanism is used to store the anchor cable, and the mechanical arm is used to extract the anchor cable from the anchor cable storage mechanism and guide it to the anchor cable conveying mechanism.

[0012] Optionally, the anchor cable storage mechanism includes a storage frame and a plurality of anchor cable limiting columns arranged in the storage frame, and the plurality of anchor cable limiting columns are arranged in a spiral line.

[0013] Optionally, a sleeve is rotatably provided on the outer side of the anchor cable limiting column, and a plurality of limiting grooves are provided on the outer periphery of the sleeve.

[0014] On the other hand, the present application also provides a method for supporting anchor cables for tunneling in a coal mine, using the device provided in the first aspect, comprising the following steps:

[0015] Step 1: Inspection and initialization of anchor cable support device for coal mine tunnel excavation;

[0016] Step 2: Material preparation;

[0017] Step 3: Anchor cable transportation:

[0018] Step 301, drive the anchor cable support device to move forward and horizontally, so that the outlet of the anchor cable conveying mechanism and the drill hole are aligned in a vertical line, and then drive the lifting support to move upward, and stop at the corresponding position after reaching the set value;

[0019] Step 302: grab the anchor cable from the anchor cable storage mechanism by using a mechanical arm and guide it to the anchor cable conveying mechanism;

[0020] Step 303, detecting the position of the end of the anchor cable by an infrared position detection sensor, and when the end of the anchor cable stops at a predetermined position, controlling the first conveying roller and the second conveying roller to stop rotating;

[0021] Step 304, controlling the sliding conveying assembly to move backward;

[0022] Step 305, controlling the lifting support to move upward so that the end of the anchor cable extends out from the lower end of the separate clamping assembly;

[0023] Step 4: Anchor cable fastening:

[0024] Step 401, the anchor drilling rig drill box moves upward and inserts the lock 2 and the anchor bolt and anchor cable dual-purpose stirrer into the end of the anchor cable;

[0025] Step 402, the lifting support moves upward and the drill box moves upward and rotates;

[0026] Step 403: When reaching the designated position, the separate clamping assembly releases the anchor cable and withdraws backward, and the drill box stops rotating and withdraws downward;

[0027] Step 404: After the anchoring agent has solidified, the mechanical arm grabs the anchor cable tensioner and moves it to a corresponding position to tension the anchor cable;

[0028] Step 5: Repeat steps 2 to 4 for the next anchor cable support to be installed.

[0029] The beneficial effect of the anchor cable support device for coal mine tunnel excavation provided by the present application is that: compared with the prior art, the present application supports the sliding conveying assembly and the separate clamping conveying assembly through the main sliding frame, conveys the anchor cable to the separate clamping conveying assembly through the sliding conveying assembly, and clamps the anchor cable and conveys it into the borehole through the separate clamping conveying assembly. In addition, the main sliding frame has the freedom to move in three directions of x, y, and z, and can adjust the horizontal, longitudinal, and vertical positions of the anchor cable. The present application can work in coordination with a mechanical arm and a coal mine anchor drill, and can position the anchor cable during the anchor cable conveying process, which can improve the efficiency of the anchor cable support process and reduce the risk of personnel being exposed to unsafe working surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0031] Figure 1 A schematic diagram of the overall structure of a coal mine tunnel excavation anchor cable support device provided in an embodiment of the present application;

[0032] Figure 2 A schematic diagram of the structure of the anchor cable storage mechanism in the anchor cable support device for coal mine tunnel excavation provided in an embodiment of the present application;

[0033] Figure 3 A left view of the anchor cable conveying mechanism of the anchor cable support device for coal mine tunnel excavation provided in an embodiment of the present application;

[0034] Figure 4 A front view of the anchor cable conveying mechanism of the anchor cable support device for coal mine tunnel excavation provided in an embodiment of the present application;

[0035] Figure 5 A top view of the anchor cable conveying mechanism of the anchor cable support device for coal mine tunnel excavation provided in an embodiment of the present application;

[0036] Figure 6 An axonometric view of the head of the anchor cable conveying mechanism of the anchor cable support device for coal mine tunnel excavation provided in an embodiment of the present application;

[0037] Figure 7 A schematic diagram of the structure of a connecting rod support in a coal mine tunnel excavation anchor cable support device provided in an embodiment of the present application;

[0038] Figure 8 A schematic diagram of the structure of a connecting rod mechanism in a coal mine tunnel excavation anchor cable support device provided in an embodiment of the present application;

[0039] Fig. 9 A working principle diagram of the anchor cable support device for coal mine tunnel excavation provided in an embodiment of the present application;

[0040] Fig.10 Anchor cable installation flow chart provided for an embodiment of the present application.

[0041] Among them, the reference numerals in the figure are:

[0042] 1. Anchor cable storage mechanism; 11. Storage frame 11; 12. Anchor cable limit column; 13. Anchor cable; 2. Anchor cable conveying mechanism; 21. Main sliding frame; 211. Transverse sliding rail; 212. Bottom plate; 213. Material rack; 214. Lifting support; 215. Longitudinal cylinder; 216. Lock; 217. Anchor cable tray; 218. Resin medicine roll; 22. Sliding conveying assembly; 221. Conveying pipeline; 222. Bell mouth; 223. Sliding cylinder; 224. First conveying roller; 22. The first motor; 23. Separate clamping and conveying assembly; 231. Separation pipeline; 2311. First pipe fitting; 2312. Second pipe fitting; 232. Second conveying roller; 233. Second motor; 234. Connecting rod mechanism; 2341. First connecting rod; 2342. Second connecting rod; 2342. Third connecting rod; 235. Opening adjustment cylinder; 236. Connecting rod support; 237. Rotating shaft; 24. Position sensor; 3. Anchor drilling rig; 4. Mechanical arm; 5. Drilling and anchoring platform; 6. Walking mechanism. DETAILED DESCRIPTION

[0043] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0045] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application 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 a limitation on the present application.

[0046] 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0047] Please also read Figure 1-Figure 8 , the coal mine tunnel excavation anchor cable support device provided in the embodiment of the present application is now described.

[0048] A coal mine tunnel excavation anchor cable support device includes an anchor cable conveying mechanism 2, which includes a main sliding frame 21, a sliding conveying assembly 22 and a separate clamping and conveying assembly 23. The main sliding frame 21 has the freedom to move in three directions of x, y, and z; the sliding conveying assembly 22 is connected to the main sliding frame 21 and is used to convey the anchor cable to the separate clamping and conveying assembly 23; the separate clamping and conveying assembly 23 is connected to the main sliding frame 21 and is used to clamp the anchor cable and convey it into a borehole.

[0049] The present application supports the sliding conveying assembly 22 and the separate clamping conveying assembly 23 through the main sliding frame 21, conveys the anchor cable to the separate clamping conveying assembly 23 through the sliding conveying assembly 22, and clamps the anchor cable and conveys it into the borehole through the separate clamping conveying assembly 23. In addition, the main sliding frame 21 has the freedom to move in three directions of x, y, and z (x, y, and z are mutually perpendicular), and can adjust the horizontal, longitudinal, and vertical positions of the anchor cable. The present application can work in coordination with the mechanical arm 4 and the coal mine anchor drill rig 3, and can position the anchor cable during the anchor cable transportation process, which can improve the efficiency of the anchor cable support process and reduce the risk of personnel being exposed to unsafe working surfaces.

[0050] See also Figure 3 In some embodiments of the present application, the main sliding frame 21 includes a transverse sliding rail 211, a base plate 212, a material rack 213, a lifting support 214 and a longitudinal cylinder 215. The base plate 212 is slidably connected to the transverse sliding rail 211, the lifting support 214 is slidably connected to the base plate 212, the material rack 213 and the longitudinal cylinder 215 are installed on the base plate 212, the telescopic end of the longitudinal cylinder 215 is connected to the lifting support 214, and the sliding conveying assembly 22 and the separate clamping conveying assembly 23 are installed on the lifting support 214.

[0051] The bottom plate 212 can move horizontally (i.e., in the y-axis direction) on the transverse slide rail 211, and the longitudinal oil cylinder 215 can drive the lifting support 214 to move longitudinally (i.e., in the x-axis direction). The lifting support 214 itself can move in the vertical direction (i.e., in the z-axis direction), thereby driving the sliding conveying assembly 22 and the separate clamping conveying assembly 23 installed on the lifting support 214 to adjust the horizontal, longitudinal and vertical positions, thereby realizing the function of positioning the anchor cable during the anchor cable transportation process. The material rack 213 can be used to store the anchor cable tray 217, the resin medicine roll 218, the lock 216 and the drill rod, which is convenient for the anchor cable support construction.

[0052] See also Figure 4-Figure 6 The sliding conveying assembly 22 includes a conveying pipe 221, a sliding cylinder 223, a first conveying roller 224 and a first motor 22. The conveying pipe 221 is used to guide the anchor cable. The first motor 22 is connected to the first conveying roller 224 for conveying the anchor cable. A joint is provided at the outlet end of the conveying pipe 221. The sliding cylinder 223 is installed on the lifting support 214. The telescopic end of the sliding cylinder 223 is connected to the joint for docking and separation of the joint with the separate clamping conveying assembly 23.

[0053] When the anchor cable is transported, the anchor cable is passed through one end of the transport pipe 221 and passed through the other end. The transport pipe 221 can constrain the posture of the anchor cable during the transport process to prevent the anchor cable from shaking and interfering with the operation of other equipment. The first motor 22 drives the first transport roller 224 to rotate, and the first transport roller 224 contacts the anchor cable, driving the anchor cable forward through friction to achieve the transport of the anchor cable. The sliding cylinder 223 can drive the joint set at the outlet end of the transport pipe 221 to move.

[0054] In some embodiments of the present application, the sliding oil cylinder 223 is arranged along the x-axis direction, and when the joint is at the front end, it is aligned with the channel formed by the upper separate clamping and conveying assembly 23. At this time, the conveying pipe 221 and the channel formed by the separate clamping and conveying assembly 23 form a whole so that the anchor cable can pass smoothly. When the sliding oil cylinder 223 pulls the joint to the rear end, the conveying pipe 221 and the channel formed by the separate clamping and conveying assembly 23 are dislocated and disconnected, and at this time the anchor cable can move up and down in the channel formed by the separate clamping and conveying assembly 23 (i.e., in the z-axis direction).

[0055] In other embodiments of the present application, the sliding cylinder 223 can also be arranged along the y-axis direction or other directions, so that the joint and the channel formed by the separate clamping and conveying assembly 23 can be dislocated and disconnected, and the present application does not limit this.

[0056] See also Figure 6In some embodiments of the present application, a bell mouth 222 is provided at the inlet end of the delivery pipe 221. By providing the bell mouth 222, it is convenient for the anchor cable to penetrate into the delivery pipe 221.

[0057] See also Figure 6 In some embodiments of the present application, the separate clamping and conveying assembly 23 includes a separation pipe 231, a second conveying roller 232, a second motor 233 and an opening adjustment assembly. The second motor 233 is transmission-connected to the second conveying roller 232. The separation pipe 231 includes a first pipe fitting 2311 and a second pipe fitting 2312 that are separated from each other, and the first pipe fitting 2311 and the second pipe fitting 2312 are respectively slidably connected to the lifting support 214. The opening adjustment assembly is used to adjust the distance between the first pipe fitting 2311 and the second pipe fitting 2312 to adjust the opening of the separation pipe 231.

[0058] The separation pipe 231 is composed of two half pipes. The opening adjustment component can drive the two parts of the separation pipe 231 to move closer or farther from each other, thereby adjusting the opening of the separation pipe 231. The second motor 233 can drive the second conveying roller 232 to rotate. The second conveying roller 232 contacts the anchor cable and drives the anchor cable to move through friction to achieve the function of conveying the anchor cable. When the second conveying roller 232 clamps the anchor cable, the anchor cable can be conveyed upward. When the second conveying roller 232 is relaxed, it can assist in straightening the end of the anchor cable, so that the lock 216 can accurately penetrate the anchor cable during the tightening process.

[0059] See also Figure 6 , Figure 7 and Figure 8 In some embodiments of the present application, the opening adjustment assembly includes an opening adjustment cylinder 235 and a connecting rod mechanism 234, the connecting rod mechanism 234 includes a connecting rod support 236, a first connecting rod 2341, a second connecting rod 2342 and a third connecting rod 2343, the middle part of the second connecting rod 2342 is rotatably connected to the connecting rod support 236, the two ends of the second connecting rod 2342 are respectively hinged to the first connecting rod 2341 and the third connecting rod 2343, a sliding groove is provided on the connecting rod support 236, and two rotating shafts 237 are located in the sliding groove and are slidably connected to the sliding groove. One of the rotating shafts 237 passes through the sliding groove and is transmission-connected to the second motor 233, the second motor 233 is slidably connected to the lifting support 214, one end of the opening adjustment cylinder 235 is connected to the first pipe 2311 or the second pipe 2312, and the other end is connected to the lifting support 214.

[0060] See also Figure 6 In this embodiment, the telescopic end of the opening adjustment cylinder 235 is connected to the first pipe 2311, and the other end is connected to the lifting support 214. In other embodiments of the present application, the telescopic end of the opening adjustment cylinder 235 can also be connected to the second pipe 2312, which is not limited in the present application.

[0061] By extending and retracting the opening adjustment cylinder 235, one of the pipe fittings can be driven to move horizontally (i.e., in the y-axis direction) on the lifting support 214, thereby driving the rotating shaft 237 connected thereto to slide in the sliding groove on the connecting rod support 236. Since the two rotating shafts 237 are connected together through the connecting rod mechanism 234, one of the rotating shafts 237 can drive the other rotating shaft 237 to move relative to each other through the connecting rod mechanism 234, thereby driving the second motor 233, the pipe fitting and the second conveying roller 232 connected thereto to move horizontally (i.e., in the y-axis direction) to adjust the opening of the separation pipe 231 and the distance between the two second conveying rollers 232.

[0062] In other embodiments of the present application, the opening adjustment component may also adopt other structures as long as it can achieve the function of moving the first pipe 2311 and the second pipe 2312 closer to or farther away from each other, and the present application does not limit this.

[0063] See also Figure 4 , and also includes two groups of position sensors 24. The two groups of position sensors 24 are arranged in sequence along the length direction of the separation pipe 231 and are both close to the lower end of the separation pipe 231 for detecting the position of the anchor cable.

[0064] Specifically, in some embodiments of the present application, the position sensor 24 is an infrared position detection sensor, and the transmitting and receiving ends of the infrared position detection sensor are respectively placed on the first pipe 2311 and the second pipe 2312 to detect the position of the anchor cable. Optionally, two groups of infrared position detection sensors are installed, and the two groups of infrared position detection sensors are arranged in close proximity along the length direction of the separation pipe 231 to accurately detect the position of the anchor cable.

[0065] When the delivery pipe 221 is displaced to the rear end by the sliding cylinder 223, the passage formed by the delivery pipe 221 and the first pipe 2311 and the second pipe 2312 is disconnected, and the anchor cable can move up and down in the passage (i.e. Figure 6 After the infrared position detection sensor detects the end of the anchor cable, it controls the first pipe 2311 and the second pipe 2312 to move upward as a whole, so that the anchor cable is exposed for a distance, so as to dock with the agitator on the drilling rig drilling box to carry out the anchor cable advancement and anchor agent mixing process. After the mixing is completed, the anchor cable conveying mechanism 2 needs to withdraw from the current position so that the anchor cable tensioner can be tensioned. At this time, the first pipe 2311 and the second pipe 2312 can be driven by the opening adjustment cylinder 235 in the left and right directions (i.e. Figure 6 The rear device as a whole is pulled back along the x direction by the longitudinal movement cylinder 215 to exit the current position.

[0066] In some embodiments of the present application, a pressure sensor, an encoder, and a travel limit switch are also included. The pressure sensor is installed on the hydraulic pipeline of the opening adjustment cylinder 235 to detect and control the clamping force of the anchor cable. There are three encoders, which are respectively installed on the slide rails of the anchor cable conveying mechanism 2 to measure the displacement of the main sliding frame 21 along the x, y, and z directions. The travel limit switch is set in the moving direction of the sliding conveying component 22, and can stop automatically when the sliding conveying component 22 moves to the target position.

[0067] See also Figure 1 In some embodiments of the present application, the coal mine tunnel excavation anchor cable support device also includes a drilling and anchoring platform 5, on which a walking mechanism 6, an anchor cable storage mechanism 1 and a mechanical arm 4 are provided, and an anchor cable conveying mechanism 2 is also provided on the drilling and anchoring platform 5. The anchor cable storage mechanism 1 is used to store the anchor cable, and the mechanical arm 4 is used to extract the anchor cable from the anchor cable storage mechanism 1 and guide it to the anchor cable conveying mechanism 2.

[0068] The anchor cable 13 is drawn out from the anchor cable storage mechanism 1 and guided to the anchor cable conveying mechanism 2 by the mechanical arm 4, and the anchor cable is conveyed to the drilling position by the anchor cable conveying mechanism 2. No manpower is required in the whole process, which can reduce the use of manpower, reduce safety hazards, and improve installation efficiency.

[0069] In some embodiments of the present application, the walking mechanism 6 may be a crawler-type walking mechanism 6 , and in other embodiments of the present application, the walking mechanism 6 may be changed to a sliding shoe or a wheel type as needed.

[0070] See also Figure 2 In some embodiments of the present application, the anchor cable storage mechanism 1 includes a storage frame 11 and a plurality of anchor cable limiting columns 12 arranged in the storage frame 11, and the plurality of anchor cable limiting columns 12 are arranged in a spiral line.

[0071] The anchor cable limiting columns 12 are arranged in spiral lines, and the anchor cable can be limited in different layers of anchor cable limiting columns 12. The anchor cable is placed in the storage frame 11 by winding around the limiting columns from the outer circle to the inner circle. By storing the anchor cable in this way, more anchor cables can be stored in a smaller space than the storage method of equal diameter spiral lines.

[0072] See also Figure 2 In some embodiments of the present application, a sleeve is rotatably provided on the outer side of the anchor cable limiting column 12, and a plurality of limiting grooves are provided on the outer periphery of the sleeve.

[0073] By arranging a rotatable sleeve on the outside of the anchor cable limiting column 12, sliding friction can be converted into rolling friction, thereby reducing friction. By arranging a plurality of limiting grooves on the outer periphery of the sleeve, each groove can accommodate an anchor cable.

[0074] The present application also provides a method for installing an anchor cable. Figure 8 As shown, the installation methods for multiple positions to be supported are the same. When installing any position to be supported, the following steps are included:

[0075] Step 1: Inspection and initialization of the anchor cable support device for coal mine tunnel excavation: When the controller determines that the signals of each sensor are normal, the inspection and initialization of the anchor cable support device for coal mine tunnel excavation is completed;

[0076] Step 2, material preparation: the robot arm 4 grabs the tray to the top plate of the drilling rig, the robot arm 4 grabs the medicine roll and places it in the drill hole, the robot arm 4 grabs the anchor stirrer and the lock 216 and places them on the top of the drilling rig drill box;

[0077] Step 3: Anchor cable delivery process:

[0078] Step 301, drive the anchor cable support device to move forward and sideways, and use two encoders to measure and return the position of the device in the xoy plane, so that the outlet of the anchor cable conveying mechanism 2 and the drill hole are aligned in a vertical line, and then use the electric cylinder to push the lifting support 214 upward, and stop at the corresponding workstation after reaching the set value in the z direction.

[0079] Step 302, the robot arm 4 approaches the anchor cable storage mechanism 1 and grabs the anchor cable head and guides it to the bell mouth 222 of the anchor cable conveying mechanism 2;

[0080] Step 303: The first conveying roller 224 and the second conveying roller 232 keep rotating, and stop rotating when the infrared position detection sensor detects that the end of the anchor cable stops at a predetermined position;

[0081] Step 304, the sliding conveying assembly 22 is pulled back so that the anchor cable can extend from the lower end of the separate clamping assembly;

[0082] Step 305: The lifting support 214 moves upward by a certain distance so that the end of the anchor cable extends to a fixed length.

[0083] Step 4: Anchor cable tightening process:

[0084] Step 401, the drilling box of the anchor drilling rig 3 moves upward and inserts the lock 216 and the anchor bolt and anchor cable dual-purpose stirrer into the end of the anchor cable;

[0085] Step 402, the lifting support 214 moves upward and the drill box moves upward and rotates;

[0086] Step 403: When reaching the designated position, the separate clamping assembly releases the anchor cable and withdraws backward, and the drill box stops rotating and withdraws downward;

[0087] Step 404: After the anchoring agent has solidified, the robot arm 4 grabs the anchor cable tensioner and moves to a corresponding position to tension the anchor cable.

[0088] Step 5: Repeat steps 2 to 4 for the next anchor cable support to be installed.

[0089] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A coal mine tunnel excavation anchor cable support device, characterized in that: It includes an anchor cable conveying mechanism, which includes a main sliding frame, a sliding conveying assembly and a separate clamping and conveying assembly. The main sliding frame has the freedom to move in three directions of x, y and z; the sliding conveying assembly is connected to the main sliding frame and is used to convey the anchor cable to the separate clamping and conveying assembly; the separate clamping and conveying assembly is connected to the main sliding frame and is used to clamp the anchor cable and convey it into the borehole.

2. The coal mine tunnel excavation anchor cable support device according to claim 1, characterized in that: The main sliding frame includes a transverse sliding rail, a base plate, a material rack, a lifting support and a longitudinal cylinder. The base plate is slidably connected to the transverse sliding rail, the lifting support is slidably connected to the base plate, the material rack and the longitudinal cylinder are installed on the base plate, the telescopic end of the longitudinal cylinder is connected to the lifting support, and the sliding conveying assembly and the separate clamping conveying assembly are installed on the lifting support.

3. The anchor cable support device for coal mine tunnel excavation according to claim 2, characterized in that: The sliding conveying assembly includes a conveying pipe, a sliding oil cylinder, a first conveying roller and a first motor. The conveying pipe is used to guide the anchor cable. The first motor is connected to the first conveying roller and is used to convey the anchor cable. A joint is provided at the outlet end of the conveying pipe. The sliding oil cylinder is installed on the lifting support. The telescopic end of the sliding oil cylinder is connected to the joint for docking and separation of the joint with the separate clamping conveying assembly.

4. The coal mine tunnel excavation anchor cable support device according to claim 3, characterized in that: The inlet end of the delivery pipeline is provided with a bell mouth.

5. The coal mine tunnel excavation anchor cable support device according to claim 3, characterized in that: The separate clamping and conveying assembly includes a separation pipe, a second conveying roller, a second motor and an opening adjustment assembly, wherein the second motor is transmission-connected to the second conveying roller; the separation pipe includes a first pipe fitting and a second pipe fitting which are separated from each other and slidably connected to the lifting support, wherein the first pipe fitting and the second pipe fitting are both connected to a second conveying roller via a rotating shaft; the opening adjustment assembly is used to adjust the distance between the first pipe fitting and the second pipe fitting.

6. The coal mine tunnel excavation anchor cable support device according to claim 5, characterized in that: The opening adjustment component includes an opening adjustment cylinder and a connecting rod mechanism, the connecting rod mechanism includes a connecting rod support, a first connecting rod, a second connecting rod and a third connecting rod, the middle part of the second connecting rod is rotatably connected to the connecting rod support, the two ends of the second connecting rod are respectively hinged to the first connecting rod and the third connecting rod, a sliding groove is provided on the connecting rod support, the rotating shaft is slidably connected to the sliding groove, one of the rotating shafts is drivingly connected to the second motor, the second motor is slidably connected to the lifting support, one end of the opening adjustment cylinder is connected to the first pipe fitting or the second pipe fitting, and the other end is connected to the lifting support; and / or, it also includes two groups of position sensors, the two groups of position sensors are arranged in sequence along the length direction of the separation pipe, and are both close to the lower end of the separation pipe, for detecting the position of the anchor cable.

7. The anchor cable support device for coal mine tunnel excavation according to claim 1, characterized in that: It also includes a drilling and anchoring platform, the anchor cable conveying mechanism is arranged on the drilling and anchoring platform, and the drilling and anchoring platform is provided with a walking mechanism, an anchor cable storage mechanism and a mechanical arm, the anchor cable storage mechanism is used to store the anchor cable, and the mechanical arm is used to extract the anchor cable from the anchor cable storage mechanism and guide it to the anchor cable conveying mechanism.

8. The coal mine tunnel excavation anchor cable support device according to claim 7, characterized in that: The anchor cable storage mechanism comprises a storage frame and a plurality of anchor cable limiting columns arranged in the storage frame, and the plurality of anchor cable limiting columns are arranged in a spiral line.

9. The anchor cable support device for coal mine tunnel excavation according to claim 8, characterized in that: A sleeve is rotatably arranged on the outer side of the anchor cable limiting column, and a plurality of limiting grooves are arranged on the outer periphery of the sleeve.

10. A method for supporting coal mine tunnel excavation with anchor cables, using the device according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Inspection and initialization of anchor cable support device for coal mine tunnel excavation; Step 2: Material preparation; Step 3: Anchor cable transportation: Step 301, drive the anchor cable support device to move forward and horizontally, so that the outlet of the anchor cable conveying mechanism and the drill hole are aligned in a vertical line, and then drive the lifting support to move upward, and stop at the corresponding position after reaching the set value; Step 302: grab the anchor cable from the anchor cable storage mechanism by using a mechanical arm and guide it to the anchor cable conveying mechanism; Step 303, detecting the position of the end of the anchor cable by an infrared position detection sensor, and when the end of the anchor cable stops at a predetermined position, controlling the first conveying roller and the second conveying roller to stop rotating; Step 304, controlling the sliding conveying assembly to move backward; Step 305, controlling the lifting support to move upward so that the end of the anchor cable extends out from the lower end of the separate clamping assembly; Step 4: Anchor cable fastening: Step 401, the anchor drilling rig drill box moves upward and inserts the lock 2 and the anchor bolt and anchor cable dual-purpose stirrer into the end of the anchor cable; Step 402, the lifting support moves upward and the drill box moves upward and rotates; Step 403: When reaching the designated position, the separate clamping assembly releases the anchor cable and withdraws backward, and the drill box stops rotating and withdraws downward; Step 404: After the anchoring agent has solidified, the mechanical arm grabs the anchor cable tensioner and moves it to a corresponding position to tension the anchor cable; Step 5: Repeat steps 2 to 4 for the next anchor cable support to be installed.

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