Tunneling and anchoring all-in-one machine suitable for complex geological roadway and anchoring and protecting method

Abstract

The invention relates to the technical field of coal mine roadway tunneling and supporting, in particular to a tunneling and anchoring all-in-one machine suitable for complex geological roadways, which comprises a walking body part, a loading part, a conveying part, a cutting part, a drilling and anchoring platform and a dust removal and temporary supporting system, a rear support deviation adjusting system is arranged at the tail part of the walking body part; the cutting part is used for tunneling, the loading part is used for collecting coal cinder, and the transporting part is used for receiving and transporting coal cinder; the anchor drilling platform comprises a top anchor supporting unit and a side anchor supporting unit; the dust removal and temporary supporting system comprises a supporting frame body, a supporting top plate is arranged on the supporting frame body in a sliding mode, and a telescopic supporting top rod is arranged between the supporting frame body and the walking body part. The invention further provides an anchor protection method suitable for the complex geological roadway, and the problems that in the current weak surrounding rock coal roadway tunneling three-soft stratum, wall caving is prone to occurring, roof caving is prone to occurring, wall breaking is prone to occurring, anchor rod supporting of a low roadway is difficult, and bottom plate argillization equipment is prone to tail swinging are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine tunnel excavation and support, and in particular to an integrated excavator and anchoring machine and an anchoring method suitable for tunnels with complex geology. Background Art

[0002] Integrated excavation and anchoring rapid tunneling technology is one of the most advanced technologies in coal tunneling worldwide. This technology features parallel excavation, support, breaking, and transportation, as well as full-width cutting, significantly improving the efficiency and safety of coal tunneling. As a crucial piece of machinery in coal mining operations, the application of integrated excavation and anchoring machines directly impacts mine production and mining operations. my country has successfully developed integrated excavation and anchoring rapid tunneling technology suitable for stable and moderately stable surrounding rock conditions.

[0003] Currently, the widely used excavator-bolter-support machine in China is a comprehensive device that integrates tunneling, temporary support, and drilling and anchoring operations. It effectively addresses existing problems such as low efficiency in excavation and anchoring, numerous auxiliary operations, high labor intensity, and poor safety. However, the traditional tunneling and support method using conventional excavator-bolter machines has significant drawbacks. Its clear top distance is approximately 2.5 meters, and the clear side distance is as high as 4 meters. The support point is far from the head, making timely support difficult. Furthermore, in weak surrounding rock conditions ("three soft" formations, namely, soft bottom, soft top, and soft side walls), large-scale spalling and roof collapse are common. To date, China's integrated excavator-bolter-support technology for rapid tunneling in soft rock tunnels is still in its infancy. Key technologies such as immediate support with small clear top distances and roadway side stability control have yet to achieve comprehensive breakthroughs. In poor roadway conditions and unstable roof and side walls, roof deformation and spalling are highly likely to occur. In addition, conventional drilling and anchoring machines are not suitable for low coal mine tunnels. The construction working space of such low coal mine tunnels is narrow, which makes anchor support difficult and the operating safety of personnel is poor. In addition, the muddy bottom plate can easily cause the equipment to swing its tail.

[0004] Given these challenges, rapid tunneling technology using a drill-bolter system for weak surrounding rock has become an urgent need for deep coal mining in my country, especially in complex geological conditions. Currently, there is a pressing need to develop a drill-bolter system that can adapt to complex geological conditions such as low tunnels and small clearances. Summary of the Invention

[0005] In order to solve the current problems of easy spalling, easy roof collapse, and side fracture in soft surrounding rock coal tunnels, difficulty in anchor support in low tunnels, and easy tail swinging of equipment, the present invention proposes an all-in-one excavator and anchoring machine and anchoring method suitable for complex geological tunnels, which can realize efficient, safe and controllable working space-top distance in low tunnels, prevent equipment from overturning and tail swinging, ensure the stability of tunnel surrounding rock, and realize variable space-top distance, i.e. zero space-top distance, space-side distance and small space-top distance construction, as well as advanced support operations, effectively improve excavation efficiency, and improve the ease of operation and safety of equipment.

[0006] In order to achieve the above object, the technical solution of the present invention is: An integrated drilling and anchoring machine suitable for tunnels with complex geology, comprising a traveling main body, a loading unit, a transport unit, a cutting unit, a drilling and anchoring platform, and a dust removal and temporary support system; The walking body part includes a body frame and a crawler system symmetrically arranged on both sides of the body frame, and a rear support adjustment system is provided at the tail of the walking body part; The cutting part is used for excavation, the loading part is used for collecting the coal slag excavated by the cutting part, and the transport part is used for receiving and transporting the coal slag collected by the loading part; The drilling and anchoring platform comprises a lower fixed platform assembly and an upper sliding platform assembly provided on the walking body, wherein the lower fixed platform assembly comprises a left anchor fixing platform and a right anchor fixing platform, and the upper sliding platform assembly comprises a left anchor drilling platform and a right anchor drilling platform; the left anchor drilling platform and the right anchor drilling platform are both provided with two groups of top anchor support units and one group of auxiliary anchor support units; A screw is arranged between the dust removal and temporary support system and the walking main body. The dust removal and temporary support system includes a support frame and a dust removal fan arranged on the support frame. The support frame is hinged at the tail of the walking main body. A support top plate is slidingly arranged on the support frame. A retractable support top rod is arranged between the support frame and the walking main body.

[0007] The key improvements of the present invention lie in the walking head, drilling and anchoring platform, dust removal and temporary support system, which solve the current problems of easy spalling, easy roof falling, broken side of the side in the soft surrounding rock coal tunnel excavation, difficulty in anchor support in low tunnels, and easy tail swinging of the bottom plate mud equipment, and realize the construction of variable top distance, i.e. zero top distance, top distance and small top distance, as well as advanced support operations.

[0008] Furthermore, the crawler system includes a crawler body, a crawler driving wheel, a crawler mounting frame and a crawler driven wheel, wherein the crawler driving wheel and the crawler driven wheel are mounted on the crawler mounting frame, and the crawler driving wheel and the crawler driven wheel are connected through the crawler body; a slide is provided at one end of the crawler mounting frame, and a crawler tensioning cylinder is also provided on the crawler mounting frame, and the crawler tensioning cylinder drives the crawler driven wheel to slide along the slide; The crawler drive wheels are connected to a power mechanism comprising a drive motor and a travel reducer. A disc brake is interposed between the drive motor and the travel reducer, and the output of the travel reducer is connected to the crawler drive wheels. The traveling body utilizes a crawler-type traction structure. The crawler drive wheels rotate the crawler driven wheels through the crawler body, and friction from the ground propels the traveling body forward and backward. This power mechanism transmits power from the drive motor to the crawler drive wheels, thereby rotating the crawler body. Furthermore, if hydraulic power is lost in the traveling body, the disc brakes immediately activate, preventing the miner and anchor machine from further movement. Furthermore, the walking main body also includes a guide rail, a lifting support seat and a groove cylinder. The guide rails are set in two and are distributed in parallel and spaced apart on the crawler mounting frame, and the cutting part is slidably set on the guide rails; the lifting support seat is symmetrically distributed on the left and right sides of the front part of the crawler mounting frame, and the two ends of the retractable support top rod are respectively hinged to the lifting support seat and the support frame body; one end of the groove cylinder is hinged to the main body frame, and the other end is hinged to the cutting part.

[0009] Furthermore, the rear support deviation adjustment system includes a right rear support assembly, a rear support bottom cylinder, a left rear support assembly, a sliding shoe, and an adjustment cylinder. The right and left rear support assemblies are symmetrically mounted within the limiting slots of the main frame. The upper end of the rear support bottom cylinder is hinged to the main frame, and its lower end is hinged to the right or left rear support assembly. Two sliding shoes are provided, each with an internal hinged base. The bottoms of the right and left rear support assemblies are connected to the hinged bases via a ball joint structure. One end of the adjustment cylinder is hinged to the ear seat of the sliding shoe, and the other end is hinged to one of the hinged bases. By providing the rear support adjustment system, the equipment's posture can be adjusted left and right, while adapting to changes in roadway slope, preventing overturning, and preventing the equipment from swinging its tail.

[0010] Furthermore, the left anchor guard fixing platform and the right anchor guard fixing platform are both fixedly connected to the main body frame, and an operating table is also provided on the left anchor drilling platform and the right anchor drilling platform; the left anchor guard fixing platform and the left anchor drilling platform, and the right anchor guard fixing platform and the right anchor drilling platform are both connected through a propulsion cylinder.

[0011] Furthermore, the top anchor support unit includes a top anchor drill fixed to the top anchor connecting frame, a rotary oil cylinder driving the top anchor connecting frame to flip, and a front-back swing oil cylinder and a left-right swing oil cylinder for adjusting the angle of the top anchor drill; The top anchor connection frame is connected to the left or right anchor support fixed platform via the rotary cylinder. Both ends of the fore-aft and lateral swing cylinders are hinged to the top anchor drilling rig. The fore-aft and lateral swing cylinders can be extended and retracted to allow for small-angle adjustments in the fore-aft and lateral directions of the top anchor drilling rig. Simultaneously, the rotary cylinder can be rotated and tilted forward 90° to achieve large-angle adjustments, positioning it in the open top area at the top of the cutting section to support anchor rods and cables with a small distance from the top plate.

[0012] Furthermore, the anchor support unit includes an anchor connecting frame, an anchor drilling rig carriage driven by a lifting cylinder, a lifting mechanism, and a rotary drive mechanism for carrying the anchor drilling rig. The lifting mechanism includes a lifting cylinder, which is laterally limited to the anchor drilling rig carriage by a clamping plate, and a chain is provided at the end of the piston rod of the lifting cylinder. The lifting cylinder is connected to the anchor connecting frame, and its other end is hinged to the anchor drilling rig slide; a rotary drive seat is slidably provided on the guide column of the anchor drilling rig slide, and the rotary drive mechanism is fixedly connected to the rotary drive seat, and the rotary drive seat is fixedly connected to the chain provided on the double-lift cylinder, and the anchor drilling rig is connected to the output end of the rotary drive mechanism. Among them, the anchor drilling rig adopts a double-lift mechanism, and the chain arranged on the double-lift cylinder drives the rotary drive mechanism, the rotary drive and the anchor drilling rig as a whole to rise and fall. The rotary drive mechanism drives the anchor drilling rig to swing up and down, realizes the support of the side wall, adapts to different row spacing construction, and ensures the construction range and angle of the anchor support.

[0013] Furthermore, the dust removal and temporary support system also includes a sliding cylinder, each end of which is hinged to the support frame and the support top plate. The bottom plate of the support top plate cooperates with the slideway of the support frame and is limited by a pressure block. The dust removal and temporary support system functions to provide temporary support during variable top distance support, ensuring the safety of construction workers and improving the working environment. Anchoring operations then begin.

[0014] Furthermore, the hydraulic system and electrical system for controlling the operation of the anchoring and mining machine are also included. The hydraulic system and electrical system are located on the walking body 100 and provide hydraulic power and control functions for the operation of the whole machine.

[0015] The present invention also provides an anchoring method adapted to complex geological tunnels, using the above-mentioned anchoring and digging machine, comprising the following steps: Step S1: Cutting and excavation operation: The cutting section cuts and breaks the rock, and the drilling and anchoring platform is retracted. At the same time, the transport section and the loading section jointly transfer the coal slag collected by the loading section and transport it to the tail of the equipment. Step S2: Temporary support: The support frame is lifted by the retractable support rod in the dust removal and temporary support system, and the support top plate on the support frame slides to the head-on top plate for temporary support; Step S3, anchoring operation: the upper sliding platform assembly of the drilling and anchoring platform slides forward as a whole to the empty top area at the upper end of the cutting part, the top anchor drill is flipped forward 90 degrees and the angle is adjusted to anchor the top plate, and the side anchor drill slides up and down and swings to anchor the side plate; Step S4: Device posture adjustment: During the tunneling and anchoring process, when the equipment swings its tail, the rear support base cylinder is used to hold the ground tight. Then, the cylinder is extended and retracted to drive the articulated base to slide along the sliding shoe, thereby synchronously adjusting the center of gravity and the left and right posture of the equipment to adapt to the roadway slope. Among them, step S1 and step S3 are interlocked to ensure that the cutting and excavation operations and the anchoring and protection operations do not interfere with each other.

[0016] Through the above technical solution, the beneficial effects of the present invention are: The present invention provides a combined boring and anchoring machine suitable for complex geological tunnels. The crawler-type walking body provides power and stable support for the machine's excavation, ensuring low ground pressure driving capability and operational efficiency, while also providing an installation interface for other machine components. A rear support adjustment system is located at the rear end of the walking body, enabling adjustment of the machine's height on both sides. This allows for left-right adjustment of the machine's posture to adapt to changes in tunnel slope and prevent overturning. Furthermore, front legs can be provided at the front end of the walking body to provide vertical stability support for the machine, facilitating maintenance and inspection. The loading and transporting sections are located above the walking body, transporting coal slag from the excavation face to the rear of the boring and anchoring machine. The cutting section, located at the front end of the walking body, performs a back-and-forth reciprocating motion to complete the cutting cycle. The dust removal and temporary support system is located on the top of the drilling and anchoring machine. It provides temporary support from the supporting top plate to the head top plate, so as to achieve timely support for the variable top distance of the head top plate, ensure the safety of the workers, and is equipped with a dust removal fan to achieve dust removal at the head. The drilling and anchoring platform is arranged at the front end of the walking body, and the drilling and anchoring platform is divided into two layers, the upper top anchor support unit can realize small angle adjustment in the front and rear and left and right directions, and can rotate and flip forward 90 degrees to realize large angle adjustment, so that the top anchor support unit is located in the empty top area at the upper end of the cutting part, meeting the anchor and anchor cable support of the small empty top distance from the top plate, minimizing the distance from the head, and ensuring construction safety; the upper side anchor support unit realizes the support of the side wall, and can adapt to different row spacing construction, ensure the construction range and angle of the anchor support, so as to adapt to the support requirements of low tunnels and soft and broken surrounding rocks, and realize the rapid excavation support of small empty top distances in tunnels with complex geological conditions such as weak and broken surrounding rock roof with poor self-stability and broken side walls, meet the anchor and anchor cable support of small empty top distance from the top plate and the support of side walls, realize variable empty top distance, i.e. zero empty top distance, empty side distance and small empty top distance as well as advanced support operation, with high excavation efficiency and the ability to complete anchor row positioning without retreating the machine.

[0017] The key improvements of the present invention lie in the walking head, drilling and anchoring platform, dust removal and temporary support system, so as to solve the current problems of easy spalling, easy roof falling, broken side of the three soft strata in the soft surrounding rock coal tunnel excavation, difficulty in anchor support of low tunnels and easy tail swinging of the bottom plate mud equipment, and realize the construction of variable top distance, i.e. zero top distance, top distance and small top distance, as well as advanced support operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a front view of a drilling and anchoring machine adapted to tunnels with complex geology according to the present invention; Figure 2 This is a top view of a drilling and anchoring machine adapted to complex geological tunnels according to the present invention; Figure 3 This is a schematic diagram of the walking main body of a mining and anchoring machine adapted to complex geological tunnels according to the present invention; Figure 4 Schematic diagram of the rear support adjustment system of the integrated mining and anchoring machine adapted to complex geological tunnels of the present invention Figure 1 ; Figure 5 Schematic diagram of the rear support adjustment system of the integrated mining and anchoring machine adapted to complex geological tunnels of the present invention Figure 2 ; Figure 6 This is a schematic diagram of a drilling and anchoring platform in a drilling and anchoring machine adapted to complex geological tunnels according to the present invention; Figure 7 This is a schematic diagram of a dust removal and temporary support system in a boring and anchoring machine suitable for complex geological tunnels according to the present invention.

[0019] The reference numerals in the accompanying drawings are: 100. Traveling body; 101. Body frame; 102. Track body; 103. Guide rail; 104. Lifting support seat; 105. Grooving cylinder; 107. Right rear support assembly; 108. Rear support bottom cylinder; 109. Left rear support assembly; 110. Slipper; 111. Adjustment cylinder; 112. Drive motor; 113. Disc brake; 114. Travel reducer; 115. Track driving wheel; 116. Track mounting frame; 117. Track driven wheel. 200, loading unit; 300, transport unit; 400, cutting unit; 500, Drilling and Anchoring Platform; 501, Left Anchor Guard Fixed Platform; 502, Left Anchor Drilling Platform; 503, Right Anchor Drilling Platform; 504, Top Anchor Drilling Rig; 505, Secondary Anchor Drilling Rig; 506, Top Anchor Connecting Frame; 507, Secondary Anchor Connecting Frame; 508, Rotary Cylinder; 509, Thrust Cylinder; 510, Forward and Rear Swing Cylinder; 511, Left and Right Swing Cylinder; 512, Secondary Anchor Drilling Rig Slide; 513, Lift Cylinder; 514, Rotary Drive Mechanism; 515, Rotary Drive Base; 516, Lift Cylinder; 517, Operating Platform; 518, Right Anchor Guard Fixed Platform; 600, dust removal and temporary support system; 601, support frame; 602, dust removal fan; 603, sliding cylinder; 604, support top plate; 605, briquetting; 606, screw; 700, hydraulic system; 800, electrical system. DETAILED DESCRIPTION

[0020] The present invention will be further described below with reference to the accompanying drawings and specific embodiments: like Figure 1-Figure 7As shown, this embodiment provides an integrated excavator and anchoring machine adapted to complex geological tunnels, including a walking body 100, a loading part 200, a transport part 300, a cutting part 400, a drilling and anchoring platform 500, and a dust removal and temporary support system 600; the walking body 100 includes a body frame 101 and a crawler system symmetrically arranged on both sides of the body frame 101, and a rear support adjustment system is provided at the tail of the walking body 100; the cutting part 400 is used for excavation, the loading part 200 is used for collecting the coal slag excavated by the cutting part 400, and the transport part 300 is used for receiving and transporting the coal slag collected by the loading part 200; the drilling and anchoring platform 500 includes a lower fixed platform assembly and an upper sliding platform assembly arranged on the walking body 100, and the lower fixed platform assembly and the upper sliding platform assembly are provided. The fixed platform assembly includes a left anchor fixing platform 501 and a right anchor fixing platform 518, and the upper sliding platform assembly includes a left anchor drilling platform 502 and a right anchor drilling platform 503; the left anchor drilling platform 502 and the right anchor drilling platform 503 are both provided with two groups of top anchor support units and one group of auxiliary anchor support units; a screw 606 is provided between the dust removal and temporary support system 600 and the walking main body 100, and the dust removal and temporary support system 600 includes a support frame 601 and a dust removal fan 602 arranged on the support frame 601, and the support frame 601 is hinged at the tail of the walking main body 100, and a support top plate 604 is slidably provided on the support frame 601, and a retractable support top rod is provided between the support frame 601 and the walking main body 100.

[0021] The present invention provides an integrated drilling and anchoring machine that is adaptable to complex geological tunnels. The walking body 100 adopts crawler walking to provide power for the tunneling of the entire machine, and also provides stable support for the tunneling of the entire machine, ensuring low ground pressure driving capability and operating efficiency, and providing an installation interface for the installation of other components of the entire machine; a rear support adjustment system is arranged at the rear end of the walking body 100, so as to realize the adjustment of the height of both sides of the equipment body, and the posture of the equipment can be adjusted in the left and right directions to adapt to changes in the slope of the tunnel and prevent overturning. Moreover, it should be noted that a front support leg can also be provided at the front end of the walking body 100 to form a stability support for the up and down directions of the equipment, which is convenient for maintenance and inspection.

[0022] The loading part 200 and the transport part 300 are located on the upper part of the walking body 100, so as to transport the coal slag on the excavation face from the front to the tail of the drilling and anchoring machine; the cutting part 400 is arranged at the front end of the walking body 100, so as to realize the back and forth reciprocating circular motion to complete the cutting cycle operation.

[0023] The dust removal and temporary support system 600 is located at the top of the drilling and anchoring machine. It provides temporary support to the head top plate through the support top plate 604, so as to achieve timely support for the variable top distance of the head top plate, ensure the safety of the workers, and is equipped with a dust removal fan 602 to achieve head dust removal.

[0024] The drilling and anchoring platform 500 is arranged at the front end of the walking body 100. The drilling and anchoring platform 500 is divided into two layers, the upper top anchor support unit can realize small angle adjustment in the front and rear and left and right directions, and can be rotated and flipped forward 90° to realize large angle adjustment, so that the top anchor support unit is located in the empty top area at the upper end of the cutting part; the upper side anchor support unit realizes the support of the side side, can adapt to different row spacing construction, ensure the anchor support construction range and angle, so as to adapt to the support requirements of low tunnels and soft and broken surrounding rocks, and realize the rapid excavation support of small empty top distances in tunnels with complex geological conditions such as weak and broken surrounding rock roof with poor self-stability and broken side, meet the anchor rod and anchor cable support of the top plate with small empty top distance and side side support, realize variable empty top distance, i.e. zero empty top distance, empty side distance and small empty top distance and advance support operation, with high excavation efficiency and the ability to complete anchor row positioning without retreating the machine.

[0025] Please refer again Figure 3 The track system includes a track body 102, a track driving wheel 115, a track mounting frame 116, and a track driven wheel 117. The track driving wheel 115 and the track driven wheel 117 are mounted on the track mounting frame 116 and connected through the track body 102. A slideway is provided at one end of the track mounting frame 116, and a track tensioning cylinder 106 is also provided on the track mounting frame 116. The track tensioning cylinder 106 drives the track driven wheel 117 to slide along the slideway. The track body 102 is tensioned by the track tensioning cylinder 106, and a mechanical clamping plate is provided to ensure that the track tensioning cylinder 106 does not retract, thereby preventing the track body 102 from loosening.

[0026] To adapt to the complex ground conditions of tunnels, the travel system of the miner-anchor machine requires enhanced maneuverability and gradeability. To this end, the present invention utilizes a crawler-type traction structure for the traveling body 100, which features a large contact area. This reduces pressure on the muddy floor and provides stable support for the machine's excavation, ensuring low ground pressure and operational efficiency. This system also drives the cutting unit 400 during operation and facilitates long-distance movement. The crawler driving wheels 115 rotate via the crawler body 102, driving the crawler driven wheels 117. Friction from the ground propels the traveling body 100 forward and backward.

[0027] Among them, the crawler driving wheel 115 is connected to a power mechanism, which includes a drive motor 112 and a travel reducer 114. A disc brake 113 is arranged between the drive motor 112 and the travel reducer 114. The output end of the travel reducer 114 is connected to the crawler driving wheel 115.

[0028] The aforementioned power mechanism transmits power from the drive motor 112 to the crawler drive wheels 115, thereby driving the crawler body 102 to rotate. Each left and right crawler system is equipped with a separate drive motor 112, disc brake 113, and travel reducer 114 to transmit driving force. The disc brake 113 is directly connected in series between the output of the drive motor 112 and the input of the travel reducer 114, forming a "motor-brake-reducer" power transmission chain. When the traveling body 100 loses hydraulic power, the disc brake 113 immediately responds, applying braking and preventing the miner and anchor machine from further movement. In this embodiment, the walking main body 100 also includes a guide rail 103, a lifting support seat 104 and a groove cylinder 105. The guide rail 103 is set in two and is distributed in parallel on the crawler mounting frame 116. The cutting part 400 is slidably set on the guide rail 103; the lifting support seat 104 is symmetrically distributed on the left and right sides of the front part of the crawler mounting frame 116, and the two ends of the retractable support top rod are respectively hinged to the lifting support seat 104 and the support frame body 601; one end of the groove cylinder 105 is hinged to the main body frame 101, and the other end is hinged to the cutting part 400.

[0029] The lifting support seat 104 provides a pin-axis hinge interface for the lifting cylinder of the loading part 200 and the retractable supporting top rod of the dust removal and temporary support system 600, and realizes the forward and backward movement of the cutting part 400 through the extension and retraction of the groove cylinder 105.

[0030] Please refer again Figure 4 and Figure 5 The rear support adjustment system includes a right rear support assembly 107, a rear support bottom oil cylinder 108, a left rear support assembly 109, a sliding shoe 110 and an adjusting cylinder 111. The right rear support assembly 107 and the left rear support assembly 109 are symmetrically installed in the limit groove of the main frame 101; the upper end of the rear support bottom oil cylinder 108 is hinged to the main frame 101, and the lower end thereof is hinged to the right rear support assembly 107 or the left rear support assembly 109; there are two sliding shoes 110, and each sliding shoe 110 is provided with an articulated base 118. The bottom of the right rear support assembly 107 and the left rear support assembly 109 are connected to the articulated base 118 through a ball joint structure; one end of the adjusting cylinder 111 is hinged to the ear seat of the sliding shoe 110, and the other end is hinged to one of the articulated bases 118.

[0031] By setting up the above structure, taking the hinged connection between the adjustment cylinder 111 and the hinged base 118 at the bottom of the left rear support assembly 109 as an example, when the adjustment cylinder 111 is extended or retracted, it drives the hinged base 118 on one side to slide laterally along the sliding shoe 110, synchronously pulling the right rear support assembly 107, the rear support bottom cylinder 108, and the hinged base 118 on the other side to move horizontally as a whole, achieving equipment posture adjustment and anti-overturning. The bottom of the sliding shoe 110 is welded with wear-resistant strips to increase friction between the sliding shoe 110 and the ground.

[0032] Furthermore, the left anchoring and fixing platforms 501 and the right anchoring and fixing platforms 518 are both fixedly connected to the main frame 101. An operating platform 517 is also provided on the left anchoring and drilling platforms 502 and the right anchoring and drilling platforms 503. The left anchoring and fixing platforms 501 and 502, as well as the right anchoring and fixing platforms 518 and 503, are connected via propulsion cylinders 509. The propulsion cylinders 509 extend and retract to drive the upper sliding platform to slide along the excavation direction, allowing the top anchor support unit and the auxiliary anchor support unit to move forward to the empty top area at the upper end of the cutting section.

[0033] For details, please refer again to Figure 6 The top anchor support unit includes a top anchor drill 504 fixed to a top anchor connecting frame 506, a rotary cylinder 508 for driving the top anchor connecting frame 506 to flip, and a front and rear swing cylinder 510 and a left and right swing cylinder 511 for adjusting the angle of the top anchor drill 504.

[0034] The top anchor connection frame 506 is connected to the left anchor support fixed platform 501 or the right anchor support fixed platform 518 via the rotary cylinder 508. The two ends of the fore-aft swing cylinder 510 and the left-right swing cylinder 511 are respectively hinged to the top anchor drilling rig 504. The fore-aft swing cylinder 510 and the left-right swing cylinder 511 can be extended and retracted to allow the top anchor drilling rig 504 to achieve small angle adjustments in the fore-aft and left-right directions. Simultaneously, the rotary cylinder 508 can be rotated and tilted forward 90° to achieve large angle adjustments, positioning it in the empty top area at the upper end of the cutting section, thereby meeting the requirements for anchor rod and anchor cable support with a small empty top distance from the roof.

[0035] The anchor support unit includes an anchor connecting frame 507, an anchor drilling rig slide 512 driven by a lifting cylinder 516, a lifting mechanism and a rotary drive mechanism 514 for carrying the anchor drilling rig 505. The lifting mechanism includes a lifting cylinder 513, and the lifting cylinder 513 is laterally limited to the anchor drilling rig slide 512 by a clamping plate. A chain is provided at the end of the piston rod of the lifting cylinder 513.

[0036] Furthermore, the lifting cylinder 516 is connected to the anchor connecting frame 507, and the other end thereof is hinged to the anchor drilling rig slide 512; a rotary drive seat 515 is slidingly provided on the guide column of the anchor drilling rig slide 512, and the rotary drive mechanism 514 is fixedly connected to the rotary drive seat 515, and the rotary drive seat 515 is fixedly connected to the chain provided on the lifting cylinder 513, and the anchor drilling rig 505 is connected to the output end of the rotary drive mechanism 514.

[0037] The anchor drill rig 505 on the slewing drive seat 515 rotates under the rotation of the slewing drive mechanism 514. The extension and retraction of the lifting cylinder 516 can drive the anchor drill rig slide 512, the lifting cylinder 513, the slewing drive mechanism 514, the slewing drive seat 515 and the anchor drill rig 505 as a whole to be adjusted over a large range on the track. The anchor drill rig 505 adopts a lifting mechanism, and the slewing drive mechanism 514, the slewing drive 515 and the anchor drill rig 505 are lifted and lowered as a whole through the chain arranged on the slewing cylinder 513. The slewing drive mechanism 514 drives the anchor drill rig 505 to swing up and down, realize side support, adapt to different row spacing construction, and ensure the construction range and angle of anchor support.

[0038] Please refer again Figure 7 The dust removal and temporary support system 600 also includes a sliding cylinder 603, the two ends of which are hinged to the support frame 601 and the support top plate 604 respectively; the bottom plate of the support top plate 604 cooperates with the slide of the support frame 601 and is limited by the pressure block 605.

[0039] The telescopic support rod's telescopic movement drives the support frame 601 to achieve height lifting, while the sliding cylinder 603's telescopic movement drives the support top plate 604 to slide back and forth, forming a coordinated compound movement, so that the support top plate 604 is tightly fitted with the top plate, achieving timely support for the variable top distance of the head-on top plate, thereby ensuring the safety of the workers; the dust removal and temporary support system 600 integrates the compact dust removal fan 602 and temporary support functions, providing temporary support during variable top distance support, ensuring the safety of construction workers, and improving the working environment of the working face.

[0040] The present invention provides a mining and anchoring machine suitable for complex geological tunnels, and also includes a hydraulic system 700 and an electrical system 800 for controlling the operation of the mining and anchoring machine. The hydraulic system 700 and the electrical system 800 are located on the main body 100 and provide hydraulic power and control functions for the operation of the entire machine.

[0041] The present invention also provides an anchoring method adapted to complex geological tunnels, using the above-mentioned anchoring and digging machine, comprising the following steps: Step S1, cutting and excavation operation: the cutting part 400 is used to cut and break the rock, and the drilling and anchoring platform 500 is retracted; at the same time, the transportation part 300 and the loading part 200 jointly transfer the coal slag collected by the loading part 200 and transport it to the tail end of the equipment.

[0042] In step S1, the cutting unit 400 drives the cutting drum to rotate via the cutting motor and reducer. The swing cylinder between the middle portion of the cutting boom and the carriage drives the cutting boom to swing. The cutting unit 400 advances and retreats via the expansion and contraction of the grooving cylinder 105, forming a reciprocating, compound motion, thereby completing the rock-breaking processes of cutting, grooving, cutting down, and pulling down. Furthermore, the transport unit 300 and the loading unit 200 work together to transfer the coal slag collected by the loading unit 200 and deliver it to the rear of the anchor-drilling machine, achieving continuous transportation of coal slag from the front of the excavation face. Together with the loading unit 200, the coal slag is transported from the front of the excavation face to the rear of the anchor-drilling machine. Furthermore, when cutting the working face downward or upward, the rear support cylinder 108 is adjusted to shift the center of gravity of the machine forward to stabilize the machine.

[0043] Step S2, temporary support: the support frame 601 is lifted by the retractable support rod in the dust removal and temporary support system 600, and at the same time, the support top plate 604 on the support frame 601 slides to the head-on top plate for temporary support.

[0044] In step S2, the support frame 601 is lifted in height by the extension and retraction of the retractable support top rod, and at the same time, the extension and retraction of the sliding cylinder 603 drives the support top plate 604 to slide back and forth, forming a coordinated compound movement, so that the support top plate 604 is tightly fitted with the top plate, which plays a role in timely supporting the variable top distance of the head top plate and ensuring the safety of the workers; and the dust removal and temporary support system 600 plays a role in providing temporary support during the variable top distance support, ensuring the safety of the construction workers and improving the working environment of the working face, and then the anchoring operation begins.

[0045] Step S3, anchoring operation: the upper sliding platform assembly of the drilling and anchoring platform 500 slides forward as a whole to the empty top area at the upper end of the cutting part 400, the top anchor drilling rig 504 flips forward 90° and adjusts the angle to anchor the top plate, and the side anchor drilling rig 505 slides up and down and swings to anchor the side.

[0046] In step S3, when the anchoring operation is in progress, the cutting part 400 is completely moved back and laid to the bottom, and the cutting part 400 is driven to retreat by the groove cylinder 105; the drilling and anchoring platform 500 is divided into two layers, the upper sliding platform assembly is adjustable and pushed forward along the excavation direction and advanced to the front end of the excavation face, so that it is located in the empty top area at the upper end of the cutting part. On the one hand, the drilling and anchoring platform 500 realizes the top anchor drilling rig 504 to achieve small angle adjustment in the front and rear and left and right directions through the front and rear swing cylinders 510 and the left and right swing cylinders 511, and at the same time, the rotary cylinder 508 can be rotated and flipped forward 90° to achieve large angle adjustment to meet the anchor rod and anchor cable support with a small empty top distance from the top plate; on the other hand, the auxiliary anchor drilling rig 505 rotates under the rotation of the rotary drive mechanism 514, and the auxiliary anchor drilling rig slide 512, the double lift cylinder 513, the rotary drive mechanism 514, the rotary drive mechanism 516 and the rotary drive mechanism 517 can be driven by the extension and contraction of the lifting cylinder 516 The seat 515 and the anchor drill rig 505 are adjusted on the track in a large range as a whole, and the anchor drill rig 505 adopts a double-lift mechanism, which drives the slewing drive mechanism 514, the slewing drive 515 and the anchor drill rig 505 to rise and fall as a whole through the chain arranged on the double-lift cylinder 513. The slewing drive mechanism 514 drives the anchor drill rig 505 to swing up and down to achieve side wall support, adapt to different row spacing construction, ensure the construction range and angle of anchor support, thereby adapting to the support requirements of low tunnels and soft and broken surrounding rocks, and achieving rapid excavation and support of small empty top distances in tunnels with complex geological conditions such as weak and broken surrounding rock roofs with poor self-stability and broken sides, meeting the anchor and anchor cable support of the top plate with small empty top distances and the support of the side walls, realizing variable empty top distances, i.e. zero empty top distance, empty wall distance and small empty top distance as well as advanced support operations, with high excavation efficiency and the ability to complete anchor row positioning without retreating the machine.

[0047] Among them, step S1 and step S3 are interlocked to ensure that the cutting and excavation operations and the anchoring and protection operations do not interfere with each other.

[0048] Step S4: Equipment posture adjustment: When the equipment swings its tail during the excavation and anchoring construction process, the rear support bottom cylinder 108 is used to hold the ground tightly, and then the cylinder 111 is extended and retracted to drive the articulated base 118 to slide along the sliding shoe 110, so as to synchronously adjust the center of gravity of the equipment and the left and right posture of the equipment to adapt to the slope of the tunnel.

[0049] In step S4, when the miner and anchor machine swings its tail, the entire machine deviates from the center line of the tunnel, and the rear support adjustment system comes into play. Specifically, by extending the rear support bottom cylinder 108 to support the ground, the articulated base 118 and the bottom of the sliding shoe 110 are driven to touch the ground. The adjustment cylinder 111 connected to the sliding shoe 110 is extended and retracted to drive the articulated base 118 of the right rear support assembly 107 or the left rear support assembly 109 to slide along the slide groove on the sliding shoe 110, and drive the main frame 101 connected to the articulated base 118 on this side to move in the same direction from bottom to top, and then coordinately drive the rear support bottom cylinder 108, rear support assembly 109 and the corresponding articulated base 118 on the other side to move synchronously, finally realizing the left and right direction adjustment of the equipment posture, while adapting to the changes in the tunnel slope and preventing overturning, thereby preventing the equipment from swinging its tail.

[0050] In summary, the present invention provides an integrated drilling and anchoring machine that is suitable for complex geological tunnels. The key improvements lie in the walking base 100, the drilling and anchoring platform 500, and the dust removal and temporary support system 600, so as to solve the current problems of easy spalling, easy roof collapse, broken side, difficulty in anchor support in low tunnels, and easy tail swinging of bottom plate mud equipment in the excavation of soft surrounding rock coal tunnels, and realize the construction of variable empty top distance, i.e. zero empty top distance, empty side distance and small empty top distance, as well as advanced support operations.

[0051] The embodiments described above are only preferred embodiments of the present invention and do not limit the scope of implementation of the present invention. Therefore, any equivalent changes or modifications made according to the structure, characteristics and principles described in the patent scope of the present invention should be included in the scope of the patent application of the present invention.

Claims

1. A drilling and anchoring machine suitable for complex geological tunnels, characterized by: It comprises a walking body part (100), a loading part (200), a transport part (300), a cutting part (400), a drilling and anchoring platform (500), and a dust removal and temporary support system (600); The walking body part (100) comprises a body frame (101) and a crawler system symmetrically arranged on both sides of the body frame (101); a rear support adjustment system is provided at the tail of the walking body part (100); The cutting part (400) is used for excavation, the loading part (200) is used for collecting the coal slag excavated by the cutting part (400), and the transport part (300) is used for receiving and transporting the coal slag collected by the loading part (200); The drilling and anchoring platform (500) comprises a lower fixed platform assembly and an upper sliding platform assembly arranged on the walking body (100), wherein the lower fixed platform assembly comprises a left anchoring fixed platform (501) and a right anchoring fixed platform (518), and the upper sliding platform assembly comprises a left anchor drilling platform (502) and a right anchor drilling platform (503); the left anchor drilling platform (502) and the right anchor drilling platform (503) are both provided with two groups of top anchor support units and one group of auxiliary anchor support units; A screw (606) is provided between the dust removal and temporary support system (600) and the walking main body (100). The dust removal and temporary support system (600) comprises a support frame (601) and a dust removal fan (602) provided on the support frame (601). The support frame (601) is hinged to the rear end of the walking main body (100). A support top plate (604) is slidably provided on the support frame (601). A retractable support top rod is provided between the support frame (601) and the walking main body (100).

2. The integrated drilling and anchoring machine adapted to complex geological tunnels according to claim 1, characterized in that: The crawler system comprises a crawler body (102), a crawler driving wheel (115), a crawler mounting frame (116) and a crawler driven wheel (117), wherein the crawler driving wheel (115) and the crawler driven wheel (117) are mounted on the crawler mounting frame (116), and the crawler driving wheel (115) and the crawler driven wheel (117) are connected via the crawler body (102); a slide is provided at one end of the crawler mounting frame (116), and a crawler tensioning oil cylinder (106) is further provided on the crawler mounting frame (116), and the crawler tensioning oil cylinder (106) drives the crawler driven wheel (117) to slide along the slide; The crawler driving wheel (115) is connected to a power mechanism, which includes a drive motor (112) and a travel reducer (114). A disc brake (113) is provided between the drive motor (112) and the travel reducer (114). The output end of the travel reducer (114) is connected to the crawler driving wheel (115).

3. The integrated digging and anchoring machine adapted to complex geological tunnels according to claim 2, characterized in that: The walking main body (100) further comprises a guide rail (103), a lifting support seat (104) and a groove-cutting oil cylinder (105); the guide rail (103) is provided in two parallel and spaced apart arrangements on the crawler mounting frame (116); the cutting portion (400) is slidably arranged on the guide rail (103); the lifting support seat (104) is symmetrically arranged on the left and right sides of the front portion of the crawler mounting frame (116); the two ends of the telescopic supporting top rod are respectively hinged to the lifting support seat (104) and the support frame body (601); one end of the groove-cutting oil cylinder (105) is hinged to the main body frame (101), and the other end is hinged to the cutting portion (400).

4. The integrated digging and anchoring machine adapted to complex geological tunnels according to claim 1, characterized in that: The rear support deviation adjustment system comprises a right rear support assembly (107), a rear support bottom oil cylinder (108), a left rear support assembly (109), a sliding shoe (110) and an adjustment oil cylinder (111), wherein the right rear support assembly (107) and the left rear support assembly (109) are symmetrically mounted in the limiting groove of the main frame (101); the upper end of the rear support bottom oil cylinder (108) is hinged to the main frame (101), and the lower end thereof is hinged to the right rear support assembly (107) or the left rear support assembly (109). The left rear support assembly (109) is hinged; two sliding shoes (110) are provided, and a hinge base (118) is provided inside each sliding shoe (110), and the bottoms of the right rear support assembly (107) and the left rear support assembly (109) are connected to the hinge base (118) through a ball joint structure; one end of the adjustment cylinder (111) is hinged to the ear seat of the sliding shoe (110), and the other end is hinged to one of the hinge bases (118).

5. The integrated digging and anchoring machine adapted to complex geological tunnels according to claim 1, characterized in that: The left anchor guard fixing platform (501) and the right anchor guard fixing platform (518) are both fixedly connected to the main frame (101), and an operating table (517) is also provided on the left anchor drilling platform (502) and the right anchor drilling platform (503); the left anchor guard fixing platform (501) and the left anchor drilling platform (502), and the right anchor guard fixing platform (518) and the right anchor drilling platform (503) are both connected via a propulsion cylinder (509).

6. The integrated digging and anchoring machine adapted to complex geological tunnels according to claim 1, characterized in that: The top anchor support unit comprises a top anchor drill (504) fixed to a top anchor connecting frame (506), a rotary oil cylinder (508) for driving the top anchor connecting frame (506) to flip, and a front-back swing oil cylinder (510) and a left-right swing oil cylinder (511) for adjusting the angle of the top anchor drill (504); The top anchor connection frame (506) is connected to the left anchor fixing platform (501) or the right anchor fixing platform (518) via the rotary oil cylinder (508), and both ends of the front and rear swing oil cylinders (510) and the left and right swing oil cylinders (511) are hinged to the top anchor drilling rig (504).

7. The integrated digging and anchoring machine adapted to complex geological tunnels according to claim 1, characterized in that: The anchor support unit comprises an anchor connection frame (507), an anchor drilling rig carriage (512) driven by a lifting cylinder (516), a lifting mechanism, and a rotary drive mechanism (514) for carrying the anchor drilling rig (505); the lifting mechanism comprises a lifting cylinder (513); the lifting cylinder (513) is laterally limited to the anchor drilling rig carriage (512) by a clamping plate; and a chain is provided at the end of the piston rod of the lifting cylinder (513); The lifting oil cylinder (516) is connected to the anchor connecting frame (507), and the other end thereof is hinged to the anchor drilling rig slide (512); a rotary drive seat (515) is slidably provided on the guide column of the anchor drilling rig slide (512), the rotary drive mechanism (514) is fixedly connected to the rotary drive seat (515), the rotary drive seat (515) is fixedly connected to the chain provided on the lifting oil cylinder (513), and the anchor drilling rig (505) is connected to the output end of the rotary drive mechanism (514).

8. The integrated drilling and anchoring machine adapted to complex geological tunnels according to claim 1, characterized in that: The dust removal and temporary support system (600) further comprises a sliding oil cylinder (603), the two ends of which are respectively hinged to the support frame body (601) and the support top plate (604); the bottom plate of the support top plate (604) cooperates with the slideway of the support frame body (601) and is limited by a pressure block (605).

9. The integrated digging and anchoring machine adapted to complex geological tunnels according to claim 1, characterized in that: It also includes a hydraulic system (700) and an electrical system (800) for controlling the operation of the integrated miner and anchor machine.

10. An anchoring method suitable for complex geological tunnels, using the anchoring and digging machine according to any one of claims 1 to 9, characterized in that: The following steps are involved: : Step S1: Cutting and excavation operation: The cutting part (400) cuts and breaks the rock, and the drilling and anchoring platform (500) is retracted; at the same time, the transport part (300) and the loading part (200) jointly transport the coal slag collected by the loading part (200) and convey it to the rear of the equipment; Step S2: Temporary support: The support frame (601) is lifted by the retractable support rod in the dust removal and temporary support system (600), and the support top plate (604) on the support frame (601) slides to the head top plate for temporary support; Step S3, anchoring operation: the upper sliding platform assembly of the drilling and anchoring platform (500) slides forward as a whole to the empty top area at the upper end of the cutting part (400), the top anchor drilling rig (504) turns forward 90 degrees and adjusts the angle to anchor the top plate, and the side anchor drilling rig (505) slides up and down and swings to anchor the side plate; Step S4: Device posture adjustment: During the excavation and anchoring construction process, when the equipment swings its tail, the rear support bottom oil cylinder (108) is used to hold the ground tight, and then the oil cylinder (111) is extended and retracted to drive the articulated base (118) to slide along the sliding shoe (110), so as to synchronously adjust the center of gravity of the equipment and the left and right posture of the equipment to adapt to the roadway slope; Among them, step S1 and step S3 are interlocked to ensure that the cutting and excavation operations and the anchoring and protection operations do not interfere with each other.

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