Intelligent digging and anchoring all-in-one machine and control method thereof

Abstract

The invention provides an intelligent digging and anchoring all-in-one machine and a control method thereof, and relates to the technical field of digging equipment, the digging and anchoring all-in-one machine comprises spraying systems arranged at the two ends of the front side of the digging and anchoring all-in-one machine, and each spraying system comprises a mechanical arm, a spraying material box, a material lifting pump, a spraying pump and a pneumatic valve set; the spraying material box is used for storing a first coating and a second coating respectively, and the material lifting pump is used for pumping the first coating and the second coating to the spraying pump respectively; the spraying pump is used for pumping the first coating and the second coating to the tail end of the mechanical arm and mixing the first coating and the second coating at the tail end; the pneumatic valve group is used for controlling the on-off of an external air source so as to drive the mixed coating to be sprayed out; and a nozzle is arranged at the tail end of the mechanical arm, the mechanical arm is used for moving according to a preset path and spraying the mixed coating to the surfaces of the top plate and the side part of the roadway, and the cured coating forms a protective layer. The digging and anchoring all-in-one machine provided by the invention can realize automatic spraying and supporting of the surrounding rock of the roadway, effectively replaces the traditional procedure of manually laying an anchor net, and improves the construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of rapid tunneling equipment for coal mine roadways, and in particular to an intelligent tunneling and anchoring integrated machine and its control method. Background Technology

[0002] The roadheader-anchor (BAR) is the mainstream type of equipment for coal mine roadway excavation and a key piece of equipment in rapid tunneling systems. When paired with shuttle cars and other supporting equipment, it enables efficient coal roadway excavation operations. The BAR integrates nine major systems: cutting system, loading system, temporary support, transportation system, traveling mechanism, anchoring device, spray dust suppression system, advanced water detection device, and composite navigation system. It not only achieves efficient coal cutting and transfer, extending rapid roadway excavation, but also simultaneously performs top and side anchor bolt support operations during mining operations, saving support time and effectively increasing the excavation progress.

[0003] Before existing tunneling and anchoring machines can carry out anchoring operations, manual netting work is required, which involves manual netting transportation, netting support, and netting connection.

[0004] In the process of realizing this invention, the inventors discovered that the prior art has at least the following problems: the manual net laying operation is cumbersome, requires a large number of personnel, and has low efficiency and low safety. Summary of the Invention

[0005] The present invention aims to at least partially solve one of the technical problems in the related art.

[0006] Therefore, the purpose of this invention is to propose an intelligent integrated tunneling and anchoring machine and its control method, which replaces the manual wire mesh laying process, improves surface support efficiency, and reduces the labor intensity of workers.

[0007] To achieve the above objectives, the first aspect of the present invention proposes an intelligent tunneling and anchoring integrated machine, including a spraying system located at both ends of the front side of the tunneling and anchoring integrated machine. The spraying system includes a robotic arm, a spraying paint tank, a material lifting pump, a spraying pump, and a pneumatic valve group. The spray coating tank is used to store the first coating and the second coating respectively, and the material pump is used to pump the first coating and the second coating to the spray pump respectively. The spray pump is used to pump the first and second coatings to the end of the robotic arm and mix them at the end. The pneumatic valve assembly is used to control the on / off of the external air source to drive the mixed coating to be sprayed out. The robotic arm is equipped with a nozzle at its end. The robotic arm is used to move along a preset path and spray the mixed coating onto the roof and side surfaces of the tunnel. The cured coating forms a protective layer.

[0008] The beneficial effects of the intelligent tunneling and anchoring integrated machine according to the present invention are: by integrating a spraying system on the tunneling and anchoring integrated machine, automatic spraying support of the surrounding rock of the tunnel can be realized, effectively replacing the traditional manual laying of anchor mesh, improving construction efficiency, reducing the labor intensity of personnel, reducing the number of workers, and improving the level of intelligence of tunnel support.

[0009] According to one embodiment of the present invention, the spraying system further includes a rinsing liquid tank and a rinsing pump, the rinsing liquid tank being used to store rinsing liquid and the rinsing pump being used to rinse the nozzle.

[0010] According to one embodiment of the present invention, the spraying system further includes an adsorption unit and a storage box, the storage box being used to store a photosensitive element, the adsorption unit being disposed at the end of the robotic arm for adsorbing the photosensitive element, the robotic arm having 5 degrees of freedom, and the robotic arm also being used to install the photosensitive element at the end of an anchor bolt on the surrounding rock of the tunnel.

[0011] According to one embodiment of the present invention, a visual monitoring system is also included, the visual monitoring system comprising a plurality of binocular cameras mounted on the integrated excavator and anchor, the binocular cameras being used to monitor the real-time position changes of the photosensitive element mounted on the anchor bolt.

[0012] According to one embodiment of the present invention, the number of binocular cameras is four, including a front right binocular camera, a front left binocular camera, a rear right binocular camera, and a rear left binocular camera. The front right binocular camera and the front left binocular camera are used to observe the photosensitive element in front of the whole machine, and the rear right binocular camera and the rear left binocular camera are used to observe the photosensitive element in the rear of the whole machine.

[0013] According to one embodiment of the present invention, it further includes: The top anchor drilling system is located at both ends of the front side of the tunneling and anchoring machine. The top anchor drilling system includes a first integrated anchor drilling machine and a top anchor sliding and lifting mechanism. The top anchor sliding and lifting mechanism is used to drive the first integrated anchor drilling machine to move in the vertical direction. The first integrated anchor drilling machine is used to install integrated anchor drilling bolts on the roadway roof. The side anchor drilling system is located at both ends of the rear side of the tunneling and anchoring machine. The side anchor drilling system includes a second integrated anchor drilling rig and a lateral sliding mechanism. The lateral sliding mechanism is used to drive the second integrated anchor drilling rig to move in the left and right direction. The second integrated anchor drilling rig is used to install integrated anchor drilling bolts on the side of the roadway.

[0014] According to one embodiment of the present invention, the top anchor drilling system further includes a sliding cylinder and a track, the track being arranged in a left-right direction, the top anchor sliding lifting mechanism being slidably connected to the track, the top anchor sliding lifting mechanism being disposed on the track, and the sliding cylinder being used to drive the top anchor sliding lifting mechanism to translate in a left-right direction.

[0015] According to one embodiment of the present invention, the anchor drilling system further includes a lifting mechanism frame, a long feed cylinder, a sliding frame, a short feed cylinder, a secondary slide block, and a second rotary cylinder. The sliding frame is slidably connected to the lifting mechanism frame, the secondary slide block is slidably connected to the sliding frame, the second rotary cylinder is connected to the secondary slide block, the second integrated anchor drilling rig is mounted on the output end of the second rotary cylinder, the short feed cylinder is mounted on the sliding frame, the long feed cylinder is used to drive the second integrated anchor drilling rig to perform a single feed, the short feed cylinder is used to drive the second integrated anchor drilling rig to perform a secondary feed, and the second rotary cylinder is used to drive the second integrated anchor drilling rig to swing up and down.

[0016] A second aspect of the present invention provides a control method for an intelligent tunneling and anchoring machine, based on the intelligent tunneling and anchoring machine described in the first aspect, the control method comprising: Step S101: The tunneling and anchoring machine performs a cut of one row spacing; In step S102, the first integrated anchor drilling rig provides anchor bolt support to the outer side of the roadway roof. At this time, the robotic arm does not move. When the first integrated anchor drilling rig moves to the middle of the roadway roof, the robotic arm begins to spray the roadway side. The first integrated anchor drilling rig continues to provide anchor bolt support to the middle of the roadway roof, while the robotic arm sprays the roadway roof. In step S103, the second integrated anchor-drilling rig supports the roadway sidewall with anchor bolts from top to bottom, wherein steps S101 to S103 are performed simultaneously. Step S104: The robotic arm installs a photosensitive element on the anchor bolt; Step S105: The binocular camera monitors the real-time position of the photosensitive element; Step S106: Analyze the tunnel deformation based on the real-time position of the photosensitive element; Step S107: Based on the roadway deformation, determine the new support density of the top and side anchor bolts and the new spray coating thickness. At the same time, the tunneling and anchoring machine moves forward one row distance. Step S108, proceed to step S101, perform anchor bolt support according to the new anchor bolt support density, and perform spraying according to the new spraying thickness.

[0017] The beneficial effects of the control method for the intelligent tunneling and anchoring machine according to the present invention are: the autonomous tunneling of the tunneling and anchoring machine, the spraying of surface support, the anchor bolt support, and the roadway deformation visual monitoring system work together to achieve autonomous intelligent tunneling control within one cycle. Under the premise of ensuring the strength of support and spraying, the tunneling efficiency of the tunneling and anchoring machine is maximized. The single-row time can be reduced from 20 minutes to less than 12 minutes, which greatly reduces the number of workers and the labor intensity of workers.

[0018] According to one embodiment of the present invention, before step S104, the method further includes: The flushing pump flushes the nozzles of the robotic arm.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. Wherein: Figure 1 This is a schematic diagram of the structure of an integrated tunneling and anchoring machine proposed in an embodiment of the present invention.

[0021] Figure 2 This is a schematic diagram of the top anchor drilling system on the left side in one embodiment of the present invention.

[0022] Figure 3 This is a side view of an integrated tunneling and anchoring machine according to an embodiment of the present invention.

[0023] Figure 4 This is a top view of an integrated tunneling and anchoring machine according to an embodiment of the present invention.

[0024] Figure 5 This is a partial schematic diagram of the front side of the tunneling and anchoring machine in one embodiment of the present invention.

[0025] Figure 6 This is a schematic diagram of the motion trajectory of the robotic arm in one embodiment of the present invention.

[0026] Figure 7 This is a bottom view of the area where the robotic arm sprays paint on the roof of a single-row tunnel, according to one embodiment of the present invention.

[0027] Figure 8 This is a schematic diagram of the area where the robotic arm sprays paint on the sidewall of a single-row tunnel in one embodiment of the present invention.

[0028] Figure 9This is a schematic diagram of the structure of the anchor drilling system in one embodiment of the present invention.

[0029] Figure 10 This is a comparison diagram of the lifting and lowering of the anchor drilling system in one embodiment of the present invention.

[0030] Figure 11 This is a sliding comparison diagram of the anchor drilling system in one embodiment of the present invention.

[0031] Figure 12 This is a schematic diagram of the operation of a visual monitoring system in one embodiment of the present invention.

[0032] Figure 13 This is a flowchart illustrating the control method of an intelligent tunneling and anchoring integrated machine according to an embodiment of the present invention.

[0033] Explanation of reference numerals in the attached figures: 1-Cutting system, 2-Loading system, 3-Traveling system, 4-Temporary support system, 5-Transportation system, 6-Side anchor drilling system, 7-Visual monitoring system, 8-Electrical system, 9-Top anchor drilling system, 10-Dust removal system, 11-Hydraulic system, 12-Spraying system, 61-Side support mechanism mounting base, 62-Lifting mechanism frame, 63-Long feed cylinder, 64-Sliding frame, 65-Short feed cylinder, 66-Secondary slide block, 67-Transverse sliding mechanism, 68-Second anchor drilling integrated rig, 69-Second rotary cylinder, 71-Front right binocular camera, 72-Front left binocular camera 73-Rear right binocular camera, 74-Rear left binocular camera, 75-Photosensitive element, 91-Top anchor sliding lifting mechanism, 92-First anchor drilling integrated drilling rig, 93-Sliding cylinder, 94-Railway, 95-Extension platform, 96-Outer canopy, 97-Inner canopy, 98-Operating table, 99-Support frame, 121-Mechanical arm, 122-Adsorption unit, 123-Storage box, 124-Spray paint tank, 125-Feeding pump, 126-Spraying pump, 127-Control box, 128-Pneumatic valve assembly, 129-Rinse liquid tank, 130-Rinse pump, 131-Mechanical arm control valve assembly. Detailed Implementation

[0034] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the invention, and should not be construed as limiting the invention. Rather, embodiments of the invention include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0035] The following reference Figures 1 to 12 This describes an intelligent tunneling and anchoring integrated machine according to an embodiment of the present invention.

[0036] Combination Figures 1 to 8 As shown, the intelligent tunneling and anchoring machine according to an embodiment of the present invention includes a spraying system 12 located at both ends of the front side of the machine. The spraying system 12 includes a robotic arm 121, a paint tank 124, a material pump 125, a spraying pump 126, and a pneumatic valve assembly 128. The paint tank 124 stores a first paint and a second paint respectively. The material pump 125 pumps the first and second paints to the spraying pump 126. The spraying pump 126 pumps the first and second paints to the end of the robotic arm 121, where they are mixed. The pneumatic valve assembly 128 controls the on / off state of an external air source to drive the mixed paint to be sprayed out. The end of the robotic arm 121 is equipped with a nozzle. The robotic arm 121 moves along a preset path and sprays the mixed paint onto the roof and sidewall surfaces of the tunnel, where the cured paint forms a protective layer.

[0037] The robotic arm 121 has multiple degrees of freedom, each including a sensor for precise positioning. The robotic arm 121 can swing forward, backward, left, right, up, and down. The paint spraying tank 124 is located on the outermost side of the tunneling and anchoring machine frame for easy maintenance. In one example, the bottom of the paint spraying tank 124 is equipped with a sliding rail and hydraulic cylinder that can move in the forward and backward direction, allowing for maintenance space for internal components. The first and second paints, when mixed in proportion, have good fluidity and can cure rapidly within a specified time. The specific types of the material lifting pump 125 and the spraying pump 126 are selected according to actual needs and are not limited. The preset path refers to the pre-planned working path of the spraying arm in the working area; the planning method needs to take into account the width and height of the working area (tunnel).

[0038] The beneficial effects of the intelligent tunneling and anchoring integrated machine according to the embodiments of the present invention are: by integrating a spraying system on the tunneling and anchoring integrated machine, automatic spraying support of the surrounding rock of the tunnel can be realized, effectively replacing the traditional manual laying of anchor mesh, improving construction efficiency, reducing the labor intensity of personnel, reducing the number of workers, and improving the level of intelligence of tunnel support.

[0039] Of course, in some embodiments, such as Figure 1 As shown, the new type of roadheader-anchor integrated machine also includes a cutting system 1, a loading system 2, a traveling system 3, a temporary support system 4, a transportation system 5, an electrical system 8, a dust removal system 10, and a hydraulic system 11. The cutting system 1, located at the front of the roadheader-anchor integrated machine, is responsible for cutting coal and excavating roadways. The loading system 2 and transportation system 5 are responsible for loading and transporting coal. The traveling system 3 is responsible for the overall machine movement. The temporary support system 4 provides immediate support for the roadway to prevent roof collapse. The dust removal system 10 reduces the dust concentration in the working environment. The electrical system 8 is located on both sides of the machine, providing power to the entire system. The hydraulic system 11 provides hydraulic power to all power-required components.

[0040] Combination Figure 3 and Figure 4 As shown, in some embodiments, the spraying system 12 further includes a rinsing fluid tank 129 and a rinsing pump 130. The rinsing fluid tank 129 stores rinsing fluid, and the rinsing pump 130 rinses the nozzles. After the robotic arm 121 completes spraying, the rinsing pump 130 delivers rinsing fluid to the nozzles to rinse them and prevent adhesion. Additionally, the spraying system 12 also includes a control box 127, a robotic arm control valve assembly 131, and an operating lever. The control box 127 receives information from the robotic arm's sensors, operating lever, and other input devices, and issues commands according to a preset program. The robotic arm control valve assembly 131 controls the flow direction and pressure of hydraulic oil or compressed air to achieve precise control of each joint of the robotic arm 121. The operator can control the movement direction, speed, and spraying parameters of the robotic arm 121 using the operating lever. The robotic arm control valve assembly 131 can be installed at the bottom of the machine's cover plate.

[0041] Combination Figure 2 and Figure 5 As shown, the spraying system 12 also includes an adsorption unit 122 and a storage box 123. The storage box 123 is used to store the photosensitive element 75, and the adsorption unit 122 is located at the end of the robotic arm 121 for adsorbing the photosensitive element 75. The robotic arm 121 has five degrees of freedom and is also used to install the photosensitive element 75 onto the end of an anchor bolt on the surrounding rock of the tunnel. The specific types of the photosensitive element 75 and the adsorption unit 122 are designed according to actual needs and are not limited thereto. In one example, the photosensitive element 75 is a smooth metal ball containing a magnetic component, which is easily adsorbed onto the anchor bolt. The adsorption unit 122 is an electromagnet that generates magnetic force when energized, enabling it to adsorb the photosensitive element 75.

[0042] The movement trajectory of the robotic arm's nozzle is as follows Figure 6 As shown, the sidewall is first sprayed along the AB segment trajectory, and then the top is sprayed along the BC segment trajectory, which can cover all positions within the tunnel cross-section except for the sidewall at height d. The nozzle movement trajectory enables automatic tracking and spraying of the top and sidewall within the predetermined spraying range, and the spraying range is compact, effective, and controllable.

[0043] In some embodiments, combined with Figure 1 and Figure 12 As shown, the intelligent tunneling and anchoring machine also includes a visual monitoring system 7. The visual monitoring system 7 includes multiple binocular cameras mounted on the tunneling and anchoring machine. The binocular cameras are used to monitor the real-time position changes of the photosensitive elements 75 installed on the anchor bolts. For ease of understanding, in... Figure 12The field of view of the binocular cameras is represented by lines. The number of binocular cameras is set according to actual needs and is not limited. For example, there are 4 binocular cameras, including a front right binocular camera 71, a front left binocular camera 72, a rear right binocular camera 73, and a rear left binocular camera 74. The front right binocular camera 71 and the front left binocular camera 72 are used to observe the photosensitive element 75 at the front of the camera, and the rear right binocular camera 73 and the rear left binocular camera 74 are used to observe the photosensitive element 75 at the rear of the camera.

[0044] The relative position of each photosensitive element can be accurately located by using two sets of binocular cameras. When the tunnel deforms, the photosensitive element will deviate from its initial position. At this time, the industrial control computer analyzes the tunnel deformation and then adjusts the tunnel support density parameters accordingly to improve tunneling efficiency.

[0045] Combination Figure 1 , Figure 2 and Figure 9 As shown, the intelligent tunneling and anchoring machine also includes a top anchor drilling system 9 and a side anchor drilling system 6.

[0046] The top anchor drilling system 9 is located at both ends of the front side of the tunneling and anchoring machine. The top anchor drilling system 9 includes a first integrated anchor drilling rig 92 and a top anchor sliding and lifting mechanism 91. The top anchor sliding and lifting mechanism 91 drives the first integrated anchor drilling rig 92 to move vertically. The first integrated anchor drilling rig 92 is used to install integrated anchor bolts onto the tunnel roof. The side anchor drilling system 6 is located at both ends of the rear side of the tunneling and anchoring machine. The side anchor drilling system 6 includes a second integrated anchor drilling rig 68 and a transverse sliding mechanism 67. The transverse sliding mechanism 67 drives the second integrated anchor drilling rig 68 to move horizontally. The second integrated anchor drilling rig 68 is used to install integrated anchor bolts onto the tunnel side.

[0047] The integrated anchor-drill bolt is a bolt specifically designed for integrated anchor-drill rigs, and its length is longer than that of conventional bolts. The top anchor sliding and lifting mechanism 91 and the lateral sliding mechanism 67 can employ single-stage or multi-stage telescopic mechanisms. The stroke of the top anchor sliding and lifting mechanism 91 and the lateral sliding mechanism 67 must ensure that the head of the first integrated anchor-drill rig 92 contacts the roadway roof, and the head of the second integrated anchor-drill rig 68 contacts the roadway sidewall. Even under complex conditions such as roof falls and sidewall spalling, it can still perform anchor bolt support operations.

[0048] The integrated anchor-drilling rig and integrated anchor-drilling bolt have revolutionized the traditional anchor bolt installation process. This rig can directly drive the integrated anchor-drilling bolt into the coal face, then solidify it through A / B material grouting, followed by direct pre-tightening, solving the problems of the traditional six-step anchor bolt support operation. For example, the A / B material grouting uses a fast-curing resin material composed of two components.

[0049] In some embodiments, such as Figure 2 As shown, the top anchor drilling system 9 also includes a sliding cylinder 93 and a track 94. The track 94 is arranged in the left-right direction. The top anchor sliding lifting mechanism 91 is slidably connected to the track 94 and is mounted on the track 94. The sliding cylinder 93 is used to drive the top anchor sliding lifting mechanism 91 to move horizontally in the left-right direction, thereby meeting the needs of large-scale vertical support of the roadway top anchor. The first integrated anchor drilling rig 92 also has the ability to swing left and right and back and forth to further expand the support range.

[0050] Continue to refer to Figure 2 The top anchor drilling system 9 also includes an extension platform 95, an outer canopy 96, an inner canopy 97, an operating platform 98, and a support frame 99. The top anchor drilling system 9 is fixed to the upper part of the traveling system 3 via the support frame 99. The extension platform 95, outer canopy 96, and inner canopy 97 are all mounted on the support frame 99 to ensure operator safety; the extension platform 95 can extend and retract outwards. The operating platform 98 is fixed to the inner canopy 97 for convenient operation. The operating platform 98 can extend and retract outwards, expanding the operator's working space when supporting the outermost anchor bolt.

[0051] Combination Figures 9 to 11 As shown, in some embodiments, the anchor drilling system 6 further includes a sidewall mechanism fixing seat 61, a lifting mechanism frame 62, a long feed cylinder 63, a sliding frame 64, a short feed cylinder 65, a secondary slider 66, and a second rotary cylinder 69. The lifting mechanism frame 62 is mounted on the sidewall mechanism fixing seat 61, and the sidewall mechanism fixing seat 61 is mounted on the anchor drilling machine. The sliding frame 64 is slidably connected to the lifting mechanism frame 62, and the secondary slider 66 is slidably connected to the sliding frame 64. The second rotary cylinder 69 is connected to the secondary slider 66. The second integrated anchor drilling rig 68 is mounted on the output end of the second rotary cylinder 69. The short feed cylinder 65 is mounted on the sliding frame 64. The long feed cylinder 63 is used to drive the second integrated anchor drilling rig 68 to perform a single feed, and the short feed cylinder 65 is used to drive the second integrated anchor drilling rig 68 to perform a second feed. The second rotary cylinder 69 is used to drive the second integrated anchor drilling rig 68 to swing up and down. Figure 10 It can be seen that, under the action of the long feed cylinder 63 and the short feed cylinder 65, a two-stage lifting is achieved, which can lift the distance X and meet the needs of large-scale vertical support of the sidewall. The second rotary cylinder 69 realizes the up-and-down swing of the second integrated anchor-drilling rig 68, further increasing the support range. Figure 11 As shown, the lateral sliding mechanism 67 enables the second integrated anchor drilling rig 68 to slide laterally a distance Y towards the coal wall. In some roadways with severe spalling, the second integrated anchor drilling rig 68 may not be able to support the coal wall, resulting in the inability to construct the integrated anchor bolt. The lateral sliding mechanism 67, combined with the pressure sensor of the second integrated anchor drilling rig 68, can realize the function of driving the anchor bolt in one go under the condition of severe spalling in the roadway.

[0052] It should be noted that corresponding sensors (such as displacement sensors and angle sensors) can be installed in the long feed cylinder 63, short feed cylinder 65, second rotary cylinder 69 and sliding cylinder 93 in the above embodiments. After being equipped with a display device, they form digital cylinders, which can display the rotation angle or extension length of the cylinder in real time, thereby accurately positioning the support position of the integrated anchor drilling rig.

[0053] Figure 7 The diagram shows the area covered by the robotic arm spraying the tunnel roof, the temporary support connection mechanism, and the roof anchor support area. (For example...) Figure 1 As shown, the temporary support system 4 has a temporary support jacking mechanism, with the robotic arm 121 positioned in front of the temporary support jacking mechanism and the top anchor drilling system 9 positioned behind the temporary support jacking mechanism. Figure 7 In the diagram, S represents the tunnel width, j represents the length of one row spacing, k represents the top anchor support range, g represents the safe distance between the spraying range and the top anchor support range, f represents the width of the temporary support roof connection mechanism, and e represents the width of the central spraying protrusion. Figure 7 It can be seen that, in order to avoid the temporary support connection mechanism, the shape of the roof spray coating is not a standard rectangle, but rather the front end of the middle area protrudes forward, and correspondingly, the rear end of the middle area is also moved forward by a distance 'e'. During the spraying operation, the sprayed area is one row ahead of the roof anchor support, and after the spraying is completed, the next row is used for roof anchor support. The two do not interfere with each other, and time is allowed for the spray coating to cool and solidify. The middle position is sprayed a distance ahead to avoid the temporary support connection mechanism.

[0054] Figure 8 The spraying range for a single row is shown on the sidewall of the tunnel. Figure 8 In the diagram, H represents the tunnel height, j represents the length of one row spacing, d represents the distance from the lowest point of the spraying to the tunnel floor, d ≤ 1 / 3H, and c represents the distance from the center point of the robotic arm installation to the rear of the spraying area. It can be seen that this spraying range can achieve full coverage of the area above the rib, allowing for spraying operations on the most prone areas to rib spalling, thus achieving effective control over rib spalling.

[0055] The intelligent tunneling and anchoring integrated machine proposed in the above embodiments has the following beneficial effects: 1. An integrated anchor drilling rig is integrated into the tunneling and anchoring machine, realizing one-time anchor bolt installation technology. The traditional six-step anchor bolt installation process is simplified to one step, improving support efficiency and reducing labor intensity.

[0056] 2. A spraying system was integrated into the tunnel boring machine, realizing intelligent spraying support technology for the entire tunnel. This solved the problem of traditional manual wire mesh laying, improved surface support efficiency, and reduced the labor intensity of workers.

[0057] 3. The tunneling and anchoring machine is equipped with a visual monitoring system, which can monitor the deformation of the roadway at any time and provide real-time guidance on the spraying thickness and anchor bolt support density, realizing intelligent roadway monitoring technology.

[0058] 4. Each degree of freedom of the anchor drilling system is integrated with displacement, angle or pressure sensors, enabling unmanned operation of the anchor drilling system within one anchor bolt chamber cycle.

[0059] 5. A conventional integrated tunneling and anchoring machine requires 11 people: 4 for top anchoring, 2 for side anchoring, 2 for network connection, 2 for material transport, and 1 for driving. However, the intelligent integrated tunneling and anchoring machine in this embodiment only requires 5 people: 2 for installing anchor bolts, 2 for feeding and transporting materials, and 1 for driving.

[0060] Combination Figures 1 to 13 As shown in the embodiments of the present invention, a control method for an intelligent tunneling and anchoring machine is also proposed, which is based on the intelligent tunneling and anchoring machine described in the above embodiments. The control method includes the following steps: Step S101: The tunneling and anchoring machine performs a cut of one row spacing.

[0061] In this embodiment, the cutting system stops cutting when it reaches a preset distance (one row spacing) along the roadway direction.

[0062] In step S102, the first integrated anchor-drilling rig provides anchor bolt support to the outer side of the roadway roof. At this time, the robotic arm does not move. When the first integrated anchor-drilling rig moves to the middle of the roadway roof, the robotic arm begins to spray the roadway side. The first integrated anchor-drilling rig continues to provide anchor bolt support to the middle of the roadway roof, while the robotic arm sprays the roadway roof.

[0063] In step S103, the second integrated anchor-drilling rig supports the roadway sidewall with anchor bolts from top to bottom, wherein steps S101 to S103 are performed simultaneously.

[0064] In step S104, the robotic arm installs a photosensitive element on the anchor rod.

[0065] In this embodiment, the number of photosensitive elements is required to be at least one per square meter.

[0066] In step S105, the binocular camera monitors the real-time position of the photosensitive element.

[0067] In order for the binocular camera to clearly capture the position of all photosensitive elements, the binocular camera is usually mounted on top of the excavator and anchor machine to ensure a wide field of view.

[0068] Step S106: Analyze the tunnel deformation based on the real-time position of the photosensitive element.

[0069] In this embodiment, an industrial control computer is used to calculate the three-dimensional coordinates of each photosensitive element. By comparing the coordinate changes at different time points, it is determined whether the photosensitive element has shifted, and a threshold is set to trigger an alarm mechanism.

[0070] Step S107: Based on the roadway deformation, determine the new support density of the top and side anchor bolts and the new spray coating thickness. At the same time, the tunneling and anchoring machine moves forward one row distance.

[0071] Step S108, proceed to step S101, perform anchor bolt support according to the new anchor bolt support density, and perform spraying according to the new spraying thickness.

[0072] The control method for the intelligent tunneling and anchoring machine according to embodiments of the present invention enables the integrated drilling and anchoring rig, spraying operation, and visual monitoring system to work collaboratively, maximizing the tunneling efficiency of the tunneling and anchoring machine while ensuring the strength of support and spraying. The time for a single drilling interval can be reduced from 20 minutes to less than 12 minutes, while also reducing the number of workers and lowering their labor intensity.

[0073] In some embodiments, prior to step S104, the method further includes: rinsing the nozzles of the robotic arm with a rinsing pump.

[0074] In this embodiment, the flushing pump uses flushing fluid to flush the nozzles of the robotic arm, which can remove residual paint, prevent clogging, and ensure the normal start of the next spraying operation.

[0075] It should be noted that in the description of this invention, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0076] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0077] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0078] In the description of this invention, the terms "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0079] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0080] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0081] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An intelligent excavating-anchor integrated machine, characterized in that, The spraying system (12) is arranged at both ends of the front side of the combined drilling and bolting machine, and comprises a mechanical arm (121), a spraying material tank (124), a material pumping pump (125), a spraying pump (126) and a pneumatic valve group (128); The spraying material tank (124) is used for storing first and second coating materials respectively, and the material pumping pump (125) is used for pumping the first and second coating materials to the spraying pump (126) respectively; The spraying pump (126) is used for pumping the first and second coating materials to the end of the mechanical arm (121) and mixing them at the end; The pneumatic valve group (128) is used for controlling the on-off of an external air source to drive the mixed coating to be sprayed out; The end of the mechanical arm (121) is provided with a nozzle, and the mechanical arm (121) is used for moving along a preset path and spraying the mixed coating to the surface of the roof and sidewall of the roadway, so that the solidified coating forms a protective layer.

2. The intelligent excavating-anchor integrated machine according to claim 1, wherein The spraying system (12) further comprises a flushing liquid tank (129) and a flushing pump (130), the flushing liquid tank (129) is used for storing flushing liquid, and the flushing pump (130) is used for flushing the nozzle.

3. The intelligent excavating-anchor integrated machine according to claim 1, wherein The spraying system (12) further comprises an adsorption unit (122) and a storage box (123), the storage box (123) is used for storing a photosensitive element (75), and the adsorption unit (122) is arranged at the end of the mechanical arm (121) and used for adsorbing the photosensitive element (75), the mechanical arm (121) has five degrees of freedom, and the mechanical arm (121) is further used for installing the photosensitive element (75) on the end of an anchor rod on the surrounding rock of the roadway.

4. The intelligent excavating-anchor integrated machine according to any one of claims 3, wherein, A visual monitoring system (7) is further included, the visual monitoring system (7) comprises a plurality of binocular cameras, the binocular cameras are arranged on the combined drilling and bolting machine, and the binocular cameras are used for monitoring the real-time position change of the photosensitive element (75) installed on the anchor rod.

5. The intelligent integrated excavating and anchoring machine according to claim 4, wherein, The number of the binocular cameras is four, the binocular cameras comprise a front right binocular camera (71), a front left binocular camera (72), a rear right binocular camera (73) and a rear left binocular camera (74), the front right binocular camera (71) and the front left binocular camera (72) are used for observing the photosensitive element (75) in front of the machine, and the rear right binocular camera (73) and the rear left binocular camera (74) are used for observing the photosensitive element (75) behind the machine.

6. The intelligent excavating-anchor integrated machine according to any one of claims 1 to 5, characterized in that, Further comprising: A roof bolting and drilling system (9) is arranged at both ends of the front side of the combined drilling and bolting machine, and comprises a first integrated bolting and drilling rig (92) and a roof bolting and drilling sliding lifting mechanism (91), the roof bolting and drilling sliding lifting mechanism (91) is used for driving the first integrated bolting and drilling rig (92) to move in the up-down direction, and the first integrated bolting and drilling rig (92) is used for installing an integrated bolting and drilling anchor rod to the roof of the roadway. The anchor drilling system (6) is arranged at the rear side of the tunneling and anchoring integrated machine, and comprises a second anchor-drilling integrated drilling machine (68) and a transverse sliding mechanism (67) for driving the second anchor-drilling integrated drilling machine (68) to move in the left-right direction.

7. The intelligent integrated anchor and excavation machine of claim 6, wherein, The top anchor drilling system (9) further comprises a sliding oil cylinder (93) and a track (94) arranged in the left-right direction, the top anchor sliding lifting mechanism (91) is in sliding connection with the track (94) and arranged on the track (94), and the sliding oil cylinder (93) is used to drive the top anchor sliding lifting mechanism (91) to translate in the left-right direction.

8. The intelligent integrated anchor and excavation machine of claim 6, wherein, The anchor drilling system (6) further comprises a lifting mechanism rack (62), a long feeding oil cylinder (63), a sliding rack (64), a short feeding oil cylinder (65), a secondary sliding block (66) and a second rotary oil cylinder (69), the sliding rack (64) is in sliding connection with the lifting mechanism rack (62), the secondary sliding block (66) is in sliding connection with the sliding rack (64), the second rotary oil cylinder (69) is connected with the secondary sliding block (66), the second anchor-drilling integrated drilling machine (68) is arranged on the output end of the second rotary oil cylinder (69), the short feeding oil cylinder (65) is arranged on the sliding rack (64), the long feeding oil cylinder (63) is used to drive the second anchor-drilling integrated drilling machine (68) to feed once, the short feeding oil cylinder (65) is used to drive the second anchor-drilling integrated drilling machine (68) to feed twice, and the second rotary oil cylinder (69) is used to drive the second anchor-drilling integrated drilling machine (68) to swing up and down.

9. A control method of an intelligent excavating-anchor integrated machine, characterized by, The intelligent tunneling and anchoring integrated machine based on any one of claims 1 to 8 is completed, and the control method comprises: In step S101, the tunneling and anchoring integrated machine cuts a row pitch; In step S102, the first anchor-drilling integrated drilling machine supports the outer side of the roof of the tunnel, at this time the mechanical arm does not act, when the first anchor-drilling integrated drilling machine moves to the middle part of the roof of the tunnel, the mechanical arm starts to spray the side of the tunnel, the first anchor-drilling integrated drilling machine continues to support the middle part of the roof of the tunnel, and the mechanical arm sprays the roof of the tunnel at the same time; In step S103, the second anchor-drilling integrated drilling machine supports the anchor rods of the side of the tunnel from top to bottom in sequence, wherein steps S101 to S103 are performed synchronously; In step S104, the mechanical arm installs a photosensitive element on the anchor rod; In step S105, a binocular camera monitors the real-time position of the photosensitive element; In step S106, the deformation of the tunnel is analyzed according to the real-time position of the photosensitive element; In step S107, the support density of the new roof and side anchor rods and the new spraying thickness are determined according to the deformation of the tunnel, and at the same time the tunneling and anchoring integrated machine walks forward by a row pitch; In step S108, go to step S101, support the anchor rods according to the new support density, and spray according to the new spraying thickness.

10. The control method of the intelligent excavating-anchor integrated machine according to claim 9, wherein, Before step S104, there is also included: The flush pump flushes the nozzle of the robot arm.

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