Digging and anchoring integrated equipment for coal mine

Abstract

The digging and anchoring integrated equipment comprises a machine body, an anchoring device and a temporary supporting device, the anchoring device comprises a working table and a first anchoring and protecting assembly, the working table is arranged on the machine body and can move relative to the machine body in the length direction of the machine body, and the first anchoring and protecting assembly is rotationally connected to the working table in the length direction of the machine body; the temporary supporting device comprises a supporting frame and a sliding top plate, the supporting frame is rotationally connected with the machine body, and a first driver is arranged between the supporting frame and the machine body and used for driving the supporting frame to rotate around the width direction of the machine body relative to the machine body; the sliding top plate is slidably connected with the supporting frame, a second driver is arranged between the supporting frame and the sliding top plate, and the second driver is used for driving the sliding top plate to move towards the roadway head-on direction relative to the supporting frame so as to form advanced temporary supporting. According to the invention, zero empty roof can be realized, integrated and automatic operation of roadway tunneling and anchoring operation is completed, and the construction efficiency and quality are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of tunneling equipment technology, specifically to an integrated tunneling and anchoring device for coal mines. Background Technology

[0002] In coal mining operations, integrated tunneling and anchoring equipment is the mainstream model of tunneling equipment and a key component of rapid tunneling systems. In practical construction, integrated tunneling equipment is mostly used when the roof is significantly unsupported to reduce the frequency of equipment movement and support operations, thus improving work efficiency. However, when encountering unstable surrounding rock during tunneling, excessive roof clearance means that the rock, without support or with inadequate support, is subjected to significant ground pressure and stress. This can easily lead to deformation, fracturing, or even collapse of the surrounding rock, severely threatening the stability of the tunnel roof and sidewalls, posing a significant safety hazard. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of this invention propose an integrated tunneling and anchoring device for coal mines, which can achieve zero overhead tunneling, completing the integrated and automated operation of tunnel excavation and anchoring, greatly improving construction efficiency and quality.

[0004] The coal mine tunneling and anchoring integrated equipment provided by this invention includes a machine body, an anchoring device, and a temporary support device. The anchoring device includes a workbench and a first anchoring component. The workbench is located on the machine body and is movable relative to the machine body along its length. The first anchoring component is rotatably connected to the workbench about the length of the machine body. The temporary support device includes a support frame and a sliding roof plate. The support frame is rotatably connected to the machine body. A first driver is provided between the support frame and the machine body, and the first driver is used to drive the support frame to rotate relative to the machine body about its width. The sliding roof plate is slidably connected to the support frame. A second driver is provided between the support frame and the sliding roof plate, and the second driver is used to drive the sliding roof plate to move relative to the support frame toward the roadway facing direction to form advanced temporary support.

[0005] In summary, the coal mine tunneling and anchoring integrated equipment provided by this invention can achieve zero open roof through the coordinated work of the machine body, anchoring device and temporary support device, and complete the integrated and automated operation of roadway tunneling and anchoring, which greatly improves construction efficiency and quality, and reduces labor intensity and safety risks.

[0006] In some embodiments, the support frame includes a first subframe and a second subframe. A first pivot is provided between the first subframe and the body, and a second pivot is provided between the first subframe and the second subframe. Both the first pivot and the second pivot extend along the width direction of the body. A limiting member is provided between the first subframe and the second subframe to restrict the second subframe from rotating relative to the first subframe.

[0007] In some embodiments, the first driver includes a plurality of adjustable supports, the two ends of which are respectively connected to the main body and the second subframe.

[0008] In some embodiments, the support frame further includes a screw and a swivel joint, the screw and the swivel joint being threaded together, one of the screw and the swivel joint being connected to the support frame, and the other of the screw and the swivel joint being connected to the machine body.

[0009] In some embodiments, the temporary support device further includes a protective plate assembly, the protective plate assembly including a mounting plate. The mounting plate and the sliding top plate are connected by a ball joint, and an elastic element is provided between the mounting plate and the sliding top plate.

[0010] In some embodiments, the guard plate assembly further includes an outer sleeve, an inner sleeve, and a front guard plate. The outer sleeve is connected to the mounting plate, the inner sleeve is slidably connected to the outer sleeve, the front guard plate is hinged to the inner sleeve, a third actuator is provided between the front guard plate and the inner sleeve, the third actuator is used to drive the front guard plate to rotate relative to the inner sleeve, and an eighth actuator is provided between the outer sleeve and the inner sleeve, the eighth actuator is used to drive the inner sleeve to slide relative to the outer sleeve.

[0011] In some embodiments, two guard plate assemblies are provided, and the two guard plate assemblies are spaced apart from each other on the sliding top plate along the width direction of the fuselage.

[0012] In some embodiments, the first anchoring assembly includes a first sliding mechanism and a first anchor drill, the first sliding mechanism being rotatably connected to the workbench, the first anchor drill being disposed on the first sliding mechanism, and the first sliding mechanism driving the first anchor drill to be movable relative to the workbench in the cross-section of the roadway.

[0013] In some embodiments, the first sliding mechanism includes a first sliding unit and a second sliding unit connected to each other. The first sliding unit is rotatably connected to the worktable, and the first anchor drill is disposed on the second sliding unit. The straight line containing the sliding direction of the first sliding unit and the straight line containing the sliding direction of the second sliding unit are perpendicular to each other. Both the first sliding unit and the second sliding unit include a first guide rail and a first slide block. The first slide block is slidably disposed on the first guide rail, and a fourth driver is provided between the first slide block and the first guide rail.

[0014] In some embodiments, multiple first anchor drilling machines are provided, and the first anchor drilling machine is installed on the second sliding unit, with the second sliding unit corresponding to the first anchor drilling machine one by one. Attached Figure Description

[0015] Figure 1 This is a three-dimensional schematic diagram of a coal mine tunneling and anchoring integrated device provided in an embodiment of the present invention.

[0016] Figure 2 This is a perspective view of a temporary support device provided in an embodiment of the present invention.

[0017] Figure 3 This is a schematic diagram of the connection between the support frame and the adjustable support member in a temporary support device provided in an embodiment of the present invention.

[0018] Figure 4 This is a schematic diagram of the connection between the support frame and the support leg in a temporary support device provided in an embodiment of the present invention.

[0019] Figure 5 This is a schematic diagram of the structure of the protective plate assembly in a temporary support device provided in an embodiment of the present invention.

[0020] Figure 6 This is a schematic diagram of the connection between the mounting plate and the sliding top plate in a temporary support device provided in an embodiment of the present invention.

[0021] Figure 7 This is a three-dimensional schematic diagram of the anchoring device in the coal mine tunneling and anchoring integrated equipment provided in the first embodiment of the present invention.

[0022] Figure 8 This is a three-dimensional schematic diagram of the anchoring device in the coal mine tunneling and anchoring integrated equipment provided in the second embodiment of the present invention.

[0023] Figure 9 This is a three-dimensional schematic diagram of the anchoring device in the coal mine tunneling and anchoring integrated equipment provided in the third embodiment of the present invention.

[0024] Figure 10 This is a three-dimensional schematic diagram of the anchoring device in the coal mine tunneling and anchoring integrated equipment provided in the fourth embodiment of the present invention.

[0025] Figure 11 This is a three-dimensional schematic diagram of the anchoring device in the coal mine tunneling and anchoring integrated equipment provided in the fifth embodiment of the present invention.

[0026] Figure label: 10. Fuselage; 11. Support legs; 111. Connecting ears; 20. Temporary support devices; 21. Support frame; 211. First sub-frame; 212. Second sub-frame; 213. First rotating shaft; 214. Second rotating shaft; 215. Limiting component; 216. Screw; 217. Screw connector; 218. Connecting arm; 23. First driver; 231. Adjustable support; 25. Guard plate assembly; 251. Sliding top plate; 2511. Connecting ball; 252. Second actuator; 253. Mounting plate; 2531. Ball socket; 254. Elastic element; 255. Outer sleeve; 256. Inner sleeve; 257. Front guard plate; 258. Third actuator; 30. Anchoring device; 32. Workbench; 321. First connecting plate; 322. Second connecting plate; 323. Second lifting mechanism; 3231. Seventh driver; 3232. Upper plate; 3233. Connecting rod; 324. Third sliding mechanism; 33. First anchoring assembly; 331. First sliding mechanism; 3311. First sliding unit; 3312. Second sliding unit; 3313. First guide rail; 3314. First slide block; 3315. Fourth actuator; 332. First anchor drill; 333. Correction mechanism; 3331. Swing joint; 33311. First rotary seat; 33312. Second rotary seat; 33313. Fifth actuator; 33314. Sixth actuator; 34. Second anchoring assembly; 341. First lifting mechanism; 342. Second anchor drilling rig; 343. Second sliding mechanism; 35. Rotary mechanism; 352. Rotary base; 36. Side support component; 361. Abutment end; 362. Side support rod; 363. Support; 364. Abutment plate; 40. Cutting Department; 50. Transfer Department; 60. Airborne Dust Removal Department; 70. Transportation Department. Detailed Implementation

[0027] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0028] like Figures 1 to 11As shown, this invention provides an integrated tunneling and anchoring device for coal mines, comprising a machine body 10, a temporary support device 20, and an anchoring device 30. The anchoring device 30 includes a workbench 32 and a first anchoring assembly 33. The workbench 32 is slidable relative to the machine body 10 along its length direction, and the first anchoring assembly is rotatably connected to the workbench about the length direction of the machine body 10. The temporary support device 20 includes a support frame 21 and a sliding roof plate 251. The support frame 21 is rotatably connected to the machine body 10, and a first driver 23 is provided between the support frame 21 and the machine body 10. The first driver 23 is used to drive the support frame 21 to rotate relative to the machine body 10 about its width direction. The sliding roof plate 251 is slidably connected to the support frame 21, and a second driver 252 is provided between the support frame 21 and the sliding roof plate 251. The second driver 252 is used to drive the sliding roof plate 251 to move relative to the support frame 21 towards the roadway facing direction to form advanced temporary support.

[0029] Specifically, the workbench 32 is mounted on the machine body 10 and can slide relative to the machine body 10 along its length. This allows the workbench to move freely back and forth on the machine body 10 according to actual operational needs, thereby improving the flexibility and applicability of the device. In other words, during actual operation, when the workbench slides relative to the machine body 10, it drives the first anchoring component on it to move towards the facing direction of the coal mine roadway, thus enabling anchoring operations in the leading area of ​​the roadway. In this application, for ease of description, the machine body 10 is placed inside the coal mine roadway, and it is assumed that the straight line along the length of the machine body 10 is parallel to the straight line along the tunneling direction of the roadway, and that the straight line along the width of the machine body 10 is also consistent with the straight line along the width of the roadway.

[0030] The support frame 21 is rotatably connected to the machine body 10, and a first drive 23 is provided between the support frame 21 and the machine body 10, allowing the support frame 21 to be flexibly adjusted according to the shape of the roadway and the support requirements. During the tunneling process, when encountering roadway cross-sections with different angles, the operator can control the first drive 23 to quickly adjust the support frame 21 to a suitable angle, ensuring close contact with the roadway wall and providing effective temporary support.

[0031] Furthermore, the second drive 252 can drive the sliding roof 251 to move relative to the support frame 21 toward the roadway facing direction, so that the temporary support device 20 can form advanced temporary support. That is, during the roadway excavation process, the sliding roof 251 can be extended in advance to form advanced support for the movement of the equipment, effectively preventing accidents such as roof collapse and sidewall spalling.

[0032] In summary, the coal mine tunneling and anchoring integrated equipment provided by this invention can achieve zero open roof through the coordinated work of the machine body 10, anchoring device and temporary support device 20, and complete the integrated and automated operation of roadway tunneling and anchoring, which greatly improves construction efficiency and quality, and reduces labor intensity and safety risks.

[0033] like Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments, the support frame 21 includes a first sub-frame 211 and a second sub-frame 212. A first rotating shaft 213 is provided between the first sub-frame 211 and the body 10, and a second rotating shaft 214 is provided between the second sub-frame 212 and the first sub-frame 211. Both the first rotating shaft 213 and the second rotating shaft 214 extend along the width direction of the body 10. A limiting member 215 is provided between the first sub-frame 211 and the second sub-frame 212 to limit the rotation between the first sub-frame 211 and the second sub-frame 212.

[0034] Specifically, the integrated tunneling and anchoring equipment for coal mines also includes a controller, which is electrically connected to the first driver 23. The output of the first driver 23 is connected to the second sub-frame 212, and the sliding roof plate 251 is located on the second sub-frame 212. In actual tunnel operations, the height of the tunnel roof is not fixed but fluctuates significantly due to differences in geological structure, mining depth, and coal seam thickness. The first sub-frame 211 and the second sub-frame 212 are connected by a third rotating shaft 222 and a limiting member 215, allowing for the selection of appropriate support structures when the tunnel roof height varies.

[0035] For example, when the tunnel roof is low, the limiting member 215 can be released from the restriction on the first sub-frame 211 and the second sub-frame 212. At this time, the controller can adjust the operation of the first driver 23 so that the second sub-frame 212 rotates around the third rotating shaft 222 relative to the first sub-frame 211. The first sub-frame 211 is fixed or moves within a small range relative to the machine body 10, so that the sliding roof plate 251 on the second sub-frame 212 has a lower height to accurately fit the tunnel roof.

[0036] When the tunnel roof is high, the limiting member 215 can limit the first sub-frame 211 and the second sub-frame 212 to form a rigid whole. At this time, the controller adjusts the operation of the first driver 23, and the whole formed by the first sub-frame 211 and the second sub-frame 212 will rotate around the first rotating shaft 213, thereby causing the sliding roof 251 to fit against the tunnel roof.

[0037] Furthermore, the first drive unit 23 includes multiple adjustable support members 231, with each end of the adjustable support member 231 connected to the main body 10 and the second subframe 212. These multiple adjustable support members 231 do not operate independently but rather collaboratively. When the tunnel roof height changes, the controller quickly analyzes the data and issues commands to control the length adjustments of each adjustable support member 231 simultaneously or sequentially. For example, in areas with lower tunnel roofs, the controller commands all adjustable support members 231 to shorten their corresponding lengths, causing the second subframe 212 to move downwards, thereby causing the sliding roof plate 251 mounted on the second subframe 212 to fit tightly against the lower tunnel roof. In areas with higher tunnel roofs, the controller commands the adjustable support members 231 to extend, causing the second subframe 212 to lift upwards, ensuring that the sliding roof plate 251 can effectively contact the higher roof.

[0038] It should be noted that the structure of the adjustable support 231 can include hydraulic drive and electric drive depending on the driving method; and can be hydraulic rod-shaped or transmission screw-shaped depending on the transmission method. Therefore, the adjustable support 231 can be selected according to the usage requirements, which will not be elaborated here.

[0039] like Figure 2 and Figure 4 As shown, in some embodiments, the support frame 21 further includes a screw 216 and a screw seat 217, with a threaded connection between the screw 216 and the screw seat 217. One of the screw 216 and the screw seat 217 is connected to the support frame 21, and the other of the screw 216 and the screw seat 217 is connected to the body 10.

[0040] In this embodiment, the first sub-frame 211 of the support frame 21 has multiple connecting arms 218 arranged in parallel. Each connecting arm 218 is equipped with a screw seat 217, and a screw 216 is connected to the machine body 10 via a first rotating shaft 213. During use, the operator can adjust the screw length of the screw seat 217 on one of the connecting arms 218 on the screw 216, causing the sliding roof plate 251 on the support frame 21 to have an inclination in the width direction of the tunnel, thereby adapting to the inclination of the tunnel roof.

[0041] Furthermore, when the operator adjusts the screw length of the screw seat on all connecting arms 218 on the screw 216, the sliding roof 251 can move toward the facing direction of the roadway excavation face, which can cooperate with the second drive 252 to achieve support for the advanced area of ​​the roadway.

[0042] Furthermore, there are two connecting arms 218. When the positions of the rotating seats 217 on the two connecting arms 218 on the screw 216 are not consistent, the guard plate assembly 25 will tilt in the left and right directions of the roadway, so that it can cooperate with the first rotating shaft 213 to realize the tilt adjustment of the guard plate assembly 25.

[0043] like Figure 1 and Figure 4 As shown, in this embodiment, the body 10 has a support leg 11, and a second rotating shaft 214 is connected between the support leg and the screw 216 of the first frame 219. The support leg can provide a stable mounting base for the support frame 21. The support leg is provided with a connecting ear 111, and the connecting ear 111 is provided with a mounting hole for the first rotating shaft to pass through.

[0044] like Figure 2 , Figure 5 and Figure 6 As shown, in some embodiments, the temporary support device 20 further includes a guard plate assembly 25, which includes a mounting plate 253. The mounting plate 253 and the sliding top plate 251 are connected by a ball joint, and the mounting plate 253 and the sliding top plate 251 are provided with an elastic element 254 in the bracket.

[0045] Specifically, the ball connection refers to the installation of a ball socket 2531 and a connecting ball 2511 on the mounting plate 253 and the sliding top plate 251, respectively. The connecting ball 2511 can rotate in all directions within the ball socket 2531, so that the mounting plate 253 has three degrees of rotational freedom relative to the sliding top plate 251. This allows it to better adapt to the uneven surface and angle changes of the roadway top, ensuring that other components on the guard plate assembly 25 can always maintain a suitable working angle.

[0046] The elastic element 254 plays multiple important roles between the mounting plate 253 and the sliding top plate 251. First, the elastic element 254 can act as a buffer and shock absorber. During coal mine tunneling, the equipment is subjected to various vibrations and impacts, such as the tunneling vibration of the tunneling head. At this time, the elastic element 254 can absorb and dissipate these vibrations and impacts through its own elastic deformation, reducing the vibration transmitted to the guard plate assembly 25 and the entire equipment.

[0047] Secondly, the elastic element 254 can provide a certain preload. By adjusting the preload of the elastic element 254, the mounting plate 253 and the sliding top plate 251 can maintain appropriate contact pressure, ensuring that the guard plate assembly 25 will not loosen or shift due to vibration or external force during operation.

[0048] Furthermore, the elastic element 254 also has a certain self-adjusting capability. When the pressure or shape of the roadway top changes, the elastic element 254 can automatically adjust its elastic deformation according to the actual situation, so that the mounting plate 253 and the guard plate assembly 25 can always maintain good contact with the roadway top, improving the adaptability and working effect of the guard plate assembly 25.

[0049] In this embodiment, the mounting plate 253 is provided with a ball socket 2531, and the sliding top plate 251 is provided with a connecting ball 2511. The ball socket 2531 is rotatably disposed in the connecting ball 2511 to realize the ball connection between the mounting plate 253 and the sliding top plate 251.

[0050] like Figure 5 and Figure 6 As shown, in some embodiments, the guard plate assembly 25 further includes an outer sleeve 255, an inner sleeve 256, and a front guard plate 257. The outer sleeve 255 is connected to the mounting plate 253, the inner sleeve 256 is slidably connected to the outer sleeve 255, the front guard plate 257 is hinged to the inner sleeve 256, a third actuator 258 is provided between the front guard plate 257 and the inner sleeve 256, the third actuator 258 is used to drive the front guard plate 257 to rotate relative to the inner sleeve 256, and an eighth actuator is provided between the outer sleeve 255 and the inner sleeve 256, the eighth actuator is used to drive the inner sleeve to slide relative to the outer sleeve.

[0051] Specifically, the mounting plate 253 is installed on the sliding roof plate, and one end of the outer sleeve 255 can be tightly connected to the mounting plate 253 by welding, bolting, or other methods to ensure that the two will not loosen due to equipment vibration or external forces. The front guard plate 257 can contact the coal mine roadway or extend towards the working face to support the front of the equipment. The third drive can adjust the rotation angle of the front guard plate 257 according to actual operational needs, providing reliable protection for the equipment and personnel.

[0052] Optionally, the eighth actuator can be configured as a component such as a hydraulic cylinder or a linear motor.

[0053] Through research by the technical personnel of this invention, it has been found that this invention can realize forward-looking temporary support, achieve zero open roof in advance temporary support, and provide 2×200kN initial support force, effectively ensuring the safety of workers and equipment, and solving the problem that the existing temporary support in the market (which can only provide 50kN initial support force) cannot truly cope with large-scale roof collapses.

[0054] In this embodiment, two guard plate assemblies 25 are provided, and the two guard plate assemblies 25 are spaced apart from the sliding roof plate 251 in the width direction of the machine body 10. In practical applications, the two guard plate assemblies 25 can support the roof plates on both sides of the roadway respectively, forming a comprehensive support system. For example, when the roadway is wide, a single guard plate assembly 25 may not be able to completely cover the entire roof plate, while two guard plate assemblies 25 can achieve comprehensive support for the roadway roof plate by reasonably adjusting the spacing and angle, effectively preventing local roof collapse.

[0055] Meanwhile, the two guard plate assemblies 25 can be adjusted independently according to the uneven stress on the roadway roof. When the roof pressure on one side of the roadway is greater, the guard plate assembly 25 on that side can adjust the rotation angle of the front guard plate 257 through the third actuator 258 to increase the support force; while the guard plate assembly 25 on the other side can be adjusted accordingly according to the actual situation to ensure the stability and reliability of the entire support system.

[0056] like Figure 1 , Figures 7 to 11 As shown, in some embodiments, the first anchoring assembly 33 includes a first sliding mechanism 331 and a first anchor drilling rig 332. The first sliding mechanism 331 is rotatably connected to the worktable 32, and the first anchor drilling rig 332 is disposed on the first sliding mechanism 331. The first sliding mechanism 331 is used to drive the first anchor drilling rig 332 to move relative to the worktable 32 in the cross-section of the roadway. That is, taking the roof anchoring operation as an example, the first sliding mechanism 331 can drive the first anchor drilling rig 332 to move in the vertical and / or horizontal directions of the roadway cross-section.

[0057] For example, when anchoring at a certain position on the top of the tunnel, the first sliding mechanism 331 can drive the first anchor drilling rig 332 to move upward along the vertical direction of the tunnel cross-section, accurately reaching the target position. Alternatively, when anchoring at a certain position on the top of the tunnel, the first sliding mechanism 331 can also drive the first anchor drilling rig 332 to move left and right along the horizontal direction of the tunnel cross-section, to accurately reach the target position.

[0058] Furthermore, the first sliding mechanism 331 includes a first sliding unit 3311 and a second sliding unit 3312 connected to each other. The first sliding unit 3311 is rotatably connected to the worktable 32, and the first anchor drilling machine 332 is disposed on the second sliding unit 3312. The straight line of the sliding direction of the first sliding unit 3311 and the straight line of the sliding direction of the second sliding unit 3312 are perpendicular to each other.

[0059] The first sliding unit 3311 and the second sliding unit 3312 each have independent sliding functions. For example, the sliding direction of the first sliding unit can be set to the left-right direction of the tunnel, while the sliding direction of the second sliding unit 3312 can be set to the height direction of the tunnel. It should be noted that a rotary mechanism 35 is provided between the first sliding mechanism 331 and the worktable 32. When the rotary mechanism 35 is working, the sliding directions of the first sliding unit 3311 and the second sliding unit 3312 will change accordingly, which will not be elaborated further here.

[0060] Furthermore, both the first sliding unit 3311 and the second sliding unit 3312 include a first guide rail 3313 and a first slide block 3314. The first slide block 3314 is slidably disposed on the first guide rail 3313. A fourth driver 3315 is provided between the first slide block 3314 and the first guide rail 3313. The fourth driver 3315 is used to drive the first slide block 3314 to slide relative to the first guide rail 3313. In other words, the first sliding unit 3311 and the second sliding unit 3312 are structurally similar.

[0061] The first guide rail 3313 of the first sliding unit 3311 can be set on the rotary seat 352, the first slide block 3314 of the first sliding unit 3311 is slidably set on the first guide rail 3313, the first guide rail 3313 of the second sliding unit 3312 is set on the first slide block 3314 of the first sliding unit 3311, and the first anchor drilling rig 332 is set on the first slide block 3314 of the second sliding unit 3312.

[0062] In this embodiment, the first sliding mechanism also includes multiple sensors that can monitor the position, speed, and force of the first slide in real time. For example, the position sensor can accurately measure the displacement of the slide on the guide rail and feed the data back to the controller in real time for precise control of the slide's movement; the speed sensor can monitor the sliding speed of the slide to ensure that it operates within a safe and reasonable range; the force sensor can detect the load borne by the slide during movement, and when the load exceeds a set value, the system will issue an alarm in a timely manner and take corresponding protective measures to prevent equipment damage.

[0063] like Figure 1 and Figure 7As shown, in some embodiments, multiple first anchor bolt drills 332 and multiple second sliding units 3312 are provided. Each second sliding unit 3312 corresponds to one of the first anchor bolt drills 332, allowing for independent control of the first anchor bolt drills 332. For example, when anchoring in the middle area of ​​a roadway, the first anchor bolt drill 332 located inside the base 31 can be precisely moved to that position under the influence of the second sliding unit 3312, and its vertical position can be adjusted so that the drill bit drills at the optimal angle and force. Simultaneously, other first anchor bolt drills 332 can continue operating in other areas without interfering with each other.

[0064] In this embodiment, two first anchor drilling rigs 332 are provided, and two corresponding second sliding units 3312 are provided. Of course, in other embodiments of the present invention, three or four first anchor drilling rigs 332 may also be provided.

[0065] like Figure 7 , Figure 8 and Figure 11 As shown, in some embodiments, the anchoring device further includes a rotating mechanism 35, which includes a rotating shaft and a rotating seat 352. The rotating shaft and the rotating seat 352 are rotatably connected. The axis of rotation of the rotating shaft is parallel to the straight line containing the length direction of the base 31. One of the rotating shaft and the rotating seat 352 is connected to the worktable 32, and the other is connected to the first anchoring assembly 33. This allows the first anchoring assembly 33 to rotate flexibly in the horizontal direction around the rotating shaft. That is, through the relative rotation of the rotating shaft and the rotating seat 352, the first anchoring assembly 33 can be flexibly adjusted according to the actual angle of the roadway roof and sidewalls, easily achieving synchronous anchoring operations on the roadway roof and sidewalls in the advanced area.

[0066] Furthermore, the workbench 32 has a first connecting plate 321 and a second connecting plate 322 connected to each other, and the first connecting plate 321 and the second connecting plate 322 are arranged in a similar L-shape. The first connecting plate 321 is arranged parallel to the horizontal plane of the base 31, and the second connecting plate 322 extends obliquely from the second connecting plate 322 toward the top connecting plate of the roadway along the height direction of the base 31. The rotating shaft is located on the second connecting plate 322.

[0067] The first guide rail 3313 of the first sliding unit 3311 can be set on the rotary seat 352, the first slide block 3314 of the first sliding unit 3311 is slidably set on the first guide rail 3313, the first guide rail 3313 of the second sliding unit 3312 is set on the first slide block 3314 of the first sliding unit 3311, and the first anchor drilling rig 332 is set on the first slide block 3314 of the second sliding unit 3312.

[0068] like Figure 7 , Figure 8 , Figure 9 , Figure 10 and Figure 11 As shown, in some embodiments, the first anchoring assembly 33 further includes a correction mechanism 333, which includes a swing joint 3331. The swing joint 3331 is connected between the first anchor drilling rig 332 and the first sliding mechanism 331. The correction mechanism 333 is used to drive the first anchor drilling rig 332 to swing relative to the first sliding mechanism 331 to adjust the support angle of the anchor bolt.

[0069] Furthermore, the swing joint 3331 includes a first rotating seat 33311 and a second rotating seat 33312. The first rotating seat 33311 is rotatably connected to the first sliding mechanism 331, and the second rotating seat 33312 is rotatably connected to the first rotating seat 33311. The rotation axis of the first rotating seat 33311 is perpendicular to the rotation axis of the second rotating seat 33312, thereby realizing the adjustment of the support angle of the first anchor drilling rig 332.

[0070] The swing joint 3331 also includes a fifth actuator 33313 and a sixth actuator 33314. The fifth actuator 33313 drives the first rotating seat 33311 to rotate relative to the first sliding mechanism 331, and the sixth actuator 33314 drives the second rotating seat to rotate relative to the first rotating seat. When an anchor bolt needs to be installed at a complex angle that is neither horizontal nor vertical at a specific location, the controller calculates the required rotation angle of the first rotating seat 33311 and the second rotating seat 33312, and drives the two rotating seats (the first and second rotating seats) to rotate through the fifth actuator 33313 and the sixth actuator. During the rotation, the controller also monitors the position and angle information of the rotating seats in real time and makes dynamic adjustments based on the feedback to ensure that the anchor bolt drilling rig can accurately reach the predetermined support angle.

[0071] It should be noted that the swing joint 3331 may have at least one of the first rotating seat 33311 and the second rotating seat 33312, so that the first anchor drill 332 can swing relative to the first sliding mechanism 331 to correct the anchoring angle of the first anchor drill 332 in order to achieve the predetermined support angle.

[0072] like Figure 7 As shown, in some embodiments, the anchoring device further includes a second anchoring component. The first anchoring component and the second anchoring component are spaced apart on the workbench along the length of the machine body. The second anchoring component is located on the rear side of the workbench relative to the first anchoring component. The second anchoring component is used for anchoring operations on the sidewall of the roadway.

[0073] The second anchoring assembly 34 includes a first lifting mechanism 341 and a second anchor drilling rig 342. The first lifting mechanism 341 is located between the second anchor drilling rig 342 and the worktable 32. The first lifting mechanism 341 is used to move the second anchor drilling rig 342 in the height direction of the base 31, thereby adapting to the sidewall anchoring requirements at different heights. The first lifting mechanism 341 may include an electric cylinder, a hydraulic cylinder, or a screw and nut transmission mechanism, etc., to lift the second anchor drilling rig 342.

[0074] Furthermore, the second anchoring assembly 34 also includes a second sliding mechanism 343, which is located between the first lifting mechanism 341 and the worktable 32. The second sliding mechanism 343 is used to drive the first lifting mechanism 341 and the second anchor drilling rig 342 on it to move in the length direction of the base 31, so that anchoring operations can be carried out at different positions on the sidewall of the roadway.

[0075] Furthermore, the first lifting mechanism 341 may have a structure similar to the first sliding unit and the second sliding unit. Therefore, the first lifting mechanism 341 can be referred to the description of the first sliding unit and the second sliding unit, and will not be repeated here.

[0076] like Figure 7 , Figure 8 , Figure 9 and Figure 10 As shown, in some embodiments, the second anchor drilling rig 342 may include one of an upper side anchor drilling rig and a lower side anchor drilling rig. That is, in the height direction of the rig body, the second anchor drilling rig 342 may be set at 1.6 meters or 2.7 meters, where 1.6 meters and 2.7 meters refer to the distance between the second anchor drilling rig 342 and the roadway roof. This arrangement of the second anchor drilling rig 342 can, on the one hand, adapt to the anchoring requirements of two or three rows of roadway sidewall spacing, and on the other hand, it can cooperate with the first anchor drilling rig 332 to form a sidewall-anchor collaborative support scheme with the first anchor drilling rig 332 rotating to support the sidewall as the main method and the second anchor drilling rig 342 as the auxiliary method, thereby achieving full-section support of the sidewall and anchor.

[0077] like Figure 1 , Figure 7 As shown, in some embodiments, a third sliding mechanism 324 is provided between the workbench 32 and the machine body. The third sliding mechanism 324 is used to drive the workbench 32 and the first anchoring component 33 and the second anchoring component 34 on it to move relative to the machine body along the length direction of the machine body.

[0078] The third sliding mechanism 324 may include a slide rail, a slider, and a drive component. The slide rail extends along the length of the machine body, and the slider is tightly fitted with the slide rail, allowing it to slide smoothly on the slide rail. The drive component may be a linear motor, hydraulic cylinder, or other components. The drive component can transmit power to the slider through its output end and transmission structure, causing it to move along the slide rail, thereby transporting the first anchor drilling rig 332, the first sliding mechanism 331, and the correction mechanism 333 to the face position (the tunneling face of a coal mine roadway).

[0079] Optionally, the sliding stroke of the third sliding mechanism 324 is set to 1.5 meters to 2.0 meters, such as 1.5 meters, 1.75 meters or 2.0 meters.

[0080] Furthermore, such as Figure 7 As shown, the workbench 32 includes a second lifting mechanism 323, which drives the first sliding mechanism 331 and the first anchor drilling rig 332 to move relative to the machine body along the height direction of the machine body. The second lifting mechanism 323 can be a scissor mechanism, comprising a seventh driver 3231, an upper plate 3232, and multiple hinged connecting rods 3233. The two ends of the connecting rods 3233 can be connected to the upper plate 3232 and the machine body, respectively. The fixed end of the seventh driver 3231 is mounted to the machine body, and the output end of the seventh driver 3231 can be connected to the upper plate 3232. The seventh driver 3231 can be a linear motor or a hydraulic cylinder, etc.

[0081] Optionally, the maximum lifting height of the second lifting mechanism 323 can be set to 350mm to 400mm, such as 350mm, 375mm or 400mm.

[0082] In this embodiment, the second lifting mechanism 323 and the third sliding mechanism 324 are used in combination. The slide rail of the third sliding mechanism 324 can be set on the plate 3232 above the second lifting mechanism 323, so that the first anchor drilling rig 332 can be moved freely in the tunneling direction and height direction of the coal mine roadway as needed.

[0083] like Figure 11 As shown, in some embodiments, the combined anchoring device 30 further includes a side support member 36, which is located on the side of the workbench 32. The side support member 36 has an abutment end 361, which is used to abut against the side wall of the roadway, thereby providing lateral support and enhancing the stability of the device.

[0084] Furthermore, the side support component 36 includes a side support rod 362 and a support 363. The length of the side support rod 362 is adjustable, and both ends of the side support rod 362 are connected to the workbench 32 and the support 363 respectively, with the abutment end 361 located on the support 363. The adjustable length of the side support rod 362 can adapt to the side support requirements of roadways at different distances and angles.

[0085] Furthermore, the side support member 36 also includes an abutment plate 364, which is connected to the end of the side support rod 362 via a ball joint. The abutment plate 364 can automatically adjust its posture according to the actual angle of the side support, maintaining close contact with it at all times. For example, when the side support tilts to one side, the abutment plate 364 can rotate in the corresponding direction under the action of the ball joint, ensuring that the plate surface is parallel to the side support and providing uniform support force. This ability to rotate flexibly at multiple angles allows the side support member 36 to better adapt to complex tunnel conditions, improving the reliability and stability of the support.

[0086] Optionally, multiple side support members 36 may be provided, and multiple side support members 718 may be spaced apart along the height direction of the machine body 11, such as two or three. Multiple side support members are respectively provided on opposite sides of the workbench to meet the support requirements of the side walls of the roadway.

[0087] In addition, the tunneling and anchoring integrated equipment 100 provided by the present invention also includes a cutting section 40, a transfer section 50, an onboard dust removal section 60, a transportation section 70, and a control system. The controller can be integrated into the control system, so that the control system can adjust the operation of the temporary support device 20 and the anchoring device 30 according to the tunneling and mining status of the equipment to realize the anchoring operation.

[0088] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to 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.

[0089] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0090] 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.

[0091] 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.

[0092] In this invention, the terms "one embodiment," "some embodiments," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0093] 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. A coal mine tunneling and anchoring integrated device, characterized in that, include: fuselage (10) Anchoring device (30), the anchoring device (30) includes a workbench (32) and a first anchoring component (33), the workbench (32) is disposed on the body (10), the workbench (32) is movable relative to the body (10) along the length direction of the body (10), and the first anchoring component (33) is rotatably connected to the workbench (32) about the length direction of the body (10). A temporary support device (20) includes a support frame (21) and a sliding roof plate (251). The support frame (21) is rotatably connected to the machine body (10). A first driver (23) is provided between the support frame (21) and the machine body (10). The first driver (23) is used to drive the support frame (21) to rotate relative to the machine body (10) around the width direction of the machine body (10). The sliding roof plate (251) is slidably connected to the support frame (21). A second driver (252) is provided between the support frame (21) and the sliding roof plate (251). The second driver (252) is used to drive the sliding roof plate (251) to move relative to the support frame (21) toward the roadway facing direction to form advanced temporary support.

2. The integrated tunneling and anchoring equipment for coal mines according to claim 1, characterized in that, The support frame (21) includes a first sub-frame (211) and a second sub-frame (212). A first rotating shaft (213) is provided between the first sub-frame (211) and the body (10). A second rotating shaft (214) is provided between the second sub-frame (212) and the first sub-frame (211). Both the first rotating shaft (213) and the second rotating shaft (214) extend along the width direction of the body (10). A limiting member (215) is provided between the first sub-frame (211) and the second sub-frame (212). The limiting member (215) is used to restrict the second sub-frame (212) from rotating relative to the first sub-frame (211).

3. The integrated tunneling and anchoring equipment for coal mines according to claim 2, characterized in that, The first driver (23) includes a plurality of adjustable supports (231), the two ends of which are connected to the body (10) and the second subframe (212).

4. The integrated tunneling and anchoring equipment for coal mines according to claim 1, characterized in that, The support frame (21) also includes a screw (216) and a screw seat (217), the screw (216) and the screw seat (217) are threaded together, one of the screw (216) and the screw seat (217) is connected to the support frame (21), and the other of the screw (216) and the screw seat (217) is connected to the body (10).

5. The integrated tunneling and anchoring equipment for coal mines according to claim 1, characterized in that, The temporary support device (20) also includes a guard plate assembly (25), which includes a mounting plate (253), the mounting plate (253) and the sliding top plate (251) are connected by a ball joint, and an elastic element (254) is provided between the mounting plate (253) and the sliding top plate (251).

6. The integrated tunneling and anchoring equipment for coal mines according to claim 5, characterized in that, The guard plate assembly (25) further includes an outer sleeve (255), an inner sleeve (256), and a front guard plate (257). The outer sleeve (255) is connected to the mounting plate (253). The inner sleeve (256) is slidably connected to the outer sleeve (255). The front guard plate (257) is hinged to the inner sleeve (256). A third actuator (258) is provided between the front guard plate (257) and the inner sleeve (256). The third actuator (258) is used to drive the front guard plate (257) to rotate relative to the inner sleeve (256). An eighth actuator is provided between the outer sleeve (255) and the inner sleeve (256). The eighth actuator is used to drive the inner sleeve (256) to slide relative to the outer sleeve (255).

7. The integrated tunneling and anchoring equipment for coal mines according to claim 5, characterized in that, Two guard plate assemblies (25) are provided, and the two guard plate assemblies (25) are spaced apart on the sliding top plate (251) along the width direction of the fuselage (10).

8. The integrated tunneling and anchoring equipment for coal mines according to claim 1, characterized in that, The first anchoring assembly (33) includes a first sliding mechanism (331) and a first anchor drilling machine (332). The first sliding mechanism (331) is rotatably connected to the workbench (32). The first anchor drilling machine (332) is located on the first sliding mechanism (331). The first sliding mechanism (331) drives the first anchor drilling machine (332) to move relative to the workbench (32) on the cross-section of the roadway.

9. The integrated tunneling and anchoring equipment for coal mines according to claim 8, characterized in that, The first sliding mechanism (331) includes a first sliding unit (3311) and a second sliding unit (3312) connected to each other. The first sliding unit (3311) is rotatably connected to the worktable (32). The first anchor drilling machine (332) is located on the second sliding unit (3312). The sliding direction of the first sliding unit (3311) is perpendicular to the sliding direction of the second sliding unit (3312). The first sliding unit (3311) and the second sliding unit both include a first guide rail (3313) and a first slide block (3314). The first slide block (3314) is slidably located on the first guide rail (3313). A fourth driver (3315) is provided between the first slide block (3314) and the first guide rail (3313).

10. The integrated tunneling and anchoring equipment for coal mines according to claim 9, characterized in that, Multiple first anchor drilling machines (332) are provided. The first anchor drilling machine (332) is installed on the second sliding unit (3312). The second sliding unit (3312) is set in a one-to-one correspondence with the first anchor drilling machine (332).

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