Anchoring, protecting and reinforcing integrated equipment and pre-judgment type reinforcing method

Abstract

The invention relates to the field of coal mine roadway supporting, in particular to anchoring, protecting and reinforcing integrated equipment and a pre-judgment type reinforcing method.The anchoring, protecting and reinforcing integrated equipment comprises a mounting base, a tunneling device, an anchor rod mounting device, a supporting device and a pre-judgment type reinforcing device, and the tunneling device, the anchor rod mounting device, the supporting device and the pre-judgment type reinforcing device are sequentially arranged on the mounting base from front to back; a cab is formed in the protective shell; a walking track for driving the equipment to advance is arranged below the mounting base; the number of the supporting devices is two, the supporting devices are arranged on the two opposite sides of the mounting base in the transverse direction, and the pre-judgment type reinforcing device comprises a reinforcing spray head used for spraying a curing agent to the top wall and the side wall of the roadway. Tunneling, supporting, reinforcing, anchor rod mounting and other devices are integrated, the equipment integration is improved, and the safety of operators is improved; the multiple stages of supporting devices are arranged on the two sides of the equipment, the supporting plate of the supporting device on each side can independently control the supporting state and the supporting position, and the supporting effect of all point positions of the side wall is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of coal mine roadway support, and in particular to an integrated anchoring and reinforcement device and a predictive reinforcement method. Background Technology

[0002] Tunnel boring machines (TBMs) are primarily used in the preparation stage of coal mining for tunnel excavation. Research on TBM equipment is crucial for the safety and intelligentization of coal mines. After the TBM completes its excavation, a rock bolting machine is needed to reinforce the tunnel face, strengthening the surrounding rock, preventing collapses, and mitigating roof falls. However, most current TBMs cannot predict roof falls during excavation, nor can they drill and drive rock bolts into the working face in a timely manner. This necessitates on-site construction based on experience, posing significant safety hazards to personnel and equipment. Newly developed integrated tunneling and rock bolting machines can reduce the time difference between the excavation and rock bolting stages. However, the rock bolting stage still poses a threat to the safety of personnel and the integrated machine, with a risk of roof falls. Summary of the Invention

[0003] This invention aims to solve the above problems and provides an integrated anchoring and reinforcement device and a predictive reinforcement method. The technical solution adopted is as follows: An integrated anchoring and reinforcement device includes a mounting base and, from front to back, a tunneling device, an anchor bolt installation device, a support device, and a pre-judgment reinforcement device, all sequentially mounted on the mounting base. A protective shell is fixedly connected to the mounting base, and a driver's cab is formed within the protective shell. Tracks for driving the equipment are installed below the mounting base. Two support devices are arranged laterally on opposite sides of the mounting base. Each support device includes a fixed support frame, a primary support plate, a secondary support plate, a first support cylinder, and a second support cylinder. The support frame is fixedly connected to the mounting base. The upper end of the primary support plate is hinged to the free end of the fixed support frame near the sidewall of the roadway. There are multiple primary support plates, which are arranged along the traveling direction of the track. The secondary support plate is slidably connected to the inner side of the primary support plate. The first support cylinder is hinged between the fixed support frame and the inner side of the secondary support plate. The second support cylinder is hinged between the top inner side of the first support plate and the top inner side of the secondary support plate. The pre-judgment reinforcement device includes a reinforcement nozzle for spraying a curing agent onto the top and sidewalls of the roadway.

[0004] Based on the above scheme, the predictive reinforcement device includes a first reinforcement mechanism and a second reinforcement mechanism. The first reinforcement mechanism is located on the top of the fixed support frame and includes a first reinforcement slide rail, a first reinforcement slider, a reinforcement connecting rod, a first nozzle connecting frame, a first reinforcement nozzle, and a first reinforcement motor. The first reinforcement slide rail is fixedly installed on the top of the fixed support frame along the traveling direction of the track. The first reinforcement slider is slidably mounted on the first reinforcement slide rail. The reinforcement connecting rod, the first nozzle connecting frame, and the reinforcement nozzle are sequentially hinged on the first reinforcement slider. Multiple first reinforcement motors are installed on the first reinforcement slider, the reinforcement connecting rod, and the first nozzle connecting frame to control the rotation angle of the reinforcement connecting rod, the first nozzle connecting frame, and the first reinforcement nozzle. The second reinforcement mechanism is located on... Below the fixed support frame, there are gears, racks, rack connecting blocks, reinforcement cylinders, second nozzle connecting frames, second reinforcement nozzles, and second reinforcement motors. Multiple gears are rotatably mounted on the mounting base in a horizontal plane and evenly distributed along the traveling direction of the track. The mounting base has rack grooves for accommodating the racks. The inner side of the rack meshes with at least two gears simultaneously and slides within the rack grooves. A rack connecting block is fixedly connected to the outer side of the rack. The reinforcement cylinder, second nozzle connecting frame, and second reinforcement nozzle are sequentially hinged to the outer side of the rack connecting block. Multiple second reinforcement motors are located at the rack connecting block, reinforcement cylinder, and second nozzle connecting frame to control the rotation angle of the reinforcement cylinder, second nozzle connecting frame, and second reinforcement nozzle.

[0005] Preferably, the predictive reinforcement device further includes a predictive camera, an infrared ranging sensor, a pressure sensor, and an acoustic emission sensor. The predictive camera and the infrared ranging sensor are installed on the top of the fixed support frame. The predictive camera is used to capture images of the tunnel roof. There are multiple infrared ranging sensors arranged in a two-dimensional rectangular grid array to detect the distance between them and the tunnel roof. The pressure sensor and the acoustic emission sensor are installed on the outer surface of the primary support plate. There are multiple pressure sensors arranged in a two-dimensional rectangular grid array to detect the pressure of the tunnel sidewall on the primary support plate. There are multiple acoustic emission sensors to detect the sound wave frequency at the tunnel sidewall.

[0006] Preferably, the device further includes an imaging device, which includes an infrared linear array emitter and an infrared contour camera. The infrared linear array emitter is disposed on the top and opposite sides of the device and is located on the same plane, which is perpendicular to the direction of travel of the track. The infrared contour camera is disposed on the top and opposite sides of the device to receive the contour information of the tunnel surface in that direction.

[0007] Preferably, the tunneling device includes a cutting head, a cutting arm, a shovel plate, and star wheels. The cutting arm connects the cutting head to the front of the mounting base. The shovel plate is located below the cutting head. Star wheels are rotatably mounted on the shovel plate. There are two star wheels, which rotate relative to each other.

[0008] Preferably, the anchor bolt installation device includes an anchor bolt sliding guide rail, a propulsion cylinder, a sliding seat, an anchor bolt rotation motor, an anchor bolt installation frame, and an anchor bolt installation push rod. The anchor bolt sliding guide rail is fixedly installed on the mounting base along the traveling direction of the track. The sliding seat is slidably disposed on the anchor bolt sliding guide rail and is driven and moved by the propulsion cylinder. The anchor bolt rotation motor is installed in front of the sliding seat and drives the anchor bolt installation frame to rotate. The anchor bolt installation push rod is installed on the anchor bolt installation frame in the direction toward the roadway sidewall and pushes the anchor bolt push frame to reciprocate. Anchor bolt clamps for holding anchor bolts are hinged on the anchor bolt push frame. The anchor bolt clamps are arranged in pairs and open and close relative to each other.

[0009] Preferably, a support jack and a support base are hinged sequentially on the mounting base. The support base is supported on the roadway surface when the track stops moving. There are multiple support bases, which are located at the rear and opposite sides of the mounting base.

[0010] Preferably, it also includes a panoramic camera and a thermal imaging recognition camera. The panoramic camera is used to capture images of the reinforced and anchored tunnel, and the thermal imaging recognition camera is used to identify whether there are people standing in front of the direction of travel.

[0011] A predictive reinforcement method, using the aforementioned integrated anchoring and reinforcement equipment, includes the following steps: S1. The traveling track drives the equipment to the predetermined anchoring position, and then the traveling track stops moving; S2. The cutting arm drives the cutting head to move and rotate, performing cutting; S3. Reinforce the nozzles to spray the first layer of hardener onto the top and side surfaces of the tunnel; S4. The support device supports the sidewall of the roadway after spraying. The primary and secondary support plates are deployed and abut against the sidewall. Pressure sensors and acoustic emission sensors detect the pressure value and sound frequency of the sidewall when no force is applied to it, and then determine whether there is a risk of blistering. If there is no risk of blistering, the support device continuously supports the sidewall. If there is a risk of blistering, the primary and / or secondary support plates in the risk area are retracted, a second layer of curing agent is sprayed into the area, and the judgment process of this step is repeated until the judgment result is that there is no risk of blistering. S5. Predict whether there is a risk of roof collapse on the tunnel roof surface detected by the camera and infrared ranging sensor: If there is no risk of roof collapse, proceed to step S6; if there is a risk of roof collapse, spray a second layer of curing agent on the area and repeat the judgment process in this step until the judgment result is that there is no risk of roof collapse. S6. The anchor bolt installation device installs anchor bolts at predetermined positions in the roadway to provide roadway anchoring protection; S7. The walking track moves forward to the next working position, and the above steps are repeated.

[0012] Based on the above plan, Step S3 includes: S3-1. Definition The pressure value detected by the pressure sensor in the i-th row and j-th column is... To obtain an empirical value for the pressure generated on the sidewall when a sidewall flap appears, four adjacent pressure sensors arranged in a rectangular pattern are grouped together, and the pressure weight of the corresponding area in that group is calculated. That is, the comprehensive pressure weight of the nth area is... (3-1) Where k is a positive integer; S3-2. Calculate the sound wave frequency weights for the nth region. (3-2) in The sound wave frequency value measured by the acoustic emission sensor in the nth region. This is an empirical value for the frequency of the sound wave on the sidewall when a sidewall flap appears; S3-3. Calculate the predicted value of sidewall flaking in the nth region. (3-3) in This is the pressure plate cap coefficient. The coefficient of the sound frequency cap; S3-4. Setting the threshold for sidewall caps ,Will and If a comparison is made, If so, then the nth region is considered to be at risk of being partially submerged and needs to be solidified; Step S4 includes: S4-1. Define d as the measurement time and d-1 as the previous time. Let the distance value detected by the infrared ranging sensor in the i-th row and j-th column be the distance value detected by the infrared ranging sensor. Grouping four adjacent infrared ranging sensors in a rectangular arrangement, we calculate the distance weight corresponding to this group of regions. That is, the distance weight of the m-th region at time d is... (4-1) Where b and c are positive integers; S4-2. Calculate the crack weight of the m-th region. (4-2) in To predict the crack length in the m-th region captured by the camera, This is an empirical value for when a crack appears on the top surface; S4-3. Calculate the predicted value of the top surface capping in the m-th region. (4-3) in This is the distance coefficient for the cap. The coefficient for crack flaps; S4-4. Set the threshold for the top surface cap. ,Will and If a comparison is made, If so, then the m-th region is considered to be at risk of being patched and needs to be solidified; Step S7 includes: S7-1. During the movement of the walking track, the infrared contour camera collects the surface image information of the roadway after the anchoring is completed, uploads it to the host computer and generates a three-dimensional image of the roadway; S7-2. The host computer compares the three-dimensional image of the tunnel with the dataset of tunnel morphological features with risks of collapse and roof fall, and determines whether there are risks of roof fall and collapse at the comparison location; S7-3. If there is a risk of roof fall or collapse, the traveling tracks will drive the equipment back to this position, and the hardening agent will be sprayed again by the reinforcement nozzle.

[0013] The beneficial effects of this invention are as follows: By integrating tunneling, support, reinforcement, and anchor bolt installation devices into one unit, and with the help of a crawler track, multiple construction operations can be completed in one trip underground, improving equipment integration, significantly reducing the space occupied in the tunnel, saving construction time, and improving the safety of operators. Multi-level support devices are installed on both sides of the equipment. The support plate of each support device can independently control the support status and support position, which makes it easy to flexibly adjust the support strategy and provide timely support according to the actual working conditions of the roadway during construction, ensuring the support effect at each point of the sidewall. Multi-level reinforcement structures can comprehensively reinforce different locations on the roadway surface; reinforcement devices, combined with predictive reinforcement methods, can precisely solidify areas with poor reinforcement effects or risks of flaking, significantly reducing the ineffective use of curing agents. This not only improves environmental protection and reduces construction costs, but also ensures curing effects while saving construction time, effectively preventing dangers from occurring.

[0014] The reinforcement effect is visually displayed in the form of images through imaging devices, and the results are compared with the features in the database to verify and ensure the curing effect. Attached Figure Description

[0015] Figure 1 : Schematic diagram of the structure of the present invention; Figure 2 : Another structural schematic diagram of the present invention; Figure 3 : Schematic diagram of the anchor bolt installation device of the present invention; Figure 4 : Schematic diagram of the support device and predictive reinforcement device of the present invention; Figure 5 Top view of the support device of the present invention; Figure 6 : Schematic diagram of the outer surface structure of the primary support plate of the present invention; Figure 7 : Schematic diagram of the second reinforcement mechanism of the present invention. Detailed Implementation

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments: 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 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. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0017] In the description of this invention, it should be understood that the terms "center," "length," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," and "inner," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the 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, and therefore should not be construed as a limitation of the invention. 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 indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0018] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0019] like Figures 1 to 7 As shown, an integrated anchoring and reinforcement device includes a mounting base 11 and a tunneling device, an anchor bolt installation device, a support device, and a predictive reinforcement device arranged sequentially from front to back on the mounting base 11.

[0020] The protective housing 12 is fixedly connected to the mounting base 11, and the cab 13 is formed inside the protective housing 12. The track 14 for driving the equipment is provided below the mounting base 11.

[0021] The number of support devices is two, arranged laterally on opposite sides of the mounting base 11, such as... Figure 4 As shown, the support device includes a fixed support frame 41, a primary support plate 42, a secondary support plate 43, a first support cylinder 44, and a second support cylinder 45. The fixed support frame 41 is fixedly connected to the mounting base 11. The upper end of the primary support plate 42 is hinged to the free end of the fixed support frame 41 near the sidewall of the roadway. There are multiple primary support plates 42, which are arranged along the traveling direction of the track 14. The secondary support plate 43 is slidably connected to the inner side of the primary support plate 42. The first support cylinder 44 is hinged between the fixed support frame 41 and the inner side of the secondary support plate 43. The second support cylinder 45 is hinged between the top inner side of the first support plate 42 and the top inner side of the secondary support plate 43. Each primary support plate 42 and secondary support plate 43 is independently controlled. The extension action and support force of each support plate are adjusted according to the roadway surface conditions, support requirements and solidification degree: the extension and retraction of the primary support plate 42 are controlled by adjusting the action of the first support cylinder 44, and the extension and retraction of the secondary support plate 43 are controlled by adjusting the action of the second support cylinder 45.

[0022] The predictive reinforcement device includes reinforcement nozzles for spraying a hardening agent onto the roof and sidewalls of the tunnel. For example... Figures 3 to 7As shown, the predictive reinforcement device includes a first reinforcement mechanism and a second reinforcement mechanism. The first reinforcement mechanism is installed on the top of the fixed support frame 41 and includes a first reinforcement slide rail 531, a first reinforcement slider 532, a reinforcement connecting rod 533, a first nozzle connecting frame 534, a first reinforcement nozzle 535, and a first reinforcement motor 536. The first reinforcement slide rail 531 is fixedly installed on the top of the fixed support frame 41 along the traveling direction of the track 14. The first reinforcement slider 532 is slidably installed on the first reinforcement slide rail 531. The reinforcement connecting rod 533, the first nozzle connecting frame 534, and the reinforcement nozzle 535 are sequentially hinged on the first reinforcement slider 532. There are multiple first reinforcement motors 536, which are installed on the first reinforcement slider 532, the reinforcement connecting rod 533, and the first nozzle connecting frame 534 to control the rotation angle of the reinforcement connecting rod 533, the first nozzle connecting frame 534, and the first reinforcement nozzle 535. The second reinforcement mechanism is located below the fixed support frame 41 and includes a gear 541, a rack 542, a rack connecting block 544, a reinforcement cylinder 545, a second nozzle connecting frame 546, a second reinforcement nozzle 547, and a second reinforcement motor 548. There are multiple gears 541, which are rotatably mounted on the mounting base 11 in the horizontal plane and are evenly distributed along the traveling direction of the track 14. The mounting base 11 is provided with a rack groove 543 for accommodating the rack 542. The inner side of the rack 542 meshes with no less than two gears 541 at the same time and slides in the rack groove 543, so that the gears 541 drive the rack 542 to complete the back-and-forth movement. A rack connecting block 544 is fixedly connected to the outer side of the rack 542. A reinforcing cylinder 545, a second nozzle connecting frame 546, and a second reinforcing nozzle 547 are sequentially hinged to the outer side of the rack connecting block 544. Multiple second reinforcing motors 548 are installed at the rack connecting block 544, the reinforcing cylinder 545, and the second nozzle connecting frame 546 to control the rotation angle of these components. This structure enables the forward and backward movement, height adjustment, and angle rotation of the first reinforcing nozzle 535 and the second reinforcing nozzle 547, allowing for comprehensive reinforcement spraying of multiple locations, including the top, upper, middle, and lower sides of the tunnel, as well as fine reinforcement spraying for specific areas.

[0023] The predictive reinforcement device also includes a predictive camera 511, an infrared ranging sensor 513, a pressure sensor 521, and an acoustic emission sensor 522. The predictive camera 511 and the infrared ranging sensor 513 are mounted on top of the fixed support frame 41. The predictive camera 511 is used to capture images of the tunnel roof. Multiple infrared ranging sensors 513 are arranged in a two-dimensional rectangular grid array to detect the distance between them and the tunnel roof. The pressure sensor 521 and the acoustic emission sensor 522 are mounted on the outer surface of the primary support plate 42. Multiple pressure sensors 521 are arranged in a two-dimensional rectangular grid array to detect the pressure of the tunnel sidewall on the primary support plate 42. Multiple acoustic emission sensors 522 are used to detect the sound wave frequency at the tunnel sidewall. A camera brush 512 is hinged to the lens of the predictive camera 511 to wipe the lens and prevent surface dirt from affecting image capture and recognition results.

[0024] like Figure 2 As shown, the device also includes an imaging device, which includes an infrared array emitter 61 and an infrared contour camera 62. The infrared array emitter 61 is disposed on the top and opposite sides of the device and is located on the same plane, which is perpendicular to the traveling direction of the track 14. The infrared contour camera 62 is disposed on the top and opposite sides of the device to receive the contour information of the tunnel surface in that direction. Specifically, the contour information of the tunnel surface is identified by receiving the infrared rays emitted by the infrared array emitter 61 and reflected by the tunnel surface.

[0025] like Figure 1 and Figure 2 As shown, the tunneling device includes a cutting head 21, a cutting arm 22, a shovel 23, and star wheels 24. The cutting arm 22 connects the cutting head 21 to the front of the mounting base 11. The shovel 23 is positioned below the cutting head 21, and two star wheels 24 are rotatably mounted on the shovel 23, rotating relative to each other to move the coal and gangue on the shovel 23. Preferably, a conveying channel can be provided on the mounting base 11. The front end of the conveying channel communicates with the space above the shovel 23, and the rear end communicates with a scraper conveyor or other transportation equipment. The star wheels 24 push the gangue on the shovel 23 into the conveying channel, and then transfer it to the scraper conveyor or other equipment through the conveying channel to complete the cleaning of coal and gangue in the roadway.

[0026] like Figure 3As shown, the anchor bolt installation device includes an anchor bolt sliding guide rail 31, a propulsion cylinder 32, a sliding seat 33, an anchor bolt rotation motor 34, an anchor bolt mounting frame 35, and an anchor bolt installation push rod 36. The anchor bolt sliding guide rail 31 is fixedly installed on the mounting base 11 along the traveling direction of the track 14. The sliding seat 33 is slidably mounted on the anchor bolt sliding guide rail 31 and is driven and moved by the propulsion cylinder 32. The anchor bolt rotation motor 34 is mounted in front of the sliding seat 33 and drives the anchor bolt mounting frame 35 to rotate. The anchor bolt installation push rod 36 is mounted on the anchor bolt mounting frame 35 in the direction toward the roadway sidewall and pushes the anchor bolt push frame 37 to move back and forth. An anchor bolt claws 38 for clamping anchor bolts 39 are hinged on the anchor bolt push frame 37. The anchor bolt claws 38 are arranged in pairs and open and close relative to each other. One end of the push cylinder 32 is hinged to the fixed base, and the other end is hinged to the sliding base 33. The movement of the sliding base 33 is controlled by the action of the push cylinder 32. Furthermore, another cylinder can be hinged between the fixed base and the sliding base 33. This cylinder operates in a different direction than the push cylinder 32. Through the combined action of the two cylinders, the height and angle of the sliding base 33 can be adjusted, expanding the installation range of the anchor bolt 39. The anchor bolt rotation motor 34 adjusts the angle of the anchor bolt mounting bracket 35, thereby adjusting the installation angle of the anchor bolt 39. The action of the anchor bolt installation push rod 36 drives the anchor bolt pushing bracket 37 to reciprocate. Combined with the clamping action of the anchor bolt claw 38 on the anchor bolt 39, the anchor bolt pushing bracket 37 pushes outward to complete the insertion and installation of the anchor bolt 39. After installation, the anchor bolt claw 38 releases and retracts, driven by the anchor bolt pushing bracket 37, preparing for the next installation action of the anchor bolt 39. Preferably, the actuator control switches for the various components of the anchor bolt installation device, such as cylinders, push rods, and grippers, are located in the cab 13, thereby reducing the risk of injury to operators due to exposure.

[0027] The mounting base 11 is hinged in sequence with a support jack 15 and a support base 16. The support base 16 is supported on the roadway surface when the walking track 14 stops moving. There are multiple support bases 16, which are located at the rear of the mounting base 11 and on opposite sides. By keeping the support bases 16 in each direction in close contact with the ground surface, the stability of the equipment is maintained.

[0028] It also includes a panoramic camera 63 and a thermal imaging recognition camera 64. The panoramic camera 63 is used to capture images of the roadway after reinforcement and anchoring, and the thermal imaging recognition camera 64 is used to identify whether there are people standing in front of the direction of travel.

[0029] A predictive reinforcement method, using the aforementioned integrated anchoring and reinforcement equipment, includes the following steps: S1. The traveling track 14 drives the equipment to the predetermined anchoring position, and the traveling track 14 stops moving; S2. The cutting arm 22 drives the cutting head 21 to move and rotate, performing cutting; S3. Reinforce the nozzles to spray the first layer of hardener onto the top and side surfaces of the tunnel; Step S3 includes: S3-1. Definition The pressure value detected by pressure sensor 521 in row i and column j is... To obtain an empirical value for the pressure generated on the sidewall when a sidewall flap appears, four adjacent pressure sensors 521 arranged in a rectangular pattern are grouped together, and the pressure weight of the corresponding area in this group is calculated. That is, the comprehensive pressure weight of the nth area is... (3-1) Where k is a positive integer; S3-2. Calculate the sound wave frequency weights for the nth region. (3-2) in The sound wave frequency value measured by the acoustic emission sensor 522 in the nth region. This is an empirical value for the frequency of the sound wave on the sidewall when a sidewall flap appears; S3-3. Calculate the predicted value of sidewall flaking in the nth region. (3-3) in This is the pressure plate cap coefficient. The coefficient of the sound frequency cap; S3-4. Setting the threshold for sidewall caps ,Will and If a comparison is made, If so, then the nth region is considered to be at risk of being partially submerged and needs to be solidified; S4. The support device supports the sidewall of the roadway after spraying. The primary support plate 42 and the secondary support plate 43 are deployed and abut against the sidewall. The pressure sensor 521 and the acoustic emission sensor 522 detect the pressure value and sound frequency of the sidewall when no force is applied to it, and then determine whether there is a risk of blistering. If there is no risk of blistering, the support device continuously supports the sidewall. If there is a risk of blistering, the primary support plate 42 and / or the secondary support plate 43 in the risk area are retracted, a second layer of curing agent is sprayed into the area, and the judgment process of this step is repeated until the judgment result is that there is no risk of blistering. Step S4 includes: S4-1. Define d as the measurement time and d-1 as the previous time. For the distance value detected by the infrared ranging sensor 513 in the i-th row and j-th column, the distance weights corresponding to the four adjacent infrared ranging sensors arranged in a rectangular pattern are calculated as a group. That is, the distance weight of the m-th region at time d is... (4-1) Where b and c are positive integers; S4-2. Calculate the crack weight of the m-th region. (4-2) in To predict the crack length in the m-th region captured by camera 511, This is an empirical value for when a crack appears on the top surface; S4-3. Calculate the predicted value of the top surface capping in the m-th region. (4-3) in This is the distance coefficient for the cap. The coefficient for crack flaps; S4-4. Set the threshold for the top surface cap. ,Will and If a comparison is made, If so, then the m-th region is considered to be at risk of being patched and needs to be solidified; S5. Predictive camera 511 and infrared ranging sensor 513 detect whether there is a risk of roof collapse on the top surface of the tunnel: If there is no risk of roof collapse, proceed to step S6; if there is a risk of roof collapse, spray a second layer of curing agent on the area and repeat the judgment process of this step until the judgment result is that there is no risk of roof collapse. S6. The anchor bolt installation device installs anchor bolts 39 at predetermined positions in the roadway to provide roadway anchoring protection; S7. The traveling track 14 moves forward to the next working position and repeats the above steps; Step S7 includes: S7-1. During the travel of the walking track 14, the infrared contour camera 62 collects the surface image information of the roadway after the anchoring is completed, uploads it to the host computer and generates a three-dimensional image of the roadway; S7-2. The host computer compares the three-dimensional image of the tunnel with the dataset of tunnel morphological features with risks of collapse and roof fall, and determines whether there are risks of roof fall and collapse at the comparison location; S7-3. If there is a risk of roof fall or collapse, the traveling track 14 will drive the equipment back to this position, and the hardening agent will be sprayed again by the reinforcement nozzle.

[0030] The present invention has been described above by way of example, but the present invention is not limited to the specific embodiments described above. Any modifications or variations made based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. An integrated anchoring and reinforcement device, characterized in that, The equipment includes a mounting base (11) and, from front to back, a tunneling device, an anchor bolt installation device, a support device, and a pre-judgment reinforcement device, all arranged sequentially on the mounting base (11). A protective shell (12) is fixedly connected to the mounting base (11), and a driver's cab (13) is formed inside the protective shell (12). A track (14) for driving the equipment is provided below the mounting base (11). There are two support devices, arranged laterally on opposite sides of the mounting base (11). Each support device includes a fixed support frame (41), a primary support plate (42), a secondary support plate (43), a first support cylinder (44), and a second support cylinder (45). 1) Fixedly connected to the mounting base (11), the upper end of the first-level support plate (42) is hinged to the free end of the fixed support frame (41) near the side wall of the roadway. There are multiple first-level support plates (42) and they are arranged along the traveling direction of the track (14). The second-level support plate (43) is slidably connected to the inner side of the first-level support plate (42). The first support cylinder (44) is hinged between the fixed support frame (41) and the inner side of the second-level support plate (43). The second support cylinder (45) is hinged between the top of the inner side of the first support plate (42) and the top of the inner side of the second-level support plate (43). The pre-judgment reinforcement device includes a reinforcement nozzle for spraying a curing agent onto the top and side walls of the roadway.

2. The integrated anchoring and reinforcement device according to claim 1, characterized in that, The pre-judgment reinforcement device includes a first reinforcement mechanism and a second reinforcement mechanism; the first reinforcement mechanism is set on the top of the fixed support frame (41) and includes a first reinforcement slide rail (531), a first reinforcement slider (532), a reinforcement connecting rod (533), a first nozzle connecting frame (534), a first reinforcement nozzle (535), and a first reinforcement motor (536). The first reinforcement slide rail (531) is fixedly installed on the top of the fixed support frame (41) along the traveling direction of the track (14), and the first reinforcement slider (532) is slidably set on the first reinforcement slide rail (533). On the first reinforcing slider (531), a reinforcing connecting rod (533), a first nozzle connecting frame (534), and a reinforcing nozzle (535) are sequentially hinged on the first reinforcing slider (532). Multiple first reinforcing motors (536) are installed on the first reinforcing slider (532), the reinforcing connecting rod (533), and the first nozzle connecting frame (534) to control the rotation angle of the reinforcing connecting rod (533), the first nozzle connecting frame (534), and the first reinforcing nozzle (535). The second reinforcing mechanism is installed below the fixed support frame (41) and includes a gear (541). The system includes a rack (542), a rack connecting block (544), a reinforcing cylinder (545), a second nozzle connecting frame (546), a second reinforcing nozzle (547), and a second reinforcing motor (548). Multiple gears (541) are rotatably mounted on a mounting base (11) in a horizontal plane and evenly distributed along the traveling direction of the track (14). The mounting base (11) has rack grooves (543) for accommodating the rack (542). The inner side of the rack (542) meshes simultaneously with at least two gears (541), and the rack grooves... The rack (542) slides in the groove (543), and the rack connecting block (544) is fixedly connected to the outside of the rack (542). The rack connecting block (544) is hinged to the outside of the rack in sequence with the reinforcement cylinder (545), the second nozzle connecting frame (546) and the second reinforcement nozzle (547). There are multiple second reinforcement motors (548), which are set at the rack connecting block (544), the reinforcement cylinder (545) and the second nozzle connecting frame (546) to control the rotation angle of the reinforcement cylinder (545), the second nozzle connecting frame (546) and the second reinforcement nozzle (547).

3. The integrated anchoring and reinforcement device according to claim 1, characterized in that, The predictive reinforcement device also includes a predictive camera (511), an infrared ranging sensor (513), a pressure sensor (521), and an acoustic emission sensor (522). The predictive camera (511) and the infrared ranging sensor (513) are installed on the top of the fixed support frame (41). The predictive camera (511) is used to capture images of the tunnel roof. There are multiple infrared ranging sensors (513) arranged in a two-dimensional rectangular grid array to detect the distance between them and the tunnel roof. The pressure sensor (521) and the acoustic emission sensor (522) are installed on the outer surface of the primary support plate (42). There are multiple pressure sensors (521) arranged in a two-dimensional rectangular grid array to detect the pressure of the tunnel sidewall on the primary support plate (42). There are multiple acoustic emission sensors (522) to detect the sound wave frequency at the tunnel sidewall.

4. The integrated anchoring and reinforcement device according to claim 1, characterized in that, It also includes an imaging device, which includes an infrared linear array transmitter (61) and an infrared contour camera (62). The infrared linear array transmitter (61) is located on the top and opposite sides of the device and is situated on the same plane, which is perpendicular to the direction of travel of the track (14). The infrared contour camera (62) is located on the top and opposite sides of the device to receive the contour information of the tunnel surface in that direction.

5. The integrated anchoring and reinforcement device according to claim 1, characterized in that, The tunneling device includes a cutting head (21), a cutting arm (22), a shovel plate (23), and a star wheel (24). The cutting arm (22) connects the cutting head (21) to the front of the mounting base (11). The shovel plate (23) is located below the cutting head (21). The star wheel (24) is rotatably mounted on the shovel plate (23). There are two star wheels (24), which rotate relative to each other.

6. The integrated anchoring and reinforcement device according to claim 1, characterized in that, The anchor bolt installation device includes an anchor bolt sliding guide rail (31), a propulsion cylinder (32), a sliding seat (33), an anchor bolt rotation motor (34), an anchor bolt mounting frame (35), and an anchor bolt installation push rod (36). The anchor bolt sliding guide rail (31) is fixedly installed on the mounting base (11) along the traveling direction of the track (14). The sliding seat (33) is slidably set on the anchor bolt sliding guide rail (31) and driven by the propulsion cylinder (32). And move, the anchor rotation motor (34) is installed in front of the sliding seat (33) and drives the anchor mounting frame (35) to rotate, the anchor mounting push rod (36) is installed on the anchor mounting frame (35) in the direction toward the side wall of the roadway and pushes the anchor pushing frame (37) to move back and forth, the anchor pushing frame (37) is hinged with anchor claws (38) for holding anchors (39), the anchor claws (38) are arranged in pairs and open and close relative to each other.

7. The integrated anchoring and reinforcement device according to claim 1, characterized in that, A support jack (15) and a support base (16) are hinged sequentially on the mounting base (11). The support base (16) is supported on the roadway surface when the walking track (14) stops moving. There are multiple support bases (16), which are located at the rear of the mounting base (11) and on opposite sides.

8. The integrated anchoring and reinforcement device according to claim 1, characterized in that, It also includes a panoramic camera (63) and a thermal imaging recognition camera (64). The panoramic camera (63) is used to capture images of the roadway after reinforcement and anchoring, and the thermal imaging recognition camera (64) is used to identify whether there are people standing in front of the direction of travel.

9. A predictive reinforcement method, characterized in that, Using the integrated anchoring and reinforcement device according to any one of claims 1 to 8 includes the following steps: S1. The traveling track (14) drives the equipment to the predetermined anchoring position, and the traveling track (14) stops moving; S2. The cutting arm (22) drives the cutting head (21) to move and rotate to perform cutting; S3. Reinforce the nozzles to spray the first layer of hardener onto the top and side surfaces of the tunnel; S4. The support device supports the sidewall of the roadway after spraying. The primary support plate (42) and the secondary support plate (43) are deployed and abut against the sidewall. The pressure sensor (521) and the acoustic emission sensor (522) detect the pressure value and acoustic frequency of the sidewall when no force is applied to the sidewall, and then determine whether there is a risk of blistering: if there is no risk of blistering, the sidewall is continuously supported by the support device; if there is a risk of blistering, the primary support plate (42) and / or the secondary support plate (43) in the risk area are withdrawn, a second layer of curing agent is sprayed into the area, and the judgment process of this step is repeated until the judgment result is that there is no risk of blistering. S5. Predictive camera (511) and infrared ranging sensor (513) detect whether there is a risk of top collapse on the roadway top surface: If there is no risk of top collapse, proceed to step S6; if there is a risk of top collapse, spray a second layer of curing agent on the area and repeat the judgment process of this step until the judgment result is that there is no risk of top collapse. S6. The anchor bolt installation device installs anchor bolts (39) at predetermined positions in the roadway to provide roadway anchoring protection; S7. The walking track (14) moves forward to the next working position and repeats the above steps.

10. The predictive reinforcement method according to claim 9, characterized in that, Step S3 includes: S3-1. Definition The pressure value detected by the pressure sensor (521) in the i-th row and j-th column. To obtain the empirical value of the pressure generated on the sidewall when a sidewall flap appears, four adjacent pressure sensors (521) arranged in a rectangular pattern are grouped together, and the pressure weight of the corresponding area of ​​the group is calculated comprehensively. That is, the comprehensive pressure weight of the nth area is... （3-1） Where k is a positive integer; S3-2. Calculate the sound wave frequency weights for the nth region. （3-2） in The acoustic frequency value measured by the acoustic emission sensor (522) in the nth region is... This is an empirical value for the frequency of the sound wave on the sidewall when a sidewall flap appears; S3-3. Calculate the predicted value of sidewall flaking in the nth region. （3-3） in This is the pressure plate cap coefficient. The coefficient of the sound frequency cap; S3-4. Setting the threshold for sidewall caps ,Will and If a comparison is made, If so, then the nth region is considered to be at risk of being partially submerged and needs to be solidified; Step S4 includes: S4-1. Define d as the measurement time and d-1 as the previous time. For the distance value detected by the infrared ranging sensor (513) in the i-th row and j-th column, four adjacent infrared ranging sensors arranged in a rectangle are grouped together, and the distance weight corresponding to the group area is calculated. That is, the distance weight of the m-th area at time d is （4-1） Where b and c are positive integers; S4-2. Calculate the crack weight of the m-th region. （4-2） in To predict the crack length in the m-th region captured by camera (511), This is an empirical value for when a crack appears on the top surface; S4-3. Calculate the predicted value of the top surface capping in the m-th region. （4-3） in This is the distance coefficient for the cap. The coefficient for crack flaps; S4-4. Set the threshold for the top surface cap. ,Will and If a comparison is made, If so, then the m-th region is considered to be at risk of being patched and needs to be solidified; Step S7 includes: S7-1. During the walking of the track (14), the infrared contour camera (62) collects the surface image information of the roadway after the anchoring is completed, uploads it to the host computer and generates a three-dimensional image of the roadway. S7-2. The host computer compares the three-dimensional image of the tunnel with the dataset of tunnel morphological features with risks of collapse and roof fall, and determines whether there are risks of roof fall and collapse at the comparison location; S7-3. If there is a risk of roof fall and collapse, the walking track (14) will drive the equipment back to this position, and the hardener will be sprayed again by the reinforcement nozzle.

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