Reinforcing and supporting gob-side entry retaining anchor rod and anchor cable fixing system and anchor rod and anchor cable fixing method

Abstract

The invention belongs to the technical field of coal mine supporting equipment, and discloses a reinforcing and supporting gob-side entry retaining anchor rod and anchor cable fixing system which comprises a coal mining device, a supporting device and an anchoring device. The supporting device comprises a lagging middle support and a special transition support, the anchoring device is arranged between the lagging middle support and the special transition support, the anchor rod device comprises a supporting support, an anchor rod and anchor cable drilling machine and a moving assembly, the anchor rod and anchor cable drilling machine comprises an anchor rod and anchor cable driving assembly and a base, and the base is arranged on the moving assembly. The moving assembly is slidably arranged on the supporting bracket; the anchor rod and anchor cable driving assembly is rotationally arranged on the base and can rotate in the preset direction. The supporting support moves to drive the anchor rod and anchor cable drilling machine to move, the occupied space is reduced, and therefore the problems that the anchor rod and anchor cable drilling machine needs a large space in movement, the space between gob-side entry retaining supports in a coal mine is limited, and the anchor rod and anchor cable drilling machine cannot conduct the anchor rod and anchor cable technology are solved.

Description

Technical Field

[0001] This invention belongs to the technical field of coal mine support equipment, specifically relating to a reinforcement support system for roadway anchor bolts and cables and a method for fixing anchor bolts and cables. Background Technology

[0002] The biggest problem currently restricting coal mine production is low tunneling efficiency and low recovery efficiency caused by the imbalance between tunneling and mining. The imbalance between tunneling and support is the main factor affecting the tunneling efficiency. To cope with changes in tunnel stress and rock bursts, existing tunnels adopt a combined support system of anchors, mesh, cables, and shotcrete to improve the stability of the support.

[0003] In the prior art, for example, Chinese invention patent CN102619474A discloses a universally adjustable anchor bolt and cable drilling rig. Specifically, it discloses a universally adjustable anchor bolt and cable drilling rig with a fixed support on its lifting legs. The fixed support is constructed with a clamping brace at the top of the lifting leg and a base at the bottom. Cylinders are installed on both sides of the lifting leg via the support and the base, and angle adjustment brackets are installed on both cylinders. This invention's drilling rig is labor-saving and convenient to operate, provides accurate positioning, fast drilling speed, strong power, simple structure, convenient maintenance, small size, and high efficiency, enabling multi-directional and multi-angle drilling in tunnels.

[0004] However, the movement and operation of individual anchor bolt and cable drilling rigs require a large space. In coal mines, the space between the supports along the goaf is limited, making movement difficult and the installation position cannot be precisely adjusted. Summary of the Invention

[0005] Based on this, this application provides a reinforcement support system and method for fixing anchor bolts and cables along the goaf, in order to solve the problems that individual anchor bolt and cable drilling rigs require a large space to move and operate, and that the space between goaf support supports in coal mines is limited, making movement difficult and the installation position cannot be precisely adjusted.

[0006] The technical solution to the above-mentioned technical problems in this application is as follows:

[0007] A reinforced support system for roadway anchor bolts and cables along the goaf includes a coal mining device, a support device, and an anchoring device. The coal mining device is used for coal mining operations and can move along a preset direction. The support device includes a lag support and special transition supports. The lag support is installed between the transport roadway and the return air roadway to support the top of the roadway in the goaf. The special transition supports are installed on both sides of the lag support to support the top of the roadways on both sides. Both the lag support and the special transition supports are configured to cooperate with the coal mining device and are located at the end of the coal mining device away from the direction of movement. The device is capable of moving under the drive of the coal mining equipment; the anchoring device is located between the lagging middle support and the special transition support; the anchor bolt device includes a support support, an anchor bolt and cable drilling rig, and a moving component; the anchor bolt and cable drilling rig includes an anchor bolt and cable assembly and a base; the base is located on the moving component; the moving component is slidably located on the support support and can slide in the direction of horizontal and / or vertical movement of the coal mining equipment; the anchor bolt and cable assembly is rotatably located on the base and can rotate in a preset direction for fixing anchor bolts and cables to the top of the roadway.

[0008] Preferably, the support bracket includes a front bracket and a rear bracket. The front bracket includes a front base, a front connecting assembly, and a front top beam. The two ends of the front connecting assembly are respectively connected to the front base and the front top beam. The rear bracket includes a rear base, a rear connecting assembly, and a rear top beam. One end of the rear base is hinged to one end of the front base, and one end of the rear top beam is hinged to one end of the front top beam. The two ends of the rear connecting assembly are respectively connected to the rear base and the rear top beam.

[0009] Preferably, the anchor bolt and cable assembly includes a telescopic component, an auxiliary component, and a working component. The auxiliary component is disposed on the base. One end of the telescopic component is connected to the end of the auxiliary component near the base, and the other end of the telescopic component is connected to the working component. One end of the working component is hinged to the end of the auxiliary component away from the base, and the other end of the working component is used to fix the anchor bolt and cable to the top of the roadway.

[0010] Preferably, the anchor bolt and anchor cable assembly further includes an adapter, one end of which is hinged to the end of the auxiliary member away from the base, the adapter can rotate vertically under the drive of the telescopic member, and the other end of the adapter is hinged to the working member, the working member can rotate along the adapter.

[0011] Preferably, the adapter includes a rotating beam and a telescopic rod. The two ends of the adapter beam are respectively connected to the auxiliary component and the working component. One end of the telescopic rod is connected to the rotating beam, and the other end of the telescopic rod is connected to the working component. The telescopic rod can extend and retract in a preset direction to drive the working component to rotate along the hinge.

[0012] Preferably, the anchor bolt and anchor cable assembly includes a lifting base, a pushing frame, and a working component. The lifting base is fixed to the rear base and can extend and retract in the vertical direction. One end of the pushing frame is hinged to the end of the lifting base away from the rear base, and the other end of the pushing frame is hinged to the working component. The pushing frame can extend and retract in a direction perpendicular to the lifting base and can rotate in the horizontal direction. The working component can rotate at the hinge point.

[0013] Preferably, the anchor bolt and anchor cable assembly includes a fixing frame, one end of which is connected to the end of the pushing frame away from the lifting base frame. The fixing frame is hinged to the working piece and can drive the working piece to rotate in a preset direction.

[0014] Preferably, the moving component includes a sliding member, a dragging member, and a remote control member. The sliding members are symmetrically and slidably disposed on the rear base and are capable of sliding along the direction of movement of the coal mining device. The dragging members are disposed on both sides of the remote control member, with the ends of the two dragging members away from the remote control member respectively connected to the two opposing sliding members. The dragging members are capable of extending and retracting in a direction perpendicular to the direction of movement of the coal mining device. The sliding members can drive the dragging members to slide along the direction of movement of the coal mining device, and the dragging members can drive the remote control member to move in a direction perpendicular to the direction of movement of the coal mining device. The remote control member is connected to the base.

[0015] Preferably, the remote control unit is equipped with a main server, which includes an identification module, a judgment module, and an execution module. The identification module is used to acquire the top view information of the tunnel, identify the anchor cable and anchor rod based on the view information, generate a coordinate model, and output the coordinate information of the anchor cable and anchor rod. The output end of the identification module is connected to the input end of the judgment module. The judgment module is used to receive the coordinate information of the anchor cable and anchor rod and output virtual parameters through simulation. The output end of the judgment module is connected to the input end of the execution module. The output end of the execution module is connected to the moving component and the anchoring device respectively, and issues adjustment commands according to the virtual parameters.

[0016] A method for fixing anchor bolts and cables, applied to the anchor bolt and cable fixing system for reinforced support along the goaf as described in any of the above-mentioned claims, includes the following steps:

[0017] Step S1: Obtain the image information of the top of the tunnel;

[0018] Step S2: Based on the image information, determine whether there are anchor bolts or anchor cables within the image information:

[0019] If so, output the image parameters and build a 3D model based on the image parameters;

[0020] If not, repeat step S1;

[0021] Step S3: Based on the 3D model, establish 3D coordinates and output the coordinate information corresponding to the anchor bolts and anchor cables;

[0022] Step S4: Obtain coordinate information and output virtual parameters based on the 3D model;

[0023] Step S5: Based on the virtual parameters, output instructions to adjust the moving components and anchoring devices.

[0024] The technical solution adopted in this application can achieve the following beneficial effects:

[0025] 1. By installing anchor bolt and cable drilling rigs on the support frame to form an integral structure, the movement of the support frame drives the movement of the anchor bolt and cable drilling rigs, while reducing the space occupied by individual anchor bolt and cable drilling rigs. This solves the problem that individual anchor bolt and cable drilling rigs require a large space for movement and operation, and that the space between supports along the goaf in coal mines is limited, making it impossible for anchor bolt and cable drilling rigs to carry out anchor bolt and cable processes.

[0026] 2. By setting up a moving component, the operator can adjust the position of the moving component to move the anchor bolt and anchor cable drilling rig, and then fine-tune the angle of the anchor bolt and anchor cable drilling rig, thereby solving the problems of difficulty in adjusting the position of the anchor bolt and anchor cable drilling rig and insufficient precision in drilling anchor bolts and anchor cables.

[0027] 3. By setting a rear top beam at the end of the front top beam away from the coal mining equipment, and placing the anchor bolt and cable drilling rig within the support range of the rear top beam, the problem of rockfall damaging the anchor bolt and cable drilling rig is solved. At the same time, by setting a rear base and placing the anchor bolt and cable drilling rig on the rear base, the movement of the front base drives the movement of the rear base and its anchor bolt and cable drilling rig, making the operation simple and convenient. Attached Figure Description

[0028] Figure 1 Side view of the reinforced support roadway anchor bolt and cable fixing system described in this application. Figure 1 .

[0029] Figure 2 This is a bottom view of the reinforced support roadway anchor bolt and cable fixing system described in this application.

[0030] Figure 3 Side view of the reinforced support roadway anchor bolt and cable fixing system described in this application. Figure 2 .

[0031] Figure 4 Side view of the reinforced support roadway anchor bolt and cable fixing system described in this application. Figure 3 .

[0032] Figure 5 This is a side view of another embodiment of the reinforced support roadway anchor bolt and cable fixing system described in this application.

[0033] Figure 6 This is a layout diagram of the reinforced support roadway anchor bolt and cable fixing system described in this application.

[0034] Figure 7 This is a schematic diagram of the moving component of the reinforced support roadway anchor bolt and cable fixing system described in this application.

[0035] Figure 8 This is a schematic diagram of the anchor bolt coordinates for the reinforced support roadway anchor bolt and cable fixing system described in this application.

[0036] In the diagram: Coal mining device 10, support device 20, lagging intermediate support 21, special transition support 22, anchoring device 30, support support 100, front support 110, front base 111, front connecting assembly 112, front top beam 113, rear support 120, rear base 121, rear connecting assembly 122, rear top beam 123, side support assembly 130, flip plate 131, flipping component 132, push plate 133, pushing component 134, anchor bolt and anchor cable drilling rig 200, anchor bolt and anchor cable assembly 210, telescopic component 211, auxiliary component 212, working component. 213, Adapter 214, Rotating Beam 2141, Telescopic Rod 2142, Lateral Adjustment Rod 2143, Connecting Block 2144, Lifting Base 215, Pushing Frame 216, Fixing Frame 217, Lateral Telescopic Jack 2171, Rotating Column 2172, Tensioning Block 2173, Base 220, Moving Component 300, Sliding Component 310, Guide Rail 311, Sliding Cart 312, Drive Device 313, Driving Component 320, Telescopic Jack 321, Guide Rod 322, Remote Control Component 330, Side Slider 331, Middle Slider 332. Detailed Implementation

[0037] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application.

[0038] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," "top," "bottom," "end," "top," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0040] Please see Figures 1 to 5This application provides a reinforced support system for roadway anchor bolts and cables, including a coal mining device 10, a support device 20, and an anchoring device 30. The coal mining device 10 is used for coal mining operations and can move along a preset direction. The support device 20 includes a lag support 21 and a special transition support 22. The lag support 21 is installed between the transport roadway and the return air roadway to support the top of the roadway in the goaf. The special transition support 22 is installed on both sides of the lag support 21 to support the top of the roadways on both sides. Both the lag support 21 and the special transition support 22 are configured to cooperate with the coal mining device 10 and are located at the end of the coal mining device 10 away from the direction of movement, enabling them to move along the goaf. The coal mining device 10 moves under its drive; the anchoring device 30 is set between the lagging middle support 21 and the special transition support 22; the anchor bolt device includes a support support 100, an anchor bolt and anchor cable drilling rig 200 and a moving component 300; the anchor bolt and anchor cable drilling rig 200 includes an anchor bolt and anchor cable assembly 210 and a base 220; the base 220 is set on the moving component 300; the moving component 300 is slidably set on the support support 100 and can slide in the direction of horizontal and / or vertical movement of the coal mining device 10; the anchor bolt and anchor cable assembly 210 is rotatably set on the base 220 and can rotate in a preset direction for fixing anchor bolts and anchor cables to the top of the roadway. The support bracket 100 includes a front bracket 110 and a rear bracket 120. The front bracket 110 includes a front base 111, a front connecting component 112, and a front top beam 113. The two ends of the front connecting component are respectively connected to the front base 111 and the front top beam 113. The rear bracket 120 includes a rear base 121, a rear connecting component 122, and a rear top beam 123. One end of the rear base 121 is hinged to one end of the front base 111, and one end of the rear top beam 123 is hinged to one end of the front top beam 113. The two ends of the rear connecting component 122 are respectively connected to the rear base 121 and the rear top beam 123.

[0041] Specifically, both the coal mining device 10 and the support device 20 adopt, but are not limited to, the coal mining equipment and support support 100 device disclosed in Chinese invention patent with publication number CN104594932B, and the support support 100 device in the coal mining method thereof, etc. Alternatively, they may adopt the support support 100 of the roadway advance support 100 disclosed in Chinese utility model patent with publication number CN201372805Y, etc. Specific structures will not be elaborated upon. The coal mining device 10 is located in the coal mining work area. For the specific layout of the lagging middle support 21 and the special transition support 22, please refer to [link / reference needed]. Figure 1 This application will not go into further detail.

[0042] The front support 110 of the support support 100 adopts, but is not limited to, the advanced support support 100, hydraulic support, etc. In coal mining equipment such as coal mines, hydraulic support and advanced support support 100 are existing equipment, and their specific structures will not be described in detail in this application. The rear base 121, rear top beam 123 and rear connecting component 122 of the rear support 120 are all made of the same material as the front support 110. The rear top beam 123 and the front top beam 113 are hinged together by means of pins, shafts, etc., and the rear base 121 and the front base 111 are also hinged together by means of pins, shafts, etc. The rear connecting component 122 adopts, but is not limited to, the hydraulic telescopic component 211. The end of the rear connecting component 122 connected to the rear top beam 123 is provided with an adaptive device, which can automatically adjust the angle of the rear top beam 123. When the front connecting component 112 is raised, the rear connecting component 122 is raised at the same time.

[0043] The mobile component 300 employs, but is not limited to, a mobile trolley, a sliding device, etc. For example, it uses a guide rail 311 and a sliding trolley. Multiple slide rails are set up, and the sliding trolley is placed on the slide rails. It can slide on the slide rails by manual pushing, jack extension and retraction, winch pulling, etc. The anchor bolt and anchor cable drilling rig 200 is set on the mobile component 300. The movement of the anchor bolt and anchor cable drilling rig 200 is realized by the sliding of the mobile component 300.

[0044] The anchor bolt and anchor cable drilling rig 200 adopts, but is not limited to, mechanical equipment in the prior art, such as the Chinese invention patent with announcement number CN102619474A, which discloses a universal adjustable anchor bolt and anchor cable drilling rig 200, etc. The base 220 adopts a frame, telescopic blocks, etc. The anchor bolt and anchor cable assembly 210 is rotatably connected to the base 220 by means of pins, telescopic devices, etc., preferably hinged and pushed by telescopic devices, so that the anchor bolt and anchor cable assembly 210 rotates along the hinge point with the base 220.

[0045] Further, the support bracket 100 is moved to a preset position, and the front connecting component 112 and the rear connecting component 122 are raised so that the upper surfaces of the front top beam 113 and the rear top beam 123 are flush and simultaneously supported on the top of the roadway. When the coal mining equipment moves forward, the front connecting component 112 and the rear connecting component 122 are lowered. By telescopic pulling, the support bracket 100 is moved closer to the coal mining equipment, using the coal mining equipment and adjacent supports as fulcrums. After the movement is completed, the support bracket 100 is raised for support. The operator adjusts the moving component 300 to move it along a preset direction, and then fine-tunes the angle of the anchor bolt and anchor cable assembly 210 so that it can install anchor bolts and anchor cables on the top of the roadway at a preset position.

[0046] The technical solution of the reinforced support system for roadway entry retaining anchor bolts and cables adopted in this application can achieve the following beneficial effects:

[0047] 1. By installing the anchor bolt and cable drilling rig 200 on the support bracket 100 to form an integral structure, the movement of the support bracket 100 drives the movement of the anchor bolt and cable drilling rig 200, while reducing the space occupied by the individual anchor bolt and cable drilling rig 200. This solves the problem that the movement and operation of the individual anchor bolt and cable drilling rig 200 require a large space, and that the space between the supports in the goaf roadway in the coal mine is limited, making it impossible for the anchor bolt and cable drilling rig 200 to carry out anchor bolt and cable processes.

[0048] 2. By setting the moving component 300, the operator can adjust the position of the moving component 300 to move the anchor bolt and anchor cable drilling rig 200, and then fine-tune the angle of the anchor bolt and anchor cable drilling rig 200, thereby solving the problem of difficulty in adjusting the position of the anchor bolt and anchor cable drilling rig 200 and insufficient precision in drilling anchor bolts and anchor cables.

[0049] 3. By setting a rear top beam 123 at the end of the front top beam 113 away from the coal mining equipment, and placing the anchor bolt and cable drilling rig 200 within the support range of the rear top beam 123, the problem of rockfall damaging the anchor bolt and cable drilling rig 200 is solved. At the same time, by setting a rear base 121 and placing the anchor bolt and cable drilling rig 200 on the rear base 121, the movement of the front base 111 drives the movement of the rear base 121 and its anchor bolt and cable drilling rig 200, making the operation simple and convenient.

[0050] In one embodiment of this application, the anchor bolt and cable assembly 210 includes a telescopic member 211, an auxiliary member 212, and a working member 213. The auxiliary member 212 is disposed on the base 220. One end of the telescopic member 211 is connected to the end of the auxiliary member 212 near the base 220, and the other end of the telescopic member 211 is connected to the working member 213. One end of the working member 213 is hinged to the end of the auxiliary member 212 away from the base 220, and the other end of the working member 213 is used to fix anchor bolts and cables to the top of the roadway.

[0051] Specifically, the telescopic component 211 adopts, but is not limited to, a hydraulic jack, a telescopic rod 2142, an electric push rod, etc., and the auxiliary component 212 adopts, but is not limited to, a steel beam, a steel frame, a steel plate, etc., vertically set on the base 220. One end of the working component 213 is hinged to the end of the auxiliary component 212 away from the base 220 by means of a pin, a pivot, etc. One end of the telescopic component 211 is set at the end of the auxiliary component 212 close to the base 220, and the other end is set in the middle of the working component 213. When the telescopic component 211 begins to extend or retract, it drives the working component 213 to rotate along the hinge point with the auxiliary component 212, thereby adjusting the rotation angle of the working component 213 in the vertical direction. The operation is simple and convenient, solving the problem that the angle of the anchor bolts and anchor cables in different positions is slightly different, and the working component 213 with a fixed angle cannot meet the support requirements.

[0052] In the above scheme, the anchor bolt and anchor cable assembly 210 further includes an adapter 214. One end of the adapter 214 is hinged to the end of the auxiliary member 212 away from the base 220. The adapter 214 can rotate vertically under the drive of the telescopic member 211. The other end of the adapter 214 is hinged to the working member 213. The working member 213 can rotate along the adapter 214.

[0053] The adapter 214 is disposed between the working part 213 and the auxiliary part 212. The adapter 214 may be, but is not limited to, a telescopic device or a rotating device. The two ends of the adapter 214 are connected to the working part 213 and the auxiliary part 212 respectively by hinge. One end of the telescopic part 211 is connected to the end of the auxiliary part 212 near the base 220, and the other end is connected to the middle of the adapter 214. The telescopic part 211 drives the rotating part to rotate vertically through its extension and retraction. Preferably, the connection between the adapter 214 and the auxiliary part 212 is a universal joint, so that the adapter 214 can rotate in both horizontal and vertical directions. By setting the adapter 214, the working part 213 can rotate in multiple directions under the drive of the adapter 214, making it more convenient to fix the anchor bolts and anchor cables.

[0054] Based on the above scheme, the adapter 214 includes a rotating beam 2141 and a telescopic rod 2142. The two ends of the adapter beam are respectively connected to the auxiliary component 212 and the working component 213. One end of the telescopic rod 2142 is connected to the rotating beam 2141, and the other end of the telescopic rod 2142 is connected to the working component 213. The telescopic rod 2142 can extend and retract in a preset direction to drive the working component 213 to rotate along the hinge.

[0055] Specifically, one end of the rotating beam 2141 is hinged to the end of the auxiliary component 212 away from the base 220. Two lateral adjustment rods 2143 are provided on the rotating beam 2141. One end of the two lateral adjustment rods 2143 is coaxially hinged to the end of the rotating beam 2141 near the auxiliary component 212, and the other end is respectively hinged to both sides of the working component 213. The telescopic rod 2142 is provided on the end face of the rotating beam 2141 opposite to the end face of the lateral adjustment rods 2143 and is connected to the working component 213. A connecting block 2144 is hinged to one side of the working component 213. The middle part of one end of the connecting block 2144 is hinged to the rotating beam 2141 by means of a pin. Ear plates are provided on both sides of the connecting block 2144 and the rotating beam 2141. The two ear plates are respectively connected to one end of the two lateral adjustment rods 2143.

[0056] Furthermore, extend or retract the telescopic component 211 to rotate the rotating beam 2141 to a preset height. Then, adjust the extension and retraction of the two lateral adjustment rods 2143 (the extension and retraction states of the two lateral adjustment rods 2143 are opposite; the left lateral adjustment rod 2143 extends, and the right lateral adjustment rod 2143 retracts, thereby causing the connecting block 2144 to deflect to the right, and vice versa). After adjustment, adjust the telescopic rod 2142 so that the working part 213 can rotate to the designated position along the hinge of the connecting block 2144. The operation is simple and convenient, solving the problem of the difficulty in fixing the rotation angle of the universal joint.

[0057] In another embodiment of this application, a side baffle assembly 130 is provided at the end of the rear top beam 123 away from the front top beam 113, and the side baffle assembly 130 can increase the support area of ​​the rear top beam 123.

[0058] The anchor bolt and anchor cable drilling rig 200 is located below the rear top beam 123, but it extends partially beyond the support range of the rear top beam 123. By setting a side baffle assembly 130 at the end of the rear top beam 123 away from the front top beam 113, the side baffle assembly 130 increases the support area by flipping, sliding and other means, thereby better protecting the anchor bolt and anchor cable drilling rig 200.

[0059] In one embodiment of the above solution, the side guard assembly 130 includes a flap 131 and a flipping member 132. The flap 131 is hinged to the end of the rear top beam 123 away from the front top beam 113. One end of the flipping member 132 is connected to the lower end face of the rear top beam 123, and the other end of the flipping member 132 is connected to the lower end face of the flap 131. The flipping member 132 can extend and retract in a preset direction, driving the flap 131 to rotate.

[0060] One end of the flap 131 is hinged to the end of the rear top beam 123 away from the front top beam 113 by means of a pin. The flipping component 132 is made of, but is not limited to, a hydraulic jack, telescopic equipment, etc. By extending or retracting the flipping component 132, the flap 131 is rotated along the hinge, so that the upper end surface of the flap 131 is flush with the upper end surface of the rear top beam 123, and the anchor bolt and anchor cable drilling rig 200 is located within the support range of the flap 131, thus solving the problem that the local anchor bolt and anchor cable drilling rig 200 extends out of the support range of the rear top beam 123, causing the gangue to fall and damage it.

[0061] In another embodiment of the above solution, the side block assembly 130 includes a push plate 133 and a pusher 134. One end of the pusher 134 extends into the rear top beam 123 away from the front top beam 113, and the other end of the pusher 134 is connected to the push plate 133. The push plate 133 is an L-shaped plate, and the push plate 133 can move under the extension and retraction of the pusher 134.

[0062] The pusher 134 is a hydraulic jack. It extends into the rear top beam 123 away from the front top beam 113 via a sleeve. The portion of the push plate 133 parallel to the rear top beam 123 covers it, while the end perpendicular to the rear top beam 123 connects to the telescopic end of the pusher 134. Before the rear top beam 123 contacts the top of the roadway, the pusher 134 extends, causing the push plate 133 to slide along the upper surface of the rear top beam 123 until the anchor bolt and cable drilling rig 200 stops within the support range of the push plate 133. The overall operation is simple and convenient.

[0063] Please see Figure 5 In another embodiment of this application, the anchor bolt and cable assembly 210 includes a lifting base 215, a pushing frame 216, and a working component 213. The lifting base 220 is fixed on the rear base 121 and can extend and retract in the vertical direction. One end of the pushing frame 216 is hinged to the end of the lifting base 215 away from the rear base 121, and the other end of the pushing frame 216 is hinged to the working component 213. The pushing frame 216 can extend and retract in a direction perpendicular to the lifting base 215 and can rotate in the horizontal direction. The working component 213 can rotate at the hinge point.

[0064] The lifting base frame 215 employs, but is not limited to, a cross-type telescopic frame, a lifting machine, and telescopic hydraulic jacks. This application uses a cross-type telescopic frame as an example, which offers better overall stability. The pushing frame 216 has lateral telescopic jacks 3212171 on both sides. The fixed ends of the two lateral telescopic jacks 3212171 are hinged together and also hinged to the lifting base frame 215. The working piece 213 is hinged to the pushing frame 216. The telescopic states of the two lateral telescopic jacks 3212171 are opposite (the left lateral telescopic jack 3212171 extends, and the right lateral telescopic jack 3212171 extends). The telescopic jack 3212171 retracts, thereby causing the entire moving frame 216 to deflect to the right (and vice versa). Preferably, the moving frame 216 is equipped with a telescopic device, such as a hydraulic support or telescopic hydraulic rod. The telescopic device controls the working part 213 to rotate vertically. Simultaneously, the moving frame 216 and the lifting base frame 215 are equipped with telescopic arms. These arms can move the moving frame 216 in a direction perpendicular to the telescopic direction of the lifting base frame 215, and the telescopic arms are located on the side of the two transverse telescopic jacks 3212171 closest to the lifting base frame 215. Overall operation is simpler and more convenient.

[0065] In the above scheme, the anchor bolt and anchor cable assembly 210 includes a fixing frame 217. One end of the fixing frame 217 is connected to the end of the pushing frame 216 away from the lifting base frame 215. The fixing frame 217 is hinged to the working piece 213 and can drive the working piece 213 to rotate in a preset direction.

[0066] Specifically, a rotating column 2172 is provided on the fixed frame 217, and a tension block 2173 is provided on the rotating column 2172. The tension block 2173 can rotate on the rotating column 2172 (the rotation method is, but not limited to, a motor, a hydraulic telescopic rod 2142, etc.). The tension block 2173 is hinged to the working part 213, and the working part 213 can rotate along the hinge. The specific rotation method is also, but not limited to, a motor, a telescopic device, etc. The telescopic arm can also be set between the pushing frame 216 and the fixed frame 217.

[0067] Furthermore, after the support frame 100 has been moved as a whole and the support has been installed, the lifting base frame 215 is raised to the preset height. Then, by extending the pusher frame 216, it drives the fixed frame 217 and the working part 213 to move below where the anchor bolts and anchor cables need to be installed. The horizontal telescopic jacks 3212171 are adjusted to control the pusher frame 216 to rotate to the left or right, so that the working part 213 can be rotated to the preset position more accurately. Then, by fine-tuning the working part 213 set on the fixed frame 217, the anchor bolts and anchor cables can be installed more accurately, avoiding the problem of installation position deviation and reduced support effect.

[0068] Please see Figures 6 to 7 In another embodiment of this application, the moving component 300 includes a sliding member 310, a dragging member 320, and a remote control member 330. The sliding members 310 are symmetrically and slidably disposed on the rear base 121 and are capable of sliding along the direction of movement of the coal mining device 10. The dragging members 320 are disposed on both sides of the remote control member 330, and the ends of the two dragging members 320 away from the remote control member 330 are respectively connected to the two opposing sliding members 310. The dragging members 320 are capable of extending and retracting along the direction perpendicular to the movement of the coal mining device 10. The sliding members 310 can drive the dragging members 320 to slide along the direction of movement of the coal mining device 10, and the dragging members 320 can drive the remote control member 330 to move along the direction perpendicular to the movement of the coal mining device 10. The remote control member 330 is connected to the base 220.

[0069] Specifically, the sliding component 310 includes a guide rail 311, a sliding trolley 312, and a drive device 313. The guide rail 311 is located at the end of the rear base 121 away from the front base 111, with two rails symmetrically arranged and parallel to the moving direction of the coal mining device 10. The sliding trolley 312 is slidably mounted on the guide rail 311 and is rotatably connected to both sides of the remote control component 330. The drive device 313 is drively connected to the sliding trolley 312 and is used to drive the sliding trolley 312 to move along the guide rail 311. The drive device 313 can be, but is not limited to, a motor, telescopic devices, etc. If a motor is used, it is mounted on the sliding trolley 312 and drives the sliding trolley 312 to move along the guide rail 311. If a telescopic device is used, four telescopic devices are provided, each mounted at one end of the guide rail 311 and connected to the other end of the sliding trolley 312 to push the sliding trolley 312 to move.

[0070] The dragging component 320 includes at least two telescopic jacks 321 and a guide rod 322. The guide rod 322 passes through the remote control component 330. The two telescopic jacks 321 are respectively arranged on both sides of the remote control component 330, and the arrangement direction of the guide rod 322 and the telescopic jacks 321 is perpendicular to the arrangement direction of the guide rail 311. The remote control component 330 includes a side slider 331 and a middle slider 332. The side slider 331 is rotatably connected to the sliding carriage 312, and the side sliders 331 are respectively connected to the fixed ends of the telescopic jacks 321. The telescopic ends of the telescopic jacks 321 are connected to one end of the middle slider 332, and the two ends of the guide rod 322 are respectively connected to one end of the two side sliders 331 and pass through the middle slider 332.

[0071] Furthermore, the operator controls the drive device 313 to drive the sliding trolley 312 to move back and forth along the guide rail 311, while simultaneously moving the side slider 331 connected to the sliding trolley 312. The movement of the side slider 331 causes the guide rod 322, the middle slider 332, and the telescopic jack 321 to move. After reaching the preset position, the drive device 313 is stopped, and then the telescopic jack 321 (the telescopic states of the two telescopic jacks 321 are opposite) drives the middle slider 332 to slide along the guide rod 322. After adjustment, the angle of the anchor bolt and anchor cable drilling rig 200 is finely adjusted to accurately fix the anchor bolt and anchor cable. The operation is simple and convenient.

[0072] Based on the above scheme, the remote control unit 330 is equipped with a main server, which includes an identification module, a judgment module, and an execution module. The identification module is used to acquire the top view information of the tunnel, identify the anchor cable and anchor rod based on the view information, generate a coordinate model, and output the coordinate information of the anchor cable and anchor rod. The output end of the identification module is connected to the input end of the judgment module. The judgment module is used to receive the coordinate information of the anchor cable and anchor rod and output virtual parameters through simulation. The output end of the judgment module is connected to the input end of the execution module. The output end of the execution module is connected to the moving component 300 and the anchoring device 30 respectively, and issues adjustment commands according to the virtual parameters.

[0073] Specifically, the identification module includes a shooting unit, a comparison unit, and a modeling unit. The shooting unit uses a camera or other device with photographic capabilities to capture images of the tunnel top. The comparison unit compares the images to determine if anchor bolts and / or anchor cables are present. If anchor bolts and / or anchor cables are present, the modeling unit constructs a 3D model and outputs the coordinate information corresponding to the anchor bolts and anchor cables. For example, the coordinates of the first anchor bolt are (0, 0, 0), the direction of movement along the coal mining device 10 is the x-axis, the direction perpendicular to its movement is the y-axis, and the vertically upward direction is the z-axis. The coordinates of the second anchor bolt are (x2, y2, z2). The distance between two adjacent anchor bolts is adjusted according to the operator and relevant standards.

[0074] The judgment module includes a distance detection unit, an angle correction unit, and a calculation unit. The distance detection unit uses, but is not limited to, a laser rangefinder or other distance measuring equipment. The distance detection unit acquires the vertical distance information between itself and the top of the roadway and inputs it into the calculation unit. The calculation unit calculates the virtual parameters of the next anchor (anchor) using the coordinate information of the previous anchor (anchor cable) and the standard spacing (the spacing between two adjacent anchors). Then, the virtual parameters are corrected using the distance information and the angle correction unit.

[0075] After receiving the virtual parameters, the execution module issues commands to open the drive device 313 and the telescopic jack 321, causing the sliding trolley 312 and the central slider 332 to move to the approximate position of the virtual parameters. Then, the execution module issues commands to lift the base frame 215, extend the pusher frame 216, and rotate the working piece 213. Once it coincides with the position of the virtual parameters, the working piece 213 of the anchor bolt and cable drilling rig 200 begins operation. Furthermore, the identification module also includes a verification unit, which is used to determine whether the actual parameters at the intersection of the working piece 213's end extension direction and the roadway top coincide with the virtual parameters. The working piece 213 is equipped with a laser emitter, etc., and the light emitted by the laser emitter intersects with the roadway top, facilitating identification and judgment by the verification unit.

[0076] By setting up a main server, the problem of inconsistent and messy anchor bolt and cable installation spacing, which is caused by numerous human factors, is solved, making subsequent support devices and anchor support difficult.

[0077] Please see Figure 8 This application also provides a method for fixing anchor bolts and cables, applied to the anchor bolt and cable fixing system for reinforced support along the goaf as described in any of the above claims, comprising the following steps:

[0078] Step S1: Obtain the image information of the top of the tunnel;

[0079] Step S2: Based on the image information, determine whether there are anchor bolts or anchor cables within the image information:

[0080] If so, output the image parameters and build a 3D model based on the image parameters;

[0081] If not, repeat step S1;

[0082] Step S3: Based on the 3D model, establish 3D coordinates and output the coordinate information corresponding to the anchor bolts and anchor cables;

[0083] Step S4: Obtain coordinate information and output virtual parameters based on the 3D model;

[0084] Step S5: Based on the virtual parameters, output the instructions to adjust the moving component 300 and the anchoring device 30.

[0085] Specifically, it includes the following steps:

[0086] The imaging unit within the recognition component captures images of the tunnel top, obtaining visual information. This information is then transmitted to the comparison unit. The comparison unit compares these images with standard anchor bolts and cables at different angles, input by the operator, to determine if anchor bolts or cables are present in the visual information. If anchor bolts or cables are present, the information is input to the modeling unit. The modeling unit establishes a coordinate system using the first anchor bolt or cable as a base point, and then builds a 3D model based on the visual parameters (including the position and angle of the anchor bolt or cable). The 3D model reveals the coordinates of the second anchor bolt (e.g., (x2, y2, z2)) and the third anchor bolt (x3, y3, z3), with the distance between the nth and (n+1th)th adjacent anchor bolts being the same as the distance between any two adjacent anchor bolts.

[0087] The distance detection unit of the judgment module obtains the distance information from the remote control component 330 to the top of the tunnel and the distance information from the distance detection unit to each anchor rod. By inputting several distance information into the calculation unit, the calculation unit performs calculations using the Pythagorean theorem. Then, the information is input into the angle correction unit for trigonometric function matching. Finally, virtual parameters are output (the virtual parameters are the coordinate information of the anchor rods that the working component 213 needs to fix).

[0088] Using virtual parameters, the execution module controls the laser reflector to turn on, and by turning on the drive device 313 and the telescopic jack 321, it moves the workpiece 213 to the approximate position of the virtual parameters. Then, the execution module controls the lifting of the base frame 215, the pushing frame 216 and the workpiece 213, and fine-tunes it so that the laser emitter on the workpiece 213 coincides with the virtual parameters (the intersection of the laser emitted by the laser emitter with the top of the tunnel and the intersection of the extension direction of the workpiece 213 with the top of the tunnel are the same).

[0089] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A reinforcement support system for roadway anchor bolts and cables, characterized in that, include: A coal mining device, which is used for coal mining operations and is capable of moving in a preset direction; The support device includes a lag center support and a special transition support. The lag center support is installed between the transport roadway and the return air roadway to support the top of the roadway in the goaf. The special transition support is installed on both sides of the lag center support to support the top of the roadways on both sides. Both the lag center support and the special transition support are configured in conjunction with the coal mining device and are located at the end of the coal mining device away from the direction of movement, so that they can move under the drive of the coal mining device. An anchoring device is disposed between the lagging intermediate support and the special transition support. The anchoring device includes a support support, an anchor bolt and cable drilling rig, and a moving assembly. The anchor bolt and cable drilling rig includes an anchor bolt and cable assembly and a base. The base is disposed on the moving assembly. The moving assembly is slidably disposed on the support support and can slide in the direction of horizontal and / or perpendicular movement of the coal mining device. The anchor bolt and cable assembly is rotatably disposed on the base and can rotate in a preset direction for fixing anchor bolts and cables to the top of the roadway.

2. The reinforced support anchor bolt and cable fixing system for roadway retention as described in claim 1, characterized in that, The support frame includes a front support and a rear support. The front support includes a front base, a front connecting assembly, and a front top beam. The two ends of the front connecting assembly are respectively connected to the front base and the front top beam. The rear support includes a rear base, a rear connecting assembly, and a rear top beam. One end of the rear base is hinged to one end of the front base, and one end of the rear top beam is hinged to one end of the front top beam. The two ends of the rear connecting assembly are respectively connected to the rear base and the rear top beam.

3. The reinforced support anchor bolt and cable fixing system for roadway retention as described in claim 2, characterized in that, The anchor bolt and cable assembly includes a telescopic component, an auxiliary component, and a working component. The auxiliary component is disposed on the base. One end of the telescopic component is connected to the end of the auxiliary component near the base, and the other end of the telescopic component is connected to the working component. One end of the working component is hinged to the end of the auxiliary component away from the base, and the other end of the working component is used to fix the anchor bolt and cable to the top of the roadway.

4. The reinforced support anchor bolt and cable fixing system for roadway retention as described in claim 3, characterized in that, The anchor bolt and cable assembly also includes an adapter, one end of which is hinged to the end of the auxiliary component away from the base. The adapter can rotate vertically under the drive of the telescopic component. The other end of the adapter is hinged to the working component, and the working component can rotate along the adapter.

5. The reinforced support anchor bolt and cable fixing system for roadway retention as described in claim 4, characterized in that, The adapter includes a rotating beam and a telescopic rod. The two ends of the adapter beam are respectively connected to the auxiliary component and the working component. One end of the telescopic rod is connected to the rotating beam, and the other end of the telescopic rod is connected to the working component. The telescopic rod can extend and retract in a preset direction to drive the working component to rotate along the hinge.

6. The reinforced support anchor bolt and cable fixing system for roadway retention as described in claim 2, characterized in that, The anchor bolt and cable assembly includes a lifting base, a pushing frame, and a working component. The lifting base is fixed on the rear base and can extend and retract in the vertical direction. One end of the pushing frame is hinged to the end of the lifting base away from the rear base, and the other end of the pushing frame is hinged to the working component. The pushing frame can extend and retract in a direction perpendicular to the lifting base and can rotate in the horizontal direction. The working component can rotate at the hinge point.

7. The reinforced support anchor bolt and cable fixing system for roadway retention as described in claim 6, characterized in that, The anchor bolt and anchor cable assembly includes a fixing frame, one end of which is connected to the end of the pushing frame away from the lifting base frame. The fixing frame is hinged to the working piece and can drive the working piece to rotate in a preset direction.

8. The reinforced support anchor bolt and cable fixing system for roadway retention as described in claim 2, characterized in that, The moving component includes a sliding member, a dragging member, and a remote control member. The sliding members are symmetrically and slidably disposed on the rear base and can slide along the direction of movement of the coal mining device. The dragging members are disposed on both sides of the remote control member, with the ends of the two dragging members away from the remote control member respectively connected to the two opposing sliding members. The dragging members can extend and retract in a direction perpendicular to the direction of movement of the coal mining device. The sliding members can drive the dragging members to slide along the direction of movement of the coal mining device, and the dragging members can drive the remote control member to move in a direction perpendicular to the direction of movement of the coal mining device. The remote control member is connected to the base.

9. The reinforced support anchor bolt and cable fixing system for roadway retention as described in claim 8, characterized in that, The remote control unit is equipped with a main server, which includes an identification module, a judgment module, and an execution module. The identification module is used to acquire the top view information of the tunnel, identify the anchor cables and anchor rods based on the view information, generate a coordinate model, and output the coordinate information of the anchor cables and anchor rods. The output end of the identification module is connected to the input end of the judgment module. The judgment module is used to receive the coordinate information of the anchor cables and anchor rods and output virtual parameters through simulation. The output end of the judgment module is connected to the input end of the execution module. The output end of the execution module is connected to the moving component and the anchoring device respectively, and issues adjustment commands according to the virtual parameters.

10. A method for fixing anchor bolts and anchor cables, characterized in that, The reinforcement support anchor bolt and cable fixing system for roadway retention as described in any one of claims 1-9 includes the following steps: Step S1: Obtain the image information of the top of the tunnel; Step S2: Based on the image information, determine whether there are anchor bolts or anchor cables within the image information: If so, output the image parameters and build a 3D model based on the image parameters; If not, repeat step S1; Step S3: Based on the 3D model, establish 3D coordinates and output the coordinate information corresponding to the anchor bolts and anchor cables; Step S4: Obtain coordinate information and output virtual parameters based on the 3D model; Step S5: Based on the virtual parameters, output instructions to adjust the moving components and anchoring devices.

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