A self-supporting heading machine drill boom system and method of use

Abstract

This invention discloses an automated support tunneling machine drill arm system and its usage method, belonging to the technical field of mining and tunnel construction equipment. It includes a tunneling machine body and a drill arm. The drill arm is installed at the front or middle of the tunneling machine body via a rotating base or a multi-degree-of-freedom hinge mechanism. A dual-manipulator device is installed on the drill arm at its end, located between the drill arm and the drilling rig. The dual-manipulator device includes a rotating component, on which a first manipulator and a second manipulator are mounted. This invention employs the aforementioned automated support tunneling machine drill arm system and its usage method, incorporating a conveying manipulator to transport anchor bolts and drill rods, reducing labor intensity and improving work efficiency. The inclusion of a drill arm, conveying manipulator, and anchor housing module enhances equipment integration and space utilization efficiency. Material supply and drill arm work processes are seamlessly integrated, and the automated support process is executed continuously, increasing support speed.

Description

Technical Field

[0001] This invention relates to the field of mining and tunnel construction equipment technology, and in particular to an automatic support tunneling machine drill arm system and its usage method. Background Technology

[0002] In current tunneling operations in fields such as tunneling, mining, and underground engineering, full-face or partial-face tunnel boring machines (TBMs) have become core construction equipment. TBMs break up rock and soil through a cutting head or cutterhead at the front end, while simultaneously using a drilling arm system to carry out processes such as advance detection, drilling of support holes, and installation of anchor bolts, thereby achieving coordinated operation of tunneling and support and ensuring construction safety and efficiency.

[0003] However, the drilling arm system of traditional tunneling machines still has significant limitations in achieving continuous and efficient support operations. Specifically: 1. Material storage and supply rely on manual labor or independent equipment: Support materials such as anchor bolts and drill rods are usually stored on material carts behind or to the side of the tunneling machine and need to be transported to the drill arm working area by manual labor or auxiliary handling equipment. This separate supply method not only occupies extra space but also increases material transfer time, causing the drill arm to wait frequently, reducing equipment utilization, and restricting the overall efficiency of the tunneling-support cycle operation.

[0004] 2. Low level of automation and coordination: Although traditional drill arms can perform drilling, the grabbing, delivery, and installation of anchor bolts and drill rods often require manual intervention or rely on simple, single-function auxiliary machinery. Manual operation suffers from high labor intensity, dangerous working environments, and unstable efficiency; while existing auxiliary machinery often lacks flexibility and is difficult to coordinate with the drill arm for precise and rapid movements, especially in space-constrained tunnels, where automated support processes are difficult to execute seamlessly.

[0005] 3. Discontinuous process flow and slow support speed: Due to the separation of material supply and drill arm operation, there is a significant interruption in the process from drilling completion to anchor bolt installation. This discontinuity often causes the support operation speed to lag behind the tunneling speed, becoming one of the key bottlenecks affecting rapid tunneling. It also hinders timely control of surrounding rock deformation and poses certain safety hazards.

[0006] 4. Equipment integration and space utilization need to be optimized: In the design of traditional tunneling machines, the integration of support material storage and transportation systems with the main machine body is not high. This often requires additional equipment or occupies a lot of tunnel space, which is not conducive to the flexible deployment and efficient operation of equipment in narrow or complex cross-section tunnels.

[0007] To address the aforementioned issues, the industry has been seeking technical solutions that deeply integrate and automate the storage, identification, retrieval, and conveying of support materials with drill arm operations. By improving the autonomy and continuity of equipment, reducing reliance on manual labor, and achieving closer coordination between tunneling and support processes, overall construction efficiency, safety, and automation levels can be improved.

[0008] Based on this, this patent proposes a highly integrated and automated tunneling machine drill arm and anchor bolt supply system, aiming to fundamentally solve the above-mentioned technical bottlenecks. Summary of the Invention

[0009] The purpose of this invention is to provide an automated support tunneling machine drill arm system and its usage method. It is equipped with a conveying robotic arm to transport anchor bolts and drill rods, reducing labor intensity and improving work efficiency. The drill arm, conveying robotic arm and anchor bin module improve equipment integration and space utilization efficiency. The material supply and drill arm working process are connected, and the automated support process is executed continuously, thereby improving the support speed.

[0010] To achieve the above objectives, the present invention provides an automatic support tunneling machine drill arm system, including a tunneling machine body and a drill arm. The drill arm is installed at the front or middle of the tunneling machine body via a rotary base or a multi-degree-of-freedom hinge mechanism. A dual manipulator device is installed on the drill arm at the end of the drill arm, located between the drill arm and the drilling machine. The dual manipulator device includes a rotating component, on which a first manipulator and a second manipulator are installed.

[0011] Preferably, a guide rail mechanism is provided below the tunneling machine body. The guide rail mechanism includes two guide rails, which are respectively installed on both sides of the tunneling machine body. A conveying mechanical arm is provided on each of the two guide rails.

[0012] Preferably, the conveying robotic arm includes a robotic arm body, the bottom of which is slidably connected to a guide rail, a rotating shaft is provided at the top of the robotic arm body, a horizontal hydraulic cylinder is provided at the top of the rotating shaft, a vertical hydraulic cylinder is provided at the end of the horizontal hydraulic cylinder, and a third robotic arm and a fourth robotic arm are provided at the end of the vertical hydraulic cylinder.

[0013] Preferably, the rear frame of the tunneling machine body is equipped with an anchor bin module, which includes two compartments, both of which are fixedly installed on the tunneling machine body.

[0014] Preferably, the anchor bin module is internally divided into compartments and layers, and the anchor bin module stores anchor rods and drill rods.

[0015] Preferably, the tunneling machine body is equipped with a central control system, a hydraulic station and an electrical control cabinet, and the central control system is connected to the hydraulic station and the electrical control cabinet.

[0016] Preferably, a tunneling mechanism is provided at the front of the tunneling machine body, and tracks are provided at the bottom of the tunneling machine body.

[0017] This invention provides a method for using an automatic support tunneling machine drill arm system. The method, employing the aforementioned automatic support tunneling machine drill arm system, specifically includes the following steps: S1. The tunneling machine suspends tunneling, and the central control system determines the type of rods and the side to be used based on the support plan. S2. Start the corresponding conveying robotic arm on the same side to grab the target rod from the corresponding compartment of the anchor module on the same side. The vertical hydraulic cylinder extends downward into the anchor module. The third robotic arm grabs a drill rod and the fourth robotic arm grabs an anchor rod. S3. After the conveying robotic arm successfully grabs the object, the rotating shaft rotates 180° and slides along the guide rail mechanism toward the drill arm until it reaches the predetermined handover position. S4. The drill arm moves to the handover position, and the first manipulator of the dual manipulator device on it grabs the anchor rod in the fourth manipulator of the conveying manipulator, and the second manipulator grabs the drill rod in the third manipulator of the conveying manipulator. Then the conveying manipulator retracts along the guide rail mechanism. S5: After the dual robotic arm device successfully grabs the anchor rod and drill rod, the second robotic arm grabs the drill rod, and the drill arm performs the drilling operation; after the drilling is completed, the dual robotic arm device rotates 30°, the first robotic arm grabs the anchor rod, and the anchor rod is installed into the drilled hole by the movement of the drill arm.

[0018] Therefore, the present invention adopts the above-mentioned automatic support tunneling machine drill arm system and its usage method, which sets up a conveying mechanical arm to realize the transportation of anchor bolts and drill rods, reduce labor intensity, improve work efficiency, and set up drill arm, conveying mechanical arm and anchor bin module to improve equipment integration and space utilization efficiency. The material supply and drill arm working process are connected, the automated support process is executed continuously, and the support speed is improved.

[0019] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of an automatic support tunneling machine drill arm system according to the present invention; Figure 2 This is a schematic diagram of the lifting and rotating mechanism of the tunneling machine boom system for automatic support according to the present invention. Figure 3 This is a schematic diagram of the structure of the conveying mechanical arm of the tunneling machine drilling arm system of the present invention.

[0021] Figure Labels 1. Tunneling machine body; 2. Drill arm; 3. Anchor housing module; 4. Conveying robotic arm; 5. Guide rail mechanism; 6. Dual robotic arm device; 7. First robotic arm; 8. Second robotic arm; 9. Third robotic arm; 10. Fourth robotic arm; 11. Vertical hydraulic cylinder; 12. Horizontal hydraulic cylinder; 13. Rotary shaft. Detailed Implementation

[0022] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0024] Example 1 like Figures 1 to 3 As shown, this invention provides an automated support tunneling machine boom system, including a tunneling machine body 1 and a boom 2. A tunneling mechanism is located at the front of the tunneling machine body 1, and tracks are located at the bottom. A central control system, a hydraulic station, and an electrical control cabinet are installed inside the tunneling machine body 1. The central control system uses existing technology to connect with the hydraulic station and electrical control cabinet. The tunneling machine body 1 serves as an integrated foundation platform for drilling support, material storage, conveying, and handover, providing support for the overall structure and providing the necessary power for movement. The central control system, hydraulic station, and electrical control cabinet coordinate the actions of drilling support, material storage, conveying, and handover.

[0025] The drill arm 2 is mounted at the front or middle of the tunneling machine body 1 via a slewing base or a multi-degree-of-freedom hinge mechanism. The drill arm 2 is the core actuator for drilling and anchor bolt installation. The slewing base houses a hydraulic motor and slewing bearing, driving the drill arm 2 to rotate horizontally. The multi-degree-of-freedom hinge mechanism consists of multiple hydraulic cylinders connected by hinge shafts. The extension and retraction of the hydraulic cylinders drive the boom's lifting, lowering, and swinging. A central control system coordinates the actions of each hydraulic component, enabling the drill arm to be precisely positioned at any location on the working face. The slewing base or multi-degree-of-freedom hinge mechanism provides the drill arm 2 with a wide range of multi-degree-of-freedom spatial movement capabilities, precisely positioning the rods on the working face.

[0026] A dual manipulator device 6 is mounted on the drill arm 2, located at the end of the drill arm 2 between the drill arm 2 and the drilling rig. The drill arm 2 serves as the support and movement platform for the dual manipulator device 6. The drilling rig is mounted on the end of the drill arm 2 via a connecting structure and is integrated onto a feed beam or carriage, allowing it to slide along the carriage for drilling feed. A swing hydraulic cylinder or adjustment mechanism is typically installed at the connection point between the drilling rig and the end of the drill arm 2 to fine-tune the pitch and yaw angles of the borehole, ensuring the drill rod is vertically aligned with the working face. The dual manipulator device 6, mounted near the connecting structure, includes a rotating component. A first manipulator 7 and a second manipulator 8 are mounted on the rotating component, enabling the clamping of the anchor rod and drill rod.

[0027] A guide rail mechanism 5 is provided below the tunneling machine body 1. The guide rail mechanism 5 includes two guide rails, which are respectively installed on both sides of the tunneling machine body 1. A conveying mechanical arm 4 is provided on each of the two guide rails. The guide rail mechanism 5 can constrain the movement path of the conveying mechanical arm 4, ensuring that it can run in a straight line and stably from the anchor module 3 to the junction point, and can bear the weight of the conveying mechanical arm 4 and the gripped rod, and ensure smooth movement.

[0028] The conveying robotic arm 4 includes a main body, the bottom of which is slidably connected to a guide rail. Under the action of the drive structure, the main body can slide along the guide rail, moving the anchor rod and drill rod to achieve the conveying and transfer functions of the anchor rod and drill rod. The drive structure includes a hydraulic motor and a drive gear. A rack is fixed along the guide rail mechanism 5. The hydraulic motor and drive gear are installed on the slide of the main body. Through the meshing of the gear and rack, the rotational motion is converted into linear motion, enabling the main body of the robotic arm to slide smoothly and accurately on the guide rail mechanism 5, completing the round-trip conveying of the anchor rod and drill rod from the anchor chamber module 3 to the transfer position. A rotating shaft 13 is provided at the top of the main body, and a horizontal hydraulic cylinder 12 is provided at the top of the rotating shaft 13. The rotating shaft 13 can drive the horizontal hydraulic cylinder 12 to rotate, realizing the position conversion of the anchor rod and drill rod. A vertical hydraulic cylinder 11 is provided at the end of the horizontal hydraulic cylinder 12, and a third robotic arm 9 and a fourth robotic arm 10 are provided at the end of the vertical hydraulic cylinder 11. The horizontal hydraulic cylinder 12 can drive the vertical hydraulic cylinder 11 to move horizontally, and the vertical hydraulic cylinder 11 can realize the vertical movement of the third manipulator 9 and the fourth manipulator 10, thereby driving the anchor bolt and drill rod to move.

[0029] An anchor bin module 3 is installed on the rear frame of the tunneling machine body 1. The anchor bin module 3 includes two compartments, both of which are fixedly installed on the tunneling machine body 1. The anchor bin module 3 is divided into compartments and layers, and stores anchor rods and drill rods. As an integrated and original storage unit for anchor rods and drill rods, the anchor bin module 3 avoids the scattered stacking of anchor rods and drill rods in the roadway, saves space, and provides a stable and orderly supply of drill rods and anchor rods for the drill arm 2.

[0030] This invention provides a method for using an automatic support tunneling machine drill arm system. The method, employing the aforementioned automatic support tunneling machine drill arm system, specifically includes the following steps: S1. The tunneling machine suspends tunneling, and the central control system determines the type of rods and the side to be used based on the support plan. S2. Start the corresponding conveying robotic arm 4 to grab the target rod from the corresponding compartment of the anchor module 3 on the same side. The vertical hydraulic cylinder 11 extends downward into the anchor module 3. The third robotic arm 9 grabs a drill rod and the fourth robotic arm 10 grabs an anchor rod. S3. After the conveying robotic arm 4 successfully grabs the object, the rotating shaft 13 rotates 180° and slides along the guide rail mechanism 5 toward the drill arm 2 until it reaches the predetermined handover position. S4. Drill arm 2 moves to the handover position, and the first manipulator 7 of the dual manipulator device 6 on it grabs the anchor rod in the fourth manipulator 10 of the conveying manipulator 4, and the second manipulator 8 grabs the drill rod in the third manipulator 9 of the conveying manipulator 4. Then the conveying manipulator 4 retracts along the guide rail mechanism 5. S5: After the dual robotic arm device 6 successfully grabs the anchor rod and drill rod, the second robotic arm 8 grabs the drill rod, and the drill arm 2 performs the drilling operation; after the drilling is completed, the dual robotic arm device 6 rotates 30°, the first robotic arm 7 grabs the anchor rod, and the anchor rod is installed into the drilled hole by the movement of the drill arm 2.

[0031] Therefore, the present invention adopts the above-mentioned automatic support tunneling machine drill arm system and its usage method, which sets up a conveying mechanical arm to realize the transportation of anchor bolts and drill rods, reduce labor intensity, improve work efficiency, and set up drill arm, conveying mechanical arm and anchor bin module to improve equipment integration and space utilization efficiency. The material supply and drill arm working process are connected, the automated support process is executed continuously, and the support speed is improved.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An automatic support system for a tunneling machine's drill arm, characterized in that: It includes a tunneling machine body and a drill arm. The drill arm is installed at the front or middle of the tunneling machine body via a slewing base or a multi-degree-of-freedom hinge mechanism. A dual manipulator device is installed on the drill arm at the end of the drill arm, located between the drill arm and the drilling machine. The dual manipulator device includes a rotating component, on which a first manipulator and a second manipulator are installed.

2. The automatic support tunneling machine boom system according to claim 1, characterized in that: A guide rail mechanism is installed below the tunneling machine body. The guide rail mechanism includes two guide rails, which are respectively installed on both sides of the tunneling machine body. A conveying mechanical arm is installed on each of the two guide rails.

3. The automatic support tunneling machine boom system according to claim 2, characterized in that: The conveying robotic arm includes a robotic arm body, the bottom of which is slidably connected to a guide rail. A rotating shaft is provided at the top of the robotic arm body, a horizontal hydraulic cylinder is provided at the top of the rotating shaft, a vertical hydraulic cylinder is provided at the end of the horizontal hydraulic cylinder, and a third robotic arm and a fourth robotic arm are provided at the end of the vertical hydraulic cylinder.

4. The automatic support tunneling machine boom system according to claim 3, characterized in that: The rear frame of the tunneling machine is equipped with an anchor bin module, which consists of two compartments, both of which are fixedly installed on the tunneling machine body.

5. The automatic support tunneling machine boom system according to claim 4, characterized in that: The anchor bin module is internally divided into compartments and layers, and stores anchor bolts and drill rods.

6. The automatic support tunneling machine boom system according to claim 5, characterized in that: The tunneling machine body is equipped with a central control system, a hydraulic station, and an electrical control cabinet, and the central control system is connected to the hydraulic station and the electrical control cabinet.

7. The automatic support tunneling machine boom system according to claim 6, characterized in that: The tunneling machine body is equipped with a tunneling mechanism at the front and tracks at the bottom.

8. A method of using an automatic support tunneling machine drill arm system, employing an automatic support tunneling machine drill arm system provided in any one of claims 1-7, characterized in that: Specifically, the following steps are included: S1. The tunneling machine suspends tunneling, and the central control system determines the type of rods and the side to be used based on the support plan. S2. Start the corresponding conveying robotic arm on the same side to grab the target rod from the corresponding compartment of the anchor module on the same side. The vertical hydraulic cylinder extends downward into the anchor module. The third robotic arm grabs a drill rod and the fourth robotic arm grabs an anchor rod. S3. After the conveying robotic arm successfully grabs the object, the rotating shaft rotates 180° and slides along the guide rail mechanism toward the drill arm until it reaches the predetermined handover position. S4. The drill arm moves to the handover position, and the first manipulator of the dual manipulator device on it grabs the anchor rod in the fourth manipulator of the conveying manipulator, and the second manipulator grabs the drill rod in the third manipulator of the conveying manipulator. Then the conveying manipulator retracts along the guide rail mechanism. S5: After the dual robotic arm device successfully grabs the anchor rod and drill rod, the second robotic arm grabs the drill rod, and the drill arm performs the drilling operation; after the drilling is completed, the dual robotic arm device rotates 30°, the first robotic arm grabs the anchor rod, and the anchor rod is installed into the drilled hole by the movement of the drill arm.

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