Rock drilling supporting mechanical arm for small-diameter TBM

Abstract

The utility model relates to the technical field of tunnel construction, and particularly discloses a rock drilling supporting mechanical arm for a small-diameter TBM, which comprises a TBM supporting shield, a protective shed, a jumbolter arranged on one side of the protective shed, a mechanical arm telescopic oil cylinder connected with the jumbolter, and a supporting mechanical arm, the jumbolter comprises a jumbolter base, a drilling machine motor installed on the jumbolter base, an anchor rod connected with the drilling machine motor and a drill bit installed at the end of the anchor rod. The supporting mechanical arm comprises a mechanical arm connecting base, a telescopic main arm connected with the mechanical arm connecting base, a telescopic small arm connected with the telescopic main arm, a mesh tray connected with the telescopic small arm and a mesh installed on the mesh tray. The anchor rod drilling machine on the equipment is transformed, and the function of installing a mesh support is added, so that the anchor rod installation function and the mesh protection function on the equipment are combined into a whole, and the adaptability of the TBM equipment in the construction environment of poor surrounding rock of roadways such as mines is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel construction, in particular to a rock drilling and support robotic arm for a small-diameter TBM. Background Art

[0002] During the tunnel boring process, compared with the traditional drill-and-blast method, the TBM (full-face rock tunnel boring machine) construction method significantly demonstrates the improvement in construction safety, the leap in construction efficiency, and the excellence in the quality of the formed roadway. In recent years, with the continuous improvement of TBM construction technology, its application in the mining field has become increasingly widespread. However, due to the complexity of the ore geological structure, the roadway strata constructed by TBM often show a highly fragmented state, resulting in frequent fragmentation and rockfall in the vault area. Compared with the application scenario of TBM in the pumped storage industry, the requirements for scaling and support in mine roadways are more stringent. Especially under poor geological conditions, it is necessary to quickly implement efficient and stable support measures for the surrounding rock that has separated from the shield protection.

[0003] Although the current TBM equipment is already equipped with a rock bolt drilling rig to assist in the support operation, in actual application, this equipment often only plays a temporary protection effect. Limited by problems such as insufficient rock bolt depth or insufficient drilling rig operation length, it is difficult to meet the substantial requirements of the mine for roadway support. Therefore, in the actual construction process, manual methods are often used for meticulous scaling and support operations. However, this method also has significant safety hazards, especially when working for a long time under the top of the equipment without sufficient protection, when supporting the unstable surrounding rock or replacing rock bolts, the risk is relatively high. In addition, the stones scattered after manual scaling often fall between the equipment, increasing the difficulty of subsequent cleaning work.

[0004] Chinese Patent No. 202311540435.0 discloses a slag cleaning and support integrated device for an open-type TBM applicable to poor geological sections, which includes a temporary support device, an auxiliary conveying device, and a slag cleaning operation platform. However, it has the following obvious disadvantages: (1) This device mainly emphasizes that the support of the surrounding rock at the top of the rock bolt construction area and the cleaning of the slag accumulated at the bottom of the main beam can be carried out simultaneously, without specifically introducing the support process; (2) The support method of this device is steel arch support, but in the small-diameter TBM construction roadway, due to the small equipment space, it does not meet the installation conditions of the steel arch, and usually, bolt and mesh support are required; (3) In the construction of mine roadways, the surrounding rock at the top of the roadway is often more fragmented, and the fallen rocks directly fall on the equipment after scaling and do not accumulate at the bottom of the tunnel; (4) The entire device includes a temporary support device, an auxiliary conveying device, and a slag cleaning operation platform, with relatively complex operation and high device cost.

[0005] Therefore, based on the existing technical problems, this application improves the structure of the rock drilling and support robotic arm. Summary of the Utility Model

[0006] The purpose of the present utility model is to solve the defects existing in the prior art and provide a rock drilling and support robotic arm for a small-diameter TBM.

[0007] In order to achieve the above purpose, the technical solution adopted by the present utility model is as follows:

[0008] A rock drilling and support robotic arm for a small-diameter TBM, comprising a TBM support shield, a protective shed arranged on one side of the TBM support shield, a rock bolt drill arranged on one side of the protective shed, a robotic arm telescopic oil cylinder connected to the rock bolt drill, and a support robotic arm arranged between the rock bolt drill and the robotic arm telescopic oil cylinder;

[0009] The rock bolt drill includes a rock bolt drill base, a drill motor installed on the rock bolt drill base, a rock bolt connected to the drill motor, and a drill bit installed at the end of the rock bolt;

[0010] The robotic arm telescopic oil cylinder includes a first-stage oil cylinder and a second-stage oil cylinder;

[0011] The support robotic arm includes a robotic arm connection base, a telescopic main arm connected to the robotic arm connection base, a telescopic sub-arm connected to the telescopic main arm, a mesh tray connected to the telescopic sub-arm, and a mesh installed on the mesh tray;

[0012] Wherein, the rock bolt drill base is connected to the telescopic oil cylinder base through the first-stage oil cylinder and the second-stage oil cylinder;

[0013] The robotic arm connection base is fixed on the second-stage oil cylinder.

[0014] Furthermore, the telescopic oil cylinder base includes a base body and a rotating tray. The base body is installed on the rotating tray, and the rotating tray can rotate 360°. The base body is connected to the first-stage oil cylinder.

[0015] Furthermore, a trailer is arranged on one side of the rock bolt drill, and the protective shed covers the outside of the trailer.

[0016] Furthermore, a trailer equipment bridge is arranged on one side of the rock bolt drill. A slide rail and a mobile platform telescopic oil cylinder are arranged on the trailer equipment bridge. The rotating tray is arranged on the slide rail, and the mobile platform telescopic oil cylinder provides power to the telescopic oil cylinder base so that the telescopic oil cylinder base can move on the slide rail.

[0017] Furthermore, the drill bit is close to the trailer.

[0018] The beneficial effects of the present utility model are as follows: This application modifies the rock bolt drill on the equipment and adds the function of installing mesh support, integrating the functions of rock bolt installation and mesh protection on the equipment, improving the adaptability of the TBM equipment in construction environments with poor surrounding rock in mines and other places. At the same time, it can reduce the operation time of manual rock bolt and mesh support under the exposed broken surrounding rock, ensure the safety of operators, and greatly expand the applicable scope and application scenarios of the project. Brief Description of the Drawings

[0019] Figure 1 It is a structural schematic diagram of this application;

[0020] Figure 2 It is a partial structural schematic diagram of this application;

[0021] Figure 3 It is a connection schematic diagram of the rock bolt drill of this application with the robotic arm telescopic cylinder and the support robotic arm;

[0022] Figure 4 It is a structural schematic diagram of the rock bolt drill of this application;

[0023] Figure 5 It is a structural schematic diagram of the support robotic arm of this application. Detailed Embodiment

[0024] Next, the technical solutions of the present utility model will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0025] Refer to Figure 1 , Figure 2 , Figure 3 , A rock drilling and support robotic arm for a small-diameter TBM, including a TBM support shield 1, a protective shed 2 arranged on one side of the TBM support shield 1, a rock bolt drill 3 arranged on one side of the protective shed 2, a robotic arm telescopic cylinder 5 connected to the rock bolt drill 3, and a support robotic arm 4 arranged between the rock bolt drill 3 and the robotic arm telescopic cylinder 5;

[0026] Refer to Figure 4 , Figure 5 , The rock bolt drill 3 includes a rock bolt drill base 31, a drill motor 32 installed on the rock bolt drill base 31, a rock bolt 33 connected to the drill motor 32, and a drill bit 34 installed at the end of the rock bolt 33;

[0027] The robotic arm telescopic cylinder 5 includes a first-stage cylinder 51 and a second-stage cylinder 52;

[0028] The support robotic arm 4 includes a robotic arm connection base 41, a telescopic main arm 42 connected to the robotic arm connection base 41, a telescopic sub-arm 43 connected to the telescopic main arm 42, a mesh tray 44 connected to the telescopic sub-arm 43, and a mesh 45 installed on the mesh tray 44;

[0029] Among them, the anchor drill base 31 is connected to the telescopic cylinder base 6 through a first-stage cylinder 51 and a second-stage cylinder 52;

[0030] The robotic arm connection base 41 is fixed on the second-stage cylinder 52.

[0031] Furthermore, the telescopic cylinder base 6 includes a rotating tray 61 and a base main body 62. The base main body 62 is installed on the rotating tray 61. The rotating tray 61 can rotate 360°. The base main body 62 is connected to the first-stage cylinder 51.

[0032] Furthermore, a trailer 10 is arranged on one side of the anchor drill 3. The protective shed 2 covers the outside of the trailer 10, and the drill bit 34 is close to the trailer 10.

[0033] In addition, a trailer equipment bridge 8 is provided on one side of the anchor drill 3. The trailer equipment bridge 8 is provided with a slide rail 7 and a mobile platform telescopic cylinder 9. The rotating tray 61 is arranged on the slide rail 7. The mobile platform telescopic cylinder 9 provides power to the telescopic cylinder base 6 so that the telescopic cylinder base 6 can move on the slide rail 7, providing a more flexible support operation environment for personnel and facilitating the daily inspection and maintenance of the equipment.

[0034] The TBM equipment can adopt equipment types such as mechanical excavation open type and mechanical excavation single shield type. The anchor drill can install anchor rods of different lengths according to the on-site construction needs. The anchor rods are usually made of deformed steel bars and are arranged in a diamond pattern; a single flexible mesh is generally 1.0 * 2.0 m, and each single mesh is equipped with 9 anchor rods.

[0035] Such as Figure 1 As shown, the protective shed 2 is located above the trailer 10 and is connected to the TBM support shield 1. When clearing unstable rocks, the falling rocks directly fall on the protective shed, which can effectively reduce the risk of falling rocks directly impacting personnel and equipment and ensure the operation safety. At the same time, this area can be temporarily used as a support platform for support operations and is convenient for reinforcement measures such as shotcreting.

[0036] During use, according to the surrounding rock range to be supported at the top of the roadway and the length of the anchor rods to be driven, the working length of the anchor drill 3 can be adjusted through the first-stage cylinder 51 and the second-stage cylinder 52 to complete the support.

[0037] After the anchor drill 3 completes drilling, the support distance is adjusted through the robotic arm telescopic cylinder 5. The mesh 45 is installed on the mesh tray 44, and the height is adjusted through the telescopic main arm 42 and the telescopic sub-arm 43 to complete the installation and fixation of the mesh 45.

[0038] The rotating tray 61 can rotate 360° to ensure full coverage of the surrounding rock area to be supported; the base body 62 is connected to the slide rail 7 through the rotating tray 61, and the entire rock drilling and support robotic arm can move back and forth through the slide rail 7 to adjust the support operation space and adapt to different support requirements.

[0039] During the operation, according to the specific support requirements of the surrounding rock at the top of the roadway and the required depth of the anchor bolts, the operator can adjust the working length of the anchor drill 3 by controlling the extension and retraction of the first-stage cylinder 51 and the second-stage cylinder 52 to ensure the accuracy and efficiency of the drilling operation.

[0040] After the anchor drill 3 completes the drilling, by using the adjustment function of the telescopic cylinder, the support robotic arm 4 can adjust the support distance. Subsequently, the mesh 45 is fixed on the mesh tray 44, and through the coordinated work of the telescopic main arm 42 and the telescopic sub-arm 43, the mesh 45 is adjusted to the appropriate height to complete the installation and fixation of the mesh 45.

[0041] Thus, the present application can achieve an efficient, flexible and safe tunnel boring support system, which is particularly suitable for the complex geological conditions encountered during the tunneling process of a tunnel boring machine (TBM), such as scenarios where dangerous rocks need to be treated and support operations are required. This system combines protection, drilling, anchor bolt installation, mesh support, as well as flexible movement and adjustment functions, and can significantly improve the speed and quality of tunnel boring. Specifically, the following functions can be achieved:

[0042] Safety protection: The setting of the protective shed 2 effectively prevents the damage caused by falling rocks directly dropping on personnel and equipment during the prying of dangerous rocks, providing a safe working environment. At the same time, this area can also be used as a platform for support and temporary shotcreting work, improving the operation efficiency and safety.

[0043] Quick support installation: The design of the support robotic arm 4 allows, after the anchor drill 3 completes the drilling, to quickly adjust the support distance through the telescopic cylinder, and use the telescopic main arm 42 and the telescopic sub-arm 43 of the robotic arm to adjust the height and position of the mesh 45 to achieve the quick installation and fixation of the mesh 45, which greatly improves the speed and efficiency of the support operation.

[0044] Full coverage: The combined use of the rotating tray 61 and the slide rail 7 enables the rock drilling and support robotic arm to rotate within a range of 360° and move back and forth along the slide rail 7, thereby achieving full coverage of the surrounding rock area to be supported and ensuring the comprehensiveness and effectiveness of the support operation.

[0045] Strong adaptability: The entire system can be adjusted and optimized according to different support requirements through the coordinated work of multiple cylinders and robotic arms. Whether it is the support depth, support range or support method, it can flexibly respond to meet the support needs under various complex geological conditions.

[0046] This application modifies the roof bolter on the equipment and adds the function of installing mesh support, so that the functions of bolt installation and mesh protection on the equipment are combined into one, improving the adaptability of the TBM equipment in construction environments with poor surrounding rock in mines and other roadways. At the same time, it can reduce the operation time of manual bolt and mesh support under the exposed broken surrounding rock, ensure the safety of operators, and greatly improve the applicable scope and application scenarios of the project.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rock drilling and support manipulator for a small-diameter TBM, comprising a TBM support shield, a protective shed arranged on one side of the TBM support shield, a rock bolt drill arranged on one side of the protective shed, a manipulator telescopic oil cylinder connected to the rock bolt drill, and a support manipulator arranged between the rock bolt drill and the manipulator telescopic oil cylinder; It is characterized in that The rock bolt drill comprises a rock bolt drill base, a drill motor installed on the rock bolt drill base, a rock bolt connected to the drill motor, and a drill bit installed at the end of the rock bolt; The manipulator telescopic oil cylinder comprises a first-stage oil cylinder and a second-stage oil cylinder; The support manipulator comprises a manipulator connection base, a telescopic main arm connected to the manipulator connection base, a telescopic sub-arm connected to the telescopic main arm, a mesh tray connected to the telescopic sub-arm, and a mesh installed on the mesh tray; Wherein, the rock bolt drill base is connected to the telescopic oil cylinder base through the first-stage oil cylinder and the second-stage oil cylinder; The manipulator connection base is fixed on the second-stage oil cylinder.

2. The rock drilling and support manipulator for small-diameter TBM according to claim 1, wherein The telescopic oil cylinder base comprises a base body and a rotating tray. The base body is installed on the rotating tray, and the rotating tray can rotate 360°. The base body is connected to the first-stage oil cylinder.

3. The rock drilling and support manipulator for small-diameter TBM according to claim 1, wherein A trailer is arranged on one side of the rock bolt drill, and the protective shed covers the outside of the trailer.

4. The rock drilling and support manipulator for small-diameter TBM according to claim 2, characterized in that, A trailer equipment bridge is arranged on one side of the rock bolt drill. A slide rail and a mobile platform telescopic oil cylinder are arranged on the trailer equipment bridge. The rotating tray is arranged on the slide rail, and the mobile platform telescopic oil cylinder provides power to the telescopic oil cylinder base so that the telescopic oil cylinder base can move on the slide rail.

5. A rock drilling and support robotic arm for a small-diameter TBM according to claim 3, characterized in that, The drill bit is close to the trailer.

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