CN109184691A - Full-mechanized roadway piercing technique based on the anchor combined unit of robotization pick branch - Google Patents

Full-mechanized roadway piercing technique based on the anchor combined unit of robotization pick branch Download PDF

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Publication number
CN109184691A
CN109184691A CN201810888855.0A CN201810888855A CN109184691A CN 109184691 A CN109184691 A CN 109184691A CN 201810888855 A CN201810888855 A CN 201810888855A CN 109184691 A CN109184691 A CN 109184691A
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anchor
drilling
robotization
vehicle
autonomous
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CN109184691B (en
Inventor
郝雪弟
张中平
景新平
谢勇厚
梁泽楠
刘冰
李�瑞
吴淼
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China University of Mining and Technology Beijing CUMTB
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China University of Mining and Technology Beijing CUMTB
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    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21CMINING OR QUARRYING
    • E21C41/00Methods of underground or surface mining; Layouts therefor
    • E21C41/16Methods of underground mining; Layouts therefor
    • E21C41/18Methods of underground mining; Layouts therefor for brown or hard coal
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21CMINING OR QUARRYING
    • E21C35/00Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/22Equipment for preventing the formation of, or for removal of, dust
    • E21C35/223Equipment associated with mining machines for sucking dust-laden air from the cutting area, with or without cleaning of the air
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21CMINING OR QUARRYING
    • E21C35/00Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24Remote control specially adapted for machines for slitting or completely freeing the mineral
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D20/00Setting anchoring-bolts
    • E21D20/003Machines for drilling anchor holes and setting anchor bolts
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D20/00Setting anchoring-bolts
    • E21D20/02Setting anchoring-bolts with provisions for grouting
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/0056Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor with individual advancing shifting devices
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/16Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices

Abstract

The present invention relates to the full-mechanized roadway piercing techniques based on the anchor combined unit of robotization pick branch, using autonomous type development machine, self-advancing hydraulic support, transporting bracket vehicle, robotization drilling anchor vehicle, elevating conveyor, belt conveyer device;The technique include development machine independently tunnel, the autonomous gib of self-advancing hydraulic support, robotization drilling anchor vehicle automatic drilling and anchoring, automatic coal breakage and transporting coal, dedusting flow chart.Maximum feature of the invention is using intelligent and automation driving and support apparatus, realize the full-automatic operation of driving, gib and permanent anchorage, simultaneously development machine independently tunnel, robotization drilling anchor vehicle automatic drilling and anchoring, the autonomous gib of self-advancing hydraulic support this three process be by two be interrupted one it is continuous in a manner of intersect concurrent job, drivage efficiency promotes about 2.5 times compared to previous, while substantially increasing the safety of driving, gib and permanent anchorage operation.

Description

Full-mechanized roadway piercing technique based on the anchor combined unit of robotization pick branch
The invention belongs to underground coal mine full-mechanized roadway piercing technique technologies, more particularly to anchor combined based on robotization pick branch The full-mechanized roadway piercing technique of unit.
Background technique
In recent years, although China's coal roadway tunneling technology is constantly progressive, the degree of automation is not still high, and drivage efficiency remains unchanged It is very low.Comprehensive pick method is a kind of advanced tunnelling technology developed rapidly in nearly 20~30 years, and wherein development machine collection is cut Cut, load and transport, the functions such as depositing dust are in one, have high production efficiency, driving speed it is fast, it is adaptable, transfer it is flexible Advantage substantially improves working condition, therefore is widely used in the tunneling construction of major coal mine.But the development machine of the prior art Mostly pilot steering and manipulation, causes that driver's large labor intensity, the visual field is narrow, the working environment of workers is severe, labor productivity is low The problems such as, and construction quality, construction safety are largely dependent upon human factor, the number of casualties of underground is still more.
Currently, the tunneling construction process of traditional full-mechanized roadway generally comprise transfer slotting, cutting coal seam, coal breakage transporting coal, Gib, drilling lapping, permanent anchorage amount to six process portions.In traditional full-mechanized roadway piercing technique, driving, interim branch Shield, permanent anchorage operation are chained job, and progress and mostly manual operation cannot be generally cooperateed between each process, therefore tunnels effect Rate is very low, the problems such as pick branch serious disproportion, Linking up digging is nervous often occurs, and the degree of automation is very low, worker's work Bad environments, there is biggish construction risk, and accident rate is higher.
The form of laneway temporary support mainly has six kinds at present: individual prop+bolumn cap, individual prop+hinged girder+plate-girder, The long girder steel forestope of suspension type, console mode move falsework, capplce suspension type automatic shifting stand, piggyback temporary support certainly.First three Support pattern have the shortcomings that supporting not in time, control top ability it is weak, expend working hour it is long, the degree of automation is low, supporting effect is poor, fall Although ground formula is higher from shifting falsework and capplce suspension type automatic shifting stand the degree of automation, during anchor net laying is set often Also manpower is needed to assist, can not also accomplish full-automatic operation in bracket movement and Bracing Process, also manpower be needed to assist, and The bracket that support is completed is the supporting of mechanization, can not perceive the reliability of supporting.
The researcher of Shanxi Lu'an Environmental Protection Energy Development Co., Ltd. Zhangcun Coal proposes that a kind of pick anchor is continuous certainly Dynamicization fast digging technique (patent No. CN103899319A), the technique is using face end support as gib equipment, and end The usual geometric dimension of bracket is larger, and frame body is heavy and Forward is difficult, causes the time used in gib longer, efficiency is lower.Together When the technique permanent support is divided into meet head on supporting and rear supporting two parts using face end support as boundary, using jumbolter device into Row supporting operation, wherein although rear supporting can tunnel concurrent job with development machine, the driving of meet head on supporting and development machine exists Time can conflict, and cannot carry out simultaneously, so the concurrent job of driving and permanent support can not be realized truly.This Outside, driving and support apparatus the degree of automation are lower in the technique, and drivage efficiency is not high, and the working environment that construction personnel faces is very It is dangerous.
For disadvantages mentioned above, the full-mechanized roadway piercing technique based on the anchor combined unit of robotization pick branch, the technique are proposed Middle driving, permanent anchorage, the big process of gib three are intersected concurrent job using two one continuous modes of interruption, are adopted simultaneously With full-automatic driving and support apparatus, so that drivage efficiency promotes about 2.5 times, and the safety of construction is improved.This Outside, it is independently tunneled using unmanned intelligent independent formula development machine, is carried out using the autonomous gib hydraulic support of automatic moving type Gib operation carries out permanent anchorage operation using robotization drilling anchor vehicle, can really realize driving and permanent support and Row operation.New anchor net laying can be located at the top of the self-advancing hydraulic support on transporting bracket vehicle by robotization drilling anchor vehicle automatically Portion realizes the full-automatic operation for being laid with cradle top anchor net, while the self-advancing hydraulic support that support is completed can be pushed up by it The reliability of the sensing device automatic sensing supporting in portion, substantially increases the safety and reliability of gib.
Summary of the invention
The purpose of the present invention is overcome in the prior art drivage efficiency is low, the degree of automation is low, job security is low to lack Point, the present invention provides a kind of full-mechanized roadway piercing techniques based on the anchor combined unit of robotization pick branch.
A kind of full-mechanized roadway piercing technique based on the anchor combined unit of robotization pick branch, it is characterised in that: using autonomous Formula development machine, self-advancing hydraulic support, transporting bracket vehicle, robotization drilling anchor vehicle, elevating conveyor and belt conveyer, the technique packet Include development machine independently tunnel, self-advancing hydraulic support gib, robotization drilling anchor vehicle automatic drilling and anchoring, automatic coal breakage With transporting coal, dedusting flow chart, the specific steps are as follows:
Step 1: development machine independently tunnels: the autonomous type development machine independently carries out slotting, the operation of cutting coal seam;
Step 2: self-advancing hydraulic support gib: the autonomous type development machine independently tunnel to certain distance after from Dynamic to stop working, the transporting bracket vehicle is automatically positioned and moves to least significant end hydraulic support position, the least significant end hydraulic support Self pressure relief, cross-direction shrinkage are fallen on the transporting bracket vehicle, and robotization drilling anchor vehicle at rear is automatically by new anchor net It is laid at the top of the least significant end hydraulic support on the transporting bracket vehicle, carries the transporting bracket vehicle of the least significant end hydraulic support Be automatically positioned and move forward to front end to supporting position, the least significant end hydraulic support voluntarily extending transversely and support, complete later Can be by the reliability of the sensing device automatic sensing supporting at top at the hydraulic support of support, the bracket fortune after supporting Defeated vehicle automatically moves back the end support position new to the self-advancing hydraulic support, so far completes the self-advancing hydraulic support Gib process;
Step 3: robotization drilling anchor vehicle automatic drilling and anchoring: in the transporting bracket vehicle by least significant end backing positions When carrying least significant end hydraulic support Forward, robotization drilling anchor vehicle is automatically positioned and moves forward to anchorage point, certainly It is dynamic to carry out drilling anchor hole, dress Anchor Agent, dress anchor pole operation, carry out drilling machine reset, adjustment pose operation, the final machine automatically later Device peopleization drilling anchor vehicle is retreated to appropriate location, completes robotization drilling anchor vehicle automatic drilling and anchoring process;
Step 4: continuously repeat above-mentioned steps one to three, meanwhile, in the autonomous excavation operation of the development machine, it is described from The airborne dedusting fan continuous service of main formula development machine, the coal breakage in cutting coal seam is through the elevating conveyor automatic transportation to the belt Transporter realizes the automatic coal breakage and transporting coal, dedusting operation.
Further, which divides into front end tunneling region, temporary support area, permanent anchorage area for headwork;It is described The forefront in the i.e. entire tunnel in the region that autonomous type development machine is worked, referred to as front end tunneling region;The self moving hydraulic branch Position where frame is temporary support area, and the temporary support area is close to the front end tunneling region and is located at the front end tunneling region Rear;The region that the permanent anchorage area, that is, robotization drilling anchor turner is made, which has been laid with the anchor net of permanent support Or it is being laid with anchor net;With the propulsion of tunneling process, the front end tunneling region is constantly converted into the temporary support area, described Temporary support area is constantly converted into the permanent anchorage area.
Further, the self-advancing hydraulic support can be placed on the transporting bracket vehicle and be moved therewith after auto-folder It is dynamic, and the transporting bracket vehicle is matched with the autonomous type development machine, carry the hydraulic support may pass through it is described independently Formula development machine body move to front end to supporting position.
Further, the autonomous excavation operation discontinuity of the development machine carries out, the self-advancing hydraulic support gib Operation continuity carries out, and robotization drilling anchor vehicle automatic drilling and anchoring operation discontinuity carry out, and three process is between two A disconnected continuous mode intersects concurrent job.
Further, the autonomous type development machine is unmanned intelligent independent formula development machine, the self-advancing hydraulic support For the autonomous gib hydraulic support of automatic moving type, affiliated transporting bracket vehicle is autonomous positioning and removable support transport vehicle.
Further, the unmanned intelligent independent formula development machine can be carried out independent navigation and positioning, autonomous path Trajectory planning, from main machine body pose detection and automatic deviation correction, arbitrary cross-section and the autonomous cutting of compound section, to realize driving make The full-automation of industry.
Further, the autonomous gib hydraulic support of the automatic moving type and the autonomous positioning and removable support transport Vehicle cooperation can be carried out autonomous positioning and automatic moving, and achievable self pressure relief is stretched with contraction, voluntarily and the movement of support, together When can be by being installed on the reliable of the sensing device automatic sensing supporting at the top of the self-advancing hydraulic support after voluntarily support Property, to realize the full-automation of gib operation.
Further, robotization drilling anchor vehicle can carry out vehicle body autonomous positioning and automatic moving, can carry out anchor hole certainly It is multiple can independently to complete drilling anchor hole, dress Anchor Agent, dress anchor pole, drilling machine for the operations such as dynamic positioning, drilling track planning, automatic paving anchor net Full-automatic drilling anchor operation of position, adjustment pose, to realize the full-automation of permanent anchorage operation.
Compared to pervious full-mechanized roadway piercing technique, the beneficial effects of the present invention are:
(1) in the present invention, the autonomous excavation operation discontinuity of development machine is carried out, and automatic moving type gib hydraulic support temporarily props up It protects operation continuity to carry out, robotization drilling anchor vehicle automatic drilling and anchoring operation discontinuity carry out, and three process is with two interruptions One continuous mode intersects concurrent job, while using full-automatic driving and support apparatus, promotes drivage efficiency About 2.5 times.
(2) present invention carries out autonomous excavation operation using unmanned intelligent independent formula development machine, which can be carried out certainly Leading boat is planned with positioning, autonomous path locus, is disconnected from the detection of main machine body pose and automatic deviation correction, arbitrary cross-section and complexity The autonomous cutting in face, it is more intelligent also safer really instead of the operation mode of traditional pilot steering and manipulation development machine, Human cost is saved, while cutting better quality, cutting are more efficient.
(3) present invention is transported using the autonomous gib hydraulic support of automatic moving type and matched autonomous positioning and removable support Defeated vehicle, can be carried out autonomous positioning and automatic moving, and the movement of achievable self pressure relief and contraction, voluntarily stretching, extension and support is also adopted It is laid with the operation of new anchor net automatically to the least significant end hydraulic support fallen on transporting bracket vehicle with robotization drilling anchor vehicle, it is real The full-automation of gib operation is showed, so that the working efficiency of gib is higher, intelligence degree is higher, also more pacifies Entirely.
(4) sensing device is installed at the top of the autonomous gib hydraulic support of automatic moving type that the present invention uses, utilizes this Sensing device can after the completion of automatic sensing support supporting reliability, substantially increase the safety and reliability of gib.
(5) present invention uses robotization drilling anchor vehicle, can be carried out vehicle body autonomous positioning and automatic moving, can carry out anchor hole certainly The operations such as dynamic positioning, drilling track planning, automatic paving anchor net, achievable drilling anchor hole, dress Anchor Agent, dress anchor pole, drilling machine are resetted, are adjusted Full-automatic drilling anchor operation of whole pose is greatly saved human cost, reduces work instead of traditional artificial anchoring operation Make degree of danger, while more saving the working time, it is more efficient.
Detailed description of the invention
Fig. 1 is that the present invention is based on the equipment arrangement signals of the full-mechanized roadway piercing technique of the anchor combined unit of robotization pick branch Figure.
Fig. 2 is that the present invention is based on the process charts of the full-mechanized roadway piercing technique of the anchor combined unit of robotization pick branch.
Wherein, in Fig. 1:
1: unmanned intelligent independent formula development machine 2: the autonomous gib hydraulic support of automatic moving type
3: autonomous positioning and removable support transport vehicle 4: elevating conveyor
5: robotization drilling anchor vehicle 6: belt conveyer
7: sensing device 8: front end tunneling region
9: temporary support area 10: permanent anchorage area
Specific embodiment
The specific embodiment of the invention is described in further detail with reference to the accompanying drawing.
In Fig. 1, the equipment arrangement of the full-mechanized roadway piercing technique based on the anchor combined unit of robotization pick branch is given Situation, as seen from the figure, the process employs unmanned intelligent independent formula development machines 1, the autonomous gib hydraulic support of automatic moving type 2, autonomous positioning and removable support transport vehicle 3, elevating conveyor 4, robotization drilling anchor vehicle 5 and belt conveyer 6.Entire driving lane Road can be divided into three areas: front end tunneling region 8, temporary support area 9, permanent anchorage area 10.Wherein, unmanned intelligent independent formula driving Region, that is, entire tunnel forefront of 1 cutting of machine driving, referred to as front end tunneling region 8;The autonomous gib of automatic moving type is hydraulic Position where bracket 2 is temporary support area 9, and temporary support area 9 is close to front end tunneling region 8, and after being located at front end tunneling region 8 Side;Permanent anchorage area 10 is the region that robotization drilling anchor vehicle 5 works, which has been laid with the anchor net of permanent support or has spread If anchor net;With the propulsion of tunneling process, front end tunneling region 8 is constantly converted into temporary support area 9, and temporary support area 9 constantly turns Turn to permanent anchorage area 10.
Entire piercing technique include development machine independently tunnel, self-advancing hydraulic support gib, robotization drilling anchor vehicle Automatic drilling and anchoring, automatic coal breakage and transporting coal, dedusting flow chart, specific works situation are as follows:
Step 1: development machine independently tunnels: unmanned intelligent independent formula development machine 1 independently carries out slotting, cutting coal seam is made Industry.
Step 2: self-advancing hydraulic support gib: unmanned intelligent independent formula development machine 1 is independently tunneled to a spacing Work is automatically stopped from after, autonomous positioning and removable support transport vehicle 3 are automatically positioned and move to least significant end hydraulic support position, Least significant end hydraulic support self pressure relief, cross-direction shrinkage are fallen within 3 on autonomous positioning and removable support transport vehicle, the machine at rear New anchor net laying is located at autonomous positioning automatically for peopleization drilling anchor vehicle 5 and the automatic moving type on removable support transport vehicle 3 is independently interim 2 top of hydraulic support, before the autonomous positioning and removable support transport vehicle 3 for carrying least significant end hydraulic support are automatically positioned simultaneously Move to front end to supporting position, least significant end hydraulic support voluntarily extending transversely and support, completes the least significant end liquid of support later Press bracket can be by the reliability of the 7 automatic sensing supporting of sensing device at top, autonomous positioning and mobile branch after supporting Frame transport vehicle 3 is automatically moved back to new end support position, so far completes self-advancing hydraulic support gib process.
Step 3: robotization drilling anchor vehicle automatic drilling and anchoring: in autonomous positioning and removable support transport vehicle 3 by most When end hydraulic support position carries the Forward of least significant end hydraulic support, robotization drilling anchor vehicle 5 is automatically positioned and moves forward to anchor Maintenance is set, automatic to carry out drilling anchor hole, dress Anchor Agent, dress anchor pole operation, carries out drilling machine reset, adjustment pose operation automatically later, Final robotization drilling anchor vehicle 5 is retreated to appropriate location, completes robotization drilling anchor vehicle automatic drilling and anchoring process.
Step 4: above-mentioned steps one to three are continuously repeated, meanwhile, it is unmanned during development machine autonomous excavation operation The airborne dedusting fan device continuous service of intelligent independent formula development machine 1, the coal breakage in cutting coal seam through 4 automatic transportation of elevating conveyor extremely Belt conveyer 6 realizes automatic coal breakage and transporting coal, dedusting operation.
In the technique, autonomous positioning and movement can be placed in after autonomous 2 auto-folder of gib hydraulic support of automatic moving type On formula transporting bracket vehicle 3 and move, and autonomous positioning and removable support transport vehicle 3 and unmanned intelligent independent formula are tunneled Machine 1 matches, and carrying the autonomous gib hydraulic support 2 of automatic moving type may pass through unmanned 1 body of intelligent independent formula development machine Move to front end to supporting position.
In the technique, unmanned intelligent independent formula development machine 1 can be carried out independent navigation and positioning, autonomous path locus Planning, from the detection of main machine body pose and automatic deviation correction, arbitrary cross-section and the autonomous cutting of compound section, realize excavation operation it is complete from Dynamicization.
In the technique, the autonomous gib hydraulic support 2 of automatic moving type and autonomous positioning are matched with removable support transport vehicle 3 It closing, can be carried out autonomous positioning and automatic moving, achievable self pressure relief is stretched with contraction, voluntarily and the movement of support, while It can be by being installed on the reliable of the sensing device automatic sensing supporting at the top of the autonomous gib hydraulic support 2 of automatic moving type after support Property, realize the full-automation of gib operation.
In the technique, robotization drilling anchor vehicle 5 can carry out vehicle body autonomous positioning and automatic moving, and it is automatically fixed can to carry out anchor hole Position, drilling track plan, spread the operations such as anchor net automatically, can independently complete drilling anchor hole, dress Anchor Agent, dress anchor pole, drilling machine reset, tune The full-automation of permanent anchorage operation is realized in full-automatic drilling anchor operation of whole pose.
In Fig. 2, the process chart of the full-mechanized roadway piercing technique based on the anchor combined unit of robotization pick branch is given.
In the process chart, time used in each small process (as unit of minute min) is given, while can be from figure It learns, self-advancing hydraulic support gib generally comprises the automatic cross-direction shrinkage of bracket releasing pressure automatically, bracket, automation paving anchor Net, transporting bracket vehicle voluntarily move forward, the automatic extending transversely of bracket, the automatic support of bracket, transporting bracket vehicle voluntarily retreat process.Machine Device peopleization drilling anchor vehicle automatic drilling and anchoring generally comprise drilling anchor vehicle and independently move forward, autonomous drilling anchor hole, independently fill Anchor Agent, is autonomous Dress anchor pole, drilling machine voluntarily retreat process from master reset, adjust automatically pose, drilling anchor vehicle.
In the process chart, the autonomous excavation operation discontinuity of development machine is carried out, robotization drilling anchor vehicle automatic drilling and anchor Gu operation discontinuity carries out, hydraulic although the process that support is shunk, transports, stretching in the pressure release of bracket is that discontinuity carries out The gib of bracket carries out always, therefore self-advancing hydraulic support gib operation is that continuity carries out.This three Process is the concurrent job that intersects in such a way that two interruptions one are continuous, while using full-automatic driving and supporting again and setting It is standby, therefore drivage efficiency greatly improves, compared to traditional piercing technique, drivage efficiency improves about 2.5 times, while tunneling, facing When supporting and the safety of permanent anchorage operation also greatly improve.

Claims (8)

1. a kind of full-mechanized roadway piercing technique based on the anchor combined unit of robotization pick branch, it is characterised in that: use autonomous type Development machine, self-advancing hydraulic support, transporting bracket vehicle, robotization drilling anchor vehicle, elevating conveyor and belt conveyer, the technique include Development machine independently tunnels, self-advancing hydraulic support gib, robotization drilling anchor vehicle automatic drilling and anchoring, automatic coal breakage with Transporting coal, dedusting flow chart, the specific steps are as follows:
Step 1: development machine independently tunnels: the autonomous type development machine independently carries out slotting, the operation of cutting coal seam;
Step 2: self-advancing hydraulic support gib: the autonomous type development machine stops automatically after independently tunneling to certain distance It only works, the transporting bracket vehicle is automatically positioned and moves to least significant end hydraulic support position, and the least significant end hydraulic support is voluntarily Pressure release, cross-direction shrinkage are fallen on the transporting bracket vehicle, and robotization drilling anchor vehicle at rear automatically sets new anchor net laying At the top of the least significant end hydraulic support on the transporting bracket vehicle, the transporting bracket vehicle for carrying the least significant end hydraulic support is automatic Position and move forward to front end to supporting position, the least significant end hydraulic support voluntarily extending transversely and support, completes support later The hydraulic support on top can be by the reliability of the sensing device automatic sensing supporting at top, the transporting bracket vehicle after supporting The end support position new to the self-advancing hydraulic support is automatically moved back, the self-advancing hydraulic support is so far completed and temporarily props up Nurse's sequence;
Step 3: robotization drilling anchor vehicle automatic drilling and anchoring: in the transporting bracket vehicle by least significant end hydraulic support position When carrying least significant end hydraulic support Forward, robotization drilling anchor vehicle is automatically positioned and moves forward to anchorage point, certainly It is dynamic to carry out drilling anchor hole, dress Anchor Agent, dress anchor pole operation, carry out drilling machine reset, adjustment pose operation, the final machine automatically later Device peopleization drilling anchor vehicle is retreated to appropriate location, completes robotization drilling anchor vehicle automatic drilling and anchoring process;
Step 4: above-mentioned steps one to three are continuously repeated, meanwhile, in the autonomous excavation operation of the development machine, the autonomous type The airborne dedusting fan continuous service of development machine, the coal breakage in cutting coal seam is through the elevating conveyor automatic transportation to the belt-conveying Machine realizes the automatic coal breakage and transporting coal, dedusting operation.
2. the full-mechanized roadway piercing technique according to claim 1 based on the anchor combined unit of robotization pick branch, feature Be: headwork is divided into front end tunneling region, temporary support area, permanent anchorage area by the technique;
The forefront in the i.e. entire tunnel in the region that the autonomous type development machine is worked, referred to as front end tunneling region;
Position where the self-advancing hydraulic support is temporary support area, and the temporary support area is close to the front end tunneling region And it is located at front end tunneling region rear;
The region that the permanent anchorage area, that is, robotization drilling anchor turner makees, the region be laid with permanent support anchor net or It is being laid with anchor net;
With the propulsion of tunneling process, the front end tunneling region is constantly converted into the temporary support area, the temporary support area Constantly it is converted into the permanent anchorage area.
3. the full-mechanized roadway piercing technique according to claim 1 based on the anchor combined unit of robotization pick branch, feature Be: the self-advancing hydraulic support can be placed on the transporting bracket vehicle and be moved after auto-folder, and the branch Frame transport vehicle is matched with the autonomous type development machine, and carrying the hydraulic support may pass through the autonomous type development machine body Move to front end to supporting position.
4. the full-mechanized roadway piercing technique according to claim 1 based on the anchor combined unit of robotization pick branch, feature Be: the autonomous excavation operation discontinuity of the development machine carries out, the self-advancing hydraulic support gib operation continuity into Row, robotization drilling anchor vehicle automatic drilling and anchoring operation discontinuity carry out, and three process is with the continuous side of two interruption one Formula intersects concurrent job.
5. the full-mechanized roadway piercing technique according to claim 1 based on the anchor combined unit of robotization pick branch, feature Be: the autonomous type development machine is unmanned intelligent independent formula development machine, and the self-advancing hydraulic support is that automatic moving type is autonomous Gib hydraulic support, affiliated transporting bracket vehicle are autonomous positioning and removable support transport vehicle.
6. the full-mechanized roadway piercing technique according to claim 5 based on the anchor combined unit of robotization pick branch, feature Be: the unmanned intelligent independent formula development machine can be carried out independent navigation and positioning, autonomous path locus are planned, are autonomous The detection of fuselage pose and automatic deviation correction, arbitrary cross-section and the autonomous cutting of compound section, to realize the full-automation of excavation operation.
7. the full-mechanized roadway piercing technique according to claim 5 based on the anchor combined unit of robotization pick branch, feature Be: the autonomous gib hydraulic support of automatic moving type and the autonomous positioning and removable support transport vehicle cooperate, can be into Row autonomous positioning and automatic moving, the movement of achievable self pressure relief and contraction, voluntarily stretching, extension and support, while in voluntarily support It can be faced afterwards by being installed on the reliability of the sensing device automatic sensing supporting at the top of the self-advancing hydraulic support to realize When supporting operation full-automation.
8. the full-mechanized roadway piercing technique according to claim 1 based on the anchor combined unit of robotization pick branch, feature Be: robotization drilling anchor vehicle can carry out vehicle body autonomous positioning and automatic moving, can carry out anchor hole automatic positioning, drilling The operations such as trajectory planning, automatic paving anchor net, can independently complete drilling anchor hole, dress Anchor Agent, dress anchor pole, drilling machine reset, adjustment pose Full-automatic drilling anchor operation, to realize the full-automation of permanent anchorage operation.
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CN112012773A (en) * 2020-07-16 2020-12-01 西安煤矿机械有限公司 Intelligent tunneling robot system for coal mine
CN112068543A (en) * 2020-07-16 2020-12-11 西安科技大学 Coal mine drilling anchor robot drilling accurate positioning method based on visual calibration
CN112065275A (en) * 2020-10-12 2020-12-11 中国铁建重工集团股份有限公司 Tunnel drilling robot system, control method thereof and tunnel boring machine
CN112253160A (en) * 2020-10-28 2021-01-22 中国矿业大学(北京) Complete equipment for quick tunneling, drilling and anchoring without repeated support under coal mine
CN112901198A (en) * 2021-02-02 2021-06-04 中国矿业大学(北京) Intelligent cantilever type digging and anchoring machine based on image recognition and construction method
CN112943284A (en) * 2021-03-15 2021-06-11 北京坤世拓智能科技有限公司 Fully-mechanized roadway fast excavation process based on duplex multi-group self-moving walking type temporary support
RU2753427C1 (en) * 2020-12-04 2021-08-16 Федеральное государственное бюджетное научное учреждение "Федеральный исследовательский центр угля и углехимии Сибирского отделения Российской академии наук" (ФИЦ УУХ СО РАН) Method for developing sloping coal seam
RU2760269C1 (en) * 2020-12-04 2021-11-23 Федеральное государственное бюджетное научное учреждение "Федеральный исследовательский центр угля и углехимии Сибирского отделения Российской академии наук" (ФИЦ УУХ СО РАН) Method for preparatory mining and mechanised support for implementation thereof
CN113882888A (en) * 2021-11-01 2022-01-04 安徽理工大学 Double-door efficient and rapid circulating self-moving anchor support integrated equipment and control method
WO2022116482A1 (en) * 2020-12-04 2022-06-09 煤炭科学研究总院 Tunnel heading method

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CN112065275A (en) * 2020-10-12 2020-12-11 中国铁建重工集团股份有限公司 Tunnel drilling robot system, control method thereof and tunnel boring machine
CN112253160A (en) * 2020-10-28 2021-01-22 中国矿业大学(北京) Complete equipment for quick tunneling, drilling and anchoring without repeated support under coal mine
RU2753427C1 (en) * 2020-12-04 2021-08-16 Федеральное государственное бюджетное научное учреждение "Федеральный исследовательский центр угля и углехимии Сибирского отделения Российской академии наук" (ФИЦ УУХ СО РАН) Method for developing sloping coal seam
RU2760269C1 (en) * 2020-12-04 2021-11-23 Федеральное государственное бюджетное научное учреждение "Федеральный исследовательский центр угля и углехимии Сибирского отделения Российской академии наук" (ФИЦ УУХ СО РАН) Method for preparatory mining and mechanised support for implementation thereof
WO2022116482A1 (en) * 2020-12-04 2022-06-09 煤炭科学研究总院 Tunnel heading method
CN112901198A (en) * 2021-02-02 2021-06-04 中国矿业大学(北京) Intelligent cantilever type digging and anchoring machine based on image recognition and construction method
CN112943284A (en) * 2021-03-15 2021-06-11 北京坤世拓智能科技有限公司 Fully-mechanized roadway fast excavation process based on duplex multi-group self-moving walking type temporary support
CN113882888A (en) * 2021-11-01 2022-01-04 安徽理工大学 Double-door efficient and rapid circulating self-moving anchor support integrated equipment and control method
CN113882888B (en) * 2021-11-01 2024-04-19 安徽理工大学 Double-door type efficient and rapid circulation self-moving anchor supporting integrated equipment and control method

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