CN112211651A - Coal road spraying support system - Google Patents
Coal road spraying support system Download PDFInfo
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- CN112211651A CN112211651A CN202011042900.4A CN202011042900A CN112211651A CN 112211651 A CN112211651 A CN 112211651A CN 202011042900 A CN202011042900 A CN 202011042900A CN 112211651 A CN112211651 A CN 112211651A
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
Abstract
The invention discloses a coal roadway spraying support system. This coal road spraying support system includes: the mechanical arm is arranged on the vehicle body; the spraying device comprises a spray head and a material storage area for storing spraying materials, the spray head is connected with the mechanical arm, the material storage area is connected with the spray head through a material conveying pipeline, and the material storage area is arranged on the vehicle body; the size acquisition device is arranged on the vehicle body and is used for acquiring the size of a newly excavated roadway; the driving device is arranged on the vehicle body and connected with the mechanical arm, and the driving device drives the mechanical arm to act according to the size of the newly excavated roadway so as to drive the spray head to spray the spraying material on the surface of the surrounding rock of the newly excavated roadway, so that a sealed spraying layer is formed and a temporary support is formed for the roadway. The system can drive the mechanical arm to spray the spraying material to the surface of the surrounding rock newly excavated in the roadway according to the size of the newly excavated roadway, the spraying is more flexible, and the sealing spraying layer formed by spraying can generate temporary supporting effect on the roadway.
Description
Technical Field
The invention relates to the technical field of coal mining, in particular to a coal mine roadway spraying support system.
Background
At present, because coal-series strata generally have low strength and developed cracks, support must be carried out in time after the excavation section is formed so as to ensure the safe exploitation of coal. The traditional supporting mode is a metal probe beam, a single hydraulic prop and the like, manual carrying is needed for supporting, the construction speed is low, the supporting strength is insufficient, the supporting quality is poor, and the manual labor intensity is high.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, one purpose of the invention is to provide a coal roadway spray support system, which can drive a mechanical arm to drive a spray head to spray a spray material on the surface of surrounding rock of a newly excavated roadway according to the size of the newly excavated roadway, different sizes of the newly excavated roadway can correspond to different driving strategies, the spraying is more flexible, the automation degree is higher, a sealed spray layer formed by spraying can generate a temporary support effect on the newly formed roadway, the front excavation and the rear excavation are realized, the operation of the spray system is simple, the temporary support speed is higher, and the requirement of rapid excavation of a coal mine roadway can be met.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a coal roadway spray supporting system, including: the mechanical arm is arranged on the vehicle body; the spraying device comprises a spray head and a material storage area for storing spraying materials, the spray head is connected with the mechanical arm, the material storage area is connected with the spray head through a material conveying pipeline, and the material storage area is arranged on the vehicle body; the size acquisition device is arranged on the vehicle body and is used for acquiring the size of a newly excavated roadway; drive arrangement, drive arrangement sets up on the automobile body, drive arrangement with the arm is connected, drive arrangement basis newly dig the size in tunnel, drive the arm action is in order to drive the shower nozzle will the spraying material spraying arrives newly dig the country rock surface in tunnel, form the sealed layer of spouting of one deck, it is right the tunnel forms temporary support.
The coal roadway spraying and supporting system provided by the embodiment of the invention can drive the mechanical arm to drive the spray head to spray the spraying material on the surface of the surrounding rock of the newly excavated roadway according to the size of the newly excavated roadway, different sizes of the newly excavated roadway can correspond to different driving strategies, the spraying is more flexible, the automation degree is higher, the sealed spraying layer formed by spraying can generate a temporary supporting effect on the newly formed roadway, the front excavation and the rear excavation are realized, the operation of the spraying system is simple, the temporary supporting speed is higher, and the requirement of rapid excavation of a coal mine roadway can be met.
In addition, the coal roadway spray supporting system provided by the embodiment of the invention can also have the following additional technical characteristics:
in one embodiment of the present invention, the size acquisition means includes: the image collector is arranged on the vehicle body and used for collecting the image of the newly excavated roadway; and the image recognizer is arranged on the vehicle body, is connected with the image collector and is used for carrying out image recognition on the image so as to obtain the size of the newly excavated road.
In one embodiment of the present invention, the size acquisition means includes: the first laser scanner is arranged on the vehicle body and used for obtaining the size of the new tunnel by performing laser scanning on the new tunnel.
In one embodiment of the present invention, the spraying device further comprises a pumping device, and the pumping device sprays the spraying material in the storage area through the spray head.
In one embodiment of the invention, the spray head comprises one or more spray nozzles, the spray nozzles spray in different directions, the spray head is connected with the mechanical arm through a rotating component, and the spray head can rotate around the mechanical arm in any direction through the rotating component.
In one embodiment of the invention, the mechanical arm has a plurality of degrees of freedom, the mechanical arms are respectively arranged above, on the left side surface and on the right side surface of the vehicle body, and the angle between the mechanical arm and the vehicle body is adjustable; the spray head connected with the mechanical arm above the vehicle body is used for spraying the top of the newly excavated roadway; the spray head connected with the mechanical arm on the left side surface of the vehicle body is used for spraying the left side of the newly excavated roadway; the sprayer is used for spraying the right side of the newly excavated roadway.
In one embodiment of the present invention, the robot arm is disposed perpendicular to the vehicle body through a support member, one end of the support member is connected to the robot arm, and the robot arm and the other end of the support member are respectively capable of reciprocating along a predetermined track on the vehicle body.
In one embodiment of the present invention, the coal roadway spray supporting system further includes: the spray layer detection device is arranged on the vehicle body and used for detecting the thickness of the seal spray layer, comparing the thickness with a preset thickness and determining whether the thickness is qualified or not according to a comparison result; the driving device drives the spray head to perform supplementary spraying on unqualified places through the mechanical arm.
In one embodiment of the present invention, the spray layer detecting device is a second laser scanner.
In one embodiment of the invention, the vehicle body is a vehicle body of a heading machine or a temporary support machine, and the heading machine comprises a partial face heading machine or a full face heading machine.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view of a coal roadway spray support system according to one embodiment of the present invention;
FIG. 2 is a schematic view of a coal roadway spray support system according to another embodiment of the present invention;
fig. 3 is a spatial plan view of a construction state of the coal roadway excavation system according to the embodiment of the invention; and
fig. 4 is a spatial plan view of another construction state of the coal roadway excavation system according to the embodiment of the invention;
fig. 5 is a schematic view of an operation sequence of a plurality of operation units of the coal roadway excavation system according to the embodiment of the invention; and
fig. 6 is a schematic view of an operation sequence of another plurality of operation units of the coal roadway excavation system according to the embodiment of the invention.
Reference numerals:
100: a coal roadway spraying support system;
1: a mechanical arm; 2: a spraying device; 21: a spray head; 22: a material storage area; 23: a pumping device;
3: a size acquisition device; 4: a drive device; 5: a spray layer detection device;
6: a heading machine; 7: a temporary support machine; 8: a vehicle body; 9: sealing the air extractor; 10: a vacuum generating device; 11: a ventilation line; 12: a sealing device;
13: an anchor rod trolley; 131: a roof bolt; 132: anchor rods are arranged;
14: a conveyor; 15: and (7) surrounding rocks.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The coal roadway spray supporting system of the embodiment of the invention is described below with reference to the attached drawings.
Fig. 1 is a schematic view of a coal roadway spray support system according to one embodiment of the present invention.
As shown in fig. 1, a coal roadway spray coating support system 100 according to an embodiment of the present invention includes a robot arm 1, a spray coating device 2, a size collecting device 3, and a driving device 4.
Wherein, the mechanical arm 1 is arranged on the vehicle body; the spraying device 2 comprises a spraying head 21 and a storage area 22 for storing spraying materials, the spraying head 21 is connected with the mechanical arm 1, the storage area 22 is connected with the spraying head 21 through a conveying pipeline, and the storage area 22 is arranged on the vehicle body.
The size collecting device 3 is arranged on the vehicle body and used for collecting the size of a newly excavated roadway; the driving device 4 is arranged on the vehicle body, the driving device 4 is connected with the mechanical arm 1, and the driving device 4 drives the mechanical arm 1 to move according to the size of a newly excavated roadway so as to drive the spray head 21 to spray the spraying material on the surface of the surrounding rock of the newly excavated roadway, so that a sealed spraying layer is formed, and a temporary support is formed on the roadway.
When the coal roadway spraying and supporting system provided by the embodiment of the invention is used for spraying a newly excavated roadway, the size of the newly excavated roadway can be collected by the size collecting device 3, and then the driving device 4 can obtain and drive the mechanical arm 1 to act according to the size of the newly excavated roadway so as to drive the spray head 21 to spray the spraying material on the surface of the surrounding rock of the newly excavated roadway, so that a sealed spraying layer is formed. Wherein the spray material is taken from a magazine 22 in the spraying device 2. It can be understood that the sealing spray layer has tensile strength and toughness, can prevent rib spalling and roof leakage and has the effect of temporary support.
In particular implementations, the dimensions of the new roadway include, but are not limited to, the length, width, height, surface area of the roof and sides of the new roadway, and the like.
In specific implementation, the driving device 4 can obtain parameters such as the required weight of the spraying material, a path along which the nozzle 21 needs to move, the spraying speed and time of the nozzle 21 and the like according to the size of the newly excavated roadway, and drive the mechanical arm 1 to act according to the parameters so as to drive the nozzle 21 to spray the spraying material on the surface of the surrounding rock of the newly excavated roadway.
To sum up, the coal roadway spraying and supporting system provided by the embodiment of the invention can drive the mechanical arm to drive the spray head to spray the spraying material on the surface of the surrounding rock of the newly excavated roadway according to the size of the newly excavated roadway, different sizes of the newly excavated roadway can correspond to different driving strategies, the spraying is more flexible, the automation degree is higher, the sealed spraying layer formed by spraying can generate a temporary supporting effect on the newly formed roadway, the front excavation and the rear excavation are realized, the spraying system is simple to operate, the temporary supporting speed is higher, and the requirement of rapid excavation of a coal mine roadway can be met.
As a possible implementation mode, the adhesive property and the sealing property of the sealing spray layer need to meet preset conditions, and the sealing spray layer formed after spraying has tensile strength and toughness and is used for forming support.
The spraying material is sprayed on a sealing spraying layer which can be formed on the surface of the surrounding rock, so that the wall caving can be prevented, the protection effect is achieved, and the effect similar to that of a metal mesh in anchor rod cable support can be achieved.
Optionally, the performance index of the spray material after 2 hours from the end of spraying needs to satisfy the following preset conditions: tensile strength is more than 3MPa, bonding strength is more than 1MPa, shearing strength is more than 5MPa, and elongation is more than 60%; the compressive strength is more than 10 MPa. Further, the performance index of the spraying material at final strength needs to meet the following preset conditions: tensile strength is more than 3.5MPa, shearing strength is more than 6MPa, elongation is more than 30%, and compressive strength is more than 20 MPa.
Optionally, after the material reaction is finished after the spraying material is sprayed, the sealing spraying layer needs not to react with water, that is, the spraying material in the sealing spraying layer does not continue to expand after meeting water, and the compressive strength, the shear strength and the tensile strength need to be kept from being reduced, so that the supporting effect of the sealing spraying layer cannot be reduced due to the meeting water, and the occurrence of accidents can be avoided.
Further, the gas permeability of the layer is spouted to the sealing <100md, will make like this that the sealing spouts the in-situ too much gas that can not get into, like this when the layer forms the back negative pressure state of bleeding into, because gas permeability <100md, and then the condition that a large amount of gas reentrant sealing spouts the layer the inside can not appear, can effectively avoid disappearing of negative pressure state, can make the time of the supporting effect on sealing spout the layer as far as possible longer.
Optionally, the spraying material is an organic material, and when the spraying material is an organic material, the flash point of the spraying material is required to be greater than or equal to 200 ℃, and the oxygen index is required to be less than or equal to 35%, so that a fire disaster can be avoided, and the occurrence probability of a relatively serious safety accident is reduced. The spray material may also be an inorganic material. For environmental protection, the spray coating material needs to be a non-toxic, odorless and pollution-free material.
The temperature of the environment for using the spray coating material is generally 0-40 ℃, and optionally, the highest reaction temperature of the spray coating material is less than or equal to 90 ℃.
Optionally, the spray material also needs to have flame retardant and antistatic properties.
As another possible implementation manner, the spray material includes a first material whose viscosity property satisfies the viscosity condition and a second material whose sealing property satisfies the sealing condition, where the first material is a foam material, and the second material is an airtight thin spray material. For example, the foam material may be a polyurethane material, and the airtight Thin jet material may be a flexible support material, such as a Thin Spray-on-line (TSL) Thin jet material.
It should be noted that the above is only a specific example of the spraying material, and the present application mainly aims at protecting the supporting process, and in the present application, other spraying materials with similar functions may also be provided.
In the embodiment of the present disclosure, the size collecting device 3 is used for collecting the size of the newly excavated roadway. Optionally, collecting the size of the new excavation roadway may include the following two possible implementation manners:
the method 1 is that the size acquisition device 3 comprises an image collector and an image recognizer, wherein the image collector is arranged on a vehicle body and is used for collecting images of a newly excavated roadway; the image recognizer is arranged on the vehicle body, is connected with the image collector and is used for recognizing the collected images of the newly excavated tunnels so as to obtain the size of the newly excavated tunnels.
Optionally, the image collector may be a camera, a sensor, or the like.
Therefore, the scheme can acquire the size of the new excavation roadway by utilizing image acquisition and image recognition technology.
Therefore, the scheme can acquire the size of the new excavation roadway by using the laser scanner.
On the basis of any of the above embodiments, as shown in fig. 2, the spraying device 2 further includes a pumping device 23, and the pumping device 23 ejects the spraying material in the stock area 22 through the ejection head 21.
It can be understood that the surrounding rock surface of the newly excavated roadway is uneven, and some parts are not easy to be sprayed, so that the thickness of the sealing spraying layer at the part is thinner, or the part does not form the sealing spraying layer at all, namely the sealing spraying layer on the surrounding rock surface of the newly excavated roadway is uneven, the generated supporting effect is not even, and the supporting effect at some parts is weak, thereby being not beneficial to roadway safety. Therefore, the uniformity of the sealing spray layer is improved, and the method is important for improving the roadway safety.
In the embodiment of the present disclosure, the uniformity of the sealing spray layer is improved, the spray head 21 may include one or more nozzles, the spray directions of the plurality of nozzles are different, the spray head 21 is connected to the mechanical arm 1 through a rotating component, and the spray head 21 may rotate around the mechanical arm 1 in any direction through the rotating component.
Therefore, in this embodiment, the spray material can be sprayed in different spray directions through the plurality of nozzles and the rotating member of the spray head 21, and the spray range is wide, which contributes to improvement of uniformity of the seal spray layer.
On the basis of any of the above embodiments, as shown in fig. 2, the coal roadway spray coating support system 100 may further include a spray layer detection device 5, where the spray layer detection device 5 is disposed on the vehicle body and configured to detect the thickness of the sealed spray layer, compare the thickness of the sealed spray layer with a preset thickness, determine whether the thickness is qualified according to the comparison result, and the driving device 4 may drive the spray head 21 through the mechanical arm 1 to perform the additional spraying on the unqualified place.
The preset thickness can be calibrated according to actual conditions, and is not limited too much here.
It can be understood that if the thickness of the sealing spray layer is smaller, the tensile strength and the toughness of the sealing spray layer are poorer, and the temporary supporting effect on the roadway is also poorer.
In a specific implementation, determining whether the thickness is qualified according to the comparison result, wherein the step of determining that the thickness of the sealing spray layer is unqualified can be performed if the thickness of the sealing spray layer is smaller than the preset thickness, which indicates that the sealing spray layer is thinner; if the thickness of the sealing spray layer is larger than or equal to the preset thickness, the sealing spray layer is thicker, and the thickness of the sealing spray layer can be determined to be qualified.
Optionally, the spray layer detection device may be a second laser scanner, and then the thickness of the sealing spray layer may be detected by the laser scanner.
From this, this scheme can be based on the thickness on sealed layer of spouting and the comparative result of predetermineeing thickness, confirms whether qualified the thickness on sealed layer of spouting, still can carry out the subsidy to the unqualified place of thickness and spout, is favorable to guaranteeing that the thickness on sealed layer of spouting meets the requirements, and then guarantees that the sealed layer of spouting is to the temporary support effect in tunnel.
It can be understood that the surrounding rock surface spraying areas of the newly excavated roadway comprise three areas, namely a top area, a left area and a right area, and the spray head 21 is required to spray the surrounding rock surfaces of the three areas so as to form a sealing spray layer on the surrounding rock surfaces of the three areas, thereby generating a full-coverage temporary supporting effect on the newly excavated roadway.
Optionally, the mechanical arm 1 may have multiple degrees of freedom, that is, the mechanical arm 1 may include multiple arm segments hinged in sequence, and an angle between two adjacent arm segments is adjustable. The mechanical arm 1 can be a plurality of, and a plurality of mechanical arms 1 set up respectively in the top, left surface and the right flank of automobile body. The spray head 21 connected with the mechanical arm 1 above the vehicle body is used for spraying the top of the newly excavated road, the spray head 21 connected with the mechanical arm 1 on the left side of the vehicle body is used for spraying the left side of the newly excavated road, and the spray head 21 connected with the mechanical arm 1 on the right side of the vehicle body is used for spraying the right side of the newly excavated road.
From this, the combination of a plurality of arms of accessible and a plurality of spraying device in this scheme to carry out the spraying respectively to the top, left side, the right side in newly digging the tunnel, and can realize the spraying on the top, left side, the right side in newly digging the tunnel simultaneously, help saving the spraying time, accelerate temporary support speed, can satisfy the demand that the coal mine tunnel tunneled fast.
In the embodiment of the present disclosure, the connection manner of the robot arm 1 and the vehicle body may include the following two possible implementation manners:
mode 1, arm 1 accessible supporting component sets up with the automobile body is perpendicular, and supporting component's one end is connected with arm 1, and arm 1 and supporting component's the other end can be respectively along presetting the track reciprocating motion on the automobile body. It should be noted that the vehicle body has a predetermined track for the reciprocating motion of the robot arm 1 and the other end of the support member.
From this, arm accessible supporting component reciprocating motion on the track is predetermineeing on the automobile body to the arm in this scheme, and the motion trail of arm is comparatively regular, and the security is higher.
From this, the accessible changes the angle of arm and automobile body in this scheme to realize the motion of arm, the movement track is comparatively nimble changeable.
From this, the accessible changes the angle between two adjacent arm sections in the arm in this scheme to realize the motion of arm, the motion track is comparatively nimble changeable.
Optionally, a heading machine and a temporary support machine are also required in coal mining, and the vehicle body in any of the above embodiments may be a vehicle body of the heading machine or the temporary support machine.
Alternatively, the heading machine may comprise a partial face heading machine or a full face heading machine, wherein the partial face heading machine may comprise a transverse-axis heading machine or a longitudinal-axis heading machine.
Optionally, the temporary support machine may include a sealing air extractor, an air extraction passage is provided inside the sealing air extractor, and the sealing air extractor is attached to the non-spraying position reserved on the surface of the surrounding rock by the spraying device 2, so that the outside of the sealing air extractor and the sealing spraying layer are sealed with each other. The air pumping passage is communicated with the surrounding rock fracture and used for pumping air in the surrounding rock fracture to enable the surrounding rock to be in a negative pressure state.
It can be understood that because the surrounding rock and the newly excavated roadway are separated by the sealed spray layer, when air in the cracks of the surrounding rock is pumped out, pressure difference P can be generated on the inner surface and the outer surface of the surrounding rock, the maximum pressure difference P can reach 1 atmospheric pressure, namely P is more than 0 and less than or equal to 0.1MPa, and therefore the temporary supporting effect is generated.
In specific implementation, as shown in fig. 3 and 4, the construction state of the coal roadway tunneling system according to the embodiment of the present invention may include a plurality of operation units: the device comprises a regional sealing and extracting type ventilation unit, a tunneling operation unit, a spraying operation unit, a surrounding rock sealing operation unit, an air pumping operation unit and a bolting operation unit, so that operations such as regional sealing and extracting type ventilation, tunneling, spraying, surrounding rock sealing, air pumping, bolting and the like are respectively realized. It should be noted that the arrow at the lower right corner in fig. 3 and 4 points in the heading direction.
As a possible embodiment, the operation sequence of the plurality of operation units can be as shown in fig. 5, the ventilation unit with sealed area and the ventilation unit with drawn area runs through the whole operation process, and the tunneling operation unit, the spraying operation unit, the surrounding rock sealing operation unit, the air suction operation unit and the bolting operation unit sequentially operate.
As another possible embodiment, the operation sequence of the plurality of operation units can be as shown in fig. 6, the ventilation unit with sealed area and extraction type is operated through the whole operation process, and the temporary support process and the permanent support process after the tunneling operation unit are operated in parallel, namely, the spraying operation unit, the surrounding rock sealing operation unit and the air extraction operation unit are used for performing temporary support operation, and the bolting operation unit can perform permanent support operation at the same time.
The specific operation process of the area closing and extracting type ventilation operation unit can comprise the following steps: a sealing device 12 is arranged at the intersection of a roadway without temporary support operation and a roadway with temporary support operation, the area without temporary support operation is isolated from the area with temporary support operation, a ventilation pipeline 11 is arranged on a newly excavated roadway to directly reach an excavation head and extend along the excavation head, and then the ventilation pipeline 11 is used for carrying out extraction type ventilation on the roadway without temporary support operation.
Wherein, the concrete operation process of the tunneling operation unit can comprise the following steps: a row distance can be tunneled through the tunneling machine 6, and the broken coal rocks generated in the tunnel are transported out through the rear conveyor 14.
The specific operation process of the spraying operation unit can comprise the following steps: the spray head 21 mounted on the mechanical arm 1 (not shown in fig. 3 and 4) sprays the spraying material to the newly formed surface of the surrounding rock of the tunneling operation unit, a sealed spraying layer is formed on the surface of the surrounding rock 15, and a position for mounting the sealed air extraction device 9 is reserved.
Wherein, the concrete operation process of the surrounding rock sealing unit can comprise: an air exhaust passage is arranged in the sealed air exhaust device 9, the sealed air exhaust device 9 is arranged at the position, which is reserved on the surface of the surrounding rock 15 and is not sprayed, so that the outer part of the sealed air exhaust device 9 and a sealed spraying layer formed by spraying materials are sealed mutually, and the air exhaust passage in the sealed air exhaust device 9 is communicated with the cracks of the surrounding rock 15; judging whether punching is needed before air extraction according to the conditions of the surrounding rock 15, if punching is needed, after sealing is finished, punching the surrounding rock 15 by using an air extraction rod in the sealing air extraction device 9, stopping punching after punching to the air extraction depth, and attaching the sealing air extraction device 9 to the surface of the surrounding rock 15; if the hole does not need to be punched, the sealing and air-extracting device 9 is directly attached to the surface of the surrounding rock 15.
The concrete scheme of judging whether to punch before pumping according to the 15 conditions of the surrounding rock can be as follows:
firstly, wholly evaluating the fracture condition of surrounding rock in the excavation process of a roadway. And observing and coring through a drill hole every 50 meters (m) of the tunnel, and measuring the axial and radial Rock Quality indexes (RQD) of the tunnel. When the axial direction and the radial direction RQD of the roadway are both less than 50 percent, the RQD is used as one of the bases for air extraction without punching. Secondly, in the process of tunneling along with a roadway, three-dimensional laser scanning, image recognition and the like are adopted to map the fracture condition of newly exposed surrounding rocks, and when the interval of the fractures on the surface of the surrounding rocks is less than 10 centimeters (cm) and the length of the fractures is more than 5cm, the fractures are taken as one of the bases for non-drilling and air extraction. And when two bases of non-punching air extraction are met, judging to adopt a non-punching air extraction method, otherwise, adopting a punching air extraction method.
The specific operation process of the air extraction unit can comprise the following steps: the air-extracting process adopts a process S5-1 or a process S5-2.
Process S5-1: the vacuum generating device 10 is connected with an air pumping passage of the sealed air pumping device 9, air in cracks of the surrounding rock 15 is pumped out by the vacuum generating device 10, the surrounding rock 15 is in a negative pressure state, a pressure difference P is formed in the shallow surrounding rock 15, wherein the pressure difference P is more than 0 and less than or equal to 0.1MPa, an active temporary supporting function is formed, the vacuum generating device 10 is always sealed and connected with the air pumping passage of the sealed air pumping device 9 in the process, and air pumping is continuously carried out until the air pumping process is finished. It should be noted that fig. 3 is a top plan view of the construction state in which the air-extracting process is performed by the process S5-1.
Process S5-2: connecting a vacuum generating device 10 with an air pumping passage of a sealed air pumping device 9, pumping air in cracks of surrounding rocks 15 by using the vacuum generating device 10 to enable the surrounding rocks 15 to be in a negative pressure state, forming a pressure difference P in the shallow surrounding rocks 15, wherein the pressure difference P is more than 0 and less than or equal to 0.1MPa, forming an active temporary supporting function, in the process, when the pressure P is 0.1MPa, disconnecting the vacuum generating device 10 from the sealed air pumping device 9, and maintaining the pressure difference by using a one-way valve in the sealed air pumping device 9 until the air pumping process is finished. It should be noted that fig. 4 is a top plan view of a construction state in which the air-extracting process is performed by the process S5-2.
In the air pumping process, the current air pressure in the cracks of the surrounding rock can be detected through the air pressure sensor, and the working power of the vacuum generating device 10 can be adjusted according to the current air pressure. The air pressure sensor can be a probe type sensor which can be inserted into a surrounding rock crack, and the probe type sensor is arranged on the inner edge of the suction opening of the annular space of the suction cup.
Wherein, the concrete operation process of bolting unit can include: the anchor rod trolley 13 is closely connected with the heading machine 6 for permanent supporting construction, and after the construction is finished, the area sealing and drawing type ventilation operation unit starts a new round of operation. It should be noted that the anchor trolley 13 is provided with the roof anchors 131 and the side anchors 132 in the newly excavated roadway.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A coal roadway spray support system, comprising:
the mechanical arm is arranged on the vehicle body;
the spraying device comprises a spray head and a material storage area for storing spraying materials, the spray head is connected with the mechanical arm, the material storage area is connected with the spray head through a material conveying pipeline, and the material storage area is arranged on the vehicle body;
the size acquisition device is arranged on the vehicle body and is used for acquiring the size of a newly excavated roadway;
drive arrangement, drive arrangement sets up on the automobile body, drive arrangement with the arm is connected, drive arrangement basis newly dig the size in tunnel, drive the arm action is in order to drive the shower nozzle will the spraying material spraying arrives newly dig the country rock surface in tunnel, form the sealed layer of spouting of one deck, it is right the tunnel forms temporary support.
2. The coal roadway spray support system of claim 1, wherein the size collection device comprises:
the image collector is arranged on the vehicle body and used for collecting the image of the newly excavated roadway;
and the image recognizer is arranged on the vehicle body, is connected with the image collector and is used for carrying out image recognition on the image so as to obtain the size of the newly excavated road.
3. The coal roadway spray support system of claim 1, wherein the size collection device comprises:
the first laser scanner is arranged on the vehicle body and used for obtaining the size of the new tunnel by performing laser scanning on the new tunnel.
4. The coal roadway spray support system of claim 1, wherein the spray device further comprises a pumping device that ejects the spray material in the stockyard through the spray head.
5. The coal roadway spray support system of claim 4, wherein the spray head comprises one or more spray nozzles, the spray nozzles spray in different directions, the spray head is connected with the mechanical arm through a rotating component, and the spray head can rotate around the mechanical arm in any direction through the rotating component.
6. The coal roadway spray support system of claim 1, wherein the mechanical arm has multiple degrees of freedom, the multiple mechanical arms are respectively arranged above, on the left side surface and on the right side surface of the vehicle body, and the angle between the mechanical arm and the vehicle body is adjustable;
the spray head connected with the mechanical arm above the vehicle body is used for spraying the top of the newly excavated roadway;
the spray head connected with the mechanical arm on the left side surface of the vehicle body is used for spraying the left side of the newly excavated roadway;
the sprayer is used for spraying the right side of the newly excavated roadway.
7. The coal roadway painting support system of claim 6, wherein the mechanical arm is vertically arranged with respect to the vehicle body through a support member, one end of the support member is connected to the mechanical arm, and the mechanical arm and the other end of the support member are respectively capable of reciprocating along a predetermined track on the vehicle body.
8. The coal roadway spray support system of claim 1, further comprising:
the spray layer detection device is arranged on the vehicle body and used for detecting the thickness of the seal spray layer, comparing the thickness with a preset thickness and determining whether the thickness is qualified or not according to a comparison result;
the driving device drives the spray head to perform supplementary spraying on unqualified places through the mechanical arm.
9. The coal roadway spray support system of claim 8, wherein the layer detection device is a second laser scanner.
10. The coal roadway spray support system of claim 1, wherein the vehicle body is a vehicle body of a heading machine or a temporary support machine, the heading machine comprising a partial face heading machine or a full face heading machine.
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| CN202011042900.4A CN112211651B (en) | 2020-09-28 | 2020-09-28 | Coal road spraying support system |
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| CN202011042900.4A CN112211651B (en) | 2020-09-28 | 2020-09-28 | Coal road spraying support system |
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| CN112211651B CN112211651B (en) | 2023-03-17 |
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| CN103643963A (en) * | 2013-12-23 | 2014-03-19 | 中铁工程装备集团有限公司 | Multifunctional tunneling machine |
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| CN103643963A (en) * | 2013-12-23 | 2014-03-19 | 中铁工程装备集团有限公司 | Multifunctional tunneling machine |
| CN109595007A (en) * | 2018-12-05 | 2019-04-09 | 湖南五新隧道智能装备股份有限公司 | A kind of full-automatic wet shot control method and full-automatic wet shot system |
| CN111456753A (en) * | 2020-04-30 | 2020-07-28 | 中铁工程装备集团有限公司 | Mixed spraying device integrating measurement, mixed spraying and intelligent forming and construction method |
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