CN112377210B - Roadway atmospheric pressure support punching judging method and system - Google Patents

Abstract

The application discloses a roadway atmospheric pressure support punching judging method and system, wherein the method comprises the following steps: spraying a spraying material on the surface of a newly formed roadway to form a layer of sealing spraying layer on the surface of surrounding rock, obtaining surrounding rock parameters of the surrounding rock, judging whether to punch the surface of the surrounding rock according to the surrounding rock parameters, if so, punching a non-spraying area reserved on the surface of the surrounding rock to form an air pumping hole, and extracting gas in a surrounding rock gap through the air pumping hole or directly extracting gas in the surrounding rock gap to enable the surrounding rock to be in a negative pressure state, wherein the sealing spraying layer forms temporary support in the negative pressure state. Through the inside gas of automatic extraction country rock clearance, can make the inside and outside surface of country rock form pressure differential, be in the negative pressure state in the country rock promptly to the accessible atmospheric pressure carries out effective support to newly formed tunnel. In addition, the perforation judgment can be carried out according to the condition of surrounding rock, perforation is carried out in the area needing perforation, and the vacuumizing efficiency and success rate are improved.

Description

Roadway atmospheric pressure support punching judging method and system

Technical Field

The application relates to the technical field of coal mining, in particular to a roadway atmospheric pressure support punching judging method and system.

Background

Coal is the main energy source of China, and plays an important role in promoting national industrial development, national economy progress and the like. Rapid tunneling of coal mine roadways has become a difficult problem of 'neck blocking' which restricts coal safety and efficient mining. Optimizing the tunneling and supporting process, developing efficient, safe and reliable temporary supporting, and improving the permanent supporting efficiency is a fundamental way for improving the roadway forming speed. In the related art, the surrounding rock of the coal mine roadway, namely the surface of the surrounding rock, is effectively and temporarily supported immediately after an excavation section is formed in the coal mine exploitation process.

However, the supporting mode is to temporarily support the surface of the surrounding rock through a metal cantilever, a single hydraulic prop and the like, and in the mode, the supporting is carried manually, the construction speed is slower, the supporting strength is insufficient, the supporting quality is poor, and the manual labor intensity is higher.

Disclosure of Invention

The present application aims to solve, at least to some extent, one of the technical problems in the related art.

Therefore, a first object of the present application is to provide a method for determining perforation of a roadway atmospheric pressure support, which is used for solving the technical problem of extremely low perforation determination efficiency of the roadway atmospheric pressure support in the prior art.

In order to achieve the above object, an embodiment of a first aspect of the present application provides a method for determining perforation of a roadway atmospheric pressure support, the method comprising: spraying the spraying material onto the newly formed surface of the roadway to form a sealing spraying layer on the surface of the surrounding rock; acquiring surrounding rock parameters of surrounding rock, and judging whether to punch holes on the surface of the surrounding rock according to the surrounding rock parameters; if the drilling is judged to be needed, drilling holes in an unsprayed area reserved on the surface of the surrounding rock to form pumping holes; and extracting the gas in the surrounding rock gap through the air extraction holes or directly extracting the gas in the surrounding rock gap so as to enable the surrounding rock to be in a negative pressure state, wherein the sealing spraying layer forms temporary support under the negative pressure state.

In addition, the roadway atmospheric pressure support punching judging method according to the embodiment of the application can also have the following additional technical characteristics:

according to one embodiment of the present application, further comprising: the surrounding rock parameters include RQD of the surrounding rock and fracture parameters of the surrounding rock surface.

According to an embodiment of the present application, according to surrounding rock parameters, determining whether to punch holes on the surface of the surrounding rock includes: if the RQD of the surrounding rock is larger than the first preset value, determining that punching is needed on the surface of the surrounding rock.

According to one embodiment of the application, the RQDs of the surrounding rock include an axial RQD of the roadway and a radial RQD of the roadway, the method further comprising: if the axial RQD and/or the radial RQD are/is larger than a first preset value, determining that the surrounding rock surface needs to be perforated.

According to one embodiment of the present application, the fracture parameters include a fracture spacing and a fracture length, wherein determining, according to the surrounding rock parameters, whether a hole needs to be punched in the surrounding rock surface includes:

if the gap spacing is larger than a second preset value, determining that punching is required on the surface of the surrounding rock; and/or

If the fracture length is smaller than the third preset value, determining that perforation is required to be carried out on the surface of the surrounding rock.

According to one embodiment of the present application, the method further comprises:

if the RQD of the surrounding rock is smaller than or equal to a first preset value, the crack spacing is smaller than or equal to a second preset value, and the crack length is larger than or equal to a third preset value, it is determined that perforation is not needed on the surface of the surrounding rock.

According to one embodiment of the present application, the method further comprises: in the air extraction process, detecting the current air pressure in the surrounding rock gap, and adjusting the working parameters of the vacuumizing subsystem for air extraction according to the current pressure, wherein the working power is inversely related to the air pressure in the surrounding rock gap when the current air pressure is not lower than a preset threshold value.

According to one embodiment of the present application, in spraying the spray material onto the newly formed roadway surface, the method further comprises: acquiring an image of the surface of the surrounding rock, and acquiring a surface area with gaps according to the image; and when the spraying material is sprayed on the surface of the newly formed roadway, avoiding the surface area with gaps so as to form an unsprayed area.

According to one embodiment of the application, after forming the seal spray layer on the surface of the surrounding rock, the method further comprises: judging whether the sealing spray layer meets the support requirement or not; and if the sealing spray layer does not meet the support requirement, continuing to perform supplementary spraying or grouting treatment on the spraying area which does not meet the support requirement.

According to one embodiment of the present application, the method further comprises: in the spraying process, the spraying quality of the area to be sprayed is collected, and the spraying angle is adjusted according to the spraying quality.

According to the roadway atmospheric pressure support punching judging method provided by the embodiment of the first aspect of the application, the pressure difference can be formed on the inner surface and the outer surface of the surrounding rock through automatically extracting the gas in the gap of the surrounding rock, namely, the inside of the surrounding rock is in a negative pressure state, so that the newly formed roadway can be effectively supported through atmospheric pressure, front-digging and rear-supporting are realized, and the process flow is simple and convenient. By adopting the mode of forming negative pressure by spraying layer air extraction, the machine-mounted ceiling of the heading machine or the self-moving shed type support is not required to be adopted for temporary support of surrounding rock, the time-consuming time duration can be reduced, the area of the surface of the surrounding rock can be lifted, and the requirement of rapid tunneling of a coal mine roadway is met. In addition, the surrounding rock surface is supported in a manner of not requiring manual carrying, so that the manual labor intensity can be reduced, and the supporting efficiency is improved. And moreover, the perforation judgment can be carried out according to the condition of the surrounding rock, the perforation is carried out in the area needing perforation, and the vacuumizing efficiency and success rate are improved.

To achieve the above object, an embodiment of a second aspect of the present application provides a roadway atmospheric pressure support perforation discrimination system, including: the spraying device is used for spraying the spraying material on the surface of the newly formed roadway so as to form a sealing spraying layer on the surface of the surrounding rock; the perforating device is used for acquiring surrounding rock parameters of surrounding rock, judging whether perforating is required to be performed on the surface of the surrounding rock according to the surrounding rock parameters, and perforating an unsprayed area reserved on the surface of the surrounding rock to form an air pumping hole if the perforating is judged to be required; and the vacuumizing subsystem is used for extracting the gas in the surrounding rock gap through the vacuumizing hole or directly extracting the gas in the surrounding rock gap so as to enable the surrounding rock to be in a negative pressure state, wherein the sealing spraying layer forms temporary support in the negative pressure state.

According to one embodiment of the present application, a spray coating device includes: the mechanical arm is arranged on the vehicle body; the spraying end of the spraying component is connected with the mechanical arm to form a driving component, the driving component is arranged on the vehicle body and connected with the mechanical arm, and the driving component drives the mechanical arm to act so as to drive the spraying component to spray the spraying material on the surface of a roadway of a newly excavated roadway to form a sealed spraying layer.

According to one embodiment of the present application, a spray assembly includes: a spray head;

and the pumping equipment is used for pumping the spraying material in the storage area into the conveying pipeline, and conveying the spraying material to the spray head for spraying through the conveying pipeline.

According to one embodiment of the present application, a spray assembly includes: the device comprises a spray head, a storage area, pumping equipment and a material conveying pipeline for connecting the spray head and the pumping equipment; the spray head is a spraying end of the spraying assembly and is connected with the mechanical arm;

and the pumping equipment is used for pumping the spraying material in the storage area into the conveying pipeline, and conveying the spraying material to the spray head for spraying through the conveying pipeline.

According to one embodiment of the application, the spray head comprises one or more spray nozzles, the spray directions of the spray nozzles are different, the spray head is connected with the mechanical arm through a rotating part, and the spray head can rotate around any direction of the mechanical arm through the rotating part.

According to one embodiment of the application, the vacuum subsystem comprises a vacuum generating device, a vacuum sucking head and an air exhaust pipeline connected with the vacuum generating device and the vacuum sucking head, wherein the vacuum sucking head is adsorbed on an unsprayed area of the surface of the surrounding rock and is used for being mutually closed with a sealed spraying layer.

According to the roadway atmospheric pressure support perforation judging system provided by the embodiment of the second aspect of the application, the pressure difference can be formed on the inner surface and the outer surface of the surrounding rock through automatically extracting the gas in the gap of the surrounding rock, namely, the inside of the surrounding rock is in a negative pressure state, so that the newly formed roadway can be effectively supported through atmospheric pressure, front-digging and rear-supporting are realized, and the process flow is simple and convenient. By adopting the mode of forming negative pressure by spraying layer air extraction, the machine-mounted ceiling of the heading machine or the self-moving shed type support is not required to be adopted for temporary support of surrounding rock, the time-consuming time duration can be reduced, the area of the surface of the surrounding rock can be lifted, and the requirement of rapid tunneling of a coal mine roadway is met. In addition, the surrounding rock surface is supported in a manner of not requiring manual carrying, so that the manual labor intensity can be reduced, and the supporting efficiency is improved. And moreover, the perforation judgment can be carried out according to the condition of the surrounding rock, the perforation is carried out in the area needing perforation, and the vacuumizing efficiency and success rate are improved.

Drawings

FIG. 1 is a schematic diagram of a roadway atmospheric pressure support perforation discrimination method disclosed in one embodiment of the present application;

fig. 2 is a schematic flow chart of a roadway atmospheric pressure support perforation judging method disclosed in an embodiment of the present application.

Fig. 3 is a schematic flow chart of a method for determining perforation of a roadway atmospheric pressure support according to an embodiment of the present disclosure.

Fig. 4 is a top view illustrating a construction state of a method for discriminating a perforation of a roadway atmospheric pressure support according to an embodiment of the present invention.

Fig. 5 is a top view of a construction state of a method for discriminating a perforation of a roadway atmospheric pressure support according to an embodiment of the present application.

Fig. 6 is a cross-sectional view of a vacuum head as disclosed in one embodiment of the present application.

Fig. 7 is a cross-sectional view of a vacuum head as disclosed in one embodiment of the present application.

Fig. 8 is a top view of a vacuum head as disclosed in one embodiment of the present application.

Fig. 9 is a top view of a vacuum head as disclosed in one embodiment of the present application.

Fig. 10 is a flow chart of a method for determining perforation of a roadway atmospheric pressure support according to an embodiment of the present disclosure.

Fig. 11 is a flow chart of a method for determining perforation of a roadway atmospheric pressure support according to an embodiment of the present disclosure.

Fig. 12 is a flow chart of a method for determining perforation of a roadway atmospheric pressure support according to an embodiment of the present disclosure.

Fig. 13 is a flow chart of a method for determining perforation of a roadway atmospheric pressure support according to an embodiment of the present disclosure.

Fig. 14 is a block schematic diagram of a roadway atmospheric pressure support perforation discrimination system according to an embodiment of the present application.

Fig. 15 is a block schematic diagram of a spray coating device as disclosed in one embodiment of the present application.

1: a tunneling device; 2: a transport device; 3: a sealing device; 4: a ventilation line; 5: a spraying device; 6: sealing and air extracting device; 7: a vacuum generating device; 8: an anchor rod trolley; 81: pushing the anchor rod; 82: a step of supporting the anchor rod; 9: surrounding rock;

01: a suction cup holder; 02: a first sealing ring cotton; 03: an extraction opening; 04: a ball bearing; 05: a flexible material connecting sleeve; 06: a shaft sleeve; 07: a flange plate; 08: a second seal ring; 09: a quick connector sleeve; 010: an air extraction rod; 011: an air extraction passage; 012: a one-way valve; 013: a groove.

Detailed Description

In order that the above-described aspects may be better understood, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Fig. 1 is a schematic diagram of a roadway atmospheric pressure support perforation discrimination method disclosed in an embodiment of the present application. The method for forming the support in the roadway comprises a plurality of operation circulation units, as shown in fig. 1, wherein each operation circulation unit comprises the following steps:

s101, tunneling at least one row distance to form a new tunneling roadway.

In the application, the surrounding rock is tunneled through the tunnelling device 1, one row distance can be tunneled each time, a plurality of row distances can be tunneled each time, and then a new tunnelling roadway is formed.

S102, spraying the spraying material on the surface of the newly formed roadway, and forming a sealing spraying layer on the surface of the surrounding rock.

In this application, the tunneling device 1 is provided with the spraying device 5, and the spraying device 5 can spray the spraying material on the newly formed roadway surface, so that a sealing spraying layer is formed on the surface of the surrounding rock 9.

As a possible implementation, the adhesion and sealing properties of the sealing spray layer need to meet preset conditions, and the sealing spray layer formed after spraying has tensile strength and toughness for forming the support.

The spraying material is sprayed to the sealing spraying layer which can be formed on the surface of the surrounding rock, so that the ledge can be prevented, a protective effect is achieved, and the effect similar to a metal net in the 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 meet the following preset conditions: tensile strength >3MPa, bonding strength >1MPa, shear strength >5MPa, and elongation >60%; compressive strength >10MPa. Further, the performance index of the spray material at the final strength needs to meet the following preset conditions: the tensile strength is more than 3.5MPa, the shear strength is more than 6MPa, the elongation is more than 30 percent, and the compressive strength is more than 20MPa.

Optionally, after the reaction of the material after spraying of the spraying material is finished, the sealing spraying layer needs not to react with water, that is to say, the spraying material in the sealing spraying layer does not expand continuously after meeting water, and the compressive strength, the shear strength and the tensile strength need not to be reduced, so that the supporting effect of the sealing spraying layer cannot be reduced due to meeting water, and accidents can be avoided.

Further, the gas permeability of the sealing spray layer is less than 100md, so that too much gas cannot enter the sealing spray layer, and when the sealing spray layer is pumped into a negative pressure state after being formed, the situation that a large amount of gas enters the sealing spray layer again due to the gas permeability of the sealing spray layer is less than 100md can be avoided, the disappearance of the negative pressure state can be effectively avoided, and the supporting effect of the sealing spray layer can be prolonged as long as possible.

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 more than or equal to 200 ℃, the oxygen index is less than or equal to 35%, and further, the occurrence of fire can be avoided, and further, the occurrence probability of serious safety accidents is reduced. The spray material may also be an inorganic material. For environmental protection, the spray material needs to be nontoxic, odorless and pollution-free.

The spray material is used at an ambient temperature of typically 0-40 degrees celsius, alternatively, the spray material has a maximum reaction temperature of less than or equal to 90 degrees celsius.

Optionally, the spray material is also required to have flame retardant and antistatic properties.

As another possible implementation manner, the spray material includes a first material with viscosity performance meeting the viscosity condition and a second material with sealing performance meeting the sealing condition, wherein the first material is a foaming material, and the second material is an airtight thin spray material. For example, the foaming material may be a polyurethane material, an airtight Thin spray material, or a flexible support material such as TSL (Thin spray-on-lines) Thin spray material.

It should be noted that the foregoing is only a specific embodiment of the spraying material, and the present application is mainly directed to protection of the supporting process, and other spraying materials with similar functions may also be applied in the present application.

S103, extracting gas in the surrounding rock gap from the non-spraying area on the surface of the surrounding rock so as to enable the surrounding rock to be in a negative pressure state, wherein the sealing spraying layer forms temporary support in the negative pressure state.

In this application, an uncoated area may be reserved when spraying the spray material onto the surrounding rock surface. The uncoated region may be used to withdraw gas from within the surrounding rock gap. In the application, the gas in the surrounding rock gap is extracted from the non-spraying area of the surrounding rock surface through the vacuumizing subsystem. The vacuum pumping subsystem comprises a vacuum generating device, a vacuum sucking head and an air pumping passage connected with the vacuum generating device and the vacuum sucking head. Wherein the vacuum generating device comprises, but is not limited to, a vacuum generating device, a vacuum pump. Referring to fig. 4 and 5, the working principle of the pumping process is: the vacuum generating device 7 is connected with the vacuum sucking head 6, the vacuum sucking head 6 is fast attached to an unsprayed area on the surface of the surrounding rock, the vacuum sucking head 6 and the sealing spraying layer are mutually closed, the surface of the surrounding rock can be fast sealed, and an air extraction operation environment is formed. The vacuum generator 7 is used for exhausting air to continuously exhaust the air in the surrounding rock, and the surrounding rock and the newly excavated tunnel are separated by the high-air-tightness spraying layer, so that pressure difference is generated on the inner surface and the outer surface of the surrounding rock, and the supporting effect is realized.

According to the method, the gas in the surrounding rock gap is automatically extracted, so that the pressure difference can be formed between the inner surface and the outer surface of the surrounding rock, namely, the inside of the surrounding rock is in a negative pressure state, so that a newly formed roadway can be effectively supported through atmospheric pressure, front tunneling and rear supporting are realized, and the process flow is simple and convenient. By adopting the mode of forming negative pressure by spraying layer air extraction, the machine-mounted ceiling of the heading machine or the self-moving shed type support is not required to be adopted, surrounding rock is temporarily supported, the time-consuming time duration can be reduced, the supportable area of a roadway is lifted, and the requirement of rapid tunneling of a coal mine roadway is met. In addition, the roadway is supported in a manner of not requiring manual carrying, so that the manual labor intensity can be reduced, and the supporting efficiency is improved.

Fig. 2 is a schematic diagram of a roadway atmospheric pressure support perforation discrimination method according to an embodiment of the present disclosure. As shown in fig. 2, on the basis of the above embodiment, after the air extraction is completed, each work cycle unit further includes the following steps:

s104, anchoring the anchor rod of the new tunnel to carry out permanent support.

In this application, after forming sealed spouting the layer, in order to make the tunnel safer, can beat the stock to new tunnel of digging through stock platform truck. The anchor rod trolley can follow the heading machine to advance, the anchor rod trolley can punch a roof anchor rod at the top of a new tunneling roadway, and upper anchor rods are punched at two sides of the new tunneling roadway to form permanent support, so that safer mining environment is provided.

Fig. 3 is a schematic diagram of a roadway atmospheric pressure support perforation discrimination method according to an embodiment of the present disclosure. As shown in fig. 3, each job cycle unit includes the steps of:

s201, arranging a sealing device at the intersection of the roadway with the incomplete supporting operation and the roadway with the supporting operation, isolating the area with the incomplete supporting operation from the area with the supporting operation, and carrying out extraction ventilation on the newly excavated roadway.

As shown in fig. 4 and 5, the system for forming a support in a roadway includes: the device comprises a tunneling device 1, a sealing device 3, a ventilation pipeline 4, a spraying device 5, a vacuum suction head 6 and a vacuum generating device 7. Wherein, the vacuum suction head 6 and the vacuum generating device 7 are used for forming a vacuum pumping subsystem for pumping air from the surrounding rock gap.

At the intersection of the roadway where the supporting operation is not completed and the roadway where the supporting operation is completed, a sealing device 3 is provided, an area where the supporting operation is not completed and an area where the supporting operation is completed can be isolated by the sealing device 3, and the newly excavated roadway is ventilated in a drawing manner through a ventilating pipeline 4.

S202, tunneling at least one row distance to form a new tunneling roadway.

The heading device 1 may make one or more rows of heading on the surrounding rock and then form a new heading. Optionally, the tunneling device 1 includes a vehicle body, and a cutting part, a first mechanical arm, and a second mechanical arm are disposed on the vehicle body. Wherein the cutting part is used for cutting surrounding rock.

Alternatively, the ripper apparatus 1 may include a partial face or full face ripper. The partial section heading machine can comprise a horizontal-axis heading machine and a vertical-axis heading machine.

S203, transporting broken coal rocks generated by the new tunnel.

After the tunneling device 2 is tunneling, broken coal and rock generated in the new tunneling roadway can be transported out by the running device 2 behind the tunneling device 2. The type of the transportation device 2 is not limited in this application, and may be set according to actual conditions. Alternatively, the conveyor 2 may employ a conveyor belt.

S204, spraying the spraying material on the surface of the newly formed roadway, and forming a sealing spraying layer on the surface of the surrounding rock.

Further, the spraying device 5 sprays the spraying material onto the surface of the newly excavated roadway to form a spraying layer with high air tightness. As a possible implementation, the adhesive property and the sealing property of the spray material need to meet preset conditions, and the sealing spray layer formed after spraying has tensile strength and toughness for forming the support.

Optionally, the spraying device 5 is arranged on a first mechanical arm, and the first mechanical arm can control the spraying device 5 to spray the spraying material on the surface of the newly excavated roadway, so that a sealing spraying layer is formed on the surface of the surrounding rock.

Optionally, the spraying device 5 comprises: a robotic arm, a spray assembly, and a drive assembly. The mechanical arm is arranged on a vehicle body, and the vehicle body can be a vehicle body of a tunneling device or a vehicle body of a spraying device, namely the spraying device can be mounted on the tunneling device or an independent device.

The spraying end of the spraying component is connected with the mechanical arm.

The driving assembly is arranged on the vehicle body and connected with the mechanical arm, and the driving assembly drives the mechanical arm to act so as to drive the spraying end to spray the spraying material on the surface of the newly excavated roadway to form a sealed spraying layer.

Optionally, the spray assembly includes a spray head, a storage area for storing spray material, a pumping device, and a delivery line connecting the storage area and the spray head. The spray head is a spraying end of the spraying assembly and is connected with the mechanical arm.

The pumping equipment is used for pumping the spraying material in the storage area into the conveying pipeline, and conveying the spraying material to the spray head for spraying through the conveying pipeline.

In the present application, the pumping device and the storage area are optionally fixedly carried within or on the body of the tunnelling device; alternatively, if the spraying device is a separate device, it may also be carried within the body of the spraying device. One end of the material conveying pipeline is connected with the spray head, and the other end is connected with a discharge hole of the material storage area. Optionally, the conveying pipeline can be arranged independently, one end connected with spraying can be arranged in the mechanical arm, and the conveying pipeline is connected with the spray head through the mechanical arm.

Further, the spray head is connected with the mechanical arm through a rotating part, and the spray head can rotate around the mechanical arm in any direction through the rotating part.

Further, the spray head comprises one or more spray nozzles, and the spray directions of the spray nozzles are different.

In the spraying process, the spraying device can collect the spraying quality of the area to be sprayed, and the spraying angle is adjusted according to the spraying quality. For example, the spraying quality may include the spraying effect being the roughness of the spraying, and in order to be able to make the spraying of the surrounding rock surface uniform, the angle of the spraying needs to be adjusted according to the current actual spraying quality.

When the uneven or missed spray position is identified, optionally, the spray head of the spraying device can be adjusted to a spray angle toward the uneven or missed spray by driving the rotating member to rotate, and then spraying is performed. Or determining nozzles facing the uneven spraying or missed spraying positions, controlling the nozzles facing the positions to be opened, closing the nozzles in other directions, and then spraying.

S205, extracting gas in the surrounding rock gap from the non-spraying area on the surface of the surrounding rock so as to enable the surrounding rock to be in a negative pressure state, wherein the sealing spraying layer forms temporary support in the negative pressure state.

Further, the vacuum generating device 7 is matched with the vacuum suction head 6, so that the air in the surrounding rock 9 is pumped, the pressure difference is formed on the surface of the roadway, and the maximum pressure can reach 1 atmosphere, namely 0.1MPa, so that the active support of the surrounding rock 9 is realized.

The working principle of the air extraction process is as follows: the vacuum generating device 7 is connected with the vacuum sucking head 6, and the vacuum sucking head 6 can be lifted to an unsprayed area reserved on the surface of the surrounding rock through a mechanical arm on the vehicle body. The vacuum suction head 6 is attached to an unsprayed area of the surrounding rock surface to form an air suction operation environment. The vacuum suction head 6 is quickly attached to an unsprayed area on the surface of the surrounding rock, the vacuum suction head 6 and the sealing spraying layer are mutually closed, the surface of the surrounding rock can be quickly sealed, and an air extraction operation environment is formed. The vacuum generator 7 is used for exhausting air to continuously exhaust the air in the surrounding rock, and the surrounding rock and the newly excavated tunnel are separated by the high-air-tightness spraying layer, so that pressure difference is generated on the inner surface and the outer surface of the surrounding rock, and the supporting effect is realized.

Regarding the implementation of the suction head 6 and the process of evacuating, see the description of the relevant contents in the embodiments of fig. 6 to 9 below.

S206, permanent support is carried out on the anchor rods of the new tunnel.

In this application, after forming sealed spouting the layer, in order to make the tunnel safer, can beat the stock to new tunnel that digs through stock platform truck 8. The anchor rod trolley 8 can follow the tunneling device 1 to advance, the anchor rod trolley 8 can punch a roof bolt on the top of a new tunneling roadway, and upper anchors are punched on two sides of the new tunneling roadway to form a permanent support.

According to the method, the gas in the surrounding rock gap is automatically extracted, so that the pressure difference can be formed between the inner surface and the outer surface of the surrounding rock, namely, the inside of the surrounding rock is in a negative pressure state, so that a newly formed roadway can be effectively supported through atmospheric pressure, front tunneling and rear supporting are realized, and the process flow is simple and convenient. By adopting the mode of forming negative pressure by spraying layer air extraction, the machine-mounted ceiling of the heading machine or the self-moving shed type support is not required to be adopted, surrounding rock is temporarily supported, the time-consuming time duration can be reduced, the supportable area of a roadway is lifted, and the requirement of rapid tunneling of a coal mine roadway is met. In addition, the roadway is supported in a manner of not requiring manual carrying, so that the manual labor intensity can be reduced, and the supporting efficiency is improved. Further, permanent support is formed for the roadway in a mode of bolting, and a safer working environment for coal exploitation is provided.

The vacuum suction head provided in the embodiment of the present application is described below with reference to the accompanying drawings.

Figure 6 is a cross-sectional view of a vacuum head as disclosed in one embodiment of the present application. As shown in fig. 6, the vacuum head may include: the suction cup comprises a suction cup frame 01, a first sealing ring 02 arranged at the bottom of the suction cup frame 01, a suction rod 010 which is connected with the suction cup frame 01 and penetrates through the suction cup frame 01, a suction passage 011 arranged in the suction rod 010, a quick connector 09 sleeved at the top end of the suction rod 010 and a one-way valve 012 arranged in the suction passage 011 of the suction rod 010.

Wherein, bleed pole 010 for punch to the country rock surface to stop punching after punching to the depth of bleeding.

And the air extraction passage 011 is used for extracting air in the surrounding rock and adsorbing the sucker frame 01 on the surface of the surrounding rock.

The quick connector 09 is used for quick connection and quick disconnection of the air suction pipeline connected with the vacuum generating device.

And a check valve 012 for closing the suction passage 011, and maintaining the suction state of the suction cup holder 01 when the quick coupler 09 is disconnected from the suction line connected to the vacuum generating device.

In one possible implementation manner of the embodiment of the present application, the first sealing ring 02 may be a sponge ring or a silicone rubber ring. The first sealing ring 02 can be glued to the suction cup holder 01. By arranging the first sealing ring 02 at the bottom of the sucker frame 01, the sucker frame 01 can be tightly attached to the surface of surrounding rock.

The bonding refers to a process method of connecting two bonding members, such as the first sealing ring 02 and the suction cup frame 01, by using mechanical bonding force, physical adsorption force and chemical bonding force generated by an adhesive on a connecting surface. Wherein, the cementing is not only suitable for the same kind of material, but also suitable for different kinds of material, can promote the suitability. In addition, the cementing process is simple and convenient, complex process equipment is not needed, and cementing operation is not needed to be carried out at high temperature and high pressure, so that the cementing piece is not easy to deform, and the joint stress is uniformly distributed. In general, the glued joint also has good sealing, electrical insulation and corrosion resistance.

In this embodiment, inhale the vacuum head attached on the country rock surface, through the inside gas of suction passageway 011 extraction country rock, can produce pressure differential in the both sides of sucking disc frame 01, under atmospheric pressure's effect, first sealing washer 02, for example the sponge circle is compressed, make sucking disc frame 01 closely attach on the country rock surface to the clearance between sealed sucking disc frame 01 and the country rock surface, then, continue to take out the inside gas of country rock through suction passageway 011 constantly, thereby produce pressure differential at the inside and outside surface of country rock surface, effectively support the country rock surface through atmospheric pressure.

In this embodiment, the quick connector 09 is used for quick connection and quick disconnection with the air extraction pipeline connected with the vacuum generating device. Wherein, the air extraction pipeline is used for connecting the vacuum generating device and the vacuum suction head. For example, when the evacuation subsystem is used to pump the gas inside the surrounding rock, the quick connector 09 can be quickly connected to the pumping pipeline connected to the vacuum generating device, and when the pumping of the gas inside the surrounding rock is stopped, the quick connector 09 can be quickly disconnected from the pumping pipeline connected to the vacuum generating device, so as to maintain the adsorption state of the suction cup frame 01.

In one possible implementation manner of this embodiment of the present application, the quick connector 09 may be a connector body, and the extraction pipe connected to the vacuum generating device is provided with a connector body, and the connector body is used for quick connection and quick disconnection with the connector body.

In another possible implementation manner of this embodiment of the present application, the quick connector 09 may be a connector body, and the suction pipe to which the vacuum generating device is connected is provided with a connector body, and the connector body is used for quick connection and quick disconnection with the connector body.

In this embodiment, after the air extraction through the air extraction passage 011 is finished, the check valve 012 provided in the air extraction passage 011 of the air extraction lever 010 can close the air extraction passage 011 and maintain the adsorption state of the suction cup frame 01, thereby ensuring that the inside of the surrounding rock maintains the negative pressure state, and continuously and effectively supporting the surface of the surrounding rock through the atmospheric pressure.

In this embodiment, when starting to bleed, quick-operation joint 09 can carry out quick connect with the suction line that vacuum generating device is connected, then can absorb the inside gas of country rock through suction channel 011, after vacuum generating device absorbs the air in the 01 coverage area of sucking disc frame, can produce pressure differential in the both sides of sucking disc frame 01, under atmospheric pressure's effect, first sealing washer 02, for example the sponge circle is compressed, make sucking disc frame 01 closely attached on the country rock surface, thereby seal the clearance between sucking disc frame 01 and the country rock surface, then, continue to bleed through vacuum generating device, constantly take out the inside gas of country rock, thereby produce pressure differential at the inside and outside surface of country rock surface, realize the supporting effect. When the suction is stopped, the quick connector 09 can be quickly disconnected with a suction pipeline connected with the vacuum generating device, and the suction passage 011 is closed through the one-way valve 012 in the suction passage 011, so that the suction state of the suction cup frame is maintained, and the continuous and effective support of the surrounding rock surface is realized.

That is, the vacuum head has a closed structure, and when the vacuum subsystem maintains the negative pressure balance in the surrounding rock by suction, the suction passage 011 can be closed by the check valve 012 in the suction passage 011, so as to achieve continuous and effective support of the surrounding rock surface. The temporary support continues to move forward along with the heading machine, the vacuum suction head continues to be adsorbed on the surface of the surrounding rock, the air suction passage 011 is closed by the one-way valve 012, and the negative pressure in the surrounding rock is ensured to be in a maintaining state, so that the surface of the surrounding rock is continuously and effectively supported by the atmospheric pressure. After the anchoring machine is used for anchoring the anchor rod, the vacuum suction head can be taken down for recycling. Therefore, the suction vacuum head is connected with the air suction pipeline connected with the vacuum generating device in a pluggable manner, so that the effective support of the newly formed roadway surface, namely the surrounding rock surface can be realized. And the vacuum suction head can be reused, and the supportable area can be further improved.

According to the vacuum suction head, the air inside the surrounding rock is automatically extracted through the air extraction passage 011, so that the pressure difference between the inner surface and the outer surface of the surrounding rock is formed, namely, the inside of the surrounding rock is in a negative pressure state, and the surrounding rock surface can be effectively supported through atmospheric pressure. By closing the suction passage 011 by the check valve 012, when the suction pipe connected to the quick connector 09 and the vacuum generator is disconnected, the suction state of the suction cup holder is maintained, and the surface of the surrounding rock can be continuously and effectively supported. And moreover, an onboard ceiling of a development machine or a self-moving shed type support is not required to be adopted to temporarily support the surface of the surrounding rock, so that the time-consuming time duration can be reduced, the area of the surrounding rock surface which can be supported can be increased, and the requirement of rapid development of a coal mine roadway can be met. In addition, the surrounding rock surface is supported in a manner of not requiring manual carrying, so that the manual labor intensity can be reduced, and the supporting efficiency is improved.

In one possible implementation manner of the present application, the number of the vacuum heads may be 1 or multiple, and when the number of the vacuum heads is multiple, the supportable area of the surrounding rock surface may be further improved.

The working principle of the air extraction process of the embodiment of the application is as follows: the vacuum generating device is connected with the vacuum sucking head, the vacuum sucking head is attached to the surface of the surrounding rock, and the air in the surrounding rock is sucked through the air suction passage 011 in the air suction rod 010. When the vacuum generating device absorbs air in the coverage area of the sucker frame 01, pressure difference can be generated at two sides of the sucker frame 01, and under the action of atmospheric pressure, the first sealing ring 02, such as a sponge ring, is compressed, so that the sucker frame 01 is tightly attached to the surface of the surrounding rock, thereby sealing a gap between the sucker frame 01 and the surface of the surrounding rock, and then, the vacuum generating device is continuously used for exhausting air to continuously exhaust air in the surrounding rock, thereby generating pressure difference on the inner surface and the outer surface of the surrounding rock, and realizing the supporting effect.

To clearly illustrate the above embodiment, the present embodiment provides another vacuum head, and fig. 7 is a cross-sectional view of the vacuum head disclosed in one embodiment of the present application.

As shown in fig. 7, the vacuum head may further include: ball bearings 04.

Wherein, the ball bearing 04 is arranged at the center position in the sucker frame 01, and the ball bearing 04 is connected with the air suction rod 010.

The ball bearing is one of rolling bearings, and the ball bearing is arranged between the inner steel ring and the outer steel ring and can bear larger load.

Further, in one possible implementation manner of the embodiment of the present application, referring to fig. 7, the vacuum head may further include: a flexible material connecting sleeve 05, a shaft sleeve 06 and a flange 07.

Wherein, the flange 07 is fixed at the top of the sucker frame 01.

The flexible material connecting sleeve 05 is clamped between the flange 07 and the sucker frame 01.

The shaft sleeve 06 is sleeved on the air extraction rod 010 and is connected with the flexible material connecting sleeve 05.

Further, in one possible implementation of the embodiment of the present application, the flange 07 may be connected to the suction cup frame 01 by a screw, and a flexible material connection sleeve 05 is placed between the flange 07 and the suction cup frame 01.

Further, in one possible implementation manner of the embodiment of the present application, referring to fig. 7, the number of the first sealing rings 02 is at least two, for example, the number of the first sealing rings 02 may be 4, 6, 8, or the like. Fig. 7 illustrates only 4 first seal rings 02.

Further, in one possible implementation manner of the embodiment of the present application, referring to fig. 7, an extraction opening 03 is disposed between at least two first sealing rings 02 on the sucker frame 01, for example, the extraction opening 03 may be disposed between adjacent first sealing rings 02, and gas in a gap between the sucker frame 01 and the surrounding rock surface is extracted through the extraction opening 03, so that the sucker frame 01 is tightly attached to the surrounding rock surface.

Further, in a possible implementation manner of the embodiment of the present application, a check valve may be disposed in the suction opening 03, so as to close the suction opening 03 and maintain the suction state of the suction cup frame 01.

Specifically, after the air extraction through the air extraction opening 03 is finished, the air extraction opening 03 can be closed by the one-way valve arranged in the air extraction opening 03, so that the suction state of the sucker frame 01 is maintained, the negative pressure state inside the surrounding rock is ensured to be maintained, and the surface of the surrounding rock is continuously and effectively supported through the atmospheric pressure.

Further, in a possible implementation manner of the embodiment of the present application, the air extraction opening 03 may be an annular space air extraction opening.

Further, in one possible implementation manner of the embodiment of the present application, an air hole may be provided between at least two first sealing rings 02 on the sucker frame 01, for exhausting air in a gap between the sucker frame 01 and the surrounding rock surface, so as to further maintain the sucker frame 01 tightly attached to the surrounding rock surface.

Further, in one possible implementation manner of the embodiment of the present application, a second sealing ring may be further sandwiched between the shaft sleeve 06 and the air extraction rod 010, so as to realize sealing connection between the shaft sleeve 06 and the air extraction rod 010.

Further, in another possible implementation manner of the embodiment of the present application, a sleeve hole may be further disposed on the inner side of the shaft sleeve 06, and a second sealing ring is disposed in the sleeve hole, so as to realize sealing connection between the shaft sleeve 06 and the air exhaust rod 010.

It should be noted that, fig. 7 illustrates only the second sealing ring 08 being disposed in the sleeve hole, and in practical application, the sleeve hole may not be disposed inside the sleeve 06, and the second sealing ring 08 may be disposed in the sleeve hole, for example, the second sealing ring 08 may be directly disposed between the sleeve 06 and the air exhaust rod 010, which is not limited in this application. Therefore, the sealing connection between the shaft sleeve 06 and the air suction rod 010 can be realized in various modes, and the applicability of the vacuum suction head can be improved.

Further, in a possible implementation manner of the embodiment of the present application, the suction opening 03 may also be provided with a quick connector, which is used for quick connection and quick disconnection with a suction pipe connected to the vacuum generating device.

Specifically, the vacuum generating device can absorb the gas in the gap between the suction cup holder 01 and the surrounding rock surface through the suction opening 03, and can also absorb the gas inside the surrounding rock through the suction passage 011 inside the suction rod 010. After the vacuum generating device absorbs air in the coverage area of the sucker frame 01, namely after the vacuum generating device absorbs air in a gap between the sucker frame 01 and the surrounding rock surface and absorbs air in the surrounding rock, pressure difference can be generated at two sides of the sucker frame 01, and under the action of atmospheric pressure, the first sealing ring 02, such as a sponge ring, is compressed, so that the sucker frame 01 is tightly attached to the surrounding rock surface, thereby sealing the gap between the sucker frame 01 and the surrounding rock surface, and then, the vacuum generating device is continuously used for exhausting air to continuously exhaust air in the surrounding rock gap, so that pressure difference is generated on the inner surface and the outer surface of the surrounding rock surface, and a supporting effect is realized.

That is, the suction head has a closed structure, when the vacuum generating device pumps the gas in the gap between the suction cup frame 01 and the surrounding rock surface, and when the vacuum pumping subsystem maintains the negative pressure balance in the surrounding rock by pumping, the pumping port 03 of the suction head can be closed by the one-way valve in the pumping port 03, and the pumping passage 011 can be closed by the one-way valve 012 in the pumping passage 011, so as to realize continuous and effective support of the surrounding rock surface. The temporary support continues to move forward along with the heading machine, the vacuum suction head continues to be adsorbed on the surface of the surrounding rock, the air suction opening 03 and the air suction passage 011 are closed by the one-way valve, and the negative pressure inside the surrounding rock is ensured to be in a maintaining state, so that the surface of the surrounding rock is continuously and effectively supported through the atmospheric pressure. After the anchoring machine is used for anchoring the anchor rod, the vacuum suction head can be taken down for recycling. Therefore, the suction vacuum head is connected with the air suction pipeline connected with the vacuum generating device in a pluggable manner, so that the effective support of the newly formed roadway surface, namely the surrounding rock surface can be realized. And the vacuum suction head can be reused, and the supportable area can be further improved.

In one possible implementation manner of the embodiment of the present application, the shape of the suction cup frame 01 may be circular, or the shape of the suction cup frame 01 may also be rectangular, which is not limited in this application.

As an example, when the shape of the suction cup holder 01 is a circle, referring to fig. 8, fig. 8 is a top view of the suction vacuum head disclosed in one embodiment of the present application.

As another example, when the suction cup holder 01 is rectangular in shape, referring to fig. 9, fig. 9 is a top view of a suction vacuum head disclosed in one embodiment of the present application.

In the above embodiment, the air extraction process may be performed by the process a, or may be performed by the process B, which is not limited in this embodiment.

Wherein, the technology A is as follows: the vacuum generating device 7 is connected with the air suction passage 011 of the vacuum suction head 6, and air in the surface cracks of the surrounding rock is pumped out by the vacuum generating device 7, so that the surface of the surrounding rock is in a negative pressure state, and a pressure difference P is formed on the surface of the shallow surrounding rock, wherein P is more than 0 and less than or equal to 0.1MPa, and an active temporary supporting effect is formed. The vacuum generating device 7 is always connected with the air suction passage 011 of the vacuum suction head 6 in the process, and continuously sucks air until the construction is finished.

The process B is as follows: the vacuum generating device 7 is connected with the air suction passage 011 of the vacuum suction head 6, and air in the surface cracks of the surrounding rock is pumped out by the vacuum generating device 7, so that the surface of the surrounding rock is in a negative pressure state, and a pressure difference P is formed on the surface of the shallow surrounding rock, wherein P is more than 0 and less than or equal to 0.1MPa, and an active temporary supporting effect is formed. In this process, when p=0.1 MPa, the vacuum generating device 7 is disconnected from the suction head 6, that is, the suction pipe connected to the vacuum generating device 7 is quickly disconnected from the quick connector 09, and the pressure difference is maintained by the check valve 012 in the suction head 7 until the construction is completed.

Based on the above embodiment, different surrounding rock conditions, the difficulty of pumping air from the surrounding rock gap is different, and in order to adapt to different surrounding rock conditions, before pumping air, the surrounding rock conditions can be judged to determine whether to punch holes in the reserved non-spraying area.

Fig. 10 is a flow chart illustrating a method of forming a temporary support according to an embodiment of the present application. As shown in fig. 10, the method specifically comprises the following steps:

s301, spraying the spraying material on the surface of a newly formed roadway, and forming a sealing spraying layer on the surface of surrounding rock.

S302, acquiring surrounding rock parameters of surrounding rock, and judging whether holes are needed to be drilled on the surface of the surrounding rock according to the surrounding rock parameters.

Wherein, the surrounding rock parameters at least comprise: rock quality index (Rock quality designation, RQD for short) of the surrounding rock and fracture parameters of the surrounding rock surface.

Alternatively, RQD of the surrounding rock is determined by borehole peeping and coring every 50m of tunneling. RQD refers to the ratio (expressed as a percentage) of the cumulative length of columnar cores equal to or greater than 10cm per footage to the footage per drilling pass. RQD is a quantitative indicator of rock quality, which is a specific parameter that reflects the integrity of the rock mass.

In the application, if the RQD of the surrounding rock is greater than a first preset value, it is determined that drilling needs to be performed on the surface of the surrounding rock. The first preset value may be 50%.

The RQDs of the surrounding rock may include an axial RQD of the roadway and a radial RQD of the roadway. If one of the axial RQD of the roadway and the radial RQD of the roadway is greater than a first preset value, namely 50%, punching and air extraction are needed. Otherwise, the axial RQD of the roadway and the radial RQD of the roadway, which are required to be met without punching, are smaller than a first preset value.

Optionally, in the tunneling process, the crack condition of the newly exposed surrounding rock is mapped by adopting three-dimensional laser scanning, image recognition and the like, for example, the crack spacing on the surface of the surrounding rock, the length of the crack and the like can be obtained as crack parameters. For example, if the fracture spacing is greater than a second preset value, it is determined that perforation is required at the surface of the surrounding rock, and/or if the fracture length is less than a third preset value, it is determined that perforation is required at the surface of the surrounding rock. The first preset value may be, for example, 10cm and the second preset value may be, for example, 5cm. Conversely, not perforating requires that the fracture parameters meet the fracture spacing less than or equal to a second preset value and the fracture length greater than or equal to a third preset value.

If the surrounding rock surface needs to be perforated, step S303 is executed, and if the surrounding rock surface does not need to be perforated, step S305 is executed.

And S303, if the perforation is judged to be needed, perforating an unsprayed area reserved on the surface of the surrounding rock to form the air suction hole.

In the spraying process, a certain non-spraying area is reserved, and gas is extracted from the surrounding rock gap through the non-spraying area, so that the inside and the outside of the surrounding rock are in a negative pressure state finally. In this application, when judging that the country rock needs to punch, can punch in the not spraying region of country rock surface reservation, then can form the gas vent in not spraying region. Alternatively, at least one gas vent may be perforated in the uncoated area. The positions of the air suction holes can be distributed in the center of the non-spraying area, so that the air suction holes can be covered in the air suction holes of the vacuum suction head as much as possible, and the vacuum generating device and the vacuum suction head can complete the air suction process rapidly.

S304, extracting gas in the surrounding rock gap through the air extracting hole so as to enable the surrounding rock to be in a negative pressure state.

Further, after perforation is completed, the vacuum suction head can be adsorbed in an uncoated area, so that the vacuum generating device can start to suck air, and the air in the surrounding rock gap can enter the suction opening of the vacuum suction head through the air suction hole, then enter the vacuum generating device through the air suction passage and then be discharged through the air outlet of the vacuum generating device.

And S305, directly extracting gas in the surrounding rock gap so as to enable the surrounding rock to be in a negative pressure state.

When it is determined that punching is not needed, the vacuum suction head is directly adsorbed to an uncoated area, then the vacuum generating device can start to suck air, the air in the surrounding rock gap is sucked into the air suction passage, then the air enters the vacuum generating device, and then the air is discharged through the air outlet of the vacuum generating device.

According to the method and the device, after the sealing spray layer is formed, whether the spraying area needs to be perforated or not can be judged according to different surrounding rock conditions, the holes are drilled when the spraying area needs to be perforated, the difficulty of air extraction can be reduced, and the air extraction efficiency is improved. And when punching is not needed, air is directly pumped, so that resource waste caused by punching is avoided. The drilling judgment is carried out before the air extraction, so that the air extraction process can be adapted to different surrounding rock conditions, and the air extraction process is more reasonable.

On the basis of the embodiment, in the air extraction process, as the gas in the surrounding rock gap is reduced, if the air is extracted according to the same working power or extraction quantity, the air extraction time length is prolonged. In order to improve the air extraction efficiency, the working parameters of the vacuum extraction subsystem can be adjusted in the air extraction process.

Fig. 11 is a flow chart of a method for determining perforation of a roadway atmospheric pressure support according to an embodiment of the present disclosure. As shown in fig. 11, the roadway atmospheric pressure support perforation judging method provided by the application comprises the following steps:

s401, spraying the spraying material on the surface of the newly formed roadway to form a sealing spraying layer on the surface of the surrounding rock.

S402, extracting gas in a surrounding rock gap from an area where the surface of the surrounding rock is not sprayed, so that the surrounding rock is in a negative pressure state, wherein the sealing spraying layer forms temporary support in the negative pressure state.

S403, detecting the current air pressure in the surrounding rock gap through an air pressure sensor in the air extraction process, and adjusting the working power of vacuum according to the current pressure.

In this embodiment of the present application, the spraying device 5 may be controlled to spray the spraying material onto the newly formed surface of the roadway, so as to form a layer of sealing spraying layer on the surface of the surrounding rock 9, and then the vacuum generating device 7 is used to extract the gas in the surrounding rock gap from the non-sprayed area on the surface of the surrounding rock 9, so that the surrounding rock is in a negative pressure state. In this case, the seal spray layer forms an active temporary support in the negative pressure state. The negative pressure state is that the pressure difference between the current air pressure in the surrounding rock gap and the air pressure in the new tunnel is more than 0 and less than or equal to 0.1 MPa.

Further, the current air pressure in the surrounding rock gap is detected through an air pressure sensor in the air extraction process, and the working parameters of the vacuumizing subsystem are adjusted according to the current pressure. Optionally, the operating power of the vacuum generating means 7 in the evacuation subsystem is adjusted.

Further, each vacuum suction head corresponds to one air suction pipeline. The vacuum suction head is connected with the vacuum generating device through the air suction pipeline. The valve on each exhaust pipe can be called a valve group, and optionally, the opening degree of each valve in the valve group can be adjusted to adjust the exhaust quantity of each exhaust pipe. Optionally, according to the difference between the current air pressure and the atmospheric pressure, the air extraction quantity can be determined, and then the opening of the valve corresponding to the required air extraction quantity can be queried, and the corresponding valve is adjusted according to the opening, so that the air extraction quantity is adjusted.

When the current air pressure in the surrounding rock gap is not lower than the preset air pressure threshold, the working power of the vacuum generating device 7 and the extraction quantity of each extraction passage are inversely related to the current air pressure in the surrounding rock gap, wherein the preset air pressure threshold can be set according to actual requirements.

When the air extraction process adopts the process A, the vacuum generating device 7 is always connected with the air extraction passage 011 of the vacuum suction head 6 when the surrounding rock is in a negative pressure state, and the air extraction is continued until the construction is finished.

The air extraction process can adopt a process B as follows: the vacuum generating device 7 is connected with the air suction passage 011 of the vacuum suction head 6, and air in the surface cracks of the surrounding rock is pumped out by the vacuum generating device 7, so that the surface of the surrounding rock is in a negative pressure state, and a pressure difference P is formed on the surface of the shallow surrounding rock, wherein P is more than 0 and less than or equal to 0.1MPa, and an active temporary supporting effect is formed. When the surrounding rock is in a negative pressure state, for example, when p=0.1 MPa, the vacuum generating device 7 is disconnected from the suction head 6, that is, the suction pipeline connected to the vacuum generating device 7 is quickly disconnected from the quick connector 09, and the pressure difference is maintained by the check valve 012 in the suction head 7, so that the suction state of the suction head 6 is maintained until the construction is finished.

In the embodiment of the application, the vacuum suction head 6 is provided with an air pressure sensor, and the current air pressure of the surrounding rock gap in the air suction process can be detected through the air pressure sensor arranged at different positions. Alternatively, the air pressure sensor may be disposed in the suction passage 011 of the suction head; optionally, the air pressure sensor is arranged in a local area in the surrounding rock, and the local area is a hole formed by punching in the surrounding rock through the sealing spray layer. After the hole is punched, the air pressure sensor is arranged in the hole, and the hole needs to be sealed on the surface of the surrounding rock.

Alternatively, the air pressure sensor may be provided in a groove 013 provided at the bottom of the suction cup holder 01; alternatively, an air pressure sensor may be provided in the extraction opening 03. Among them, the air pressure sensor may be a probe type sensor, and a negative pressure sensor is required.

When the air pressure sensor is disposed in the air extraction opening 03, the air pressure sensor is a probe type sensor that can be inserted into the gap between the surrounding rock 9. The probe type sensor is arranged at the inner edge or in a local area of the air extraction opening 03.

In this application, through addding air pressure sensor, can real-time detection country rock clearance in the current atmospheric pressure, and then can adjust the operating parameter of evacuation subsystem in the process of bleeding, adjust vacuum generator's operating power and/or each extraction line's extraction quantity in a flexible way, and then can the efficient completion process of bleeding to improve the efficiency of bleeding, reduce the time that forms temporary support needs.

As a possible implementation manner, as shown in fig. 12, on the basis of the foregoing embodiment, the process of spraying the spraying material onto the newly formed roadway surface in the foregoing step specifically includes the following steps:

s501, acquiring an image of the surrounding rock surface, and acquiring a surface area with gaps according to the image.

The image sensor is arranged in the application, for example, an infrared camera and the like, and can be controlled to acquire images of the surrounding rock surface through buttons or voice instructions. The image sensor can acquire in real time or periodically, and the period can be set according to actual conditions. Alternatively, an image of the surrounding rock surface may be acquired by an image sensor.

Further, it is possible to identify a region in which a gap exists from the acquired image, and acquire a surface region in which a gap exists.

S502, avoiding a surface area with gaps when spraying the spraying material to the surface of the roadway so as to form an uncoated area.

The spray angle of the spray device needs to be controlled during the spraying process to avoid the surface area. Alternatively, the spraying of the spraying device may be avoided from the surface area by driving a rotating member in the spraying device to rotate, or the nozzle facing the surface area may be determined, the nozzle facing the surface area may be controlled to be closed, the nozzle in the other direction may be opened, and then the spraying may be performed. The image acquisition can be carried out in the spraying process, and then the angle is adjusted in real time according to the spraying process so as to finish avoiding the surface area with the gap, thereby forming an uncoated area.

As a possible implementation manner, when spraying the spraying material to the roadway surface in the step S502, the process of avoiding the surface area with the gap specifically includes, firstly, obtaining the gap area existing in the surface area according to the image, and secondly, selecting the surface area with the gap area larger than a preset threshold, where the preset threshold is the coverage area of the vacuum suction head. When spraying the spraying material, reserving a region with a coverage area, and then spraying all the remaining regions to form a reserved non-sprayed region.

Alternatively, after acquiring an image of the surrounding rock surface and acquiring a surface area where a gap exists, the gap area existing within the surface area may be acquired.

The specific manner of acquiring the gap area existing in the surface area according to the acquired image of the surrounding rock surface is not limited in this application. For example, each contour angular point of the surface area with the gap can be acquired, and the positioning and the acquisition of coordinates of each angular point are assisted by a high-precision instrument in the acquisition process, so that the acquisition of the gap area in the surface area is realized.

Optionally, after the gap face value is obtained, the gap area can be compared with a preset threshold value, if the gap area is larger than the preset threshold value, the non-sprayed area required by avoidance is avoided when spraying the spraying material, and gaps larger than the preset threshold value are fully sprayed; if the gap area is smaller than or equal to the preset threshold value, the surface area does not need to be avoided when spraying the spraying material, that is, the surface area with the gap area smaller than or equal to the coverage area is directly sprayed, and a reserved non-sprayed area does not need to be formed on the surface area.

In practical application, the problem that the spraying of the sealing spraying layer is uneven or the spraying is missed can be solved, and after the sealing spraying layer is formed, the spraying quality of the sealing spraying layer can be detected.

Fig. 13 is a flow chart of a method for determining perforation of a roadway atmospheric pressure support according to an embodiment of the present disclosure. As shown in fig. 13, the roadway atmospheric pressure support perforation judging method provided by the application comprises the following steps:

s601, judging whether the sealing spray layer meets the support requirement or not;

and S602, if the sealing spray layer does not meet the support requirement, carrying out supplementary spray or grouting treatment on the spray area which does not meet the support requirement.

In this embodiment, the spraying device 1 may be controlled to spray the spraying material onto the newly formed roadway surface, so as to form a sealing spraying layer on the surrounding rock surface. Further, in order to ensure the spraying effect, after spraying the spraying material onto the newly formed roadway surface, the sealing spraying layer can be detected, and if the sealing spraying layer meets the supporting requirement, the spraying can be stopped; and if the sealing spray layer does not meet the supporting requirement, carrying out supplementary spraying or grouting treatment on the spray area which does not meet the supporting requirement.

It should be noted that, the basis of the present application for judging whether the sealing spray layer meets the support requirement is not limited, and may be set according to actual situations. For example, the thickness of the seal coat, the presence or absence of a spray abnormal region, the presence or absence of a change in the air pressure in the region to be detected, and the like may be used as the basis for determination.

According to the method, after the spraying material is sprayed onto the surface of a newly formed roadway, whether the sealing spraying layer meets the supporting requirement or not can be judged dynamically, under the condition that the supporting requirement is not met, the supplementary spraying or grouting treatment can be carried out, and then the spraying effect of the sealing spraying layer is ensured, so that the supporting requirement is met by the overall sealing performance of the sealing spraying layer, the safety accident caused by the fact that the sealing spraying layer exists in an area which does not meet the supporting requirement is avoided, and the roadway supporting efficiency is improved.

When it is attempted to determine whether the seal coat satisfies the support requirement, the thickness of the seal coat, whether there is a spray abnormal region, whether the air pressure in the detected region changes, and the like may be used as the basis for determination.

The following explains the judging process of whether the sealing spraying layer meets the supporting requirement by taking the thickness of the sealing spraying layer, whether the spraying abnormal area exists or not and whether the air pressure of the detected area changes as judging bases.

Based on the above embodiment, the thickness of the surrounding rock surface before and after spraying is collected by computer vision or three-dimensional laser scanning, and the thickness difference before and after spraying is compared to obtain the thickness of the sealing spraying layer, the thickness of the sealing spraying layer is compared with a preset thickness threshold, and if the thickness of the sealing spraying layer is lower than the thickness threshold, it is determined that the sealing spraying layer does not meet the support requirement.

Optionally, images of surrounding rock surfaces before and after spraying can be respectively acquired through image sensors such as cameras, and then the acquired images are sent to a computer for image processing, so that thicknesses of the surrounding rock surfaces before and after spraying are obtained.

Alternatively, three-dimensional models, lines, planes, volumes and other various drawing data of the surrounding rock surfaces before and after spraying can be quickly reconstructed by recording the information such as the three-dimensional coordinates, the reflectivity, the textures and the like of a large number of dense points of the surrounding rock surfaces before and after spraying based on a laser ranging principle, so that the thickness of the surrounding rock surfaces before and after spraying is obtained.

Optionally, comparing the obtained thickness of the seal spray layer with a preset thickness threshold, and if the thickness of the seal spray layer is identified to be lower than the thickness threshold, determining that the seal spray layer does not meet the support requirement; and if the thickness of the seal spray layer is identified to be higher than or equal to the thickness threshold value, determining that the seal spray layer meets the support requirement.

As a possible implementation manner, on the basis of the above embodiment, by computer vision or three-dimensional laser scanning, whether a spraying abnormal region exists in the sealing spraying layer is identified, wherein the spraying abnormal region includes an unsprayed region and a spraying concave-convex region.

In the embodiment of the application, the RGB (Red Green Blue) mode image of the sealing spray layer can be acquired through computer vision or three-dimensional laser scanning. Alternatively, the RGB mode image of the seal coat may be acquired by an image sensor such as a color camera, and the acquired image may be sent to a computer for image processing. Alternatively, three-dimensional models, lines, planes, volumes and other various drawing data of the sealing spray layer can be quickly reconstructed by recording the three-dimensional coordinates, reflectivity, textures and other information of a large number of dense points on the surface of the sealing spray layer based on a laser ranging principle, so that RGB mode images of the sealing spray layer can be obtained.

Further, whether a spraying abnormal region exists in the sealing spraying layer or not can be identified according to the RGB mode image of the sealing spraying layer, wherein the spraying abnormal region comprises an unsprayed region and a spraying concave-convex region.

As a possible implementation, since in general the RGB values of the normally sprayed area and the non-sprayed area are different; the RGB values within the sprayed relief area are non-uniform and therefore, in the present application, can be identified based on the RGB values of the pixels of the image.

Optionally, an RGB mode image of the surface of the surrounding rock before spraying may be obtained, and according to the RGB mode image of the sealing spray layer and the RGB mode image of the surface of the surrounding rock before spraying, the total number of points with consistent RGB values of pixel points in the image is determined, and when the total number of points with consistent RGB values is identified to be greater than a preset number, the non-sprayed area in the sealing spray layer is determined.

Alternatively, it may be identified whether the sprayed relief area is included in the seal spray layer. Alternatively, whether the spray relief area is included in the seal spray layer may be recognized according to the RGB mode image of the seal spray layer. For example, the RGB values of the pixels in the RGB mode image of the seal spray layer are obtained and changed from a to B, and then from B to a or C, which indicates that the seal spray layer includes a spray relief area.

If the abnormal spraying area exists, whether the shape of the abnormal spraying area is the set shape is identified. The spraying abnormal area with the set shape is an unsprayed area reserved on the surface of the surrounding rock.

Optionally, after identifying that the spraying abnormal region exists, comparing the shape of the spraying abnormal region with a set shape, and if the shape of the spraying abnormal region is identical to the set shape, determining that the sealing spraying layer meets the support requirement; otherwise, if the abnormal spraying area with the non-set shape exists, the sealing spraying layer is determined to not meet the support requirement.

For judging whether the air pressure of the detected area changes or not, as a possible implementation manner, firstly, carrying out partition vacuum detection on the seal spraying layer to obtain the air pressure of the detected area. In this embodiment, the seal spray layer may be divided into regions, and vacuum detection may be performed for each region. Alternatively, for each zone, a corresponding vacuum hood or the like may be provided for completely covering the surface zone of the seal coat. Further, the air pressure of the detected area may be acquired by a preset air pressure sensor.

And secondly, if the air pressure of the detected area changes, determining that the sealing spraying layer does not meet the support requirement.

Optionally, after acquiring the air pressure of the detected area, identifying whether the air pressure of each detected area changes, and if the air pressure of the detected area is identified to change, determining that the sealing spraying layer does not meet the support requirement; and if the air pressure of the detected area is not changed, determining that the sealing spraying layer meets the support requirement.

Further, after the sealing spray layer is determined to not meet the supporting requirement, the repairing can be performed by means of supplementary spraying or grouting treatment until the spraying effect of the sealing spray layer meets the requirement.

Further, the air leakage of the detected area can be determined according to the air pressure change condition of the detected area, and the detected area is subjected to supplementary spraying or grouting treatment according to the air leakage.

Optionally, the spraying area which does not meet the supporting requirement can be further identified according to the collected image, then the position of the spraying area which does not meet the supporting requirement in the image is combined with the gesture data of the camera, the position information of surrounding rock of the spraying area which does not meet the supporting requirement is determined, then the spraying angle of the spraying device is adjusted according to the position information, and then the spraying device sprays the spraying material to the spraying area which does not meet the supporting requirement according to the spraying angle, so that the supplementary spraying of the area is realized.

Alternatively, the spray head of the spraying device may be adjusted to a spray angle toward the spraying region which does not meet the support requirement by driving the rotating member to rotate, and then spraying is performed. Alternatively, the nozzle opening facing the spraying area which does not meet the support requirement is determined, the nozzle opening facing the positions is controlled, the nozzle opening in other directions is closed, and then spraying is performed.

From this, this application is through the thickness with sealed spouting the layer, whether there is the spraying unusual region, whether the atmospheric pressure of being detected the region changes etc. as the judgement basis for this application can be through the judgement of whether satisfying the support requirement to sealed spouting the layer of multiple different modes, has ensured whether sealed spouting the layer satisfies accuracy, the validity of support requirement judgement result. Further, when the sealing spraying layer is identified to not meet the supporting requirement, the supplementary spraying or grouting treatment is carried out on the area which does not meet the supporting requirement, so that the problem that whether the sealing spraying layer meets the supporting requirement or not is avoided, the detection-missing area which does not meet the supporting requirement is caused by inaccurate judging result, the supporting requirement can be met through the whole sealing spraying layer, and the roadway supporting efficiency is further improved.

Fig. 14 is a schematic diagram of a roadway atmospheric pressure support perforation discrimination system according to an embodiment of the present disclosure. As shown in fig. 14, the roadway atmospheric pressure support perforation discrimination system 1000 includes: a spraying device 5, a perforating device 110 and a vacuuming subsystem 120.

The spraying device 5 is used for spraying a spraying material on the surface of a newly formed roadway so as to form a sealing spraying layer on the surface of surrounding rock;

the perforating device 110 is configured to obtain surrounding rock parameters of the surrounding rock, determine whether to need to perforate the surface of the surrounding rock according to the surrounding rock parameters, and if it is determined that perforation is needed, perforate an unsprayed area reserved on the surface of the surrounding rock to form an air pumping hole;

the vacuumizing subsystem 120 is configured to pump gas in the surrounding rock gap through the pumping hole or directly pump gas in the surrounding rock gap, so that the surrounding rock is in a negative pressure state, where the sealing spraying layer forms temporary support in the negative pressure state.

Further, as shown in fig. 15, the spraying device 5 includes: a robotic arm 51, a spray assembly 52, and a drive assembly 52.

The robot arm 51 is provided on the vehicle body.

The spray end of the spray assembly 52 is connected to a robotic arm 51.

The driving component 53 is arranged on the vehicle body, the driving component 53 is connected with the mechanical arm 51, and the driving component 53 drives the mechanical arm 51 to act so as to drive the spraying end of the spraying component 52 to spray the spraying material on the newly formed roadway surface, so that a sealing spraying layer is formed.

Further, the spray coating assembly 52 includes: the spray head 521, the storage area 522, the pumping equipment 523 and the material conveying pipeline 524 connecting the spray head and the storage area.

The nozzle 521 is a spraying end of the spraying assembly 52 and is connected to the mechanical arm 51.

The pumping device 523 is used for pumping the spraying material in the storage area 522 into the conveying pipeline 524, and the spraying material is conveyed to the spray head 521 by the conveying pipeline 524 to be sprayed.

Further, the spray head 521 includes one or more spray nozzles, and the spray directions of the plurality of spray nozzles are different. Alternatively, the spray head 521 is connected to the robot arm 51 by a rotating member 54, and the spray head 521 is rotatable about the robot arm 51 in any direction by the rotating member 54.

Further, the vacuum pumping subsystem 120 comprises a vacuum generating device 7, a vacuum sucking head 6 and an air suction pipeline connecting the vacuum generating device and the vacuum sucking head, wherein the vacuum sucking head is adsorbed on an unsprayed area on the surface of the surrounding rock and is used for being mutually sealed with the sealed spraying layer.

According to the method, the gas in the surrounding rock gap is automatically extracted, so that the pressure difference can be formed between the inner surface and the outer surface of the surrounding rock, namely, the inside of the surrounding rock is in a negative pressure state, so that a newly formed roadway can be effectively supported through atmospheric pressure, front tunneling and rear supporting are realized, and the process flow is simple and convenient. By adopting the mode of forming negative pressure by spraying layer air extraction, the machine-mounted ceiling of the heading machine or the self-moving shed type support is not required to be adopted, surrounding rock is temporarily supported, the time-consuming time duration can be reduced, the supportable area of a roadway is lifted, and the requirement of rapid tunneling of a coal mine roadway is met. In addition, the roadway is supported in a manner of not requiring manual carrying, so that the manual labor intensity can be reduced, and the supporting efficiency is improved. Further, permanent support is formed for the roadway in a mode of bolting, and a safer working environment for coal exploitation is provided.

Further, after the sealing spray layer is formed, whether the spraying area needs to be perforated or not can be judged according to different surrounding rock conditions, and perforation is carried out when perforation is needed, so that the difficulty of air extraction can be reduced, and the air extraction efficiency is improved. And when punching is not needed, air is directly pumped, so that resource waste caused by punching is avoided. The drilling judgment is carried out before the air extraction, so that the air extraction process can be adapted to different surrounding rock conditions, and the air extraction process is more reasonable.

In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present application. In this specification, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (11)

1. The roadway atmospheric pressure support punching judging method is characterized by comprising the following steps of:

Spraying the spraying material onto the newly formed surface of the roadway to form a sealing spraying layer on the surface of the surrounding rock;

acquiring surrounding rock parameters of surrounding rock, and judging whether punching is required to be carried out on the surface of the surrounding rock according to the surrounding rock parameters;

if the perforation is judged to be needed, perforating is carried out on an unsprayed area reserved on the surface of the surrounding rock so as to form a suction hole;

extracting gas in the surrounding rock gap through the air extraction holes or directly extracting the gas in the surrounding rock gap so as to enable the surrounding rock to be in a negative pressure state, wherein the sealing spraying layer forms temporary support in the negative pressure state;

wherein the surrounding rock parameters comprise rock quality index RQD of the surrounding rock and fracture parameters of the surrounding rock surface;

judging whether punching is needed on the surface of the surrounding rock according to the surrounding rock parameters, including:

if the RQD of the surrounding rock is larger than a first preset value, determining that punching is required on the surface of the surrounding rock;

the RQDs of the surrounding rock include an axial RQD of the roadway and a radial RQD of the roadway, the method further comprising:

if the axial RQD and/or the radial RQD of the roadway are/is larger than the first preset value, determining that punching is required on the surface of the surrounding rock;

The fracture parameters comprise fracture spacing and fracture length, wherein the judging whether the surrounding rock surface needs to be perforated according to the surrounding rock parameters comprises the following steps:

if the gap spacing is larger than a second preset value, determining that punching is required to be performed on the surface of the surrounding rock; and/or

And if the crack length is smaller than a third preset value, determining that punching is required to be carried out on the surface of the surrounding rock.

2. The roadway atmospheric support perforation discrimination method of claim 1, further comprising:

and if the RQD of the surrounding rock is smaller than or equal to a first preset value, the crack spacing is smaller than or equal to a second preset value, and the crack length is larger than or equal to a third preset value, determining that punching is not needed on the surface of the surrounding rock.

3. The roadway atmospheric support perforation discrimination method of any one of claims 1-2, further comprising:

and in the air extraction process, detecting the current air pressure in the surrounding rock gap, and adjusting the working parameters of the vacuumizing subsystem for air extraction according to the current pressure, wherein the working parameters are inversely related to the air pressure in the surrounding rock gap when the current air pressure is not lower than a preset threshold value.

4. The roadway atmospheric support perforation discrimination method of any one of claims 1-2, wherein during spraying of the spray material onto the newly formed roadway surface, the method further comprises:

acquiring an image of the surface of the surrounding rock, and acquiring a surface area with gaps according to the image;

and when the spraying material is sprayed to the newly formed roadway surface, avoiding the surface area with the gap so as to form the non-sprayed area.

5. The roadway atmospheric support perforation discrimination method of any one of claims 1-2, wherein after the seal spray layer is formed on the surrounding rock surface, the method further comprises:

judging whether the sealing spray layer meets the support requirement or not;

and if the sealing spray layer does not meet the supporting requirement, continuing to perform supplementary spraying or grouting treatment on the spraying area which does not meet the supporting requirement.

6. The roadway atmospheric support perforation discrimination method of any one of claims 1-2, further comprising:

and in the spraying process, collecting the spraying quality of the area to be sprayed, and adjusting the spraying angle according to the spraying quality.

7. The utility model provides a tunnel atmospheric pressure support discrimination system that punches which characterized in that includes:

The spraying device is used for spraying the spraying material on the surface of the newly formed roadway so as to form a sealing spraying layer on the surface of the surrounding rock;

the perforating device is used for acquiring surrounding rock parameters of surrounding rock, judging whether perforating is required to be carried out on the surface of the surrounding rock according to the surrounding rock parameters, and perforating an unsprayed area reserved on the surface of the surrounding rock to form a suction hole if the perforating is judged to be required;

the vacuumizing subsystem is used for extracting the gas in the surrounding rock gap through the air extracting hole or directly extracting the gas in the surrounding rock gap so as to enable the surrounding rock to be in a negative pressure state, wherein the sealing spraying layer forms temporary support in the negative pressure state;

wherein the surrounding rock parameters comprise rock quality index RQD of the surrounding rock and fracture parameters of the surrounding rock surface;

the punching device is specifically used for:

if the RQD of the surrounding rock is larger than a first preset value, determining that punching is required on the surface of the surrounding rock;

the RQD of surrounding rock comprises an axial RQD of a roadway and a radial RQD of the roadway, and the punching device is further used for:

if the axial RQD and/or the radial RQD of the roadway are/is larger than the first preset value, determining that punching is required on the surface of the surrounding rock;

The fracture parameters include a fracture spacing and a fracture length, wherein the perforating device is further configured to:

if the gap spacing is larger than a second preset value, determining that punching is required to be performed on the surface of the surrounding rock; and/or

And if the crack length is smaller than a third preset value, determining that punching is required to be carried out on the surface of the surrounding rock.

8. The roadway atmospheric support perforation discrimination system of claim 7, wherein said spray apparatus comprises:

the mechanical arm is arranged on the vehicle body;

the spraying end of the spraying assembly is connected with the mechanical arm;

the driving assembly is arranged on the vehicle body and connected with the mechanical arm, and the driving assembly drives the mechanical arm to act so as to drive the spraying end to spray the spraying material on the surface of the roadway of the newly excavated roadway to form the sealing spraying layer.

9. The roadway atmospheric support punch discrimination system of claim 8, wherein said spray assembly comprises: the device comprises a spray head, a storage area, pumping equipment and a material conveying pipeline for connecting the spray head and the storage area; the spray head is a spraying end of the spraying assembly and is connected with the mechanical arm;

The pumping equipment is used for pumping the spraying material in the storage area into the material conveying pipeline, and conveying the spraying material to the spray head for spraying through the material conveying pipeline.

10. The roadway atmospheric pressure support perforation discrimination system of claim 9, wherein said spray head comprises one or more spray nozzles, said spray nozzles having different spray directions;

the spraying device comprises a mechanical arm, a spray head, a rotating component and a spray head, wherein the spray head is connected with the mechanical arm through the rotating component, and the spray head can rotate around the mechanical arm in any direction through the rotating component.

11. The roadway atmospheric pressure support perforation discrimination system of any one of claims 7-10, wherein the vacuumizing subsystem comprises a vacuum generating device, a vacuumizing head and a vacuumizing pipeline connecting the vacuum generating device and the vacuumizing head, wherein the vacuumizing head is adsorbed on an unsprayed area of the surrounding rock surface, and the vacuumizing head is used for being mutually closed with the sealing spraying layer.

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