CN112943287B - Tunnel boring machine and automatic anchor rod drilling machine system thereof - Google Patents

Abstract

The invention discloses an automatic anchor rod drilling machine system which comprises a drilling mechanism, an anchor rod bin, an anchor rod mounting mechanism and a driving mechanism, wherein the drilling mechanism is arranged on a machine body and used for drilling anchor holes in the wall surface of a surrounding rock, the anchor rod bin is arranged on the machine body and used for storing a plurality of anchor rod suite components, the anchor rod mounting mechanism is arranged on the machine body and used for sequentially clamping each anchor rod suite component, the driving mechanism is arranged on the machine body and used for driving the clamping position of the anchor rod mounting mechanism to translate to the drilling position of the drilling mechanism, and the axial direction of the anchor rod suite currently clamped on the anchor rod mounting mechanism is parallel to the axial direction of the currently drilled anchor hole of the drilling mechanism. Compared with the prior art, the automatic anchor rod drilling machine system disclosed by the invention can efficiently and accurately complete anchor rod installation and support operation, improve the construction efficiency, reduce the manual labor load and eliminate potential safety hazards. The invention also discloses a tunnel boring machine, which has the beneficial effects as described above.

Description

Tunnel boring machine and automatic anchor rod drilling machine system thereof

Technical Field

The invention relates to the technical field of tunneling, in particular to an automatic anchor rod drilling machine system. The invention also relates to a tunnel boring machine.

Background

With the rapid development of national economy, the urbanization process of China is accelerated continuously, and a large number of tunnel boring machines are needed for tunnel projects such as domestic urban subway tunnels, hydraulic tunnels, river crossing tunnels, railway tunnels, highway tunnels, municipal pipelines and the like in a quite long period in future.

The full-face tunnel boring machine is large tunnel construction equipment integrating systems of machine, electricity, liquid, light, gas and the like, can be used for construction procedures of boring, supporting, slag tapping and the like and continuous operation, has the advantages of high boring speed, environmental protection, high comprehensive benefit and the like, and is rapidly increased in application in tunnel engineering of China railways, hydropower, traffic, mines, municipal works and the like.

The anchor rod drilling machine system plays a role in supporting in tunneling, belongs to a key ring on a tunneling machine, and the quality of anchor rod construction quality directly influences the tunnel construction quality and the construction safety. At present, the control of a heading machine jumbolter system is mainly controlled by workers near an operation point, a set of complete automatic control strategy is lacked, the operation precision and the construction quality are greatly influenced by the workers, the construction efficiency is low, and the labor intensity of the workers is high. And the tunnel construction environment is complicated and severe, the tunnel surrounding rock near the operation point is not supported, and great potential safety hazard exists.

For the problems of manual anchor rod installation and manual rod replacement which have the greatest influence on anchor rod support construction efficiency, the existing improvement method mainly focuses on the mode of increasing mechanical structures such as mechanical claws. However, the method has high requirements on the precision and the adaptability of mechanical actions, under a severe tunnel construction environment, the mechanical actions of grabbing the anchor rod and transferring the anchor rod to the rock drill for installation and fixation are too complex, the reliability for ensuring accurate completion of the actions is not high, the adverse consequences of improper installation, deformation of a drill rod, failure of drilling holes and even damage of an anchor rod drilling machine are easily caused, the construction process is influenced, and the method is not widely applied to actual tunneling construction. Therefore, the operations of anchor rod installation, anchoring agent injection and the like at present still depend on manual operation as a main operation, the construction efficiency is low, and the safety is poor.

Therefore, how to efficiently and accurately complete the anchor rod installation supporting operation, improve the construction efficiency, reduce the manual labor load and eliminate the potential safety hazard is a technical problem faced by technical personnel in the field.

Disclosure of Invention

The invention aims to provide an automatic anchor rod drilling machine system which can efficiently and accurately complete anchor rod installation and support operation, improve construction efficiency, reduce manual labor load and eliminate potential safety hazards. It is a further object of the present invention to provide a tunnel boring machine.

In order to solve the technical problems, the invention provides an automatic anchor rod drilling machine system which comprises a drilling mechanism, an anchor rod bin, an anchor rod mounting mechanism and a driving mechanism, wherein the drilling mechanism is arranged on a machine body and used for drilling anchor holes in the wall surface of surrounding rock, the anchor rod bin is arranged on the machine body and used for storing a plurality of anchor rod external members, the anchor rod mounting mechanism is arranged on the machine body and used for sequentially clamping the anchor rod external members, the driving mechanism is arranged on the machine body and used for driving the clamping position of the anchor rod mounting mechanism to translate to the drilling position of the drilling mechanism, and the axial direction of the anchor rod external member currently clamped on the anchor rod mounting mechanism is parallel to the axial direction of the currently drilled anchor hole of the drilling mechanism.

Preferably, the drilling mechanism and the anchor rod mounting mechanism are arranged in a collinear manner in the axial direction of the machine body, and the driving mechanism is used for driving the drilling mechanism and the anchor rod mounting mechanism to move linearly and synchronously along the axial direction of the machine body.

Preferably, the driving mechanism includes an annular guide rail circumferentially sleeved on the machine body, and a sliding block slidably disposed on the annular guide rail, the annular guide rail is axially movably disposed on the machine body, and the sliding block is connected to the drilling mechanism and the anchor rod mounting mechanism.

Preferably, the sliding block is provided with a swing cylinder capable of swinging in the cross section of the annular guide rail, and the drilling mechanism and the anchor rod mounting mechanism are respectively connected to two axial side positions of the swing cylinder.

Preferably, the drilling mechanism comprises a main propulsion cylinder connected with the swing cylinder, a main propulsion beam connected with the output end of the main propulsion cylinder, a drilling machine arranged on the main propulsion beam, and a drill rod connected with the output end of the drilling machine.

Preferably, the anchor rod installation mechanism comprises an auxiliary propelling cylinder connected with the swinging cylinder, an auxiliary propelling beam connected with the output end of the auxiliary propelling cylinder, an anchor rod propelling cylinder arranged on the auxiliary propelling beam, and a rotary anchor cylinder connected with the output end of the anchor rod propelling cylinder and used for clamping the anchor rod suite, wherein the output direction of the anchor rod propelling cylinder is parallel to the output direction of the drilling machine.

Preferably, the anchor rod cabin comprises a rotating motor arranged on the auxiliary propelling beam, a rotating disc sleeved on a rotating shaft of the rotating motor, and a plurality of clamping devices arranged in the circumferential direction of the rotating disc and used for clamping the anchor rod suite, wherein each clamping device is aligned with a tube opening of the rotary anchor cylinder when rotating for a preset angle.

Preferably, each of said clamps is a resilient member of adjustable clamping force.

Preferably, the stock external member includes the body of rod, the cover is located the retaining member of body of rod tip, it rotatably connects to revolve the anchor section of thick bamboo on the output of stock propulsion cylinder, just it has seted up with in the anchor section of thick bamboo to revolve the inner chamber that the shape of retaining member matches.

The invention further provides a tunnel boring machine, which comprises a machine body and an automatic anchor rod drilling machine system arranged on the machine body, wherein the automatic anchor rod drilling machine system is any one of the automatic anchor rod drilling machine systems.

The invention provides an automatic anchor rod drilling machine system which mainly comprises a drilling mechanism, an anchor rod cabin, an anchor rod installation mechanism and a driving mechanism. The drilling mechanism is arranged on the machine body and is mainly used for drilling an anchor hole in a target position on the wall surface of the surrounding rock so as to insert an anchor rod for anchoring support. The anchor rod storehouse sets up on the organism, and a plurality of stock external members are stored to mainly used to guarantee the continuous installation operation of stock, the major structure of this stock external member is stock itself. The anchor rod installation mechanism is arranged on the machine body and is associated with the anchor rod bin, and the anchor rod installation mechanism is mainly used for clamping and positioning the anchor rod suite which is in a discharging to-be-installed state at present in the anchor rod bin so as to insert and install the anchor rod suite into an anchor hole drilled by the drilling mechanism after the clamping and positioning are completed, so that the anchor rod installation operation is completed, and during continuous operation, the anchor rod installation mechanism completes the clamping, positioning and installation operation of each anchor rod suite according to a certain sequence order. Actuating mechanism sets up on the organism, mainly used drive stock installation mechanism removes, make the drilling position department of drilling mechanism is translated to stock installation mechanism's clamping position, make the stock external member of current clamping on stock installation mechanism align with the anchor eye that drilling mechanism bored on the country rock wall, and simultaneously, the clamping position of stock external member on stock installation mechanism, remain parallel with the axial of the current anchor eye that drills of drilling mechanism all the time, so that after the drilling position department of drilling mechanism is translated to stock installation mechanism's clamping position, can guarantee that the stock external member of current clamping aligns with the anchor eye collineation, thereby stock installation mechanism can be accurate, insert the stock external member smoothly and establish the installation in the anchor eye. Therefore, the automatic anchor rod drilling machine system provided by the invention has the advantages that after the anchor hole is drilled on the wall surface of the surrounding rock through the drilling mechanism, the anchor rod external member which is in a delivery state currently in the anchor rod bin is clamped and positioned by the anchor rod installation mechanism, the anchor rod installation mechanism is driven by the driving mechanism to move, the current clamped anchor rod external member is ensured to be accurately aligned with the currently drilled anchor hole, and finally, the anchor rod insertion installation operation is carried out by the anchor rod installation mechanism, and the steps are repeated until the anchoring support operation of all the anchor rod external members is completed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic overall structure diagram of an embodiment of the present invention.

Fig. 2 is a schematic diagram of a specific structure of the driving mechanism.

Fig. 3 is a schematic structural diagram of the drilling mechanism.

Fig. 4 is a specific structural schematic diagram of the anchor rod mounting mechanism.

Fig. 5 is a concrete structural schematic diagram of the anchor rod cabin.

Fig. 6 is a specific structural schematic diagram of the anchor rod set.

Fig. 7 is a schematic view of the anchor assembly being clamped in the anchor mounting mechanism.

Fig. 8 is a schematic diagram of the division of the drilling area of the drilling mechanism on the wall surface of the surrounding rock.

Wherein, in fig. 1-8:

the drilling machine comprises a machine body-1, a drilling mechanism-2, an anchor rod kit-3, an anchor rod bin-4, an anchor rod installation mechanism-5 and a driving mechanism-6;

the drilling machine comprises a main propulsion cylinder-21, a main propulsion beam-22, a drilling machine-23, a drill rod-24, a rod body-31, a locking piece-32, a supporting plate-33, an anchoring agent-34, a rotating motor-41, a rotating shaft-42, a rotating disc-43, a clamping device-44, an auxiliary propulsion cylinder-51, an auxiliary propulsion beam-52, an anchor rod propulsion cylinder-53, an anchor rod rotating cylinder-54, an annular guide rail-61, a sliding block-62, a swinging cylinder-63, a horizontal oil cylinder-64 and a roller-65.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a schematic overall structure diagram of an embodiment of the present invention.

In one embodiment of the present invention, an automatic roof bolter system generally comprises a drilling mechanism 2, a bolt magazine 4, a bolt mounting mechanism 5, and a drive mechanism 6.

The drilling mechanism 2 is arranged on the machine body 1 and is mainly used for drilling an anchor hole in a target position on the wall surface of surrounding rock so as to insert an anchor rod for anchoring support.

The anchor rod storehouse 4 sets up on organism 1, and a plurality of anchor rod external member 3 are stored to mainly used to guarantee the continuous installation operation of anchor rod, this anchor rod external member 3's major structure is anchor rod itself.

The anchor rod installation mechanism 5 is arranged on the machine body 1, is associated with the anchor rod bin 4 and is mainly used for clamping and positioning the anchor rod suite 3 which is in a warehouse-out state to be installed at present in the anchor rod bin 4 so as to insert and install the anchor rod suite into an anchor hole drilled by the drilling mechanism 2 after clamping and positioning are completed, anchor rod installation operation is completed, and during continuous operation, the anchor rod installation mechanism 5 completes clamping, positioning and installation operation of each anchor rod suite 3 according to a certain sequence order.

Actuating mechanism 6 sets up on organism 1, mainly used drive stock installation mechanism 5 removes, make the clamping position of stock installation mechanism 5 translate drilling mechanism 2 drilling position department, make the stock external member 3 of current clamping on stock installation mechanism 5 align with the anchor eye that drilling mechanism 2 bored on the country rock wall, and simultaneously, the clamping position of stock external member 3 on stock installation mechanism 5, all the time with the axial of the current anchor eye that drills of drilling mechanism 2 keep parallel, so that after the clamping position translation of stock installation mechanism 5 reaches drilling mechanism 2 drilling position department, can guarantee the stock external member 3 and the collineation of anchor eye of current clamping and align, thereby stock installation mechanism 5 can be accurate, insert the stock external member 3 smoothly and establish into the anchor eye.

So, the automatic roofbolter system that this embodiment provided, after drilling out the anchor eye on the country rock wall through drilling mechanism 2, utilize anchor rod installation mechanism 5 to carry out the clamping location to anchor rod external member 3 that is in the warehouse-out state in anchor rod storehouse 4 at present, rethread actuating mechanism 6 drives anchor rod installation mechanism 5 and carries out the displacement, ensure that the anchor rod external member 3 of current clamping aligns with the anchor eye that drills at present, carry out the stock by anchor rod installation mechanism 5 again at last and insert and establish the installation operation, so reciprocal anchor supporting operation until accomplishing all anchor rod external members 3, compare in prior art, this embodiment can be high-efficient, accomplish anchor rod installation supporting operation accurately, construction efficiency is improved, reduce the manual labor load, eliminate the potential safety hazard.

In a preferred embodiment concerning the drilling mechanism 2 and the anchor mounting mechanism 5, considering that the anchor mounting mechanism 5 needs to be accurately moved to the anchor hole position after the drilling mechanism 2 drills the anchor hole, for this reason, in the present embodiment, the drilling mechanism 2 and the anchor mounting mechanism 5 are both arranged in a collinear manner in the axial direction of the machine body 1, that is, they are arranged in tandem in the axial direction of the machine body 1, and the distance between the two is kept preset. Accordingly, the driving mechanism 6 is mainly used for driving the drilling mechanism 2 and the anchor rod mounting mechanism 5 to perform synchronous linear motion along the axial direction of the machine body 1. So set up, keep the same interval of predetermineeing throughout between drilling mechanism 2 and the stock installation mechanism 5, for example 20cm etc. and after drilling the anchor eye at drilling mechanism 2, actuating mechanism 6 only needs drive drilling mechanism 2 and stock installation mechanism 5 simultaneously along axial displacement interval between them, for example 20cm, can make the anchor rod installation mechanism 5 remove the anchor eye position department that drilling mechanism 2 bored.

As shown in fig. 2, fig. 2 is a schematic diagram of a specific structure of the driving mechanism 6.

In a preferred embodiment concerning the driving mechanism 6, considering that the tunnel surrounding rock is generally semicircular, the anchor rods need to be inserted uniformly along the arc of the surrounding rock while being linearly fed in the axial direction (length direction) of the tunnel, and for this reason, the driving mechanism 6 mainly includes an annular guide rail 61 and a slide block 62 in the present embodiment.

The annular guide rail 61 is disposed on the machine body 1 and circumferentially distributed along the circumferential direction of the machine body 1, and is annular or non-circular as a whole. At the same time, the annular guide rail 61 can move axially on the machine body 1, so as to drive the sliding block 62 to move axially synchronously. Specifically, the inner circumferential surface of the annular guide rail 61 may be connected to a horizontal cylinder 64 mounted on the body 1 so that the annular guide rail 61 is driven to perform an axial linear motion by the horizontal cylinder 64.

The slide block 62 is provided on the surface of the annular guide rail 61, and is slidable on the annular guide rail 61 so as to perform a circular motion around the annular guide rail 61. In order to ensure smooth and stable circular motion of the sliding block 62, the present embodiment further includes a roller 65 on the bottom surface of the sliding block 62 to limit the sliding block 62 on the surface of the ring-shaped guide rail 61. Meanwhile, the sliding block 62 is connected with the drilling mechanism 2 and the anchor rod mounting mechanism 5 at the same time, so that when the sliding block 62 performs axial linear motion, the sliding block drives the drilling mechanism 2 and the anchor rod mounting mechanism 5 to perform synchronous linear motion, and the feeding motion in the anchor rod mounting and supporting operation is realized; and when the sliding block 62 carries out circular motion, will drive drilling mechanism 2 and stock installation mechanism 5 and carry out synchronous circular motion to realize the circumferential anchoring position adjustment in the stock installation supporting operation.

Further, in order to facilitate the drilling mechanism 2 and the anchor rod mounting mechanism 5 to adjust the anchor hole drilling and the anchor rod inserting angle and position, the sliding block 62 is further provided with a swing cylinder 63 in the embodiment. Specifically, the swing cylinder 63 can perform a swing motion, i.e., a reciprocating rotational motion within a certain angular range, and a rotation plane of the swing cylinder 63 is a cross section of the ring guide 61. So set up, through the reciprocal swing of swing cylinder 63, can synchronous drive drilling mechanism 2 and stock installation mechanism 5 carry out reciprocating rotation in the tunnel cross section that is on a parallel with the tunnelling face, and then realize drilling mechanism 2 and the anchor eye drilling angle of stock installation mechanism 5, the stock and insert the fine adjustment of establishing the angle, the circular motion of collocation sliding block 62 on cyclic annular guide rail 61 can cover the anchor region of the whole cross section in tunnel in theory comprehensively.

In order to prevent the mounting positions of the drilling mechanism 2 and the anchor mounting mechanism 5 on the swing cylinder 63 from interfering with each other, the output shaft of the swing cylinder 63 is disposed at a middle position while both ends thereof are respectively extended in the axial direction, so that the drilling mechanism 2 and the anchor mounting mechanism 5 are respectively connected to both axial end positions of the output shaft of the swing cylinder 63.

As shown in fig. 3, fig. 3 is a specific structural schematic diagram of the drilling mechanism 2.

In a preferred embodiment with respect to the drilling mechanism 2, the drilling mechanism 2 mainly comprises a main propulsion cylinder 21, a main propulsion beam 22, a drilling machine 23 and a drill rod 24. Wherein, the main cylinder body of the main propulsion cylinder 21 is connected with one axial end of the output shaft of the swing cylinder 63, and the telescopic rod thereof can linearly extend and retract along the axial direction. The main propulsion beam 22 is connected to the telescopic rod of the main propulsion cylinder 21 and can be driven by the main propulsion cylinder 21 to perform linear reciprocating motion. A drill 23, which may typically be a rock drill or the like, is arranged on the main feed beam 22, and a drill rod 24 is connected to the output of the drill 23 for drilling operations at the power output of the drill 23. Typically, the drill rods 24 are distributed along the length of the main feed beam 22 and naturally have ends that are flush with the ends of the main feed beam 22. With this arrangement, when drilling an anchor hole, the main propulsion cylinder 21 first drives the main propulsion beam 22 to extend outward until the main propulsion beam abuts against the wall surface of the tunnel, and then the drilling machine 23 starts to operate to drive the drill rod 24 to extend out of the main propulsion beam 22 and drill an anchor hole in the wall surface of the tunnel.

Fig. 4 is a detailed structural schematic diagram of the anchor rod mounting mechanism 5, as shown in fig. 4.

In a preferred embodiment with respect to the anchor rod mounting mechanism 5, the anchor rod mounting mechanism 5 basically includes a secondary propulsion cylinder 51, a secondary propulsion beam 52, an anchor rod propulsion cylinder 53 and an anchor rotation cylinder 54. Wherein, the cylinder body of the auxiliary propelling cylinder 51 is connected with the other axial end of the output shaft of the swinging cylinder 63, and the telescopic rod thereof can linearly extend and retract along the axial direction. The auxiliary propulsion beam 52 is connected to the telescopic rod of the auxiliary propulsion cylinder 51 and can perform linear reciprocating motion under the driving of the auxiliary propulsion cylinder 51. The anchor rod pushing cylinder 53 is provided on the auxiliary feed beam 52 to move linearly in synchronization with the auxiliary feed beam 52. The anchor rotating cylinder 54 is connected with the output end of the anchor rod pushing cylinder 53, and is mainly used for clamping the anchor rod suite 3, and the anchor rod suite 3 is driven to perform axial linear motion under the pushing of the output end of the anchor rod pushing cylinder 53, so that the anchor rod suite 3 clamped on the anchor rotating cylinder 54 is pressed out of the auxiliary pushing beam 52 and is pressed into an anchor hole. In order to ensure that the anchor rod driving cylinder 53 can correctly press the anchor rod assembly 3 into the anchor bore, the output direction of the anchor rod driving cylinder 53 is kept parallel to the output direction of the drilling machine 23, and the drill rod 24 and the anchor rod assembly 3 are arranged to move parallel to each other.

As shown in fig. 6, fig. 6 is a specific structural schematic diagram of the anchor bolt kit 3.

In a preferred embodiment with respect to the anchor set 3, the anchor set 3 essentially comprises a rod 31, a locking element 32, a carrier 33 and an anchoring agent 34. The rod body 31 is a main structure of the anchor rod kit 3, and the length thereof is slightly larger than the depth of the anchor hole. The locking member 32 is disposed at the head end of the rod 31, and may be a nut or other fastening member, and is mainly used for screwing to lock the rod 31 in the anchor hole. The supporting plate 33 is sleeved at the tail end of the rod body 31 and is mainly used for being pressed on the wall surface of the tunnel, so that the rod body 31 can be stably inserted into the anchor hole. The anchoring agent 34 is disposed at the tail end of the rod body 31 and is generally fixed by a clamper, and after the rod body 31 is pushed into the anchor hole, the anchoring agent 34 contacts the inner wall of the anchor hole and is retained at the bottom of the anchor hole for fixing the rod body 31.

Fig. 7 is a schematic view showing the anchor assembly 3 being clamped in the anchor mounting mechanism 5, as shown in fig. 7.

Further, in order to enable the anchor rod assembly 3 to be smoothly screwed and locked in the anchor hole, in the present embodiment, an inner cavity having a shape matching the shape of the locking member 32 is formed in the screw anchor cylinder 54, for example, the locking member 32 is a hexagon nut, and the inner cavity of the screw anchor cylinder 54 is a hexagon socket, so as to form a plug-in fit with the locking member 32. Meanwhile, the anchor screwing barrel 54 is also rotatably connected to the output end of the anchor rod pushing cylinder 53, so that the anchor rod pushing cylinder 53 can perform linear motion under the power output of the anchor rod pushing cylinder 53 and can also perform rotary motion independently, the locking piece 32 can be driven to rotate through rotation, and the anchor rod set 3 is screwed and locked in the anchor hole.

As shown in fig. 5, fig. 5 is a specific structural schematic diagram of the anchor rod bin 4.

In a preferred embodiment with respect to the bolt magazine 4, the bolt magazine 4 is integrally connected to the bolt mounting means 5 and is arranged on the secondary feed beam 52 and essentially comprises the rotary motor 41, the rotary disc 43 and the gripper 44. The rotating motor 41 is specifically disposed at an edge position of one end of the auxiliary feed beam 52, and is adjacent to the anchor rod feed cylinder 53. A rotary shaft 42 is fitted to an output end of the rotary motor 41 and is capable of reciprocating circumferential rotation. Generally, the rotary shaft 42 may extend from one end of the auxiliary feed beam 52 to the other end thereof and be arranged parallel to the axial direction of the anchorage member 54. The rotating disc 43 is sleeved on the rotating shaft 42 and can rotate synchronously with the rotating shaft 42. A plurality of holders 44 are arranged on the circumferential side wall of the rotating disc 43, and each holder 44 is mainly used for clamping the rod body 31 of the anchor rod suite 3. Generally, 4-8 grippers 44 are simultaneously arranged in the circumferential direction of the rotating disc 43, an equal circumferential included angle is kept between every two adjacent grippers 44, and each gripper 44 can clamp one anchor rod suite 3. When the rotating disc 43 rotates, each anchor rod suite 3 rotates synchronously, and when the rotating disc 43 rotates to a preset angle range, the anchor rod suite 3 clamped on one clamp holder 44 always keeps aligned with the cylinder opening of the anchor rotating cylinder 54, and then the anchor rod propelling cylinder 53 only needs to push the anchor rotating cylinder 54 to move axially for a short distance, so that the anchor rod suite 3 can be inserted into the anchor rotating cylinder 54, and the clamping and positioning of the anchor rod suite 3 are completed.

Further, after the anchor barrel 54 is rotated to complete clamping and positioning of the anchor rod assembly 3, the rod body 31 of the anchor rod assembly 3 is still clamped in the clamp 44, and in order to ensure smooth insertion and installation of the anchor rod assembly 3 in the anchor hole, in this embodiment, each clamp 44 is an elastic material piece with adjustable clamping force, such as a hard rubber material clamp, a metal spring clip, and the like. So set up, on the one hand do not hinder the normal axial rectilinear motion of stock external member 3, on the other hand provides the motion guide effect to it through the centre gripping to stock external member 3. Of course, the output of the rotating electrical machine 41 remains locked during this process.

In another embodiment of the present invention, in order to improve the automation degree and control accuracy of the whole jumbolter system, the present embodiment arranges stroke sensors on the horizontal cylinder 64, the main propulsion cylinder 21, the auxiliary propulsion cylinder 51 and the jumbolter propulsion cylinder 53, simultaneously arranges encoders on the slide block 62 and the swing cylinder 63, arranges pressure sensors on the main propulsion cylinder 21, the auxiliary propulsion cylinder 51, the drilling machine 23 and the anchor pressing cylinder, and arranges flow sensors on the drilling machine 23.

As shown in fig. 8, fig. 8 is a schematic diagram of the division of the drilling area of the drilling mechanism 2 on the wall surface of the surrounding rock.

Meanwhile, for the whole circular section of any tunnel (the actual anchor supporting operation only needs to use about a semicircular section), the drilling area on the whole circular section and the stop position (drilling) of the sliding block 62 (with the drilling mechanism 2) on the circumferential direction of the annular guide rail 61 can be divided in advance according to the maximum drilling area of the drilling mechanism 2.

Specifically, an arbitrary point (point E) on the annular guide rail 61 is set as the stop position of the current slide block 62, and the drill rod 24 of the drilling mechanism 2 has the maximum protrusion distance H and the minimum protrusion distance H, both of which abut against the wall surface of the tunnel. Assuming that the radius of the circular section of the tunnel is R and the radius of the annular guide rail 61 is R, the angle α, the angle β and the angle θ can be calculated by the following formulas, respectively:

θ＝α-β

then, according to the kinematics rule of the anchor rod drilling machine system, the areas of the tunnel surrounding rock wall where anchor holes are drilled can be divided according to the required angle theta, the included angle between every two areas is kept to be equal theta, then the position of each stopping point of the sliding block 62 on the annular guide rail 61 is determined to be D, C, B, A according to the angle theta gradually by taking the point E as the reference, and the initial stopping point of the sliding block 62 can be set to be the position A (closer to the ground on one side of the tunnel). For the left side and the right side of the tunnel, the demarcating areas can be symmetrically arranged, and two sliding blocks 62 can be arranged on the annular guide rail 61 at the same time and are respectively responsible for punching and anchoring the wall surfaces of the surrounding rocks on the two sides of the tunnel.

The automatic operation process of the jumbolter system is as follows:

and S1, positioning the current position of the jumbolter system according to the center coordinates of the cutterhead measured by the machine body guide system, the front-back position relation between the center of the cutterhead and the center of the jumbolter system, and the detection angle of the encoder of the swing cylinder 63 and the stroke recorded by the encoder of the sliding block 62 in combination with the stroke sensor measurement data of the horizontal oil cylinder 64.

And S2, the machine body control system controls the horizontal oil cylinder 64, the sliding block 62 and the swinging cylinder 63 to act, and the jumbolter system is driven to move to a target drilling position.

And S3, controlling the main propelling beam 22 to extend out by the machine body control system, and controlling the drilling machine 23 to drill holes after tightly pushing against the hole wall.

S4, after the machine body detection system detects that drilling is completed, the main push beam 22 retracts, and the machine body control system controls the horizontal oil cylinder 64 to drive the annular guide rail 61 to axially move by a preset distance (specifically, the distance between the drill rod 24 and the currently clamped anchor rod suite 3).

And S5, the machine body control system controls the auxiliary push beam 52 to extend out to push against the wall of the hole, the anchor rod push cylinder 53 extends out to drive the anchor rotating cylinder 54 to move axially outwards, and the anchor rod suite 3 is pressed and inserted into the currently drilled anchor hole.

And S6, after the machine body detection system detects that the anchor rod suite 3 is installed in place, the machine body control system controls the anchor rotating barrel 54 to rotate, and the locking piece 32 on the anchor rod suite 3 is screwed tightly.

And S7, the anchor rod pushing cylinder 53 is controlled to retract by the machine body control system, the machine body control system controls the rotating motor 41 to rotate slowly after the machine body detection system detects a reset signal, the encoder detects the rotating angle of the rotating motor 41 in real time, and when the rotating motor rotates by a preset angle (the circumferential included angle between two adjacent grippers 44), the rotating motor 41 stops rotating and is locked at the current position.

And S8, the machine body control system controls the auxiliary propelling beam 52 to retract, and thus the single automatic bolting process is completed.

And S9, repeating the steps S1-S8 until all the anchor rod suites 3 in the anchor rod cabin 4 are installed.

Therefore, by the automatic control method suitable for the automatic anchor rod drilling machine system, automatic drilling, automatic rod replacement and automatic anchor rod installation of the heading machine anchor rod drilling machine system can be smoothly realized, the automation level and the construction efficiency are improved, meanwhile, workers are prevented from working under surrounding rocks which are not supported for a long time, the construction risk is reduced, and the safety of the workers is protected.

The embodiment also provides a tunnel boring machine, which mainly comprises a machine body 1 and an automatic anchor rod drilling machine system arranged on the machine body 1, wherein the specific content of the automatic anchor rod drilling machine system is the same as the related content, and the detailed description is omitted here.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. An automatic anchor rod drilling machine system is characterized by comprising a drilling mechanism (2) which is arranged on a machine body (1) and used for drilling anchor holes in a wall surface of a surrounding rock, an anchor rod bin (4) which is arranged on the machine body (1) and used for storing a plurality of anchor rod kits (3), an anchor rod installation mechanism (5) which is arranged on the machine body (1) and used for sequentially clamping the anchor rod kits (3), and a driving mechanism (6) which is arranged on the machine body (1) and used for driving a clamping position of the anchor rod installation mechanism (5) to translate to a drilling position of the drilling mechanism (2), wherein the axial direction of the anchor rod kit (3) which is currently clamped on the anchor rod installation mechanism (5) is parallel to the axial direction of the anchor hole which is currently drilled by the drilling mechanism (2);

the drilling mechanism (2) and the anchor rod mounting mechanism (5) are distributed in a collinear manner in the axial direction of the machine body (1), and the driving mechanism (6) is used for driving the drilling mechanism (2) and the anchor rod mounting mechanism (5) to synchronously move linearly along the axial direction of the machine body (1);

actuating mechanism (6) include along the circumference cover locate annular guide rail (61) on organism (1), set up slidable in sliding block (62) on annular guide rail (61), but annular guide rail (61) axial displacement set up in on the organism (1), sliding block (62) with drilling mechanism (2) and stock installation mechanism (5) link to each other.

2. An automatic roof-bolter system according to claim 1, characterized in that a swing cylinder (63) swingable within a cross section of the annular guide rail (61) is provided on the slide block (62), and the drilling mechanism (2) and the bolting mechanism (5) are respectively connected at axial both side positions of the swing cylinder (63).

3. An automatic roof bolter system according to claim 2, characterized in that the drilling mechanism (2) comprises a main feed cylinder (21) connected to the swing cylinder (63), a main feed beam (22) connected to the output end of the main feed cylinder (21), a drilling machine (23) arranged on the main feed beam (22), a drill rod (24) connected to the output end of the drilling machine (23).

4. An automatic roof-bolter system according to claim 3, characterized in that the bolt mounting mechanism (5) comprises an auxiliary feed cylinder (51) connected to the swing cylinder (63), an auxiliary feed beam (52) connected to the output of the auxiliary feed cylinder (51), a bolt feed cylinder (53) arranged on the auxiliary feed beam (52), a rotary bolt drum (54) connected to the output of the bolt feed cylinder (53) and adapted to clamp the bolt kit (3), the output direction of the bolt feed cylinder (53) being parallel to the output direction of the drilling machine (23).

5. The automatic roofbolter system of claim 4, characterized in that the bolting magazine (4) comprises a rotary motor (41) arranged on the auxiliary feed beam (52), a rotary disc (43) mounted on a rotary shaft (42) of the rotary motor (41), a plurality of grippers (44) arranged in the circumferential direction of the rotary disc (43) for gripping the bolting kit (3), each gripper (44) being aligned with a mouth of the bolting barrel (54) when rotated by a predetermined angle.

6. An automatic roof-bolter system according to claim 5, characterized in that each of said holders (44) is an elastic material piece with adjustable clamping force.

7. An automatic roof-bolter system according to claim 4, characterized in that the anchor kit (3) comprises a rod (31), a locking member (32) fitted around the end of the rod (31), the anchor-rotating cylinder (54) is rotatably connected to the output end of the anchor-pushing cylinder (53), and an inner cavity matching the shape of the locking member (32) is formed in the anchor-rotating cylinder (54).

8. A tunnel boring machine comprising a machine body (1) and an automatic roof-bolter system arranged on the machine body (1), characterized in that the automatic roof-bolter system is in particular an automatic roof-bolter system according to any one of claims 1-7.

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