CN113931634B - Comprehensive tunneling robot system for roadway - Google Patents

Abstract

The invention discloses a comprehensive tunnel tunneling robot system, which comprises a front air duct arranged on a tunneling robot, a bifurcation air duct arranged on an anchor robot and a rear air duct arranged on a belt conveyor, wherein the front air duct is provided with a tunnel supporting device; the front portion dryer includes first front portion dryer and the anterior dryer of second, and the bifurcation dryer has first minute dryer, second minute dryer and the third minute dryer of intercommunication each other, and the rear end and the first minute dryer of first flexible pipe section are connected, and the front end is connected with first front portion dryer, and hangs through the first subassembly that hangs of adjustable length, and the rear end and the second minute dryer of second flexible pipe section are connected, and the front end is connected with the anterior dryer of second, and hangs the subassembly through the second of adjustable length and hangs, and the rear end and the rear portion dryer of third flexible pipe section are connected. The comprehensive tunnel tunneling robot system has the advantages of safe and reliable connection of the wind tunnel, good working environment guarantee, convenience in anchor bolt support and the like.

Description

Comprehensive tunneling robot system for roadway

Technical Field

The invention relates to the technical field of roadway tunneling and supporting, in particular to a comprehensive roadway tunneling system.

Background

In order to ensure that the tunnel tunneling working face has a good working environment, an exhaust cylinder is arranged in the tunnel comprehensive tunneling system and extends into the position of the tunneling machine. In the related art, fixing the exhaust cylinder at the top of the roadway can affect the operation of driving the anchor rod on the top plate or the side wall of the roadway. However, when the exhaust cylinder is arranged on the comprehensive tunnel tunneling system, as the tunneling machine and the straddling type anchor rod drill carriage in the comprehensive tunnel tunneling system do not move synchronously, one part of the exhaust cylinder is connected with the tunneling machine, and the other part of the exhaust cylinder is connected with the anchor rod drill carriage, and the technical problem that the exhaust cylinder cannot stretch along with the front and back movement of the anchor rod drill carriage exists.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, the embodiment of the invention provides a comprehensive tunneling robot system for a roadway, which comprises a tunneling robot, a belt conveyor, an anchor robot and an air duct; the belt conveyor is connected to the rear part of the tunneling robot; the anchoring robot straddles above the belt conveyor; the air duct comprises a front air duct, a bifurcation air duct, a rear air duct, a first flexible pipe section, a second flexible pipe section and a third flexible pipe section; the front air duct is arranged on the tunneling robot and comprises a first front air duct and a second front air duct, the bifurcated air duct is arranged on the anchoring robot and is provided with a first air duct, a second air duct and a third air duct which are mutually communicated, the rear air duct is arranged on the belt conveyor, the rear end of the first flexible pipe section is connected with the first air duct, the front end of the first flexible pipe section is connected with the first front air duct, the anchoring robot and the tunneling robot are provided with a first suspension assembly of the first flexible pipe section, the rear end of the second flexible pipe section is connected with the second air duct, the front end of the second flexible pipe section is connected with the second front air duct, a second suspension assembly of the second flexible pipe section is arranged between the anchoring robot and the tunneling robot, the rear end of the third flexible pipe section is connected with the third flexible pipe section, and the second suspension assembly of the third flexible pipe section is connected with the third flexible pipe section, and the belt conveyor is arranged between the third flexible pipe section and the third flexible pipe section.

The tunnel comprehensive tunneling robot system provided by the embodiment of the invention has the advantages of convenience and reliability in connection of the air duct, reduction in workload of dragging the air duct, reduction in damage to the air duct, guarantee of good working environment when tunneling a working face, convenience in anchor bolt support and the like.

In some embodiments, the first suspension assembly includes a first winch, a first support frame, a first rope, and a plurality of first suspensions, one end of the first rope being connected to the first winch, the other end of the first rope being connected to the first support frame, the first winch being connected to one of the anchor robot and the tunneling robot, the first support frame being connected to the other of the anchor robot and the tunneling robot, upper ends of the plurality of first suspensions being connected to the first rope at intervals, lower ends of the plurality of first suspensions being connected to the first flexible pipe section at intervals;

The second suspension assembly comprises a second winch, a second supporting frame, a second pull rope and a plurality of second suspension pieces, one end of the second pull rope is connected with the second winch, the other end of the second pull rope is connected with the second supporting frame, the second winch is connected to one of the anchoring robot and the tunneling robot, the second supporting frame is connected to the other one of the anchoring robot and the tunneling robot, the upper ends of the plurality of second suspension pieces are connected to the second pull rope in a spaced mode, and the lower ends of the plurality of second suspension pieces are connected to the second flexible pipe section in a spaced mode;

The third suspension assembly comprises a third winch, a third supporting frame, a third pull rope and a plurality of third suspension pieces, one end of the third pull rope is connected with the third winch, the other end of the third pull rope is connected with the third supporting frame, the third winch is connected to one of the anchoring robot and the belt conveyor, the third supporting frame is connected to the other one of the anchoring robot and the belt conveyor, the upper ends of the third suspension pieces are connected to the third pull rope at intervals, and the lower ends of the third suspension pieces are connected to the third flexible pipe section at intervals.

In some embodiments, the first suspension is slidably coupled to the first pull cord; the second suspension piece is slidably connected to the second pull rope; the third suspension member is slidably coupled to the third pull cord.

In some embodiments, each of the first winch, the second winch, and the third winch is connected to the anchoring robot.

In some embodiments, each of the first, second, and third flexible tube segments is a flexible bellows segment.

In some embodiments, the belt conveyor is a mining mobile flexible belt conveyor, the rear portion of which is overlapped on the upper portion of the roadway conveyor.

In some embodiments, the comprehensive tunnel boring robot system according to the embodiment of the invention further comprises a plurality of portal roof support devices, the boring robot is located on the inner side of the portal roof support devices, and a carrying device for carrying the portal roof support devices to an empty roof area for support is arranged on the boring robot.

In some embodiments, the anchor robot further comprises a frame and a boom mechanism;

The drill arm mechanism comprises a front drill arm mechanism and a rear drill arm mechanism, the rear drill arm mechanism comprises a first rear drill arm and a second rear drill arm, the first rear drill arm is arranged at the left rear part of the rack, the second rear drill arm is arranged at the right rear part of the rack, and the front drill arm mechanism comprises a fixed seat, a first side drill arm, a second side drill arm and a middle drill arm;

The front drill boom mechanism is connected to the front portion of the frame, the first side drill boom is connected to the first movable sliding rail, the first movable sliding rail is connected to the first sliding rail of the fixing base in a sliding mode in the left-right direction, the first side drill boom is located on the left side of the fixing base, the second side drill boom is connected to the second movable sliding rail, the second movable sliding rail is connected to the second sliding rail of the fixing base in a sliding mode in the left-right direction, the second side drill boom is located on the right side of the fixing base, and the middle drill boom is connected to the third sliding rail of the fixing base in a sliding mode in the left-right direction.

In some embodiments, the anchor robot further comprises a first pushing ram, a first back-and-forth pushing ram, a second pushing ram, and a second back-and-forth pushing ram;

The first back drilling boom is connected to the first pushing frame, the first pushing frame is connected to the frame in a sliding manner along the front-back direction, the first front-back pushing oil cylinder is arranged on the frame, and the first front-back pushing oil cylinder is connected with the first pushing frame so as to drive the first pushing frame to move back and forth; the second back drill boom is connected to the second pushing frame, the second pushing frame is connected to the frame in a sliding mode along the front-back direction, the second front-back pushing oil cylinder is arranged on the frame, and the second front-back pushing oil cylinder is connected with the second pushing frame so as to drive the second pushing frame to move back and forth.

In some embodiments, a first left-right pushing cylinder is arranged on the fixed seat and connected with the first movable sliding rail so as to drive the first movable sliding rail to move on the first sliding rail;

The fixed seat is provided with a second left-right pushing oil cylinder which is connected with the second movable sliding rail so as to drive the second movable sliding rail to move on the second sliding rail;

the fixed seat is provided with a rack, the rack extends along the left-right direction, the middle drill boom is provided with a motor, the motor is connected with a gear in a transmission manner, and the gear is meshed with the rack so as to drive the middle drill boom to move on the third sliding rail.

Drawings

Fig. 1 is one of the schematic front views of a comprehensive tunneling robot system according to an embodiment of the present invention.

Fig. 2 is an enlarged partial schematic view of a first flexible pipe section (second flexible pipe section) connected to a first suspension assembly (second suspension assembly) according to an embodiment of the present invention.

Fig. 3 is an enlarged partial schematic view of a third flexible pipe section connected to a third suspension assembly in accordance with an embodiment of the invention.

Fig. 4 is a schematic view of an anchor robot mated with a belt conveyor according to an embodiment of the present invention.

Fig. 5 is a schematic top view of a comprehensive tunneling robot system according to an embodiment of the present invention.

Fig. 6 is a second schematic front view of a comprehensive tunneling robot system according to an embodiment of the present invention.

Fig. 7 is a schematic view of a portal roof support device according to an embodiment of the invention when deployed in a roadway.

Fig. 8 is a schematic view of an anchor robot according to an embodiment of the present invention.

FIG. 9 is one of the schematic views of the front boom mechanism according to an embodiment of the present invention.

Fig. 10 is a schematic view of each of a first rear boom, a second rear boom, a first side boom, and a second side boom according to an embodiment of the invention.

FIG. 11 is a second schematic view of a front boom mechanism according to an embodiment of the present invention.

Fig. 12 is a schematic view showing a retracted state of the first pushing frame and the second pushing frame of the anchor robot according to the embodiment of the present invention.

Fig. 13 is a schematic view showing an extended state of the first pushing frame and the second pushing frame of the anchor robot according to the embodiment of the present invention.

Reference numerals: 1000. a comprehensive tunneling robot system for a roadway; 100. anchoring the robot; 1. a frame; 11. an operation table; 12. a ceiling; 21. a rear boom mechanism; 211. a first rear boom; 212. a second rear boom; 22. a front boom mechanism; 221. a fixing seat; 2213. a first slide rail; 2215. a third slide rail; 2216. slotting; 2217. a rack; 222. a first side drill boom; 223. a second side drill boom; 201. a fixed bracket; 202. a sliding support; 203. lifting the oil cylinder; 204. a rotary cylinder; 205. a first swing bracket; 206. a side drilling frame; 207. a first swing cylinder; 224. an intermediate drill boom; 2241. a second swing bracket; 2242. a middle drill frame; 2243. a second swing cylinder; 2244. a gear; 2245. a motor; 226. a first movable slide rail; 227. a first left-right pushing cylinder; 228. the second movable slide rail; 229. a second left-right pushing cylinder; 3. a connecting frame; 4. a first pushing frame; 5. a second pushing frame; 6. a bifurcated wind tube; 61. a first air distributing cylinder; 62. a second air-distributing cylinder; 63. a third air dividing cylinder; 7. a walking unit; 71. a first travel mechanism; 72. a second travelling mechanism; 8. an electric control system; 9. a hydraulic system; 200. a roadway conveyor; 300. a belt conveyor; 301. a rear air duct; 400. tunneling robots; 401. a front air duct; 4011. a first front air duct; 4012. a second front air duct; 402. a carrying device; 501. a first flexible tube segment; 502. a second flexible tube segment; 503. a third flexible tube segment; 601. a first suspension assembly; 6011. a first winch; 6012. a first pull rope; 6013. a first suspension member; 602. a second suspension assembly; 6021. a second winch; 6022. a second pull rope; 6023. a second suspension member; 603. a third suspension assembly; 6031. a third winch; 6032. a third pull rope; 6033. a third suspension member; 6034. a third support frame; 700. a portal roof support device; 2000. and (5) a roadway.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

A comprehensive tunneling robot system 1000 according to an embodiment of the present invention is described below with reference to fig. 1 to 13. The comprehensive tunnel boring robot system 1000 according to the embodiment of the present invention includes a tunneling robot 400, a belt conveyor 300, an anchor robot 100, and a wind tunnel. The belt conveyor 300 is connected to the rear of the tunneling robot 400. The anchor robot 100 rides over the belt conveyor 300.

The cartridge comprises a front cartridge 401, a bifurcated cartridge 6, a rear cartridge 301, a first flexible tube segment 501, a second flexible tube segment 502 and a third flexible tube segment 503. The front wind tunnel 401 is provided on the tunneling robot 400. The front air duct 401 includes a first front air duct 4011 and a second front air duct 4012. The bifurcated duct 6 is provided in the anchor robot 100. The bifurcated duct 6 has a first duct 61, a second duct 62 and a third duct 63 which are in communication with each other. The rear duct 301 is provided on the belt conveyor 300.

The rear end of the first flexible pipe section 501 is connected to a first air distributor 61. The front end of the first flexible pipe section 501 is connected to a first front air duct 4011. A first suspension assembly 601 of adjustable length that suspends the first flexible pipe section 501 is provided between the bolting robot 100 and the tunneling robot 400. The rear end of the second flexible tube section 502 is connected to a second air distributor 62. The front end of the second flexible pipe section 502 is connected to a second front air duct 4012. A second suspension assembly 602 of adjustable length that suspends the second flexible pipe section 502 is provided between the bolting robot 100 and the tunneling robot 400. The rear end of the third flexible tube section 503 is connected to the rear air duct 301. The front end of the third flexible tube section 503 is connected to a third air distributing duct 63. A third suspension assembly 603 for suspending the third flexible pipe section 503 of adjustable length is provided between the anchoring robot 100 and the belt conveyor 300.

In the related art, fixing the exhaust cylinder at the top of the roadway can affect the operation of driving the anchor rod on the top plate or the side wall of the roadway. However, when the exhaust cylinder is arranged on the comprehensive tunnel tunneling robot system, as the tunneling robot and the straddling type anchor protection robot in the comprehensive tunnel tunneling robot system do not move synchronously, one part of the exhaust cylinder is connected with the tunneling robot, and the other part of the exhaust cylinder is connected with the anchor protection robot, the technical problem that the exhaust cylinder cannot stretch along with the forward and backward movement of the anchor protection robot exists.

When the comprehensive tunnel boring robot system 1000 according to the embodiment of the present invention operates, the distance between the anchor robot 100 and the tunneling robot 400 is shortened and the distance between the anchor robot 100 and the rear end portion of the belt conveyor 300 is lengthened when the anchor robot 100 moves forward with respect to the tunneling robot 400. The first flexible pipe section 501, the second flexible pipe section 502 and the third flexible pipe section 503 are arranged, so that the air duct can stretch and retract along with the forward movement of the anchoring robot. In addition, by shortening the first suspension assembly 601 at this time, the first flexible pipe section 501 can be shortened without sagging. By shortening the second suspension assembly 602, the second flexible pipe section 502 can be shortened without sagging. By extending the third suspension assembly 603, the third flexible pipe section can be extended without being pulled apart by the third suspension assembly 603.

Similarly, when the anchor robot 100 moves backward with respect to the tunneling robot 400, the distance between the anchor robot 100 and the tunneling robot 400 becomes longer, and the distance between the anchor robot 100 and the rear end portion of the belt conveyor 300 becomes shorter. The first flexible pipe section 501, the second flexible pipe section 502 and the third flexible pipe section 503 are arranged, so that the air duct can stretch and retract along with the backward movement of the anchoring robot. Further, by extending the first suspension assembly 601 at this time, the first flexible pipe section 501 can be extended without being pulled apart by the first suspension assembly 601. By extending the second suspension assembly 602, the second flexible pipe section 502 can be stretched without being pulled apart by the second suspension assembly 602. By shortening the third suspension assembly 603, the third flexible pipe section can be shortened without sagging.

Thus, according to the comprehensive tunnel boring robot system 1000 of the embodiment of the invention, by arranging the first flexible pipe section 501 and the first suspension assembly 601 suspending the first flexible pipe section 501, the second flexible pipe section 502 and the second suspension assembly 602 suspending the second flexible pipe section 502, and the third flexible pipe section 503 and the third suspension assembly 603 suspending the third flexible pipe section 503, not only can the air duct synchronously extend and retract along with the forward and backward movement of the anchor robot 100, but also the air duct can not be suspended and pulled out due to the forward and backward extension, so that the air duct can be conveniently and reliably arranged on the comprehensive tunnel boring robot system 1000. The air duct is arranged on the tunneling robot 400, the belt conveyor 300 and the anchoring robot 100, so that the anchoring operation of the roadway can be facilitated, and the workload and the damage to the air duct caused by manual dragging of the air duct are reduced. Furthermore, the comprehensive tunnel excavation robot system 1000 provided by the embodiment of the invention not only can ensure that an excavation working face has a good working environment, but also is convenient for the comprehensive tunnel excavation robot system 1000 to carry out anchor bolt support.

Therefore, the comprehensive tunnel tunneling robot system 1000 provided by the embodiment of the invention has the advantages of convenience and reliability in connection of the air duct, reduction in workload of dragging the air duct, reduction in damage to the air duct, guarantee of good working environment when tunneling a working face, convenience in anchor bolt support and the like.

A comprehensive tunneling robot system 1000 according to an embodiment of the present invention is described in detail below with reference to fig. 1 to 13.

The comprehensive tunnel boring robot system 1000 according to the embodiment of the present invention includes a tunneling robot 400, a belt conveyor 300, an anchor robot 100, and a wind tunnel. The belt conveyor 300 is connected to the rear of the tunneling robot 400. The anchor robot 100 rides over the belt conveyor 300. The left-right direction is shown by an arrow a in fig. 8, 9 and 11, the up-down direction is shown by an arrow B in fig. 8, 9 and 11, and the front-back direction is shown by an arrow C in fig. 1, 6, 8, 9 and 11.

The cartridge comprises a front cartridge 401, a bifurcated cartridge 6, a rear cartridge 301, a first flexible tube segment 501, a second flexible tube segment 502 and a third flexible tube segment 503. The front wind tunnel 401 is provided on the tunneling robot 400. The front air duct 401 includes a first front air duct 4011 and a second front air duct 4012. The bifurcated duct 6 is provided in the anchor robot 100. The bifurcated duct 6 has a first duct 61, a second duct 62 and a third duct 63 which are in communication with each other. The rear duct 301 is provided on the belt conveyor 300.

The rear end of the first flexible pipe section 501 is connected to a first air distributor 61. The front end of the first flexible pipe section 501 is connected to a first front air duct 4011. A first suspension assembly 601 of adjustable length that suspends the first flexible pipe section 501 is provided between the bolting robot 100 and the tunneling robot 400. The rear end of the second flexible tube section 502 is connected to a second air distributor 62. The front end of the second flexible pipe section 502 is connected to a second front air duct 4012. A second suspension assembly 602 of adjustable length that suspends the second flexible pipe section 502 is provided between the bolting robot 100 and the tunneling robot 400. The rear end of the third flexible tube section 503 is connected to the rear air duct 301. The front end of the third flexible tube section 503 is connected to a third air distributing duct 63. A third suspension assembly 603 for suspending the third flexible pipe section 503 of adjustable length is provided between the anchoring robot 100 and the belt conveyor 300.

As shown in fig. 1-3, the first suspension assembly 601 includes a first winch 6011, a first support frame (not shown), a first pull rope 6012, and a plurality of first suspensions 6013. One end of the first rope 6012 is connected to the first winch 6011. The other end of the first pull rope 6012 is connected with the first supporting frame. The first winch 6011 is connected to one of the anchor robot 100 and the heading robot 400. The first support bracket is connected to the other of the anchor robot 100 and the tunneling robot 400. The upper ends of the plurality of first suspenders 6013 are connected to the first string 6012 at intervals, and the lower ends of the plurality of first suspenders 6013 are connected to the first flexible pipe section 501 at intervals.

Second suspension assembly 602 includes a second winch 6021, a second support frame (not shown), a second rope 6022, and a plurality of second suspensions 6023. One end of second rope 6022 is connected to second winch 6021. The other end of the second stay 6022 is connected with the second supporting frame. A second winch is connected to one of the anchor robot 100 and the tunneling robot 400 and a second support frame is connected to the other of the anchor robot 100 and the tunneling robot 400. The upper ends of the plurality of second suspenders 6023 are connected to the second stay 6022 at intervals, and the lower ends of the plurality of second suspenders 6023 are connected to the second flexible pipe section 502 at intervals.

The third suspension assembly 603 includes a third winch 6031, a third support bracket 6034, a third pull rope 6032, and a plurality of third suspensions 6033. One end of the third rope 6032 is connected to a third winch 6031. The other end of the third rope 6032 is connected to a third support bracket 6034. A third winch 6031 is connected to one of the anchor robot 100 and the belt conveyor 300, and a third support frame 6034 is connected to the other of the anchor robot 100 and the belt conveyor 300. The upper ends of the plurality of third suspenders 6033 are connected to the third stay 6032 at intervals, and the lower ends of the plurality of third suspenders 6033 are connected to the third flexible pipe section 503 at intervals.

Thus, the first drawing rope 6012 can be conveniently controlled to be lengthened and shortened by controlling the steering of the first winch 6011 through the operation handle, the second drawing rope 6022 can be conveniently controlled to be lengthened and shortened by controlling the steering of the second winch 6021 through the operation handle, and the third drawing rope 6032 can be conveniently controlled to be lengthened and shortened by controlling the steering of the third winch 6031 through the operation handle, so that the tension degree of each of the first suspension assembly 601, the second suspension assembly 602 and the third suspension assembly 603 can be conveniently adjusted.

Since each of the first rope 6012, the second rope 6022, and the third rope 6032 cannot be extended and contracted by itself, the length of the first rope 6012 between the first winch 6011 and the first support frame is adjusted by the first winch 6011, the length of the second rope 6022 between the second winch 6021 and the second support frame is adjusted by the second winch 6021, and the length of the third rope 6032 between the third winch 6031 and the third support frame is adjusted by the third winch 6031. While each of the first flexible pipe segment 501, the second flexible pipe segment 502, and the third flexible pipe segment 503 is itself capable of telescoping.

The first hanger 6013 is slidably coupled to the first stay 6012 to avoid the first hanger 6013 from obstructing the extension and retraction of the first stay 6012. The second suspension 6023 is slidably coupled to the second stay 6022 to prevent the second suspension 6023 from resisting extension and retraction of the second stay 6022. Third suspension 6033 is slidably coupled to third stay 6032 to avoid third suspension 6033 from obstructing extension and retraction of third stay 6032. The telescoping of each of the first, second, and third draw cords 6012, 6022, 6032 can thereby be more conveniently accomplished, and each of the first, second, and third flexible tube sections 501, 502, 503 can be more freely telescoping.

Alternatively, an upper end of the first hanger 6013 connected to the first pulling rope 6012 is provided as a hanging ring, and an upper end of the second hanger 6023 connected to the second pulling rope 6022 is provided as a hanging ring. The upper end of the third suspension 6033 connected to the third rope 6032 is provided as a hanging ring. The bail facilitates sliding on each of the first, second, and third draw cords 6012, 6022, 6032.

As shown in fig. 1-3, each of first winch 6011, second winch 6021, and third winch 6031 are coupled to an anchor robot 100. Since the anchor robot 100 needs to move back and forth during bolting or anchor rope, the extension and compression of each of the first flexible pipe section 501, the second flexible pipe section 502 and the third flexible pipe section 503 are caused by the movement of the anchor robot 100 relative to the tunneling robot 400 and the belt conveyor 300, each of the first winch 6011, the second winch 6021 and the third winch 6031 is provided on the anchor robot 100, the handles for controlling the first winch 6011, the second winch 6021 and the third winch 6031 are also provided on the anchor robot 100, and the first winch 6011, the second winch 6021 and the third winch 6031 can be controlled in a linked manner while controlling the forward and backward movement of the anchor robot 100, thereby controlling the first winch 6011, the second winch 6021 and the third winch 6031 more conveniently.

As shown in fig. 1-3, each of the first flexible pipe section 501, the second flexible pipe section 502, and the third flexible pipe section 503 may alternatively be flexible bellows sections. The flexible corrugated pipe section has large extension and compression amplitude, and is not easy to damage after extension and compression.

As shown in fig. 1, 4 and 6, the belt conveyor 300 is a mining mobile flexible belt conveyor. The rear part of the mining movable flexible rubber belt conveyor is lapped on the upper part of the roadway conveyor 200. The mining mobile flexible belt conveyor is a floor-standing belt conveyor 300 with wheels at the bottom, so even if the roadway conveyor 200 has an overlapping section, the middle part of the mining mobile flexible belt conveyor does not hang up. Therefore, the height of the mining movable flexible adhesive tape conveyor is low, the anchor robot 100 can conveniently ride above the mining movable flexible adhesive tape conveyor, and a too high driving channel is not required to be formed at the bottom of the anchor robot 100. In addition, the rear part of the mining movable flexible adhesive tape conveyor is lapped on the upper part of the roadway conveyor 200, so that an overlapped section exists between the mining movable flexible adhesive tape conveyor and the roadway conveyor 200, the mining movable flexible adhesive tape conveyor can be connected with the tunneling robot 400 through a chain, the overlapped section between the mining movable flexible adhesive tape conveyor and the roadway conveyor 200 is gradually shortened in the process that the mining movable flexible adhesive tape conveyor moves forward along with the tunneling robot 400, and the roadway conveyor 200 does not need to be prolonged in the process. When no overlapping section exists between the mining movable flexible rubber belt conveyor and the roadway conveyor 200, the roadway conveyor 200 is prolonged, so that the frequency of the roadway conveyor 200 is reduced and prolonged in the forward tunneling process of the tunneling robot 400, and the tunneling efficiency is improved.

As shown in fig. 6 and 7, the comprehensive tunnel boring robot system 1000 according to the embodiment of the present invention further includes a plurality of portal roof supports 700. The tunneling robot 400 is located inside the portal roof support 700. The tunneling robot 400 is provided with a carrying device 402 for carrying the gantry type roof support device 700 to the empty roof area for support.

The portal roof support device 700 is located above the tunneling robot 400 to support the empty roof area roof, forming a temporary support area for safe operation of the tunneling robot 400. While the tunneling robot 400 is tunneling, the anchor robot 100 anchors the rear of the tunneling robot 400. Through setting up handling device 402 on tunneling robot 400, can be with the portal roof support device 700 that is located the rearmost in a plurality of portal roof support devices 700 retrieve and transport the empty top district in front end again and prop up the use, can avoid appearing supporting the phenomenon that the roof is broken that same position roof was followed to the repetition, guaranteed the safety and the high efficiency of tunnel 2000 tunneling.

The anchor robot 100 can enter the portal roof support device 700 to play the anchor rod, the anchor rod is played between the last two portal roof support devices 700, the carrying device 402 on the tunneling robot 400 retrieves and conveys the last portal roof support device 700 to the forefront end for support, so that large empty tops cannot occur at any time at the rearmost end of the portal roof support device 700, and the tunneling safety of the roadway 2000 can be ensured even if the roof is broken.

In some embodiments, the comprehensive tunnel boring robot system 1000 according to the embodiment of the present invention further includes a dust removing fan provided on a moving device on the tunnel conveyor 200, which can move together with the belt conveyor 300.

As shown in fig. 8-11, the anchor robot 100 further includes a frame 1 and a boom mechanism. The boom mechanism includes a front boom mechanism 22 and a rear boom mechanism 21. The rear boom mechanism 21 includes a first rear boom 211 and a second rear boom 212. The first rear boom 211 is provided at the left rear of the frame 1. The second rear boom 212 is provided at the right rear of the frame 1.

The front boom mechanism 22 includes a holder 221, a first side boom 222, a second side boom 223, and an intermediate boom 224. A front boom mechanism 22 is attached to the front of the frame 1. The first side drill boom 222 is coupled to a first movable slide 226. The first movable sliding rail 226 is slidably connected to the first sliding rail 2213 of the fixed base 221 along the left-right direction. The first side boom 222 is located to the left of the holder 221. The second side boom 223 is attached to a second movable rail 228. The second movable rail 228 is slidably connected to the second rail of the fixed base 221 along the left-right direction. The second side boom 223 is located on the right side of the holder 221. The middle drill boom 224 is slidably coupled to the third slide 2215 of the fixed base 221 in the left-right direction.

In the related art, the movement range of each boom in the front boom mechanism of the anchor robot is limited. When the anchor robot and the portal roof supporting device are matched to support the roadway roof, the tunneling robot is positioned on the inner side of the portal roof supporting device, so that the left-right swinging range of the tunneling robot and the anchor robot positioned at the rear part of the tunneling robot is small, all the drill booms of the front drill boom mechanism cannot freely move along the left-right direction of the anchor robot, the supporting range of the front drill boom mechanism is limited, and the roadway adaptability and the supporting efficiency of the anchor robot are seriously reduced.

The anchor robot 100 is provided with the third slide rail 2215 in the front drill arm mechanism 22, and the middle drill arm 224 is directly connected to the third slide rail 2215 in a sliding manner along the left-right direction, so that the middle drill arm 224 can conveniently and freely slide along the left-right direction of the anchor robot 100, the front drill arm mechanism 22 can realize supporting at the center position of the roadway 2000 and supporting in a certain range at two sides of the center position of the roadway, and roadway adaptability and supporting efficiency of the anchor robot 100 can be improved to a great extent.

In addition, the middle drill boom 224 moves in the left-right direction on the third slide 2215 on the fixed base 221. The first side drill boom 222 can move along the left-right direction along with the first movable slide rail 226 outside the left end of the fixed base 221. The second side drill boom 223 can move along the left-right direction along with the second movable slide rail 228 outside the right end of the fixed base 221. The intermediate boom 224, the first side boom 222 and the second side boom 223 do not affect each other when moving. This allows the front boom mechanism 22 to have a larger bolting and anchoring range in the left-right direction, and thus further improves the roadway adaptability and the support efficiency of the anchor robot 100.

It will be appreciated that the upper part of the frame 1 is also provided with a ceiling 12 and an operating table 11, the operating table 11 being located below the ceiling 12. The anchor robot 100 further comprises an electric control system 8 and a hydraulic system 9 arranged on the frame 1.

As shown in fig. 12 and 13, the anchoring robot 100 preferably further includes a connection frame 3. The front boom mechanism 22 is connected to the connection frame 3. The connecting frame 3 is provided with a plurality of groups of connecting hole sites (not shown) which are connected with the frame 1 at intervals along the up-down direction. The connecting frame 3 is connected to the front part of the frame 1 through a fastener and one of a plurality of groups of connecting hole sites. Therefore, the upper and lower positions of the connecting frame 3 on the frame 1 can be changed by changing the connecting hole positions of the connecting frame 3 connected with the frame 1, so that the upper and lower positions of the front drill boom mechanism 22 mounted on the connecting frame 3 can be changed to adapt to roadways 2000 with different heights, and roadway adaptability of the anchor robot 100 can be further improved.

As shown in fig. 8, the first air distributor 61 is disposed at the left front of the anchor robot 100, the second air distributor 62 is disposed at the right front of the anchor robot 100, the third air distributor 63 is disposed at the middle rear of the anchor robot 100, and the front end of the third air distributor 63 communicates with the rear end of each of the first air distributor 61 and the second air distributor 62. The first air distributing cylinder 61 and the second air distributing cylinder 62 are respectively positioned at the left side and the right side of the frame 1, so that interference with the connecting frame 3 connected to the middle of the frame 1 can be avoided, and the structure of the anchor robot 100 can be more compact and reasonable. In addition, the first air distributing cylinder 61 and the second air distributing cylinder 62 which are positioned at the left side and the right side of the frame 1 are convenient to be in butt joint with two air distributing cylinders at the two sides of the tunneling robot body, and meanwhile, the two air distributing cylinders are positioned at the two sides, so that the tunneling robot can be prevented from being influenced to discharge materials to a conveyor receiving hopper penetrating under the anchoring robot 100.

In the related art, a rear drill boom of a rear drill boom mechanism of the anchor robot cannot move back and forth, and roadway adaptability and supporting efficiency of the anchor robot can be reduced to a certain extent.

As shown in fig. 8, the anchor robot 100 further includes a first pushing frame 4, a first front-rear pushing cylinder, a second pushing frame 5, and a second front-rear pushing cylinder. The first rear boom 211 is connected to the first pushing frame 4, and the first pushing frame 4 is slidably connected to the frame 1 in the front-rear direction. The first front-back pushing oil cylinder is connected to the frame 1 and connected with the first pushing frame 4 so as to drive the first pushing frame 4 to move back and forth on the frame 1. The second rear boom 212 is connected to the second pusher carriage 5. The second pushing frame 5 is slidably connected to the frame 1 in the front-rear direction. The second front-back pushing oil cylinder is connected to the frame 1 and connected with the second pushing frame 5 so as to drive the second pushing frame 5 to move back and forth on the frame 1.

Because each of the first pushing frame 4 and the second pushing frame 5 can slide back and forth on the frame 1, each of the first rear drill boom 211 and the second rear drill boom 212 can move back and forth on the frame 1, so that the back drill boom mechanism 21 can be conveniently adjusted in front and back positions in a roadway, holes are formed when the back drill boom mechanism 21 is conveniently used for bolting (for example, a side wall bolting machine is used for bolting a tunneling robot on the same cross section of which a roof bolting machine is used for bolting, holes can be conveniently formed to enable the side wall bolting machine and the roof bolting machine to be on the same cross section), and meanwhile, the back drill boom mechanism 21 can be used for bolting a certain distance relative to the front drill boom mechanism 22 so as to adapt to different supporting distances, and roadway adaptability of the anchoring robot 100 can be further improved. For example, the rear boom mechanism 21 may be moved so that the distance between the rear boom mechanism 21 and the front boom mechanism 22 is an integer multiple of the roadway anchor bar pitch, or the rear boom mechanism 21 may be moved so that the distance between the rear boom mechanism 21 and the front boom mechanism 22 is an integer multiple of the roadway anchor bar pitch plus half the anchor bar pitch (because anchor cables are typically arranged between two rows of anchor bars), so that anchor robot 100 can perform anchor cable support operation for the top and the side walls of the roadway at the same time when it is stopped at one position, thereby reducing the number of times of vehicle movement and further improving the support efficiency.

As shown in fig. 9, the fixed base 221 is provided with a first left-right pushing cylinder 227. The first left and right pushing cylinder 227 is connected to the first movable slide rail 226 to drive the first movable slide rail 226 to move on the first slide rail 2213. The fixing base 221 is provided with a second left-right pushing cylinder 229. The second left and right pushing cylinder 229 is connected to the second movable rail 228 so as to drive the second movable rail 228 to move on the second rail. The fixing base 221 is provided with a rack 2217, and the rack 2217 extends in the left-right direction. A motor 2245 is provided on the middle boom 224. Motor 2245 is in driving connection with gear 2244. Gear 2244 engages rack 2217 to drive the middle boom 224 to move on third slide 2215. Thus, the first movable rail 226 can be moved by controlling the first left and right pushing cylinders 227, the second movable rail 228 can be moved by controlling the second left and right pushing cylinders 229, and the middle boom 224 can be moved by controlling the motors 2245, so that the support position of each of the middle boom 224, the first side boom 222, and the second side boom 223 can be conveniently and individually adjusted, and further, the roadway adaptability and the support efficiency of the anchor robot 100 can be further improved.

In addition, the gear 2244 can freely move within the full length range of the rack 2217, so that the middle drill boom 224 can freely move within the full length range of the third slide rail 2215, and further, the anchoring robot 100 can be reliably ensured to support at the center position of the roadway, and roadway adaptability and supporting efficiency are improved.

As shown in fig. 9 and 11, the first slide 2213 is disposed at an upper portion of the fixed base 221. The second slide rail is disposed at a lower portion of the fixing base 221. The fixing base 221 has a slot 2216 formed in the middle thereof to extend in the left-right direction. A third slide 2215 is disposed within the slot 2216.

Thereby, the third slide 2215 can be disposed in the lateral direction over the nearly entire length of the fixing base 221. The expansion and contraction range of the first left and right pushing ram 227 and the first slide rail 2213 can be set in the left and right direction within the nearly full length range of the fixing base 221. The extension and retraction range of the second left and right push cylinder 229 and the second slide rail can be set in the left and right direction within the nearly full length range of the fixing base 221. The third slide rail 2215, the first left-right pushing cylinder 227, the first slide rail 2213, the second left-right pushing cylinder 229 and the second slide rail do not interfere with each other in the left-right direction of the fixing base 221, so that the left-right direction space of the fixing base 221 can be fully utilized, the left-right movement range of the first side drill boom 222, the middle drill boom 224 and the second side drill boom 223 is wider, and further, the roadway adaptability and the supporting efficiency of the anchoring robot 100 can be further improved.

In addition, the third slide rail 2215 is disposed in the slot 2216 in the middle of the fixing seat 221, so that a part of the middle drill boom 224 can conveniently penetrate into the slot 2216 to be matched with the third slide rail 2215, and thus the matching strength of the middle drill boom 224 and the third slide rail 2215 can be improved.

As shown in fig. 11, the number of intermediate booms 224 may be plural depending on the roadway support needs. For example, the number of intermediate drill arms 224 is two. Each intermediate boom 224 has a motor 2245 and a gear 2244 engaged therewith so that each intermediate boom 224 can be driven separately, so that any one of the plurality of intermediate booms 224 can be moved left and right without affecting each other, thereby enabling further improvement in roadway adaptability and support efficiency of the anchor robot 100.

As shown in fig. 9-11, each of the first rear boom 211, the second rear boom 212, the first side boom 222, and the second side boom 223 includes a fixed bracket 201, a sliding bracket 202, a lifting cylinder 203, a rotating cylinder 204, a first swing bracket 205, a side boom 206, and a first swing cylinder 207.

The fixed bracket 201 of the first rear boom 211 is connected to the left rear part of the frame 1 through the first pushing frame 4. The fixed bracket 201 of the second rear boom 212 is connected to the right rear part of the frame 1 through the second pushing frame 5. The fixed support 201 of the first side boom 222 is connected to a first movable slide 226. The fixed support 201 of the second side boom 223 is connected to a second movable slide 228.

The sliding bracket 202 is slidably coupled to the first fixed bracket 201. One of the body and the piston rod of the lift cylinder 203 is connected to the first fixing bracket 201. The other of the body and the piston rod of the lift cylinder 203 is connected to the sliding bracket 202 so as to push the sliding bracket 202 to move up and down on the first fixed bracket 201. The body of the rotary cylinder 204 is attached to the sliding bracket 202. The rotating bracket 205 is connected to a driving shaft of the rotating cylinder 204 so that the rotating cylinder 204 can drive the rotating bracket 205 to rotate. The axis of the drive shaft extends in the front-rear direction. The side drilling frame 206 is hinged to the swivel support 205. One of the body and the piston rod of the first swing cylinder 207 is hinged to the side drill frame 206, and the other of the body and the piston rod of the first swing cylinder 207 is hinged to the rotary bracket 205 so as to drive the side drill frame 206 to swing. The swing axis of the side boom 206 is perpendicular to the axis of the drive shaft of the rotary cylinder 204.

Thus, the side frame 206 of each of the first and second rear booms 211 and 212 may be moved back and forth, the side frame 206 of the first side boom 222 may be moved left and right on the left side of the holder 221, and the side frame 206 of the second side boom 223 may be moved left and right on the right side of the holder 221. The side drilling frame 206 of each of the first rear drilling boom 211, the second rear drilling boom 212, the first side drilling boom 222, and the second side drilling boom 223 may be lifted up and down, may be rotated about the axis of the driving shaft extending in the front-rear direction, and may be swung back and forth by a certain angle, thereby providing the anchoring robot 100 with higher roadway adaptability.

As shown in fig. 9 and 11, the middle boom 224 includes a second fixed cradle 2241, a middle boom 2242, and a second swing cylinder 2243. The second fixing bracket 2241 is slidably connected to the third slide 2215. The middle drill frame 2242 is hingedly connected to the second fixed mount 2241. One of a body and a piston rod of the second swing cylinder 2243 is hinge-coupled with the intermediate drill frame 2242, and the other of the body and the piston rod of the second swing cylinder 2243 is hinge-coupled with the second fixing bracket 2241 so as to drive the intermediate drill frame 2242 to swing. The swing axis of the middle boom 2242 extends in the left-right direction.

The middle boom 2242 of the middle boom 224 can be moved in the left-right direction and can be swung back and forth by a certain angle, thereby providing the anchoring robot 100 with higher roadway adaptability.

As shown in fig. 8, a traveling unit 7 is connected to the lower part of the frame 1. The traveling unit 7 includes a first traveling mechanism 71 and a second traveling mechanism 72. The first running gear 71, the second running gear 72 and the frame 1 form a running path through which the belt conveyor 300 passes. The anchor robot 100 can be conveniently ridden on the belt conveyor 300, so that tunneling, supporting and transporting parallel operation in a roadway can be conveniently realized.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "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 shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

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 at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified 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; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, 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.

For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, 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.

While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, 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 invention.

Claims (8)

1. A comprehensive tunneling robot system for a roadway, comprising:

Tunneling robots;

the belt conveyor is connected to the rear part of the tunneling robot;

The anchoring robot straddles above the belt conveyor; and

A wind tunnel, the wind tunnel comprising:

The front air duct is arranged on the tunneling robot and comprises a first front air duct and a second front air duct,

A bifurcation duct which is arranged on the anchoring robot and is provided with a first bifurcation duct, a second bifurcation duct and a third bifurcation duct which are mutually communicated,

A rear air duct which is arranged on the belt conveyor,

The rear end of the first flexible pipe section is connected with the first air distributing cylinder, the front end of the first flexible pipe section is connected with the first front air distributing cylinder, a first suspension component which is provided with adjustable length and is used for suspending the first flexible pipe section is arranged between the anchoring robot and the tunneling robot,

A second flexible pipe section, the rear end of the second flexible pipe section is connected with the second air distributor, the front end of the second flexible pipe section is connected with the second front air distributor, a second suspension component which is provided with an adjustable length and is used for suspending the second flexible pipe section is arranged between the anchoring robot and the tunneling robot, and

The rear end of the third flexible pipe section is connected with the rear air duct, the front end of the third flexible pipe section is connected with the third air duct, and a third suspension assembly which is adjustable in length and used for suspending the third flexible pipe section is arranged between the anchoring robot and the belt conveyor;

The first suspension assembly comprises a first winch, a first support frame, a first stay rope and a plurality of first suspension pieces, one end of the first stay rope is connected with the first winch, the other end of the first stay rope is connected with the first support frame, the first winch is connected to one of the anchoring robot and the tunneling robot, the first support frame is connected to the other one of the anchoring robot and the tunneling robot, the upper ends of the plurality of first suspension pieces are connected to the first stay rope at intervals, and the lower ends of the plurality of first suspension pieces are connected to the first flexible pipe section at intervals;

The second suspension assembly comprises a second winch, a second supporting frame, a second pull rope and a plurality of second suspension pieces, one end of the second pull rope is connected with the second winch, the other end of the second pull rope is connected with the second supporting frame, the second winch is connected to one of the anchoring robot and the tunneling robot, the second supporting frame is connected to the other one of the anchoring robot and the tunneling robot, the upper ends of the plurality of second suspension pieces are connected to the second pull rope in a spaced mode, and the lower ends of the plurality of second suspension pieces are connected to the second flexible pipe section in a spaced mode;

the third suspension assembly comprises a third winch, a third supporting frame, a third pull rope and a plurality of third suspension pieces, one end of the third pull rope is connected with the third winch, the other end of the third pull rope is connected with the third supporting frame, the third winch is connected to one of the anchoring robot and the belt conveyor, the third supporting frame is connected to the other one of the anchoring robot and the belt conveyor, the upper ends of the plurality of third suspension pieces are connected to the third pull rope at intervals, and the lower ends of the plurality of third suspension pieces are connected to the third flexible pipe section at intervals;

The first suspension piece is slidably connected to the first pull rope; the second suspension piece is slidably connected to the second pull rope; the third suspension member is slidably coupled to the third pull cord.

2. The tunneling robot system of claim 1, wherein each of said first winch, said second winch, and said third winch is coupled to said anchor robot.

3. The tunneling robot system of claim 1, wherein each of the first, second, and third flexible pipe sections is a flexible bellows section.

4. The comprehensive tunnel boring robot system according to claim 1, wherein the belt conveyor is a mining movable flexible belt conveyor, and the rear part of the mining movable flexible belt conveyor is lapped on the upper part of the tunnel conveyor.

5. The comprehensive tunnel boring robot system according to claim 1, further comprising a plurality of portal roof support devices, wherein the boring robot is located inside the portal roof support devices, and a carrying device for carrying the portal roof support devices to an empty roof area for support is arranged on the boring robot.

6. The tunneling robot system of claim 1, wherein said anchor robot further comprises:

A frame; and

The boom mechanism, the boom mechanism includes preceding boom mechanism and back boom mechanism, back boom mechanism includes first back boom and second back boom, first back boom sets up the left rear portion of frame, the second back boom sets up the right rear portion of frame, preceding boom mechanism includes:

The front drill arm mechanism is connected to the front part of the frame,

A first side drill boom connected to a first movable slide rail, the first movable slide rail being slidably connected to a first slide rail of the fixed seat in the left-right direction, the first side drill boom being located on the left side of the fixed seat,

The second side drill boom is connected to the second movable slide rail, the second movable slide rail is connected to the second slide rail of the fixing seat in a sliding manner along the left-right direction, the second side drill boom is positioned on the right side of the fixing seat, and

And the middle drill boom is connected to the third sliding rail of the fixed seat in a sliding manner along the left-right direction.

7. The tunneling robot system of claim 6, wherein said anchor robot further comprises:

The first back drilling boom is connected to the first pushing frame, the first pushing frame is connected to the frame in a sliding mode along the front-back direction, the first front-back pushing cylinder is arranged on the frame, and the first front-back pushing cylinder is connected with the first pushing frame so as to drive the first pushing frame to move back and forth; and

The second pushing frame and the second front-back pushing cylinder are connected to the second pushing frame, the second pushing frame is connected to the frame in a sliding mode along the front-back direction, the second front-back pushing cylinder is arranged on the frame, and the second front-back pushing cylinder is connected with the second pushing frame so as to drive the second pushing frame to move back and forth.

8. The comprehensive tunnel boring robot system according to claim 6, wherein a first left-right pushing cylinder is arranged on the fixed seat, and the first left-right pushing cylinder is connected with the first movable sliding rail so as to drive the first movable sliding rail to move on the first sliding rail;

The fixed seat is provided with a second left-right pushing oil cylinder which is connected with the second movable sliding rail so as to drive the second movable sliding rail to move on the second sliding rail;

the fixed seat is provided with a rack, the rack extends along the left-right direction, the middle drill boom is provided with a motor, the motor is connected with a gear in a transmission manner, and the gear is meshed with the rack so as to drive the middle drill boom to move on the third sliding rail.