CN113931666A - Anchor cable beam construction device and method - Google Patents
Anchor cable beam construction device and method Download PDFInfo
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- CN113931666A CN113931666A CN202111566297.4A CN202111566297A CN113931666A CN 113931666 A CN113931666 A CN 113931666A CN 202111566297 A CN202111566297 A CN 202111566297A CN 113931666 A CN113931666 A CN 113931666A
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- 238000010276 construction Methods 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title abstract description 10
- 238000005553 drilling Methods 0.000 claims abstract description 58
- 238000009434 installation Methods 0.000 claims abstract description 25
- 238000007569 slipcasting Methods 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 50
- 239000011435 rock Substances 0.000 claims description 16
- 230000008859 change Effects 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 8
- 239000000523 sample Substances 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 3
- 239000011440 grout Substances 0.000 claims 1
- 230000009471 action Effects 0.000 description 8
- 239000002002 slurry Substances 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 238000003860 storage Methods 0.000 description 4
- 230000032258 transport Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 239000011359 shock absorbing material Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/02—Setting anchoring-bolts with provisions for grouting
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/02—Setting anchoring-bolts with provisions for grouting
- E21D20/028—Devices or accesories for injecting a grouting liquid in a bore-hole
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Abstract
The invention provides an anchor cable beam construction device and method, and relates to the technical field of anchor cable beam construction, and the anchor cable beam construction device comprises a mobile platform, a mechanical arm and a drilling machine, wherein the mobile platform is provided with a conveying channel for an anchor cable beam to pass through, one end of a conveying belt is butted with a rotary platform, and the other end of the conveying belt passes through the conveying channel; the arm is equipped with at least two, the one end of every arm is all installed in moving platform through telescopic machanism, the arm is kept away from telescopic machanism's one end and is installed gyration end and slip casting tension structure, form the clamping part between the gyration end of adjacent arm, the rig is installed in moving platform and work end towards the clamping part, to the big problem that is difficult to satisfy the demand of the intensity of just strutting to present tunnel anchor rope roof beam construction degree of difficulty, keep in the anchor rope roof beam through moving platform, the transport, combine gyration platform and arm to adjust and prepositioning the anchor rope roof beam gesture, combine rig and slip casting tension structure to accomplish the installation to the anchor rope roof beam, improve anchor rope installation accuracy in order to guarantee whole support intensity.
Description
Technical Field
The disclosure relates to the technical field of anchor cable beam construction, in particular to an anchor cable beam construction device and method.
Background
Coal mine resource mining develops towards the deep gradually, and along with the increase of the mining depth, geological conditions tend to be complicated gradually, lead to the stability of deep tunnel and intersect, need initiatively strut its tunnel, maintain deep tunnel stability. The anchor cable beam support is in a common support form and can control the stability of surrounding rocks of the roadway.
The existing anchor cable beam is mainly constructed depending on manpower, complex operations such as lifting, positioning, drilling, anchor cable installation, tensioning, grouting and the like are needed when the anchor cable beam is arranged in a narrow roadway, and all the processes need workers to operate special equipment or tools for operation, so that the process is time-consuming, labor-consuming and poor in safety; in addition, the whole anchor cable beams and the anchor cable discs are large in weight, so that the anchor cable beams and the anchor cable discs are inconvenient to move in a tunnel, particularly when the anchor cable beams are installed at the top of surrounding rocks, the stability of manually hoisting the anchor cable beams is poor, the posture is difficult to adjust, and when special equipment is adopted for hoisting, the space in the tunnel is limited, the operation range is limited, and the operation difficulty is large; rely on artifical location drilling at the drilling process, lead to drilling, anchor rope roof beam to predetermine the degree of agreeing with relatively poor in hole, the anchor rope installation degree of difficulty is big, and anchor rope installation is not in place and leads to strutting intensity and be difficult to satisfy the demand.
Disclosure of Invention
The anchor cable beam construction device and the anchor cable beam construction method aim at overcoming the defects in the prior art, the anchor cable beam is temporarily stored and carried through the mobile platform, the posture of the anchor cable beam is adjusted and pre-positioned through the combination of the rotary platform and the mechanical arm, the installation of the anchor cable beam is completed through the combination of the drilling machine and the grouting tensioning structure, the stable movement and installation of the anchor cable beam are guaranteed, and the installation precision of the anchor cable is improved so as to guarantee the overall supporting strength.
The first purpose of the present disclosure is to provide an anchor cable beam construction device, which adopts the following technical scheme:
the anchor cable beam conveying device comprises a moving platform, a mechanical arm and a drilling machine, wherein the moving platform is provided with a conveying channel for an anchor cable beam to pass through, one end of a conveying belt is in butt joint with a rotating platform, and the other end of the conveying belt penetrates through the conveying channel; the mechanical arm is equipped with at least two, and the one end of every mechanical arm is all installed in moving platform through telescopic machanism, and slewing end and slip casting tension structure are installed to the one end that telescopic machanism was kept away from to the mechanical arm, form the clamping part between the slewing end of adjacent mechanical arm, and the rig is installed in moving platform and work end towards the clamping part.
Furthermore, the telescopic action paths of the adjacent mechanical arms corresponding to the telescopic mechanisms are collinear, and the telescopic mechanisms adjust the distance between the rotary ends of the adjacent mechanical arms through telescopic action.
Furthermore, the rotary ends corresponding to the adjacent mechanical arms are arranged oppositely, the rotary ends are connected to the mechanical arms in a rotating mode, and the rotary ends are matched with rotary driving elements and can drive the rotary ends to rotate around the axes of the rotary ends.
Furthermore, the section of the rotary end head is matched with the reserved hole at the end part of the clamped anchor cable beam, and the rotary end head can drive the clamped anchor cable beam to rotate around the axis.
Furthermore, the grouting tensioning structure comprises a grouting mechanism and a tensioning mechanism, wherein the grouting mechanism is arranged on one mechanical arm, and the tensioning mechanism is arranged on the other mechanical arm in the two mechanical arms corresponding to the same clamping part.
Furthermore, slip casting mechanism includes slip casting end and slip casting adjusting element, and the slip casting end passes through slip casting adjusting element and connects the arm, and slip casting adjusting element drives the slip casting end and removes in order to change with the relative position of gyration end to can drive the slip casting end and rotate around gyration end axis.
Furthermore, the grouting end is connected with one end of a grouting pipe, and the other end of the grouting pipe extends to the moving platform along the mechanical arm and is connected with the slurry supply mechanism.
Furthermore, the tensioning mechanism comprises a tensioning device and a tensioning adjusting element, the tensioning device is connected with the mechanical arm through the tensioning adjusting element, and the tensioning adjusting element drives the tensioning device to move so as to change the relative position of the tensioning device and the rotary end head and can drive the tensioning device to rotate around the axis of the rotary end head.
Furthermore, the movable platform is provided with an anchor cable support used for being matched with the anchor cable disc, the drilling machine is arranged on the movable platform through a drilling machine adjusting element, an anchor cable hole recognition probe is arranged on the drilling machine, and the output end of the drilling machine is connected with a drill bit as a working end.
A second object of the present disclosure is to provide a construction method of an anchor rope beam, using the anchor rope beam construction device as described above, including the steps of:
the movable platform is adjusted to a working position, and the conveyor belt drives the anchor cable beam to pass through the transmission channel and move to the rotary platform;
the rotary platform adjusts the posture of the anchor cable beam to be parallel to the clamping part, and the mechanical arm adjusts the position to enable the rotary end head to be matched with the anchor cable beam and clamp the anchor cable beam;
driving the anchor cable beam to move to an installation position, drilling the surrounding rock by a drilling machine through the anchor cable beam, and installing the anchor cable on the drilled hole;
and the grouting and tensioning mechanism is used for grouting and/or tensioning the anchor cable so that the anchor cable beam is connected with the surrounding rock of the roadway.
Compared with the prior art, the utility model has the advantages and positive effects that:
(1) the problem that the current tunnel anchor rope roof beam construction degree of difficulty is big and strut intensity and be difficult to satisfy the demand is kept in, is carried the anchor rope roof beam through moving platform, combines rotary platform and robotic arm to adjust and prepositioning the anchor rope roof beam gesture, combines rig and slip casting tension structure to accomplish the installation to the anchor rope roof beam, guarantees the stable removal and the installation of anchor rope roof beam, improves anchor rope installation accuracy in order to guarantee whole intensity of strutting.
(2) The drilling machine can pass and preset the hole on the anchor rope roof beam after to drill the country rock, guarantees that country rock drilling and anchor rope roof beam predetermine the correspondence in hole, improves the degree of agreeing with of drilling to conveniently carry out the installation and the stretch-draw of anchor rope, improve the support performance of anchor rope, anchor rope roof beam, satisfy and strut the demand.
(3) The arm cooperation has telescopic machanism and gyration end, and telescopic machanism drives arm adjusting position in order to change gyration end interval, makes the anchor rope beam structure of gyration end cooperation different length, in addition, adjusts through telescopic machanism's length that varies, can adjust the transverse position of anchor rope roof beam that holds, combines the bending motion of arm to carry out the position control along the tunnel direction to satisfy the diversified regulation of mounted position in the tunnel.
(4) The tensioning device and the grouting end are both arranged at the end part of the mechanical arm and are positioned below the clamping part, and the working positions of the tensioning device and the grouting end are respectively adjusted through the adjusting element, so that the anchor cable hole grouting and anchor cable arrangement tensioning work can be conveniently carried out; when a plurality of preset holes are formed in the anchor cable beam and correspond to a plurality of anchor cable installation positions, drilling holes are applied to the installation positions through the adjusting drilling machine, the anchor cable is installed and tensioned, and/or grouting operation is carried out, and the fixing requirements of the anchor cable beam at a plurality of positions are met.
(5) The mobile platform can drive whole device and remove in the tunnel, is convenient for its whole position adjustment in the tunnel, and the inside transfer passage that sets up of mobile platform can carry out keeping in of anchor rope roof beam, combines conveyer belt and rotary platform to carry out longitudinal transport, the lateral adjustment of anchor rope roof beam for the transportation and the installation of anchor rope roof beam adapt to narrow environment in the tunnel, conveniently are under construction in the tunnel.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a schematic structural view of a construction apparatus in embodiments 1 and 2 of the present disclosure;
fig. 2 is a schematic structural diagram of a mobile platform in embodiments 1 and 2 of the present disclosure;
fig. 3 is a schematic structural diagram of a robot arm in embodiments 1 and 2 of the present disclosure.
In the figure, 1 a first mechanical arm, 2 a matching end, 2-1 a rotary driving element, 2-2 a rotary end, 3 a regulating element, 4 a tensioner, 5 a grouting end, 6 a drilling machine mounting table, 7 a rotary platform, 8 a conveyor belt, 9 a crawler belt, 10 an anchor rope support, 11 a telescopic mechanism, 12 a second mechanical arm, 13 a slurry supply mechanism, 14 an anchor rope hole identification probe, 15 a drilling machine, 16 a drilling machine guide rail, 17 a cutting board, 18 a directional head dropping device and 19 a track wheel.
Detailed Description
Example 1
In an exemplary embodiment of the present disclosure, a tendon beam construction apparatus is shown in fig. 1-3.
To the big problem that just strut the intensity and be difficult to satisfy the demand of the current tunnel anchor rope roof beam construction degree of difficulty, provide an anchor rope roof beam construction equipment, keep in, carry the anchor rope roof beam through moving platform, combine rotary platform 7 and mechanical arm to adjust and prepositioning the anchor rope roof beam gesture, combine rig 15 and slip casting tension structure to accomplish the installation to the anchor rope roof beam, guarantee the steady removal and the installation of anchor rope roof beam, improve anchor rope installation accuracy in order to guarantee whole support intensity.
The anchor cable beam construction device mainly comprises a moving platform, a mechanical arm, a drilling machine 15, a grouting tensioning structure and a temporary storage conveying structure, wherein the moving platform is used as a main body bearing structure, the mechanical arm, the drilling machine 15 and the temporary storage conveying structure are all arranged on the moving platform, the grouting tensioning structure is arranged at the tail end of the mechanical arm, and the moving platform drives the whole device to move along a roadway; one end of each mechanical arm is mounted on the moving platform, the other end of each mechanical arm is provided with a rotary end 2-2 and a grouting tensioning structure, and a clamping part is formed between the rotary ends 2-2 of adjacent mechanical arms to clamp and move the anchor cable beam; the drilling machine 15 is installed on the mobile platform and can face the anchor cable beam and penetrate through a preset hole in the anchor cable beam to drill a surrounding rock; the temporary storage conveying structure is arranged on the moving platform and comprises a conveying belt 8 and a rotary platform 7, wherein the conveying belt 8 conveys the anchor cable beams, and the rotary platform 7 adjusts the posture of the conveyed anchor cable beams so as to facilitate the clamping action of the corresponding clamping parts.
As shown in fig. 1 and 2, the mobile platform is a self-propelled platform structure, and adopts a structure that the crawler belts 9 and the track wheels 19 move in a combined manner, the crawler belts 9 distributed at intervals are installed on two sides of the bottom of the mobile platform, the track wheels 19 are arranged between the two crawler belts 9, and the crawler belts 9 and the track wheels 19 are coaxially driven in a combined manner.
It can be understood that the crawler 9 can adapt to complex ground environments in a roadway, the track wheels 19 can be matched with track crossroads laid in the roadway, the track wheels 19 move along the track crossroads, therefore, the moving speed and the moving stability of the roadway are improved, and the crawler 9 or the track wheels 19 are selected to move the moving platform according to different roadway environments.
Because the tunnel is comparatively narrow, carry out position adjustment space to moving platform and be limited, at the installation orientation head dropping ware 18 of moving platform below, when needs carry out the direction adjustment, can make the device rotate in the horizontal direction with equipment jacking, adjust to required orientation after, transfer anchor rope roof beam construction equipment, accomplish the direction adjustment.
Narrow space in the adaptation tunnel, anchor rope roof beam axis direction and the unanimous transportation of being convenient for of tunnel trend, anchor rope roof beam installation direction is for following tunnel extending direction, and the anchor rope roof beam is carried to the place ahead from the rear, for convenient anchor rope roof beam removes the place ahead from the device rear, is provided with the transfer passage that supplies the anchor rope roof beam to pass through at the moving platform middle part, and 8 one end of conveyer belt are docked has rotary platform 7, and the other end passes transfer passage.
One end of the conveyor belt 8 extends to the rear of the mobile platform, the other end of the conveyor belt penetrates through the mobile platform and then is in butt joint with the rotary platform 7, the anchor cable beam supplied from the rear can be conveyed to the front of the mobile platform, and the anchor cable beam is moved to the position of the rotary platform 7 to be subjected to posture adjustment, so that the anchor cable beam is in a posture required for clamping.
One end of the conveying channel is used as a beam inlet to obtain the anchor cable beam from the rear, and the other end of the conveying channel is used as a beam outlet to output the anchor cable beam to the rotary platform 7; the conveying channel in the mobile platform is also used as a temporary storage space of the anchor cable beam, and when the mobile platform moves along the roadway, the anchor cable beam placed in the mobile platform is driven to move, so that the carrying function is realized; the one end of transfer passage towards moving platform moving direction rear is cooperateed and is had the open close plate 17, can open transfer passage when opening, can shutoff transfer passage when closing.
Rotary platform 7 passes through corresponding support connection in moving platform, can remove along with moving platform, accepts the anchor rope roof beam that conveyer belt 8 carried, and the anchor rope roof beam that carries along conveyer belt 8 is the anchor rope roof beam along the tunnel direction, and after removing to rotary platform 7, by rotary platform 7 gyration adjustment to perpendicular to tunnel trend, makes things convenient for the centre gripping and promotes to the mounted position.
And corresponding matched structures, such as a slurry supply mechanism 13 of a tensioning grouting mechanism, a power source of a mechanical arm and the like, are installed on the mobile platform.
The mechanical arm is used for lifting the anchor cable beam and installing the grouting tensioning structure, at least two structures are arranged, in the embodiment, two mechanical arms are taken as an example, one end of each mechanical arm is installed on the mobile platform through the telescopic mechanism 11, the telescopic mechanism 11 can drive the mechanical arm to move, so that the relative position of the mechanical arm and the mobile platform is changed, the other end of each mechanical arm is provided with the rotary end 2-2 and the grouting tensioning structure, the rotary end 2-2 is used as a structure matched with the anchor cable beam and clamps and drives the anchor cable beam to adjust the position and the posture, the grouting tensioning structure can move at the tail end of the mechanical arm randomly, the position close to anchor cable drilling is kept, and grouting and/or tensioning work is facilitated.
Specifically, with reference to fig. 1 and 3, a clamping portion is formed between the rotary ends 2-2 of adjacent mechanical arms, the telescopic motion paths of the adjacent mechanical arms corresponding to the telescopic mechanisms 11 are collinear, and the telescopic mechanisms 11 adjust the distance between the rotary ends 2-2 of the adjacent mechanical arms through telescopic motions.
The telescopic mechanism 11 can adopt a hydraulic cylinder, an electric cylinder and other linear displacement mechanisms to drive the mechanical arm to adjust the position relative to the mobile platform, and can keep stable support for the mechanical arm after the mechanical arm is fixed.
The mechanical arm can be a multi-degree-of-freedom joint mechanical arm, the tail end of the mechanical arm is subjected to position adjustment, and the anchor cable beam and the grouting tensioning structure are driven to move; in this embodiment, according to the requirement of the position adjustment, the position of the anchor cable beam is adjusted by using a double-joint mechanical arm.
The telescopic mechanism 11 drives the mechanical arm to adjust the position so as to change the distance between the rotary end heads 2-2, so that the rotary end heads 2-2 are matched with anchor cable beam structures with different lengths.
In addition, it should be particularly pointed out that when the telescopic mechanisms 11 corresponding to the two mechanical arms do not act in equal length, the central line position of the anchor cable beam deviates from the central line position of the mobile platform, so as to adjust the transverse position of the anchor cable beam; the requirement of the adjustment of the transverse position of the anchor cable beam is met, and the position adjustment along the roadway direction is carried out by combining the bending action of the mechanical arm so as to meet the multi-directional adjustment of the mounting position in the roadway.
For the structure of the rotary end head 2-2, the rotary end heads 2-2 corresponding to adjacent mechanical arms are arranged oppositely, the rotary end heads 2-2 are connected to the mechanical arms in a rotating mode, the rotary end heads 2-2 are matched with rotary driving elements 2-1 to form matched end heads 2 together, and the rotary end heads 2-2 can be driven to rotate around the axes of the rotary end heads 2-2.
Specifically, the rotary end head 2-2 is used as a structure directly matched with the anchor cable beam and is connected with a corresponding rotary driving mechanism; the section of the rotary end head 2-2 is matched with the reserved hole at the end part of the clamped anchor cable beam, and the rotary end head 2-2 can drive the clamped anchor cable beam to rotate around the axis.
The cross-sectional shape and size of the rotary end head 2-2 are designed according to the size of the preformed hole at the end part of the anchor cable beam, the whole axial length of the rotary end head can meet the requirements of clamping and lifting force action, the rotary end head 2-2 can rotate around the axis of the rotary end head, and in a replaceable structure, different rotary end heads 2-2 are replaced to adapt to different end part preformed hole structures according to anchor cable beams of different specifications and types.
It can be understood that the outer surface of the rotary end head 2-2 is sleeved with a layer of flexible shock absorbing material, the flexible shock absorbing material is coated with a layer of lubricating film, an open cavity is arranged in the rotary end head 2-2, the bottom of the open cavity is provided with a connecting through hole, the connecting piece is connected with the rotary driving element 2-1 through the connecting through hole, and the rotary driving element 2-1 rotates around an axis under the action of the rotary driving element 2-1.
The grouting tensioning structure comprises a grouting mechanism and a tensioning mechanism, wherein the grouting mechanism is arranged on one mechanical arm, and the tensioning mechanism is arranged on the other mechanical arm in two mechanical arms corresponding to the same clamping part.
On one hand, the grouting mechanism comprises a grouting end 5 and a grouting adjusting element, wherein the grouting end 5 is connected with the mechanical arm through the grouting adjusting element, and the grouting adjusting element drives the grouting end 5 to move so as to change the relative position of the grouting end 5 and the rotary end 2-2, so that the grouting requirements of anchor cable holes at different positions are met; and can drive the grouting end 5 to rotate around the axis of the rotary end 2-2.
The grouting end 5 is connected with one end of a grouting pipe, and the other end of the grouting pipe extends to the moving platform along the mechanical arm and is connected with the slurry supply mechanism 13.
On the other hand, the tensioning mechanism comprises a tensioner 4 and a tensioning adjusting element, the tensioner 4 is connected with the mechanical arm through the tensioning adjusting element, and the tensioning adjusting element drives the tensioner 4 to move so as to change the relative position of the tensioner 4 and the rotary end head 2-2, so that tensioning requirements of anchor cables at different positions are met; and can drive the stretching device 4 to rotate around the axis of the rotary end 2-2.
The grouting adjusting element and the tensioning adjusting element adopt the adjusting element 33 with the same structure to adjust the positions of the grouting end 5 and the tensioning device 4. In this embodiment, the adjusting element 3 is a bidirectional automatic telescopic arm, adopts a sleeve type structure, and is connected with the rotary end head 2-2 through a rotating structure, so that the rotary end head can rotate around the corresponding rotary end head 2-2 to perform position avoidance, and can move in the Z direction and the Y direction through telescoping, that is, the movement close to or away from the anchor cable beam direction and the movement along the axis direction of the anchor cable beam can be realized, and the rotation around the axis of the rotary end head 2-2 can be realized through rotating, so that the adjustment of the position of the vertical surface can be realized.
For the grouting end 5, a grouting pipe is connected with a slurry supply mechanism 13 on the moving platform, the slurry supply mechanism 13 is arranged in an air pump grouting bin of the moving platform, a tensioning hydraulic pump of a tensioning device 4 is further installed in the air pump grouting bin, the slurry supply mechanism 13 is connected with the grouting end 5 through the grouting pipe, the tensioning hydraulic pump is connected with the tensioning device 4 through a power conveying pipe, and the grouting pipe is connected with the grouting end 5 after sequentially passing through the air pump grouting bin, the first mechanical arm 1 and the grouting adjusting element.
Similarly, the tensioning hydraulic pump is connected with the tensioning device 4 after passing through the air pump grouting bin, the second mechanical arm 12 and the tensioning adjusting element in sequence.
It can be understood that, when anchor cable tensioning and anchor cable hole grouting are performed, the tensioning device 4 and the grouting end head 5 both need to perform corresponding matching actions, and the actions can be realized through the adjusting process of the adjusting element 3, so that the tensioning device 4 can be matched with an anchor cable, and the grouting end head 5 can be matched with an anchor cable hole.
Further, the movable platform is provided with an anchor cable support 10 used for being matched with an anchor cable disc, a drilling machine 15 is arranged on the movable platform through a drilling machine adjusting element, an anchor cable hole identification probe 14 is arranged on the drilling machine 15, and the output end of the drilling machine 15 is connected with a drill bit as a working end.
For the drilling process, the anchor cable hole identification probe 14 arranged on the drilling machine 15 is used for identifying the preset anchor cable hole on the anchor cable beam, and the position of the drilling machine 15 is adjusted through the drilling machine adjusting element, so that the working end of the drilling machine 15 can be moved to the required drilling position.
The drilling machine 15 can penetrate through the preset holes in the anchor cable beams to drill the surrounding rocks, the corresponding of the preset holes in the surrounding rock drilling holes and the anchor cable beams is guaranteed, the degree of agreeing of the drilling holes is improved, therefore, the anchor cable can be conveniently installed and tensioned, the supporting performance of the anchor cable and the anchor cable beams is improved, and the supporting requirement is met.
It can be understood that the mobile platform is provided with a drilling machine 15 mounting table 6, a drilling machine guide rail 16 is arranged on the drilling machine 15 mounting table 6, and the drilling machine 15 is matched with the drilling machine guide rail 16, so that the relative position of the drilling machine 15 and the mobile steel platform can be adjusted to realize the adjustment of the drilling position.
The tensioning device 4 and the grouting end 5 are both arranged at the end part of the mechanical arm and are positioned below the clamping part, and the working positions of the tensioning device and the grouting end are respectively adjusted through the adjusting element 3, so that the anchor cable hole grouting and anchor cable arrangement tensioning work can be conveniently carried out; when a plurality of preset holes are formed in the anchor cable beam and correspond to a plurality of anchor cable mounting positions, drilling holes are applied to the plurality of mounting positions through the adjusting drilling machine 15, the anchor cable is mounted and tensioned, grouting operation is carried out, and the fixing requirements of the anchor cable beam at a plurality of positions are met.
Example 2
In another embodiment of the present disclosure, a method of constructing a cable bolt beam is provided, as shown in fig. 1-3.
The anchor cable beam construction device according to embodiment 1 includes the following steps:
the movable platform is adjusted to a working position, and the conveyor belt 8 drives the anchor cable beam to pass through the transmission channel and move to the rotary platform 7;
the rotary platform 7 adjusts the posture of the anchor cable beam to be parallel to the clamping part, and the mechanical arm adjusts the position to enable the rotary end 2-2 to be matched with the anchor cable beam and clamp the anchor cable beam;
driving the anchor cable beam to move to the installation position, drilling the surrounding rock by the drilling machine 15 through the anchor cable beam, and installing the anchor cable on the drilled hole;
and the grouting and tensioning mechanism is used for grouting and/or tensioning the anchor cable so that the anchor cable beam is connected with the surrounding rock of the roadway.
Specifically, with reference to fig. 1 to 3, the anchor cable beam construction method includes the following steps:
step 1: the anchor beam construction device is moved to the installation site by the moving platform, moved in the track gate way by the track wheels 19, and moved by the crawler 9 in other cases.
Step 2: the anchor rope roof beam is kept in the transfer passage temporarily, and the anchor rope roof beam transports the anchor rope roof beam outside the transfer passage through conveyer belt 8 to the direction of transferring the anchor rope roof beam through rotary platform 7.
And step 3: the length of the telescopic mechanism 11 is adjusted according to the length of the anchor cable beam, and the distance between 2-2 rotary ends of the two mechanical arms is larger than the length of the anchor cable beam.
And 4, step 4: and selecting and installing a rotary end head 2-2 with a corresponding specification and shape according to the hollow size in the anchor cable beam.
And 5: and the position of the grouting tensioning mechanism is adjusted, so that the grouting tensioning mechanism rotates 180 degrees, and the device is not influenced to pick up the anchor cable beam.
Step 6: and (3) enabling the rotary end heads 2-2 to be opposite to the hollow section of the anchor cable beam, controlling the telescopic mechanism 11 to contract until the two rotary end heads 2-2 cannot be close to each other continuously, and clamping the anchor cable beam.
And 7: after the grouting tensioning mechanism is lifted for a certain distance, the grouting tensioning mechanism is rotated to be recovered to the position right below the anchor cable beam, the anchor cable beam is parallel to the roadway roof by rotating the rotary end 2-2, and the first mechanical arm 1 and the second mechanical arm 12 are adjusted to enable the anchor cable beam to be tightly attached to the roadway roof.
And 8: and starting the drilling machine 15, enabling the surrounding rock drilling machine 15 to be located under the anchor cable beam by adjusting the positions of the mounting table 6 of the drilling machine 15 and the surrounding rock drilling machine 15 on the drilling machine guide rail 16, identifying the anchor cable holes formed in the anchor cable beam through the anchor cable hole identification probe 14, and punching the surrounding rock through the anchor cable holes.
And step 9: adding the explosive cartridge into the drill hole, taking the anchor cable from the anchor cable disc of the anchor cable bracket 10, drilling the anchor cable into the drill hole, and installing a lock. And if grouting is needed, starting a grouting system to perform anchor cable grouting.
Step 10: and starting a tensioning system to tension the anchor cable.
The mobile platform can drive whole device and remove in the tunnel, is convenient for its whole position adjustment in the tunnel, and the inside transfer passage that sets up of mobile platform can carry out keeping in of anchor rope roof beam, combines conveyer belt 8 and rotary platform 7 to carry out vertical transport, the lateral adjustment of anchor rope roof beam for narrow environment in the transportation of anchor rope roof beam and the installation adaptation tunnel, the convenience is under construction in the tunnel.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (10)
1. The anchor cable beam construction device is characterized by comprising a moving platform, a mechanical arm and a drilling machine, wherein the moving platform is provided with a conveying channel for the anchor cable beam to pass through, one end of a conveying belt is in butt joint with a rotary platform, and the other end of the conveying belt passes through the conveying channel; the mechanical arm is equipped with at least two, and the one end of every mechanical arm is all installed in moving platform through telescopic machanism, and slewing end and slip casting tension structure are installed to the one end that telescopic machanism was kept away from to the mechanical arm, form the clamping part between the slewing end of adjacent mechanical arm, and the rig is installed in moving platform and work end towards the clamping part.
2. The anchor rope beam construction device of claim 1, wherein the telescopic motion paths of the telescopic mechanisms corresponding to adjacent mechanical arms are collinear, and the telescopic mechanisms adjust the distance between the rotary heads of the adjacent mechanical arms through telescopic motions.
3. The anchor cable beam construction device of claim 1, wherein the swivel ends corresponding to adjacent mechanical arms are arranged opposite to each other, the swivel ends are rotatably connected to the mechanical arms, and the swivel ends are matched with swivel driving elements to drive the swivel ends to rotate around the axes of the swivel driving elements.
4. The anchor rope beam construction device of claim 3, wherein the cross-section of the swivel head is adapted to the hole reserved in the end of the clamped anchor rope beam, and the swivel head can drive the clamped anchor rope beam to rotate around the axis.
5. The anchor rope beam construction device of claim 1, wherein the grouting tensioning structure comprises a grouting mechanism and a tensioning mechanism, and of two mechanical arms corresponding to the same clamping part, the grouting mechanism is installed on one mechanical arm, and the tensioning mechanism is installed on the other mechanical arm.
6. The anchor cable beam construction device as claimed in claim 5, wherein the grouting mechanism includes a grouting head and a grouting adjusting member, the grouting head is connected to the robot arm through the grouting adjusting member, and the grouting adjusting member moves the grouting head to change a relative position with respect to the swiveling head and can rotate the grouting head around the swiveling head axis.
7. The anchor cable beam construction apparatus of claim 6, wherein the grouting tip is connected to one end of a grouting pipe, and the other end of the grouting pipe extends along the robot arm to the mobile platform and is connected to the grout supply mechanism.
8. The anchor rope beam construction device of claim 5, wherein the tensioning mechanism comprises a tensioner and a tensioning adjustment element, the tensioner is connected to the mechanical arm through the tensioning adjustment element, and the tensioning adjustment element drives the tensioner to move to change the relative position with the swivel head and can drive the tensioner to rotate around the axis of the swivel head.
9. The anchor rope beam construction apparatus of claim 1, wherein the mobile platform is mounted with an anchor rope bracket for engaging the anchor rope discs, the drill is mounted to the mobile platform by means of drill adjusting elements, a anchor rope hole recognition probe is disposed on the drill, and a drill bit is connected to an output end of the drill as a working end.
10. A cable beam construction method using a cable beam construction apparatus according to any one of claims 1 to 9, comprising the steps of:
the movable platform is adjusted to a working position, and the conveyor belt drives the anchor cable beam to pass through the transmission channel and move to the rotary platform;
the rotary platform adjusts the posture of the anchor cable beam to be parallel to the clamping part, and the mechanical arm adjusts the position to enable the rotary end head to be matched with the anchor cable beam and clamp the anchor cable beam;
driving the anchor cable beam to move to an installation position, drilling the surrounding rock by a drilling machine through the anchor cable beam, and installing the anchor cable on the drilled hole;
and the grouting and tensioning mechanism is used for grouting and/or tensioning the anchor cable so that the anchor cable beam is connected with the surrounding rock of the roadway.
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| CN113931666B (en) | 2022-04-01 |
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