CN114458346A - Automatic net spreading mechanism of rapid tunneling system - Google Patents
Automatic net spreading mechanism of rapid tunneling system Download PDFInfo
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- CN114458346A CN114458346A CN202210135881.2A CN202210135881A CN114458346A CN 114458346 A CN114458346 A CN 114458346A CN 202210135881 A CN202210135881 A CN 202210135881A CN 114458346 A CN114458346 A CN 114458346A
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- net
- temporary support
- anchor
- spreading mechanism
- robot
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- 230000007246 mechanism Effects 0.000 title claims abstract description 50
- 238000003892 spreading Methods 0.000 title claims abstract description 45
- 230000007480 spreading Effects 0.000 title claims abstract description 43
- 230000005641 tunneling Effects 0.000 title claims abstract description 20
- 238000003860 storage Methods 0.000 claims abstract description 81
- 238000003825 pressing Methods 0.000 claims abstract description 21
- 238000005553 drilling Methods 0.000 claims abstract description 18
- 238000004873 anchoring Methods 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims abstract description 4
- 238000005520 cutting process Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 238000009826 distribution Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000003245 coal Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Classifications
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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
- E21D11/14—Lining predominantly with metal
- E21D11/15—Plate linings; Laggings, i.e. linings designed for holding back formation material or for transmitting the load to main supporting members
- E21D11/152—Laggings made of grids or nettings
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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
- E21D11/406—Placing endless lining elements, e.g. from reels
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D19/00—Provisional protective covers for working space
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
-
- 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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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Shielding Devices Or Components To Electric Or Magnetic Fields (AREA)
Abstract
The invention relates to the technical field of machinery, in particular to an automatic net spreading mechanism of a rapid tunneling system, which comprises a temporary support robot I, a temporary support robot II, a net jacking and net spreading mechanism, a left side wall net spreading mechanism, a right side wall net spreading mechanism and a drilling and anchoring robot; the top net spreading mechanism I comprises a top storage net cage I, a top storage net cage II and three top net pressing shafts, and is arranged above the rear part of the temporary support robot II; the side wall net-spreading mechanism I comprises a net storage box, four side wall net-pressing shafts and a top net-pressing shaft, is arranged at the left rear part of the temporary support robot II and is vertical to the top net-spreading mechanism; the side wall net-expanding mechanism II comprises a side storage net cage and four side wall net-pressing shafts, is arranged at the right rear part of the temporary support robot II and is vertical to the top net-expanding mechanism; the automatic net spreading mechanism can finish automatic net distribution in the advancing process of the rapid tunneling system, can reduce labor intensity and improve anchor net distribution efficiency.
Description
Technical Field
The invention relates to the field of machinery, in particular to an automatic net spreading mechanism of a rapid tunneling system.
Background
In the current coal mine tunneling work, the anchor net laying work is basically finished manually, the automation degree is low, time and labor are consumed, the efficiency is low, and the rapid tunneling efficiency is restricted.
Disclosure of Invention
In order to solve the problems, the invention provides an automatic net spreading mechanism of a rapid tunneling system, which can complete an automatic net laying task in a tunneling process and improve the supporting efficiency.
In order to achieve the purpose, the invention adopts the technical scheme that:
an automatic net spreading mechanism of a rapid tunneling system comprises a temporary support robot I, a temporary support robot II, a top net spreading mechanism, a left side net spreading mechanism, a right side net spreading mechanism and a drilling and anchoring robot; the temporary support robot I comprises a frame body consisting of an upper temporary support shield body I and a lower temporary support shield body I, four jacking hydraulic cylinders I symmetrically arranged on the left side and the right side in the frame body and used for supporting the upper temporary support shield body I and the lower temporary support shield body I, a cutting robot arranged on the lower temporary support shield body I and used for completing a cutting task, and related matched components;
the temporary support robot II comprises a frame body consisting of an upper temporary support shield body II and a lower temporary support shield body II, four jacking hydraulic cylinders II which are symmetrically arranged on the left side and the right side in the frame body and are used for supporting the upper temporary support shield body II and the lower temporary support shield body II, and related matched components;
the top net spreading mechanism comprises a top storage net cage I and a top storage net cage II which are arranged on the lower surface behind the upper shield body II of the temporary support, three top net pressing shafts which are arranged at the side outlet of the top storage net cage I and used for ensuring the flatness of the anchor net, and a matched component; threaded holes are uniformly distributed on the top storage net cage I and the top storage net cage II;
the left side wall net spreading mechanism comprises a left side net storage box arranged at the left rear part of the temporary support upper shield body II, four side wall anchor net pressing shafts and a top net pressing shaft, wherein the four side wall anchor net pressing shafts are arranged at the side anchor net outlet of the left side net storage box and are used for ensuring the side wall anchor net to be smooth;
the right side wall net spreading mechanism comprises a right side net storage box arranged at the right rear part of the temporary support upper shield body II and four side wall anchor net pressing shafts arranged at the side wall anchor net outlet of the right side net storage box and used for ensuring the side wall anchor net to be smooth;
the drill anchor robot includes: drilling and anchoring the robot body; the top net rack is arranged at the upper part of the front end of the drilling and anchoring robot body, and the hydraulic cylinder controls lifting to complete net jacking action; the left side upper net rack and the right side upper net rack are respectively arranged on the left side and the right side of the front end of the drilling and anchoring robot body, and the hydraulic cylinder is used for controlling and finishing the action of the top side upper anchoring net; and a jumbolter.
Furthermore, the anchor nets adopted by the net spreading mechanism are all in a net roll form, and the anchor nets need to be manually rolled into the anchor net box.
Further, the length of the top storage net cage I is the same as the width of the temporary supporting robot II, a groove is formed in the right lower surface of the top storage net cage I, and workers fill an anchor net into the top storage net cage I through the groove; the length of the top storage net cage II is half of the width of the temporary support robot II, the top storage net cage II is arranged at the rightmost end of the lower surface of the shield body on the temporary support II close to the top storage net cage I, the left side and the right side of the top storage net cage I are designed in an open mode, and an anchor net is loaded from the left opening by workers.
Furthermore, the length of an anchor net in the top storage net cage I is 100-200 mm longer than a half width of the temporary support robot II, the length of the anchor net in the top storage net cage II is a half width of the temporary support robot II, small grooves are formed in the top storage net cage I and the top storage net cage II on the same level, two opposite small shafts are arranged at the small grooves, and the expanded anchor net extends backwards from the grooves; the overlapped part of the anchor nets of the two box bodies always keeps the anchor net in the top storage net box I on the top and the anchor net in the top storage net box II on the bottom.
Further, the length of the left side net storage box and the right side net storage box is slightly lower than the height of the temporary support robot II, side covers of the net storage boxes on the two sides can be opened, and therefore side wall anchor net rolls are installed.
The automatic net spreading mechanism can complete automatic net distribution in the advancing process of the rapid tunneling system, reduces the labor intensity of workers and improves the net distribution efficiency.
Drawings
Fig. 1 is a schematic overall structure diagram of an automatic net spreading mechanism of a rapid tunneling system according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a temporary support robot I in the embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a temporary support robot II in the embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a top net spreading mechanism in the embodiment of the invention.
Fig. 5 is a schematic structural diagram of a left side display mechanism and a right side display mechanism in the embodiment of the invention.
Fig. 6 is a schematic structural diagram of the drilling and anchoring robot in the embodiment of the invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides an automatic mesh spreading mechanism of a rapid tunneling system, including a temporary support robot I1, a temporary support robot II2, a top mesh spreading mechanism 3, a left side mesh spreading mechanism 4, a right side mesh spreading mechanism 5, and an anchor drilling robot 6; the temporary support robot I1 comprises a frame body consisting of an upper temporary support shield body I101 and a lower temporary support shield body I102, four supporting hydraulic cylinders I104 which are symmetrically arranged at the left side and the right side in the frame body and are used for supporting the upper temporary support shield body I101 and the lower temporary support shield body I102, a cutting robot 103 which is arranged on the lower temporary support shield body I102 and is used for finishing a cutting task, and related matched components;
the temporary support robot II2 comprises a temporary support upper shield body II 201, a temporary support lower shield body II 202, four top-supporting hydraulic cylinders II 203 and related matched components, wherein an installer of the temporary support upper shield body II 201 is arranged above the temporary support lower shield body II 202, the two form a frame body, and the four top-supporting hydraulic cylinders II 203 are symmetrically arranged on the left side and the right side in the frame body and are used for supporting the temporary support upper shield body II 201 and the temporary support lower shield body II 202;
the top net spreading mechanism 3 comprises a top storage net cage I301, a top storage net cage II 302 and three top net pressing shafts 303, threaded holes are uniformly distributed in the top storage net cage I301 and the top storage net cage II 302, the top storage net cage I301 and the top storage net cage II 302 are closely arranged on the lower surface behind the upper shield body II 201 of the temporary support, and the three top net pressing shafts 303 are arranged at the side outlet of the top storage net cage I301 and used for guaranteeing the flatness of an anchor net;
the left side wall net spreading mechanism 4 comprises a left side net storage box 401, four side wall anchor net pressing shafts 402 and a top net pressing shaft 403, the left side net storage box 401 is installed at the left rear part of the temporary support upper shield body II 201, and the four side wall anchor net pressing shafts 402 and the top net pressing shaft 403 are installed at the side wall anchor net outlet of the left side net storage box 401 and used for ensuring the side wall anchor nets to be flat;
the right side wall net spreading mechanism 5 comprises a right side net storage box 501 and four side wall anchor net pressing shafts 502, the right side net storage box 501 is installed at the right rear part of the temporary support upper shield body II 201, and the four side wall anchor net pressing shafts 502 are installed at the side surface anchor net outlet of the right side net storage box 501 and used for ensuring the side wall anchor nets to be smooth;
the drilling and anchoring robot 6 comprises a drilling and anchoring robot body 601, a top net rack 602, a left side upper net rack 603, a right side upper net rack 604 and an anchor rod drilling machine 605, wherein the top net rack 602 is arranged at the upper part of the front end of the drilling and anchoring robot body 601, and the hydraulic cylinder controls lifting to complete net jacking; the left side upper net rack 603 and the right side upper net rack 604 are respectively installed on the left and right sides of the front end of the drilling and anchoring robot body 601, and the top side upper anchoring net motion is completed under the control of a hydraulic cylinder.
In this embodiment, the related accessories include an inertial navigation device for positioning, a related sensor, and the like.
In the embodiment, the anchor nets adopted by the net unfolding mechanism are all in a net rolling form, and the rolled anchor nets are manually installed in the anchor net boxes; the length of the top storage net cage I301 is the same as the width of the temporary supporting robot II, a groove is formed in the right lower surface of the top storage net cage I301, and workers fill an anchor net into the top storage net cage I301 through the groove; the length of the top storage net cage II 302 is half of the width of the temporary support robot II, the top storage net cage II 302 is arranged at the rightmost end of the lower surface of the shield 201 on the temporary support II close to the top storage net cage I301, the left side and the right side of the top storage net cage I301 are designed in an open mode, and an anchor net is installed from the left opening by workers.
In the embodiment, the length of an anchor net in the top storage net cage I301 is 100-200 mm longer than a half width of the temporary support robot II, the length of the anchor net in the top storage net cage II 302 is a half width of the temporary support robot II, small grooves are formed in the top storage net cage I301 and the top storage net cage II 302 on the same level, two opposite small shafts are arranged at the positions of the small grooves, and the expanded anchor net extends backwards from the grooves; the anchor nets in the top storage net cage I301 are always kept on the upper side and the anchor nets in the top storage net cage II 302 are always kept on the lower side at the overlapping parts of the anchor nets of the two box bodies.
In this embodiment, the lengths of the left storage net cage 401 and the right storage net cage 501 are slightly lower than the height of the temporary support robot II, and the side covers of the storage net cages on both sides can be opened, so that a side wall anchor net roll is installed.
In this embodiment, after the anchor net roll is installed, the anchor net needs to be manually pulled out from the anchor net box, the top net rack 602, the left side net rack 603 and the right side net rack 604 of the anchor drilling robot cling to the surface of the roadway, then the anchor drilling machine 605 completes bolting work to fix the anchor net, when the temporary support robot II moves forward, the automatic net spreading mechanism is driven to move forward, and the anchor nets in several anchor net boxes automatically spread to complete net spreading work.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (7)
1. An automatic net spreading mechanism of a rapid tunneling system comprises a temporary support robot l (1), a temporary support robot II (2), a top net spreading mechanism (3), a left side net spreading mechanism (4), a right side net spreading mechanism (5) and a drilling and anchoring robot (6); the method is characterized in that:
the temporary support robot I (1) comprises a frame body consisting of an upper temporary support shield body I (101) and a lower temporary support shield body I (102), four supporting hydraulic cylinders I (104) which are symmetrically arranged on the left side and the right side in the frame body and are used for supporting the upper temporary support shield body I (101) and the lower temporary support shield body I (102), a cutting robot (103) which is arranged on the lower temporary support shield body I (102) and is used for finishing a cutting task, and related matched components;
the temporary support robot II (2) comprises a frame body consisting of an upper temporary support shield body II (201) and a lower temporary support shield body II (202), four top-supporting hydraulic cylinders II (203) which are symmetrically arranged at the left side and the right side in the frame body and are used for supporting the upper temporary support shield body II (201) and the lower temporary support shield body II (202), and related matched components;
the top net spreading mechanism (3) comprises a top storage net cage I (301) and a top storage net cage II (302) which are arranged on the lower surface behind the upper shield body II (201) of the temporary support, three top net pressing shafts (303) which are arranged at the side outlet of the top storage net cage I (301) and used for ensuring the flatness of the anchor net, and a matched component; threaded holes are distributed on the top storage net cage I (301) and the top storage net cage II (302) respectively;
the left side wall net spreading mechanism (4) comprises a left side net storage box (401) arranged at the left rear part of the temporary support upper shield body II (201), four side wall anchor net pressing shafts (402) arranged at the side anchor net outlet of the left side wall net storage box (401) and used for ensuring the smoothness of the side wall anchor net and a top net pressing shaft (403);
the right side wall net spreading mechanism (5) comprises a right side wall net storage box (501) arranged at the right rear part of the temporary support upper shield body II (201), and four side wall anchor net pressing shafts (502) arranged at the side anchor net outlets of the right side wall net storage box (501) and used for ensuring the side wall anchor nets to be smooth;
the drill anchor robot (6) comprises:
an anchor drilling robot body (601);
a top net rack (602) arranged at the upper part of the front end of the drilling and anchoring robot body (601) is controlled by a hydraulic cylinder to lift to complete net jacking action;
a left side upper net rack (603) and a right side upper net rack (604) which are respectively arranged at the left side and the right side of the front end of the drilling and anchoring robot body (601) are controlled by a hydraulic cylinder to finish the action of the top side upper anchor net;
and a jumbolter (605).
2. An automatic net spreading mechanism of a rapid tunneling system according to claim 1, wherein: the anchor nets adopted by the net unfolding mechanism are all in a net roll form, and the anchor nets need to be manually rolled into the net storage box.
3. An automatic net spreading mechanism of a rapid tunneling system according to claim 1, wherein: the length of the top storage net cage I (301) is the same as the width of the temporary supporting robot II, a groove is formed in the right lower surface of the top storage net cage I (301), and an anchor net is output through the groove. The top storage net cage I (301) adopts a hinge cover plate structure, and the cover plate of the top storage net cage is manually disassembled to be placed into an anchor net roll.
4. An automatic net spreading mechanism of a rapid tunneling system according to claim 1, wherein: the length of the top storage net cage II (302) is half of the width of the temporary support robot II, and the top storage net cage II (302) is arranged at the rightmost end of the lower surface of the shield body (201) on the temporary support II close to the top storage net cage I (301).
5. An automatic net spreading mechanism of a rapid tunneling system according to claim 1, wherein: the length of an anchor net in the top storage net cage (301) is 100-200 mm longer than half of the width of the temporary support robot II, and the length of the anchor net in the top storage net cage II (302) is half of the width of the temporary support robot II.
6. An automatic net spreading mechanism of a rapid tunneling system according to claim 1, wherein: the top storage net cage I (301) and the top storage net cage II (302) are provided with small grooves on the same level, two small shafts are arranged at the positions of the small grooves, and the expanded anchor net extends backwards from the grooves; the anchor nets in the top storage net cage I (301) are always kept on the upper part and the anchor nets in the top storage net cage II (302) are always kept on the lower part of the overlapped anchor nets of the two box bodies.
7. An automatic net spreading mechanism of a rapid tunneling system according to claim 1, wherein: the left side stores up net cage (401) and the right side stores up net cage (501) length and just slightly hangs down than temporary support robot II height, and the front shroud of the net cage is stored up to both sides group can be opened, and the workman installs the anchor net of the side group from this.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210135881.2A CN114458346B (en) | 2022-02-14 | 2022-02-14 | Automatic net spreading mechanism of rapid tunneling system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210135881.2A CN114458346B (en) | 2022-02-14 | 2022-02-14 | Automatic net spreading mechanism of rapid tunneling system |
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| CN114458346A true CN114458346A (en) | 2022-05-10 |
| CN114458346B CN114458346B (en) | 2024-05-10 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115234269A (en) * | 2022-08-11 | 2022-10-25 | 安徽理工大学 | Mine anchor supporting robot with full-section net laying function |
| CN116591700A (en) * | 2023-06-01 | 2023-08-15 | 中国矿业大学(北京) | TBM system suitable for soft rock tunnel and rock burst tunnel and construction method |
| CN115234269B (en) * | 2022-08-11 | 2024-06-07 | 安徽理工大学 | Mining anchor robot with full-section lapping function |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115234269A (en) * | 2022-08-11 | 2022-10-25 | 安徽理工大学 | Mine anchor supporting robot with full-section net laying function |
| CN115234269B (en) * | 2022-08-11 | 2024-06-07 | 安徽理工大学 | Mining anchor robot with full-section lapping function |
| CN116591700A (en) * | 2023-06-01 | 2023-08-15 | 中国矿业大学(北京) | TBM system suitable for soft rock tunnel and rock burst tunnel and construction method |
| CN116591700B (en) * | 2023-06-01 | 2024-04-16 | 中国矿业大学(北京) | TBM system suitable for soft rock tunnel and rock burst tunnel and construction method |
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| Publication number | Publication date |
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| CN114458346B (en) | 2024-05-10 |
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