CN114458346B - Automatic net spreading mechanism of rapid tunneling system - Google Patents
Automatic net spreading mechanism of rapid tunneling system Download PDFInfo
- Publication number
- CN114458346B CN114458346B CN202210135881.2A CN202210135881A CN114458346B CN 114458346 B CN114458346 B CN 114458346B CN 202210135881 A CN202210135881 A CN 202210135881A CN 114458346 B CN114458346 B CN 114458346B
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- net
- temporary support
- anchor
- robot
- side wall
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- 230000007246 mechanism Effects 0.000 title claims abstract description 50
- 230000007480 spreading Effects 0.000 title claims abstract description 29
- 238000003892 spreading Methods 0.000 title claims abstract description 29
- 230000005641 tunneling Effects 0.000 title claims abstract description 20
- 238000003860 storage Methods 0.000 claims abstract description 83
- 238000003825 pressing Methods 0.000 claims abstract description 20
- 238000005553 drilling Methods 0.000 claims abstract description 19
- 238000004873 anchoring Methods 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 4
- 230000009471 action Effects 0.000 claims description 6
- 238000005520 cutting process Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000003245 coal Substances 0.000 description 1
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
Landscapes
- 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 expanding mechanism of a rapid tunneling system, which comprises a temporary support robot I, a temporary support robot II, a net ejecting net expanding mechanism, a left side net expanding mechanism, a right side net expanding mechanism and a drilling and anchoring robot; the top net expanding mechanism I comprises a top net storage box I, a top net storage box II and three top net pressing net 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 net pushing shaft, and is arranged at the left rear part of the temporary support robot II and is vertical to the net pushing mechanism; the side wall net spreading mechanism II comprises a side net storage box and four side wall net pressing shafts, and is arranged at the right rear part of the temporary support robot II and is vertical to the net jacking net spreading mechanism; the automatic net spreading mechanism can finish automatic net spreading in the forward moving process of the rapid tunneling system, can reduce labor intensity and improves anchor net spreading efficiency.
Description
Technical Field
The invention relates to the field of machinery, in particular to an automatic net expanding mechanism of a rapid tunneling system.
Background
In the current coal mine tunneling work, the anchor net laying work is basically finished by manpower, the automation degree is low, the time and the 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 spreading task in the tunneling process and improve the supporting efficiency.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
an automatic net expanding mechanism of a rapid tunneling system comprises a temporary support robot I, a temporary support robot II, a net jacking net expanding mechanism, a left side net expanding mechanism, a right side net expanding mechanism and a drilling and anchoring robot; the temporary support robot I comprises a frame body formed by a temporary support upper shield body I and a temporary support lower shield body I, four supporting hydraulic cylinders I symmetrically arranged at the left side and the right side in the frame body and used for supporting the temporary support upper shield body I and the temporary support lower shield body I, a cutting robot arranged on the temporary support lower shield body I and used for completing cutting tasks, and related matched parts;
the temporary support robot II comprises a frame body formed by a temporary support upper shield body II and a temporary support lower shield body II, four supporting hydraulic cylinders II symmetrically arranged at the left side and the right side in the frame body and used for supporting the temporary support upper shield body II and the temporary support lower shield body II, and related matched parts;
The top net expanding mechanism comprises a top net storage box I and a top net storage box II which are arranged on the lower surface behind the temporary support upper shield body II, three top net pressing net shafts which are arranged at the side outlet of the top net storage box I and used for guaranteeing the flatness of an anchor net, and matched components; threaded holes are distributed on the top storage net cage I and the top storage net cage II;
The left side upper 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 upper anchor net pressing net shafts and a top net pressing net shaft, wherein the four side upper anchor net pressing net shafts are arranged at the side anchor net outlet of the left side net storage box and used for guaranteeing the flatness of side upper anchor nets;
The right side upper 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 upper anchor net pressing shafts which are arranged at the outlet of a side anchor net of the right side net storage box and used for ensuring the flatness of the side upper anchor net;
The drill-anchor robot includes: drilling and anchoring 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 the lifting to finish the net jacking action; the left side upper top net frame and the right side upper top net frame are respectively arranged at the left side and the right side of the front end of the drilling and anchoring robot body, and the action of the upper top upper anchor net is controlled by a hydraulic cylinder; and (5) an anchor rod drilling machine.
Furthermore, the anchor net adopted by the net spreading mechanism is in a net roll form, and the anchor net needs to be manually rolled into an anchor net box.
Further, the length of the top storage net cage I is the same as the width of the temporary support robot II, a groove is formed in the right lower surface of the top storage net cage I, and a worker fills 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 closely arranged at the rightmost end of the lower surface of the upper shield body of the temporary support net cage I, the left side and the right side of the top storage net cage I are open, and a worker loads the anchor net from the left side opening.
Further, the length of the anchor net in the top storage net cage I is 100-200 mm longer than half of the width of the temporary support robot II, the length of the anchor net in the top storage net cage II is half of the 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 at the same level, two opposite small shafts are arranged at the small grooves, and the unfolded anchor net extends backwards from the grooves; and in the overlapping part of the anchor nets of the two box bodies, the anchor net in the top storage net box I is always kept up, and the anchor net in the top storage net box II is kept down.
Further, the lengths of the left side net storage box and the right side net storage box are slightly lower than the height of the temporary support robot II, and side covers of the two side net storage boxes can be opened, so that side anchor net rolls are installed.
The automatic net spreading mechanism can finish automatic net spreading in the forward moving process of the rapid tunneling system, reduces the labor intensity of workers and improves the net spreading efficiency.
Drawings
Fig. 1 is a schematic diagram of an overall structure of an automatic net expanding 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 according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a temporary support robot II according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a top-screen expanding mechanism according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of a left-side net spreading mechanism and a right-side net spreading mechanism according to an embodiment of the present invention.
Fig. 6 is a schematic structural view of an anchor drilling robot according to an embodiment of the present 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 present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
As shown in fig. 1, the embodiment of the invention provides an automatic net expanding mechanism of a rapid tunneling system, which comprises a temporary support robot I1, a temporary support robot II2, a net jacking net expanding mechanism 3, a left side net expanding mechanism 4, a right side net expanding mechanism 5 and a drilling and anchoring robot 6; the temporary support robot I1 comprises a frame body composed of a temporary support upper shield body I101 and a temporary support lower shield body I102, four supporting hydraulic cylinders I104 symmetrically arranged at the left side and the right side in the frame body and used for supporting the temporary support upper shield body I101 and the temporary support lower shield body I102, a cutting robot 103 arranged on the temporary support lower shield body I102 and used for completing cutting tasks, and related matched parts;
The temporary support robot II 2 comprises a temporary support upper shield body II 201, a temporary support lower shield body II 202, four supporting hydraulic cylinders II 203 and related matched components, wherein the temporary support upper shield body II 201 is arranged above the temporary support lower shield body II 202, the two components form a frame, and the four supporting hydraulic cylinders II 203 are symmetrically arranged at the left side and the right side in the frame 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 expanding mechanism 3 comprises a top net storage box I301, a top net storage box II 302 and three top net pressing net shafts 303, threaded holes are distributed on the top net storage box I301 and the top net storage box II 302, the top net storage box I301 and the top net storage box II 302 are arranged on the lower surface of the rear part of the temporary support upper shield body II 201, and the three top net pressing net shafts 303 are arranged at the side outlet of the top net storage box 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, wherein the left side net storage box 401 is arranged at the left rear part of the upper shield body II 201 of the temporary support, the four side wall anchor net pressing shafts 402 and the top net pressing shaft 403 are arranged at the side wall anchor net outlet of the left side net storage box 401 and used for guaranteeing the flatness of the side wall anchor net;
the right side wall net spreading mechanism 5 comprises a right side net storage box 501 and four side wall anchor net pressing net shafts 502, wherein the right side net storage box 501 is arranged at the right rear of the upper shield body II 201 of the temporary support, and the four side wall anchor net pressing net shafts 502 are arranged at the side wall anchor net outlets of the right side net storage box 501 and are used for guaranteeing the flatness of the side wall anchor net;
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 the lifting to finish the net lifting action; the left side upper top net frame 603 and the right side upper top net frame 604 are respectively arranged at the left side and the right side of the front end of the drilling and anchoring robot body 601, and the action of the top side upper anchoring net is controlled by a hydraulic cylinder.
In this embodiment, the associated kit includes inertial navigation devices for positioning purposes, associated sensors, and the like.
In this embodiment, the anchor nets adopted by the net expanding mechanism are all in the form of rolled nets, and the rolled anchor nets are required to be 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 support robot II, a groove is formed in the right lower surface of the top storage net cage I301, and a worker fills anchor nets 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 closely arranged at the rightmost end of the lower surface of the upper shield body 201 of the temporary support II by the top storage net cage I301, the left side and the right side of the top storage net cage I301 are open, and a worker loads the anchor net from the left side opening.
In the embodiment, the length of an anchor net in the top storage net cage I301 is 100-200 mm longer than half of the width of the temporary support robot II, 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, small grooves are formed in the same level of the top storage net cage I301 and the top storage net cage II 302, two opposite small shafts are arranged at the small grooves, and the unfolded anchor net extends backwards from the grooves; in the overlapping part of the anchor nets of the two tanks, the anchor net in the top storage net tank I301 is always kept up, and the anchor net in the top storage net tank II 302 is kept down.
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 two side storage net cages can be opened, so that the side wall anchor net rolls are installed.
In this embodiment, after the anchor net is installed, the anchor net is manually pulled out from the anchor net box, and is tightly attached to the surface of the roadway by the top net frame 602, the left side upper top net frame 603 and the right side upper top net frame 604 of the drilling and anchoring robot, and then the anchor net is fixed by the anchor rod drilling machine 605 after the anchor rod loading work is completed, and when the temporary support robot II moves forward, the automatic net expanding mechanism is driven to move forward, and the anchor nets in several anchor net boxes are automatically expanded to complete net expanding work.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention.
Claims (7)
1. An automatic net expanding mechanism of a rapid tunneling system comprises a temporary support robot I (1), a temporary support robot II (2), a net jacking net expanding mechanism (3), a left side net expanding mechanism (4), a right side net expanding 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 formed by an upper temporary support shield body I (101) and a lower temporary support shield body I (102), four supporting hydraulic cylinders I (104) symmetrically arranged at the left side and the right side in the frame body and used for supporting the upper temporary support shield body I (101) and the lower temporary support shield body I (102), a cutting robot (103) arranged on the lower temporary support shield body I (102) and used for completing cutting tasks, and related matched parts;
The temporary support robot II (2) comprises a frame body formed by an upper temporary support shield body II (201) and a lower temporary support shield body II (202), four supporting hydraulic cylinders II (203) symmetrically arranged at the left side and the right side in the frame body and used for supporting the upper temporary support shield body II (201) and the lower temporary support shield body II (202), and related matched parts;
the top net expanding mechanism (3) comprises a top net storage box I (301) and a top net storage box II (302) which are arranged on the lower surface behind a temporary support upper shield body II (201), three top net pressing net shafts (303) which are arranged at the side outlet of the top net storage box I (301) and used for guaranteeing the flatness of an anchor net, and matched components; threaded holes are distributed on the top storage net cage I (301) and the top storage net cage II (302);
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 net shafts (402) and a top net pressing net shaft (403) which are arranged at the side wall anchor net outlet of the left side wall net storage box (401) and used for guaranteeing the flatness of the side wall anchor net;
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) which are arranged at the side wall anchor net outlet of the right side wall net storage box (501) and used for ensuring the flatness of the side wall anchor net;
the anchor drilling robot (6) comprises:
a drill-anchor robot body (601);
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 the lifting to finish the net lifting action;
The left side upper top net frame (603) and the right side upper top net frame (604) are respectively arranged at the left side and the right side of the front end of the drilling and anchoring robot body (601), and the action of the upper side upper anchoring net is controlled by a hydraulic cylinder;
And a jumbolter (605).
2. An automatic net spreading mechanism of a rapid tunneling system according to claim 1, wherein: the anchor net adopted by the net spreading mechanism is in a net roll form, and the anchor net needs 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 support 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 storage net cage cover plate is manually detached and put into the 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 closely arranged at the rightmost end of the lower surface of the upper shield body II (201) of the temporary support by 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 the anchor net in the top storage net cage I (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 at the same level, two opposite small shafts are arranged at the small grooves, and the unfolded anchor net extends backwards from the grooves; in the overlapping part of the anchor net of the two tanks, the anchor net in the top storage net tank I (301) is always kept up, and the anchor net in the top storage net tank II (302) is kept down.
7. An automatic net spreading mechanism of a rapid tunneling system according to claim 1, wherein: the lengths of the left side storage net cage (401) and the right side storage net cage (501) are slightly lower than the height of the temporary support robot II, the front cover plates of the two side wall storage net cages can be opened, and workers can install side wall anchor nets.
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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
|---|---|
| CN114458346A CN114458346A (en) | 2022-05-10 |
| CN114458346B true CN114458346B (en) | 2024-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210135881.2A Active CN114458346B (en) | 2022-02-14 | 2022-02-14 | Automatic net spreading mechanism of rapid tunneling system |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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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| CN111608705A (en) * | 2020-06-01 | 2020-09-01 | 安徽理工大学 | Walking type anchor supporting robot for fully mechanized excavation face |
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- 2022-02-14 CN CN202210135881.2A patent/CN114458346B/en active Active
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