CN115234233A

CN115234233A - Tunneling anchor protection equipment

Info

Publication number: CN115234233A
Application number: CN202210940113.4A
Authority: CN
Inventors: 郤云鹏; 岳晓虎; 李瑞君; 马昭; 王学成; 董良; 王传武; 张国浩; 张鑫; 吴晋军; 张睿; 郎艳; 赵肖敏; 王帅; 刘子靖
Original assignee: Taiyuan Institute of China Coal Technology and Engineering Group; Shanxi Tiandi Coal Mining Machinery Co Ltd
Current assignee: Taiyuan Institute of China Coal Technology and Engineering Group; Shanxi Tiandi Coal Mining Machinery Co Ltd
Priority date: 2022-08-05
Filing date: 2022-08-05
Publication date: 2022-10-25

Abstract

The invention discloses a tunneling anchor protection device which comprises a tunneling machine, a connecting device and a support operation vehicle, wherein the connecting device comprises a rear rack, a rear top support device and a rear bottom support device, one side of the rear rack is connected with the tunneling machine, the rear top support device is provided with a first fixed end and a first telescopic end, the first fixed end is connected with the rear rack, the first telescopic end can protrude out of the top surface of the rear rack, the rear bottom support device is provided with a second fixed end and a second telescopic end, the second fixed end is connected with the rear rack, and the second telescopic end can protrude out of the bottom surface of the rear rack; the other side of the rear frame is connected with the supporting operation vehicle, the supporting operation vehicle is provided with a tail end supporting device, the tail end supporting device is provided with a third fixed end and a third telescopic end, the third fixed end is connected with the supporting operation vehicle, and the third telescopic end can protrude out of the bottom surface of the supporting operation vehicle. The tunneling anchoring and protecting equipment provided by the invention increases the stability of the tunneling machine during cutting operation, and improves the stability of anchoring and protecting operation.

Description

Tunneling anchor protection equipment

Technical Field

The invention relates to the field of tunneling of rock roadways, in particular to tunneling anchoring and protecting equipment.

Background

The tunneling of the rock roadway is a multi-process alternating process and mainly comprises three processes of rock breaking, loading and transporting and supporting. For the tunneling of a well tunnel with higher rock hardness, the vibration is large in the cutting process, and the stability of the tunneling machine is low. And the excavation face supporting operation is mostly manual work, and the lapping and bolting work are relatively separated, the labor intensity is high, the operation time is long, and although some mines adopt supporting operation modes such as an excavator-mounted jumbolter and the like, the underground supporting full-automatic operation can not be realized.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the embodiment of the invention provides the tunneling anchoring and protecting equipment, and the tunneling and cutting process is more stable.

The tunneling anchor protection equipment of the embodiment of the invention comprises:

a heading machine;

the connecting device comprises a rear rack, a rear top supporting device and a rear bottom supporting device, wherein one side of the rear rack is connected with the tunneling machine, the rear top supporting device is provided with a first fixed end and a first telescopic end, the first fixed end is connected with the rear rack, the first telescopic end can protrude out of the top surface of the rear rack, the rear bottom supporting device is provided with a second fixed end and a second telescopic end, the second fixed end is connected with the rear rack, and the second telescopic end can protrude out of the bottom surface of the rear rack; and

the supporting operation vehicle is characterized in that the other side of the rear frame is connected with the supporting operation vehicle, a tail bottom supporting device is arranged on the supporting operation vehicle and provided with a third fixed end and a third telescopic end, the third fixed end is connected with the supporting operation vehicle, and the third telescopic end can protrude out of the bottom surface of the supporting operation vehicle.

The tunneling anchoring and protecting equipment of the embodiment of the invention increases the stability of the tunneling machine during cutting operation and improves the stability of anchoring and protecting operation.

In some embodiments, a first telescopic device is arranged on one side of the rear frame;

the heading machine includes:

the front rack is connected with the first telescopic device;

the bottom of the front frame is provided with at least two second telescopic devices which are distributed at intervals in a first direction, each second telescopic device is provided with a fourth fixed end and a fourth telescopic end, the fourth fixed end is connected with the front frame, and each of the fourth telescopic end and the third telescopic end is provided with a sliding shoe; optionally, each of the fourth telescopic end and the third telescopic end is provided with a spherical head, the slipper is provided with a ball socket, and the spherical head is fitted in the ball socket; and

the front top supporting device is provided with a fifth fixed end and a fifth telescopic end, the fifth fixed end is arranged on the front rack, and the fifth telescopic end can protrude out of the top surface of the front rack.

In some embodiments, the heading machine further comprises:

the cutting device is arranged on the upper bracket;

the cross hinge shaft is provided with a first shaft extending along a first direction and a second shaft extending along a second direction, the first shaft is connected with the second shaft, the first end and the second end of the first shaft are both pivotally connected with the front rack, and the first end and the second end of the second shaft are both pivotally connected with the upper rack; and

the second telescopic device is arranged at the two sides of the center of the first shaft, the second telescopic device and the axis of the second shaft are arranged in a staggered mode, the first end of the second telescopic device is hinged to the front rack, and the second end of the second telescopic device is hinged to the upper rack.

In some embodiments, the heading machine further comprises:

a conveyor that extends through the front frame, the rear frame, and the support vehicle along a length direction of the front frame that is orthogonal to the first direction and the second direction;

the fourth telescopic device is hinged between the front rack and the conveyor and used for lifting the conveyor;

the shovel plate is arranged on one side, close to the cutting device, of the conveyor and hinged with the conveyor; and

a fifth telescoping device hinged between the blade and the conveyor to drive the blade to deflect relative to the conveyor.

In some embodiments, the shoring vehicle comprises:

the operation vehicle body is connected with the other side of the rear frame and is provided with a supporting platform; and on the support platform:

the net laying device comprises a first mechanical arm and a roll grabbing hand, wherein the roll grabbing hand is arranged at the free end of the first mechanical arm and is used for grabbing an anchor net roll;

the drilling machine is arranged at the free end of the second mechanical arm and used for driving the drilling machine to move to a set position, and the drilling machine is used for drilling the anchor rod into the set position; and

the rod loading device comprises a base, a rotating shaft, a first driving device, a support, a grabbing rod assembly, a plurality of second driving devices and a plurality of trays, wherein the rotating shaft is arranged on the base and is rotatably connected with the base, the first driving device is arranged on the base and is in transmission connection with the rotating shaft so as to drive the rotating shaft to rotate, the support comprises a first end part and a second end part, the first end part is arranged on the rotating shaft, the second end part surrounds the rotating shaft, the plurality of second driving devices are arranged on the second end part and are distributed at intervals along the circumferential direction of the rotating shaft, the plurality of trays are arranged on the plurality of second driving devices in a one-to-one correspondence manner, the trays are driven by the second driving devices to rotate by taking the axis of the trays as the rotation center, the trays are provided with a plurality of mounting holes, the plurality of mounting holes are distributed at intervals along the circumferential direction of the trays, and are used for inserting the anchor rods; the grab bar assembly is spaced from the base for grabbing the bolt on the pallet and moving and mounting the bolt on a drilling rig.

In some embodiments, the rod mounting apparatus further comprises:

the connecting columns are arranged on each tray;

the connecting columns are provided with a plurality of connecting holes, and the connecting columns are provided with a plurality of connecting columns;

in some embodiments, the lapping device further comprises:

the net roll bin is arranged on the supporting platform; and

the rack, the rack is located on the storehouse is rolled up to the net, the rack is equipped with places the cavity, it is uncovered to place the upper end of cavity, the rack is equipped with a plurality of first spouts in one side of its up end, the opposite side of rack on its up end is equipped with a plurality of second spouts, and is a plurality of first spout and a plurality of second spout one-to-one, first spout with each in the second spout extend along upper and lower direction and with place the cavity intercommunication, it is used for piling up from top to bottom and places a plurality ofly to place the anchor net book.

In some embodiments, the lapping device further comprises:

the rotary table seat is arranged on the net roll bin;

the rotary table is rotatably connected to the rotary table seat, and the first mechanical arm is arranged on the rotary table; and

the rotary table comprises a rotary table base, a sixth telescopic device, wherein the sixth telescopic device is installed on the rotary table base, one end of the sixth telescopic device is connected with the rotary table base, the other end of the sixth telescopic device is rotatably connected with the rotary table, and the rotary table is driven by the sixth telescopic device to move along the axial direction of the rotary table.

In some embodiments, the first robotic arm comprises:

one end of the large arm is hinged with the rotary table;

one end of the seventh telescopic device is hinged with the rotary table, and the other end of the seventh telescopic device is hinged with the large arm;

the eighth telescopic device and the seventh telescopic device are respectively positioned on two sides of the large arm in the width direction of the large arm, and one end of the eighth telescopic device is hinged with the large arm;

each of the other end of the large arm and the other end of the eighth telescopic device is hinged with the connecting arm; and

and one end of the ninth telescopic device is arranged on the connecting arm and is positioned at the opposite side of the other end of the eighth telescopic device, and the other end of the ninth telescopic device is connected with the roll grabbing hand.

In some embodiments, the second robotic arm comprises:

the first rotary driving device is arranged on the net roll bin;

one end of the tenth telescopic device is arranged at the power output end of the first rotary driving device, and the first rotary driving device drives the tenth telescopic device to rotate;

the second rotary driving device is arranged at the other end of the tenth telescopic device;

one end of the rotary arm is arranged at the power output end of the second rotary driving device, and the second rotary driving device drives the rotary arm to rotate; and

and the third rotary driving device is arranged at the other end of the rotary arm, the power output end of the third rotary driving device is connected with the drilling machine, and the third rotary driving device drives the drilling machine to rotate.

Drawings

Fig. 1 is one of the structural schematic diagrams of the excavation anchor protection equipment of the embodiment of the invention;

fig. 2 is a second schematic structural view of the tunneling anchor protection equipment of the embodiment of the invention;

FIG. 3 is a schematic structural view of a glide assembly of an embodiment of the present invention;

FIG. 4 is one of the schematic structural views of a support vehicle according to an embodiment of the present invention;

FIG. 5 is one of the schematic partial structural views of a support vehicle according to an embodiment of the present invention;

FIG. 6 is a second schematic view of a partial structure of a supporting vehicle according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a first robot arm, a turntable base, a turntable, and a sixth telescopic device according to an embodiment of the present invention;

FIG. 8 is a schematic structural view of a rodding device according to an embodiment of the present invention;

FIG. 9 is a second schematic structural view of a rod mounting apparatus according to an embodiment of the present invention;

fig. 10 is a schematic diagram of the operation of the timbering operation vehicle according to the embodiment of the present invention.

Reference numerals:

an anchor rod 001 and an anchor net roll 002;

tunneling anchor protection equipment 1000;

a heading machine 100;

the device comprises a front frame 11, crawler wheels 1101, a second telescopic device 12, a spherical head 122, a sliding shoe 123, a ball head seat 124, a front top supporting device 13, an upper bracket 14, a connecting lug 141, a cutting device 15, a power device 151, a mounting seat 1511, a hydraulic motor 1512, a cutter head 152, a cross hinge shaft 16, a third telescopic device 17, a conveyor 18, a fourth telescopic device 19, a shovel plate 110 and a fifth telescopic device 111;

the connecting device 200, the rear frame 21, the guide 211, the rear top supporting device 22, the rear bottom supporting device 23 and the first telescopic device 24;

a supporting work vehicle 300;

the device comprises an upper rod device 31, a base 311, a rotating shaft 312, a first driving device 313, a support 314, a first end 3141, a second end 3142, a connecting rod 3143, a mounting disc 3144, a second driving device 315, a tray 316, a connecting column 317, a separating disc 318, a grab rod assembly 319, a lifting rotary seat 3191, a supporting piece 3192 and a grab rod hand 3193;

the work vehicle body 32, the support platform 321, the ladder 322;

the net-laying device 33, the winding gripper 331, the connecting rod 3311, the clamping member 3312, the movable plate 3313, the net winding cabin 332, the gantry 333, the first sliding slot 3331, the turntable mount 334, the turntable 335, the turntable mount 3352, the driving motor 3351, the sixth telescopic device 336, the first mechanical arm 337, the boom 3371, the seventh telescopic device 3372, the eighth telescopic device 3373, the connecting arm 3374, the ninth telescopic device 3375, the fixing portion 33751 and the telescopic portion 33752;

drilling rod assembly 34, second mechanical arm 341, first swing drive 3411, tenth telescopic assembly 3412, second swing drive 3413, swing arm 3414, third swing drive 3415, connecting cylinder 3416, connecting rod 3417, drilling machine 342;

a final bottom support means 35.

Detailed Description

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

Description of the structure of the anchor rod 001 and the anchor net roll 002 for supporting in the excavation face: the anchor rod 001 includes a rod body and a supporting plate, and the supporting plate is located on one side of the rod body in the extending direction of the rod body, that is, the rod body is arranged on the supporting plate in a penetrating manner, as shown in fig. 4, the anchor rod 001. The anchor net roll 002 comprises a main shaft and an anchor net wound on the main shaft, wherein the length of the main shaft is larger than the width of the anchor net, namely, two sides of the main shaft in the length direction are not covered and wound by the anchor net, and two sides of the main shaft in the length direction form two sides of the anchor net roll 002. The end part of the anchor net positioned at the outermost side of the anchor net roll 002 is the free end of the anchor net roll 002.

The following describes the tunnelling anchor guard 1000 in accordance with an embodiment of the present invention.

As shown in fig. 1 to 10, a tunneling anchor guard 1000 according to an embodiment of the present invention includes a tunneling machine 100, a connecting device 200, and a timbering work vehicle 300.

The connecting device 200 comprises a rear frame 21, a rear top supporting device 22 and a rear bottom supporting device 23, one side of the rear frame 21 is connected with the heading machine 100, the rear top supporting device 22 is provided with a first fixed end and a first telescopic end, the first fixed end is connected with the rear frame 21, the first telescopic end can protrude out of the top surface of the rear frame 21, the rear bottom supporting device 23 is provided with a second fixed end and a second telescopic end, the second fixed end is connected with the rear frame 21, and the second telescopic end can protrude out of the bottom surface of the rear frame 21.

The other side of the rear frame 21 is connected with a supporting operation vehicle 300, a tail bottom supporting device 35 is arranged on the supporting operation vehicle 300, the tail bottom supporting device 35 is provided with a third fixed end and a third telescopic end, the third fixed end is connected with the supporting operation vehicle 300, and the third telescopic end can protrude out of the bottom surface of the supporting operation vehicle 300.

The heading machine 100 of the heading and anchoring equipment 1000 according to the embodiment of the invention is used for cutting the rock wall of the roadway, and the supporting operation vehicle 300 is used for anchoring and protecting the roadway by laying an anchor net and driving an anchor rod. The tunneling anchor protection device 1000 is driven into a roadway, before operation, the first telescopic end of the rear top support device 22 protrudes out of the top surface of the rear frame 21 and contacts with a roadway top plate, and the second telescopic end of the rear bottom support device 23 protrudes out of the bottom surface of the rear frame 21 and contacts with a roadway bottom plate, so that the connecting device 200 is fixedly clamped between the roadway top plate and the roadway bottom plate. The connection device 200 serves as a connection member of the heading machine 100 and bears a part of vibration from the heading machine 100, so that the connection device 200 fixed to the roof and floor of the roadway reduces the influence of vibration generated by cutting the rock wall of the roadway on the heading machine 100, thereby increasing the stability of the heading machine 100 when cutting the rock wall of the roadway. The third telescopic end of the end bottom supporting device 35 protrudes out of the bottom surface of the supporting operation vehicle 300 and contacts the bottom plate of the roadway, the supporting operation vehicle 300 is clamped between the roadway top plate and the roadway bottom plate by the end bottom supporting device 35, the influence of vibration generated when the heading machine 100 cuts the roadway rock wall on the supporting operation vehicle 300 can be further reduced, meanwhile, the influence of vibration generated when the supporting operation vehicle 300 performs anchoring operation on the anchoring operation process is reduced, and the stability of the supporting operation vehicle 300 and the accuracy and the efficiency of anchoring operation are improved.

The tunneling anchor and protection equipment 1000 of the embodiment of the invention increases the stability of the tunneling machine 100 during cutting operation and improves the stability of anchoring and protection operation.

In order to make the scheme of the present application easier to understand, the following description will be made by taking fig. 1 to fig. 10 as an example. In the example shown in fig. 1, the excavation anchor protecting equipment 1000 according to the embodiment of the present invention includes an excavation machine 100, a connecting device 200, and a supporting work vehicle 300, and the excavation machine 100, the connecting device 200, and the supporting work vehicle 300 are arranged in the front-rear direction.

The heading machine 100 includes a front frame 11, an upper bracket 14, a cross hinge shaft 16, a third telescoping device 17, a second telescoping device 12, and a front top support device 13.

The front frame 11 is a main body frame of the heading machine 100, and the bottom of the front frame 11 is provided with a crawler wheel 1101, and the bottom surface of the crawler wheel 1101 constitutes the bottom surface of the front frame 11. The front frame 11 is driven into and out of the rock wall cutting position by the track wheels 1101. In other words, track wheel 1101 is used for a machine mover.

The upper bracket 14 is provided with a cutting device 15. The cross hinge shaft 16 has a first shaft extending in a first direction (e.g., left-right direction in fig. 2) and a second shaft extending in a second direction (e.g., up-down direction in fig. 1), the first shaft and the second shaft being connected, a first end and a second end of the first shaft being pivotably connected to the front frame 11, and a first end and a second end of the second shaft being pivotably connected to the upper frame 14. The cross hinge shaft 16 serves to connect the upper frame 14 and the front frame 11 while facilitating the rotation of the upper frame 14 relative to the front frame 11 along the first axis and along the second axis, thereby increasing the flexibility of the front frame 11.

The third telescopic devices 17 are at least two and spaced apart along the first direction, the at least two third telescopic devices 17 are respectively arranged on two sides of the center of the first shaft, the third telescopic devices 17 and the axis of the second shaft are arranged in a staggered mode, the first end of each third telescopic device 17 is hinged to the front frame 11, and the second end of each third telescopic device 17 is hinged to the upper support 14.

Illustratively, the third telescopic device 17 is ball-hinged with the front frame 11, and the third telescopic device 17 is ball-hinged with the upper bracket 14.

In the heading machine 100 according to the embodiment of the present invention, the upper frame 14 can perform various movements, specifically as follows:

when the third telescopic devices 17 on both sides of the center of the first shaft move back and forth (for example, the third telescopic device 17 on one side extends, and the third telescopic device 17 on the other side shortens), the upper bracket 14 rotates along the axis of the second shaft and drives the cutting device 15 to deflect left and right; when the third telescopic devices 17 on both sides of the center of the first shaft move in the same direction (all telescopic devices extend or shorten simultaneously), the upper bracket 14 rotates along the axis of the first shaft and drives the cutting device 15 to deflect up and down.

Therefore, the cutting device 15 is more flexible in movement and more diversified in cutting mode, and compared with a full-section excavator method (TBM) which can only cut a circular section, the cutting device 15 of the embodiment can also cut sections with other shapes such as a rectangle, and therefore the flexibility of the cutting mode is greatly improved; in addition, the movable range of the cutting device 15 of the embodiment is still limited by the space size of the roadway, and the front rock wall is flexibly cut in the small movable range, so that the damage degree of the cutting device 15 to the surrounding rock is small.

Specifically, there are two third telescopic devices 17, and the two third telescopic devices 17 are respectively arranged on two sides of the center of the first shaft.

Specifically, the third telescopic device 17 may be a first hydraulic cylinder, a cylinder barrel of the first hydraulic cylinder is in ball-joint with the front frame 1, and a movable end of a piston rod of the first hydraulic cylinder is in ball-joint with the upper frame 14.

Specifically, the upper frame 14 has two engaging lugs 141, two engaging lugs 141 and two third telescopic devices 17 correspond to each other one by one, and the engaging lugs 141 and the corresponding third telescopic devices 17 are ball-hinged.

In some embodiments, as shown in fig. 1, the cutting device 15 includes a power unit 151 and a cutter head 152, and the power unit 151 is connected to the upper frame 14. The cutter head 152 has a receiving cavity, and the power unit 151 is disposed in the receiving cavity and connected to the cutter head 152 so as to drive the cutter head 152 to rotate.

Therefore, the cutter head 152 can continuously cut the rock wall under the action of the power device 151, the cutting efficiency is high, in addition, the cutter head 152 cuts the rock wall in a rotating mode, the cutting resistance is small, and the cutting speed is high. In addition, the cutter head 152 can realize cutting of a low rock roadway with high hardness by utilizing the principle of rock rolling and breaking.

Illustratively, the plane in which the cutterhead 152 lies in the initial state is parallel to the roadway floor.

Specifically, the power device 151 comprises a mounting seat 1511, a first end of the mounting seat 1511 is connected with the upper bracket 14, and a second end of the mounting seat 1511 is rotatably connected with the cutterhead 152, so that the upper bracket 14 bears the weight of the cutterhead 152 through the mounting seat 1511, and the reliability of the rotary cutting of the cutterhead 152 is ensured.

The power device 151 further comprises a hydraulic motor 1512 or a motor with a speed reducer, when the implementation mode of the hydraulic motor is selected, the hydraulic motor 1512 is connected with the mounting base 1511, the output shaft of the hydraulic motor 1512 is connected with the cutter head 152, so that the effect of power transmission of the hydraulic motor 1512 to the cutter head 152 is realized, and the hydraulic motor 1512 is selected for use, so that the transmission is more stable, and the stability of the cutter head 152 during rotation is improved.

When selecting for use the motor that has the reduction gear, the shell of this reduction gear links to each other with mount pad 1511, and the output shaft and the blade disc 152 of reduction gear link to each other, and from this, realized the effect that the power of motor passes through reduction gear transmission to blade disc 152, the selection for use of the motor that has the reduction gear has increased the output torque of power, has reduced the load of motor, has promoted the stationarity when blade disc 152 rotates.

The front frame 11 is connected to a first telescopic device 24, and the first telescopic device 24 is arranged at one side of the rear frame 21. That is, one end of the first telescopic device 24 is connected to the front frame 11, the other end of the first telescopic device 24 is connected to the one side of the rear frame 21, and the front frame 11 and the rear frame 21 can be moved relative to one of the front frame 11 or the rear frame 21 along the axial direction (for example, the front-rear direction in fig. 1) of the first telescopic device 24 by the telescopic device 24 of the front frame 11 and the rear frame 21, that is, the first telescopic device 24 is used for adjusting the distance between the front frame 11 and the rear frame 21.

For example, when the connecting device 200 is fixed to the roof and floor of the roadway, when the first telescopic device 24 is extended, the first telescopic device 24 pushes the front frame 11 to move forward, and then pushes the heading machine 100 to move forward, so as to implement the cutting feed. When the first telescopic device 24 is shortened, the first telescopic device 24 drives the front frame 11 to move backward, that is, the heading machine 100 is driven to move backward.

Specifically, the first expansion device 24 may be a second hydraulic cylinder.

In some embodiments, in order to improve the stability of the relative movement between the front frame 11 and the rear frame 21, the front frame 1 is provided with a slide rail, and the rear frame 21 is provided with a guide 211 matched with the slide rail. The cooperation of the slide rail and the guide 211 enables the guide 211 to move linearly relative to the slide rail, which in turn increases the stability of the relative sliding between the front frame 11 and the rear frame 21.

The bottom of the front frame 11 is provided with at least two second telescopic devices 12 spaced in a first direction (e.g. left and right direction in fig. 2), the second telescopic devices 12 have a fourth fixed end and a fourth telescopic end, the fourth fixed end is connected with the front frame 11, and each of the fourth telescopic end and the third telescopic end is provided with a sliding shoe 123.

The second telescopic device 12 can drive the sliding shoe 123 at the fourth telescopic end to protrude out of the bottom surface of the front frame 11 and enable the sliding shoe 123 to be abutted to the roadway bottom plate, and the front frame 11 is lifted, and then the front frame 11 is clamped between the roadway top plate and the roadway bottom plate, so that the stability of the front frame 11 is further improved, and the vibration influence on the front frame 11 when the cutter head 152 cuts rock walls is reduced. When the connecting device 200 is fixed to the roadway roof and the roadway floor, the sliding shoes 123 abut against the roadway floor so that the first telescopic device 24 extends to drive the front frame 11 to advance, i.e., to facilitate the cutting of the heading machine 100.

If the crawler wheel 1101 drives the cutterhead 52 to feed, the resistance of cut hard rock is large, the crawler wheel 1101 can be damaged, and the sliding shoe 123 arranged on the second telescopic device 12 realizes the pushing of the heading machine 100 during the feeding, so that the damage of the crawler wheel 1101 is avoided; the crawler wheel 1101 is only responsible for walking and does not participate in feeding cutting.

The provision of the skid shoes 123 not only further increases the stability of the heading machine 100 during cutting operations, but also overcomes the problem of damage to the track wheels 1101 of the heading machine 100 itself from the large resistance during cutting.

The extension of the end bottom supporting device 35 can drive the sliding shoe 123 at the third telescopic end to protrude out of the bottom surface of the supporting operation vehicle 300 and enable the sliding shoe 123 to be abutted against the roadway bottom plate, the front frame 11 is lifted, then the supporting operation vehicle is clamped between the roadway top plate and the roadway bottom plate, not only can the stability of the supporting operation vehicle 300 during cutting operation of the heading machine 100 be increased, but also if the rear bottom telescopic device 23 of the connecting device 200 is not abutted against the roadway bottom plate, and the rear top telescopic device 22 is not abutted against the roadway top plate, the first telescopic device 24 is shortened, and then the rear frame 21 and the supporting operation vehicle 300 can be driven to advance.

Optionally, each of the fourth telescopic end and the third telescopic end is provided with a ball head 122, the slipper 123 is provided with a ball socket 124, and the ball head 122 is fitted in the ball socket 124. The spherical head 122 and the spherical head seat 124 are matched, so that the sliding shoe 123 can change a certain pose relative to the second telescopic device 12, the sliding shoe 123 can change a certain pose relative to the end bottom supporting device 35, and when the roadway bottom plate is uneven or inclined, the contact position of the sliding shoe 123 and the roadway bottom plate can be adaptively changed, so that the maximum joint area of the two is ensured, and the stability of the front frame 11 and the supporting operation vehicle 300 is further improved.

Illustratively, the ball head 122 is rotatable relative to the ball head seat 124, i.e., the ball head 122 and the ball head seat 124 are connected in a manner equivalent to a ball joint.

Specifically, the second expansion device 12 is a first oil cylinder.

The front top supporting device 13 has a fifth fixed end and a fifth telescopic end, the fifth fixed end is arranged on the front frame 11, and the fifth telescopic end can protrude out of the top surface of the front frame 11. When the heading machine 100 cuts the rock wall, the front top supporting device 13 drives the fifth telescopic end to contact the roadway roof, and then the front frame 11 is clamped between the roadway roof and the roadway floor, so that the stability of the front frame 11 is further increased, and the vibration influence on the front frame 11 when the heading machine 100 cuts the rock wall is further reduced.

When the roadway roof is partially uneven, in order to avoid that the fifth telescopic end of the front top supporting device 13 is sunk into the roadway roof and cannot move, a structural member with appropriate flexibility may be additionally arranged at the fifth telescopic end of the front top supporting device 13, the structural member may be made of rubber, such as fluororubber, styrene butadiene rubber, and the like, and the structural member may be in a block shape, a plate shape, and the like, which is not limited in this embodiment.

Specifically, the front roof support device 13 employs a second cylinder.

In some embodiments, as shown in fig. 1, the heading machine 100 further includes a conveyor 18, a fourth telescoping device 19, a blade 110, and a fifth telescoping device 111. The conveyor 18 penetrates the front frame 11, the rear frame 21, and the timbering work vehicle 300 in the longitudinal direction of the front frame 11 (e.g., the front-rear direction in fig. 1), which is orthogonal to the first direction and the second direction. A fourth telescopic device 19 is articulated between the front frame 1 and the conveyor 18 and serves to lift the conveyor 18. A blade 110 is positioned on a side of conveyor 18 adjacent to cutting device 15 and is hingedly connected to conveyor 18. Fifth telescoping device 111 is hinged between blade 110 and conveyor 18 to facilitate driving blade 110 to deflect relative to conveyor 18.

When the rock wall is cut, the rock material on the rock wall falls to the ground and enters the conveyor 18 through the shovel plate 110, and the conveyor 18 transports the rock material backwards and carries out subsequent treatment, so that the rock material is prevented from being accumulated on the front side of the advancing road of the heading machine 100 to influence construction operation. Fifth telescoping device 111 is used for adjusting shovel 110's the angle of charging for shovel 110 can remain the state with ground butt all the time under complicated tunnel environment, thereby guarantees going on smoothly of the process of charging.

In particular, the fourth telescopic device 19 may be a third hydraulic cylinder, a cylinder barrel of the third hydraulic cylinder is hinged with the frame, and a piston rod of the third hydraulic cylinder is hinged with the conveyor 18.

In particular, the fifth telescopic device 111 may be a fourth hydraulic cylinder, the cylinder of which is articulated to the conveyor 18, and the piston rod of which is articulated to the blade 110.

Specifically, the conveyor 18 may be a drag chain conveyor, a belt conveyor, or the like.

Specifically, blade 110 and conveyor 18 are hinged by a pin.

Each of the rear frame 21 and the timbering work vehicle 300 is provided with an accommodating groove, and the rear portion of the conveyor 14 is sequentially placed in the accommodating groove of the rear frame 21 and the accommodating groove of the timbering work vehicle 300.

Since the fourth telescopic device 19 is hinged between the front frame 11 and the conveyor 18, the conveyor 18 can be swung with respect to the rear frame 21 by an appropriate amount, which can adjust the position of the conveyor 18 to facilitate the connection of the conveyor 18 to external equipment.

Illustratively, the number of the fourth telescoping devices 19 is two and is respectively arranged at two sides of the conveyor 18 in the first direction, and the fourth telescoping devices 19 are arranged at the front part of the conveyor 18.

In the feeding process of the cutter head 152, firstly, the rear top supporting device 22 contacts the roadway top plate, the rear bottom supporting device 23 contacts the roadway bottom plate, that is, the rear top supporting device 22 abuts against the roadway top plate, and the rear bottom supporting device 23 abuts against the roadway bottom plate, so that the rear frame 21 is clamped between the roadway top plate and the roadway bottom plate and forms a large static friction force with the roadway top plate and the roadway bottom plate.

Then, the first telescoping device 24 drives the front frame 11 to move forward, the cutting device 15 on the front frame 11 feeds the rock wall for cutting, when the front frame 11 feeds, the sliding shoe 123 and the roadway bottom plate corresponding to the second telescoping device 12 keep a stopping state, and the front top supporting device 13 and the roadway top plate keep a stopping state, so that a large backward sliding friction force is generated between the front frame 11 and the surrounding rock, and meanwhile, a large backward reaction force is generated by the rock wall for cutting of the cutterhead 152.

The static friction force will be used to balance the sliding friction force and the reaction force, thereby ensuring stability and reliability of the heading machine 100 in operation. In other words, the rear frame 21 serves to stabilize the entire machine against frictional forces and reaction forces during operation of the front frame 11.

It should be noted that the arrangement of the rear top supporting devices 22 and the rear bottom supporting devices 23 of the rear frame 21, that is, the arrangement of four rear top supporting devices 22 and two rear bottom supporting devices 23, is to balance the arrangement of the sliding shoes 123 on the second telescopic device 12 and the front top supporting device 13, thereby increasing the stability of the whole structure.

Specifically, the rear roof support device 22 may be a third cylinder.

Specifically, the rear bottom support device 23 may be a fourth cylinder.

The supporting operation vehicle 300 is used for supporting a roadway to achieve surrounding rock stability.

Referring to fig. 1, 2 and 4 to 10 for example, the timbering work vehicle 300 comprises a work vehicle body 32 and a lapping device 33, a drill rod device 34 and a rod loading device 31. In the example shown in fig. 1, the lapping device 33, the drill rod device 34 and the upper rod device 31 are distributed in sequence from front to back.

As shown in fig. 1, the work vehicle body 32 is a crawler type vehicle body for better movement within the roadway. The work vehicle body 32 is provided with a support platform 321, and the work vehicle body 32 is provided with ladders 322 on both sides in a first direction (e.g., the left-right direction in fig. 1). The ladder 322 is arranged to facilitate the person getting on and off the vehicle, so that the person can load the rod loading device 31 and supplement the anchor net roll 002 for the net laying device 33.

The net laying device 33, the drill rod device 34 and the rod loading device 31 are arranged on the supporting platform 321, the net laying device 33 is used for laying an anchor net on the roadway, and the drill rod device 34 is used for driving the anchor rod into the rock wall of the roadway through the anchor net. Alternatively, the mesh-laying device 33 and the drill rod device 34 may be provided in plurality, the mesh-laying device 33 and the drill rod device 34 correspond to each other one by one, the mesh-laying device 33 and the drill rod device 34 are distributed at intervals on the support platform 321 in the width direction 3 of the roadway (for example, the left-right direction in fig. 2), and the mesh-laying device 33 and the drill rod device 34 are operated simultaneously to further increase the speed of the anchoring operation.

As shown in fig. 4 to 7, the lapping device 33 includes a first robot arm 337, a web magazine 332, a gripper 331, and a gantry 333.

The free end of the first mechanical arm 337 is provided with a roll grabbing hand 331, and the roll grabbing hand 331 is used for rotatably connecting the anchor net roll 002 to grab the anchor net roll 002.

The net roll bin 332 is arranged on the supporting platform 321, and the anchor net roll 002 can be stored in the net roll bin 332.

On the storehouse 332 is rolled up to the net to rack 333, rack 333 is equipped with places the cavity, it is uncovered to place the upper end of cavity, rack 333 is equipped with a plurality of first spouts 3331 in one side of its up end, rack 333 opposite side on its up end is equipped with a plurality of second spouts, a plurality of first spouts 3331 and a plurality of second spout one-to-one, each in first spout 3331 and the second spout extends and with placing the cavity intercommunication along upper and lower direction, it is used for piling up from top to bottom to place a plurality of anchor nets and rolls up 002 to place the cavity. The rack 333 is provided with a storage rack for storing the anchor net roll 002, and the main shaft of the anchor net roll 002 can extend out of the rack 333 due to the arrangement of the first sliding chute 3331 and the second sliding chute, so that the anchor net roll 002 in the chamber can be conveniently grabbed by the grabbing hand 331.

Specifically, referring to fig. 5, the number of the first sliding grooves 3331 and the number of the second sliding grooves are four, the plurality of anchor net rolls 002 are stacked up and down in the placing chamber and form four rows, one end of the main shaft of the anchor net roll 002 passes through the first sliding groove 3331 and is located outside the rack 333, the other end of the main shaft of the anchor net roll 002 passes through the second sliding groove and is located outside the rack 333, the part of the main shaft of the anchor net roll 002 exposed out of the rack 333 is convenient for grabbing by the anchor net roll grabbing hand 331, so that the anchor net roll 002 can be grabbed quickly by the anchor net grabbing hand 331. When grabbing the anchor net roll 002 in the placing chamber, the grabbing-rolling hand 331 grabs the anchor net roll 002 in the order from top to bottom. After the anchor net roll 002 in the placing chamber is used up, the person can supplement the anchor net roll 002 in the net roll bin 332 into the placing chamber.

In some embodiments, the lapping device 33 further comprises a turret table 334, a turret table 335, and a sixth telescoping device 336. A turret block 334 is provided on the web magazine 332. Turntable 335 is rotatably coupled to turntable base 334, and first robot arm 337 is provided on turntable 335. The sixth retractor 336 is mounted on the turntable base 334, one end of the sixth retractor 336 is connected to the turntable base 334, the other end of the sixth retractor 336 is rotatably connected to the turntable 335, and the turntable 335 is driven by the sixth retractor 336 to move in the axial direction of the turntable 335. The setting of lapping device 33 through changeing pedestal 334, revolving stage 335 and sixth telescoping device 336 makes first arm 337 and grab a roll hand 331 rotatable and remove, the angle and the height of adjustable grab a roll hand 331 relative tunnel, make grab a roll hand 331 and anchor net roll 002 have bigger motion range, make the anchor net scope of this lapping device 33 in the tunnel bigger, thereby promote the adaptability of strutting operation car 300, simultaneously, it picks the anchor net roll 002 of placing the cavity to also be more convenient for grab a roll hand 331.

Specifically, referring to fig. 7, the turntable 335 includes a turntable holder 3352 and a driving motor 3351. The turret frame 3352 includes a cylindrical section having an axis in the up-down direction and a plate section. Be equipped with the cavity in the cylinder section, the cylinder section rotates with sixth telescoping device 336 to be connected, and the cylinder section rotates with revolving stage seat 334 to be connected, and driving motor 3351 establishes in this cavity, and driving motor 3351's motor output shaft passes through gear structure and is connected in order to drive the cylinder section rotation with the cylinder section transmission to realize revolving stage 335's rotation. The plate section is located on one side of the cylindrical section in its axial direction, on which the first robot arm 337 is arranged.

Specifically, the gear mechanism includes a large gear ring 3353 and a small gear ring 3354, the small gear ring 3354 is provided on the motor output shaft of the driving motor 3351, the large gear ring 3353 is provided in the cavity of the cylindrical section, and the large gear ring 3353 is engaged with the small gear ring 3354. The turntable 335 is rotated about the axis of the ring gear 3353 as the rotation center by the drive motor 3351.

Optionally, the drive motor 3351 is a stepper motor.

Optionally, the sixth expansion device 336 is a fifth cylinder.

Referring to fig. 7, the first robot arm 337 includes a boom 3371, a seventh telescopic device 3372, an eighth telescopic device 3373, a connecting arm 3374, and a ninth telescopic device 3375. One end of the large arm 3371 is hinged to the turntable 335. One end of the seventh telescopic device 3372 is hinged to the turntable 335, and the other end of the seventh telescopic device 3372 is hinged to the large arm 3371. The eighth expansion device 3373 and the seventh expansion device 3372 are respectively located at both sides of the large arm 3371 in the width direction thereof, and one end of the eighth expansion device 3373 is hinged to the large arm 3371. Each of the other end of the large arm 3371 and the other end of the eighth telescopic device 3373 is hinged to a connecting arm 3374. One end of the ninth telescopic device 3375 is disposed on the connecting arm 3374 and is opposite to the other end of the eighth telescopic device 3373, and the other end of the ninth telescopic device 3375 is connected to the winding grab 331.

Under the telescopic action of the seventh telescopic device 3372, the boom 3371 can swing up and down, so as to drive the eighth telescopic device 3373, the connecting arm 3374, the ninth telescopic device 3375 and the winding handle 331 to follow. The connecting arm 3374 can swing up and down by the expansion and contraction of the eighth expansion and contraction device 3373, so that the ninth expansion and contraction device 3375 and the winding handle 331 follow. The rolling-grasping hand 331 can move along with the extension and retraction of the ninth extending and retracting device 3375 under the extension and retraction driving of the ninth extending and retracting device 3375.

Optionally, the seventh telescopic device 3372 is a sixth cylinder, and the eighth telescopic device 3373 is a seventh cylinder. The ninth telescopic device 3375 is a first electric telescopic rod, and referring to fig. 5 and 7, the first electric telescopic rod includes a fixed portion 33751 and a telescopic portion 33752, one end of the fixed portion 33751 constitutes the one end of the ninth telescopic device 3375, the other end of the fixed portion 33751 is embedded in the telescopic portion and slidably connected with the telescopic portion 33752, and the free end of the telescopic portion 33752 constitutes the other end of the ninth telescopic device 3375. The cross section of the telescopic part 33752 is square, and the cross section of the other end of the fixing part 33751 is in a 'return' shape matched with the telescopic part 33752.

The other end of the ninth telescopic device 3375 is hinged to the rolling hand 331, the central axis of rotation of the ninth telescopic device 3375 hinged to the rolling hand 331 is perpendicular to the axis of the anchor net roll 002 on the rolling hand 331, and the central axis of rotation of the ninth telescopic device 3375 hinged to the rolling hand 331 is perpendicular to the extending direction of the ninth telescopic device 3375. Therefore, the grab handle 331 can swing at a certain angle relative to the ninth telescopic device 3375, and when the grab handle 331 carries out the net laying operation, the anchor net roll 002 can be better attached to or contacted with the rock wall of the roadway.

Specifically, the winding grabber 331 includes a connecting rod 3311, a clamping member 3312, a movable plate 3313, and an eleventh telescopic device (not shown). One side of the connecting rod 3311 is hinged to the other end of the ninth telescopic device 3375. The holder 3312 is L-shaped and includes a long plate and a short plate connected to each other, the long plate is connected to the other side of the connecting rod 3311, and the short plate and the connecting rod 3311 are respectively located on both sides in the thickness direction of the long plate. The movable plate 3313 is slidably provided on the long plate along the length direction of the long plate, and the movable plate 3313 and the short plate are located on the same side of the long plate in the thickness direction thereof. The eleventh retractable device is disposed on the long plate and connected to the movable plate 3313 to drive the movable plate 3313 to move along the length direction of the long plate. Each of the movable plate 3313 and the short plate is provided with a through hole which is fitted with the main shaft of the anchor net reel 002.

When the grabbing hand 331 grabs the anchor net roll 002, the eleventh retractable device extends to drive the movable plate 3313 to move in a direction away from the short plate, so as to increase the distance between the movable plate 3313 and the short plate. The turntable 335 rotates to drive the movable plate 3313 and the short plate of the grabbing-rolling hand 331 to be located on two sides of the rack 333, the first robot arm 337 drives the grabbing-rolling hand 331 to correspond to the target anchor net roll 002, and then the eleventh telescopic device contracts to drive the movable plate 3313 to move toward the direction close to the short plate, so that two ends of the main shaft of the anchor net roll 002 are inserted into the through hole of the movable plate 3313 and the through hole of the short plate, respectively, to grab the anchor net roll 002. The anchor web roll 002 may then be moved under the drive of the first robotic arm 337 and the turret 335. After the first anchor rod passes through the free end of the anchor net, the first mechanical arm 337 drives the winding grab 331 to move, so that the anchor net can be gradually unfolded.

Optionally, the eleventh expansion device is a second electric expansion rod.

The upper lever device 31 includes a base 311, a rotating shaft 312, a first driving device 313, a bracket 314, a grab bar assembly 319, a plurality of second driving devices 315, and a plurality of trays 316.

The base 311 is disposed on a support platform 321. The rotating shaft 312 is disposed on the base 311 and is rotatably connected to the base 311. The first driving device 313 is disposed on the base 311, and the first driving device 313 is in transmission connection with the rotating shaft 312 to drive the rotating shaft 312 to rotate. The bracket 314 includes a first end portion 3141 and a second end portion 3142, the first end portion 3141 is disposed on the rotating shaft 312, and the second end portion 3142 surrounds the rotating shaft 312. The second driving devices 315 are disposed on the second end portion 3142 and are distributed at intervals along the circumferential direction of the rotating shaft 312. The trays 316 are correspondingly arranged on the second driving devices 315 one by one, the trays 316 are driven by the second driving devices 315 to rotate by taking the axis of the trays 316 as a rotation center, a plurality of mounting holes are arranged on the trays 316, the mounting holes are distributed at intervals along the circumferential direction of the trays 316, and the mounting holes are used for inserting the anchor rods 3001. A grab bar assembly 319 is provided on the support platform 321, the grab bar assembly 319 being spaced from the base 311, the grab bar assembly 319 being used to grab the anchor bar 001 on the tray 316 and move and mount the anchor bar to the drill 342.

Can place stock 001 in the mounting hole, go up lever apparatus 31 and have a plurality of mounting holes, can place a plurality of stock 001. The second driving means 315 rotates its corresponding tray 316 so that each anchor rod 001 installed on the tray 316 is rotated to a position corresponding to the grab bar assembly 319, so that the grab bar assembly 319 grabs the anchor rod 001. The first driving device 313 rotates the bracket 314, so that the plurality of trays 316 are sequentially rotated to positions corresponding to the grab bar assemblies 319, so that the grab bar assemblies 319 grab the anchor bars 001.

In some embodiments, the upper stem assembly 31 further includes a plurality of connecting posts 317 and a plurality of divider disks 318. A connecting post 317 is provided on each tray 316. Set up on every spliced pole 317 and separate dish 318, be equipped with a plurality of draw-in grooves on separating the dish 318, a plurality of draw-in grooves and a plurality of mounting holes one-to-one, the draw-in groove is used for cooperating with stock 001, carry on spacingly with the stock 001 of establishing in the mounting hole inserting, prevent that stock 001 from taking place the incline, thereby prevent to take place to interfere between a plurality of stock 001 on the upper boom device 31, put with the rule of guaranteeing stock 001, so that grab pole subassembly 319 and snatch stock 001, thereby promote the upper boom efficiency further.

In some embodiments, the support 314 further includes a plurality of connecting rods 3143 and a plurality of mounting discs 3144, the plurality of connecting rods 3143 are distributed at intervals along the circumferential direction of the rotating shaft 312, one end of the connecting rod 3143 is connected to the first end portion 3141, the other end of the connecting rod 3143 is connected to the mounting disc 3144, the plurality of mounting discs 3144 form the second end portion 3142, and the plurality of second driving devices 315 are disposed on the plurality of mounting discs 3144 in a one-to-one correspondence manner. That is, one second driving device 315 is provided on one mounting plate 3144. The bracket 314 is connected with the first end portion 3141 and the mounting discs 3144 through the connecting rods 3431, so that the overall weight of the bracket 314 is reduced while the mounting strength of the mounting discs 3144 is ensured, the energy consumption of the first driving device 313 is reduced, and the purpose of energy conservation is achieved.

Specifically, the first end portion 3141 is annular, and the first end portion 3141 is sleeved on the rotating shaft 312. The connecting rod 3143 is L-shaped, and has simple structure and low manufacturing cost.

Alternatively, the first driving device 313 is an electric motor and the second driving device 315 is a rotary motor.

The grab bar assembly 319 includes a lift swivel 3191, a support 3192, and a grab bar hand 3193. The lifting rotary base 3191 is arranged on the supporting platform 321, and the lifting rotary base 3191 is spaced apart from the base 311. The supporting member 3192 is mounted on the lifting/lowering/swiveling base 3191, the supporting member 3192 is driven by the lifting/lowering/swiveling base 3191 to rotate around the axis of the lifting/lowering/swiveling base 3191, and the supporting member 3192 is driven by the lifting/swiveling base 3191 to move along the axis of the lifting/swiveling base 3191. A grab bar hand 3193 is mounted to the support 3192, and the grab bar hand 3193 is used to grab the anchor rod 001 on the tray 316 and mounted to the drill 342.

When the grab bar assembly 319 operates, the lifting rotary seat 3191 rotates to drive the supporting piece 3192 to rotate, so that the grab bar hand 3193 corresponds to the anchor bar 001 on the tray 316, the lifting rotary seat 3191 drives the supporting piece 3192 to move upwards after the grab bar hand 3193 clamps the anchor bar 001, the grab bar hand 3193 drives the anchor bar 001 to move upwards to enable the anchor bar 001 to be separated from the tray 316, then the lifting rotary seat 3191 drives the supporting piece 3192 to rotate to enable the anchor bar 001 to be aligned with the drilling machine 342, one end of the anchor bar 001 is installed on the drilling machine 342, and installation of the anchor bar 001 is completed.

Further, grab bar hand 3193 includes first arm lock, the second arm lock, reset spring and electro-magnet, first arm lock and second arm lock are all connected in support member 3192, first arm lock is along the orientation/the direction slidable that deviates from the second arm lock, reset spring is located between first arm lock and the second arm lock, reset spring's one end and first arm lock are connected, reset spring's the other end and second arm lock are connected, reset spring is used for driving first arm lock and slides along the orientation that deviates from the second arm lock, the electro-magnet is connected in the second arm lock, the electro-magnet is used for driving first arm lock and slides along the orientation that deviates from the second arm lock.

When the grab bar hand 3193 runs, the electromagnet starts to enable the first clamping arm to slide along the direction towards the second clamping arm, the anchor bar 001 is clamped tightly by the first clamping arm and the second clamping arm, the anchor bar 001 is installed on the drilling machine 342, the electromagnet is closed, the first clamping arm slides along the direction deviating from the second clamping arm under the action of the reset spring, and therefore the grab bar hand 3193 is separated from the anchor bar 001.

The drill rod device 34 comprises a second mechanical arm 341 and a drilling machine 342, wherein the drilling machine 342 is arranged at the free end of the second mechanical arm 341, the second mechanical arm 341 is used for driving the drilling machine 342 to move to a set position, and the drilling machine 342 is used for drilling the anchor rod 001 into the set position.

The second mechanical arm 341 includes a first swing drive means 3411, a tenth telescopic means 3412, a second swing drive means 3413, a swing arm 3414, and a third swing drive means 3415. A first rotary drive 3411 is provided on the web reel 332. One end of the tenth expansion device 3412 is disposed at the power output end of the first rotation driving device 3411, and the first rotation driving device 3411 drives the tenth expansion device 3412 to rotate. The second rotary driving device 3413 is disposed at the other end of the tenth telescopic device 3412, and the second rotary driving device 3413 is moved in the extending direction of the tenth telescopic device 3412 by the extension or contraction of the tenth telescopic device 3412. One end of the turning arm 3414 is disposed at a power output end of the second turning driving device 3413, and the second turning driving device 3413 drives the turning arm 3414 to rotate. A third rotary driving device 3415 is arranged at the other end of the rotary arm 3414, a power output end of the third rotary driving device 3415 is connected with the drilling machine 342, and the third rotary driving device 3415 drives the drilling machine 342 to rotate.

Specifically, the center axes of rotation of the power outputs of first, second, and third

rotary drive devices

3411, 3413, and 3415 are parallel.

Alternatively, first swing drive 3411 is a hydraulic swing motor, second swing drive 3413 is a hydraulic swing motor, and third swing drive 3415 is a swing motor.

Optionally, the tenth expansion device 3412 is an eighth cylinder.

The second mechanical arm 341 also includes a connecting barrel 3416 and a connecting rod 3417. The connecting cylinder 3416 is disposed at the power output end of the first rotation driving device 3411, the first rotation driving device 3411 drives the connecting cylinder 3416 and the tenth expansion device 3412 to rotate synchronously, and one end of the tenth expansion device 3412 is hinged to the connecting cylinder 3416. One end of the connecting rod 3417 is hinged to the connecting cylinder 3416, and each of the other end of the connecting rod 3417 and the other end of the tenth telescopic device 3412 is hinged to the second swing driving device 3413. The arrangement of the connecting tube 3416 and the connecting rod 3417 enables the tenth telescopic device 3412 to provide a supporting force for the second rotary driving device 3413 when the second rotary driving device 3413 is driven to move, so that the stability of the movement of the second rotary driving device 3413 can be ensured, and the stability and the safety of the drilling rod device 34 in bolting can be ensured.

The operation process of the tunneling anchor protection device 1000 of the embodiment of the invention comprises the following steps:

cutting operation:

the heading machine 100 is driven into the roadway through the track wheels 1101 on the front frame 11.

Stopping the rear top supporting device 22 against the top plate of the roadway, and stopping the rear bottom supporting device 23 against the bottom plate of the roadway so as to fix the rear frame 21; the end bottom supporting device 35 drives the sliding shoe 123 thereon to stop against the roadway floor so as to fix the supporting operation vehicle 300.

The skid shoe 123 corresponding to the second telescopic device 12 stops against the roadway floor under the action of the second telescopic device 12, so that the track wheel 1101 is lifted and lifted off the ground, and the front top supporting device 13 stops against the roadway roof.

Conveyor 18 is lowered by fourth telescoping device 19 so that blade 16 contacts the roadway floor, and the angle of loading of blade 16 is adjusted by fifth telescoping device 111.

When the conveyor 18 and the power device 151 are started, the cutter disc 152 rotates, and the front frame 11 is pushed by the first telescopic device 24 to move towards the rock wall, so that the cutter disc 52 is horizontally fed.

The front frame 11 is retracted by means of the first telescopic device 24 and the cutting angle of the cutter head 52 is adjusted by means of at least two third telescopic devices 17.

The cutter head 52 is pushed by the first telescopic device 24 to move towards the rock wall again so as to enlarge the section of the roadway.

And repeating the steps until the section of the roadway meets the exploitation requirement.

When the cutterhead 52 cuts the rock wall, the support work vehicle 300 supports the roadway roof, the roadway two sides and the roadway floor.

After laneway cutting is completed, the conveyor 18 and power unit 151 are shut down.

The conveyor 18 is lifted and returned by the fourth telescopic device 19.

The rear top support device 22 and the rear bottom support device 23 are reset, and the rear frame 21 and the timbering work vehicle 300 are pulled toward the front frame 11 by the first telescoping device 24.

And when the next section of rock wall is cut, repeating the steps.

Anchoring and protecting operation:

before the bolting work vehicle 300 performs bolting of the excavation face, the anchor rod 001 is inserted into the mounting hole of the upper rod device 31, that is, the upper rod device 31 is installed. After the lower extreme with stock 001 inserts the mounting hole in, the layer board of stock 001 is located tray 316 top, and tray 316 contacts with the layer board and forms the support to the layer board, and tray 316 and mounting hole realize the support and the fixed of stock 001.

The anchoring process of the supporting operation vehicle 3100 is as follows:

the rotary table 335 and the first mechanical arm 337 drive the grabbing and rolling hand 331 to move towards the rack 333, so that the grabbing and rolling hand 331 is opposite to a target anchor net roll 002 in the rack 333, the grabbing and rolling hand 331 grabs the target anchor net roll 002, the rotary table 335 and the first mechanical arm 337 drive the anchor net roll 002 to move to a set position corresponding to a rock wall of a roadway, for example, two sides and a top plate of the roadway, under the action of gravity, the free end of the anchor net roll 002 is in a naturally drooping state, and the free end of the anchor net roll 002 corresponds to the set position.

The first driving device 313 of the rod feeding device 1 rotates the rotating shaft 312 to rotate the bracket 314, so that one of the trays 316 corresponds to the grab rod assembly 319, and the second driving device 315 corresponding to the tray 316 rotates the tray 316, so that one of the anchor rods 001 on the tray 316 corresponds to the grab rod assembly 319, and for convenience of description and distinction, the anchor rod 001 is referred to as a first anchor rod in the order of the anchor rods. The grab bar assembly 319 grabs the corresponding first anchor bar, drives the first anchor bar to move it to the drilling machine 342 and mounts the first anchor bar on the drilling machine 342 to achieve the rod loading of the first anchor bar.

The second mechanical arm 341 moves the drill 342 to make the drill 342 correspond to the set position. The drilling machine 342 is operated to drive the first anchor rod on the drilling machine 342 into the rock wall of the roadway through the free end of the anchor net roll 002, and the free end of the anchor net roll 002 is fixed on the rock wall through the first anchor rod.

Since the free end of the anchor net roll 002 is fixed, the first mechanical arm 337 drives the roll grabbing hand 331 to move along the rock wall, so that the anchor net on the anchor net roll 002 can be gradually unfolded to lay the rock wall. The second mechanical arm 341 returns the drill 342. The second drive device 315 rotates the tray 316 to rotate the next anchor rod 0013, i.e., the second anchor rod, to a position corresponding to the grab bar assembly 319, and the grab bar assembly 319 grabs the second anchor rod and mounts it to the drilling machine 342, thereby accomplishing the rod loading of the second anchor rod.

The second mechanical arm 341 drives the drilling machine 342 to move to a position corresponding to the position of the spread anchor net, and the drilling machine 342 operates to drive a second anchor rod on the drilling machine 342 into the rock wall of the roadway through the anchor net roll 002.

The first mechanical arm 337 drives the gripper 331 to move along the rock wall to gradually unwind the anchor net from the anchor net roll 002 to lay the rock wall, and the rod feeding device 31 and the rod drilling device 34 repeat the above actions to continuously drive the anchor rod into the rock wall.

After the anchor net of the anchor net roll 002 is laid, the first mechanical arm 337 drives the roll grabbing hand 331 to move down, the roll grabbing hand 331 releases the grabbing of the main shaft of the anchor net roll 002 so that the main shaft is separated from the roll grabbing hand 331, and the rotary table 335 and the first mechanical arm 337 drive the roll grabbing hand 331 to move so that the roll grabbing hand 331 grabs the second anchor net roll 002. And then repeating the steps to realize roadway support of the tunneling surface.

According to the tunneling anchoring and protecting equipment 1000 provided by the embodiment of the invention, the whole structure is compact, the number of parts is small, and the arrangement is reasonable, so that the whole machine can be manufactured in a small size, the whole machine can be flexibly moved in the working environment of an underground roadway, and in addition, the parts are movably connected, so that the flexibility of the machine is higher during underground roadway tunneling.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" and the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A tunneling anchor and protection device is characterized by comprising:

a heading machine (100);

the connecting device (200) comprises a rear rack (21), a rear top supporting device (22) and a rear bottom supporting device (23), one side of the rear rack (21) is connected with the heading machine (100), the rear top supporting device (22) is provided with a first fixed end and a first telescopic end, the first fixed end is connected with the rear rack (21), the first telescopic end can protrude out of the top surface of the rear rack (21), the rear bottom supporting device (23) is provided with a second fixed end and a second telescopic end, the second fixed end is connected with the rear rack (21), and the second telescopic end can protrude out of the bottom surface of the rear rack (21); and

strut operation car (300), rear frame (21) opposite side with strut operation car (300) and link to each other, strut and be equipped with end strutting arrangement (35) on operation car (300), end strutting arrangement (35) have the flexible end of third stiff end and third, the third stiff end with strut operation car (300) and connect, the flexible end of third can bulge in strut the bottom surface of operation car (300).

2. A tunnelling anchor and protection arrangement as claimed in claim 1, wherein one side of the rear frame (21) is provided with a first telescopic device (24);

the heading machine (100) includes:

the front frame (11), the said front frame (11) connects the said first telescoping device (24);

the bottom of the front frame (11) is provided with at least two second telescopic devices (12) which are distributed at intervals in a first direction, the second telescopic devices (12) are provided with a fourth fixed end and a fourth telescopic end, the fourth fixed end is connected with the front frame (11), and each of the fourth telescopic end and the third telescopic end is provided with a sliding shoe (123); optionally, each of the fourth telescopic end and the third telescopic end is provided with a ball head (122), the slipper (123) is provided with a ball head seat (124), and the ball head (122) is fitted in the ball head seat (124); and

preceding top strutting arrangement (13), preceding top strutting arrangement (13) have fifth stiff end and the flexible end of fifth, the fifth stiff end is established on forebay (11), the flexible end of fifth can protrusion in the top surface of forebay (11).

3. A tunnelling anchor guard as claimed in claim 2, wherein the tunnelling machine (100) further comprises:

the cutting device comprises an upper bracket (14), wherein a cutting device (15) is arranged on the upper bracket (14);

the cross hinge shaft (16) is provided with a first shaft extending along a first direction and a second shaft extending along a second direction, the first shaft is connected with the second shaft, the first end and the second end of the first shaft are both pivotally connected with the front frame (11), and the first end and the second end of the second shaft are both pivotally connected with the upper bracket (14); and

the first telescopic device (17) is arranged on the two sides of the center of the first shaft, the third telescopic device (17) and the axis of the second shaft are arranged in a staggered mode, the first end of the third telescopic device (17) is hinged to the front frame (11), and the second end of the third telescopic device (17) is hinged to the upper support (14).

4. A tunnelling anchor as claimed in claim 2, wherein the tunnelling machine (100) further comprises:

a conveyor (18), the conveyor (18) penetrating the front frame (11), the rear frame (21), and the timbering work vehicle (300) in a length direction of the front frame (11), the length direction being orthogonal to the first direction and the second direction;

a fourth telescopic device (19), said fourth telescopic device (19) being articulated between said front frame (11) and said conveyor (18) and being used for raising and lowering said conveyor (18);

a shovel plate (110), wherein the shovel plate (110) is arranged on one side, close to the cutting device (15), of the conveyor (18) and is hinged with the conveyor (18); and

a fifth retractor device (111), said fifth retractor device (111) being hinged between said blade (110) and said conveyor (18) so as to drive said blade (110) to deflect relative to said conveyor (18).

5. A tunnelling anchor shield as claimed in claim 1, in which the shield work vehicle (300) includes:

the operation vehicle body (32), the operation vehicle body (32) is connected with the other side of the rear frame (21), and the operation vehicle body (32) is provided with a supporting platform (321); and on the support platform (321):

the lapping device (33) comprises a first mechanical arm (337) and a grabbing and rolling hand (331), the grabbing and rolling hand (331) is arranged at the free end of the first mechanical arm (337), and the grabbing and rolling hand (331) is used for grabbing the anchor net roll (002);

the drill rod device (34) comprises a second mechanical arm (341) and a drilling machine (342), the drilling machine (342) is arranged at the free end of the second mechanical arm (341), the second mechanical arm (341) is used for driving the drilling machine (342) to move to a set position, and the drilling machine (342) is used for drilling the anchor rod (001) into the set position; and

a rod mounting device (31) comprising a base (311), a rotating shaft (312), a first driving device (313), a bracket (314), a rod grasping assembly (319), a plurality of second driving devices (315) and a plurality of trays (316), the rotating shaft (312) is arranged on the base (311) and is rotationally connected with the base (311), the first driving device (313) is arranged on the base (311), the first driving device (313) is in transmission connection with the rotating shaft (312) to drive the rotating shaft (312) to rotate, the bracket (314) comprises a first end portion (3141) and a second end portion (3142), the first end portion (3141) is arranged on the rotating shaft (312), the second end portion (3142) surrounds the rotating shaft (312), the second driving devices (315) are arranged on the second end portion (3142) and are distributed at intervals along the circumferential direction of the rotating shaft (312), the trays (316) are correspondingly arranged on the second driving devices (315), the tray (316) is driven by a second driving device (315) to rotate by taking the axis of the tray (316) as a rotation center, a plurality of mounting holes are formed in the tray (316), the mounting holes are distributed at intervals along the circumferential direction of the tray (316), and the mounting holes are used for inserting anchor rods (001); the grab bar assembly (319) is spaced from the base (311), the grab bar assembly (319) being for grabbing the anchor bar (3001) on the tray (316) and moving and mounting the anchor bar (001) on a drilling rig (342).

6. A tunnelling anchor guard as claimed in claim 5, wherein said upper rod means (31) further includes:

a plurality of connecting posts (317), the connecting posts (317) being disposed on each of the trays (316);

the connecting structure comprises a plurality of separating discs (318), wherein each connecting column (317) is provided with the separating disc (318), the separating discs (318) are provided with a plurality of clamping grooves, the clamping grooves correspond to the mounting holes one to one, and the clamping grooves are used for being matched with the anchor rods (001).

7. A tunnelling anchor as claimed in claim 5, wherein the mesh-laying device (33) further comprises:

the net roll bin (332), the net roll bin (332) is arranged on the supporting platform (321); and

rack (333), rack (333) are located on net book storehouse (332), rack (333) are equipped with places the cavity, it is uncovered to place the upper end of cavity, rack (333) are equipped with a plurality of first spout (3331) in one side of its up end, rack (333) opposite side on its up end is equipped with a plurality of second spouts, and is a plurality of first spout (3331) and a plurality of second spout one-to-one, first spout (3331) with each in the second spout extend along upper and lower direction and with place the cavity intercommunication, it is used for piling up from top to bottom and places a plurality ofly to place anchor net book (002).

8. A tunnelling anchor as claimed in claim 7, wherein the mesh-laying device (33) further comprises:

a turret block (334), the turret block (334) being disposed on the web roll bin (332);

a turret (335), said turret (335) being rotatably connected to said turret base (334), said first robot arm (337) being provided on said turret (335); and

the rotary table comprises a sixth telescopic device (336), the sixth telescopic device (336) is installed on the rotary table base (334), one end of the sixth telescopic device (336) is connected with the rotary table base (334), the other end of the sixth telescopic device (336) is rotatably connected with the rotary table (335), and the rotary table (335) can move along the axial direction of the rotary table (335) under the driving of the sixth telescopic device (336).

9. A tunnelling anchor as claimed in claim 8, wherein the first mechanical arm (337) comprises:

a large arm (3371), one end of the large arm (3371) is hinged with the rotary table (335);

a seventh telescopic device (3372), one end of the seventh telescopic device (3372) is hinged with the rotary table (335), and the other end of the seventh telescopic device (3372) is hinged with the large arm (3371);

eighth telescopic devices (3373), the eighth telescopic devices (3373) and the seventh telescopic devices (3372) being respectively located at both sides of the boom (3371) in a width direction thereof, one end of the eighth telescopic devices (3373) being hinged to the boom (3371);

a connecting arm (3374), each of the other end of the large arm (3371) and the other end of the eighth telescopic device (3373) being hinged to the connecting arm (3374); and

a ninth telescopic device (3375), one end of the ninth telescopic device (3375) is arranged on the connecting arm (3374) and is positioned at the opposite side of the other end of the eighth telescopic device (3373), and the other end of the ninth telescopic device (3375) is connected with the winding grab (331).

10. A tunnelling anchor guard as claimed in claim 7, wherein the second robot arm (341) comprises:

a first rotary drive (3411), said first rotary drive (3411) being disposed on said web storage bin (332);

a tenth expansion device (3412), wherein one end of the tenth expansion device (3412) is arranged at a power output end of the first rotation driving device (3411), and the first rotation driving device (3411) drives the tenth expansion device (3412) to rotate;

a second rotary drive device (3413), said second rotary drive device (3413) being provided at the other end of said tenth telescopic device (3412);

a rotary arm (3414), one end of the rotary arm (3414) is arranged at the power output end of the second rotary driving device (3413), and the second rotary driving device (3413) drives the rotary arm (3414) to rotate; and

a third rotary driving device (3415), wherein the third rotary driving device (3415) is arranged at the other end of the rotary arm (3414), a power output end of the third rotary driving device (3415) is connected with the drilling machine (342), and the third rotary driving device (3415) drives the drilling machine (342) to rotate.