CN117128019A - Composite material combined support body construction robot and construction method - Google Patents
Composite material combined support body construction robot and construction method Download PDFInfo
- Publication number
- CN117128019A CN117128019A CN202310977673.1A CN202310977673A CN117128019A CN 117128019 A CN117128019 A CN 117128019A CN 202310977673 A CN202310977673 A CN 202310977673A CN 117128019 A CN117128019 A CN 117128019A
- Authority
- CN
- China
- Prior art keywords
- grouting
- pipe
- pushing
- support
- tube
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000002131 composite material Substances 0.000 title claims abstract description 65
- 238000010276 construction Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 claims abstract description 36
- 230000002146 bilateral effect Effects 0.000 claims abstract description 6
- 230000000149 penetrating effect Effects 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 189
- 230000008093 supporting effect Effects 0.000 claims description 87
- 238000005096 rolling process Methods 0.000 claims description 68
- 239000012528 membrane Substances 0.000 claims description 55
- 230000008569 process Effects 0.000 claims description 21
- 238000007789 sealing Methods 0.000 claims description 21
- 230000009471 action Effects 0.000 claims description 19
- 238000003909 pattern recognition Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 230000007306 turnover Effects 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 3
- 150000001875 compounds Chemical class 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 239000002002 slurry Substances 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims 4
- 238000000429 assembly Methods 0.000 claims 4
- 239000003245 coal Substances 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 abstract description 7
- 238000004064 recycling Methods 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 24
- 239000000463 material Substances 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000005484 gravity Effects 0.000 description 2
- 239000004417 polycarbonate Substances 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000032798 delamination Effects 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003733 fiber-reinforced composite Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 229920000515 polycarbonate Polymers 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 238000004062 sedimentation Methods 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/04—Structural features of the supporting construction, e.g. linking members between adjacent frames or sets of props; Means for counteracting lateral sliding on inclined floor
- E21D23/0409—Aligning or guiding means for the supports or for the constitutive parts of the supports
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a composite material combined support body constructing robot and a constructing method, wherein the composite material combined support body constructing robot comprises a base, a lifting running gear, a top beam, a lifting cylinder, a vertical pipe mechanical arm and a centralized electric control device; the base comprises a left base and a right base which are arranged in bilateral symmetry, and a connecting seat fixedly connected to the left base and the right base; the front part of the top beam is provided with a notch structure penetrating through the top beam; the vertical pipe mechanical arms which are symmetrically arranged left and right are respectively arranged on the left base and the right base, a pipe holding mechanical arm is arranged on the tail section of the vertical pipe mechanical arm, the vertical pipe mechanical arm comprises an X coordinate driving assembly, a Y coordinate driving assembly and a Z coordinate driving assembly, and the pipe holding mechanical arm is connected with the vertical pipe mechanical arm through an A coordinate rotation driving assembly. The invention has high automation degree, can automatically complete the operation of the vertical pipe, greatly reduces the potential safety hazard of the operation of the underground vertical pipe of the coal mine, and is particularly suitable for gob-side entry retaining and goaf recycling construction technologies.
Description
Technical Field
The invention relates to a construction robot and a construction method, in particular to a composite material combined support construction robot and a construction method suitable for a coal mine underground non-coal pillar gob-side entry retaining technology, and belongs to the technical field of underground engineering.
Background
The gob-side entry retaining mode is a coal pillar-free entry retaining mode, and has great advantages in the aspects of reducing the tunneling quantity of the entry, relieving the mining succession tension of the mine and the like. In the gob-side entry retaining technology, the roadside support body mainly plays a role in supporting overlying surrounding rock and isolating goaf, and is a key link for success or failure of the gob-side entry retaining technology. At present, the roadway side supporting bodies commonly used in underground coal mines in China are as follows: dense single struts, gangue walls, filled walls, etc. The roadside filling body wall comprises a high-water quick setting material filling body wall, a paste material filling body wall, a flexible mold filling body wall, a quick hardening concrete filling body wall and the like according to different filling materials. The roadside support structure is successfully applied to a certain degree under specific engineering conditions, but has a series of problems of low support resistance, complex roadway retaining process and the like, and cannot realize high-efficiency gob-side entry retaining engineering under high-stress conditions.
In order to solve the above problems, a gob-side entry retaining technology using a composite material composite support body as a supporting structure, that is, a pier column structure of a composite material composite support body formed by casting concrete into a support tube in an upright state such as a metal tube (steel tube, aluminum tube, etc.), a fiber reinforced composite material (FRP) tube, a polycarbonate material (PC) tube, etc., has been developed in recent years, and has the characteristics of high bearing capacity, low cost and high entry retaining speed. In theory, the top and bottom ends of the support tube are closely propped against the top plate and the bottom plate of the working surface respectively to achieve the best supporting effect, but in the actual operation process, on one hand, the support tube matched with the height dimension between the top plate and the bottom plate of the working surface cannot be transported in an upright state, usually the support tube is transported after being laid down and the vertical tube operation is carried out on the working surface, however, the diagonal length of the pipe orifices at the two ends of the support tube is larger than the length of the axial direction of the support tube, so that the vertical tube operation at least needs to ensure the matching of the diagonal length of the pipe orifices at the two ends of the support tube and the height dimension between the top plate and the bottom plate of the working surface, otherwise, the vertical tube operation of the support tube cannot be completed, and then, after the vertical tube operation, the top end of the support tube cannot be propped against the top plate of the working surface, and the top plate of the working surface are usually plugged with square timber, I-shaped steel, wedge block and other pad components are arranged between the top end of the top plate of the support tube, and the underground space of a coal mine is limited, the underground working environment and working condition are greatly operated by manual operation by means of tools such as a hand hoist, the labor intensity of operators is huge, and the existing potential safety hazards are caused, and the vertical tube operation efficiency is lower; on the other hand, after the operation of the vertical pipe is completed, the grouting operation of filling concrete into the supporting pipe is usually performed in a bottom-up pumping grouting mode for reducing the labor intensity of operators, namely, the concrete is injected from the bottom opening of the supporting pipe through a grouting pump until the supporting pipe is full of the concrete, and the bottom-up pumping grouting mode is complicated and complicated in hole sealing operation on the bottom opening of the supporting pipe on the premise of ensuring no leakage after grouting is completed because the viscous concrete has high specific gravity and poor fluidity, and the probability of sedimentation and layering of the concrete can be greatly reduced, but a large-size high-power grouting pump and a high-strength rigid grouting pipe with high price are not only required for ensuring the full grouting effect.
Disclosure of Invention
Aiming at the problems, the invention provides the composite material combined support body constructing robot and the constructing method, which have high automation degree, can automatically complete the operation of the vertical pipe on the premise of stable support, can greatly reduce the potential safety hazard of the operation of the vertical pipe in the coal mine, and are particularly suitable for the construction technology of gob-side entry retaining and goaf recycling.
In order to achieve the aim, the composite material combined support body constructing robot comprises a base, a lifting running gear, a top beam, a lifting cylinder, a vertical pipe mechanical arm and a centralized electric control device;
the base comprises a left base and a right base which are arranged in bilateral symmetry, and a connecting seat fixedly connected to the left base and the right base, and a supporting pipe conveying channel is formed in a space between the left base and the right base;
the lifting walking device is arranged on the left base and the right base of the base and comprises a walking assembly and a walking assembly lifting control mechanism, the walking assembly comprises a walking driving mechanism, and the walking assembly lifting control mechanism is connected between the base and the walking assembly;
the cylinder body end of the lifting cylinder is connected with the base in a mounting way, and the telescopic end of the lifting cylinder is connected with the top beam in a mounting way;
the front part of the top beam is provided with a notch structure penetrating through the top beam along the up-down direction at a position corresponding to the supporting tube conveying channel of the base, and the width dimension of the notch structure along the left-right direction is larger than the outer diameter dimension of the supporting tube;
The vertical pipe mechanical arm is respectively arranged on a left base and a right base of the base, a pipe holding mechanical arm is arranged on the tail section of the vertical pipe mechanical arm corresponding to the supporting pipe conveying channel, and comprises an X coordinate driving assembly capable of controlling the pipe holding mechanical arm to move along a left-right direction coordinate, a Y coordinate driving assembly capable of controlling the pipe holding mechanical arm to move along a front-back direction coordinate and a Z coordinate driving assembly capable of controlling the pipe holding mechanical arm to move along a vertical direction coordinate, and the pipe holding mechanical arm is connected with the tail section of the vertical pipe mechanical arm through an A coordinate rotation driving assembly capable of rotating along an X coordinate axis as a rotation axis coordinate;
the centralized electric control device comprises a controller, a walking control loop, a top plate lifting control loop and a vertical pipe control loop, wherein the controller is respectively and electrically connected with a walking driving mechanism, a walking assembly lifting control mechanism, a lifting cylinder, a coordinate driving assembly of a vertical pipe mechanical arm and a coordinate rotation driving assembly of a pipe holding mechanical arm.
As a further improvement scheme of the invention, a grouting device is further arranged on the top beam, the grouting device is arranged in the opening structure, the grouting device comprises a grouting rubber pipe and a grouting rubber pipe pushing device, the grouting rubber pipe pushing device comprises an upper rolling conveying mechanism and a lower rolling conveying mechanism which are arranged in parallel up and down, a grouting rubber pipe pushing rolling driving mechanism is arranged on the upper rolling conveying mechanism and/or the lower rolling conveying mechanism, the grouting rubber pipe is clamped between the upper rolling conveying mechanism and the lower rolling conveying mechanism, and the rear end of the grouting rubber pipe is connected with the discharge end of the grouting pump; the centralized electric control device also comprises a grouting control loop, and the controller is electrically connected with the grouting rubber tube pushing rolling driving mechanism.
As a further improvement scheme of the invention, the upper rolling conveying mechanism and/or the lower rolling conveying mechanism is also provided with a grouting rubber pipe pushing and clamping control mechanism.
As a further improvement scheme of the invention, the grouting device further comprises a positioning pushing distance adjusting mechanism electrically connected with the controller, and the positioning pushing distance adjusting mechanism comprises a Y-coordinate driving assembly capable of controlling the whole grouting rubber tube pushing device to move forwards and backwards.
As a further improvement scheme of the invention, the grouting rubber pipe pushing device is provided with a mode identification sensor which is electrically connected with the controller, and the positioning pushing distance adjusting mechanism also comprises an X coordinate driving assembly which can control the whole grouting rubber pipe pushing device to move left and right and/or a Z coordinate driving assembly which can control the whole grouting rubber pipe pushing device to move up and down.
As a further improvement scheme of the invention, the grouting device also comprises a vibrating mechanism, wherein the vibrating mechanism comprises a ductile vibrating wire rope and a vibrator fixedly arranged on the ductile vibrating wire rope; the vibrator is electrically connected with the controller; the tough vibrating steel wire rope is fixedly attached to the grouting rubber pipe; or the opening structure is internally provided with a vibrating wire rope pushing device which is electrically connected with the controller, and the tough vibrating wire rope is wound and unwound by the vibrating wire rope pushing device.
As a further improvement scheme of the invention, concave structures matched with the outer diameter of the grouting rubber pipe are arranged on the rolling conveying surfaces of the upper rolling conveying mechanism and the lower rolling conveying mechanism.
As a further improvement scheme of the invention, the top beam is also provided with a top piece pushing device which is arranged corresponding to the opening structure, the top piece pushing device comprises a top piece guiding and supporting mechanism and a top piece translation and pushing mechanism, the top piece translation and pushing mechanism comprises a pushing vertical plate which is correspondingly connected with the top piece guiding and supporting mechanism and a pushing vertical plate translation structure which is connected with the pushing vertical plate in an installation way, and the pushing vertical plate translation structure is electrically connected with the controller.
As a further improvement scheme of the invention, the top connecting part is a top connecting flexible membrane bag, the whole top connecting flexible membrane bag is in a frustum structure with a large diameter top plate and a small diameter bottom plate which are arranged at intervals up and down, a positioning connection pressure spring is also arranged between the large diameter top plate and the small diameter bottom plate, a grouting port comprising a one-way opening and closing sealing plate is fixedly arranged on the top connecting flexible membrane bag, the grouting port is matched with the size of a grouting rubber pipe, the one-way opening and closing sealing plate is arranged on the inner surface of the top connecting flexible membrane bag, the one-way opening and closing sealing plate plugged on the grouting port is in a normally closed state, and the one-way opening and closing sealing plate can be opened towards the inside of the top connecting flexible membrane bag; the flexible membrane bag clamping mechanism for clamping the top flexible membrane bag along the up-down direction is arranged on the pushing vertical plate of the top part translation pushing mechanism of the top part pushing device and comprises an upper clamping plate, a lower clamping plate and a clamping control structure, and the clamping control structure is electrically connected with the controller.
As a further improvement scheme of the invention, a support pipe conveying device is arranged at the rear of the base and corresponds to the position of the support pipe conveying channel, the support pipe conveying device comprises a support pipe translation pushing mechanism, the support pipe translation pushing mechanism comprises a support pipe positioning pushing component and a support pipe guiding pushing structure which is connected with the support pipe positioning pushing component in an installation mode, and the support pipe guiding pushing structure is electrically connected with the controller.
As a further improvement of the invention, the pipe holding manipulator comprises an arc-shaped clamping surface matched with the outer diameter of the supporting pipe in size.
The application method of the composite material combined support body constructing robot specifically comprises the following steps:
a. positioning and supporting: the walking control loop starts to work, the controller controls the walking component lifting control mechanism to act so as to enable the walking component to descend and lift the base off the ground, then controls the walking driving mechanism to act so as to enable the composite material combined support body constructing robot to integrally move to a stand column working position set by the working face, and controls the walking component lifting control mechanism to act so as to enable the walking component to ascend, and the composite material combined support body constructing robot is firmly stopped on the working face bottom plate through the base; then the top plate lifting control loop starts to work, and the controller controls the lifting cylinder to extend so as to enable the top beam to lift and stably prop against the top plate of the working surface;
b. Riser operation: after the support tube is fed into the support tube conveying channel, the vertical tube control loop starts to work, the controller firstly controls the X-coordinate driving assembly of the vertical tube mechanical arm to act so that the tube holding mechanical arm stretches out along the left-right direction to firmly clamp the support tube, then controls the Y-coordinate driving assembly and the Z-coordinate driving assembly of the vertical tube mechanical arm to act so that the tube holding mechanical arm does forward and upward compound coordinate movement, and simultaneously controls the A-coordinate rotation driving assembly of the tube holding mechanical arm to act so that the tube holding mechanical arm applies a turnover acting force for enabling the bottom end of the support tube to turn forward to the support tube until the support tube turns 90 degrees to be in a vertical state, the top end of the support tube is positioned in the notch structure, and after the Y-coordinate driving assembly of the vertical tube mechanical arm is controlled so that the tube holding mechanical arm which clamps the support tube is used for adjusting the accurate vertical tube position of the support tube along the front-back direction, the Z-coordinate driving assembly of the vertical tube mechanical arm is controlled so that the bottom end of the support tube is firmly landed, and then controls the X-coordinate driving assembly of the vertical tube mechanical arm to act so that the tube holding mechanical arm is retracted along the left-right direction to loosen the support tube, and the vertical tube holding operation is completed after the tube mechanical arm is reset.
As a further improvement of the present invention, the method of using the composite support build robot further includes c: after the operation of the vertical pipe is completed, the grouting control loop starts to work, the controller controls the grouting rubber pipe pushing rolling driving mechanism to act, so that the grouting rubber pipe pushing device drives the grouting rubber pipe to move forwards for a set distance, the grouting rubber pipe penetrates through a space between the top end of the support pipe and the top plate of the working surface and is fed into the support pipe, the grouting pump is started to perform grouting from top to bottom until the support pipe is filled, and the grouting rubber pipe is controlled to reset.
As a further improvement scheme of the invention, in the grouting process of the step c, the grouting rubber pipe pushing and rolling driving mechanism is controlled to act, so that the grouting rubber pipe pushing device drives the grouting rubber pipe to slowly back along with the rising speed of the grouting liquid level.
When the supporting tube is of a multi-layer sleeve structure, grouting is carried out on the inner layer sleeve of the supporting tube in sequence from inside to outside in the grouting process in the step c, and grouting is carried out on the outer layer sleeve of the supporting tube after the inner layer sleeve is fully filled.
As a further improvement scheme of the invention, in the process of pushing the grouting rubber pipe into the supporting pipe, the positioning pushing distance adjusting mechanism is controlled to act so that the grouting rubber pipe pushing device holding the grouting rubber pipe moves forwards to be close to the supporting pipe, then the grouting rubber pipe pushing rolling driving mechanism is controlled to act so as to convey the grouting rubber pipe, after the front end of the grouting rubber pipe is conveyed into a space between the top end of the supporting pipe and the top plate of the working surface, the grouting rubber pipe is continuously conveyed, and meanwhile, the positioning pushing distance adjusting mechanism is controlled to act so that the grouting rubber pipe pushing device moves backwards slowly at a speed lower than the conveying speed of the grouting rubber pipe, so that the grouting rubber pipe is accurately conveyed into the supporting pipe according to the bending curvature of the grouting rubber pipe.
As a further improvement scheme of the invention, when the positioning pushing distance adjusting mechanism is controlled to act so that the grouting rubber pipe pushing device clamping the grouting rubber pipe moves forwards to be close to the supporting pipe, the controller adjusts the position of the grouting rubber pipe pushing device in the left-right direction according to the feedback of the pattern recognition sensor, and the initial position of the grouting rubber pipe when the grouting rubber pipe is fed into the supporting pipe is adjusted.
As a further improvement scheme of the invention, when the positioning pushing distance adjusting mechanism is controlled to act so that the grouting rubber pipe pushing device clamping the grouting rubber pipe moves forwards to be close to the supporting pipe, the controller adjusts the position of the grouting rubber pipe pushing device in the up-down direction according to the feedback of the pattern recognition sensor, and the height position of the grouting rubber pipe when the grouting rubber pipe is fed into the supporting pipe is adjusted.
As a further improvement scheme of the invention, step c drives the tough vibrating wire rope to synchronously move through the grouting rubber pipe when the grouting rubber pipe is pushed into the supporting pipe, and controls the vibrator to vibrate in the grouting process; or, in the step c, the grouting rubber pipe is pushed into the supporting pipe, the vibrating wire rope pushing device is controlled to act at the same time, so that the tough vibrating wire rope synchronously moves, and the vibrator is controlled to vibrate in the grouting process.
As a further improvement scheme of the invention, before the top plate lifting control loop starts working, an operator firstly positions and places a top connecting piece matched with the gap height between the top end of the supporting tube and the top plate of the working surface on the top connecting piece pushing supporting mechanism, and then controls the top plate lifting control loop to work to lift the top beam and stably prop against the top plate of the working surface;
the method for using the composite material combined support body constructing robot further comprises the following steps of roof-connecting operation of the roof-connecting part: after the grouting operation of the support pipe is completed, the controller controls the pushing vertical plate translation structure to act, so that the pushing vertical plate pushes the top connecting piece to translate into a space between the top end of the support pipe and the top plate of the working surface, and then the pushing vertical plate is controlled to reset.
As a further improvement scheme of the invention, when the top connecting part is a top connecting flexible membrane bag, before the top plate lifting control loop starts working, an operator firstly positions the top connecting flexible membrane bag on the top connecting part pushing supporting mechanism, enables a grouting port to correspond to the extending direction of a grouting rubber pipe, controls the flexible membrane bag clamping mechanism to carry out clamping action so as to reduce the overall height dimension of the top connecting flexible membrane bag, and then controls the top plate lifting control loop to work so as to lift a top beam and stably prop against a top plate of a working surface;
D, controlling the action of the pushing vertical plate translation structure to enable the pushing vertical plate to push the top flexible membrane bag to translate into a space between the top end of the supporting pipe and the top plate of the working surface, and after the coverage area of the small-diameter chassis of the top flexible membrane bag is over against the top end of the supporting pipe, firstly controlling the flexible membrane bag clamping mechanism to reset and then controlling the pushing vertical plate to reset; then controlling the action of a grouting rubber pipe pushing device to enable the grouting rubber pipe to move forwards for a set distance to penetrate into a grouting opening, starting a grouting pump to grouting into a top flexible film bag, after slurry overflows from the grouting opening or the grouting pressure of the grouting pump is larger than a set pressure value, controlling the action of the grouting rubber pipe pushing device to enable the grouting rubber pipe to move backwards to reset, one-way opening and closing a sealing plate to reset to be in a state of sealing the grouting opening, firstly controlling a top beam to descend, then controlling a lifting travelling device to lift a base off the ground, and controlling a travelling driving mechanism to move to enable a composite material combined supporting body to construct a robot whole and then to move to an evacuating stand column operation position.
As a further improvement scheme of the invention, when the support tube is conveyed into the support tube conveying channel in the step b, the support tube is rolled into a position right behind the corresponding support tube conveying channel from the lateral position, the controller controls the action of the support tube guiding pushing structure to enable the support tube positioning pushing component to move forward and prop against the rear end face of the support tube, and continuously controls the action of the support tube guiding pushing structure to enable the support tube positioning pushing component to move forward, so that the support tube is conveyed into the support tube conveying channel.
Compared with the prior art, before the composite material combined support body is used for constructing a robot to carry out vertical pipe operation, a controller firstly controls a traveling assembly lifting control mechanism to act so as to enable a traveling assembly to descend and enable a base to be lifted up and separate from the ground, then controls a traveling driving mechanism to act, the integral movement of the composite material combined support body constructing robot can be realized, after the integral movement of the composite material combined support body constructing robot is controlled to a vertical column operation position set by a working face, the controller controls the traveling assembly lifting control mechanism to act so as to enable the traveling assembly to ascend, the composite material combined support body constructing robot is stably stopped on a bottom plate of the working face through the base, then controls a lifting cylinder to extend so as to enable a top beam to ascend and prop against a top plate of the working face to form a stable support, after the support pipe is sent into a support pipe conveying channel, the controller firstly controls an X-coordinate driving assembly of a vertical pipe arm to act so as to enable the pipe holding manipulator to extend out to clamp the support pipe along the left and right direction, then controls a Y-coordinate driving assembly and a Z-coordinate driving assembly of the vertical pipe holding manipulator to act so as to enable the pipe holding manipulator to do a composite coordinate movement upwards along one side, and simultaneously controls an A-coordinate rotation driving assembly of the pipe holding manipulator to enable the pipe holding manipulator to act to enable the pipe holding manipulator to move forwards until the top end of the support pipe is positioned at the top end of the support pipe is in a vertical position, namely a vertical support pipe is in a state, and a vertical support pipe is in a vertical position is in a position, and a vertical position is in a position and a position of a vertical support pipe is positioned at a position, and a position is in a position well, and a position is positioned in a position stable position, and a position, and is positioned in a position, and a position device is positioned; the grouting device is arranged on the top beam, so that the controller can control the grouting rubber pipe pushing and rolling driving mechanism to act, the grouting rubber pipe pushing device can drive the grouting rubber pipe to move forwards for a set distance, the grouting rubber pipe is fed into the support pipe from the space between the top end of the support pipe and the top plate of the working surface, grouting from top to bottom can be realized by starting the grouting pump, and the grouting rubber pipe pushing and rolling driving mechanism can be controlled to act in the grouting process, so that the grouting rubber pipe pushing device can drive the grouting rubber pipe to slowly retract until the support pipe is filled; the grouting device also comprises a vibrating mechanism, so that the controller can control the vibrator to vibrate in the grouting process of the grouting rubber pipe into the support pipe, and further can realize the removal of bubbles in the concrete and the dense combination of the concrete so as to improve the strength of the concrete; because the top receiving piece pushing device is further arranged on the top beam, an operator can firstly position and place the top receiving piece matched with the gap height between the top end of the support pipe and the top plate of the working face on the top receiving piece pushing supporting mechanism, then control the top plate lifting control loop to work to lift the top beam, after grouting operation is finished, the controller can control the pushing vertical plate translation structure to move so that the pushing vertical plate pushes the top receiving piece to translate into the space between the top end of the support pipe and the top plate of the working face, and effective top connection between the support pipe concrete pier column formed after grouting and the top plate of the working face is realized; the composite material combined support body construction robot has high automation degree, can automatically complete the operation of the vertical pipe on the premise of stable support, can sequentially complete the subsequent grouting operation and the roof-connecting operation by one-time support, can greatly reduce the potential safety hazard of the operation of the underground vertical pipe of a coal mine, and is particularly suitable for the construction technology of gob-side entry retaining and goaf recycling.
Drawings
FIG. 1 is a front view of a composite build support build robot;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is a top view of FIG. 1;
FIG. 4 is a schematic view of the structure of the composite build robot as it moves through a roadway;
FIG. 5 is a schematic view of the structure of the composite support in a robot support construction state;
FIG. 6 is a schematic structural view of the pipe holding manipulator after holding the support pipe;
FIG. 7 is a left side view of FIG. 6;
FIG. 8 is a schematic view of the structure of the pipe holding manipulator when the pipe holding manipulator is used for holding the support pipe and turning over;
FIG. 9 is a schematic view of the support tube in a vertical position after being flipped;
FIG. 10 is a schematic view of the construction of a grouting hose being fed into a support tube for grouting;
FIG. 11 is a schematic view of the structure of the roof receiving unit pushing device pushing the roof receiving unit;
FIG. 12 is a left side view of FIG. 11;
FIG. 13 is a schematic view of the structure of the composite build robot after the roof-engaging member is secured to the roof;
FIG. 14 is a schematic view of the structure of the top flexible membrane bag when the top attachment means is the top flexible membrane bag;
FIG. 15 is a schematic view of the construction of a grouting hose penetrating into the grouting opening of the top flexible bag;
fig. 16 is a schematic view of the structure of the composite build robot after the topping flexible membrane bag is firmly topping and grouting, withdrawn.
In the figure: 1. the device comprises a base, 11, a supporting tube conveying device, 2, a lifting walking device, 3, a top beam, 31, a notch structure, 32, a grouting device, 321, a grouting rubber tube, 322, a grouting rubber tube pushing device, 33, a top part receiving pushing device, 4, a lifting cylinder, 5, a vertical tube mechanical arm, 51, a tube holding mechanical arm, 6, a supporting tube, 7, a top part receiving, 71, a large-diameter top disc, 72, a small-diameter bottom disc, 73, a positioning connection pressure spring, 74, a one-way opening and closing sealing plate, 75 and a grouting port.
Detailed Description
The present invention will be further described with reference to the drawings (hereinafter, description will be made with the conveying direction of the support pipe 6 as the front).
As shown in fig. 1 to 3, the composite material combined support body constructing robot comprises a base 1, a lifting running gear 2, a top beam 3, a lifting cylinder 4, a vertical pipe mechanical arm 5 and a centralized electric control device.
The base 1 comprises a left base and a right base which are arranged in bilateral symmetry, and a connecting seat fixedly connected to the left base and the right base, wherein a supporting pipe conveying channel is formed between an inner side elevation of the left base and an inner side elevation of the right base which are arranged in parallel and opposite.
The lifting walking device 2 is arranged on the left base and the right base of the base 1 and comprises a walking component and a walking component lifting control mechanism, the walking component comprises a walking driving mechanism, the walking driving mechanism can be an electric driving mechanism comprising a walking driving motor or a hydraulic driving mechanism comprising a walking driving hydraulic motor, the walking component can be a wheel type walking structure comprising walking wheels or a crawler type walking structure comprising walking tracks, the walking component lifting control mechanism is connected between the base 1 and the walking component, the walking component lifting control mechanism can be a vertical lifting control structure controlled by a lifting cylinder or a swinging lifting control structure controlled by a swinging rod, the lifting of the base 1 to the ground can be realized by controlling the action of the walking component lifting control mechanism, or the lifting of the base 1 to the ground can be realized by controlling the action of the walking component lifting control mechanism, and the whole movement of the base 1 can be realized by controlling the action of the walking driving mechanism after the walking component is lifted to the ground.
The cylinder body end of the lifting cylinder 4 is connected with the base 1 in a mounting manner, the telescopic end of the lifting cylinder is connected with the top beam 3 in a mounting manner, the lifting cylinder 4 can be of a hydraulic cylinder structure or an electric cylinder structure, preferably of a hydraulic cylinder structure, the lifting cylinder 4 can be respectively corresponding to the left base and the right base and is arranged into four pieces in a front-back manner in order to ensure the lifting stability of the top beam 3, and a hinged connecting rod can be arranged between the base 1 and the top beam 3 for mounting and connecting.
The front part of the top beam 3 is provided with a notch structure 31 penetrating through the top beam 3 along the up-down direction at a position corresponding to the supporting tube conveying channel of the base 1, and the width dimension of the notch structure 31 along the left-right direction is larger than the outer diameter dimension of the supporting tube 6.
The vertical pipe mechanical arm 5 which is arranged in a bilateral symmetry mode is respectively arranged on the left base and the right base of the base 1, the vertical pipe mechanical arm 5 can be of a joint mechanical arm structure comprising a rotary pair and a linear pair, and can also be of a rectangular coordinate mechanical arm structure only comprising the linear pair, and other mechanical arms of structures, a pipe holding mechanical arm 51 is arranged on the tail section of the vertical pipe mechanical arm 5 corresponding to the support pipe conveying channel, the vertical pipe mechanical arm 5 comprises an X coordinate driving assembly capable of controlling the pipe holding mechanical arm 51 to move along the coordinates of the left direction and the right direction, a Y coordinate driving assembly capable of controlling the pipe holding mechanical arm 51 to move along the coordinates of the front direction and the back direction, and a Z coordinate driving assembly capable of controlling the pipe holding mechanical arm 51 to move along the coordinates of the vertical direction, and the pipe holding mechanical arm 51 is connected with the tail section of the vertical pipe mechanical arm 5 in a mounting mode through an A coordinate rotary driving assembly capable of rotating along the X coordinate axis as a rotary axis coordinate, and in order to realize stable holding of the support pipe 6, and the pipe holding mechanical arm 51 can comprise an arc-shaped clamping surface matched with the outer diameter of the support pipe 6.
The centralized electric control device comprises a controller, a walking control loop, a top plate lifting control loop and a vertical pipe control loop, wherein the controller is respectively and electrically connected with a walking driving mechanism, a walking assembly lifting control mechanism, a lifting cylinder 4, a coordinate driving assembly of a vertical pipe mechanical arm 5 and a coordinate rotation driving assembly of a pipe holding mechanical arm 51.
Before the composite material combined support body is used for constructing a robot to perform riser operation, a walking control loop starts to work, as shown in fig. 4, a controller firstly controls a walking component lifting control mechanism to act so as to enable the walking component to descend and lift a base 1 off the ground, then controls a walking driving mechanism to act, the overall movement of the composite material combined support body constructing robot can be realized, after the overall movement of the composite material combined support body constructing robot is controlled to a stand column operation position set by a working face, the controller controls the walking component lifting control mechanism to act so as to enable the walking component to ascend, and the composite material combined support body constructing robot is firmly stopped on a bottom plate of the working face through the base 1; then the top plate lifting control loop starts to work, as shown in fig. 5, the controller controls the lifting cylinder 4 to extend so that the top beam 3 is lifted and props against the top plate of the working surface to form a stable support, and then the riser operation can be performed; after the support pipe 6 is sent into the support pipe conveying channel, the riser control loop starts to work, as shown in fig. 6 and 7, the controller firstly controls the X-coordinate driving assembly of the riser mechanical arm 5 to act so that the pipe holding mechanical arm 51 stretches out along the left-right direction to firmly clamp the support pipe 6, then controls the Y-coordinate driving assembly and the Z-coordinate driving assembly of the riser mechanical arm 5 to act so that the pipe holding mechanical arm 51 does forward and upward compound coordinate movement, and meanwhile, as shown in fig. 8, controls the A-coordinate rotation driving assembly of the pipe holding mechanical arm 51 to act so that the pipe holding mechanical arm 51 applies a turnover force to the support pipe 6 to enable the bottom end of the support pipe 6 to turn forward until the support pipe 6 turns over 90 degrees to be in a vertical state as shown in fig. 9, and the top end of the support pipe 6 is positioned in the notch structure 31, and after the accurate riser position of the support pipe holding mechanical arm 51 clamping the support pipe 6 in the front-back direction is adjusted by controlling the Y-coordinate driving assembly of the riser mechanical arm 5, the Z-coordinate driving assembly of the riser mechanical arm 5 is firstly controlled to act so that the bottom end of the support pipe 6 falls down firmly, and then controls the X-coordinate driving assembly of the riser mechanical arm 5 to enable the left-coordinate driving assembly of the pipe holding mechanical arm 5 to roll down to enable the left-right direction to roll back the pipe 6 to be in the direction, namely, the grouting operation of the support pipe 6 is completed.
In order to realize grouting after the operation of the vertical pipe, as a further improvement scheme of the invention, a grouting device 32 is also arranged on the top beam 3, as shown in fig. 1 to 3, the grouting device 32 is arranged in a notch structure 31, the grouting device 32 comprises a grouting rubber pipe 321 arranged along the front-back direction and a grouting rubber pipe pushing device 322 for conveying the grouting rubber pipe 321 along the front-back direction, the grouting rubber pipe pushing device 322 comprises an upper rolling conveying mechanism and a lower rolling conveying mechanism which are arranged in parallel up and down, the upper rolling conveying mechanism and the lower rolling conveying mechanism can be roller conveying structures comprising conveying rollers, roller conveying structures comprising a plurality of conveying rollers arranged side by side, chain belt conveying structures comprising chain belts connected end to end in a ring shape, concave structures matched with the outer diameter of the grouting rubber pipe 321 are arranged on the rolling conveying surfaces of the upper rolling conveying mechanism and the lower rolling conveying mechanism, the upper rolling conveying mechanism and/or the lower rolling conveying mechanism are/is provided with a grouting rubber pipe pushing rolling driving mechanism, the grouting rubber pipe pushing rolling driving mechanism can be an electric driving mechanism comprising a rolling driving motor or a hydraulic driving mechanism comprising a rolling driving hydraulic motor, the grouting rubber pipe 321 is clamped between the upper rolling conveying mechanism and the lower rolling conveying mechanism, in order to ensure that the grouting rubber pipe 321 is firmly clamped and conveyed, the upper rolling conveying mechanism and/or the lower rolling conveying mechanism can be further provided with a grouting rubber pipe pushing clamping control mechanism capable of controlling the upper rolling conveying mechanism and/or the lower rolling conveying mechanism to lift, the grouting rubber pipe pushing clamping control mechanism can be a pressure spring structure arranged in a positioning way or other lifting control structures such as a lifting control structure controlled by a telescopic cylinder, the rear end of the grouting rubber pipe 321 is connected with the discharge end of the grouting pump; the centralized electric control device further comprises a grouting control loop, the controller is electrically connected with the grouting rubber tube pushing and rolling driving mechanism, after the operation of the stand pipe of the support pipe 6 is completed, the grouting control loop starts to work, as shown in fig. 10, the controller controls the grouting rubber tube pushing and rolling driving mechanism to act, so that the grouting rubber tube pushing device 322 drives the grouting rubber tube 321 to move forwards for a set distance, the front end of the grouting rubber tube 321 is firstly sent into a space between the top end of the support pipe 6 and a top plate of a working surface, the front end of the grouting rubber tube 321 is bent under the action of self gravity torque in the continuous forward movement process and is sent into the support pipe 6, grouting from top to bottom can be realized by starting a grouting pump, and the grouting rubber tube pushing and rolling driving mechanism can be controlled to act in the grouting process, so that the grouting rubber tube pushing device 322 drives the grouting rubber tube 321 to slowly back in cooperation with the rising speed of a grouting liquid level until the support pipe 6 is fully filled; the whole structural strength of the support tube 6 of the multi-layer sleeve structure is greatly improved after grouting and concrete drying, when the support tube 6 is of the multi-layer sleeve structure, the grouting sequence from inside to outside is adopted in the grouting process, the inner-layer sleeve of the support tube 6 can be firstly grouted, and the outer-layer sleeve of the support tube 6 can be sequentially grouted after the inner-layer sleeve is fully grouted.
In order to accurately send the grouting rubber tube 321 into the support tube 6, as a further improvement scheme of the invention, the grouting device 32 can also comprise a positioning pushing distance adjusting mechanism electrically connected with the controller, the positioning pushing distance adjusting mechanism comprises a Y-coordinate driving assembly capable of controlling the whole grouting rubber tube pushing device 322 to move back and forth, in the process of pushing the grouting rubber tube 321, the positioning pushing distance adjusting mechanism can be controlled to move forward to enable the grouting rubber tube pushing device 322 holding the grouting rubber tube 321 to be close to the support tube 6, then the grouting rubber tube pushing rolling driving mechanism is controlled to move to convey the grouting rubber tube 321, after the front end of the grouting rubber tube 321 is sent into a space between the top end of the support tube 6 and a working face top plate, the positioning pushing distance adjusting mechanism is controlled to move back slowly at a speed lower than the conveying speed of the grouting rubber tube 321, and in this way, the grouting rubber tube pushing device 322 can be controlled to ensure accurate sending of the grouting rubber tube 321 into the support tube 6 according to the bending curvature of the grouting rubber tube 321; in order to realize fine adjustment of the initial position of the grouting rubber tube 321 when the grouting rubber tube 321 is fed into the support tube 6, so that the grouting rubber tube 321 can be accurately fed into the support tube 6, a mode identification sensor electrically connected with a controller can be arranged on the grouting rubber tube pushing device 322, and the positioning pushing distance adjusting mechanism can also comprise an X-coordinate driving assembly capable of controlling the whole grouting rubber tube pushing device 322 to move left and right, and in the process of pushing the grouting rubber tube 321, the controller can adjust the position of the grouting rubber tube pushing device 322 in the left and right direction according to feedback of the mode identification sensor, so that the initial position of the grouting rubber tube 321 when the grouting rubber tube 321 is fed into the support tube 6 is adjusted; in order to achieve fine adjustment of the height position of the grouting rubber tube 321 when the grouting rubber tube 321 is fed into the support tube 6, and further facilitate accurate feeding of the grouting rubber tube 321 into the support tube 6, the positioning pushing distance adjusting mechanism can further comprise a Z-coordinate driving assembly capable of controlling the grouting rubber tube pushing device 322 to move up and down integrally, and in the process of pushing the grouting rubber tube 321, the controller can adjust the position of the grouting rubber tube pushing device 322 in the up-down direction according to feedback of the pattern recognition sensor, and further achieve adjustment of the height position of the grouting rubber tube 321 when the grouting rubber tube 321 is fed into the support tube 6.
In order to reduce the probability of delamination of concrete sediments, as a further improvement of the present invention, the grouting device 32 further includes a vibrating mechanism, the vibrating mechanism includes a ductile vibrating wire rope and a vibrator fixedly mounted on the ductile vibrating wire rope, the vibrator is electrically connected with the controller, the ductile vibrating wire rope can be directly fixed and attached to the grouting rubber pipe 321, the ductile vibrating wire rope is fed (or slowly retreated) by feeding (or slowly retreating) the grouting rubber pipe 321 into the support pipe 6, the ductile vibrating wire rope can be fed into the support pipe 6 by a vibrating wire rope pushing device additionally arranged in the opening structure 31, the structure of the vibrating wire rope pushing device can be the same as that of the grouting rubber pipe pushing device 322, and the controller can control the vibrator to vibrate in the grouting process of the grouting rubber pipe 321, so that air bubbles in the concrete can be removed, and the concrete can be tightly combined to improve the strength.
In order to realize the effective roof connection of the support pipe concrete pier column and the working face top plate formed after grouting, as a further improvement scheme of the invention, a roof receiving piece pushing device 33 is further arranged on the roof beam 3, as shown in fig. 1 to 3, the roof receiving piece 7 can be in the structural form of a wedge-shaped wood pad, I-steel, a roof receiving flexible film bag and the like, the roof receiving piece pushing device 33 is arranged corresponding to the opening structure 31, the roof receiving piece pushing device 33 comprises a roof receiving piece guiding supporting mechanism and a roof receiving piece translation pushing mechanism, the roof receiving piece guiding supporting mechanism is used for supporting the roof receiving piece 7 in a supporting manner, the roof receiving piece guiding supporting mechanism can be a supporting structure such as a guiding supporting plate structure, a hanging ring structure, a positioning sleeve structure and the like which are arranged along the pushing direction, the roof receiving piece 7 can be positioned and placed on the roof receiving piece pushing supporting mechanism, the top part connecting translation pushing mechanism is used for pushing the top part 7 into a space between the top end of the supporting tube 6 and the top plate of the working face in a translation mode, the top part connecting translation pushing mechanism comprises a pushing vertical plate correspondingly connected with the top part guiding supporting mechanism and a pushing vertical plate translation structure in installation connection with the pushing vertical plate, the pushing vertical plate translation structure can be a telescopic translation structure controlled by a telescopic cylinder or can be other translation structures such as a rolling translation structure controlled by chain transmission or matched gear-rack transmission, the pushing vertical plate translation structure is electrically connected with the controller, and when the top part 7 is arranged in a plurality of parts side by side mode, in order to achieve pushing one by one, the top part connecting translation pushing mechanism can also comprise a coordinate driving assembly capable of controlling the whole top part connecting translation pushing mechanism to translate along the side direction, or the top part connecting pushing device 33 is arranged in a plurality of groups in a left-right opposite mode. When the vertical pipe works, an operator can firstly position and place the top connecting part 7 matched with the gap height between the top end of the supporting pipe 6 and the top plate of the working surface on the top connecting part pushing supporting mechanism, then control the top plate lifting control loop to work to lift the top beam 3, after grouting operation is completed, as shown in fig. 11 and 12, the controller can control the pushing vertical plate translation structure to move so that the pushing vertical plate pushes the top connecting part 7 to translate into the space between the top end of the supporting pipe 6 and the top plate of the working surface, the effective top connection between the supporting pipe concrete pier column formed after grouting and the top plate of the working surface is realized, after stable fixed connection is completed, as shown in fig. 13, the controller can control the top beam 3 to descend, control the lifting walking device 2 to lift the base 1 off the ground, and then the back movement is carried out.
When the top connecting piece 7 adopts a top connecting flexible membrane bag, as shown in fig. 14, the top connecting flexible membrane bag can be integrally in a frustum structure with a large top plate 71 and a small bottom plate 72 which are coaxially arranged at intervals up and down, a positioning connection pressure spring 73 is further arranged between the large top plate 71 and the small bottom plate 72, the positioning connection pressure spring 73 can prop up the large top plate 71 and the small bottom plate 72, further, the top connecting flexible membrane bag is propped up so as to facilitate the subsequent grouting into the top connecting flexible membrane bag, the distance between the large top plate 71 and the small bottom plate 72 supported by the positioning connection pressure spring 73 can be larger than the distance between the top end of the supporting tube 6 and the top plate of the working face, a grouting port 75 comprising a one-way opening and closing 74 is fixedly arranged on the top flexible membrane bag, the grouting port 75 is in a tubular structure matched with the grouting hose 321 in size, the grouting port 321 can penetrate into the grouting port or the tubular flexible membrane bag in a one-way opening and closing state, and the one-way closing plate 74 can be opened on the surface of the grouting port 74, and the grouting port 74 can be opened and closed on the surface of the sealing plate 74 can be opened and closed; in order to facilitate pushing the top-connected flexible membrane bag into the space between the top end of the supporting tube 6 and the top plate of the working surface, a flexible membrane bag clamping mechanism for clamping the top-connected flexible membrane bag along the up-down direction can be arranged on a pushing vertical plate of a top-connected part translation pushing mechanism of the top-connected part pushing device 33, the flexible membrane bag clamping mechanism comprises an upper clamping plate, a lower clamping plate and a clamping control structure, the clamping control structure is electrically connected with a controller, the action of the flexible membrane bag clamping mechanism clamped on the large-diameter top plate 71 and the small-diameter bottom plate 72 can be controlled to realize compression positioning, so that the whole height dimension of the top-connected flexible membrane bag is reduced, so that the top-connected flexible membrane bag can be pushed into the space between the top end of the supporting tube 6 and the top plate of the working surface, and the top-connected flexible membrane bag can be clamped stably, and the top-connected part translation pushing mechanism can be symmetrically arranged left and right, and can be clamped jointly from the left and right sides of the top-connected flexible membrane bag and translated synchronously, so that the whole height dimension of the top-connected flexible membrane bag is reduced effectively; when the vertical pipe works, an operator can firstly position and place the top-connecting flexible film bag on the top-connecting piece pushing supporting mechanism, and after the grouting port 75 corresponds to the extending direction of the grouting rubber pipe 321, control the flexible film bag clamping mechanism to act so as to reduce the overall height dimension of the top-connecting flexible film bag, then control the top plate lifting control loop to work so as to lift the top beam 3, after the grouting work is finished, the controller can control the pushing vertical plate translational structure to act so as to push the top-connecting flexible film bag to translate into the space between the top end of the supporting pipe 6 and the top plate of the working surface, after the coverage of the small diameter chassis 72 of the top-connecting flexible film bag is over against the top end of the supporting pipe 6, control the flexible film bag clamping mechanism to reset, and the top-connecting flexible film bag is stably propped against the top plate of the working surface and the top end of the supporting pipe 6 respectively under the reset elastic force of the positioning connection pressure spring 73, after the top part pushing device 33 is reset, as shown in fig. 15, the grouting rubber tube pushing device 322 can be controlled to move forward to enable the grouting rubber tube 321 to penetrate into the grouting opening 75 by a set distance and jack up the one-way opening and closing sealing plate 74, so that the grouting pump can be started to grouting into the top flexible membrane bag, when the grouting opening 75 has slurry overflows or the grouting pressure of the grouting pump is larger than a set pressure value, the grouting rubber tube pushing device 322 is controlled to move backward to reset the grouting rubber tube 321, the one-way opening and closing sealing plate 74 is reset to be plugged on the grouting opening 75, so that automatic grouting of the top flexible membrane bag is realized, because the positioning connecting pressure spring 73 is arranged between the large-diameter top disc 71 and the small-diameter bottom disc 72 in the top flexible membrane bag, and the distance between the large-diameter top disc 71 and the small-diameter bottom disc 72 is larger than the distance between the top end of the support tube 6 and the top plate of the working surface, therefore, the positioning connection pressure spring 73 can still be stably supported between the large-diameter top disc 71 and the small-diameter bottom disc 72 after grouting, as shown in fig. 16, the top beam 3 is controlled to descend, and the lifting travelling device 2 is controlled to lift the base 1 to be separated from the ground for retreating and withdrawing.
In order to facilitate the feeding of the support tube 6 into the support tube conveying channel, as a further improvement scheme of the invention, as shown in fig. 1 to 3, a support tube conveying device 11 is further arranged at the rear of the base 1 and corresponds to the position of the support tube conveying channel, the support tube conveying device 11 comprises a support tube translation pushing mechanism, the support tube translation pushing mechanism comprises a support tube positioning pushing component and a support tube guiding pushing structure which is installed and connected with the support tube positioning pushing component, the support tube positioning pushing component can be a positioning vertical plate structure or other end surface positioning structures such as a positioning stop block structure, the support tube guiding pushing structure can be a telescopic guiding pushing structure controlled by a telescopic cylinder or other guiding pushing structures such as a rolling guiding pushing structure controlled by a chain transmission or a matched gear rack transmission, and the support tube guiding pushing structure is electrically connected with a controller. When the support tube 6 is fed into the support tube conveying channel, the support tube 6 can be rolled into a position right behind the corresponding support tube conveying channel from a lateral position, then the controller can control the action of the support tube guiding and pushing structure to enable the support tube positioning and pushing component to move forward and prop against the rear end face of the support tube 6, and continuously control the action of the support tube guiding and pushing structure to enable the support tube positioning and pushing component to move forward, so that the support tube 6 can be fed into the support tube conveying channel. In order to realize accurate positioning of the support tube 6 in the support tube conveying channel, and further facilitate the follow-up tube holding manipulator 51 to accurately clamp the support tube 6 to turn over the vertical tube, a support tube positioning block can be arranged at the inner front part of the support tube conveying channel so as to avoid excessive forward movement of the support tube 6.
Claims (22)
1. The composite material combined support body constructing robot is characterized by comprising a base (1), a lifting running gear (2), a top beam (3), a lifting cylinder (4), a vertical pipe mechanical arm (5) and a centralized electric control device;
the base (1) comprises a left base and a right base which are arranged in bilateral symmetry, and a connecting seat fixedly connected to the left base and the right base, and a supporting pipe conveying channel is formed in a space between the left base and the right base;
the lifting walking device (2) is arranged on the left base and the right base of the base (1) and comprises a walking assembly and a walking assembly lifting control mechanism, wherein the walking assembly comprises a walking driving mechanism, and the walking assembly lifting control mechanism is connected between the base (1) and the walking assembly;
the cylinder body end of the lifting cylinder (4) is connected with the base (1) in a mounting way, and the telescopic end is connected with the top beam (3) in a mounting way;
a gap structure (31) penetrating through the top beam (3) along the up-down direction is arranged at the front part of the top beam (3) corresponding to the position of the supporting tube conveying channel of the base (1), and the width dimension of the gap structure (31) along the left-right direction is larger than the outer diameter dimension of the supporting tube (6);
the vertical pipe mechanical arms (5) which are arranged in a bilateral symmetry manner are respectively arranged on a left base and a right base of the base (1), pipe holding mechanical arms (51) are arranged on tail sections of the vertical pipe mechanical arms (5) corresponding to the supporting pipe conveying channels, the vertical pipe mechanical arms (5) comprise X coordinate driving assemblies which can control the pipe holding mechanical arms (51) to move along the coordinates of the left and right directions, Y coordinate driving assemblies which can control the pipe holding mechanical arms (51) to move along the coordinates of the front and back directions and Z coordinate driving assemblies which can control the pipe holding mechanical arms (51) to move along the coordinates of the vertical directions, and the pipe holding mechanical arms (51) are connected with tail sections of the vertical pipe mechanical arms (5) through A coordinate rotating driving assemblies which can rotate along the X coordinate axes to move along the coordinates of the rotating axes;
The centralized electric control device comprises a controller, a walking control loop, a top plate lifting control loop and a vertical pipe control loop, wherein the controller is respectively electrically connected with a walking driving mechanism, a walking assembly lifting control mechanism, a lifting cylinder (4), a coordinate driving assembly of a vertical pipe mechanical arm (5) and a coordinate rotation driving assembly of a pipe holding mechanical arm (51).
2. The composite material combined support body construction robot according to claim 1, wherein the top beam (3) is further provided with a grouting device (32), the grouting device (32) is arranged in the opening structure (31), the grouting device (32) comprises a grouting rubber tube (321) and a grouting rubber tube pushing device (322), the grouting rubber tube pushing device (322) comprises an upper rolling conveying mechanism and a lower rolling conveying mechanism which are arranged in parallel up and down, the upper rolling conveying mechanism and/or the lower rolling conveying mechanism is provided with a grouting rubber tube pushing rolling driving mechanism, the grouting rubber tube (321) is clamped between the upper rolling conveying mechanism and the lower rolling conveying mechanism, and the rear end of the grouting rubber tube (321) is connected with a discharge end of the grouting pump; the centralized electric control device also comprises a grouting control loop, and the controller is electrically connected with the grouting rubber tube pushing rolling driving mechanism.
3. The composite material combined support body construction robot according to claim 2, wherein the upper rolling conveying mechanism and/or the lower rolling conveying mechanism is further provided with a grouting rubber tube pushing and clamping control mechanism.
4. The composite build robot of claim 2 wherein the grouting device (32) further comprises a positioning push distance adjustment mechanism electrically connected to the controller, the positioning push distance adjustment mechanism comprising a Y-coordinate drive assembly that controls the overall forward and backward movement of the grouting pipe push device (322).
5. The composite material combined support body constructing robot according to claim 4, wherein the grouting rubber tube pushing device (322) is provided with a pattern recognition sensor electrically connected with the controller, and the positioning pushing distance adjusting mechanism further comprises an X-coordinate driving assembly capable of controlling the overall horizontal movement of the grouting rubber tube pushing device (322) and/or a Z-coordinate driving assembly capable of controlling the overall vertical movement of the grouting rubber tube pushing device (322).
6. The composite material composite support build robot of claim 2, wherein the grouting device (32) further comprises a vibrating mechanism comprising a ductile vibrating wire rope and a vibrator fixedly mounted on the ductile vibrating wire rope; the vibrator is electrically connected with the controller;
the ductile vibrating wire rope is fixedly attached to the grouting rubber tube (321);
or a vibrating wire rope pushing device electrically connected with the controller is arranged in the opening structure (31).
7. The composite material combined support body construction robot according to claim 2, wherein concave structures matched with the outer diameter of the grouting rubber tube (321) are arranged on the rolling conveying surfaces of the upper rolling conveying mechanism and the lower rolling conveying mechanism.
8. The composite material combined support body construction robot according to claim 1, wherein the top beam (3) is further provided with a top piece receiving and pushing device (33), the top piece receiving and pushing device (33) is arranged corresponding to the opening structure (31), the top piece receiving and pushing device (33) comprises a top piece receiving and guiding support mechanism and a top piece receiving and pushing translation mechanism, the top piece receiving and pushing translation mechanism comprises a pushing vertical plate corresponding to the top piece receiving and guiding support mechanism and a pushing vertical plate translation structure connected with the pushing vertical plate in a mounting manner, and the pushing vertical plate translation structure is electrically connected with the controller.
9. The composite material combined support body construction robot according to claim 8, wherein the top connection part (7) is a top connection flexible membrane bag, the top connection flexible membrane bag is of a frustum structure with a large top and a small bottom, a large diameter top disc (71) and a small diameter bottom disc (72) which are arranged at intervals up and down are arranged in the top connection flexible membrane bag, a positioning connection pressure spring (73) is further arranged between the large diameter top disc (71) and the small diameter bottom disc (72), a grouting opening (75) comprising a one-way opening and closing sealing plate (74) is fixedly arranged on the top connection flexible membrane bag, the grouting opening (75) is matched with a grouting rubber tube (321) in size, the one-way opening and closing sealing plate (74) is arranged on the inner surface of the top connection flexible membrane bag, the one-way opening and closing sealing plate (74) is in a normally closed state, and the one-way opening and closing sealing plate (74) can be opened into the top connection flexible membrane bag;
The pushing vertical plate of the top part translation pushing mechanism of the top part pushing device (33) is provided with a flexible film bag clamping mechanism for clamping the top flexible film bag along the up-down direction, and the flexible film bag clamping mechanism comprises an upper clamping plate, a lower clamping plate and a clamping control structure which is electrically connected with the controller.
10. The composite material combined support body construction robot according to claim 1, wherein a support pipe conveying device (11) is further arranged at the rear of the base (1) and corresponds to the position of the support pipe conveying channel, the support pipe conveying device (11) comprises a support pipe translation pushing mechanism, the support pipe translation pushing mechanism comprises a support pipe positioning pushing component and a support pipe guiding pushing structure which is connected with the support pipe positioning pushing component in an installation mode, and the support pipe guiding pushing structure is electrically connected with the controller.
11. The composite material combined support construction robot according to claim 1, characterized in that the pipe holding manipulator (51) comprises an arc-shaped clamping surface which is dimensioned to fit the outer diameter of the support pipe (6).
12. A composite support construction method based on a composite support construction robot according to claim 1, comprising in particular the steps of:
a. Positioning and supporting: the walking control loop starts to work, the controller controls the walking component lifting control mechanism to act so as to enable the walking component to descend and lift the base (1) off the ground, then controls the walking driving mechanism to act so as to enable the composite material combined support body constructing robot to integrally move to a stand column working position set by the working face, and controls the walking component lifting control mechanism to act so as to enable the walking component to ascend, and the composite material combined support body constructing robot is firmly stopped on the bottom plate of the working face through the base (1); then the top plate lifting control loop starts to work, and the controller controls the lifting cylinder (4) to extend so that the top beam (3) is lifted and stably supported against the top plate of the working surface;
b. riser operation: after the support pipe (6) is sent into the support pipe conveying channel, a vertical pipe control loop starts to work, the controller firstly controls the X-coordinate driving assembly of the vertical pipe mechanical arm (5) to act so as to enable the pipe holding mechanical arm (51) to extend out in the left-right direction to firmly clamp the support pipe (6), then controls the Y-coordinate driving assembly and the Z-coordinate driving assembly of the vertical pipe mechanical arm (5) to act so as to enable the pipe holding mechanical arm (51) to do forward and upward compound coordinate movement, meanwhile controls the A-coordinate rotation driving assembly of the pipe holding mechanical arm (51) to act so as to enable the pipe holding mechanical arm (51) to apply a turnover acting force for enabling the bottom end of the support pipe (6) to turn forward to the support pipe (6), until the support pipe (6) turns over 90 degrees to be in a vertical state, the top end of the support pipe (6) is located in the opening structure (31), and after the Y-coordinate driving assembly of the vertical pipe holding mechanical arm (5) is controlled to act so as to enable the Y-coordinate mechanical arm (51) clamping the support pipe (6) to conduct accurate vertical pipe holding position in the front-back direction, firstly controls the Z-driving assembly of the vertical pipe holding mechanical arm (5) to enable the bottom end of the support pipe (6) to firmly drop, and then controls the X-coordinate driving assembly of the pipe holding mechanical arm (5) to enable the bottom end of the support pipe (6) to roll back to be firmly in the direction, and the vertical pipe holding mechanical arm (6) to roll back to roll down, and the bottom.
13. The method for constructing the composite material combined support according to claim 12, wherein a grouting device (32) is further arranged on a top beam (3) of the composite material combined support constructing robot, the grouting device (32) is arranged in the opening structure (31), the grouting device (32) comprises a grouting rubber pipe (321) and a grouting rubber pipe pushing device (322), the grouting rubber pipe pushing device (322) comprises an upper rolling conveying mechanism and a lower rolling conveying mechanism which are arranged in parallel up and down, a grouting rubber pipe pushing rolling driving mechanism is arranged on the upper rolling conveying mechanism and/or the lower rolling conveying mechanism, the grouting rubber pipe (321) is clamped between the upper rolling conveying mechanism and the lower rolling conveying mechanism, and the rear end of the grouting rubber pipe (321) is connected with a discharge end of a grouting pump; the centralized electric control device also comprises a grouting control loop, and the controller is electrically connected with the grouting rubber tube pushing and rolling driving mechanism;
the construction method of the composite material combined support body further comprises c. support pipe grouting operation: after the operation of the vertical pipe is completed, the grouting control loop starts to work, the controller controls the grouting rubber pipe pushing rolling driving mechanism to act, the grouting rubber pipe pushing device (322) drives the grouting rubber pipe (321) to move forwards for a set distance, the grouting rubber pipe (321) penetrates through a space between the top end of the supporting pipe (6) and the top plate of the working surface and is fed into the supporting pipe (6), the grouting pump is started to perform grouting from top to bottom until the supporting pipe (6) is fully filled, and the grouting rubber pipe (321) is controlled to reset.
14. The method for constructing the composite material combined support according to claim 13, wherein in the grouting process of the step c, the grouting rubber pipe pushing and rolling driving mechanism is controlled to act, so that the grouting rubber pipe pushing device (322) drives the grouting rubber pipe (321) to slowly retract in cooperation with the rising speed of the grouting liquid level.
15. The method for constructing the composite material combined support body according to claim 13, wherein when the support tube (6) is of a multi-layer sleeve structure, grouting is performed on an inner layer sleeve of the support tube (6) firstly by adopting a grouting sequence from inside to outside in the grouting process in the step c, and grouting is performed on an outer layer sleeve of the support tube (6) after the inner layer sleeve is fully injected.
16. The method of constructing a composite material composite support according to claim 13, wherein the grouting device (32) further comprises a positioning pushing distance adjusting mechanism electrically connected with the controller, the positioning pushing distance adjusting mechanism comprising a Y-coordinate driving assembly capable of controlling the overall forward and backward movement of the grouting pipe pushing device (322);
in the process of pushing the grouting rubber tube (321) into the supporting tube (6), firstly, controlling the positioning pushing distance adjusting mechanism to act so that the grouting rubber tube pushing device (322) which clamps the grouting rubber tube (321) moves forwards to be close to the supporting tube (6), then controlling the grouting rubber tube pushing rolling driving mechanism to act so as to convey the grouting rubber tube (321), after the front end of the grouting rubber tube (321) is conveyed into a space between the top end of the supporting tube (6) and a top plate of a working surface, continuously controlling the conveying of the grouting rubber tube (321), and simultaneously controlling the positioning pushing distance adjusting mechanism to act so that the grouting rubber tube pushing device (322) moves backwards slowly at a speed lower than the conveying speed of the grouting rubber tube (321), and accurately conveying the grouting rubber tube (321) into the supporting tube (6) according to the bending curvature of the grouting rubber tube (321).
17. The method for constructing a composite material combined support according to claim 16, wherein a pattern recognition sensor electrically connected with the controller is arranged on the grouting rubber tube pushing device (322), and the positioning pushing distance adjusting mechanism further comprises an X-coordinate driving assembly capable of controlling the grouting rubber tube pushing device (322) to move left and right integrally;
when the grouting rubber pipe pushing device (322) clamping the grouting rubber pipe (321) moves forwards to be close to the supporting pipe (6) by controlling the action of the positioning pushing distance adjusting mechanism, the controller adjusts the position of the grouting rubber pipe pushing device (322) in the left-right direction according to the feedback of the pattern recognition sensor, and the initial position of the grouting rubber pipe (321) when being fed into the supporting pipe (6) is adjusted.
18. The method of constructing a composite material composite support according to claim 17, wherein the positioning pushing distance adjusting mechanism further comprises a Z-coordinate driving assembly capable of controlling the entire grouting hose pushing device (322) to move up and down;
when the grouting rubber pipe pushing device (322) clamping the grouting rubber pipe (321) moves forwards to be close to the supporting pipe (6) by controlling the action of the positioning pushing distance adjusting mechanism, the controller adjusts the position of the grouting rubber pipe pushing device (322) in the up-down direction according to the feedback of the pattern recognition sensor, and the height position of the grouting rubber pipe (321) when being sent into the supporting pipe (6) is adjusted.
19. The composite material combination support construction method according to claim 13, wherein the grouting device (32) further comprises a vibrating mechanism, the vibrating mechanism comprises a ductile vibrating wire rope and a vibrator fixedly installed on the ductile vibrating wire rope, and the vibrator is electrically connected with the controller;
the ductile vibrating wire rope is fixedly attached to the grouting rubber tube (321), and in the step c, the ductile vibrating wire rope is driven to synchronously move through the grouting rubber tube (321) when the grouting rubber tube (321) is pushed into the supporting tube (6), and the vibrator is controlled to vibrate in the grouting process;
or the opening structure (31) is internally provided with a vibrating wire rope pushing device electrically connected with the controller, and the step c is used for pushing the grouting rubber tube (321) into the supporting tube (6) and controlling the vibrating wire rope pushing device to act so as to synchronously move the ductile vibrating wire rope and controlling the vibrator to vibrate in the grouting process.
20. The method for constructing the composite material combined support according to claim 13, wherein the top beam (3) is further provided with a top piece pushing device (33), the top piece pushing device (33) is arranged corresponding to the opening structure (31), the top piece pushing device (33) comprises a top piece guiding and supporting mechanism and a top piece translation and pushing mechanism, the top piece translation and pushing mechanism comprises a pushing vertical plate corresponding to the top piece guiding and supporting mechanism and a pushing vertical plate translation structure connected with the pushing vertical plate in an installation manner, and the pushing vertical plate translation structure is electrically connected with the controller;
Before the top plate lifting control loop starts to work, an operator firstly positions and places a top connecting part (7) matched with the gap height between the top end of the supporting tube (6) and the top plate of the working surface on the top connecting part pushing supporting mechanism, and then controls the top plate lifting control loop to work so as to lift the top beam (3) and stably prop against the top plate of the working surface;
the method for using the composite material combined support body constructing robot further comprises the following steps of roof-connecting operation of the roof-connecting part: after the grouting operation of the support pipe is completed, the controller controls the pushing vertical plate translation structure to act, so that the pushing vertical plate pushes the top connecting piece (7) to translate into a space between the top end of the support pipe (6) and the top plate of the working surface, and then the pushing vertical plate is controlled to reset.
21. The method for constructing the composite material combined support body according to claim 20, wherein the top connecting part (7) is a top connecting flexible membrane bag, the top connecting flexible membrane bag is integrally in a frustum structure with a large top disc (71) and a small bottom disc (72) which are arranged at intervals up and down, a positioning connection pressure spring (73) is further arranged between the large top disc (71) and the small bottom disc (72), a grouting opening (75) comprising a one-way opening and closing sealing plate (74) is fixedly arranged on the top connecting flexible membrane bag, the grouting opening (75) is matched with a grouting rubber tube (321) in size, the one-way opening and closing sealing plate (74) is arranged on the inner surface of the top connecting flexible membrane bag, the one-way opening and closing sealing plate (74) which is blocked on the grouting opening (75) is in a normally closed state, and the one-way opening and closing sealing plate (74) can be opened towards the inside of the top connecting flexible membrane bag;
A flexible membrane bag clamping mechanism for clamping the top flexible membrane bag along the up-down direction is arranged on a pushing vertical plate of a top part translation pushing mechanism of the top part pushing device (33), and comprises an upper clamping plate, a lower clamping plate and a clamping control structure, wherein the clamping control structure is electrically connected with a controller;
before the top plate lifting control loop starts to work, an operator firstly positions and places the top-connecting flexible membrane bag on the top-connecting piece pushing supporting mechanism, enables a grouting opening (75) to correspond to the extending direction of a grouting rubber tube (321), controls the flexible membrane bag clamping mechanism to carry out clamping action so as to reduce the overall height dimension of the top-connecting flexible membrane bag, and then controls the top plate lifting control loop to work so as to lift a top beam (3) and stably prop against a top plate of a working surface;
d, controlling the action of a pushing vertical plate translation structure to enable the pushing vertical plate to push the top-connected flexible membrane bag to translate into a space between the top end of the supporting tube (6) and the top plate of the working surface, and after the coverage area of a small-diameter chassis (72) of the top-connected flexible membrane bag is over against the top end of the supporting tube (6), firstly controlling the flexible membrane bag clamping mechanism to reset and then controlling the pushing vertical plate to reset; then, the grouting rubber pipe pushing device (322) is controlled to move forwards to enable the grouting rubber pipe (321) to penetrate into the grouting opening (75) by a set distance, a grouting pump is started to grouting into the top flexible film bag, after the grouting opening (75) has slurry overflows or the grouting pressure of the grouting pump is larger than a set pressure value, the grouting rubber pipe pushing device (322) is controlled to move backwards to reset, the one-way opening and closing sealing plate (74) is reset to be in a state of sealing the grouting opening (75), the top beam (3) is controlled to descend firstly, then the lifting travelling device (2) is controlled to lift the base (1) off the ground, and the travelling driving mechanism is controlled to move to enable the composite material combined support to construct the whole robot and then to move to withdraw from the upright post operation position.
22. The method for constructing the composite material combined support according to claim 12, wherein a support pipe conveying device (11) is further arranged at the rear of the base (1) and corresponds to the position of the support pipe conveying channel, the support pipe conveying device (11) comprises a support pipe translation pushing mechanism, the support pipe translation pushing mechanism comprises a support pipe positioning pushing component and a support pipe guiding pushing structure which is connected with the support pipe positioning pushing component in an installation mode, and the support pipe guiding pushing structure is electrically connected with the controller;
and b, when the support tube (6) is conveyed into the support tube conveying channel, rolling the support tube (6) from a lateral position to a position right behind the corresponding support tube conveying channel, controlling the action of the support tube guiding pushing structure by the controller to enable the support tube positioning pushing component to move forward and lean against the rear end face of the support tube (6), continuously controlling the action of the support tube guiding pushing structure to enable the support tube positioning pushing component to move forward, and conveying the support tube (6) into the support tube conveying channel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310977673.1A CN117128019A (en) | 2023-08-04 | 2023-08-04 | Composite material combined support body construction robot and construction method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310977673.1A CN117128019A (en) | 2023-08-04 | 2023-08-04 | Composite material combined support body construction robot and construction method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117128019A true CN117128019A (en) | 2023-11-28 |
Family
ID=88859166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310977673.1A Pending CN117128019A (en) | 2023-08-04 | 2023-08-04 | Composite material combined support body construction robot and construction method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117128019A (en) |
-
2023
- 2023-08-04 CN CN202310977673.1A patent/CN117128019A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108104853B (en) | Full-automatic drilling and anchoring operation vehicle | |
| CN104695984B (en) | The multi-functional construction trolley in tunnel | |
| CN111425216B (en) | Composite supporting structure, construction system and method | |
| CN104295307A (en) | Mounting machine for steel arch of tunnel and mounting method of steel arch | |
| CN112360340A (en) | Automatic anchor rod drill carriage | |
| CN109026098A (en) | One kind is hydraulic to move back anchor vehicle | |
| CN103114808B (en) | Arch centering pipe shed drilling machine | |
| CN117128019A (en) | Composite material combined support body construction robot and construction method | |
| CN109736859B (en) | Self-propelled multifunctional tunnel construction vehicle body, trolley and construction method | |
| CN114776369A (en) | Roadway retaining method for fully-mechanized mining filling working face of gangue solid | |
| CN114776368A (en) | System for adopt to fill and stay integration and combine and adopt waste filling working face | |
| CN115749896A (en) | Temporary surrounding rock top supporting equipment in roadway excavation and using method thereof | |
| CN213838624U (en) | Many function combination crawler-type lift operation car | |
| CN112983505A (en) | Arch anchor construction trolley | |
| CN112278754B (en) | Special frame head for gangue unloading rail | |
| CN214403640U (en) | Overhead rail type traction advance support device | |
| CN211819221U (en) | Blasting drilling equipment | |
| CN204163762U (en) | A kind of filling in mine barricade | |
| CN112983504B (en) | Tunnel arch anchor construction method | |
| CN217400961U (en) | System for adopt to fill and stay integration and combine and adopt waste filling working face | |
| CN214616592U (en) | Integrated tunnel arch anchor construction trolley | |
| CN219855184U (en) | Automatic construction device for flexible film bag sealing wall | |
| CN220645993U (en) | Colliery support carrier | |
| CN219139054U (en) | Double-arm automatic anchor cable drill carriage | |
| CN221119928U (en) | Material continuous pusher |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |