EP1317602B1 - Method for boring and placing bolts for imbedding adhesively and device for carrying out this method - Google Patents

Abstract

A method and device for drilling and setting adhesive anchor bolts close to the mine face during the cutting operation of a tunneling or mining machine which is capable of being displaced on a traveling mechanism and includes a cutting cylinder or cutting head rotationally mounted on a cantilever arm pivotable in a vertical direction, and optionally in a horizontal direction. The method is carried out in a manner where the substantially horizontal forward movement of the cantilever arm at break-in cutting is detected and a signal is generated during break-in cutting to block commencement of a working cycle for drilling and anchoring. A controller ( 16 ) for excavation of material on the mine face is networked with a controller ( 15 ) for actuation of the anchor drilling and setting device ( 10 ) via radio, electrical or optical lines ( 17 ).

Description

The invention relates to a method for drilling and setting of adhesive core near the working face during the Schrämbetriebes a movable on a chassis Steckenvortriebs- or extraction machine with rotatably mounted on a pivotable arm and in the vertical direction and optionally in the horizontal direction pivotable cutting roller or cutting head and on an apparatus for carrying out this method.

Jacking machines with integrated anchor drilling and setting devices are described, for example, in WO 99/14463. In this known machine at least one support is provided near the working face, which is braced between the roof and sole. To improve the support relative to the machine frame, an articulated strut is additionally provided, with which the support is articulated at the rear of the machine. With such a device anchoring near the working face is possible in principle. The quality of the anchor hole is, however, naturally limited by vibrations of the machine frame, as an effective support only relative to the machine frame is possible and the machine frame itself depending on the selected Schrämparametern when propulsion or degradation of material is subject to shocks. With such supports horizontal forces can be absorbed only insufficient. During burglary, the boom arm is moved with the Schrämwerkzeugen towards the working face and in this phase of the cutting process, the reaction forces must be recorded as frictional forces on the respective bracing and in particular on the crawler track or ridge cap. If, as is usual in the extraction operation near the ridges of the burglary cutting process is started and subsequently the mining cycle is made by vertical downward movement of the boom, the corresponding reaction forces in the sequence are much better absorbed by pressing forces of the chassis to the sole, so that Also provided near the working face bracing of shocks can be easily kept free. In particular, when winning hard coal or when Schrämmen hard rock but trouble-free operation of the Ankerbohr- and -setters at arbitrary times of Schrämvorganges is not readily guaranteed. It has therefore already been proposed to design the anchor drilling and setting device either completely independently of the tunneling or mining machine and to proceed separately, such a device being described, for example, in US Pat. No. 4,229,124. Such a device is suitable for the introduction of adhesive core, whereby such a completely separate design of the anchor drilling and setting device of the tunneling machine allows a high degree of automation.

In principle, largely automatable anchor drilling and setting devices are known. In EP-A1-0 124 658, for example, such Ankerbohr- and -set device is described, with which a remote control of the individual steps required, namely drilling, the insertion of the adhesive cartridges and the mounting of the armature is possible to in this way the To be able to keep operating personnel out of the unprotected area of the ridge. Even with this device, however, a boom is provided, which is arranged on a separately movable Bohrwagen. US-A-4,165,789 discloses a microcomputer controlled anchor drilling and setting apparatus which is intended to avoid the danger of damage to the bit or bending of the drill string by corresponding incremental change in the parameters of the drilling method. In this relatively complex control each feed and speed of the drilling device are monitored and while maintaining constant one of these two parameters, such as the feed, the other parameters, such as the speed changed incrementally, in order to achieve a maximizing the drilling performance. Such a device can not be arranged directly on a tunneling machine, since the selected parameters for the optimization the drilling performance for setting the anchor the respective working parameters of the cutting machine account in any way.

GB 2 210 081 A finally describes an anchor drilling and setting device which is directly connected to the frame of a tunneling or mining machine. A decoupling of movements of the machine frame is proposed here by a telescoping of the support of Ankerbohr- and -set device relative to the machine frame, such a device can be used naturally only at the rear end of a machine, so that the distance between the working face and that point at which an effective anchorage can take place, becomes relatively large.

The invention now aims to provide a method and an apparatus of the type mentioned, with which or which drilling and setting of anchors near the working face can be made automated, without causing any impairment by a largely simultaneous driving the route or gaining material comes. In particular, the method according to the invention should offer the possibility to increase the safety near the working face with considerably simpler and faster controls for the anchor drilling and setting devices.

To solve this problem, the inventive method is essentially characterized in that the substantially horizontal movement of the boom is detected during burglary and during the Einbruchsschrämens a signal is generated, which blocks the initiation of a working cycle for drilling and anchoring. Characterized in that the critical parameters for a safe anchoring or support of Ankerbohr- and -setter during the Schrämverfahrens or the Streckenvortriebsverfahrens are detected and the operation of Ankerbohr- and -set facilities is only blocked if a secure support is not guaranteed, arrives much longer period for the exact introduction of anchors near the working face available. According to the invention therefore only the period is excluded, over which the cutting roller or the cutting tools are advanced into the working face, as only during the horizontal movement of the boom or the machine in the working face due to the high reaction forces in hard rock or hard coal an exact anchor hole questionable appears and can be affected. During the mining operation, in which the boom moves in the vertical direction from the roof to the sole, the reaction forces are safely absorbed by the chassis of the Streckenvortriebs- and mining machine and a close to the working face arranged support of the machine can be effectively kept free from shocks and movements in this way be made so that accurate drilling without elaborate monitoring of the Bohrparameter the Ankerbohr- and -setzeinrichtungen succeed. Advantageously, the method according to the invention is carried out hiebei so that after completion of the horizontal movement of the machine or the cantilever arm in the working face the triggering of Ankerbohr- and -setzvorganges is released. Overall, therefore, only a short period of time during the route propulsion or the extraction of material for the operation of Ankerbohr- and -setzeinrichtungen not available and it can be done at high speed and in the immediate vicinity of the working face effective backup of the ridges.

The device according to the invention for carrying out this method requires, as mentioned above, a Streckenvortriebs- or extraction machine in which a pivotable arm is provided on which a cutting roller is rotatably mounted and thus requires a certain operating method of such Streckenvortriebs- or extraction machine. With such devices, namely, a burglary Schrämen near the ridges is made and consequently the extraction or the route propulsion by vertical pivoting or when using a Schrämkopfes by horizontal and vertical of the cantilever arm made. The device according to the invention is hiebei essentially characterized in that the control device for the removal of material at the working face with the control devices for the operation of Ankerbohr- and -setinrichtung via radio, electrical or optical lines are networked. The nature of the selected control devices for the removal of material and for the operation of Ankerbohr- and -setzzeinrichtungen hiebei is largely arbitrary and it can be used on known controls for the removal of material and known controls for the operation of Ankerbohr- and -setzeinrichtungen it is only necessary to adequately network these devices in order to achieve the mutual blockade at critical times of the cutting or propelling operation. Advantageously, the device hiebei further developed such that the Ankerbohr- and -setters have at least one optionally remotely controllable switch for initiating the drilling cycle, a filling process for the introduction of adhesive cartridges and a setting process for screwing an anchor.

In order to ensure a particularly rapid securing of the ridges and to keep the time required for the anchor drilling and setting process as low as possible, the design is advantageously such that the anchor drilling and setting devices have at least two separate carriages movable relative to each other for, having the vertical displacement of the manipulator and the drill pipe and the armature and that at least one rotary drive for the drill pipe and the armature is provided, wherein advantageously the carriages are equipped with at least two separate limit switches for limiting the lifting movement of the rotary drives. With such a constructive design of the device can be realized particularly simple and fast automated controls, to increase the reliability training can be made so that separate switches are provided for the drilling cycle and the anchor cycle. Separate switches mean in this Not only separate limit switches for the two cycles, but also separate switches for the triggering of the respective process step, namely the drilling cycle or the anchor cycle.

On the basis of such a device, it is particularly advantageously possible to make the training so that the control devices for Ankerbohr- and -setzeinrichtungen have timers for automatic operation of the respective cycle, wherein between the end of the drilling cycle and before the pivoting of the manipulator is switched to an anchor position of the second carriage to a defined downward movement, whereupon after triggering the armature cycle of the last partial stroke of the movement of the armature after a defined timed waiting step with the connection of a rotary drive of the second carriage is switched to an upward movement and then moved back into the lowered position is. In this way, a collision with the ridge can be prevented during pivoting of the manipulator between the individual cycles for drilling, the introduction of adhesive cartridges and anchoring, with a particularly rapid and easy automatic control of the Ankerbohr- and -setzvorganges at the same time cutting process succeeds in that the lifting movements of the carriages are controlled by limit switches and timers.

The invention will be explained in more detail with reference to an embodiment schematically illustrated in the drawing and an embodiment for carrying out the control method. 1 shows a cutting machine with anchor drilling and setting devices supported on the machine frame in side view, and FIG. 2 shows a plan view of the illustration according to FIG. 1.

In Fig. 1, a cutting machine 1 is shown, which is movable on a crawler undercarriage 2 in the longitudinal direction. To reduce the working face a cutting roller 3 is provided, which is rotatably mounted on a boom 4, wherein the Rotary drive in the boom 4 is housed. The boom 4 is pivotable in the direction of the double arrow 5 in the vertical direction, so that the mining tools can be moved over the working face. Before the beginning of a dismantling step, the cutting tools must be introduced into the working face, for which a burglary cutting step is carried out, usually the cutting roller 3 is advanced in such a way that more than half of the roller dips into the working face, before the cutting process by downward pivoting in the direction of the double arrow 5 begins. The burglary is usually done near the ridges, so that the burglary arm 4 is raised to the appropriate position for burglary.

On the machine frame supporting punches 6 are supported, via which a ridge cap 7 can be pressed against the ridges in order to stabilize the machine in the track. It is further an additional support strut 8 can be seen, via which the ridge cap is hinged at the rear end of the machine.

At the rear end of the machine is shown schematically at 9 a discharge device, via which the slashed material is dropped on arranged in the route funding, such as conveyor belts or trolleys.

Anchor drilling and setting devices 10 are now arranged near the working face on the machine frame, an anchor 11 stored in a magazine 11 and a corresponding manipulator 12 being visible in the side view according to FIG. The manipulator 12 is movable in the height direction via a first carriage 13. At this first carriage 13, a second carriage 14 is movable relative to the first carriage 13 in the height direction. The manipulator is designed to be pivotable about a substantially vertical axis in order to be able to assume a respective aligned position with respect to the anchor bore for the different steps during drilling and anchoring or when introducing adhesive cartridges and to be able to remove armature 11 from the corresponding magazine.

In the illustration according to FIG. 1, a control for the anchor drilling and setting devices is schematically indicated at 15, which monitors and controls an automated and programmed sequence of the individual cycles during drilling and anchoring. Finally, with 16, the corresponding control device for the operation of the cutting roller 3 is indicated, via which the individual method steps are optionally automatically controlled during cutting. 17, the corresponding network line is indicated, which connects the control means 15 and 16 with each other, so that both devices each receive complete information regarding the respective operation of the mutually different devices.

Finally, in the plan view according to FIG. 2, a loading ramp 18 can still be seen, via which the scrape material is taken up by the sole, loading arms 19 conveying the material received via the loading ramp 18 to the conveying device.

• 1. Die Abstützung und insbesondere die Firstkappe 7 wird positioniert und an die Firste gepreßt, worauf die Bohrkrone einer Bohrstange der Ankerbohr- und -setzeinrichtung 10 in eine geeignete Position geschwenkt wird. In diesem ersten Schritt kann auch bereits das Ansetzen der Bohrkrone durch Verfahren des Schlittens 13 und 14 erfolgen. Eine Freigabe des Bohrzyklus erfolgt nach einer entsprechenden Meldung der Steuereinrichtung 16 über die Leitung 17, wonach das Einbruchsschrämen beendet wurde und der Schrämbetrieb durch Verschwenken des Auslegerarmes 4 in Richtung des Doppelpfeiles 5 abwärts begonnen hat. Nach der Freigabe kann nun entweder ein entsprechendes Signal für die Freigabe abgegeben werden oder unmittelbar der Bohrzyklus gestartet werden.
• 2. Bei Beginn des Bohrzyklus wird zunächst zeitgesteuert über einen vorbestimmten Zeitraum von beispielsweise 2 Sekunden mit geringer Drehzahl und geringem Vorschub die Bohrkrone in die Firste getrieben.
• 3. Unmittelbar anschließend erfolgt der normale Bohrvorgang, wobei Vorschub und Vorschubgeschwindigkeit über den Hydraulikdruck bzw. die Durchflußmenge kontrolliert werden können.
• 4. Nach Aufwärtsbewegen der Bohrmaschine am Schlitten 14 in seine obere Endlage, bei welcher beispielsweise ein Endschalter betätigt werden kann, wird die Drehzahl verringert und die Bohrstange wieder zurückgezogen. Der zweite Schlitten 14 befindet sich zu diesem Zeitpunkt in seiner oberen Endlage, welche wiederum von einem gesonderten Endschalter kontrolliert werden kann. Das Mundstück eines Schlauches wird positioniert und durch Fluid, beispielsweise Druckluft, Klebekartuschen eingebracht werden. Dieses Schlauchmundstück wird in der Folge wiederum zurückgeschwenkt.
  In der dritten Phase der Arbeitsbewegungen der Ankerbohr- und -setzeinrichtung können nun entweder unmittelbar anschließend automatisch oder durch Betätigen eines weiteren Schalters die nachfolgenden Verfahrensschritte ausgelöst werden.
• 5. Nach einem Absenken des zweiten Schlittens 14 um einen definierten Weg bzw. über eine definierte Zeit von beispielsweise 4 Sekunden um ein Verschwenken des Manipulators nicht zu behindern, wird aus einem Karusell bzw. Magazin ein Anker entnommen.
• 6. Der Schraubantrieb am Schlitten 14 wird in Höhenrichtung verfahren und die Ankerstange vom Manipulator freigegeben, sodaß sie zuerst im Interval von Sekunden ohne Rotation und dann mit Rotation eingebracht werden kann. Die Aufwärtsbewegung des Ankers erfolgt wiederum bis zur Betätigung eines gesonderten Endschalters. Durch die Drehbewegung und die weitere Aufwärtsbewegung des Ankers werden die Klebekartuschen zerstört und das austretende Material entsprechend vermischt.
• 7. Nach Erreichen der Endlage des ersten Schlittens 13 wird der zweite Schlitten 14 über eine vorbestimmte Zeit von beispielsweise 5 Sekunden aufwärts bewegt, wobei der Drehantrieb für das Eindrehen des Ankers aktiviert bleibt bis zum Erreichen der vorgegebenen Mischzeit des Klebers.
• 8. Es wird ein Wartezyklus von beispielsweise 20 Sekunden eingeschaltet, über welchen das Kleberharz aushärtet.
• 9. Der Drehantrieb für den Anker wird neuerlich über eine definierte Zeit von beispielsweise 2 Sekunden aktiviert, um den Anker anzuziehen.
• 10. Der zweite Schlitten 14 wird wiederum bis zum mechanischen Endanschlag abgesenkt. In der Folge wird der Schraubantrieb in seine untere Endlage zurückgezogen, wobei hier wiederum ein Endschalter betätigt werden kann. Bei Verwendung gesonderter Antriebe für den Bohrmotor und das Anziehen der Ankerschrauben wird in der Folge der Bohrmotor wieder eingeschwenkt.

In principle, any known control devices can be used for the control devices 15 and 16, the method sequence for the control essentially comprising the following steps:

• 1. The support and in particular the ridge cap 7 is positioned and pressed against the ridges, whereupon the drill bit of a boring bar of the anchor drilling and setting device 10 is pivoted into a suitable position. In this first step, the preparation of the drill bit can already be done by moving the carriage 13 and 14. A release of the drilling cycle is carried out after a corresponding message of the control device 16 via the line 17, after which the burglary has ended and the Schrämbetrieb has started by pivoting the boom 4 in the direction of the double arrow 5 down. After release, either a corresponding signal for the Release are issued or immediately start the drilling cycle.
• 2. At the beginning of the drilling cycle, the drill bit is first driven in a timely manner over a predetermined period of, for example, 2 seconds at low speed and low feed rate into the ridge.
• 3. Immediately thereafter, the normal drilling operation is carried out, wherein feed and feed rate can be controlled via the hydraulic pressure or the flow rate.
• 4. After moving up the drill on the carriage 14 in its upper end position, in which, for example, a limit switch can be operated, the speed is reduced and the boring bar retracted again. The second carriage 14 is at this time in its upper end position, which in turn can be controlled by a separate limit switch. The mouthpiece of a hose will be positioned and introduced by fluid, such as compressed air, adhesive cartridges. This hose mouthpiece is in turn pivoted back.
  In the third phase of the working movements of the anchor drilling and setting device, the subsequent method steps can now either be triggered automatically or automatically by actuating a further switch.
• 5. After a lowering of the second carriage 14 by a defined path or over a defined time of, for example, 4 seconds not to hinder a pivoting of the manipulator, an anchor is removed from a carousel or magazine.
• 6. The screw drive on the carriage 14 is moved in the vertical direction and the anchor rod released by the manipulator so that it can be introduced first in the interval of seconds without rotation and then with rotation. The upward movement of the Anchor again takes place until the operation of a separate limit switch. Due to the rotational movement and the further upward movement of the anchor, the adhesive cartridges are destroyed and the emerging material is mixed accordingly.
• 7. After reaching the end position of the first carriage 13, the second carriage 14 is moved upward for a predetermined time of, for example, 5 seconds, wherein the rotary drive remains activated for screwing the armature until reaching the predetermined mixing time of the adhesive.
• 8. A waiting cycle of, for example, 20 seconds is switched on, through which the adhesive resin hardens.
• 9. The rotary actuator for the armature is again activated for a defined time, for example 2 seconds, to tighten the armature.
• 10. The second carriage 14 is again lowered to the mechanical end stop. As a result, the screw drive is retracted to its lower end position, in which case a limit switch can be actuated. When using separate drives for the drill motor and the tightening of the anchor bolts, the drill motor is pivoted in the sequence.

Another working cycle occurs after reaching a new position of the cutting machine, i. after a further burglary shredding operation, wherein the distances over which seen in the longitudinal direction anchorage takes place, depends on the nature of the material of the roofs and anchoring is not necessarily required after each new Einbruchsschrämvorgang, but also only after a multiple of such Einbruchsschrämschritte can be made ,

The completion of the working cycles of Ankerbohr- and -set device is in turn signaled accordingly to make recognizable that now the ridge is secured and a renewed Einbruchschrämvorgang can be made. In these phases of the process, all devices are in the secured by anchor area, so that the corresponding magazines can be filled in turn with anchor rods and the corresponding correct starting position for the automatic sequence of working cycles in anchoring and drilling can be taken again.

During the decay, the operators are in a dust and noise protected cabin. By using the radio remote control for the control of the anchor drilling and setting device and the Streckenvortriebs- or extraction machine control can also be done by Obertage.

Claims (9)

1. A method for drilling and setting adhesive anchor bolts near the mine face during the cutting operation of a tunnelling or mining machine (1) which is capable of being displaced on a travelling mechanism (2) and includes a cutting cylinder (3) or cutting head rotationally mounted on a pivotable cantilever arm (4) and pivotable in the vertical direction (5), and optionally in the horizontal direction, characterized in that the substantially horizontal movement of the cantilever arm (4) at break-in cutting is detected and a signal is generated during break-in cutting to block the start of a working cycle for drilling and anchoring.
2. A method according to claim 1, characterized in that the initiation of an anchor drilling and setting procedure is released upon termination of the horizontal movement of the machine (1) or cantilever arm (4) into the mine face.
3. A device for carrying out the method according to claim 1 or 2, including a tunneling or mining machine which is capable of being displaced on a travelling mechanism (2) and includes a cutting cylinder (3) or cutting head rotationally mounted on a pivotable cantilever arm (4) and pivotable in the vertical direction, and optionally in the horizontal direction (5), as well as an anchor drilling and setting apparatus for drilling and setting adhesive anchor bolts near the mine face during the cutting operation, characterized in that a control means (16) for the excavation of material on the mine face is networked with control means (15) for the actuation of the anchor drilling and setting apparatus (10) via radio, electrical or optical lines (17).
4. A device for carrying out the method according to claim 1 or 2, characterized in that the anchor drilling and setting apparatus (10) comprises at least one, optionally remotely controllable, switch for starting the drilling cycle, a filling procedure for the introduction of adhesive cartridges and a setting procedure for the screwing in of an anchor bolt.
5. A device according to claim 3 or 4, characterized in that the anchor drilling and setting apparatus (10) comprises at least two relatively movable, separate carriages (13, 14) for the vertical displacement of the manipulator (12) and the drill rod assembly and the anchor bolt (11), and that at least one rotary drive is provided for the drill rod assembly and the anchor bolt (11).
6. A device according to any one of claims 3 to 5, characterized in that the carriages (13, 14) are equipped with at least two separate limit switches to delimit the lifting movement.
7. A device according to any one of claims 3 to 6, characterized in that separate switches are provided for the drilling cycle and for the anchoring cycle.
8. A device according to any one of claims 3 to 7, characterized in that the control means (15) for the anchor drilling and setting apparatus (10) are provided with time function elements for the automatic execution of the respective cycle, wherein, between the end of the drilling cycle and prior to the pivoting of the manipulator into an anchoring position, the second carriage (14) is switched to a defined downward movement, whereupon, after having released the anchoring cycle during the final partial lift of the movement of the anchor bolt (11) after a defined, time-controlled waiting step under connection of a rotary drive, the second carriage (14) is switched to an upward movement and subsequently is again movable into the lowered position.
9. A device according to any one of claims 3 to 8, characterized in that the lifting movements of the carriages (13, 14) are controlled by limit switches and time function elements.

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