WO2021077693A1 - 一种井下快速掘进的探掘支锚运一体机系统及其使用方法 - Google Patents

一种井下快速掘进的探掘支锚运一体机系统及其使用方法 Download PDF

Info

Publication number
WO2021077693A1
WO2021077693A1 PCT/CN2020/084219 CN2020084219W WO2021077693A1 WO 2021077693 A1 WO2021077693 A1 WO 2021077693A1 CN 2020084219 W CN2020084219 W CN 2020084219W WO 2021077693 A1 WO2021077693 A1 WO 2021077693A1
Authority
WO
WIPO (PCT)
Prior art keywords
baffle
hydraulic cylinder
anchor
motor
support
Prior art date
Application number
PCT/CN2020/084219
Other languages
English (en)
French (fr)
Inventor
刘送永
朱真才
江红祥
沈刚
刘后广
司垒
许少毅
姬会福
崔玉明
Original Assignee
中国矿业大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 中国矿业大学 filed Critical 中国矿业大学
Priority to CA3103086A priority Critical patent/CA3103086C/en
Priority to RU2020137365A priority patent/RU2748264C1/ru
Priority to AU2020267269A priority patent/AU2020267269B2/en
Publication of WO2021077693A1 publication Critical patent/WO2021077693A1/zh

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B15/00—Supports for the drilling machine, e.g. derricks or masts
    • E21B15/003—Supports for the drilling machine, e.g. derricks or masts adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D19/00—Provisional protective covers for working space
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D20/00—Setting anchoring-bolts
    • E21D20/003—Machines for drilling anchor holes and setting anchor bolts
    • E21D20/006—Machines for drilling anchor holes and setting anchor bolts having magazines for storing and feeding anchoring-bolts
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/1086—Drives or transmissions specially adapted therefor
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/1093—Devices for supporting, advancing or orientating the machine or the tool-carrier

Definitions

  • the invention relates to the technical field of the field of mining machinery, in particular to a mining, supporting, anchoring and transporting integrated machine system for rapid underground excavation and a method of use thereof.
  • CN104500086A The patent name disclosed in CN104500086A is: an unmanned roadway digging and anchoring integrated machine. Its support system only involves temporary support and bolt support, and cannot solve the problem of small pieces of surrounding rock falling. If it is necessary to install an anchor net, it must be manually approached to the working section. The cutting head needs to be stopped for personnel safety, which cannot be realized. Digging and supporting anchors are operated in parallel, and factors such as dust and noise also pose great safety threats to workers. , And most of them cannot be pre-detected, and there is no automatic bolt-changing mechanism, the safety is not high, and the work efficiency is low.
  • the present invention provides an integrated machine system for exploring, supporting, anchoring and transporting rapid underground excavation.
  • the invention provides an integrated machine system for exploring, supporting, anchoring and transporting for rapid underground excavation, which includes a longitudinal-axis tunneling machine body provided with a double-rocker arm cutting part and an anchor equipped with an automatic rod-changing mechanism.
  • the branch, the baffle used for temporary support and protection of the anchor support, and the detection part for pre-detection is a longitudinal-axis tunneling machine body provided with a double-rocker arm cutting part and an anchor equipped with an automatic rod-changing mechanism.
  • the double-rocker arm cutting portion includes a rocker motor fixing bracket welded to the longitudinal axis type tunneling machine body, and a rocker motor is fixed on the rocker motor fixing bracket, and the rocker motor rotates
  • the oil cylinder is connected to the main rocker arm, the main rocker arm is connected to the secondary rocker arm through a rotating pair, the rotating pair is connected to the rocker arm motor through a transmission system provided in the main rocker arm, and the secondary rocker arm is provided with a cut-off
  • the cutting motor is equipped with a cutting head;
  • the anchor support includes an anchor support base plate welded on both sides of the longitudinal-axis tunneling machine body, and a feed slide is connected to the anchor support base plate through a slide rail.
  • the feed slider is hingedly provided with a pitch slide rail that can be pitched up and down, the pitch slide rail is correspondingly provided with a pitch slide block, and the pitch slide rail adopts an anchor support installed on the feed slide block to pitch Driven by a hydraulic cylinder, the second rotary motor is provided with a second rotary motor, the second rotary motor is articulated with a rotary motor one, and the second rotary motor is provided with a motor hydraulic cylinder for driving the rotary motor 1 up and down.
  • Motor 1 is connected to the bolter through the bolter slider, the bolter slides relative to the bolter slider through the gear rack, and the bolter is provided with an automatic rod-changing mechanism, and the automatic rod-changer is provided with an automatic rod-changing mechanism.
  • the mechanism includes a rod-changing frame welded to the bolting rig.
  • the rod-changing frame is connected with an anchor rod bin through a connecting plate.
  • the connecting plate is provided with a rotating cylinder hydraulic cylinder for driving the rotating of the anchor rod bin, and the rotating bin.
  • the limit hydraulic cylinder corresponding to the hydraulic cylinder is provided with a mechanical claw frame welded on the rod-changing frame correspondingly at the lower part of the anchor rod chamber, and the mechanical claw frame is connected with the clamping block through the clamping hydraulic cylinder, and the clamping
  • the block is connected with one end of the rod-feeding hydraulic cylinder, and the other end of the rod-feeding hydraulic cylinder is hinged with the mechanical claw frame;
  • the baffle includes a baffle bottom plate welded on the rear side of the longitudinal-axis tunneling machine body, and the baffle A baffle slide is slidably provided on the bottom plate through a baffle slide rail.
  • the baffle slide is driven to slide by a baffle advance and retreat hydraulic cylinder installed on the baffle bottom plate, and the baffle slide is hingedly provided with up and down tilting
  • the first baffle, the first baffle is driven by a baffle pitch hydraulic cylinder installed on the baffle slide plate, and the first baffle is hingedly provided with a baffle for installing anchor nets and temporary support.
  • the second baffle is driven and leveled by a baffle leveling hydraulic cylinder installed on the first baffle;
  • the detection part includes a fixed slideway fixed on the longitudinal-axis tunneling machine body, and the fixed slideway corresponds to
  • a telescopic arm slide table is provided, the telescopic arm slide table is driven to slide by a telescopic oil cylinder provided on the longitudinal axis type tunneling machine body, the telescopic arm slide table is provided with a telescopic arm base, and the telescopic arm base is adjusted
  • the first hydraulic cylinder and the second adjusting hydraulic cylinder are connected to the boom, the boom is connected to the forearm, the forearm is connected to the rotating cylinder through the connecting piece, and the rotating cylinder is connected to the drilling rig sliding platform.
  • a probe drill is provided, and a joint hydraulic cylinder for adjusting the pitch of the connecting member is connected between the forearm and the connecting member.
  • the telescopic oil cylinders all adopt servo hydraulic cylinders, and the first and second rotary motors use rotary encoders to control the rotation angle.
  • the front part of the second baffle plate is provided with an arc-shaped mesh structure.
  • the pitch range of the first baffle is 10 degrees to 80 degrees, and the adjustment range between the second baffle and the first baffle is 120 degrees to 180 degrees.
  • the present invention also provides a method for using the above system, which specifically includes the following steps:
  • the movement of the telescopic oil cylinder of the detection unit drives the telescopic arm slide table to move on the fixed slide, which in turn drives the movement of the telescopic arm base, so that the probe rig moves forwards and backwards for detection, and controls the rotating oil cylinder to drive the drilling rig sliding platform to rotate to adjust the detection.
  • the detection range of the drilling rig is adjusted by controlling the hydraulic cylinder 1 and adjusting the hydraulic cylinder 2 to adjust the posture of the boom, and then drive the forearm to adjust the posture to realize the small expansion and contraction of the detection rig.
  • the connecting piece can be driven to realize the pitching action. , And then realize the pitching motion of the detection motor, and realize the detection of the detection part;
  • the present invention has a simple structure and is provided with a detection part, which can perform first detection and then drill, which improves safety and work efficiency;
  • the rotary motor 1, the rotary motor 2, and the motor hydraulic cylinder together form a human-like wrist joint , which makes the bolting rig operation more flexible and adapts to the complex working environment in the well.
  • the setting of the guard plate structure solves the problem of the mismatch of the excavation, support and anchor time in the existing roadway excavation process, and greatly improves the excavation efficiency.
  • the automatic rod changing mechanism can automatically carry out the rod changing and conveying of the anchor rod, which greatly improves the work efficiency.
  • Figure 1 is a schematic diagram of the overall structure of the present invention.
  • Figure 2 is a schematic diagram of the structure of the double rocker arm cutting part of the present invention.
  • FIG. 3 is a schematic diagram of the structure of the anchor branch of the present invention.
  • FIG. 4 is a schematic diagram of the structure of the baffle in the present invention.
  • Fig. 5 is a schematic diagram of the structure of the detecting part in the present invention.
  • Figure 6 is a schematic diagram of the internal transmission system of the cutting section of the double rocker arm of Figure 2;
  • Fig. 7 is a schematic diagram of the structure of the automatic rod changing in Fig. 3;
  • Fig. 8 is a schematic diagram of the structure of the automatic lever-changing mechanical claw shown in Fig. 7.
  • this embodiment provides an integrated machine system for exploration, support, anchor and transport for rapid underground excavation, including a longitudinal-axis tunneling machine body 1, on which a double-rocker arm cut is provided.
  • the cutting part 2 the anchor support part 3 equipped with an automatic rod changing mechanism, the baffle 4 used for temporary support and protection of the anchor support part, and the detection part 5 used for pre-detection.
  • the double-rocker arm cutting part 2 includes a rocker motor fixing bracket 2.6 welded to the longitudinal-axis tunneling machine body 1, and a rocker motor 2.4 is fixed on the rocker motor fixing bracket 2.6, the rocker motor 2.4 is connected to the main rocker arm 2.3 through a rotating cylinder 2.5, the main rocker arm 2.3 is connected to the secondary rocker arm 2.2 through a rotating pair, and the rotating pair is connected to the rocker arm motor 2.4 through a transmission system provided in the main rocker arm 2.3,
  • a cutting motor 2.1 is provided on the secondary rocker arm 2.2, a cutting head is installed on the cutting motor 2.1, and the rotating cylinder 2.5 of the double rocker arm cutting part 2 and the rocker motor 2.4 cooperatively control the double rocker arm mechanism, The cutting head starts to cut the roadway section along the S-shape.
  • the anchor support portion 3 includes an anchor support portion bottom plate 3.2 welded on both sides of the longitudinal axis tunneling machine body 1, and a feed slider 3.1 is connected to the anchor support portion bottom plate 3.2 through a slide rail, and the feed slider 3.1 is
  • the articulation is provided with a pitching slide 3.3 that can be pitched up and down.
  • the pitching slide 3.3 is correspondingly provided with a pitching slider 3.4.
  • the pitching slide 3.3 is driven by an anchor support pitching hydraulic cylinder 3.5 installed on the feed slider 3.1.
  • the second slewing motor 3.8 is provided on the pitching slider 3.4, the second 3.8 slewing motor is articulated with a slewing motor 3.6, and the second slewing motor 3.8 is provided with a hydraulic cylinder 3.7 that drives the slewing motor a 3.6 up and down pitching.
  • the rotary motor 3.6 is connected to the bolter through the bolter slider 3.9, the bolter slid relative to the bolter slider 3.9 through the rack and pinion, and the bolter is provided with an automatic rod changer.
  • the automatic rod-changing mechanism 3.10 includes a rod-changing frame 3.10.6 welded with a bolter drill, the rod-changing frame 3.10.6 is connected with a bolt warehouse 3.10.1 through a connecting plate, and the connecting plate
  • a rotary cylinder 3.10.4 for driving the rotation of the anchor bar 3.10.1 and a limit hydraulic cylinder 3.10.5 corresponding to the rotary cylinder 3.10.4 are provided on the upper part, and the lower part of the anchor bar 3.10.1 is correspondingly provided
  • One end of the rod sending hydraulic cylinder 3.10.2 is connected, and the other end of the rod sending hydraulic cylinder 3.10.2 is hinged with the mechanical claw frame 3.10.8.
  • the baffle 4 includes a baffle bottom plate welded on the rear side of the longitudinal-axis tunneling machine body 1, and a baffle slide plate 4.4 is slidably provided on the baffle bottom plate through a baffle slide rail 4.7, and the baffle slide plate 4.4 adopts The baffle advancing and retreating hydraulic cylinder 4.8 installed on the baffle bottom plate drives sliding.
  • the baffle sliding plate 4.4 is hingedly provided with a baffle 4.3 that can be tilted up and down.
  • the baffle 4.3 is installed on the baffle
  • the baffle plate pitching hydraulic cylinder 4.6 on the sliding plate 4.4 is driven.
  • the baffle plate 4.3 is hingedly provided with a baffle plate 4.2 for installing anchor nets and temporary support.
  • the baffle plate 4.2 is installed on the baffle plate. 1.
  • the baffle leveling hydraulic cylinder 4.5 on 4.3 drives leveling;
  • the front part of the second baffle 4.2 is provided with an arc-shaped mesh structure 4.1.
  • the pitching of the first baffle 4.3 and the leveling movement of the second baffle 4.2 run synchronously.
  • the pitch range of the first baffle 4.3 is 10 degrees to 80 degrees, and the adjustment range between the second baffle 4.2 and the baffle 4.3 is 120 degrees to 180 degrees.
  • the detection part 5 includes a fixed slideway fixed on the longitudinal-axis tunneling machine body 1, and a telescopic arm slide table 5.10 is correspondingly provided on the fixed slideway.
  • the telescopic arm slide table 5.10 is arranged on the longitudinal axis tunneling machine
  • the telescopic cylinder 5.11 on the body 1 drives and slides
  • the telescopic arm slide table 5.10 is provided with a telescopic arm base 5.9
  • the telescopic arm base 5.9 is connected to the boom 5.6 by adjusting hydraulic cylinder one 5.7 and adjusting hydraulic cylinder two 5.8 ,
  • the boom 5.6 is connected to the forearm 5.5
  • the forearm 5.5 is connected to the rotating cylinder 5.2 through the connecting piece 5.3
  • the rotating cylinder 5.2 is connected to a drilling rig sliding platform 5.1
  • the drilling rig sliding platform 5.1 is provided with a probe drilling rig
  • a joint hydraulic cylinder 5.4 for adjusting the pitch of the connecting piece 5.3 is connected between the forearm
  • the second adjustment hydraulic cylinder 5.8 and the telescopic cylinder 5.11 all use servo hydraulic cylinders.
  • the first 3.6 rotary motors and the second 3.8 rotary motors use rotary encoders to control the rotation angle.
  • This embodiment also provides a method for using the above system, which specifically includes the following steps:
  • the movement of the telescopic oil cylinder 5.11 of the detection part 5 drives the telescopic arm slide table 5.10 to move on the fixed slide, and then drives the movement of the telescopic arm base 5.9, so as to move the probe rig back and forth for detection, and control the rotating oil cylinder 5.2 to drive the rig to slide
  • the platform 5.1 rotates to adjust the detection range of the detection rig.
  • the position of the boom 5.6 is adjusted by controlling the adjustment hydraulic cylinder 5.7 and the adjustment hydraulic cylinder 5.8, which in turn drives the forearm 5.5 to adjust the position and posture to achieve a small extension of the detection rig.
  • the joint hydraulic cylinder 5.4 can drive the connecting piece 5.3 to realize the pitching action, and then realize the pitching action of the detection motor, and realize the detection of the detection part;
  • step b While step b is in progress, the feed slider 3.1 of the anchor support 3 is pushed forward by a rack and pinion for a specified distance, the anchor support pitching hydraulic cylinder 3.5 extends to the set distance, and feedback controls it to stop elongation.
  • the pitch slide rail 3.3 is swung to the specified angle, the rotary motor 3.6, the rotary motor 2 3.8, and the motor hydraulic cylinder 3.7 all act together to make the bolting rig reach the specified position, and the bolting rig performs the bolting action , Support the anchor net to the roof of the roadway;

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Environmental & Geological Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Structural Engineering (AREA)
  • Earth Drilling (AREA)

Abstract

一种井下快速掘进的探掘支锚运一体机系统，该一体机系统包括纵轴式掘进机体（1），该纵轴式掘进机体（1）上设置有双摇臂截割部（2）、配有自动换杆机构的锚支部（3）、用于起到临时支护和防护锚支部作用的挡板（4）、用于预探测的探测部（5）；设置探测部（5），可以进行先探测再施钻，提高了安全性和工作效率；回转电机一（3.6）、回转电机二（3.8）、电机液压缸（3.7）共同构成一个类人腕关节，使得锚杆钻机操作更加灵活，更能适应井下复杂的工作环境；护板结构的设置解决了现有巷道掘进过程中掘、支、锚时间不匹配的问题，大大提高了掘进效率；设置有自动换杆机构，可以自动进行锚杆的换杆输送，大大提高了工作效率。此外，该一体机系统的使用方法被公开。

Description

一种井下快速掘进的探掘支锚运一体机系统及其使用方法 技术领域
本发明涉及矿山机械领域技术领域，尤其涉及一种井下快速掘进的探掘支锚运一体机系统及其使用方法。
背景技术
随着生产矿井采深的增加，地应力、围岩受力及变形复杂多样，锚网支护以其支护效果好、适用范围广、可以根据巷道条件灵活应变等特点，被广大巷道开采所使用，但在目前巷道掘进的过程中，机械化掘进效率很高，巷道支护速度远远滞后于掘进速度。掘支锚时间严重不匹配，导致掘进机进尺时间远小于工作总时间，大量的时间内掘进机停工作业用来进行支护作业。解决掘支锚时间严重不匹配的一个方向为实现掘支锚平行作业。
CN104500086A中公开了专利名称为：一种巷道无人掘锚一体机。其支护系统就只涉及临时支护与锚杆支护，不能解决小块围岩掉落的问题，如果需要加装锚网需要人工靠近工作断面，为了人员安全截割头需要停工，不能实现掘支锚平行作业，同时粉尘、噪音等因素也对工人存在极大的安全威胁。，而且大都不能进行预探测，也没有自动换锚杆机构，安全性不高，工作效率低。
发明内容
为解决上述问题，本发明提供一种井下快速掘进的探掘支锚运一体机系统。
为实现上述目的，本发明采用以下技术手段：
本发明提供一种井下快速掘进的探掘支锚运一体机系统，包括纵轴式掘进机体，所述纵轴式掘进机体上设置有双摇臂截割部、配有自动换杆机构的锚支部、用于起到临时支护和防护锚支部作用的挡板、用于预探测的探测部。
进一步的，所述双摇臂截割部包括焊接在所述纵轴式掘进机体上的摇臂电机固定支架，所述摇臂电机固定支架上固定有摇臂电机，所述摇臂电机通过转动油缸与主摇臂连接，所述主摇臂通过转动副与次摇臂连接，所述转动副通过设置在主摇臂内的传动系统与摇臂电机连接，所述次摇臂上设置有截割电机，所述截割电机上安装有截割头；所述锚支部包括焊接在所述纵轴式掘进机体两侧的锚支部底板，所述锚支部底板上通过滑轨连接有进给滑块，所述进给滑块上铰接设置有可上下俯仰的俯仰滑轨，所述俯仰滑轨上对应设置有俯仰滑块，所述俯仰滑轨采用安装在进给滑块上的锚支部俯仰液压缸驱动，所述俯仰滑块上设置有回转电机二，所述回转电机二铰接设置有回转电机一，所述回转电机二上设置有驱动回转电机一上下俯仰的电机液压缸，所述回转电机一通过锚杆钻机滑块连接有锚杆钻机，所述锚杆钻机通过齿轮齿条相对于锚杆钻机滑块滑动，所述锚杆钻机上设置有自动换杆机构，所述自动换杆机构包括与锚杆钻机焊接的换杆机架，所述换杆机架通过连接板连接有锚杆仓，所述连接板上设置有用于驱动锚杆仓转动的转仓液压缸、与转仓液压缸对应的限位液压缸，所述锚杆仓下部对应设置有焊接在换杆机架上的机械爪架，所述机械爪架通过夹紧液压缸与夹紧块连接，所述夹紧块连接有送杆液压缸的一端，所述送杆液压缸的 另一端与机械爪架铰接；所述挡板包括焊接在所述纵轴式掘进机体后侧的挡板底板，所述挡板底板上通过挡板滑轨滑动设置有挡板滑板，所述挡板滑板采用安装在所述挡板底板上的挡板进退液压缸驱动滑动，所述挡板滑板上铰接设置有可上下俯仰的挡板一，所述挡板一采用安装在所述挡板滑板上的挡板俯仰液压缸驱动，所述挡板一上铰接设置有用于起到安装锚网和临时支护作用的挡板二，所述挡板二采用安装在挡板一上的挡板调平液压缸驱动调平；所述探测部包括固定在所述纵轴式掘进机体上的固定滑道，所述固定滑道上对应设置有伸缩臂滑台，所述伸缩臂滑台通过设置在纵轴式掘进机体上的伸缩油缸驱动滑动，所述伸缩臂滑台上设置有伸缩臂基座，所述伸缩臂基座通过调整液压缸一、调整液压缸二与大臂连接，所述大臂与小臂连接，所述小臂通过连接件与转动油缸连接，所述转动油缸连接有钻机滑动平台，所述钻机滑动平台上设置有探测钻机，所述小臂与连接件之间连接有用于调节连接件俯仰程度的关节液压缸。
进一步的，所述锚支部俯仰液压缸、电机液压缸、挡板调平液压缸、挡板俯仰液压缸、挡板进退液压缸、转动油缸、关节液压缸、调整液压缸一、调整液压缸二、伸缩油缸均采用伺服液压缸，所述回转电机一、回转电机二采用回转编码器控制旋转角度。
进一步的，所述挡板二前部设置有弧形网状结构。
进一步的，所述挡板一的俯仰与挡板二的调平运动同步运行。
进一步的，所述挡板一的俯仰幅度为10度到80度，所述挡板二与挡板一之间的调整幅度为120度到180度。
本发明还提供一种使用上述系统的方法，具体包括以下步骤：
(a)将纵轴式掘进机体行进到巷道断面处，前后支撑撑开，工作人员将锚网放置到挡板二上，挡板一、挡板二在两组液压缸的动作下完成升起、调平的动作，挡板滑板前进，挡板进行临时支护；
(b)探测部的伸缩油缸运动带动伸缩臂滑台在固定滑道上运动，进而带动伸缩臂基座的运动，从而使探测钻机前后移动，进行探测，控制转动油缸带动钻机滑动平台旋转进而调整探测钻机探测范围，通过控制调整液压缸一、调整液压缸二调整大臂的位姿，进而带动小臂调整位姿，实现探测钻机的小幅度伸缩，通过控制关节液压缸可以带动连接件实现俯仰动作，进而实现探测电机的俯仰动作，实现探测部的探测；
(c)探测完成后，可以进行截割时，双摇臂截割部的转动油缸和摇臂电机协同控制双摇臂机构，使得截割头开始沿S形截割巷道断面；
(d)在步骤进行的同时，锚支部的进给滑块通过齿轮齿条推动往前运动指定距离，锚支部俯仰液压缸伸长至设定距离，反馈控制其停止伸长，使俯仰滑轨摆动到指定角度，回转电机一、回转电机二、电机液压缸三者共同动作，使得锚杆钻机的位姿至指定位姿，锚杆钻机进行打锚杆的动作，将锚网支护到巷道顶板上；
(e)在截割头完成一轮S形截割断面后，锚支部的回转电机二逆时针摆动一定角度，自动换杆机构开始运行，转仓液压缸运动，带动锚仓杆转动到限位液压缸限定的角度，夹紧液压缸驱动夹紧块夹紧锚杆，送杆液压缸运行将锚杆输送到锚杆钻机，夹紧块松开，打下一根锚杆；
(f)锚支部完成一个断面上的打锚杆后，挡板滑板后移，挡板滑板退出临时支护，进给滑块前移，进行下一个断面的锚杆支护；
(g)截割头回收到初始位置，锚支部的进给滑块后退到底，锚支部俯仰液压缸、回转电机一、回转电机二、电机液压缸动作，锚支部回到初始位置，纵轴式掘进机体前后支撑缩回，纵轴式掘进机体前进到下一个巷道断面处，重复步骤(a)-(g)动作。
本发明的有益效果：本发明结构简单，设置有探测部，可以进行先探测再施钻，提高了安全性和工作效率；回转电机一、回转电机二、电机液压缸共同构成一个类人腕关节，使得锚杆钻机操作更加灵活，更能适应井下复杂的工作环境，护板结构的设置解决了现有巷道掘进过程中掘、支、锚时间不匹配的问题，大大提高了掘进效率，设置有自动换杆机构，可以自动进行锚杆的换杆输送，大大提高了工作效率。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明的整体结构示意图；
图2为本发明中双摇臂截割部的结构示意图；
图3为本发明中锚支部的结构示意图；
图4为本发明中挡板的结构示意图；
图5为本发明中探测部的结构示意图；
图6为图2双摇臂截割部内部传动系统示意图；
图7为图3自动换杆结构示意图；
图8为图7自动换杆机械爪结构示意图。
图中：1纵轴式掘进机体；2双摇臂截割部；2.1截割电机；2.2次摇臂；2.3主摇臂；2.4摇臂电机；2.5转动油缸；2.6固定支架；3锚支部；3.1进给滑块；3.2锚支部底板；3.3俯仰滑轨；3.4俯仰滑块；3.5锚支部俯仰液压缸；3.6回转电机一；3.7电机液压缸；3.8回转电机二2；3.9锚杆钻机滑块；3.10自动换杆机构；3.10.1锚杆仓；3.10.2送杆液压缸；3.10.3夹紧液压缸；3.10.4转仓液压缸；3.10.5限位液压缸；3.10.6换杆机架；3.10.7夹紧块；3.10.8机械爪架4挡板；4.1挡板底板；4.2挡板二；4.3挡板一；4.4挡板滑板2；4.5挡板调平液压缸；4.6挡板俯仰液压缸；4.7挡板滑轨；4.8挡板进退液压缸；5探测部；5.1钻机滑动平台；5.2转动油缸；5.3连接件；5.4关节液压缸；5.5小臂；5.6大臂；5.7调整液压缸一；5.8调整液压缸二；5.9伸缩臂基座；5.10伸缩臂滑台；5.11伸缩油缸。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1-8所示，本实施例提供一种井下快速掘进的探掘支锚运一体机系统，包括纵轴式掘进机体1，所述纵轴式掘进机体1上设置有双摇臂截割部2、配有自动换杆机构的锚支 部3、用于起到临时支护和防护锚支部作用的挡板4、用于预探测的探测部5。
所述双摇臂截割部2包括焊接在所述纵轴式掘进机体1上的摇臂电机固定支架2.6，所述摇臂电机固定支架2.6上固定有摇臂电机2.4，所述摇臂电机2.4通过转动油缸2.5与主摇臂2.3连接，所述主摇臂2.3通过转动副与次摇臂2.2连接，所述转动副通过设置在主摇臂2.3内的传动系统与摇臂电机2.4连接，所述次摇臂2.2上设置有截割电机2.1，所述截割电机2.1上安装有截割头，双摇臂截割部2的转动油缸2.5和摇臂电机2.4协同控制双摇臂机构，使得截割头开始沿S形截割巷道断面。
所述锚支部3包括焊接在所述纵轴式掘进机体1两侧的锚支部底板3.2，所述锚支部底板3.2上通过滑轨连接有进给滑块3.1，所述进给滑块3.1上铰接设置有可上下俯仰的俯仰滑轨3.3，所述俯仰滑轨3.3上对应设置有俯仰滑块3.4，所述俯仰滑轨3.3采用安装在进给滑块3.1上的锚支部俯仰液压缸3.5驱动，所述俯仰滑块3.4上设置有回转电机二3.8，所述回转电机二3.8铰接设置有回转电机一3.6，所述回转电机二3.8上设置有驱动回转电机一3.6上下俯仰的电机液压缸3.7，所述回转电机一3.6通过锚杆钻机滑块3.9连接有锚杆钻机，所述锚杆钻机通过齿轮齿条相对于锚杆钻机滑块3.9滑动，所述锚杆钻机上设置有自动换杆机构3.10，所述自动换杆机构3.10包括与锚杆钻机焊接的换杆机架3.10.6，所述换杆机架3.10.6通过连接板连接有锚杆仓3.10.1，所述连接板上设置有用于驱动锚杆仓3.10.1转动的转仓液压缸3.10.4、与转仓液压缸3.10.4对应的限位液压缸3.10.5，所述锚杆仓3.10.1下部对应设置有焊接在换杆机架3.10.6上的机械爪架3.10.8，所述机械爪架3.10.8通过夹紧液压缸3.10.3与夹紧块3.10.7连接，所述夹紧块3.10.7连接有送杆液压缸3.10.2的一端，所述送杆液压缸3.10.2的另一端与机械爪架3.10.8铰接。
所述挡板4包括焊接在所述纵轴式掘进机体1后侧的挡板底板，所述挡板底板上通过挡板滑轨4.7滑动设置有挡板滑板4.4，所述挡板滑板4.4采用安装在所述挡板底板上的挡板进退液压缸4.8驱动滑动，所述挡板滑板4.4上铰接设置有可上下俯仰的挡板一4.3，所述挡板一4.3采用安装在所述挡板滑板4.4上的挡板俯仰液压缸4.6驱动，所述挡板一4.3上铰接设置有用于起到安装锚网和临时支护作用的挡板二4.2，所述挡板二4.2采用安装在挡板一4.3上的挡板调平液压缸4.5驱动调平；
所述挡板二4.2前部设置有弧形网状结构4.1。
所述挡板一4.3的俯仰与挡板二4.2的调平运动同步运行。
所述挡板一4.3的俯仰幅度为10度到80度，所述挡板二4.2与挡板一4.3之间的调整幅度为120度到180度。
所述探测部5包括固定在所述纵轴式掘进机体1上的固定滑道，所述固定滑道上对应设置有伸缩臂滑台5.10，所述伸缩臂滑台5.10通过设置在纵轴式掘进机体1上的伸缩油缸5.11驱动滑动，所述伸缩臂滑台5.10上设置有伸缩臂基座5.9，所述伸缩臂基座5.9通过调整液压缸一5.7、调整液压缸二5.8与大臂5.6连接，所述大臂5.6与小臂5.5连接，所述小臂5.5通过连接件5.3与转动油缸5.2连接，所述转动油缸5.2连接有钻机滑动平台5.1，所述钻机滑动平台5.1上设置有探测钻机，所述小臂5.5与连接件5.3之间连接有用于调节连接件5.3俯仰程度的关节液压缸5.4。
所述锚支部俯仰液压缸3.5、电机液压缸3.7、挡板调平液压缸4.5、挡板俯仰液压缸4.6、挡板进退液压缸4.8、转动油缸5.2、关节液压缸5.4、调整液压缸一5.7、调整液压缸 二5.8、伸缩油缸5.11均采用伺服液压缸，所述回转电机一3.6、回转电机二3.8采用回转编码器控制旋转角度。
本实施例还提供一种使用上述系统的方法，具体包括以下步骤：
(a)将纵轴式掘进机体1行进到巷道断面处，前后支撑撑开，工作人员将锚网放置到挡板二4.4上，挡板一4.3、挡板二4.4在两组液压缸的动作下完成升起、调平的动作，挡板滑板4.2前进，挡板4进行临时支护；
(b)探测部5的伸缩油缸5.11运动带动伸缩臂滑台5.10在固定滑道上运动，进而带动伸缩臂基座5.9的运动，从而使探测钻机前后移动，进行探测，控制转动油缸5.2带动钻机滑动平台5.1旋转进而调整探测钻机探测范围，通过控制调整液压缸一5.7、调整液压缸二5.8调整大臂5.6的位姿，进而带动小臂5.5调整位姿，实现探测钻机的小幅度伸缩，通过控制关节液压缸5.4可以带动连接件5.3实现俯仰动作，进而实现探测电机的俯仰动作，实现探测部的探测；
(c)探测完成后，可以进行截割时，双摇臂截割部2的转动油缸2.5和摇臂电机2.4协同控制双摇臂机构，使得截割头开始沿S形截割巷道断面；
(d)在步骤b进行的同时，锚支部3的进给滑块3.1通过齿轮齿条推动往前运动指定距离，锚支部俯仰液压缸3.5伸长至设定距离，反馈控制其停止伸长，使俯仰滑轨3.3摆动到指定角度，回转电机一3.6、回转电机二3.8、电机液压缸3.7三者共同动作，使得锚杆钻机的位姿至指定位姿，锚杆钻机进行打锚杆的动作，将锚网支护到巷道顶板上；
(e)在截割头完成一轮S形截割断面后，锚支部3的回转电机二3.8逆时针摆动一定角度，自动换杆机构3.10开始运行，转仓液压缸3.10.4运动，带动锚仓杆3.10.1转动到限位液压缸3.10.5限定的角度，夹紧液压缸3.10.3驱动夹紧块3.10.7夹紧锚杆，送杆液压缸3.10.2运行将锚杆输送到锚杆钻机，夹紧块3.10.7松开，打下一根锚杆；
(f)锚支部3完成一个断面上的打锚杆后，挡板滑板4.4后移，挡板滑板4.4退出临时支护，进给滑块3.1前移，进行下一个断面的锚杆支护；
(g)截割头回收到初始位置，锚支部3的进给滑块3.1后退到底，锚支部俯仰液压缸3.5、回转电机一3.6、回转电机二3.8、电机液压缸3.7动作，锚支部3回到初始位置，纵轴式掘进机体1前后支撑缩回，纵轴式掘进机体1前进到下一个巷道断面处，重复步骤a-g动作。显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (7)

  1. 一种井下快速掘进的探掘支锚运一体机系统，其特征在于，包括纵轴式掘进机体(1)，所述纵轴式掘进机体(1)上设置有双摇臂截割部(2)、配有自动换杆机构的锚支部(3)、用于起到临时支护和防护锚支部作用的挡板(4)、用于预探测的探测部(5)。
  2. 根据权利要求1所述的一种井下快速掘进的探掘支锚运一体机系统，其特征在于，所述双摇臂截割部(2)包括焊接在所述纵轴式掘进机体(1)上的摇臂电机固定支架(2.6)，所述摇臂电机固定支架(2.6)上固定有摇臂电机(2.4)，所述摇臂电机(2.4)通过转动油缸(2.5)与主摇臂(2.3)连接，所述主摇臂(2.3)通过转动副与次摇臂(2.2)连接，所述转动副通过设置在主摇臂(2.3)内的传动系统与摇臂电机(2.4)连接，所述次摇臂(2.2)上设置有截割电机(2.1)，所述截割电机(2.1)上安装有截割头；所述锚支部(3)包括焊接在所述纵轴式掘进机体(1)两侧的锚支部底板(3.2)，所述锚支部底板(3.2)上通过滑轨连接有进给滑块(3.1)，所述进给滑块(3.1)上铰接设置有可上下俯仰的俯仰滑轨(3.3)，所述俯仰滑轨(3.3)上对应设置有俯仰滑块(3.4)，所述俯仰滑轨(3.3)采用安装在进给滑块(3.1)上的锚支部俯仰液压缸(3.5)驱动，所述俯仰滑块(3.4)上设置有回转电机二(3.8)，所述回转电机二(3.8)铰接设置有回转电机一(3.6)，所述回转电机二(3.8)上设置有驱动回转电机一(3.6)上下俯仰的电机液压缸(3.7)，所述回转电机一(3.6)通过锚杆钻机滑块(3.9)连接有锚杆钻机，所述锚杆钻机通过齿轮齿条相对于锚杆钻机滑块(3.9)滑动，所述锚杆钻机上设置有自动换杆机构(3.10)，所述自动换杆机构(3.10)包括与锚杆钻机焊接的换杆机架(3.10.6)，所述换杆机架(3.10.6)通过连接板连接有锚杆仓(3.10.1)，所述连接板上设置有用于驱动锚杆仓(3.10.1)转动的转仓液压缸(3.10.4)、与转仓液压缸(3.10.4)对应的限位液压缸(3.10.5)，所述锚杆仓(3.10.1)下部对应设置有焊接在换杆机架(3.10.6)上的机械爪架(3.10.8)，所述机械爪架(3.10.8)通过夹紧液压缸(3.10.3)与夹紧块(3.10.7)连接，所述夹紧块(3.10.7)连接有送杆液压缸(3.10.2)的一端，所述送杆液压缸(3.10.2)的另一端与机械爪架(3.10.8)铰接；所述挡板包括焊接在所述纵轴式掘进机体(1)后侧的挡板底板，所述挡板底板上通过挡板滑轨(4.7)滑动设置有挡板滑板(4.4)，所述挡板滑板(4.4)采用安装在所述挡板底板上的挡板进退液压缸(4.8)驱动滑动，所述挡板滑板(4.4)上铰接设置有可上下俯仰的挡板一(4.3)，所述挡板一(4.3)采用安装在所述挡板滑板(4.4)上的挡板俯仰液压缸(4.6)驱动，所述挡板一(4.3)上铰接设置有用于起到安装锚网和临时支护作用的挡板二(4.2)，所述挡板二(4.2)采用安装在挡板一(4.3)上的挡板调平液压缸(4.5)驱动调平；所述探测部(5)包括固定在所述纵轴式掘进机体(1)上的固定滑道，所述固定滑道上对应设置有伸缩臂滑台(5.10)，所述伸缩臂滑台(5.10)通过设置在纵轴式掘进机体(1)上的伸缩油缸(5.11)驱动滑动，所述伸缩臂滑台(5.10)上设置有伸缩臂基座(5.9)，所述伸缩臂基座(5.9)通过调整液压缸一(5.7)、调整液压缸二(5.8)与大臂(5.6)连接，所述大臂(5.6)与小臂(5.5)连接，所述小臂(5.5)通过连接件(5.3)与转动油缸(5.2)连接，所述转动油缸(5.2)连接有钻机滑动平台(5.1)，所述钻机滑动平台(5.1)上设置有探测钻机，所述小臂(5.5)与连接件(5.3)之间连接有用于调节连接件(5.3)俯仰程度的关节液压缸(5.4)。
  3. 根据权利要求2所述的一种井下快速掘进的探掘支锚运一体机系统，其特征在于，所述锚支部俯仰液压缸(3.5)、电机液压缸(3.7)、挡板调平液压缸(4.5)、挡板俯仰液压缸(4.6)、挡板进退液压缸(4.8)、转动油缸(5.2)、关节液压缸(5.4)、调整液压缸一(5.7)、调 整液压缸二(5.8)、伸缩油缸(5.11)均采用伺服液压缸，所述回转电机一(3.6)、回转电机二(3.8)采用回转编码器控制旋转角度。
  4. 根据权利要求2所述的一种井下快速掘进的探掘支锚运一体机系统，其特征在于，所述挡板二(4.2)前部设置有弧形网状结构(4.1)。
  5. 根据权利要求2所述的一种井下快速掘进的探掘支锚运一体机系统，其特征在于，所述挡板一(4.3)的俯仰与挡板二(4.2)的调平运动同步运行。
  6. 根据权利要求2所述的一种井下快速掘进的探掘支锚运一体机系统，其特征在于，所述挡板一(4.3)的俯仰幅度为10度到80度，所述挡板二(4.2)与挡板一(4.3)之间的调整幅度为120度到180度。
  7. 一种使用如权利要求2-6任一项所述的一种井下快速掘进的探掘支锚运一体机系统的方法，其特征在于，包括以下步骤：
    (a)将纵轴式掘进机体(1)行进到巷道断面处，前后支撑撑开，工作人员将锚网放置到挡板二(4.4)上，挡板一(4.3)、挡板二(4.4)在两组液压缸的动作下完成升起、调平的动作，挡板滑板(4.2)前进，挡板(4)进行临时支护；
    (b)探测部(5)的伸缩油缸(5.11)运动带动伸缩臂滑台(5.10)在固定滑道上运动，进而带动伸缩臂基座(5.9)的运动，从而使探测钻机前后移动，进行探测，控制转动油缸(5.2)带动钻机滑动平台(5.1)旋转进而调整探测钻机探测范围，通过控制调整液压缸一(5.7)、调整液压缸二(5.8)调整大臂(5.6)的位姿，进而带动小臂(5.5)调整位姿，实现探测钻机的小幅度伸缩，通过控制关节液压缸(5.4)可以带动连接件(5.3)实现俯仰动作，进而实现探测电机的俯仰动作，实现探测部的探测；
    (c)探测完成后，可以进行截割时，双摇臂截割部(2)的转动油缸(2.5)和摇臂电机(2.4)协同控制双摇臂机构，使得截割头开始沿S形截割巷道断面；
    (d)在步骤(b)进行的同时，锚支部(3)的进给滑块(3.1)通过齿轮齿条推动往前运动指定距离，锚支部俯仰液压缸(3.5)伸长至设定距离，反馈控制其停止伸长，使俯仰滑轨(3.3)摆动到指定角度，回转电机一(3.6)、回转电机二(3.8)、电机液压缸(3.7)三者共同动作，使得锚杆钻机的位姿至指定位姿，锚杆钻机进行打锚杆的动作，将锚网支护到巷道顶板上；
    (e)在截割头完成一轮S形截割断面后，锚支部(3)的回转电机二(3.8)逆时针摆动一定角度，自动换杆机构(3.10)开始运行，转仓液压缸(3.10.4)运动，带动锚仓杆(3.10.1)转动到限位液压缸(3.10.5)限定的角度，夹紧液压缸(3.10.3)驱动夹紧块(3.10.7)夹紧锚杆，送杆液压缸(3.10.2)运行将锚杆输送到锚杆钻机，夹紧块(3.10.7)松开，打下一根锚杆；
    (f)锚支部(3)完成一个断面上的打锚杆后，挡板滑板(4.4)后移，挡板滑板(4.4)退出临时支护，进给滑块(3.1)前移，进行下一个断面的锚杆支护；
    (g)截割头回收到初始位置，锚支部(3)的进给滑块(3.1)后退到底，锚支部俯仰液压缸(3.5)、回转电机一(3.6)、回转电机二(3.8)、电机液压缸(3.7)动作，锚支部(3)回到初始位置，纵轴式掘进机体(1)前后支撑缩回，纵轴式掘进机体(1)前进到下一个巷道断面处，重复步骤(a)-(g)动作。
PCT/CN2020/084219 2019-10-23 2020-04-10 一种井下快速掘进的探掘支锚运一体机系统及其使用方法 WO2021077693A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CA3103086A CA3103086C (en) 2019-10-23 2020-04-10 Detecting, excavating, supporting, anchoring and conveying integrated machine system for downhole rapid excavating and use method thereof
RU2020137365A RU2748264C1 (ru) 2019-10-23 2020-04-10 Обнаруживающая, роющая, поддерживающая, анкерующая и передающая комплексная машинная система для быстрого рытья скважины и способ ее применения
AU2020267269A AU2020267269B2 (en) 2019-10-23 2020-04-10 Detecting, excavating, supporting, anchoring and conveying integrated machine system for downhole rapid excavating and use method thereof

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201911011086.7 2019-10-23
CN201911011086.7A CN110714775B (zh) 2019-10-23 2019-10-23 一种井下快速掘进的探掘支锚运一体机系统及其使用方法

Publications (1)

Publication Number Publication Date
WO2021077693A1 true WO2021077693A1 (zh) 2021-04-29

Family

ID=69214106

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/084219 WO2021077693A1 (zh) 2019-10-23 2020-04-10 一种井下快速掘进的探掘支锚运一体机系统及其使用方法

Country Status (5)

Country Link
CN (1) CN110714775B (zh)
AU (1) AU2020267269B2 (zh)
CA (1) CA3103086C (zh)
RU (1) RU2748264C1 (zh)
WO (1) WO2021077693A1 (zh)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113513339A (zh) * 2021-08-10 2021-10-19 阜阳市晶宫工业科技有限公司 一种隧道管片的拼装装置及其拼装方法
CN113586100A (zh) * 2021-08-18 2021-11-02 中铁隧道局集团有限公司 盾构施工用弧形件安装装置及其安装方法
CN113833484A (zh) * 2021-09-17 2021-12-24 徐州徐工基础工程机械有限公司 一种可实现拱臂前后滑移的工作装置
CN114086997A (zh) * 2021-10-26 2022-02-25 河南省耿力工程设备有限公司 一种锚注一体机
CN114087004A (zh) * 2021-11-17 2022-02-25 中国矿业大学 一种实现掘支平行作业的临时支架搬运装置及工作方法
CN114233319A (zh) * 2022-01-27 2022-03-25 常州工业职业技术学院 一种基于土壤流化机理的掘进机器人
CN114233313A (zh) * 2021-11-29 2022-03-25 徐州徐工基础工程机械有限公司 一种适用于多功能悬臂式隧道掘进机的隧道施工方法
CN114382417A (zh) * 2021-12-24 2022-04-22 赤峰鑫昌矿山钻机有限公司 矿山坑道钻机的控制系统
CN114458346A (zh) * 2022-02-14 2022-05-10 西安科技大学 一种快速掘进系统的自动展网机构
CN114483073A (zh) * 2022-02-09 2022-05-13 张云雨 掘进和锚护同时作业的巷道快速掘进系统及方法
WO2023061026A1 (zh) * 2022-05-17 2023-04-20 中铁九局集团有限公司 一种多臂协同作业钻孔机器人
CN116146258A (zh) * 2023-04-07 2023-05-23 江西蓝翔重工有限公司 一种单轨吊侧锚杆钻机装置及其补打方法
CN116673513A (zh) * 2023-08-03 2023-09-01 烟台东星集团有限公司 一种工程机械用半轴卧式自动钻孔装置
CN116816261A (zh) * 2023-08-30 2023-09-29 济宁矿业集团有限公司 一种井下巷道支护钻机支撑装置及其使用方法
CN117967343A (zh) * 2024-04-01 2024-05-03 山东创力邦迈智能科技有限公司 掘锚一体机
CN113586100B (zh) * 2021-08-18 2024-06-04 中铁隧道局集团有限公司 盾构施工用弧形件安装装置及其安装方法

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110714775B (zh) * 2019-10-23 2020-12-25 中国矿业大学 一种井下快速掘进的探掘支锚运一体机系统及其使用方法
CN112096405B (zh) * 2020-09-01 2022-09-06 中国煤炭科工集团太原研究院有限公司 掘锚一体机及超前探钻孔方法
CN113931627A (zh) * 2021-06-04 2022-01-14 鄂尔多斯市智博机械制造有限责任公司 矿用巷道开槽机
CN113356766B (zh) * 2021-07-05 2023-12-12 中国煤炭科工集团太原研究院有限公司 煤矿掘锚机
CN113250689A (zh) * 2021-07-08 2021-08-13 北京中矿创新联盟能源环境科学研究院 煤矿开采装置
CN113982477B (zh) * 2021-09-29 2024-02-23 四川省建筑科学研究院有限公司 一种精准控制钻探深度的岩土工程勘察用钻探装置
CN114109425B (zh) * 2021-11-08 2024-04-05 中国煤炭科工集团太原研究院有限公司 一种掘锚机的调试方法
CN114086978B (zh) * 2021-11-13 2023-10-31 中国煤炭科工集团太原研究院有限公司 一种新型煤矿用修形机以及拱形断面成形方法
CN114320399B (zh) * 2021-11-25 2023-08-08 中国煤炭科工集团太原研究院有限公司 巷道锚护装置
CN114352324B (zh) * 2021-11-25 2023-08-08 中国煤炭科工集团太原研究院有限公司 锚护机器人
CN114837712B (zh) * 2022-07-04 2022-09-30 湖南鹏翔星通汽车有限公司 一种隧道用锚钻注一体台车
CN116201562B (zh) * 2023-03-08 2023-10-24 廊坊景隆重工机械有限公司 一种扇形联动展开的工作平台

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205578001U (zh) * 2016-03-03 2016-09-14 辽宁工程技术大学 适用于软岩掘进的超前支护式联合机组
CN205654299U (zh) * 2016-05-03 2016-10-19 蒲长晏 一种多功能掘进钻车
CN207080223U (zh) * 2017-07-19 2018-03-09 山西天巨重工机械有限公司 一种煤矿快速掘锚一体机
WO2018112332A1 (en) * 2016-12-15 2018-06-21 Caterpillar Inc. Control system for machine having rotary cutting head
CN109869145A (zh) * 2019-04-08 2019-06-11 贵州众一金彩黔矿业有限公司 一种门式支架型掘、锚、支、运、钻一体机
CN110359922A (zh) * 2019-07-12 2019-10-22 天地科技股份有限公司 摇臂式掘进机以及巷道掘进施工方法
CN110714775A (zh) * 2019-10-23 2020-01-21 中国矿业大学 一种井下快速掘进的探掘支锚运一体机系统及其使用方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2856727B1 (fr) * 2003-06-26 2005-10-21 Sandvik Tamrock Secoma Sas Vehicule porteur pour machine de foration ou de boulonnage
DE102011107697B4 (de) * 2011-07-13 2013-01-31 Eickhoff Bergbautechnik Gmbh Vortriebs- und Gewinnungsmaschine
RU185266U1 (ru) * 2017-07-28 2018-11-29 Общество С Ограниченной Ответственностью "Корум Майнинг" (Ооо "Корум Майнинг") Горнопроходческая машина с анкероустановщиком
RU2700388C1 (ru) * 2018-12-24 2019-09-16 федеральное государственное бюджетное образовательное учреждение высшего образования "Южно-Российский государственный политехнический университет (НПИ) имени М.И. Платова" Проходческий взрывонавалочный комплекс

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205578001U (zh) * 2016-03-03 2016-09-14 辽宁工程技术大学 适用于软岩掘进的超前支护式联合机组
CN205654299U (zh) * 2016-05-03 2016-10-19 蒲长晏 一种多功能掘进钻车
WO2018112332A1 (en) * 2016-12-15 2018-06-21 Caterpillar Inc. Control system for machine having rotary cutting head
CN207080223U (zh) * 2017-07-19 2018-03-09 山西天巨重工机械有限公司 一种煤矿快速掘锚一体机
CN109869145A (zh) * 2019-04-08 2019-06-11 贵州众一金彩黔矿业有限公司 一种门式支架型掘、锚、支、运、钻一体机
CN110359922A (zh) * 2019-07-12 2019-10-22 天地科技股份有限公司 摇臂式掘进机以及巷道掘进施工方法
CN110714775A (zh) * 2019-10-23 2020-01-21 中国矿业大学 一种井下快速掘进的探掘支锚运一体机系统及其使用方法

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113513339A (zh) * 2021-08-10 2021-10-19 阜阳市晶宫工业科技有限公司 一种隧道管片的拼装装置及其拼装方法
CN113513339B (zh) * 2021-08-10 2024-02-06 阜阳市晶宫工业科技有限公司 一种隧道管片的拼装装置及其拼装方法
CN113586100A (zh) * 2021-08-18 2021-11-02 中铁隧道局集团有限公司 盾构施工用弧形件安装装置及其安装方法
CN113586100B (zh) * 2021-08-18 2024-06-04 中铁隧道局集团有限公司 盾构施工用弧形件安装装置及其安装方法
CN113833484A (zh) * 2021-09-17 2021-12-24 徐州徐工基础工程机械有限公司 一种可实现拱臂前后滑移的工作装置
CN114086997A (zh) * 2021-10-26 2022-02-25 河南省耿力工程设备有限公司 一种锚注一体机
CN114086997B (zh) * 2021-10-26 2024-03-01 河南省耿力工程设备有限公司 一种锚注一体机
CN114087004B (zh) * 2021-11-17 2024-01-30 中国矿业大学 一种实现掘支平行作业的临时支架搬运装置及工作方法
CN114087004A (zh) * 2021-11-17 2022-02-25 中国矿业大学 一种实现掘支平行作业的临时支架搬运装置及工作方法
CN114233313A (zh) * 2021-11-29 2022-03-25 徐州徐工基础工程机械有限公司 一种适用于多功能悬臂式隧道掘进机的隧道施工方法
CN114382417A (zh) * 2021-12-24 2022-04-22 赤峰鑫昌矿山钻机有限公司 矿山坑道钻机的控制系统
CN114233319A (zh) * 2022-01-27 2022-03-25 常州工业职业技术学院 一种基于土壤流化机理的掘进机器人
CN114233319B (zh) * 2022-01-27 2024-05-10 常州工业职业技术学院 一种基于土壤流化机理的掘进机器人
CN114483073A (zh) * 2022-02-09 2022-05-13 张云雨 掘进和锚护同时作业的巷道快速掘进系统及方法
CN114458346B (zh) * 2022-02-14 2024-05-10 西安科技大学 一种快速掘进系统的自动展网机构
CN114458346A (zh) * 2022-02-14 2022-05-10 西安科技大学 一种快速掘进系统的自动展网机构
WO2023061026A1 (zh) * 2022-05-17 2023-04-20 中铁九局集团有限公司 一种多臂协同作业钻孔机器人
CN116146258B (zh) * 2023-04-07 2023-11-17 江西蓝翔重工有限公司 一种单轨吊侧锚杆钻机装置及其补打方法
CN116146258A (zh) * 2023-04-07 2023-05-23 江西蓝翔重工有限公司 一种单轨吊侧锚杆钻机装置及其补打方法
CN116673513B (zh) * 2023-08-03 2023-09-29 烟台东星集团有限公司 一种工程机械用半轴卧式自动钻孔装置
CN116673513A (zh) * 2023-08-03 2023-09-01 烟台东星集团有限公司 一种工程机械用半轴卧式自动钻孔装置
CN116816261B (zh) * 2023-08-30 2023-11-07 济宁矿业集团有限公司 一种井下巷道支护钻机支撑装置及其使用方法
CN116816261A (zh) * 2023-08-30 2023-09-29 济宁矿业集团有限公司 一种井下巷道支护钻机支撑装置及其使用方法
CN117967343A (zh) * 2024-04-01 2024-05-03 山东创力邦迈智能科技有限公司 掘锚一体机

Also Published As

Publication number Publication date
AU2020267269A1 (en) 2021-05-13
AU2020267269B2 (en) 2022-04-21
CN110714775B (zh) 2020-12-25
CN110714775A (zh) 2020-01-21
CA3103086A1 (en) 2021-03-04
RU2748264C1 (ru) 2021-05-21
CA3103086C (en) 2022-02-22

Similar Documents

Publication Publication Date Title
WO2021077693A1 (zh) 一种井下快速掘进的探掘支锚运一体机系统及其使用方法
WO2021077692A1 (zh) 一种井下快速掘进的掘支锚一体机系统及其使用方法
WO2018228217A1 (zh) 一种快速掘进后配套运输及支护系统
RU2643053C2 (ru) Станок для крепления болтов кровли горнопроходческой машины
CN114017022B (zh) 掘锚机及掘进系统
WO2022188500A1 (zh) 六臂掘锚机
CN114033414B (zh) 巷道掘进系统
CN109848956B (zh) 一种敞开式tbm钢拱架自动拼装作业装置及其方法
CN110359922A (zh) 摇臂式掘进机以及巷道掘进施工方法
CN210768786U (zh) 摇臂式掘进机
CN113756713A (zh) 一种适用于矿山井下端面的综掘钻装一体机
CN114233318A (zh) 一种截割部整体伸缩的多功能掘进机
CN214997486U (zh) 一种钻机底座装置、超前钻机及掘进机
CN220036674U (zh) 一种智能掘锚机器人装备
CN113833486B (zh) 一种多功能悬臂式隧道掘进机
CN113338978B (zh) 一种超前支护的掘锚一体装置
CN112177625A (zh) 掘锚机
CN218716798U (zh) 一种截割部整体伸缩的多功能掘进机
CN113863855B (zh) 一种龙门式矿用液压钻车
CN113738338B (zh) 钻孔角度自动调整系统、钻孔工作机构及矿山钻车
CN215632948U (zh) 多臂掘锚机
RU206881U1 (ru) Горнопроходческая машина с анкероустановщиком
CN117418834A (zh) 一种履带自移式快速掘进工艺及装备
SU1164437A1 (ru) Агрегат дл выемки крутых пластов угл
CN115559718A (zh) 多臂掘锚机及其掘进锚护方法

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 2020267269

Country of ref document: AU

Date of ref document: 20200410

Kind code of ref document: A

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20880151

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20880151

Country of ref document: EP

Kind code of ref document: A1