WO2022063326A1 - 一种喷涂临时支护与锚杆永久支护方法及系统 - Google Patents

一种喷涂临时支护与锚杆永久支护方法及系统 Download PDF

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Publication number
WO2022063326A1
WO2022063326A1 PCT/CN2021/121477 CN2021121477W WO2022063326A1 WO 2022063326 A1 WO2022063326 A1 WO 2022063326A1 CN 2021121477 W CN2021121477 W CN 2021121477W WO 2022063326 A1 WO2022063326 A1 WO 2022063326A1
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WO
WIPO (PCT)
Prior art keywords
spraying
support
grouting
bolt
roadway
Prior art date
Application number
PCT/CN2021/121477
Other languages
English (en)
French (fr)
Inventor
康红普
姜鹏飞
王子越
吴拥政
韦尧中
刘畅
郭吉昌
罗超
曹晓明
陈志良
杨建威
Original Assignee
中煤科工开采研究院有限公司
天地科技股份有限公司
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.)
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Publication date
Priority claimed from CN202011044368.XA external-priority patent/CN112228102B/zh
Priority claimed from CN202011045647.8A external-priority patent/CN112360505A/zh
Application filed by 中煤科工开采研究院有限公司, 天地科技股份有限公司 filed Critical 中煤科工开采研究院有限公司
Publication of WO2022063326A1 publication Critical patent/WO2022063326A1/zh
Priority to US18/062,095 priority Critical patent/US20230095265A1/en

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH 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 DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D20/00—Setting anchoring-bolts
    • E21D20/02—Setting anchoring-bolts with provisions for grouting
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D21/00—Anchoring-bolts for roof, floor in galleries or longwall working, or shaft-lining protection
    • E21D21/008—Anchoring or tensioning means

Definitions

  • the present application relates to the technical field of coal mining, and in particular, to a method and system for temporary support by spraying and permanent support by bolts.
  • Coal is the main energy source in my country and has played an important role in promoting national industrial development and national economic progress.
  • the rapid excavation of coal mine tunnels has become a "stuck neck" problem that restricts the safe and efficient mining of coal.
  • Optimizing the excavation and support technology, developing efficient, safe and reliable temporary support, and improving the efficiency of permanent support are the fundamental ways to improve the speed of road formation.
  • the surrounding rock of the coal mine roadway that is, the surface of the surrounding rock, is effectively temporarily supported immediately after the excavation section is formed in the process of mining the coal mine.
  • bolt support can effectively control the deformation of surrounding rock, and has been widely used in coal mines, metal mines and other fields at home and abroad.
  • the existing bolt support process is as follows: drilling holes in the coal and rock walls with drill pipes, manually inserting resin anchoring agent into the drilled holes, putting in the bolts for stirring, and waiting for anchoring Pre-tighten the bolt after the agent solidifies.
  • the above support method is to temporarily support the surrounding rock surface through metal probe beams, single hydraulic props, etc.
  • manual transportation is required for support, the construction speed is slow, the support strength is insufficient, and the support quality Poor, labor-intensive, and the existing bolt construction technology is time-consuming, low-efficiency, labor-intensive, and difficult to automate, which can no longer meet the needs of rapid support for coal mine roadways.
  • the present application aims to solve one of the technical problems in the related art at least to a certain extent.
  • the first purpose of the present application is to propose a method for temporary support by spraying and permanent support for anchor rods, which is used to solve the problem in the prior art that manual handling is required for support, and the construction speed is relatively slow and the support strength is weak.
  • Technical problems such as insufficient support, poor quality of support, and high labor intensity.
  • the embodiment of the first aspect of the present application provides a method for temporary support by spraying and permanent support by bolts.
  • the roadway excavation construction operation is composed of a plurality of work cycle units, and each work cycle unit includes the following steps: excavation At least one row spacing is used to form the newly excavated roadway; the spraying material is sprayed on the surface of the newly formed roadway to form a layer of sealing spraying layer on the surface of the surrounding rock, wherein the bonding performance and sealing performance of the sealing spraying layer need to meet the predetermined requirements. set conditions, and the sealing spray layer has tensile strength and toughness for forming support; the newly excavated roadway is permanently supported by bolting.
  • a spraying temporary support and anchor rod permanent support method may also have the following additional technical features:
  • spraying the spraying material on the surface of the newly formed roadway to form a layer of sealing spraying layer on the surrounding rock surface includes: determining the surrounding rock parameters of the area to be sprayed on the surrounding rock surface; According to the surrounding rock parameters, the spraying thickness of the area to be sprayed is determined; according to the spraying thickness, the spraying material is sprayed on the surface of the roadway to form the sealing spray layer.
  • the spray coating material includes a first material whose adhesive properties meet the bonding conditions and a second material whose sealing properties satisfy the sealing conditions, wherein the adhesiveness of the first material is greater than that of the second material , the air tightness of the second material is greater than that of the first material.
  • spraying the spraying material on the surface of the newly formed roadway to form a sealing spray layer on the surface of the surrounding rock comprising: spraying the first material on the surface of the surrounding rock on the surface of the roadway, The first material is bonded to the surface of the surrounding rock through the bonding property of the first material; the second material is sprayed on the surface of the surrounding rock sprayed with the first material, and the first material is sprayed on the surface of the surrounding rock.
  • the sealing properties of the two materials to form the sealing spray layer comprising: spraying the first material on the surface of the surrounding rock on the surface of the roadway, The first material is bonded to the surface of the surrounding rock through the bonding property of the first material; the second material is sprayed on the surface of the surrounding rock sprayed with the first material, and the first material is sprayed on the surface of the surrounding rock.
  • the surrounding rock parameters include at least one of the following parameters: the flatness of the area to be sprayed, the gap parameter of the area to be sprayed; the gap parameter includes at least one of the following parameters : Number of gaps, gap size, and gap depth.
  • the spray material is a third material whose sealing performance satisfies sealing conditions.
  • the method further includes: during the spraying process, collecting the spraying quality of the area to be sprayed, and adjusting the spraying angle according to the spraying quality.
  • spraying the spraying material on the surface of the newly formed roadway to form a layer of sealing sprayed layer on the surface of the surrounding rock further includes: judging whether the sealing sprayed layer meets the supporting requirements; If the sealing spray layer does not meet the support requirements, continue to perform supplementary spraying or grouting treatment on the acquisition area corresponding to the image.
  • the performance index of the sealing spray layer formed by spraying the spraying material within 300 seconds after the spraying is completed needs to meet the following preset conditions: tensile strength>1MPa, bond strength>0.5MPa, shear strength >1MPa, elongation >30%; compressive strength >2MPa.
  • the final strength of the sprayed material needs to meet the following preset conditions: tensile strength>3MPa, shear strength>4MPa, elongation>30%, compressive strength>20MPa.
  • the spray material when the spray material is an organic material, the spray material has a flash point of ⁇ 200 degrees Celsius and an oxygen index of ⁇ 35%.
  • the maximum reaction temperature of the sprayed material is ⁇ 90 degrees Celsius.
  • the spraying material also needs to have flame retardant properties and antistatic properties.
  • permanently supporting the newly excavated roadway with bolts includes: topping the bolts on the top of the newly excavated roadway, and driving bolts on both sides of the newly excavated roadway.
  • a method for temporary support by spraying and permanent support by bolt provided by the embodiment of the first aspect of the present application can effectively support the newly formed roadway by spraying layers, realize front excavation and back support, and the technological process is simple. There is no need to use the roadheader's airborne roof or self-moving roof support to support the surrounding rock, which can reduce the time-consuming time and increase the supportable area of the roadway to meet the needs of the rapid excavation of the coal mine roadway. In addition, the roadway is supported without manual handling, which can reduce the labor intensity and improve the support efficiency.
  • a second aspect of the present application provides a system for temporary support by spraying and permanent support for bolts, the system comprising: a driving device for driving at least one row distance to form a newly excavated roadway; a spraying device , for spraying the spraying material on the surface of the newly formed roadway to form a layer of sealing spraying layer on the surface of the surrounding rock, wherein the sealing spraying layer is used to form support; permanent support device is used for all The newly excavated roadway is anchored for permanent support.
  • the spraying device includes: a robotic arm, which is arranged on the vehicle body; a spraying component, a spraying end of the spraying component is connected to a driving component with the robotic arm, and the driving component It is arranged on the vehicle body, and the driving component is connected with the mechanical arm, and the driving component drives the mechanical arm to act to drive the spraying component to spray the spraying material on the roadway surface of the newly excavated roadway. , forming the sealing spray layer.
  • the spraying assembly includes: a spray head
  • the pumping device is used for pumping the spraying material in the material storage area into the material conveying pipeline, and then being conveyed by the material conveying pipeline to the spray head for spraying.
  • the spraying assembly includes: a spraying head, a material storage area, a pumping device, and a feeding pipeline connecting the spraying head and the pumping device; the spraying head is the spraying assembly The spraying end is connected with the mechanical arm;
  • the pumping device is used for pumping the spraying material in the material storage area into the material conveying pipeline, and then being conveyed by the material conveying pipeline to the spray head for spraying.
  • the spray head includes one or more spray ports, the spray directions of the plurality of spray ports are different, the spray head is connected with the mechanical arm through a rotating part, and the spray head passes through the rotating part It can rotate in any direction around the mechanical arm.
  • a spraying temporary support and anchor rod permanent support system provided by the embodiment of the second aspect of the present application can effectively support the newly formed roadway by spraying layers, realize front excavation and back support, and the process is simple. There is no need to use the roadheader's airborne roof or self-moving roof support to temporarily support the surrounding rock, which can reduce the time-consuming time and increase the supportable area of the roadway to meet the needs of rapid excavation of the coal mine roadway. In addition, the roadway is supported without manual handling, which can reduce the labor intensity and improve the support efficiency.
  • a third aspect of the present application provides an integrated bolt support device for drilling, grouting, anchoring and pre-tightening.
  • a grouting channel is arranged in the longitudinal direction; a driving mechanism, which is connected with the bolt mechanism, is used to drive the bolt to rotate to realize drilling and preloading; a grouting mechanism, which is connected with the bolt mechanism The grouting channel is connected for grouting into the grouting channel; the propulsion mechanism is connected with the driving mechanism and is used to propel the bolt to be drilled.
  • the first end of the rock bolt is provided with a drill bit, and the drill bit is provided with a grouting hole communicating with the grouting channel.
  • the second end of the anchor rod is sequentially provided with a limit block, a preload nut, an aligning ball washer and a tray along the direction from the second end to the first end of the anchor rod.
  • the second end of the anchor rod is provided with a thread that is screwed and fitted with the pre-tightening nut.
  • the limiting block is provided with a grouting through hole communicating with the grouting channel.
  • the driving mechanism includes a driver, and an output end of the driver is connected to the preload nut for driving the preload nut to rotate forwardly or reversely.
  • the driver is an electric motor, a cylinder, a hydraulic cylinder or an internal combustion engine.
  • the grouting mechanism includes a grouting pump, and a grouting port of the grouting pump is connected to the grouting channel.
  • the propulsion mechanism includes a base and a propulsion drill arm, the propulsion drill arm is disposed on the base, and an output end of the propulsion drill arm is connected to the driving mechanism for Advance the bolt in the direction of the drilling.
  • the base is provided with a guide rail arranged along the drilling direction, and the driving mechanism is slidably arranged on the guide rail.
  • An embodiment of the third aspect of the present application provides an integrated bolt support device for drilling, grouting, anchoring and pre-tightening. Drilling to realize the drilling of the surrounding rock and the pre-tightening of the anchor rod.
  • the grouting mechanism injects grouting into the drilling hole through the grouting channel to achieve the anchoring effect of the anchor rod, thereby realizing the integration of drilling grouting and anchoring and pre-tightening.
  • the bolt support device is integrated with drilling, grouting anchoring and pre-tightening, with simple structure, convenient operation, simplified construction process, guaranteed support effect, improved support efficiency, and realized automatic operation.
  • the fourth aspect of the present application provides a construction method of the above-mentioned integrated bolt support device for drilling, grouting, anchoring and pre-tightening.
  • the method includes: driving the driving mechanism through the driving mechanism.
  • the anchor rod is rotated along the first direction, and the anchor rod is pushed through the propulsion mechanism to drill to a preset depth; grouting is grouted into the borehole through the grouting channel to a preset anchoring length through the grouting mechanism;
  • the pre-tightening nut in the bolt mechanism is driven by the driving mechanism to rotate and pre-tighten in the second direction.
  • the construction method of the above-mentioned integrated bolt support device for drilling, grouting, anchoring and pre-tightening provided by the embodiment of the fourth aspect of the present application, by arranging a grouting channel in the bolt, the driving mechanism drives the bolt to rotate, At the same time, the propulsion mechanism advances the drilling of the anchor rod to realize the drilling of the surrounding rock and the pre-tightening of the anchor rod.
  • the grouting anchoring and pre-tightening integrated bolt support device integrates drilling, grouting anchoring and pre-tightening, with simple structure, convenient operation, simplified construction process, guaranteed support effect, improved support efficiency, and realized automatic operation.
  • FIG. 3 is a flowchart of another method for spraying temporary support and anchor rod permanent support disclosed in an embodiment of the application;
  • FIG. 5 is a top plan view of a construction state of a method for spraying temporary support and anchor rod permanent support disclosed in an embodiment of the application.
  • FIG. 6 is a top plan view of a construction state of a method for spraying temporary support and anchor rod permanent support disclosed in an embodiment of the application.
  • FIG. 7 is a flowchart of another method for spraying temporary support and anchor rod permanent support disclosed in an embodiment of the present application.
  • FIG. 8 is a flowchart of another method for spraying temporary support and anchor rod permanent support disclosed in an embodiment of the present application.
  • FIG. 9 is a flowchart of another method for spraying temporary support and anchor rod permanent support disclosed in an embodiment of the present application.
  • Fig. 10 is a flow chart of another method for spraying temporary support and anchor rod permanent support disclosed in an embodiment of the present application.
  • Fig. 11 is a structural block diagram of a spraying temporary support and anchor rod permanent support system disclosed in an embodiment of the application.
  • FIG. 12 is a structural block diagram of a spraying device disclosed in an embodiment of the application.
  • FIG. 13 is a schematic structural diagram of an integrated bolt support device for drilling, grouting, anchoring and pre-tightening according to an embodiment of the present application
  • FIG. 14 is a schematic structural diagram of the bolt mechanism in the integrated bolt support device for drilling, grouting, anchoring and pre-tightening according to an embodiment of the present application;
  • 15 is a schematic structural diagram of the bolt mechanism during the drilling process of the drilling grouting anchoring and pre-tightening integrated bolt support device according to the embodiment of the present application;
  • 16 is a schematic structural diagram of the bolt mechanism during the grouting process of the drilling grouting anchoring and pre-tightening integrated bolt support device according to the embodiment of the present application;
  • 17 is a schematic structural diagram of the bolt mechanism during the pre-tightening process of the integrated bolt support device for drilling, grouting, anchoring and pre-tightening according to an embodiment of the present application.
  • 01 suction cup holder; 02: first sealing ring; 04: ball bearing; 05: flexible material connecting sleeve; 06: shaft sleeve; 07: flange plate; 08: second sealing ring; 09: quick connector sleeve; 013: groove.
  • the method for spraying temporary support and anchor rod permanent support includes a plurality of operation cycle units, and each operation cycle unit includes the following steps:
  • FIG. 1 is a flow chart of a method for spraying temporary support and anchor rod permanent support provided by the application.
  • the surrounding rock is excavated by the excavation device 1, and one row pitch may be excavated at a time, or a plurality of row pitches may be excavated each time, and then a new excavation roadway is formed.
  • the excavation device 1 carries a spraying device 5 , and the spraying device 5 can spray the spraying material on the surface of the newly formed roadway, thereby forming a layer of sealing spraying layer on the surface of the surrounding rock 9 .
  • the bonding performance and sealing performance of the sprayed material need to meet preset conditions, and the sealed sprayed layer formed after spraying has tensile strength and toughness for forming support.
  • the spraying material is the third material whose bonding performance and sealing performance meet the sealing conditions. In this case, only one spray material is applied.
  • the sealing spray layer that can be formed by spraying the spraying material on the surface of the surrounding rock can prevent the fragmentation and play a protective role, and can play a role similar to the metal mesh in the bolt and cable support.
  • the performance index of the sealing spray layer formed by spraying the spraying material within 300 seconds after the spraying is completed needs to meet the following preset conditions: tensile strength>1MPa, bond strength>0.5MPa, shear strength>1MPa, extension rate>30%; compressive strength>2MPa. Further, the performance index of the sprayed material at the final strength needs to meet the following preset conditions: tensile strength>3MPa, shear strength>4MPa, elongation>30%, compressive strength>20MPa.
  • the sealing spray layer When the material reaction is completed after the spraying material is sprayed, the sealing spray layer needs to not react with water, that is to say, the spray material in the sealing spray layer will not continue to expand after encountering water, and it needs to maintain compressive strength, shear strength, The tensile strength does not decrease, so that the supporting effect of the sealing spray layer is not reduced due to water contact, and the occurrence of accidents can be avoided.
  • the spraying material is an organic material.
  • it is necessary to ensure that the flash point of the spraying material is greater than or equal to 200 degrees Celsius and the oxygen index is less than or equal to 35%, thereby avoiding fire and reducing the probability of serious safety accidents.
  • the spray material can also be an inorganic material.
  • the spraying material needs to be non-toxic, odorless and non-polluting.
  • the use environment temperature of the spraying material is generally 0-70 degrees Celsius, optionally, the maximum reaction temperature of the spraying material is ⁇ 90 degrees Celsius.
  • the spray material also needs to have flame retardant properties and antistatic properties.
  • the sprayed material includes a first material whose adhesive performance meets the bonding condition and a second material whose sealing performance satisfies the sealing condition, wherein the adhesiveness of the first material is greater than that of the second material.
  • the first material is a strong adhesive material
  • the first material may be a foamed material
  • the foamed material may be a polyurethane material.
  • the airtightness of the second material is greater than that of the first material, and the second material is an airtight thin spray material.
  • the airtight thin spray material can be a flexible support material, such as TSL (Thin spray-on liners) thin spray material.
  • the present application effectively supports the newly formed roadway by means of spraying layers, realizes the front excavation and the back support, and the technological process is simple. There is no need to use the roadheader's airborne roof or self-moving roof support to support the surrounding rock, which can reduce the time-consuming time and increase the supportable area of the roadway to meet the needs of the rapid excavation of the coal mine roadway. In addition, the roadway is supported without manual handling, which can reduce the labor intensity and improve the support efficiency.
  • FIG. 2 is a flow chart of another method for spraying temporary support and bolt permanent support provided by the application. On the basis of the above embodiment, the following steps may also be included:
  • the newly excavated roadway can be bolted by a bolting trolley.
  • the bolting trolley can follow the roadheader to move forward, and the bolting trolley can put the top bolt on the top of the newly excavated roadway, and put auxiliary bolts on both sides of the newly excavated roadway.
  • FIG. 3 is a flow chart of another method for spraying temporary support and anchor rod permanent support provided by the application. As shown in Figure 3, it specifically includes the following steps:
  • a spraying temporary support and anchor rod permanent support system includes: a tunneling device 1 , a sealing device 3 , a ventilation pipeline 4 , and a spraying device 5 .
  • the support forming system includes: a tunneling device 1, a sealing device 3, a ventilation pipeline 4 and a spraying device 5.
  • a tunneling device 1 In a method of spraying temporary support and bolt permanent support provided in FIGS. 1 to 3 .
  • an airtight device 3 is set, and the airtight device 3 can isolate the area where the support work has not been completed from the area where the support work has been completed.
  • the ventilation pipeline 4 is used for extracting ventilation for the newly excavated roadway.
  • the excavation device 1 can excavate one or more row spacings on the surrounding rock, and then form a new excavation roadway.
  • the excavation device 1 includes a vehicle body, and the vehicle body is provided with a first robotic arm and a second robotic arm of the cutting portion. Among them, the cutting part is used to cut the surrounding rock.
  • the excavation device 1 may include a partial-face roadheader or a full-face roadheader.
  • the partial section roadheader may include a horizontal-axis roadheader and a vertical-axis roadheader.
  • the broken coal and rock produced in the newly excavated roadway can be transported out by the operation device 2 behind the excavation device 2, which can be transported out of the newly excavated roadway.
  • the selection of the transport device 2 is not limited in this application, and can be set according to the actual situation.
  • the transport device 2 may employ a transport belt.
  • the spraying device 5 sprays the spraying material on the surface of the newly excavated roadway to form a spray layer with high air tightness.
  • the formed sealing spray layer has tensile strength and toughness for forming support.
  • the spraying device 5 is arranged on the first manipulator, and the first manipulator can control the spraying device 5 to spray the spraying material on the roadway surface of the newly excavated roadway to form a sealing spray layer on the surrounding rock surface.
  • the spraying device 5 includes: a robotic arm, a spraying component and a driving component.
  • the robotic arm is arranged on the vehicle body, which can be the vehicle body of the excavation device or the vehicle body of the spraying device, that is, the spraying device can be mounted on the excavation device, or can be an independent device.
  • the spraying end of the spraying assembly is connected with the robotic arm.
  • the driving component is arranged on the vehicle body, the driving component is connected with the mechanical arm, and the driving component drives the mechanical arm to act to drive the spraying end to spray the spraying material on the roadway surface of the newly excavated roadway to form a sealing spray layer.
  • the spraying assembly includes a spraying head, a material storage area for storing spraying materials, a pumping device, and a material conveying pipeline connecting the material storage area and the spraying head.
  • the spray head is the spraying end of the spraying component and is connected with the mechanical arm.
  • the pumping equipment is used to pump the spraying material in the storage area into the conveying pipeline, and then transport it from the conveying pipeline to the nozzle for spraying.
  • the pumping equipment and the material storage area are optionally fixed and carried in the vehicle body of the excavation device or on the vehicle body; optionally, if the spraying device is a separate device, it can also be carried in the body of the spraying device .
  • One end of the conveying pipeline is connected with the nozzle, and the other end is connected with the discharge port of the material storage area.
  • the material conveying pipeline can also be arranged separately, and the end connected with the spraying can also be arranged in the mechanical arm and connected to the spray head through the mechanical arm.
  • the spray head is connected with the mechanical arm through a rotating part, and the spray head can rotate around the mechanical arm in any direction through the rotating part.
  • the spray head includes one or more spray ports, and the spray directions of the multiple spray ports are different.
  • the spraying device can collect the spraying quality of the area to be sprayed, and adjust the spraying angle according to the spraying quality.
  • the spraying quality can be uneven spraying. In order to make the spraying of the surrounding rock surface uniform, it is necessary to adjust the spraying angle according to the current actual spraying quality.
  • the rotating part can be driven to rotate, and the spraying head of the spraying device is adjusted to the spraying angle facing the uneven or missing spraying through the rotating part, and then spraying is performed.
  • the spraying head of the spraying device is adjusted to the spraying angle facing the uneven or missing spraying through the rotating part, and then spraying is performed.
  • determine the nozzles facing the uneven spraying or missing spray positions control the nozzles facing these positions to open, and the nozzles in other directions to close, and then spray.
  • the newly excavated roadway can be bolted by the bolting trolley 8 .
  • the bolt trolley 8 can follow the excavation device 1 to move forward, and the bolt trolley 8 can be equipped with top bolts on the top of the newly excavated roadway and auxiliary bolts on both sides of the newly excavated roadway to form permanent support.
  • the method for temporary support by spraying and permanent support by bolts provided by the present application, it is not necessary to use a roadheader-mounted roof or a self-moving roof support to support the surrounding rock, which can reduce the time-consuming time and the time required for lifting the roadway.
  • the area that can be supported can meet the needs of rapid excavation of coal mine roadways.
  • the roadway is supported, which can reduce the labor intensity and improve the support efficiency.
  • the roadway is permanently supported by bolting, and a safer working environment for coal mining is provided.
  • Spraying to form the sealing spray layer may include the following methods, and the specific process of spraying will be explained below.
  • FIG. 7 is a schematic flowchart of a method for spraying temporary support and anchor rod permanent support disclosed in an embodiment of the present application.
  • the surrounding rock parameters include at least one of the following parameters: the flatness of the area to be sprayed, and the gap parameter of the area to be sprayed, and the gap parameter includes at least one of the following parameters: the number of gaps, the size of the gap, and the depth of the gap.
  • N N greater than 1 areas to be sprayed on the surrounding rock surface
  • a camera installed on the excavation device such as a 360° rotating camera
  • the image of the area is obtained, and the flatness of each area to be sprayed, the number, size, and depth of gaps are obtained according to the obtained image, and then the spray thickness of the area to be sprayed where the image is located is determined.
  • the spraying device (the spraying device 5 in Fig. 5 and Fig. 6) is a stand-alone machine or mounted on the excavation device. Spray coating material on top to form a sealing spray.
  • the sealing spray layer that can be formed by spraying on the surface of the surrounding rock can prevent flakes and play a protective role, and can play a role similar to the metal mesh in the bolt and cable support, and the sealing spray layer formed after spraying has Tensile and toughness are used to form support.
  • FIG. 8 is a schematic flowchart of a method for spraying temporary support and bolt permanent support disclosed in an embodiment of the present application.
  • a method for spraying temporary support and anchor rod permanent support includes:
  • the bonding performance of the first material needs to meet the preset conditions, and the first material is sprayed on the surface of the surrounding rock to form a sealing spray layer, which can prevent the flakes and play a protective role, and can play a similar role in the support of bolts and cables.
  • the role of metal mesh For example, within 180 seconds after spraying, the bonding performance index of the sealing spray layer formed by spraying needs to meet the following preset conditions: tensile strength>3MPa, bonding strength>1MPa, shear strength>5MPa, elongation>60% ; Compressive strength > 10MPa.
  • the first material can be a foamed material.
  • the foamed material foams in contact with water, expands in volume, has good adhesion with the coal and rock mass, and can fill the surrounding rock surface of the uneven roadway surface of the coal and rock mass as the primary spraying. The material is sprayed on the surrounding rock surface of the roadway surface.
  • the sealing performance of the second material needs to meet preset conditions, and the sealing spray layer formed after spraying has tensile strength and toughness for forming support.
  • the performance index of the sprayed material at the final strength needs to meet the following preset conditions: tensile strength>3.5MPa, shear strength>6MPa, elongation>30%, compressive strength>20MPa.
  • the second material can be an airtight thin spray material with good tensile properties.
  • a secondary spray material it can be sprayed on the surface of the primary spray material to form an airtight thin layer.
  • the sealing spray layer needs to not react with water, that is to say, the spray material in the sealing spray layer will not continue to expand after encountering water, and needs to maintain compressive strength. , The shear strength and tensile strength will not decrease, so that the supporting effect of the sealing spray layer will not be reduced due to water contact, and the occurrence of accidents can be avoided.
  • the first material and the second material can be organic materials, wherein, when the first material and the second material are organic materials, it is necessary to ensure that the flash point of the spray material is ⁇ 200 degrees Celsius, and the oxygen index is ⁇ 35%, and then It can avoid fire and reduce the probability of more serious safety accidents.
  • the first material and the second material may also be inorganic materials.
  • the first material and the second material need to be non-toxic, odorless and non-polluting materials.
  • the use environment temperature of the first material and the second material is generally 0-40 degrees Celsius, optionally, the maximum reaction temperature of the first material and the second material is ⁇ 90 degrees Celsius.
  • the first material and the second material also need to have flame retardant properties and antistatic properties.
  • first material and the second material may also be spraying materials with other similar functions, which are not limited here.
  • a method for spraying temporary support and bolt permanent support first excavates a new roadway surface, and then sprays a first material on the surrounding rock surface of the new roadway surface, through the bonding of the first material The first material is bonded to the surface of the surrounding rock, and finally the second material is sprayed on the surface of the surrounding rock sprayed with the first material, and a sealing spray layer is formed on the surface of the surrounding rock through the sealing performance of the second material.
  • Fig. 9 is a flow chart of a method for spraying temporary support and anchor rod permanent support according to a specific embodiment of the present application. As shown in FIG. 9 , a method for spraying temporary support and anchor rod permanent support according to an embodiment of the present application includes:
  • S502 Determine the surrounding rock parameters of the area to be sprayed on the surface of the surrounding rock.
  • the surrounding rock parameters include at least one of the following parameters: the flatness of the area to be sprayed, and the gap parameter of the area to be sprayed, and the gap parameter includes at least one of the following parameters: the number of gaps, the size of the gap, and the depth of the gap.
  • S503 Determine the first thickness of the first material according to the surrounding rock parameters.
  • N N greater than 1 areas to be sprayed on the surrounding rock surface
  • N N greater than 1 areas to be sprayed on the surrounding rock surface
  • a camera such as a 360° rotating camera
  • the image of the area is obtained, and the flatness of each area to be sprayed, the number, size, and depth of the gap are obtained according to the obtained image, and then the first thickness of the first material in the area to be sprayed where the image is located is determined, and the corresponding thickness is sprayed on the area
  • each area to be sprayed can be treated in a targeted manner, so that the first material can be better bonded to the surrounding rock surface.
  • S505 Determine the surrounding rock parameters of the area to be sprayed on the surface of the surrounding rock.
  • the surrounding rock parameters include at least one of the following parameters: the flatness of the area to be sprayed, and the gap parameter of the area to be sprayed, and the gap parameter includes at least one of the following parameters: the number of gaps, the size of the gap, and the depth of the gap.
  • S506 Determine the second thickness of the second material according to the surrounding rock parameters.
  • the new roadway surface sprayed with the first material can be divided into N areas to be sprayed, and each area to be sprayed can be obtained through a camera installed on the excavation device 1 (such as a 360° rotating camera) and obtain the flatness, number of gaps, size and depth of each area to be sprayed according to the image, and then determine the second thickness of the second material in the area to be sprayed where the image is located, and spray on the area sprayed with the first material
  • the corresponding thickness of the second material so that each area to be sprayed can be treated in a targeted manner, so that the quality of the sealing layer formed by the second material on the surface of the surrounding rock is better, the sealing performance is better, and the support formed on the surface of the roadway can be improved. stronger sturdiness.
  • the firmness of the support for the roadway surface is further enhanced. As shown in Figure 10, after the sealing spray layer is formed, it also includes:
  • the support requirements include at least one of the following requirements: the thickness of the sealing spray layer reaches a preset thickness threshold, the spraying is uniform, that is, there is no abnormal spraying area, and the air leakage is less than the preset air leakage threshold.
  • the preset thickness threshold and the preset air leakage threshold can be set according to actual needs.
  • the image obtained in step S601 is preprocessed to obtain the thickness of the sealing spray layer.
  • images of the surrounding rock surface before and after spraying can be collected through image sensors such as cameras, and then the collected images are sent to a computer for image processing to obtain the thickness of the surrounding rock surface before and after spraying.
  • the thickness of the sealing spray layer can be directly obtained through a laser three-dimensional scanner installed on the excavation device.
  • the surrounding rock surface before and after spraying can be quickly reconstructed by recording the three-dimensional coordinates, reflectivity and texture of a large number of dense points on the surrounding rock surface before and after spraying through 3D laser scanning. The thickness of the surrounding rock surface before and after spraying can be obtained.
  • the obtained thickness of the sealing spray layer can be compared with a preset thickness threshold, and if the thickness of the sealing spray layer is identified to be lower than the thickness threshold, it is determined that the sealing spray layer does not meet the support requirements; If the thickness is higher than or equal to the thickness threshold, it is determined that the sealing spray layer meets the support requirements.
  • whether there is an abnormal spraying area in the sealing spraying layer can be identified according to the RGB pattern image of the sealing spraying layer, wherein the spraying abnormal area includes a non-spraying area and a spraying concave-convex area.
  • the thickness and air leakage of the sealing spray layer are obtained first, and then it is determined whether the thickness reaches the preset thickness threshold and whether the air leakage is less than the preset air leakage threshold, and there is an abnormal spraying area. If the requirements are met, it is determined that the sealing spray layer does not meet the support requirements.
  • the spraying material is one material, continue to spray such spraying material to the spraying area that does not meet the requirements, or carry out grouting treatment.
  • the spraying material is a combination of two materials, namely the first material and the second material, continue to spray the second material to the spraying area that does not meet the requirements (partial supplementary spraying), or continue to spray the second material to the spraying area that does not meet the requirements.
  • Material injection treatment local grouting
  • stop the local supplementary spraying or local grouting so as to further improve the quality of the sealing spray layer and the sealing performance.
  • the solidity of the support for the roadway surface is further enhanced.
  • Fig. 11 is a schematic block diagram of a spraying temporary support and anchor bolt permanent support system according to an embodiment of the present application.
  • a spraying temporary support and bolt permanent support system 1000 according to an embodiment of the present application includes: a tunneling device 1 and a spraying device 5 .
  • the spraying device 5 is used for spraying the spraying material on the newly formed roadway surface to form a sealing spray layer on the surface of the surrounding rock, wherein the bonding performance and sealing performance of the spraying material need to meet preset conditions, and the The seal spray is tensile and ductile for support.
  • the spraying device 5 includes: a robotic arm 51 , a spraying assembly 52 and a driving assembly 52 .
  • the robot arm 51 is provided on the vehicle body.
  • the spraying assembly 52 is connected with the robotic arm 51, and the spraying assembly 52 includes a storage area for storing spraying materials.
  • the drive assembly 53 is arranged on the vehicle body, the drive assembly 53 is connected with the mechanical arm 51, and the drive assembly 53 drives the mechanical arm 51 to act to drive the spraying end of the spraying assembly 52 to spray the spraying material on the newly formed roadway surface to form a sealed spray layer .
  • the spraying assembly 52 includes: a spray head 521, a material storage area 522, a pumping device 523, and a material delivery pipeline 524 connecting the spray head and the material storage area.
  • the spray head 521 is the spraying end of the spraying assembly 52 and is connected to the mechanical arm 51 .
  • the pumping device 523 is used for pumping the spraying material in the material storage area 522 into the material conveying pipeline 524, and the material is conveyed by the material conveying pipeline 524 to the spray head 521 for spraying.
  • the spraying head 521 includes one or more nozzles, and the spraying directions of the multiple nozzles are different.
  • the spraying head 521 is connected to the mechanical arm 51 through a rotating part 54 , and the spraying assembly 51 can rotate around the mechanical arm 51 in any direction through the rotating part 54 .
  • the newly formed roadway is effectively supported by means of spraying layers, so that front excavation and back support are realized, and the technological process is simple and convenient.
  • the roadway is supported without manual handling, which can reduce the labor intensity and improve the support efficiency.
  • an embodiment of the present application provides an integrated bolt support device for drilling, grouting, anchoring and pre-tightening, including: a bolt mechanism, including a bolt 2-4, and an inner bolt 2-4.
  • a bolt mechanism including a bolt 2-4, and an inner bolt 2-4.
  • the channel 2-14 is connected for grouting the grouting channel 2-14; the propulsion mechanism is connected with the driving mechanism to propel the anchor rod 2-4 to drill.
  • the bolt mechanism is a structure that integrates the drilling function, grouting function and preloading function; the driving mechanism provides driving force for the drilling and preloading of the bolt mechanism; the grouting mechanism is used to pass the anchor bolt.
  • the rod mechanism injects slurry into the drilling holes 2-13 to realize the anchoring effect; the propulsion mechanism is used to provide the drilling propulsion force for the anchor rod mechanism during the drilling process.
  • the bolt mechanism includes a bolt 2-4.
  • the bolt 2-4 is provided with a grouting channel 2-14 along its length direction.
  • the tail end of -4 flows into the top end and is injected into the completed borehole 2-13 to realize the anchoring effect.
  • the output end of the driving mechanism is connected with the tail end of the anchor rod 2-4, and is used to drive the anchor rod 2-4 to rotate in different directions to realize the drilling action and the preloading action respectively.
  • the grouting mechanism is connected with the tail end of the anchor rod 2-4. After the drilling operation of the anchor rod 2-4 is completed, the grouting mechanism pours grout into the grouting channel 2-14, and finally flows into the drilling hole 2-13 to realize the anchoring. .
  • the driving end of the propulsion mechanism is connected with the tail end of the anchor rod 2-4. When the anchor rod 2-4 rotates to drill, the propulsion mechanism pushes the anchor rod 2-4 along the drilling direction, so that the anchor rod 2-4 is drilled. Complete drilling depth.
  • the first end of the bolt 2-4 is provided with a drill bit 2-5
  • the drill bit 2-5 is provided with a slurry outlet hole 2-16 that communicates with the grouting channel 2-14.
  • the first end of the rock bolt 2-4 that is, the tail end of the rock bolt 2-4
  • the drill bit 2-5 is fixedly connected with the rock bolt 2-4 and keeps rotating synchronously. The 2-5 rotation of the drill bit is used on the surrounding rock 2-10 to realize the drilling operation.
  • the drill bit 2-5 is provided with a grouting hole 2-16 communicating with the grouting channel 2-14, so as to realize the conduction between the grouting channel 2-14 and the bore hole 2-13.
  • the drill bit 2-5 is a hollow structure and is sleeved on the tail end of the anchor rod 2-4, and the inner diameter of the drill bit 2-5 is larger than the diameter of the grouting channel 2-14, and the outer diameter of the drill bit 2-5 is larger than that of the anchor rod 2-4 the outer diameter.
  • the axis of the drill bit 2-5 coincides with the axis of the bolt 2-4, the slurry hole 2-16 is arranged on one side of the axis of the drill bit 2-5, and the flow direction of the slurry in the slurry hole 2-16 is driven by the bolt 2-16.
  • the top of -4 faces the tail of the anchor rod 2-4, that is to say, the grouting mechanism is injected into the grouting channel 2-14 at the tail end of the anchor rod 2-4, and flows into the drill bit 2-5, and the grouting mechanism is injected from the grouting hole 2-14.
  • -16 flows into the bottom of the borehole 2-13, and the slurry flows from the bottom of the borehole 2-13 to the starting part to complete the anchoring.
  • the second end of the anchor rod 2-4 is sequentially provided with a limit block 2-6, a preload nut 2-7, The self-aligning ball washer 2-8, the tray 2-9, and the second end of the anchor rod 2-4 are provided with threads that are screwed and fitted with the pre-tightening nut 2-7.
  • the second end of the anchor rod 2-4 that is, the tail end of the anchor rod 2-4
  • a limit block 2-6 a preload nut 2-7, a self-aligning ball washer 2-8 and a tray 2-9
  • the limit block 2-6, the pre-tightening nut 2-7, the self-aligning ball washer 2-8 and the tray 2-9 are arranged in sequence along the direction from the second end to the first end of the anchor rod 2-4, that is, the drilling direction. And are coaxial with the anchor rod 2-4.
  • the tray 2-9 is sleeved on the anchor rod 2-4
  • the self-aligning ball pad 2-8 is sleeved on the anchor rod 2-4 and is adapted to the tray 2-9.
  • the pre-tightening nut 2-7 is screwed to fit the second end of the anchor rod 2-4, and serves as a transmission part of the rotational power, that is to say, the driving mechanism acts on the pre-tightening nut 2-7, and the pre-tightening nut 2-7 Drive the anchor rod 2-4 to rotate to realize drilling, the driving mechanism drives the preload nut 2-7 to rotate, and generates pressure on the self-aligning ball washer 2-8, the self-aligning ball washer 2-8 acts on the tray 2-9, and the tray 2-9 It is suitable for the wall of the surrounding rock 2-10 to realize the preload of the bolt 2-4.
  • the limit block 2-6 is arranged at the end of the second end of the anchor rod 2-4, and the size of the limit block 2-6 perpendicular to the axis direction of the anchor rod 2-4 is larger than the inner diameter of the preload nut 2-7 , smaller than the outer diameter of the pre-tightening nut 2-7, that is to say, the limit block 2-6 acts as a limit for the rotation of the pre-tightening nut 2-7 to the second end of the anchor rod 2-4, preventing the pre-tightening Nut 2-7 is disengaged from anchor rod 2-4.
  • the limit block 2-6 limits the preload nut 2-7 to prevent The preload nut 2-7 is separated from the anchor rod 2-4.
  • the anchor rod 2-4 rotates together with the preload nut 2-7 to realize drilling; when the driving mechanism drives the preload nut 2-7 to move along the drilling direction
  • the pre-tightening nut 2-7 rotates relative to the anchor rod 2-4 to generate pressure on the self-aligning ball washer 2-8 and the tray 2-9 to achieve pre-tightening.
  • the limiting block 2-6 is provided with a grouting through hole 2-15 that communicates with the grouting channel 2-14. It can be understood that the limiting block 2-6 is arranged on the rear end side of the anchor rod 2-4, and maintains the coaxial line.
  • the limit block 2-6 is provided with a grouting through hole 2-15, and the grouting through hole 2-15 is coaxial and connected with the grouting channel 2-14, so that the grouting mechanism communicates with the grouting through the grouting through hole 2-15.
  • the slurry passages 2-14 are connected to ensure that the limiting effect on the preload nuts 2-7 can be achieved without affecting the grouting.
  • the driving mechanism includes a driver 2-2, and the output end of the driver 2-2 is connected to the preload nut 2-7 for driving the preload nut 2-7 to rotate forward or reverse.
  • the driving mechanism includes a driver 2-2, and the driver 2-2 is used as a power output component for drilling operations and preloading operations.
  • the output end of the driver 2-2 is connected with the preload nut 2-7.
  • the output end of the driver 2-2 drives the preload nut 2-7 to reverse, that is, rotates counterclockwise, and the preload nut 2-7 moves in the direction away from the drilling direction, under the action of the limit block 2-6 , so that the preload nut 2-7 can no longer move in the direction away from the drilling direction.
  • the anchor rod 2-4 and the preload nut 2-7 rotate counterclockwise synchronously to complete the drilling operation; the output of the driver 2-2
  • the end drive pretightening nut 2-7 rotates forward, that is, rotates clockwise, and the pretightening nut 2-7 moves along the drilling direction.
  • -8 and the tray 2-9 generate pressure, and the tray 2-9 acts on the side wall of the surrounding rock 2-10 to achieve preload.
  • the driver 2-2 is an electric motor, a cylinder, a hydraulic cylinder or an internal combustion engine. It can be understood that the driver 2-2 is used as a power output component for driving the rotation of the preload nut 2-7, preferably a motor.
  • the grouting mechanism includes a grouting pump 2-3, and a grouting port of the grouting pump 2-3 is connected to a grouting channel 2-14.
  • the grouting pump 2-3 is used to input the anchoring agent into the grouting channel 2-14, and then into the bore hole 2-13 to realize anchoring.
  • the grouting pump 2-3 is fixedly installed on the output end of the driver 2-2
  • the preload nut 2-7 is slidably embedded in the output end of the grouting pump 2-3
  • the grouting pump 2-3 and the driver 2 The output of -2 rotates synchronously.
  • the pre-tightening nut 2-7 is connected with the nut at the end of the anchor rod 2-4.
  • the driver 2-2 drives the pre-tightening nut 2-7 to rotate, and the anchor rod 2-4 is not fixed. Move the pre-tightening nut 2-7 to the direction of the head of the anchor rod 2-4.
  • the propulsion mechanism includes a base 2-1 and a propulsion drill arm 2-12, the propulsion drill arm 2-12 is arranged on the base 2-1, and the output end of the propulsion drill arm 2-12 is connected to the A drive mechanism is connected to advance the anchor rods 2-4 along the drilling direction.
  • the propulsion mechanism includes a base 2-1 and a propulsion drill arm 2-12, the base 2-1 is a vertically arranged support plate, and one end of the base 2-1 is in contact with the side wall of the surrounding rock 2-10, The side walls of the surrounding rock 2-10 support the base 2-1.
  • the base 2-1 is provided with a guide rail 2-11 arranged along the drilling direction, and the driving mechanism is slidably arranged on the guide rail 2-11.
  • the guide rail 2-11 is arranged on the vertical side of the base 2-1 along the drilling direction, and the guide rail 2-11 is arranged on the same side as the advancing drill arm 2-12.
  • the driver 2-2 is slidably arranged on the guide rail 2-11, and slides close to the surrounding rock 2-10 under the propelling action of the propelling drill arm 2-12.
  • the guide rail 2-11 plays a role of supporting and guiding the anchor rod 2-4.
  • the embodiment of the present application also provides a construction method of the anchor rod 2-4 support device, comprising the following steps:
  • the anchor rod 2-4 is driven to rotate along the first direction by the driving mechanism, and the anchor rod 2-4 is pushed through the propulsion mechanism to drill to a preset depth;
  • the grouting channel 2-14 is grouted into the borehole 2-13 to the preset anchorage length;
  • the pre-tightening nut 2-7 in the bolt mechanism is driven by the driving mechanism to rotate and pre-tighten in the second direction.
  • the embodiment of the present application is a construction method of a drilling grouting anchoring and pre-tightening integrated bolt support device, which specifically includes the following steps:
  • Drilling holes in the surrounding rock 2-10 select the position to be drilled on the side wall of the surrounding rock 2-10 according to actual needs, set the base plate at the corresponding position of the side wall of the surrounding rock 2-10, and make the bolt 2-4 and the to-be-drilled hole.
  • the pre-tightening nut 2-7 is relatively stationary with the anchor rod 2-4; the output end of the push arm 2-12 pushes the driver 2-2, so that the anchor rod 2-4 is drilled, and the drill bit 2 -5 Contact with the surrounding rock 2-10 and drilling, when the depth of the drilling hole 2-13 meets the construction requirements, the driver 2-2 stops working and completes the drilling operation;
  • the anchoring agent passes through the grouting through hole 2-15 of the limit block 2-6, the grouting channel 2-14 and the grouting from the output end of the grouting pump 2-3.
  • the hole 2-16 enters the hole 2-13, and flows from the bottom of the hole 2-13 to the starting part.
  • the grouting pump 2-3 stops working to complete the grouting and anchoring operation;
  • Support pre-tightening open the driver 2-2 to rotate clockwise to drive the grouting pump 2-3 and the pre-tightening nut 2-7 to rotate forward. 2-10 Fixed connection, the pre-tightening nut 2-7 moves along the drilling direction, and continuously squeezes the self-aligning ball washer 2-8, the tray 2-9 and the surrounding rock 2-10, when the pre-tightening force meets the construction requirements, The driver 2-2 stops working, the preloading operation is completed, and the base plate, the driver 2-2 and the grouting pump 2-3 are disassembled to the next position to be drilled.
  • the driving mechanism drives the bolt 2-4 to rotate, and at the same time, the propulsion mechanism pushes the bolt 2-4 to drill, so as to realize the drilling and drilling of the surrounding rock 2-10.
  • the bolt 2-4 is pre-tightened, and the grouting mechanism injects grouting into the borehole 2-13 through the grouting channel 2-14, so as to realize the anchoring effect of the bolt 2-4, and then realize the support device of the bolt 2-4. Drilling, grouting anchoring and preloading are integrated, with simple structure, convenient operation, simplified construction process, guaranteed support effect, improved support efficiency, and realized automatic operation.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first” or “second” may expressly or implicitly include one or more of that feature.
  • plurality means two or more, unless otherwise expressly and specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements.
  • installed may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements.
  • a first feature "on” or “under” a second feature may be in direct contact with the first and second features, or the first and second features indirectly through an intermediary touch.
  • the first feature being “above”, “over” and “above” the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature being “below”, “below” and “below” the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

Abstract

公开了一种喷涂临时支护与锚杆永久支护方法及系统，其中巷道掘进施工作业由多个作业循环单元组成，每一个作业循环单元包括以下步骤：掘进至少一个排距以形成新掘巷道；将喷涂材料喷涂到新形成的巷道表面，以在围岩表面形成一层密封喷层；对新掘巷道打锚杆进行永久支护。通过喷层的方式对新形成的巷道进行有效支护，实现前掘后支，工艺流程简便，无需采用掘进机机载式顶棚或自移棚式支架，对围岩进行支护，可降低耗时提升巷道可支护面积，满足煤矿巷道快速掘进需求。此外，无需人工搬运方式对巷道支护，可降低人工劳动强度，提升支护效率。还公开了一种钻孔注浆锚固预紧一体化锚杆支护装置，其包括：锚杆机构，驱动机构，注浆机构，推进机构，还公开了一种钻孔注浆锚固预紧一体化锚杆支护装置的施工方法，该钻孔注浆锚固预紧一体化锚杆支护装置，结构简单，操作方便，保证了支护效果。

Description

一种喷涂临时支护与锚杆永久支护方法及系统
相关申请的交叉引用
本申请要求中煤科工开采研究院有限公司，天地科技股份有限公司于2020年09月28日提交的、发明名称为“一种喷涂临时支护与锚杆永久支护方法及系统”的、中国专利申请号“202011044368.X”的优先权，以及中煤科工开采研究院有限公司，天地科技股份有限公司于2020年09月28日提交的、发明名称为“钻孔注浆锚固预紧一体化锚杆支护装置及施工方法”的、中国专利申请号“202011045647.8”的优先权。
技术领域
本申请涉及煤矿开采技术领域，尤其涉及一种喷涂临时支护与锚杆永久支护方法及系统。
背景技术
煤炭是我国的主体能源，在推动全国工业发展和国民经济进步等方面发挥了重要作用。煤矿巷道快速掘进已经成为制约煤炭安全、高效开采的“卡脖子”难题。优化掘进与支护工艺，开发出高效、安全可靠的临时支护，提高永久支护效率是提高成巷速度的根本途径。相关技术中，通过在开采煤矿的过程中，形成开挖断面后立即对煤矿巷道围岩，即围岩表面进行有效临时支护。此外，锚杆支护可以有效控制围岩变形，已经在国内外煤矿、金属矿山等领域广泛应用。以煤矿巷道支护为例，现有锚杆支护工艺流程为：使用钻杆在煤岩壁上打孔，人工将树脂锚固剂塞进打好的孔内，放入锚杆搅拌，待锚固剂凝固后预紧锚杆。
然而上述支护方式为通过金属探梁、单体液压支柱等对围岩表面进行临时支护，这种方式下，需要人工搬运进行支护，施工速度较慢、支护强度不足、支护质量差、人工劳动强度较大，且现有锚杆施工工艺耗时长，效率低，工人劳动强度大，自动化实现难度高，已经无法满足煤矿巷道快速支护的需求。
发明内容
本申请旨在至少在一定程度上解决相关技术中的技术问题之一。
为此，本申请的第一个目的在于提出一种喷涂临时支护与锚杆永久支护方法，用于解决现有技术中存在的需要人工搬运进行支护，施工速度较慢、支护强度不足、支护质量差、人工劳动强度较大的技术问题。
为了实现上述目的，本申请第一方面实施例提供了一种喷涂临时支护与锚杆永久支护方 法，巷道掘进施工作业由多个作业循环单元组成，每一个作业循环单元包括以下步骤：掘进至少一个排距以形成新掘巷道；将喷涂材料喷涂到新形成的巷道表面，以在围岩表面形成一层密封喷层，其中，所述密封喷层的粘结性能和密封性能需要满足预设条件，且所述密封喷层具有抗拉和韧性用于形成支护；对新掘巷道打锚杆进行永久支护。
另外，根据本申请上述实施例的一种喷涂临时支护与锚杆永久支护方法还可以具有如下附加的技术特征：
根据本申请的一个实施例，将喷涂材料喷涂到新形成的巷道表面，以在围岩表面形成一层密封喷层，包括：确定所述围岩表面上待喷涂区域的围岩参数；根据所述围岩参数，确定所述待喷涂区域的喷涂厚度；按照所述喷涂厚度，将所述喷涂材料喷涂到所述巷道表面上，以形成所述密封喷层。
根据本申请的一个实施例，喷涂材料包括粘接性能满足粘接条件的第一材料和密封性能满足密封条件的第二材料，其中，所述第一材料的粘接性大于所述第二材料，所述第二材料的气密性大于所述第一材料。
根据本申请的一个实施例，将喷涂材料喷涂到新形成的巷道表面，以在围岩表面形成一层密封喷层，包括：在所述巷道表面的围岩表面上喷涂所述第一材料，通过所述第一材料的粘接性能将所述第一材料粘接到所述围岩表面上；在喷涂有所述第一材料的围岩表面上喷涂所述第二材料，通过所述第二材料的密封性能，以形成所述密封喷层。
根据本申请的一个实施例，围岩参数包括以下参数中的至少一种：所述待喷涂区域的平整度、所述待喷涂区域的间隙参数；所述间隙参数包括以下参数中的至少一种：间隙数量、间隙大小和间隙深度。
根据本申请的一个实施例，所述喷涂材料为密封性能满足密封条件的第三材料。
根据本申请的一个实施例，还包括：在喷涂过程中，采集待喷涂区域的喷涂质量，根据所述喷涂质量，调整喷涂的角度。
根据本申请的一个实施例，将喷涂材料喷涂到新形成的巷道表面，以在围岩表面形成一层密封喷层之后，还包括：判断所述密封喷层是否满足支护要求；若所述密封喷层未满足所述支护要求，则继续向所述图像对应的采集区域进行补充喷涂或者注浆处理。
根据本申请的一个实施例，喷涂材料在喷涂结束后的300秒内喷涂形成的密封喷层的性能指标需要满足以下预设条件：抗拉强度>1MPa、粘结强度>0.5MPa、抗剪强度>1MPa、延伸率>30％；抗压强度>2MPa。
根据本申请的一个实施例，喷涂材料在终强时性能指标需要满足以下预设条件：抗拉强度>3MPa、抗剪强度>4MPa、延伸率>30％、抗压强度>20MPa。
根据本申请的一个实施例，喷涂材料为有机材料时，所述喷涂材料的闪点≥200摄氏度， 氧指数≤35％。
根据本申请的一个实施例，喷涂材料的最高反应温度≤90摄氏度。
根据本申请的一个实施例，喷涂材料还需要具有阻燃性能和抗静电性能。
根据本申请的一个实施例，对新掘巷道打锚杆进行永久支护，包括：在所述新掘巷道的顶部打顶锚杆，在所述新掘巷道的两侧打帮锚杆。
本申请第一方面实施例提供的一种喷涂临时支护与锚杆永久支护方法，通过喷层的方式对新形成的巷道进行有效支护，实现前掘后支，工艺流程简便。无需采用掘进机机载式顶棚或自移棚式支架，对围岩进行支护，可以降低耗时时长以及提升巷道可支护的面积，满足煤矿巷道快速掘进的需求。此外，无需人工搬运的方式，对巷道进行支护，可以降低人工劳动强度，提升支护效率。
为了实现上述目的，本申请第二方面实施例提供了一种喷涂临时支护与锚杆永久支护系统，该系统包括：掘进装置，用于掘进至少一个排距以形成新掘巷道；喷涂装置，用于将喷涂材料喷涂到所述新形成的巷道表面，以在围岩表面形成一层密封喷层，其中，所述密封喷层用于形成支护；永久支护装置，用于对所述新掘巷道打锚杆进行永久支护。
根据本申请的一个实施例，所述喷涂装置包括：机械臂，所述机械臂设置在车体上；喷涂组件，所述喷涂组件的喷涂端与所述机械臂连接驱动组件，所述驱动组件设置在所述车体上，所述驱动组件与所述机械臂连接，所述驱动组件驱动所述机械臂动作以带动所述喷涂组件将所述喷涂材料喷涂到所述新掘巷道的巷道表面，形成所述密封喷层。
根据本申请的一个实施例，所述喷涂组件包括：喷头；
所述泵送设备，用于将所述储料区内的喷涂材料泵至所述输料管路内，由所述输料管路输送至所述喷头喷出。
根据本申请的一个实施例，所述喷涂组件包括：喷头，、储料区、泵送设备，以及连接所述喷头与所述泵送设备的输料管路；所述喷头为所述喷涂组件的喷涂端，与所述机械臂连接；
所述泵送设备，用于将所述储料区内的喷涂材料泵至所述输料管路内，由所述输料管路输送至所述喷头喷出。
根据本申请的一个实施例，所述喷头包括一个或者多个喷口，所述多个喷口的喷射方向不同，所述喷头通过一旋转部件与所述机械臂连接，所述喷头通过所述旋转部件可绕所述机械臂任意方向旋转。
本申请第二方面实施例提供的一种喷涂临时支护与锚杆永久支护系统，通过喷层的方式对新形成的巷道进行有效支护，实现前掘后支，工艺流程简便。无需采用掘进机机载式顶棚或自移棚式支架，对围岩进行临时支护，可以降低耗时时长以及提升巷道可支护的面积，满 足煤矿巷道快速掘进的需求。此外，无需人工搬运的方式，对巷道进行支护，可以降低人工劳动强度，提升支护效率。
为了实现上述目的，本申请第三方面实施例提供了一种钻孔注浆锚固预紧一体化锚杆支护装置，该装置包括：锚杆机构，包括锚杆，所述锚杆内沿其长度方向设有注浆通道；驱动机构，所述驱动机构与所述锚杆机构连接，用以驱动所述锚杆旋转实现钻孔和预紧；注浆机构，所述注浆机构与所述注浆通道连接，用以向所述注浆通道注浆；推进机构，所述推进机构与所述驱动机构连接，用以推进所述锚杆钻进。
根据本申请的一个实施例，所述锚杆的第一端设有钻头，所述钻头设有与所述注浆通道连通的出浆孔。
根据本申请的一个实施例，所述锚杆的第二端沿所述锚杆的第二端至第一端的方向依次设有限位块、预紧螺母、调心球垫和托盘，所述锚杆的第二端设有与所述预紧螺母螺接适配的螺纹。
根据本申请的一个实施例，所述限位块设有与所述注浆通道连通的注浆通孔。
根据本申请的一个实施例，所述驱动机构包括驱动器，所述驱动器的输出端与所述预紧螺母连接，用以驱动所述预紧螺母正转或反转。
根据本申请的一个实施例，所述驱动器为电机、气缸、液压缸或内燃机。
根据本申请的一个实施例，所述注浆机构包括注浆泵，所述注浆泵的输浆口与所述注浆通道连接。
根据本申请的一个实施例，所述推进机构包括基座和推进钻臂，所述推进钻臂设置在所述基座上，所述推进钻臂的输出端与所述驱动机构连接，用以沿钻孔方向推进所述锚杆。
根据本申请的一个实施例，所述基座上设有沿钻孔方向设置的导轨，所述驱动机构可滑动的设置在所述导轨上。
本申请第三方面实施例提供的一种钻孔注浆锚固预紧一体化锚杆支护装置，通过在锚杆内设置注浆通道，驱动机构驱动锚杆旋转，同时，推进机构推进锚杆钻进，实现对围岩的钻孔和锚杆的预紧，注浆机构通过注浆通道向钻孔内注浆，实现锚杆的锚固效果，进而实现了钻孔注浆锚固预紧一体化锚杆支护装置钻孔、注浆锚固、预紧一体化，结构简单，操作方便，简化施工工序，保证了支护效果，提高支护效率，实现自动化作业。
为了实现上述目的，本申请第四方面实施例提供了一种如上所述的钻孔注浆锚固预紧一体化锚杆支护装置的施工方法，该方法包括：通过所述驱动机构驱动所述锚杆沿第一方向转动，并通过所述推进机构推进所述锚杆钻进至预设深度；通过所述注浆机构由所述注浆通道向钻孔内注浆至预设锚固长度；通过所述驱动机构驱动所述锚杆机构中的预紧螺母沿第二方向转动并预紧。
本申请第四方面实施例提供的一种如上所述的钻孔注浆锚固预紧一体化锚杆支护装置的施工方法，通过在锚杆内设置注浆通道，驱动机构驱动锚杆旋转，同时，推进机构推进锚杆钻进，实现对围岩的钻孔和锚杆的预紧，注浆机构通过注浆通道向钻孔内注浆，实现锚杆的锚固效果，进而实现了钻孔注浆锚固预紧一体化锚杆支护装置钻孔、注浆锚固、预紧一体化，结构简单，操作方便，简化施工工序，保证了支护效果，提高支护效率，实现自动化作业。
附图说明
图1为本申请一个实施例公开的一种喷涂临时支护与锚杆永久支护方法的流程图；
图2为本申请一个实施例公开的另一种喷涂临时支护与锚杆永久支护方法的流程图；
图3为本申请一个实施例公开的另一种喷涂临时支护与锚杆永久支护方法的流程图；
图4为本申请一个实施例公开的另一种喷涂临时支护与锚杆永久支护方法的流程图；
图5为本申请一个实施例公开的一种喷涂临时支护与锚杆永久支护方法的一种施工状态的空间俯视图。
图6为本申请一个实施例公开的一种喷涂临时支护与锚杆永久支护方法的一种施工状态的空间俯视图。
图7为本申请一个实施例公开的另一种喷涂临时支护与锚杆永久支护方法的流程图。
图8为本申请一个实施例公开的另一种喷涂临时支护与锚杆永久支护方法的流程图。
图9为本申请一个实施例公开的另一种喷涂临时支护与锚杆永久支护方法的流程图。
图10为本申请一个实施例公开的另一种喷涂临时支护与锚杆永久支护方法的流程图。
图11为本申请一个实施例公开的一种喷涂临时支护与锚杆永久支护系统的结构框图。
图12为本申请一个实施例公开的一种喷涂装置的结构框图。
图13为本申请实施例钻孔注浆锚固预紧一体化锚杆支护装置的结构示意图；
图14为本申请实施例钻孔注浆锚固预紧一体化锚杆支护装置中锚杆机构的结构示意图；
图15为本申请实施例钻孔注浆锚固预紧一体化锚杆支护装置钻孔过程中锚杆机构的结构示意图；
图16为本申请实施例钻孔注浆锚固预紧一体化锚杆支护装置注浆过程中锚杆机构的结构示意图；
图17为本申请实施例钻孔注浆锚固预紧一体化锚杆支护装置预紧过程中锚杆机构的结构示意图。
在图1至图6中：
1：掘进装置；2：运输装置；3：密闭装置；4：通风管路；5：喷涂装置；8：锚杆台车；81：顶锚杆；82：帮锚杆；9：围岩；
01：吸盘架；02：第一密封圈；04：球轴承；05：柔性材料连接套；06：轴套；07：法兰盘；08：第二密封圈；09：快速接头套；013：凹槽。
在图13至图17中：
2-1、基座；2-2、驱动器；2-3、注浆泵；2-4、锚杆；2-5、钻头；2-6、限位块；2-7、预紧螺母；2-8、调心球垫；2-9、托盘；2-10、围岩；2-11、导轨；2-12、推进钻臂；2-13、钻孔；2-14、注浆通道；2-15、注浆通孔；2-16、出浆孔。
具体实施方式
为了更好的理解上述技术方案，下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示了本公开的示例性实施例，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。
其中，该一种喷涂临时支护与锚杆永久支护方法包括多个作业循环单元，每一个作业循环单元包括以下步骤：
图1为本申请提供的一种喷涂临时支护与锚杆永久支护方法的流程图。
S101、掘进至少一个排距，以形成新掘巷道。
本申请中，通过掘进装置1对围岩进行掘进，每次可以掘进一个排距，也可以每次掘进多个排距，然后形成一个新掘巷道。
S102、将喷涂材料喷涂到新形成的巷道表面，在围岩表面形成一层密封喷层。
本申请中，掘进装置1上承载有喷涂装置5，该喷涂装置5可以将喷涂材料，喷涂到新形成的巷道表面上，进而在围岩9表面形成一层密封喷层。
作为一种可能的实现方式，喷涂材料的粘结性能和密封性能需要满足预设条件，喷涂后形成的所述密封喷层具有抗拉和韧性用于形成支护。其中，喷涂材料为粘结性能和密封性能满足密封条件的第三材料。此种情况下，仅喷涂一种喷涂材料。
喷涂材料喷涂到围岩表面能够形成的密封喷层，可以防止片帮，起到保护作用，可以起到类似锚杆索支护中金属网的作用。
可选地，喷涂材料在喷涂结束后的300秒内喷涂形成的密封喷层的性能指标需要满足以下预设条件：抗拉强度>1MPa、粘结强度>0.5MPa、抗剪强度>1MPa、延伸率>30％；抗压强度>2MPa。进一步地，喷涂材料在终强时性能指标需要满足以下预设条件：抗拉强度>3MPa、抗剪强度>4MPa、延伸率>30％、抗压强度>20MPa。
当喷涂材料喷涂后材料反应结束后，密封喷层需要不与水发生反应，也就是说密封喷层中的喷涂材料不会在遇水后继续膨胀，并且需要保持抗压强度、抗剪强度、抗拉强度不下降，进而能够使得密封喷层的支护作用不会因为遇水而降低，可以避免事故的发生。
可选地，喷涂材料为有机材料，在为有机材料时，需要保证喷涂材料的闪点≥200摄氏度，氧指数≤35％，进而能避免发生火灾，进而降低较为严重的安全事故的发生概率。喷涂材料也可以为无机材料。为了环保要求，喷涂材料需要是无毒无味无污染的材料。
喷涂材料的使用环境温度一般在0-70摄氏度，可选地，喷涂材料的最高反应温度≤90摄氏度。
可选地，喷涂材料还需要具有阻燃性能和抗静电性能。
作为另一种可能的实现方式，喷涂材料包括粘接性能满足粘接条件的第一材料和密封性能满足密封条件的第二材料，其中，第一材料的粘接性大于第二材料。第一材料为强粘接性的材料，可选地，第一材料可以为发泡材料，发泡材料可以为聚氨酯材料。第二材料的气密性大于第一材料，第二材料为气密性薄喷材料。例如，气密性薄喷材料可以为一种柔性支护材料，如，TSL(Thin spray-on liners)薄喷材料。
需要说明的是，上述仅为具体的喷涂材料实施例，本申请主要是针对支护的工艺过程进行保护，在本申请之中，还可以此案有其他的类似功能的喷涂材料。
由此，本申请通过喷层的方式对新形成的巷道进行有效支护，实现前掘后支，工艺流程简便。无需采用掘进机机载式顶棚或自移棚式支架，对围岩进行支护，可以降低耗时时长以及提升巷道可支护的面积，满足煤矿巷道快速掘进的需求。此外，无需人工搬运的方式，对巷道进行支护，可以降低人工劳动强度，提升支护效率。
图2为本申请提供的另一种喷涂临时支护与锚杆永久支护方法的流程图。在上述实施例的基础之上，还可以包括以下步骤：
S103、对新掘巷道打锚杆进行永久支护。
本申请中，在形成密封喷层后，为了使得巷道更加安全，可以通过锚杆台车对新掘巷道进行打锚杆。锚杆台车可以跟随掘进机前进，锚杆台车可以在新掘巷道的顶部打上顶锚杆，在新掘巷道的两侧打上帮锚杆。
图3为本申请提供的另一种喷涂临时支护与锚杆永久支护方法的流程图。如图3所示，具体包括以下步骤：
S201、在新掘巷道与完成支护作业巷道的相交处，设置密闭装置，将新掘巷道与完成支护作业巷道进行隔离，并对新掘巷道进行抽出式通风。
S202、掘进至少一个排距，以形成新掘巷道。
S203、将新掘巷道产生的破碎煤岩运输出去。
S204、将喷涂材料喷涂到新形成的巷道表面，在围岩表面形成一层密封喷层。
S205、对新掘巷道打锚杆进行永久支护。
如图5和图6所示，一种喷涂临时支护与锚杆永久支护系统包括：掘进装置1、密闭装置3、通风管路4、喷涂装置5。
需要说明的是，在图1至图3提供的一种喷涂临时支护与锚杆永久支护方法中，支护的形成系统包括：掘进装置1、密闭装置3、通风管路4和喷涂装置5。在图1至图3提供的一种喷涂临时支护与锚杆永久支护方法中。
在未完成支护作业的巷道与完成支护作业的巷道的相交处，设置密闭装置3，通过该密闭装置3可以将未完成支护作业的区域与完成支护作业的区域进行隔离，并且通过通风管路4对新掘巷道进行抽出式通风。
掘进装置1可以在围岩上进行掘进一个或多个排距，然后形成新的掘进巷道。可选地，掘进装置1包括车体，车体上设置有截割部第一机械臂和第二机械臂。其中，截割部用于截割围岩。
可选的，掘进装置1可包括部分断面掘进机或全断面掘进机。其中，部分断面掘进机可包括横轴式掘进机、纵轴式掘进机。
在掘进装置2掘进后，会在新掘巷道中产生的破碎煤岩，跟随在掘进装置2后面的运行装置2，可以将新掘巷道产生的破碎煤岩运输出去。本申请中对运输装置2的选型不作限定，可以根据实际情况进行设置。可选地，运输装置2可以采用运输皮带。
进一步地，喷涂装置5将喷涂材料喷射到新掘巷道表面，形成高气密性的喷层，作为一种可能的实现方式，喷涂材料的粘结性能和密封性能需要满足预设条件，喷涂后形成的所述密封喷层具有抗拉和韧性用于形成支护。
可选地，喷涂装置5设置在第一机械臂上，第一机械臂可控制喷涂装置5将喷涂材料喷涂到新掘巷道的巷道表面，在围岩表面形成一层密封喷层。
可选地，喷涂装置5包括：机械臂、喷涂组件和驱动组件。其中，机械臂设置在车体上，该车体可以为掘进装置的车体，也可以为喷涂装置的车体，即喷涂装置可以搭载于掘进装置上，也可以为独立的装置。
喷涂组件的喷涂端与机械臂连接。
驱动组件设置在车体上，驱动组件与机械臂连接，驱动组件驱动机械臂动作以带动喷涂端将喷涂材料喷涂到新掘巷道的巷道表面，形成密封喷层。
可选地，喷涂组件包括喷头、用于储存喷涂材料的储料区、泵送设备，以及连接储料区与喷头的输料管路。喷头为喷涂组件的喷涂端，与机械臂连接。
其中，泵送设备，用于将储料区内的喷涂材料泵至输料管路内，由输料管路输送至喷头 喷出。
在本申请中，泵送设备和储料区可选地固定承载在掘进装置的车体内或者车体上；可选地，若喷涂装置为单独的装置，也可以承载在该喷涂装置的本体内。输料管路的一端与喷头连接，另一端与储料区的出料口连接。可选地，输料管路也可以单独布设，与喷涂连接的一端也可以布设在机械臂内，穿过机械臂与喷头连接。进一步地，喷头通过一旋转部件与机械臂连接，喷头通过旋转部件可绕所述机械臂任意方向旋转。
进一步地，喷头包括一个或者多个喷口，所述多个喷口的喷射方向不同。
在喷涂过程中，喷涂装置可以采集待喷涂区域的喷涂质量，根据该喷涂质量，调整喷涂的角度。例如，喷涂质量可以喷涂效果为喷涂的凹凸不平，为了能够使得围岩表面的喷涂均匀，需要根据当前实际的喷涂质量，调整喷涂的角度。
在识别到喷涂不均匀或者漏喷位置，可选地，可以通过驱动旋转部件旋转，通过该旋转部件，将喷涂装置的喷头调整至朝向该不均匀或者漏喷的喷涂角度，然后进行喷涂。或者，确定面向该喷涂不均匀或者漏喷位置的喷口，控制将面向这些位置的喷口开启，其他方向上的喷口关闭，然后进行喷涂。
本申请中，在形成密封喷层后，为了使得巷道更加安全，可以通过锚杆台车8对新掘巷道进行打锚杆。锚杆台车8可以跟随掘进装置1前进，锚杆台车8可以在新掘巷道的顶部打上顶锚杆，在新掘巷道的两侧打上帮锚杆，以形成永久支护。
根据本申请提供的一种喷涂临时支护与锚杆永久支护方法，无需采用掘进机机载式顶棚或自移棚式支架，对围岩进行支护，可以降低耗时时长以及提升巷道的可支护的面积，满足煤矿巷道快速掘进的需求。此外，无需人工搬运的方式，对巷道的进行支护，可以降低人工劳动强度，提升支护效率。进一步地，通过打锚杆的方式，对巷道形成永久支护，提供更安全的煤炭开采的工作环境。
喷涂形成密封喷层可以包括以下方式，下面对喷涂的具体工艺进行解释说明。
本申请中的一种可能的实施例方式，喷涂材料为一种材料时，图7为本申请一个实施例公开的一种喷涂临时支护与锚杆永久支护方法的流程示意图。
S301、形成新的巷道表面。
S302、确定围岩表面上待喷涂区域的围岩参数。
其中，围岩参数包括以下参数中的至少一种：待喷涂区域的平整度、待喷涂区域的间隙参数，间隙参数包括以下参数中的至少一种：间隙数量、间隙大小和间隙深度。
S303、根据围岩参数，确定待喷涂区域的喷涂厚度。
作为一种可能实现的方式，将新的巷道表面划分N(N大于1)个围岩表面上待喷涂区域，并通过安装在掘进装置上的摄像头(如360°旋转摄像头)获取每个待喷涂区域的图像， 并根据得到的图像获取每个待喷涂区域的平整度和间隙数量、大小、深度，进而确定图像所在待喷涂区域的喷涂厚度。
S304、按照喷涂厚度，将喷涂材料喷涂到巷道表面上，以形成密封喷层。
喷涂装置(如图5和图6中的喷涂装置5)单机或者搭载在掘进装置上，喷涂装置可以按照喷涂厚度，在巷道表面的围岩(如图5和图6中的围岩9)表面上喷涂喷涂材料，以形成密封喷层。本申请中，喷涂到围岩表面能够形成的密封喷层，可以防止片帮，起到保护作用，可以起到类似锚杆索支护中金属网的作用，并且喷涂后形成的密封喷层具有抗拉和韧性用于形成支护。
本申请中的另一种可能的实施例方式，喷涂材料为两种材料时，图8为本申请一个实施例公开的一种喷涂临时支护与锚杆永久支护方法的流程示意图。
如图8所示，本申请实施例的一种喷涂临时支护与锚杆永久支护方法，包括：
S401，形成新的巷道表面。
S402，在巷道表面的围岩表面上喷涂第一材料，通过第一材料的粘接性能将第一材料粘接到围岩表面上。
其中，第一材料的粘结性能需要满足预设条件，第一材料喷涂到围岩表面能够形成的密封喷层，可以防止片帮，起到保护作用，可以起到类似锚杆索支护中金属网的作用。例如，在喷涂结束180秒内，喷涂形成的密封喷层的粘结性能指标需要满足以下预设条件：抗拉强度>3MPa、粘结强度>1MPa、抗剪强度>5MPa、延伸率>60％；抗压强度>10MPa。
举例说明，第一材料可以为发泡材料，发泡材料遇水发泡，体积膨胀，与煤岩体粘接性能好，能够充填煤岩体凹凸不平的巷道表面的围岩表面，作为初次喷涂材料，喷涂于巷道表面的围岩表面。
S403，在喷涂有第一材料的围岩表面上喷涂第二材料，通过第二材料的密封性能，在围岩表面上形成一层密封喷层，对巷道表面形成支护。
其中，第二材料的密封性能需要满足预设条件，喷涂后形成的所述密封喷层具有抗拉和韧性用于形成支护。可选地，喷涂材料在终强时性能指标需要满足以下预设条件：抗拉强度>3.5MPa、抗剪强度>6MPa、延伸率>30％、抗压强度>20MPa。
举例说明，第二材料可以为气密性薄喷材料，具有较好的抗拉性能，作为二次喷涂材料，喷涂于初次喷涂材料的表面，形成气密性薄层。
可选地，当第二材料喷涂后材料反应结束后，密封喷层需要不与水发生反应，也就是说密封喷层中的喷涂材料不会在遇水后继续膨胀，并且需要保持抗压强度、抗剪强度、抗拉强度不下降，进而能够使得密封喷层的支护作用不会因为遇水而降低，可以避免事故的发生。
可以理解的是，第一材料和第二材料可以为有机材料，其中，当第一材料和第二材料为 有机材料时，需要保证喷涂材料的闪点≥200摄氏度，氧指数≤35％，进而能避免发生火灾，进而降低较为严重的安全事故的发生概率。第一材料和第二材料也可以为无机材料。为了环保要求，第一材料和第二材料需要是无毒无味无污染的材料。第一材料和第二材料的使用环境温度一般在0-40摄氏度，可选地，第一材料和第二材料的最高反应温度≤90摄氏度。
可选地，第一材料和第二材料还需要具有阻燃性能和抗静电性能。
需要说明的是，本申请主要是针对支护的工艺过程进行保护，在本申请之中，第一材料和第二材料还可以为具有其他的类似功能的喷涂材料，此处不再进行限定。
本申请实施例的一种喷涂临时支护与锚杆永久支护方法，先掘出新的巷道表面，然后在新的巷道表面的围岩表面上喷涂第一材料，通过第一材料的粘接性能将第一材料粘接到围岩表面上，最后在喷涂有第一材料的围岩表面上喷涂第二材料，通过第二材料的密封性能，在围岩表面上形成一层密封喷层，可有效形成支护，降低空顶、空帮距，避免掘进和支护设备的反复换位作业，实现前掘后支，工艺流程简便，可明显提高煤巷成巷速度，效率有所提高，缓解了采掘接续的紧张氛围。
图9是根据本申请一个具体实施例的一种喷涂临时支护与锚杆永久支护方法的流程图。如图9所示，本申请实施例的一种喷涂临时支护与锚杆永久支护方法，包括：
S501，形成新的巷道表面。
S502，确定围岩表面上待喷涂区域的围岩参数。
其中，围岩参数包括以下参数中的至少一种：待喷涂区域的平整度、待喷涂区域的间隙参数，间隙参数包括以下参数中的至少一种：间隙数量、间隙大小和间隙深度。
S503，根据围岩参数，确定第一材料的第一厚度。
S504，根据第一厚度，在巷道表面的围岩表面上喷涂第一材料，通过喷涂形成的密封喷层的粘接性能将第一材料粘接到围岩表面上。
作为一种可能实现的方式，将新的巷道表面划分N(N大于1)个围岩表面上待喷涂区域，并通过安装在掘进装置上的摄像头(如360°旋转摄像头)获取每个待喷涂区域的图像，并根据得到的图像获取每个待喷涂区域的平整度和间隙数量、大小、深度，进而确定图像所在待喷涂区域的第一材料的第一厚度，并在该区域上喷涂相应厚度的第一材料，这样可有针对性的处理每一个待喷涂区域，可以使得第一材料更好的粘结到围岩表面。
S505，确定围岩表面上待喷涂区域的围岩参数。
其中，围岩参数包括以下参数中的至少一种：待喷涂区域的平整度、待喷涂区域的间隙参数，间隙参数包括以下参数中的至少一种：间隙数量、间隙大小和间隙深度。
S506，根据围岩参数，确定第二材料的第二厚度。
S507，根据第二厚度，在喷涂有第一材料的围岩表面上喷涂第二材料，通过第二材料的 密封性能，在围岩表面上形成一层密封喷层，对巷道表面形成支护。
作为一种可能实现的方式，可将喷涂有第一材料的新的巷道表面划分N个待喷涂区域，并通过安装在掘进装置1上的摄像头(如360°旋转摄像头)获取每个待喷涂区域的图像，并根据图像获取每个待喷涂区域的平整度、间隙数量、大小和深度，进而确定图像所在待喷涂区域的第二材料的第二厚度，并在喷涂有第一材料的区域上喷涂相应厚度的第二材料，这样可有针对性的处理每一个待喷涂区域，可以使得第二材料在围岩表面形成的密封层的质量更好、密封性能更好，对巷道表面形成的支护的坚固性更强。
为了进一步使得密封喷层的质量更好、密封性能更好，对巷道表面形成支护的坚固性进一步增强，如图10所示，在形成密封喷层之后，还包括：
S601，判断密封喷层是否满足支护要求。
S602，若密封喷层未满足支护要求，则继续未满足支护要求的喷涂区域进程补充喷涂或者注浆处理。
其中，支护要求包括以下要求中的至少一种：密封喷层的厚度达到预设厚度阈值、喷涂均匀即无喷涂异常区域、漏气量小于预设漏气量阈值。其中，预设厚度阈值和预设漏气量阈值可根据实际需要进行设置。
作为一种可获取密封喷层厚度的实现方式，对步骤S601中获取到的图像进行预处理，得到密封喷层的厚度。可选地，可以通过摄像头等图像传感器，分别对喷涂前后的围岩表面的图像进行采集，然后将采集到的图像发送至计算机以进行图像处理，进而获取到喷涂前后的围岩表面的厚度。
作为另一种可获取密封喷层厚度的实现方式，可通过安装在掘进装置上的激光三维扫描仪直接获取密封喷层的厚度。可选地，可以通过三维激光扫描，基于激光测距原理，通过记录喷涂前后的围岩表面大量的密集的点的三维坐标、反射率和纹理等信息，快速复建出喷涂前后的围岩表面的三维模型及线、面、体等各种图件数据，从而得到喷涂前后的围岩表面的厚度。
可选地，可以将获取到的密封喷层的厚度与预设的厚度阈值比较，如果识别密封喷层的厚度低于厚度阈值，则确定密封喷层未满足支护要求；如果识别密封喷层的厚度高于或者等于厚度阈值，则确定密封喷层满足支护要求。
可选地，可以根据密封喷层的RGB模式图像，识别密封喷层内是否存在喷涂异常区域，其中，喷涂异常区域包括未喷涂区域和喷涂凹凸区域。
也就是说，本实施例先获取密封喷层厚度和漏气量，再判断厚度是否达到预设厚度阈值、漏气量是否小于预设漏气量阈值，存在喷涂异常区域，若其中任意一个不满足要求，则判定密封喷层不满足支护要求。
当喷涂材料为一种材料时，继续向不满足要求的喷涂区域喷涂该类喷涂材料，或者进行注浆处理。
当喷涂材料为两种材料，即第一材料和第二材料组合喷涂时，继续向不满足要求的喷涂区域喷涂第二材料(局部补喷)，或者继续向不满足要求的喷涂区域进行第二材料注入处理(局部注浆)，直至该处密封喷层的厚度和漏气量均满足要求后再停止局部补喷或局部注浆，从而进一步使得密封喷层的质量更好、密封性能更好，对巷道表面形成支护的坚固性进一步增强。
图11是根据本申请实施例的一种喷涂临时支护与锚杆永久支护系统的方框示意图。如图11所示，本申请实施例的一种喷涂临时支护与锚杆永久支护系统1000，包括：掘进装置1和喷涂装置5。
掘进装置1，用于掘进至少一个排距以形成新掘巷道；
喷涂装置5，用于将喷涂材料喷涂到新形成的巷道表面，以在围岩表面形成一层密封喷层，其中，喷涂材料的粘结性能和密封性能需要满足预设条件，喷涂后形成的密封喷层具有抗拉和韧性用于形成支护。
进一步地，如图12所示，喷涂装置5包括：机械臂51、喷涂组件52和驱动组件52。
机械臂51设置在车体上。
喷涂组件52与机械臂51连接，喷涂组件52包括用于储存喷涂材料的储料区。
驱动组件53，设置在车体上，驱动组件53与机械臂51连接，驱动组53驱动机械臂51动作以带动喷涂组件52的喷涂端将喷涂材料喷涂到新形成的巷道表面，形成密封喷层。
进一步地，喷涂组件52包括：喷头521、储料区522、泵送设备523，以及连接喷头与储料区的输料管路524。
其中，喷头521为喷涂组件52的喷涂端，与机械臂51连接。
泵送设备523，用于将储料区522内的喷涂材料泵至输料管路524内，由该输料管路524输送至喷头521喷出。
进一步地，喷涂头521包括一个或者多个喷口，多个喷口的喷射方向不同。可选地，喷涂头521通过一旋转部件54与机械臂51连接，喷涂组件51通过旋转部件54可绕机械臂51任意方向旋转。
本申请通过喷层的方式对新形成的巷道进行有效支护，实现前掘后支，工艺流程简便。无需采用掘进机机载式顶棚或自移棚式支架，对围岩进行支护，可以降低耗时时长以及提升巷道可支护的面积，满足煤矿巷道快速掘进的需求。此外，无需人工搬运的方式，对巷道进行支护，可以降低人工劳动强度，提升支护效率。
如图13至图17所示，本申请实施例提供一种钻孔注浆锚固预紧一体化锚杆支护装置， 包括：锚杆机构，包括锚杆2-4，锚杆2-4内沿其长度方向设有注浆通道2-14；驱动机构，驱动机构与锚杆机构连接，用以驱动锚杆2-4旋转实现钻孔和预紧；注浆机构，注浆机构与注浆通道2-14连接，用以向注浆通道2-14注浆；推进机构，推进机构与驱动机构连接，用以推进所述锚杆2-4钻进。可以理解的，锚杆机构是一种钻孔功能、注浆功能和预紧功能一体化的结构；驱动机构，为锚杆机构钻孔和预紧提供驱动力；注浆机构，用以通过锚杆机构向钻孔2-13内注入浆液，实现锚固作用；推进机构，用以为锚杆机构在钻孔过程中提供钻进的推进力。
具体的，锚杆机构包括锚杆2-4，锚杆2-4内沿其长度方向设有注浆通道2-14，注浆通道2-14优选圆柱状，用以使浆液由锚杆2-4的尾端流入顶端，并注入完成的钻孔2-13内，实现锚固作用。驱动机构的输出端与锚杆2-4的尾端连接，用以驱动锚杆2-4沿不同方向旋转，分别实现钻孔动作和预紧动作。注浆机构与锚杆2-4的尾端连接，当锚杆2-4完成钻孔作业后，注浆机构向注浆通道2-14注浆，最终流入钻孔2-13内，实现锚固。推进机构的驱动端与锚杆2-4的尾端连接，在锚杆2-4旋转钻孔的同时，推进机构沿钻孔方向推进锚杆2-4，使锚杆2-4钻进，完成钻孔深度。
在本申请的一个实施例中，锚杆2-4的第一端设有钻头2-5，钻头2-5设有与注浆通道2-14连通的出浆孔2-16。可以理解的，锚杆2-4的第一端即锚杆2-4的尾端设有钻头2-5，钻头2-5与锚杆2-4固定连接，保持同步转动。钻头2-5转动作用于围岩2-10上，实现钻孔作业。
进一步地，钻头2-5上设有与注浆通道2-14连通的出浆孔2-16，实现注浆通道2-14与钻孔2-13的导通。钻头2-5为空心结构，套设在锚杆2-4的尾端，且钻头2-5的内径大于注浆通道2-14的直径，钻头2-5的外径大于锚杆2-4的外径。钻头2-5的轴线与锚杆2-4的轴线重合，出浆孔2-16设置在钻头2-5的轴线的一侧，浆液在出浆孔2-16的流动方向为由锚杆2-4的顶部朝向锚杆2-4的尾部，也就是说，注浆机构由锚杆2-4尾端的注入注浆通道2-14内，并流入钻头2-5内，由出浆孔2-16流入钻孔2-13的底部，浆液由钻孔2-13的底部向起始部流动，完成锚固。
在本申请的一个实施例中，锚杆2-4的第二端沿锚杆2-4的第二端至第一端的方向依次设有限位块2-6、预紧螺母2-7、调心球垫2-8和托盘2-9，锚杆2-4的第二端设有与预紧螺母2-7螺接适配的螺纹。可以理解的，锚杆2-4的第二端即锚杆2-4的尾端设有限位块2-6、预紧螺母2-7、调心球垫2-8和托盘2-9，且限位块2-6、预紧螺母2-7、调心球垫2-8和托盘2-9沿锚杆2-4的第二端至第一端的方向即钻孔方向依次设置，并均与锚杆2-4同轴线。
具体的，托盘2-9套设在锚杆2-4上，调心球垫2-8套装在锚杆2-4上，并与托盘2-9适配。预紧螺母2-7与锚杆2-4第二端的螺纹螺接适配，并作为旋转动力的传递件，也就是 说，驱动机构作用于预紧螺母2-7，预紧螺母2-7带动锚杆2-4转动实现钻孔，驱动机构驱动预紧螺母2-7自转，对调心球垫2-8产生压力，调心球垫2-8作用于托盘2-9，托盘2-9与围岩2-10壁适配，实现锚杆2-4的预紧。
其中，限位块2-6设置在锚杆2-4的第二端的端部，且限位块2-6的垂直于锚杆2-4轴线方向的尺寸大于预紧螺母2-7的内径，小于预紧螺母2-7的外径，也就是说，限位块2-6起到对预紧螺母2-7向锚杆2-4的第二端转动的限位作用，防止预紧螺母2-7脱离锚杆2-4。值得说明的，当驱动机构驱动预紧螺母2-7沿背向锚杆2-4钻孔方向的方向移动时，限位块2-6对预紧螺母2-7起到限位作用，防止预紧螺母2-7脱离锚杆2-4，此时，锚杆2-4与预紧螺母2-7一起转动，实现钻孔；当驱动机构驱动预紧螺母2-7沿钻孔方向移动时，预紧螺母2-7相对锚杆2-4转动，对调心球垫2-8和托盘2-9产生压力，实现预紧。
在本申请的一个实施例中，限位块2-6设有与注浆通道2-14连通的注浆通孔2-15。可以理解的，限位块2-6设置在锚杆2-4的尾端端侧，且保持同轴线。限位块2-6设有注浆通孔2-15，注浆通孔2-15与注浆通道2-14同轴线且连通，使得注浆机构通过注浆通孔2-15与注浆通道2-14连通，保证在不影响注浆的前提下实现对预紧螺母2-7的限位作用。
在本申请的一个实施例中，驱动机构包括驱动器2-2，驱动器2-2的输出端与预紧螺母2-7连接，用以驱动预紧螺母2-7正转或反转。可以理解的，驱动机构包括驱动器2-2，驱动器2-2作为钻孔作业和预紧作业的动力输出部件。驱动器2-2的输出端与预紧螺母2-7连接，通过调整驱动器2-2的输出端的转动方向，实现对预紧螺母2-7正装或反转的驱动。
具体的，驱动器2-2的输出端驱动预紧螺母2-7反转，即逆时针转动，预紧螺母2-7沿背离钻孔方向的方向移动，在限位块2-6的作用下，使预紧螺母2-7无法再沿背离钻孔方向的方向移动，此时，锚杆2-4与预紧螺母2-7同步逆时针转动，完成钻孔作业；驱动器2-2的输出端驱动预紧螺母2-7正转，即顺时针转动，预紧螺母2-7沿钻孔方向移动，此时，预紧螺母2-7相对锚杆2-4转动，对调心球垫2-8和托盘2-9产生压力，托盘2-9与围岩2-10的侧壁作用，实现预紧。
在本申请的一个实施例中，驱动器2-2为电机、气缸、液压缸或内燃机。可以理解的，驱动器2-2作为驱动预紧螺母2-7旋转的动力输出部件，优选电机。
在本申请的一个实施例中，注浆机构包括注浆泵2-3，注浆泵2-3的输浆口与注浆通道2-14连接。可以理解的，注浆泵2-3用以将锚固剂输入注浆通道2-14内，进而注入钻孔2-13内，实现锚固。具体的，注浆泵2-3固定安装在驱动器2-2的输出端，预紧螺母2-7可滑动地镶嵌在注浆泵2-3的输出端，注浆泵2-3与驱动器2-2的输出端同步转动。预紧螺母2-7与锚杆2-4尾部的螺母相连，预紧时，由于锚杆2-4被锚固，驱动器2-2带动预紧螺母2-7转动，锚杆2-4固定不动，实现预紧螺母2-7向锚杆2-4头部方向移动。
在本申请的一个实施例中，推进机构包括基座2-1和推进钻臂2-12，推进钻臂2-12设置在基座2-1上，推进钻臂2-12的输出端与驱动机构连接，用以沿钻孔方向推进锚杆2-4。可以理解的，推进机构包括基座2-1和推进钻臂2-12，基座2-1为竖直设置的支撑板，基座2-1的一端与围岩2-10侧壁接触，围岩2-10侧壁支撑基座2-1。固定安装在基座2-1的竖直侧面上，且推进钻臂2-12的输出端与驱动器2-2，也就是说，推进钻臂2-12的输出端沿钻孔方向推进驱动器2-2，注浆泵2-3和锚杆2-4均与驱动器2-2同步移动。推进钻臂2-12为锚杆2-4的钻孔作业输出钻进动力。
在本申请的一个实施例中，基座2-1上设有沿钻孔方向设置的导轨2-11，驱动机构可滑动的设置在导轨2-11上。可以理解的，导轨2-11沿钻孔方向设置在基座2-1的竖直侧面上，且导轨2-11与推进钻臂2-12同侧设置。驱动器2-2可滑动的设置导轨2-11上，在推进钻臂2-12的推进作用下，靠近围岩2-10滑动。在推进钻臂2-12推进的过程中，导轨2-11对锚杆2-4起到支撑和导向的作用。
本申请实施例还提供一种锚杆2-4支护装置的施工方法，包括如下步骤：
通过驱动机构驱动锚杆2-4沿第一方向转动，并通过推进机构推进锚杆2-4钻进至预设深度；
通过注浆机构由注浆通道2-14向钻孔2-13内注浆至预设锚固长度；
通过驱动机构驱动锚杆机构中的预紧螺母2-7沿第二方向转动并预紧。
本申请实施例一种钻孔注浆锚固预紧一体化锚杆支护装置的施工方法，具体包括如下步骤：
围岩2-10钻孔，根据实际需要在围岩2-10侧壁上选择待钻孔位置，将基板设置在围岩2-10侧壁对应位置，使锚杆2-4与待钻孔位置对应；开启驱动器2-2逆时针反转，带动注浆泵2-3和预紧螺母2-7反转，在限位块2-6的作用下，预紧螺母2-7带动锚杆2-4反转，此时，预紧螺母2-7与锚杆2-4相对静止；推进钻臂2-12的输出端推进驱动器2-2，使得锚杆2-4钻进，钻头2-5与围岩2-10接触并钻孔作用，当钻孔2-13深度满足施工要求时，驱动器2-2停止工作，完成钻孔作业；
注浆锚固，开启注浆泵2-3，锚固剂由注浆泵2-3的输出端依次经过限位块2-6的注浆通孔2-15、注浆通道2-14和出浆孔2-16进入钻孔2-13内，并由钻孔2-13的底部向起始部流动，当满足锚固长度后，注浆泵2-3停止工作，完成注浆锚固作业；
支护预紧；开启驱动器2-2顺时针正转，带动注浆泵2-3和预紧螺母2-7正转，由于锚杆2-4锚固在钻孔2-13内，与围岩2-10固定连接，预紧螺母2-7沿钻孔方向移动，并不断挤压调心球垫2-8、托盘2-9和围岩2-10，当预紧力满足施工要求时，驱动器2-2停止工作，完成预紧作业，拆卸基板、驱动器2-2和注浆泵2-3至下一待钻孔位置。
本申请实施例中的上述一个或多个技术方案，至少具有如下技术效果之一：
通过在锚杆2-4内设置注浆通道2-14，驱动机构驱动锚杆2-4旋转，同时，推进机构推进锚杆2-4钻进，实现对围岩2-10的钻孔和锚杆2-4的预紧，注浆机构通过注浆通道2-14向钻孔2-13内注浆，实现锚杆2-4的锚固效果，进而实现了锚杆2-4支护装置钻孔、注浆锚固、预紧一体化，结构简单，操作方便，简化施工工序，保证了支护效果，提高支护效率，实现自动化作业。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结 合和组合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (28)

  1. 一种喷涂临时支护与锚杆永久支护方法，其特征在于，巷道掘进施工作业由多个作业循环单元组成，每一个作业循环单元包括以下步骤：
    掘进至少一个排距以形成新掘巷道；
    将喷涂材料喷涂到新形成的巷道表面，以在围岩表面形成一层密封喷层，其中，所述密封喷层的粘结性能和密封性能需要满足预设条件，且所述密封喷层具有抗拉和韧性用于形成支护；
    对新掘巷道打锚杆进行永久支护。
  2. 如权利要求1所述的一种喷涂临时支护与锚杆永久支护方法，其特征在于，所述将喷涂材料喷涂到新形成的巷道表面，以在围岩表面形成一层密封喷层，包括：
    确定所述围岩表面上待喷涂区域的围岩参数；
    根据所述围岩参数，确定所述待喷涂区域的喷涂厚度；
    按照所述喷涂厚度，将所述喷涂材料喷涂到所述巷道表面上，以形成所述密封喷层。
  3. 如权利要求1所述的一种喷涂临时支护与锚杆永久支护方法，其特征在于，所述喷涂材料包括粘接性能满足粘接条件的第一材料和密封性能满足密封条件的第二材料，其中，所述第一材料的粘接性大于所述第二材料，所述第二材料的气密性大于所述第一材料。
  4. 如权利要求3所述的一种喷涂临时支护与锚杆永久支护方法，其特征在于，所述将喷涂材料喷涂到新形成的巷道表面，以在围岩表面形成一层密封喷层，包括：
    在所述巷道表面的围岩表面上喷涂所述第一材料，通过所述第一材料的粘接性能将所述第一材料粘接到所述围岩表面上；
    在喷涂有所述第一材料的围岩表面上喷涂所述第二材料，通过所述第二材料的密封性能，以形成所述密封喷层。
  5. 根据权利要求2或3所述的一种喷涂临时支护与锚杆永久支护方法，其特征在于，所述围岩参数包括以下参数中的至少一种：所述待喷涂区域的平整度、所述待喷涂区域的间隙参数；
    所述间隙参数包括以下参数中的至少一种：间隙数量、间隙大小和间隙深度。
  6. 如权利要求1所述的一种喷涂临时支护与锚杆永久支护方法，其特征在于，所述喷涂材料为粘结性能和密封性能满足密封条件的第三材料。
  7. 如权利要求1所述的一种喷涂临时支护与锚杆永久支护方法，其特征在于，还包括：
    在喷涂过程中，采集待喷涂区域的喷涂质量，根据所述喷涂质量，调整喷涂的角度。
  8. 如权利要求1所述的一种喷涂临时支护与锚杆永久支护方法，其特征在于，所述将喷涂材料喷涂到新形成的巷道表面，以在围岩表面形成一层密封喷层之后，还包括：
    判断所述密封喷层是否满足支护要求；
    若所述密封喷层未满足所述支护要求，则继续向所述未满足所述支护要求的喷涂区域进行补充喷涂或者注浆处理。
  9. 如权利要求1-4或者7-8任一项所述的一种喷涂临时支护与锚杆永久支护方法，其特征在于，所述喷涂材料在喷涂结束后的300秒内喷涂形成的密封喷层的性能指标需要满足以下预设条件：抗拉强度>1MPa、粘结强度>0.5MPa、抗剪强度>1MPa、延伸率>30％；抗压强度>2MPa。
  10. 如权利要求9所述的一种喷涂临时支护与锚杆永久支护方法，其特征在于，所述喷涂材料在终强时性能指标需要满足以下预设条件：抗拉强度>3MPa、抗剪强度>4MPa、延伸率>30％、抗压强度>20MPa。
  11. 如权利要求10所述的一种喷涂临时支护与锚杆永久支护方法，其特征在于，所述喷涂材料为有机材料时，所述喷涂材料的闪点≥200摄氏度，氧指数≤35％。
  12. 如权利要求10所述的一种喷涂临时支护与锚杆永久支护方法，其特征在于，所述喷涂材料的最高反应温度≤90摄氏度。
  13. 如权利要求10所述的一种喷涂临时支护与锚杆永久支护方法，其特征在于，所述喷涂材料还需要具有阻燃性能和抗静电性能。
  14. 如权利要求1-4或者7-8任一项所述的一种喷涂临时支护与锚杆永久支护方法，其特征在于，所述对新掘巷道打锚杆进行永久支护，包括：
    在所述新掘巷道的顶部打顶锚杆，在所述新掘巷道的两侧打帮锚杆。
  15. 一种喷涂临时支护与锚杆永久支护系统，其特征在于，包括：
    掘进装置，用于掘进至少一个排距以形成新掘巷道；
    喷涂装置，用于将喷涂材料喷涂到新形成的巷道表面，以在围岩表面形成一层密封喷层，其中，所述密封喷层的粘结性能和密封性能需要满足预设条件，且所述密封喷层具有抗拉和韧性用于形成支护；
    永久支护装置，用于对所述新掘巷道打锚杆进行永久支护。
  16. 如权利要求15所述的巷道中临时支护的形成系统，其特征在于，所述喷涂装置包括：
    机械臂，所述机械臂设置在车体上；
    喷涂组件，所述喷涂组件的喷涂端与所述机械臂连接；
    驱动组件，所述驱动组件设置在所述车体上，所述驱动组件与所述机械臂连接，所述驱动组件驱动所述机械臂动作以带动所述喷涂端将所述喷涂材料喷涂到所述新掘巷道的巷道表面，形成所述密封喷层。
  17. 如权利要求16所述的巷道中临时支护的形成系统，其特征在于，所述喷涂组件包括：喷头、储料区、泵送设备，以及连接所述喷头与所述储料区的输料管路；所述喷头为所述喷涂组件的喷涂端，与所述机械臂连接；
    所述泵送设备，用于将所述储料区内的喷涂材料泵至所述输料管路内，由所述输料管路输送至所述喷头喷出。
  18. 如权利要求17所述的巷道中临时支护的形成系统，其特征在于，所述喷头包括一个或者多个喷口，所述多个喷口的喷射方向不同；
    其中，所述喷涂通过一旋转部件与所述机械臂连接，所述喷头通过所述旋转部件可绕所述机械臂任意方向旋转。
  19. 一种钻孔注浆锚固预紧一体化锚杆支护装置，其特征在于，包括：
    锚杆机构，包括锚杆，所述锚杆内沿其长度方向设有注浆通道；
    驱动机构，所述驱动机构与所述锚杆机构连接，用以驱动所述锚杆旋转实现钻孔和预紧；
    注浆机构，所述注浆机构与所述注浆通道连接，用以向所述注浆通道注浆；
    推进机构，所述推进机构与所述驱动机构连接，用以推进所述锚杆钻进。
  20. 根据权利要求19所述的钻孔注浆锚固预紧一体化锚杆支护装置，其特征在于，所述锚杆的第一端设有钻头，所述钻头设有与所述注浆通道连通的出浆孔。
  21. 根据权利要求20所述的钻孔注浆锚固预紧一体化锚杆支护装置，其特征在于，所述锚杆的第二端沿所述锚杆的第二端至第一端的方向依次设有限位块、预紧螺母、调心球垫和托盘，所述锚杆的第二端设有与所述预紧螺母螺接适配的螺纹。
  22. 根据权利要求21所述的钻孔注浆锚固预紧一体化锚杆支护装置，其特征在于，所述限位块设有与所述注浆通道连通的注浆通孔。
  23. 根据权利要求21所述的钻孔注浆锚固预紧一体化锚杆支护装置，其特征在于，所述驱动机构包括驱动器，所述驱动器的输出端与所述预紧螺母连接，用以驱动所述预紧螺母正转或反转。
  24. 根据权利要求23所述的钻孔注浆锚固预紧一体化锚杆支护装置，其特征在于，所述驱动器为电机、气缸、液压缸或内燃机。
  25. 根据权利要求19所述的钻孔注浆锚固预紧一体化锚杆支护装置，其特征在于，所述注浆机构包括注浆泵，所述注浆泵的输浆口与所述注浆通道连接。
  26. 根据权利要求19所述的钻孔注浆锚固预紧一体化锚杆支护装置，其特征在于，所述推进机构包括基座和推进钻臂，所述推进钻臂设置在所述基座上，所述推进钻臂的输出端与所述驱动机构连接，用以沿钻孔方向推进所述锚杆。
  27. 根据权利要求26所述的钻孔注浆锚固预紧一体化锚杆支护装置，其特征在于，所 述基座上设有沿钻孔方向设置的导轨，所述驱动机构可滑动的设置在所述导轨上。
  28. 一种如权利要求19至27任一项所述的钻孔注浆锚固预紧一体化锚杆支护装置的施工方法，其特征在于，包括如下步骤：
    通过所述驱动机构驱动所述锚杆沿第一方向转动，并通过所述推进机构推进所述锚杆钻进至预设深度；
    通过所述注浆机构由所述注浆通道向钻孔内注浆至预设锚固长度；
    通过所述驱动机构驱动所述锚杆机构中的预紧螺母沿第二方向转动并预紧。
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