煤巷锚杆支护施工装备现状及发展趋势

Current situation and development trend of rock bolting construction equipment in coal roadway

锚杆支护施工装备是煤巷锚杆支护成套技术的重要组成部分,直接影响锚杆支护速度与质量。经过长期发展,我国煤矿开发出多种形式的锚杆支护施工装备,包括单体锚杆钻机、锚杆钻车、掘锚机、掘锚一体机、锚杆转载机及跨骑式锚杆钻车等。系统分析了6类锚杆支护施工装备的发展历程、技术性能、技术参数、适用条件及最新进展。单体锚杆钻机轻便、灵活、技术成熟,形成系列化产品,得到广泛应用。机载锚杆钻臂可集成于不同平台,形成各种集成化施工装备:锚杆钻车形成了从两臂到九臂的多种机型,可紧跟掘进装备、与掘进装备交替作业,多臂协同、多臂平行作业完成锚杆支护施工;将机载锚杆钻臂配置于悬臂式掘进机上,开发出多种形式的掘锚机,实现了掘进与锚杆支护施工2个功能;掘锚一体机实现了国产化,研制出支护平台前移的掘锚一体机、护盾式掘锚一体机及钻锚一体化掘锚一体机;研制出从两臂到七臂的锚杆转载机、十臂跨骑式锚杆钻车,实现了锚杆支护与掘进、运输分区作业。介绍了钻锚一体化锚杆支护技术与装备,包括钻锚一体化锚杆、泵注锚固剂、钻锚一体化钻臂、钻箱、锚杆仓、锚固剂泵注系统及智能控制系统,将传统锚杆施工6道工序简化为1道连续工序,实现了“一键打锚杆”自动化作业,显著提高了锚杆支护速度和自动化程度。指出了煤巷锚杆支护施工装备发展趋势:数智化锚杆钻臂;锚杆钻臂定位、位姿自主调节及多钻臂协同控制技术;锚杆(索)结构与材料优化、锚注材料升级及施工设备完善;环境动态感知及随掘围岩稳定性判别;锚杆支护施工装备故障诊断技术;巷道围岩变形与支护体受力在线监测;建立大数据平台,实现锚杆支护自动化、智能化。

The rock bolting construction equipment is an important part of the complete set of bolt support technology in coal roadway,which directly affects the speed and quality of rock bolting.After a long period of development,China’s coal mines have developed various forms of rock bolting equipment,including single bolter,mobile bolter,roadheader bolter,bolter miner,bolter conveyor and straddle bolter.This paper systematically analyzes the development history,technical performance,technical parameters,applicable conditions and latest development of six kinds of rock bolting construction equipment.The single bolter is light,flexible and mature in technology,forming a series of products,which are widely used.The onboard bolter can be integrated on different platforms to form a variety of integrated construction equipment.The mobile bolter has formed a variety of models from two arms to nine arms.It can closely follow the heading equipment,work alternately with the heading equipment,and complete the rock bolting construction with multi-arm cooperation and multi-arm parallel operation.The onboard bolter is equipped on the cantilever roadheader,and various types of roadheader bolters are developed,realizing two functions of heading and bolt construction.The bolter miner has realized localization.The bolter miner with forward moveable bolting platform,shield type bolter miner and bolter miner with the integration of drilling and bolting are developed.The bolter conveyor from two arms to seven arms and the tenarm straddle bolter are developed.The rock bolting,heading and transportation have been carried out in different zones.This paper introduces the technology and equipment of rock bolting with the integration of drilling and bolting.They include bolt with the integration of drilling and bolting,pump-injected anchoring agent,onboard bolter with the integration of drilling and bolting,drill box,rock bolt bin,anchoring agent pump-injection system and intelligent control system.The traditional six-step rock bolt construction process is simplified into one continuous process.It realizes the automatic operation of"one key rock bolting",significantly improving the speed and automation degree of rock bolting.The paper points out the development trend of rock bolting construction equipment in coal roadway.The trend includes following aspects:the digital intelligent bolt onboard bolter,onboard bolter positioning,pose self-adjustment and multi-onboard bolter collaborative control technology;the optimization of bolt(cable)structure and materials,upgrading of anchor grouting materials and improvement of construction equipment;the environmental dynamic sensing and stability discrimination of surrounding rock with heading;the fault diagnosis technology of rock bolting construction equipment and the online monitoring of roadway surrounding rock deformation and bolt load;establishing a big data platform to realize automation and intelligenitization of rock bolting.