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煤巷锚杆支护施工装备现状及发展趋势

康红普 姜鹏飞 刘畅 王子越 罗超 郭吉昌 陈志良 曹晓明

康红普,姜鹏飞,刘畅,等. 煤巷锚杆支护施工装备现状及发展趋势[J]. 工矿自动化,2023,49(1):1-18.  doi: 10.13272/j.issn.1671-251x.18064
引用本文: 康红普,姜鹏飞,刘畅,等. 煤巷锚杆支护施工装备现状及发展趋势[J]. 工矿自动化,2023,49(1):1-18.  doi: 10.13272/j.issn.1671-251x.18064
KANG Hongpu, JIANG Pengfei, LIU Chang, et al. Current situation and development trend of rock bolting construction equipment in coal roadway[J]. Journal of Mine Automation,2023,49(1):1-18.  doi: 10.13272/j.issn.1671-251x.18064
Citation: KANG Hongpu, JIANG Pengfei, LIU Chang, et al. Current situation and development trend of rock bolting construction equipment in coal roadway[J]. Journal of Mine Automation,2023,49(1):1-18.  doi: 10.13272/j.issn.1671-251x.18064

煤巷锚杆支护施工装备现状及发展趋势

doi: 10.13272/j.issn.1671-251x.18064
基金项目: 国家重点研发计划资助项目(2020YFB1314002);中煤科工开采研究院科技创新基金重点项目(KCYJY-2021-ZD-02);天地科技开采设计事业部创新基金重点项目(KJ-2021-KCZD-02)。
详细信息
    作者简介:

    康红普(1965—),男,山西五台人,中国工程院院士,研究员,博士研究生导师,主要从事煤矿巷道围岩控制理论与技术研究工作,E-mail:kanghp@163.com

  • 中图分类号: TD263.3/322

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

  • 摘要: 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。

     

  • 图  1  煤巷锚杆支护施工装备分类

    Figure  1.  Classification of rock bolting construction equipment in coal roadway

    图  2  煤巷锚杆支护施工装备发展历程

    Figure  2.  Development of rock bolting construction equipment in coal roadway

    图  3  气动锚杆钻机及支腿式帮锚杆钻机

    Figure  3.  Pneumatic roof bolter and rib bolter with extending-leg

    图  4  机载锚杆钻臂结构

    Figure  4.  Structure of onboard bolter

    图  5  Epiroc COP系列液压凿岩机

    Figure  5.  Epiroc COP series hydraulic rock drill

    图  6  Mine Master钻臂

    Figure  6.  Mine Master onboard bolter

    图  7  内置树脂锚固剂锚杆

    Figure  7.  Bolt with built-in resin anchoring agent

    图  8  采用气动推送树脂药卷的钻臂

    Figure  8.  Onboard bolter with resin capsule pneumatic-injected

    图  9  采用锚杆推送树脂药卷的钻臂

    Figure  9.  Onboard bolter with resin capsule bolt-pushed

    图  10  全自动锚索钻臂

    Figure  10.  Full-automatic cable onboard bolter

    图  11  CHDDR−AC型两臂锚杆钻车

    Figure  11.  CHDDR-AC 2-arm mobile bolter

    图  12  全自动两臂锚杆钻车

    Figure  12.  Full-automatic 2-arm mobile bolter

    图  13  钻锚一体化两臂锚杆钻车

    Figure  13.  2-arm mobile bolter with integration of drilling and bolting

    图  14  四臂锚杆钻车

    Figure  14.  4-arm mobile bolter

    图  15  CMM4−30型锚杆钻车

    Figure  15.  CMM4-30 mobile bolter

    图  16  Boltec M锚杆钻车

    Figure  16.  Boltec M mobile bolter

    图  17  Cabletec E锚索钻车

    Figure  17.  Cabletec E cable mobile bolter

    图  18  EBZ260M−4掘锚机

    Figure  18.  EBZ260M-4 roadheader bolter

    图  19  EBZ220M−8掘锚机

    Figure  19.  EBZ220M-8 roadheader bolter

    图  20  EBZ200M−2掘锚机

    Figure  20.  EBZ200M-2 roadheader bolter

    图  21  EBZ200M−2/4掘锚机

    Figure  21.  EBZ200M-2/4 roadheader bolter

    图  22  EBZ260M−6掘锚机

    Figure  22.  EBZ260M-6 roadheader bolter

    图  23  Waratah掘锚机

    Figure  23.  Waratah roadheader bolter

    图  24  掘锚一体机

    Figure  24.  Bolter miner

    图  25  EJM2×200/2掘锚一体机

    Figure  25.  EJM2×200/2 bolter miner

    图  26  护盾式掘锚一体机

    Figure  26.  Shield type bolter miner

    图  27  钻锚一体化掘锚一体机

    Figure  27.  Bolter miner with integration of drilling and bolting

    图  28  全断面护盾式矩形掘进机

    Figure  28.  Full-face shield type rectangular bolter miner

    图  29  锚杆转载机

    Figure  29.  Bolter conveyor

    图  30  七臂锚杆转载机

    Figure  30.  7-arm bolter conveyor

    图  31  CSIRO锚杆转载机

    Figure  31.  CSIRO bolter conveyor

    图  32  跨骑式锚杆钻车

    Figure  32.  Straddle bolter

    图  33  钻锚一体化锚杆

    Figure  33.  Bolt with integration of drilling and bolting

    图  34  钻锚一体化锚杆钻臂

    Figure  34.  Onboard bolter with integration of drilling and bolting

    图  35  钻锚一体化锚杆施工工艺流程

    Figure  35.  Construction technological process of bolt with integration of drilling and bolting

    图  36  钻锚一体化锚杆试验现场

    Figure  36.  Filed test of bolt with integration of drilling and bolting

    图  37  煤巷锚杆支护施工装备发展方向

    Figure  37.  Development trend of rock bolting construction equipment in coal roadway

    图  38  基于视觉传感的锚杆钻臂实时位姿解算原理

    Figure  38.  Principle of real-time pose solution of onboard bolter based on visual sensing

    图  39  基于深度学习的锚杆托板检测

    Figure  39.  Detection of bolt plates based on deep learning

    图  40  巷道三维激光扫描点云分布

    Figure  40.  Distribution of 3D laser scanning point cloud in roadway

    表  1  部分单体气动锚杆钻机性能指标

    Table  1.   Performance index of some single pneumatic roof bolters

    名称型号额定转矩/(N·m)额定功率/
    kW
    气动锚杆钻机MQT1301302.5~4.2
    气动振动式锚杆钻机KMQT1301303.1~4.2
    气动支腿式帮锚杆钻机MQTB60—MQTB13060~1301.5~4.2
    气动支腿振动式帮锚杆钻机KMQTB1001003.3
    气动手持式钻机ZQS40—ZQS6540~651.5~2.8
    气动手持式振动钻机KZQS50501.7
    气动锚杆凿岩机MZQT13013035
    气动架柱式锚杆钻机MQJ1301303.8
    气动架柱振动式锚杆钻机KMQJ1301303.8
    下载: 导出CSV

    表  2  部分机载锚杆钻臂性能参数

    Table  2.   Performance parameters of some onboard bolter

    生产单位型号额定转矩/
    (N·m)
    额定转速/
    (r·min−1
    中煤科工开采研究院有限公司MJH−300/550M300550
    久益环球(天津)装备制造
    有限公司
    MJH−320/500(A)320500
    山西天地煤机装备有限公司MJH−210/300210300
    中国铁建重工集团股份有限公司MJZ−300/550300550
    山东兖煤黑豹矿业装备有限公司MJH−200/550E200550
    廊坊景隆重工机械有限公司MJH−400/500400500
    湖南建湘机械科技有限公司MJZ−400/600400600
    下载: 导出CSV

    表  3  内置树脂锚固剂锚杆性能参数

    Table  3.   Performance parameters of bolt with built-in resin anchoring agent

    生产单位型号直径/mm承载力/kN
    DSIOne Step Bolt38.5320
    中铁隆昌铁路器材有限公司MSNZ120−36/3030120
    淮南东华欧科矿山支护设备
    有限责任公司
    MSNZ200−42/3636200
    廊坊景隆重工机械有限公司MSNZ210−42/3737210
    下载: 导出CSV

    表  4  国内外典型煤巷锚杆支护施工装备

    Table  4.   Typical rock bolting construction equipments in coal roadway at home and abroad

    类型制造厂家型号装机功
    率/kW
    最大截割断面尺寸
    (高×宽)/(m×m)
    锚杆机转速/
    (r·min−1
    锚杆机预紧
    转矩/(N·m)
    适应截割煤岩
    坚固性系数
    掘锚一体机JOYEJM2×170/4−26204.8×6.0500315≤8
    SandvikMB670−15105.0×6.2540305≤8
    山西天地煤机装备有限公司EJM340/2−2Z≥6885.8×6.5400~600315≤8
    中国铁建重工集团股份有限公司EJM270/4−21 0685.5×6.5500300≤8
    西安煤矿机械有限公司EJM300/2−27545.0×6.5500300≤5
    山东邦迈智能科技有限公司EJM360/4−2≥480550315
    唯实重工有限责任公司EJM290/4−2A6534.5×5.4500300≤6
    三一重型装备有限公司EJM2705743.8×4.4450300≤6
    掘锚机SandvikMH6205555.8×8.8540305≤8
    上海创力集团股份有限公司EBZ260M−44205.0×5.8500300≤9
    西安煤矿机械有限公司EBZ260M−44503.5×4.8850300≤10
    三一重型装备有限公司EBZ260M−24205.0×6.1450300≤6
    沈阳北方交通重工集团有限公司EBZ200M−2A3105.5×6.5475300≤8
    徐工集团工程机械股份有限公司EBZ200M−22905.1×6.5500300
    陕西朗赫智能装备有限公司EBZ260M−23924.6×6.1300350≤8
    山东兖煤黑豹矿业装备有限公司EBZ200M−23255.0×6.5460300≤7
    凯盛重工有限公司EBZ260M−23925.2×6.2500240≤10
    山东天河科技股份有限公司EBZ160M−22704.8×5.5500350≤8
    石家庄煤矿机械有限责任公司EBZ260M−4≥4205.3×6.2500300≤10
    北方重工集团有限公司EBZ260M−24355.5×7.0500300≤9
    锚杆钻车SandvikDM300540305
    中煤科工开采研究院有限公司CMM2−40Z45550300
    山西天地煤机装备有限公司CMM2−2555550310
    廊坊景隆重工机械有限公司CMM2−2745450≥200
    山东天河科技股份有限公司CMM2−3045500350
    山东邦迈智能科技有限公司CMM2−2745550315
    锚杆转载机山西天地煤机装备有限公司MZHB5−1200/25等
    中国铁建重工集团股份有限公司MZHB5−1500/30等
    廊坊景隆重工机械有限公司MZHB6−1500/38PY等
    上海创力集团股份有限公司MZHB4−650/22
    江苏中贵重工有限公司MZHB7−650/30Y等
    中铁工程装备集团有限公司MZHB4−1800/18PY等
    山西天巨重工机械有限公司MZHB5−1200/25PY等
    下载: 导出CSV
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  • 收稿日期:  2022-12-08
  • 修回日期:  2022-12-26
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