Type characteristics and research direction of automatic bolting frame
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摘要:
锚杆支护水平制约着巷道掘进速度和安全性，同时也是实现巷道掘进无人化、智能化发展的卡脖子问题之一。钻锚机器人是解决锚杆支护施工痛点问题的必由之路，其核心部件为自动锚杆钻架。系统梳理了自动锚杆钻架技术路线图，总结归纳出各关键部件共性架构，综述了国内外自动锚杆钻架类型特点、技术水平及适用工况，指出了自动锚杆钻架技术的研究方向。首先按照布局型式将国外自动锚杆钻架划分为转塔式、切换式和自钻式3类，并从钻孔功率、回转扭矩，锚杆仓容量和性能特点方面进行了对比分析，在此基础上，归纳了国内自动锚杆钻架布局型式及性能指标参数，从功能和驱动元件数量2个方面分析了国内自动锚杆钻架存在的不足。其次系统阐述了自动锚杆钻架结构各组成部分的型式：包括钻孔装置、锚固剂注入装置、锚固装置、锚杆仓，阐述了各组成部分的工作原理和结构特点。最后通过分析国内外自动锚杆钻架的技术发展特点，依据我国煤矿巷道锚杆支护工艺现状，归纳了自动锚杆钻架技术存在的问题，提出了自动锚杆钻架技术研究方向，包括自动锚杆钻架传感器与驱动元件研究，自动锚杆钻架智能控制技术研究，自动锚杆钻架与钻具适用性研究，自动锚杆钻架模块化和系列化研究等。自动锚杆钻架技术的发展必将实现钻孔、注药、锚杆装填和锚固协同一体化作业，达到机械自动化锚杆支护目标，最终推动煤矿巷道掘进工作面智能化、无人化的建设。
Abstract:Bolt support ability is one of the bottleneck problems that restrict the speed and safety of roadway excavation, as well as the development of unmanned and intelligent roadway excavation. Anchor drilling robot is the only way to solve the problem of bolting, its core part is automatic bolting frame. In order to systematically sort out the technology roadmap of automatic bolting frame and summarize the common structure of key components, the paper introduces the characteristics, technical level and applicable working conditions of automatic bolting frame at home and abroad, and the research emphases and development direction of automatic bolting frame technology are pointed out. Firstly, in terms of layout,the foreign automatic bolting frame is divided into turret, switching and self-drilling, the drilling power,rotary torque, bolt storage quantity and performance characteristics of bolting frame are introduced in detail; and on that basis,the layout and performance parameters of domestic automatic bolting frame are summarize; the disadvantages of domestic automatic bolting frames are compared from two aspects of function and driving element quantity. Secondly, the types of each component of automatic bolting frame structure are systematically described: drilling, anchoring agent injecting, bolting, bolt cartridge, the working principles and structural characteristics of each component are described. Finally, based on the comparative analysis of the domestic and international automatic bolting frame, the development ideas and research directions of automatic bolting frame are put forward according to the status of bolting technology in coal mine roadway in China: study on sensor and driving element of automatic bolting frame; study on automatic bolting frame intelligent control technology; study on applicability of automatic bolting frame and drilling tool; study on modularization and serialization of automatic bolting frame, etc. Development of automatic bolting frame technology will be help drilling, resin injecting, bolting collaborative operation, achieve mechanical automatic bolting, and ultimately achieve the goal of intelligent and unmanned coal mine roadway heading face.
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表 1 自动锚杆钻架布局型式统计
Table 1 Statistics of utomatic bolting frame layout
布局型式 厂家 钻孔 锚固剂注入 锚固 锚杆仓 驱动机构数量 转塔式 Sandvik √ √ √ √ 10 Mine Master √ √ √ √ 11 Fletcher J H √ √ √ √ 12 Resemin √ √ √ √ 9 中铁隧道局集团有限公司 √ √ √ √ 30 浙江志高机械股份有限公司 √ √ √ √ 31 转塔式 Atlas copco √ √ √ √ 13 中国煤炭科工集团太原研究院有限公司 √ — √ √ 20 廊坊景隆重工机械有限公司 √ — √ √ 27 自钻式 Rambor √ √ √ — 4 RAG √ √ √ — 6 中煤科工开采研究院有限公司 √ √ √ √ 14 其他型式 三一重装国际控股有限公司 √ √ √ — 13 西安科技大学 √ — √ √ 25 注：“√”表示具备此种功能；“—”表示不具备此种功能。 
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