Drilling, injecting and anchoring integrated automatic drill boom and control method

Abstract

The invention discloses a drilling, grouting and anchoring integrated automatic drill boom and a control method. The drilling, grouting and anchoring integrated automatic drill boom comprises grouting anchor rods and an anchor rod library, and the multiple grouting anchor rods are assembled on the anchor rod library; the drilling mechanism is connected and matched with the anchor rod library; the drilling box is mounted on the drilling mechanism; the electro-hydraulic control device is mounted on one side of the drilling mechanism and is used for providing operation power; an oil duct bottom plate is arranged at the bottom of the drilling mechanism, an internal oil duct is arranged in the oil duct bottom plate, and the internal oil duct is used for conveying hydraulic oil in the electro-hydraulic control device for electro-hydraulic control; the anchor rod warehouse is connected with the oil duct bottom plate, the anchor rod warehouse is further provided with an anchor rod mechanical arm, the anchor rod mechanical arm is used for transferring and guiding the grouting anchor rod and clamping the grouting anchor rod to be connected with the drilling box, and the drilling box drives the grouting anchor rod to rotate and is used for conducting construction on the grouting anchor rod according to the working procedures of drilling, grouting and anchor rod anchoring. By means of the structure, the problems that an existing anchor rod drill arm is complex in structure, a rubber pipe and a cable are prone to damage, anchor rod supporting automation cannot be achieved, and anchor rod supporting operation procedures are complex are solved.

Description

Technical Field

[0001] The invention relates to the technical field of anchor drilling machines, and in particular to an integrated automatic drilling arm for drilling, injection and anchoring and a control method thereof. Background Art

[0002] Coal is my country's basic energy source and important industrial raw material. The coal-dominated energy system supports the rapid development of the national economy. Coal mine tunnel support occupies an important position in coal production.

[0003] At present, anchor support technology is widely used in coal tunnels in my country. The current automatic anchor drilling rig uses a set of operating procedures to perform anchor support operations, including drilling holes, installing resin anchors, installing anchors, and finally tightening the anchors. However, the existing anchor support operation procedures are complicated and prone to failures, making it difficult to automate anchor support. In addition, the existing anchor drilling rig has a complex drill arm structure, with many hydraulic pipelines and cables, which can easily damage the hoses and cables during construction, affecting the normal operation of the equipment.

[0004] Therefore, there is an urgent need for an integrated automatic drill arm and control method for drilling, grouting and anchoring, which can solve the problems of complex structure of existing anchor drill arms, easy damage to hoses and cables, inability to realize automated anchor support, and complicated anchor support operation procedures. The present application provides an integrated automatic drill arm and control method for drilling, grouting and anchoring to overcome the above problems. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an integrated automatic drilling arm and control method for drilling, grouting and anchoring, so as to solve the problems that the existing anchor drill arm has a complex structure, the hose and cable are easily damaged, the anchor support automation cannot be realized, and the anchor support operation process is complicated.

[0006] In order to solve the above technical problems, the present invention provides an automatic drilling arm for drilling, grouting and anchoring, comprising:

[0007] The grouting anchor has a hollow structure inside. A mixer is provided inside the grouting anchor to mix the two-component slurry and transport it from the drill bit to the anchor hole for integrated drilling and anchoring construction;

[0008] An anchor rod library, on which a plurality of the grouting anchor rods are assembled;

[0009] A drilling mechanism connected and matched with the anchor bar library;

[0010] A drilling box, which is installed on the drilling mechanism;

[0011] An electro-hydraulic control device, which is installed on one side of the drilling mechanism and is used to provide operating power;

[0012] An oil channel bottom plate is provided at the bottom of the drilling mechanism, and an internal oil channel is arranged inside the oil channel bottom plate. The internal oil channel is used to transport the hydraulic oil in the electro-hydraulic control device to perform electro-hydraulic control;

[0013] The anchor rod warehouse is connected to the oil channel bottom plate, and an anchor rod manipulator is also provided on the anchor rod warehouse to transport and guide the grouting anchor rods, clamp the grouting anchor rods and connect them to the drill box, and the drill box drives the grouting anchor rods to rotate, so that the grouting anchor rods are constructed according to the processes of drilling, grouting and anchoring.

[0014] As an improvement of the present invention, the drilling mechanism includes: a frame structure, a top support mechanism and a propulsion mechanism, the frame structure is connected to the bottom of the oil channel, the top support mechanism and the propulsion mechanism are installed on the frame structure, the top support mechanism is used to support the coal wall, and the propulsion mechanism is used to propel the grouting anchor rod.

[0015] The top support mechanism comprises: a guide claw device, and the guide claw device positions and guides the grouting anchor rod.

[0016] As an improvement of the present invention, the frame structure comprises: a rear mounting plate connected to the oil channel bottom plate, the rear mounting plate is in communication with the internal oil channel, the top support mechanism and the propulsion mechanism are connected and fixed;

[0017] The top support mechanism also includes: a top support cylinder, which controls the guide claw device to contact the coal wall to provide support.

[0018] As an improvement of the present invention, the guide claw device comprises: a guide claw, a guide rotating column connected to the guide claw, a support plate connected to the guide rotating column, a cylinder mounting plate connected to the bottom of the support plate, push rods are arranged on both sides of the cylinder mounting plate, a guide claw cylinder is installed at the bottom of the cylinder mounting plate, the guide claw cylinder is connected to a propulsion connecting rod, both ends of the propulsion connecting rod are respectively connected to connecting rods, one end of the connecting rod is connected to the propulsion connecting rod, and the other end of the connecting rod is connected to the push rod;

[0019] The guide rotating column slides in the support plate, and the guide claw rises and falls above the support plate based on the guide rotating column.

[0020] As an improvement of the present invention, the propulsion mechanism comprises: a first-stage propulsion oil cylinder, a multiplier mechanism, a guide rail, a guide plate, a sequential valve group, and a second-stage propulsion oil cylinder;

[0021] The guide rail is vertically mounted on the oil channel bottom plate, and one end is connected to the rear mounting plate. The guide plate is mounted on the oil channel bottom plate and connected to the guide rail. The speed-multiplying mechanism is mounted on the guide rail to control the moving speed of the grouting anchor rod.

[0022] The first-stage propulsion cylinder and the second-stage propulsion cylinder are installed on the oil channel bottom plate, and the propulsion sequence of the first-stage propulsion cylinder and the second-stage propulsion cylinder is controlled by the sequence valve group to control the operation process of the grouting anchor.

[0023] As an improvement of the present invention, the anchor bar library comprises: a turntable, a transmission shaft, a swing cylinder and an encoder;

[0024] A number of grouting anchor rods are arranged on the turntable, the transmission shaft is connected to the turntable, the turntable is driven by the swing cylinder to rotate the transmission shaft, the rotation angle of the turntable is judged based on the encoder, the grouting anchor rods on the turntable are transferred by the manipulator and connected to the drill box.

[0025] As an improvement of the present invention, the drilling box comprises: a connecting seat, a housing, a motor, an oil block, a pipeline, and an output shaft;

[0026] The shell is installed on the connecting seat, the motor is installed on the connecting seat, the oil block is connected to the shell, one end of the pipeline is connected to the oil block to provide flushing water and slurry, the motor drives the output shaft to rotate and provides torque, and is connected to the grouting anchor.

[0027] As an improvement of the present invention, the electro-hydraulic control device includes: an electro-hydraulic control box, an oil circuit connecting plate, and an injection block. The electro-hydraulic control box is connected to the oil circuit connecting plate. An electric control oil channel is provided in the oil circuit connecting plate for introducing the oil in the electro-hydraulic control box into the drilling mechanism. The injection block is connected to the oil circuit connecting plate.

[0028] As another improvement of the present invention, a method for controlling an automatic drilling arm for drilling, grouting and anchoring is provided, which is implemented by using the aforementioned automatic drilling arm for drilling, grouting and anchoring, and includes the following steps:

[0029] S1. Perform initialization operation before anchor drilling construction, and detect whether the initialization is completed through the control system. If not, perform initialization operation and complete the initialization self-check setting, and determine whether the initialization is completed according to the electro-hydraulic control device;

[0030] S2, the manipulator moves the grouting anchor rod to the front of the drill box, the drilling mechanism drives the drill box to move and connect with the grouting anchor rod, and the drilling mechanism is controlled to contact the coal wall to complete the hole opening preparation;

[0031] S3, based on the drilling mechanism driving the drill box to press the grouting anchor rod on the coal wall, the electro-hydraulic control device makes a judgment, and at the same time opens and retracts the manipulator, and the grouting anchor rod is advanced and rotated to reach the set depth, completing the drilling process;

[0032] S4, perform the injection and anchoring process, turn on the flushing water, inject the two-component slurry after the drilling process is completed, and perform the anchor bolt tightening process after the set waiting time;

[0033] S5. After the anchor bolt fastening process is completed, the drill box is withdrawn, the drilling mechanism is retracted, the anchor bolt library is rotated to a set angle, the anchor bolt inspection device detects the anchor bolt position, and the manipulator clamps, and S1 to S5 are repeated to achieve continuous anchor bolt drilling, injection, and anchoring operations.

[0034] As an improvement of the present invention, the manipulator moves the grouting anchor rod to the front of the drill box, the propulsion mechanism drives the drill box to move, the drill box and the grouting anchor rod are connected, the guide claw is closed, the manipulator is controlled to be in floating mode by the control system, and the top support cylinder is controlled to make the guide claw contact the coal wall to complete the hole opening preparation;

[0035] The propulsion cylinder drives the drill box to press the grouting anchor rod on the coal wall, and the electro-hydraulic control device makes a judgment, and at the same time opens and retracts the manipulator, and the grouting anchor rod is pushed and rotated to reach the set depth, completing the hole opening process;

[0036] The guide claws are opened to carry out the drilling, injection and anchoring processes, the flushing water is turned on, and the two-component slurry is injected after the drilling process is completed. After the set waiting time, the anchor bolt tightening process is carried out.

[0037] After adopting such a design, the present invention has at least the following advantages:

[0038] 1. The present invention provides an integrated automatic drilling arm for grouting and anchoring. An oil channel bottom plate is provided at the bottom of the drilling mechanism. An internal oil channel is arranged in the oil channel bottom plate to transport the hydraulic oil in the electro-hydraulic control device for electro-hydraulic control. The anchor rod warehouse is connected to the oil channel bottom plate. A manipulator is also provided on the anchor rod warehouse to transport and guide the grouting anchor rods, clamp the grouting anchor rods and connect them to the drill box. The drill box drives the grouting anchor rods to rotate, and the grouting anchor rods are used for construction according to the process of drilling, grouting and anchoring, which saves multiple process steps such as hole rotation, rod removal, and anchoring agent insertion, as well as cumbersome operation procedures;

[0039] 2. Automatically complete the integrated construction of anchor drilling, grouting and anchoring through control methods, realize the automation of anchor construction, improve support efficiency, increase operation safety factor and reduce labor intensity;

[0040] 3. By storing grouting anchors in the anchor library and the matching manipulator, the anchors can be automatically grabbed and delivered into the drill box holes to complete the anchor construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0042] Figure 1 It is a structural schematic diagram of an automatic drill arm integrating drilling, injection and anchoring in one embodiment of the present invention.

[0043] Figure 2 It is a structural schematic diagram of the drilling mechanism in the present invention.

[0044] Figure 3 It is a structural schematic diagram of the guide claw device in the present invention.

[0045] Figure 4 It is a structural schematic diagram of the bottom plate oil channel of the present invention.

[0046] Figure 5 It is a structural schematic diagram of the anchor bar library in the present invention.

[0047] Figure 6 It is an exploded view of the anchor bar library in the present invention.

[0048] Figure 7 It is a structural schematic diagram of the anchor rod inspection device in the present invention.

[0049] Figure 8 It is a structural schematic diagram of the drilling box in the present invention.

[0050] Fig. 9 It is a structural schematic diagram of the electro-hydraulic control device in the present invention.

[0051] Fig.10 It is a logic flow chart of initialization of drilling and anchoring operation in the present invention.

[0052] Fig.11 It is a logic flow chart of automatic control of drilling and anchoring operation in the present invention.

[0053] Description of reference numerals:

[0054] 1. Drilling mechanism; 11. Oil channel bottom plate; 12. Rear mounting plate; 13. First-stage propulsion cylinder; 14. Speed-multiplying mechanism; 15. Guide rail; 16. Guide plate; 17. Sequential valve group; 18. Guide claw device; 181. Guide claw; 182. Guide rotating column; 183. Support plate; 184. Cylinder mounting plate; 185. Connecting rod; 186. Propelling connecting rod; 187. Guide claw cylinder; 188. Push rod; 19. Second-stage propulsion cylinder; 110. Top support cylinder; 1101. Internal oil channel;

[0055] 2. Anchor rod warehouse; 21. Driving end; 22. Swing cylinder; 23. Guardrail; 24. Transmission shaft; 25. Passive end; 26. Anchor rod inspection device; 261. Impact block; 262. Connecting rod; 263. Mounting seat; 264. Sensor; 265. Spring; 266. Card; 27. Manipulator; 28. Manipulator swing cylinder; 29. ​​Limit block; 210. Inspection switch; 211. Protective cover; 212. Encoder;

[0056] 3. Drill box; 31. Motor; 32. Oil block; 33. Pipeline; 34. Output shaft; 35. Seal; 36. Flange; 37. Bearing; 38. Housing; 39. Connecting seat;

[0057] 4. Electro-hydraulic control device; 41. Electro-hydraulic control box; 42. Oil connection plate; 43. Liquid injection block;

[0058] 5. Grouting anchor rods. DETAILED DESCRIPTION

[0059] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0060] See also Figures 1 to 11 A specific implementation of a drilling, grouting and anchoring integrated automatic drill arm and a control method is shown.

[0061] like Figures 1 to 5 As shown, in this embodiment, the drilling, grouting and anchoring integrated automatic drilling arm includes a grouting anchor rod 5, the interior of the grouting anchor rod 5 is a hollow structure, and a mixer (not shown) is arranged inside the grouting anchor rod 5, and the two-component slurry is mixed and transported to the anchor rod hole from the drill bit to realize the integrated construction of drilling and anchoring, an anchor rod warehouse 2, a plurality of grouting anchor rods 5 are assembled on the anchor rod warehouse 2, a drilling mechanism 1 connected and matched with the anchor rod warehouse 2, a drill box 3 installed on the drilling mechanism 1, and an electro-hydraulic control device 4 installed on one side of the drilling mechanism 1 for providing operating power, and an oil channel bottom plate 11 is arranged at the bottom of the drilling mechanism 1, and the oil channel bottom plate 11 is arranged at the bottom of the drilling mechanism 1. An internal oil passage 1101 is provided in the plate 11, and the internal oil passage 1101 is used to transport the hydraulic oil in the electro-hydraulic control device 4 for electro-hydraulic control. The hydraulic oil of the electro-hydraulic control box 41 is transported to each actuator cylinder by arranging the oil passage inside the oil passage bottom plate 11, thereby reducing the number of hydraulic hoses. The anchor rod warehouse 2 is connected to the oil passage bottom plate 11. A manipulator 27 is also provided on the anchor rod warehouse 2 to transport and guide the grouting anchor rod 5, and clamp the grouting anchor rod 5 to connect it with the drill box 3. The drill box 3 drives the grouting anchor rod 5 to rotate, and the grouting anchor rod 5 is constructed according to the process of drilling, grouting and anchoring.

[0062] Furthermore, if Figures 1 to 3As shown, the drilling mechanism 1 includes a frame structure, a top support mechanism and a propulsion mechanism. The top support mechanism and the propulsion mechanism are installed on the frame structure. The top support mechanism is used to support the coal wall, and the propulsion mechanism is used to propel the grouting anchor rod 5.

[0063] Specifically, Figure 3 and Figure 5 As shown, the frame structure includes a rear mounting plate 12 connected to the oil channel bottom plate 11, the rear mounting plate 12 is connected to the internal oil circuit, the top support mechanism and the propulsion mechanism are connected and fixed, and the internal oil channel 1101 in the oil channel bottom plate 11 transports the hydraulic oil of the electro-hydraulic control device 4 to each actuator to avoid interference during automatic operation of the equipment and improve equipment reliability.

[0064] Specifically, the top support mechanism includes a top support cylinder 110 and a guide claw device 18. The top support cylinder 110 controls the guide claw device 18 to contact the coal wall for providing support. The guide claw device 18 provides a positioning and guiding function for the grouting anchor rod 5 before drilling begins. The top support cylinder 110 controls the guide claw device 18 to contact the coal wall before drilling begins, thereby providing good support for subsequent construction.

[0065] Specifically, Figure 3 As shown, the guide claw device 18 includes a guide claw 181, a guide rotating column 182 connected to the guide claw 181, and a support plate 183 connected to the guide rotating column 182. A cylinder mounting plate 184 is connected to the bottom of the support plate 183. Push rods 188 are provided on both sides of the cylinder mounting plate 184. A guide claw cylinder 187 is installed at the bottom of the cylinder mounting plate 184. The guide claw cylinder 187 is connected to a propulsion connecting rod 186. Both ends of the propulsion connecting rod 186 are respectively connected to connecting rods 185. One end of the connecting rod 185 is connected to the propulsion connecting rod 186, and the other end of the connecting rod 185 is connected to the push rod 188. The guide rotating column 182 slides in the support plate 183, and the guide claw 181 rises and falls above the support plate 183 based on the guide rotating column 182.

[0066] Specifically, Figure 2 As shown, the propulsion mechanism includes a first-stage propulsion cylinder 13, a speed mechanism 14, a guide rail 15, a guide plate 16, a sequential valve group 17, and a second-stage propulsion cylinder 19. The guide rail 15 is vertically installed on the oil channel bottom plate 11, and one end is connected to the rear mounting plate 12. The guide plate 16 is installed on the oil channel bottom plate 11 and connected to the guide rail 15. The speed mechanism 14 is installed on the guide rail 15 to control the moving speed of the grouting anchor 5. The first-stage propulsion cylinder 13 and the second-stage propulsion cylinder 19 are installed on the oil channel bottom plate 11. The first-stage propulsion cylinder 13 and the second-stage propulsion cylinder 19 use a hydraulic control valve to control the propulsion sequence of the first-stage propulsion cylinder 13 and the second-stage propulsion cylinder 19 through the sequential valve group 17 to control the operation process of the grouting anchor 5.

[0067] Furthermore, if Figure 5 and Figure 6 As shown, the anchor rod warehouse 2 includes a turntable, a transmission shaft 24, a swing cylinder 22 and an encoder 212. A plurality of grouting anchor rods 5 are arranged on the turntable. The transmission shaft 24 is connected to the turntable. The turntable drives the transmission shaft 24 to rotate based on the swing cylinder 22. The rotation angle of the turntable is determined based on the encoder 212. The grouting anchor rods 5 on the turntable are transferred by the manipulator 27 and connected to the drill box 3.

[0068] It can be understood that, in this embodiment, the anchor rod warehouse 2 also includes a driving end 21, a protection fence 23, a passive end 25, an anchor rod inspection device 26, a manipulator swing cylinder 28, a limit block 29, a proximity switch, and a shield 211. The above components are used to realize that the anchor rod warehouse 2 stores multiple grouting anchor rods 5, and the grouting anchor rods 5 in the anchor rod warehouse 2 can be transported by the manipulator 27. Figure 7 As shown, the anchor rod inspection device 26 is used to detect whether the grouting anchor rod 5 has reached the grasping position, thereby improving the life of the detection device. The anchor rod inspection device 26 includes a collision block 261, a connecting rod 262, a mounting seat 263, a sensor 264, a spring 265, and a card 266.

[0069] Furthermore, if Figure 8 As shown, the drill box 3 includes a connecting seat 39, a shell 38, a motor 31, an oil block 32, a pipeline 33, and an output shaft 34. The shell 38 is installed on the connecting seat 39, the motor 31 is installed on the connecting seat 39, the oil block 32 is connected to the shell 38, one end of the pipeline 33 is connected to the oil block 32 to provide flushing water and slurry, the motor 31 drives the output shaft 34 to rotate and provides torque, and is connected to the grouting anchor 5.

[0070] It is understandable that the drill box 3 also includes a seal 35, a flange 36 and a bearing 37. The output shaft 34 is connected and matched with the bearing 37. The seal 35 ensures that flushing water and slurry do not leak out. The flange 36 is used for connecting the pipe end.

[0071] Furthermore, if Fig. 9 As shown, the electro-hydraulic control device 4 includes an electro-hydraulic control box 41, an oil circuit connecting plate 42, and an injection block 43. The electro-hydraulic control box 41 is connected to the oil circuit connecting plate 42. An electric control oil channel is provided in the oil circuit connecting plate 42 for introducing the oil in the electro-hydraulic control box 41 into the drilling mechanism 1. The injection block 43 is connected to the oil circuit connecting plate 42. The electro-hydraulic control box 41 has a built-in control program for automatic operation of the entire device.

[0072] It should be noted that the electro-hydraulic control device 4 should also be installed with a controller, a solenoid valve and a sensor, which cooperate with each other to control the operation of the entire device.

[0073] Based on the same inventive concept, the present invention also discloses a method for controlling an automatic drilling arm of a drilling, grouting and anchoring system (hereinafter referred to as the “method”). Fig.10 and Fig.11 As shown, the method includes the following steps S1 to S5.

[0074] Step S1, perform initialization operation before anchor drilling construction, and detect whether the initialization is completed through the control system. If not, perform initialization operation and complete the initialization self-check setting, and determine whether the initialization is completed according to the electro-hydraulic control device 4;

[0075] Step S2: the manipulator 27 moves the grouting anchor rod 5 to the front of the drill box 3, the drilling mechanism 1 drives the drill box 3 to move, connects with the grouting anchor rod 5, and controls the drilling mechanism 1 to contact the coal wall to complete the hole opening preparation;

[0076] Step S3, based on the drilling mechanism 1 driving the drill box 3 to press the grouting anchor rod 5 on the coal wall, the electro-hydraulic control device 4 makes a judgment, and at the same time opens the manipulator 27 and retracts it, and the grouting anchor rod 5 is pushed and rotated to reach the set depth, completing the hole opening process;

[0077] Step S4, perform the injection and anchoring process, turn on the flushing water, inject the two-component slurry after the drilling process is completed, and perform the anchor bolt fastening process after the set waiting time;

[0078] Step S5, after the anchor bolt fastening process is completed, the drill box 3 is retracted, the drilling mechanism 1 is retracted, the anchor bolt library 2 is rotated to a set angle, the anchor bolt inspection device 26 detects the anchor bolt position, and the manipulator 27 clamps, and S1 to S5 are repeated to achieve continuous anchor bolt drilling, injection, and anchoring operations.

[0079] The method further includes the following steps: the manipulator 27 moves the grouting anchor rod 5 to the front of the drill box 3, the propulsion mechanism drives the drill box 3 to move, the drill box 3 is connected with the grouting anchor rod 5, the guide claw 181 is closed, the manipulator 27 is controlled to be in a floating mode by a control system, and the top support cylinder 110 is controlled to make the guide claw 181 contact the coal wall to complete the preparation for opening the hole;

[0080] The propulsion cylinder drives the drill box 3 to press the grouting anchor rod 5 on the coal wall, and the electro-hydraulic control device 4 makes a judgment, and at the same time, the manipulator 27 is opened and retracted, and the grouting anchor rod 5 is pushed and rotated to reach the set depth, completing the hole opening process;

[0081] The guide claw 181 is opened to carry out the drilling, injection and anchoring processes, the flushing water is turned on, and the two-component slurry is injected after the drilling process is completed. After the set waiting time, the anchor bolt tightening process is carried out.

[0082] Specifically, if Fig.10As shown, during initialization, the built-in control system first detects whether the drill box 3 has returned to the zero position, whether the manipulator 27 has returned to the initial position, whether the grouting anchor rod 5 is in place, whether the top support is retracted, and whether the guide claw device 18 is open. If so, the initialization is completed and the next stage of operation can be carried out. If one of them is not in the set initialization state position, the corresponding hydraulic component executes the initialization setting action until the initialization is completed.

[0083] like Fig.11 As shown, before the anchor drilling construction, the initialization self-check setting has been completed. First, the electro-hydraulic control device 4 determines whether the initialization is completed. If the initialization is not completed, the initialization is executed. If it is completed, the manipulator swing cylinder 28 extends to drive the manipulator 27 to move the grouting anchor 5 to the front of the drill box 3. The inspection switch 210 installed on the anchor library 2 and the manipulator 27 determines whether the manipulator 27 is swung into place. Then the secondary propulsion cylinder 19 drives the drill box 3 to move forward, so that the output shaft 34 is tightly connected with the grouting anchor 5. When connecting, the motor 31 should rotate slowly. After the anchor connection is completed, the guide claw 181 is closed, and the control system controls the mechanical claw to be in floating mode. , by controlling the top support cylinder 110, the guide claw device 18 contacts the coal wall, and then the hole opening procedure is started. The drill box 3 presses the grouting anchor rod 5 on the coal wall under the drive of the thrust cylinder. The built-in pressure sensor 264 of the electro-hydraulic control device 4 determines whether the grouting anchor rod 5 is pressed on the coal wall. At the same time, the manipulator 27 is opened, the manipulator swing cylinder 28 is retracted, and it is slowly pushed and rotated. After reaching the set depth, the hole opening is completed, the guide claw 181 is opened, and the drilling, injection and anchoring procedures are entered. The flushing water is turned on. After reaching the drilling depth, the two-component slurry is injected. After waiting for the set time, the anchor rod is tightened.

[0084] After the anchor bolt is fastened, the drill box is retracted, the top support cylinder 110 is retracted, the swing cylinder 22 drives the driving end 21 to rotate to a set angle, the anchor bolt inspection device 26 detects that the anchor bolt is in place, and the manipulator clamps, completing one drilling, injection, and anchoring construction. Repeating the above process can achieve continuous anchor bolt construction operations.

[0085] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0086] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0087] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Those skilled in the art may make some simple modifications, equivalent changes or modifications using the technical contents disclosed above, which all fall within the protection scope of the present invention.

Claims

1. An automatic drilling arm integrating drilling, injection and anchoring, characterized in that: include: The grouting anchor has a hollow structure inside. A mixer is provided inside the grouting anchor to mix the two-component slurry and transport it from the drill bit to the anchor hole for integrated drilling and anchoring construction; An anchor rod library, on which a plurality of the grouting anchor rods are assembled; A drilling mechanism connected and matched with the anchor bar library; A drilling box, which is installed on the drilling mechanism; An electro-hydraulic control device, which is installed on one side of the drilling mechanism and is used to provide operating power; An oil channel bottom plate is provided at the bottom of the drilling mechanism, and an internal oil channel is provided in the oil channel bottom plate. The internal oil channel is used to transport the hydraulic oil in the electro-hydraulic control device to perform electro-hydraulic control; The anchor rod warehouse is connected to the oil channel bottom plate. A manipulator is also provided on the anchor rod warehouse to transport and guide the grouting anchor rods, clamp the grouting anchor rods and connect them to the drill box. The drill box drives the grouting anchor rods to rotate, and the grouting anchor rods are constructed according to the processes of drilling, grouting and anchoring.

2. The automatic drilling arm for drilling, grouting and anchoring according to claim 1, characterized in that: The drilling mechanism comprises: a frame structure, a top support mechanism and a propulsion mechanism, wherein the frame structure is connected to the bottom of the oil channel, the top support mechanism and the propulsion mechanism are installed on the frame structure, the top support mechanism is used to support the coal wall, and the propulsion mechanism is used to propel the grouting anchor rod. The top support mechanism comprises: a guide claw device, and the guide claw device positions and guides the grouting anchor rod.

3. The automatic drilling arm for drilling, grouting and anchoring according to claim 2, characterized in that: The frame structure includes: a rear mounting plate connected to the oil channel bottom plate, the rear mounting plate is in communication with the internal oil channel, and the top support mechanism and the propulsion mechanism are connected and fixed; The top support mechanism also includes: a top support cylinder, which controls the guide claw device to contact the coal wall to provide support.

4. The automatic drilling arm for drilling, grouting and anchoring according to claim 3, characterized in that: The guide claw device comprises: a guide claw, a guide rotating column connected to the guide claw, a support plate connected to the guide rotating column, a cylinder mounting plate connected to the bottom of the support plate, push rods are arranged on both sides of the cylinder mounting plate, a guide claw cylinder is installed at the bottom of the cylinder mounting plate, the guide claw cylinder is connected to a propulsion connecting rod, both ends of the propulsion connecting rod are respectively connected to connecting rods, one end of the connecting rod is connected to the propulsion connecting rod, and the other end of the connecting rod is connected to the push rod; The guide rotating column slides in the support plate, and the guide claw rises and falls above the support plate based on the guide rotating column.

5. The automatic drilling arm for drilling, grouting and anchoring according to claim 3, characterized in that: The propulsion mechanism comprises: a first-stage propulsion oil cylinder, a speed-multiplying mechanism, a guide rail, a guide plate, a sequential valve group, and a second-stage propulsion oil cylinder; The guide rail is vertically mounted on the oil channel bottom plate, and one end is connected to the rear mounting plate. The guide plate is mounted on the oil channel bottom plate and connected to the guide rail. The speed-multiplying mechanism is mounted on the guide rail to control the moving speed of the grouting anchor rod. The first-stage propulsion cylinder and the second-stage propulsion cylinder are installed on the oil channel bottom plate, and the propulsion sequence of the first-stage propulsion cylinder and the second-stage propulsion cylinder is controlled by the sequence valve group to control the operation process of the grouting anchor.

6. The automatic drilling arm for drilling, grouting and anchoring according to claim 1, characterized in that: The anchor bar library comprises: a turntable, a transmission shaft, a swing cylinder and an encoder; A number of grouting anchor rods are arranged on the turntable, the transmission shaft is connected to the turntable, the turntable is driven by the swing cylinder to rotate the transmission shaft, the rotation angle of the turntable is judged based on the encoder, the grouting anchor rods on the turntable are transferred by the manipulator and connected to the drill box.

7. The automatic drilling arm for drilling, grouting and anchoring according to claim 1, characterized in that: The drilling box comprises: a connecting seat, a housing, a motor, an oil block, a pipeline, and an output shaft; The shell is installed on the connecting seat, the motor is installed on the connecting seat, the oil block is connected to the shell, one end of the pipeline is connected to the oil block to provide flushing water and slurry, the motor drives the output shaft to rotate and provides torque, and is connected to the grouting anchor.

8. The automatic drilling arm for drilling, grouting and anchoring according to claim 1, characterized in that: The electro-hydraulic control device includes: an electro-hydraulic control box, an oil circuit connecting plate, and an injection block. The electro-hydraulic control box is connected to the oil circuit connecting plate. An electric control oil channel is provided in the oil circuit connecting plate for introducing the oil in the electro-hydraulic control box into the drilling mechanism. The injection block is connected to the oil circuit connecting plate.

9. A method for controlling an automatic drilling arm for drilling, grouting and anchoring, characterized in that: The method is implemented by using the integrated automatic drilling arm for drilling, grouting and anchoring as claimed in claim 1, and comprises the following steps: S1. Perform initialization operation before anchor drilling construction, and detect whether the initialization is completed through the control system. If not, perform initialization operation and complete the initialization self-check setting, and determine whether the initialization is completed according to the electro-hydraulic control device; S2, the manipulator moves the grouting anchor rod to the front of the drill box, the drilling mechanism drives the drill box to move and connect with the grouting anchor rod, and the drilling mechanism is controlled to contact the coal wall to complete the hole opening preparation; S3, based on the drilling mechanism driving the drill box to press the grouting anchor rod on the coal wall, the electro-hydraulic control device makes a judgment, and at the same time opens and retracts the manipulator, and the grouting anchor rod is advanced and rotated to reach the set depth, completing the drilling process; S4, perform the injection and anchoring process, turn on the flushing water, inject the two-component slurry after the drilling process is completed, and perform the anchor bolt tightening process after the set waiting time; S5. After the anchor bolt fastening process is completed, the drill box is withdrawn, the drilling mechanism is retracted, the anchor bolt library is rotated to a set angle, the anchor bolt inspection device detects the anchor bolt position, and the manipulator clamps, and S1 to S5 are repeated to achieve continuous anchor bolt drilling, injection, and anchoring operations.

10. The method for controlling the drilling, grouting and anchoring integrated automatic drill arm according to claim 9, characterized in that: The method is implemented by using the integrated automatic drilling arm for drilling, grouting and anchoring as claimed in claim 2, and further comprising the following steps: The manipulator moves the grouting anchor rod to the front of the drill box, and the propulsion mechanism drives the drill box to move, so that the drill box and the grouting anchor rod are connected, and the guide claw is closed. The manipulator is controlled to be in a floating mode through the control system, and the top support cylinder is controlled to make the guide claw contact the coal wall to complete the hole opening preparation; The propulsion cylinder drives the drill box to press the grouting anchor rod on the coal wall, and the electro-hydraulic control device makes a judgment, and at the same time opens and retracts the manipulator, and the grouting anchor rod is pushed and rotated to reach the set depth, completing the hole opening process; The guide claws are opened to carry out the drilling, injection and anchoring processes, the flushing water is turned on, and the two-component slurry is injected after the drilling process is completed. After the set waiting time, the anchor bolt tightening process is carried out.

Images