An electro-hydraulic anchor control double-basket type two-arm anchor cable and bolt drilling vehicle

Abstract

The present invention belongs to the technical field of equipment for drilling, installing and fastening anchor cables and bolts, and is specifically an electro-hydraulic anchor control double-basket type two-arm anchor cable and bolt drilling vehicle. It includes a walking chassis, a vertical lifting platform, a rear frame, a left anchor arm, a right anchor arm, an advance support device and an automatic cable winding mechanism. The vertical lifting platform is arranged directly above the walking chassis to achieve vertical lifting. A walking reducer is installed on the rear side of the walking chassis, and a guide wheel is installed on the front side. The vertical lifting platform is symmetrically provided with a left anchor arm and a right anchor arm that can achieve height adjustment and swing adjustment on both sides. An advance support device is also hinged on the front end of the vertical lifting platform. A rear frame is arranged behind the walking chassis. A motor, a pump station and an oil tank are installed in sequence on the upper left of the rear frame to form a power system. A cab and an electric control box are arranged above the power system. An automatic cable winding mechanism and a cable winding guide roller group are installed on the left side of the cab, and a rear stabilizing boot is installed at the bottom of the rear frame.

Description

Technical Field

[0001] The invention belongs to the technical field of equipment for drilling, installing and fastening anchor cables and anchor rods, and in particular is an electro-hydraulic anchor protection controlled double-basket type two-arm anchor cable and anchor rod drilling vehicle. Background Art

[0002] At present, the roof and side conditions of most domestic coal mines are poor during tunnel excavation. The empty roof distance is generally no more than 3 meters, and most of them are 1-2 meters. The traditional excavation process is to use a comprehensive excavation machine to excavate the tunnel and use manual anchor bolts and cable support operations. The labor intensity is high, the working conditions are relatively poor, the efficiency is low, and the risk factor is high. Some coal mines use self-moving fully hydraulic two-arm anchor drilling vehicles. This equipment is flexible and mobile. It can enter the empty roof area from the tunneling machine or continuous mining machine to carry out anchoring operations. It can realize the support operations of the top and some angles of the anchor bolts, improve the operation efficiency, basically meet the needs of tunnel excavation, and improve the working environment of workers.

[0003] However, the drilling vehicles currently used in China have certain defects:

[0004] (1) The bolting support of the upper and lower side walls of the tunnel is difficult. The upper side wall bolts are relatively high, and operators need to use other climbing equipment to perform operations such as placing explosives. The lower side wall bolts, especially the bottom row of side wall bolts, cannot be fully mechanized. They still need to be manually operated with a single bolt drill to complete the bolting support operation, which is inefficient, has poor operation safety, and causes delays in operations, affecting the construction progress.

[0005] (2) The anchoring and protection mechanical arm and the drilling rig have low degrees of freedom and poor adaptability, and cannot achieve multi-angle and large-range adjustment. The drilling rig anchoring and protection covers a limited cross-section of the tunnel, and cannot meet the anchoring and protection requirements for different postures in tunnels with different conditions;

[0006] (3) The platform lifting mechanism is mostly a four-link lifting mechanism, and its lifting trajectory is an approximate linear motion trajectory. It cannot achieve vertical lifting of the platform and there is a large deviation. The use of platform lifting cannot meet the demand for anchor rods in rows, and it is necessary to adjust the drill rig compensation action each time to achieve front and back rows.

[0007] (4) The traveling mechanism of the drilling vehicle is controlled by a hydraulic system, which has a low degree of automation, poor synchronization between the left and right crawlers, and no automatic step distance setting function. The safety and reliability of the equipment are poor;

[0008] (6) When the horizontal support height of the drilling side wall reaches 700-4200mm, it is one model, and when the support reaches 1000-4500mm, it is another model. This brings great difficulties to production organization and spare parts supply.

[0009] (5) The drilling rig has no stabilizing mechanism, making positioning difficult during drilling. Manual assistance is required, which increases the labor intensity and poses a safety hazard. Summary of the invention

[0010] The purpose of the present invention is to design a new type of electro-hydraulic anchor control double-basket two-arm anchor cable and bolt drilling vehicle in view of the shortcomings of the background technology. The equipment is flexible and maneuverable and can enter the empty top area from the side of the tunnel boring machine or the continuous mining machine to perform anchoring operations. The two working arms of the machine can operate in parallel without interfering with each other. It has two-stage lifting functions of the lifting platform and the anchor arm, and a large lifting range. It can not only realize the top plate anchor and anchor cable support in the tunnel section, but also complete the horizontal support of the side anchor from the bottom to the top. Provide an electro-hydraulic anchor control double-basket two-arm anchor cable and bolt drilling vehicle.

[0011] The present invention adopts the following technical scheme: an electro-hydraulic anchor control double-basket type two-arm anchor cable and bolt drilling vehicle, comprising a walking chassis, a vertical lifting platform, a rear frame, a left anchor arm, a right anchor arm, an advance support device, a cab, an electric control box and an automatic cable winding mechanism. The vertical lifting platform is arranged directly above the walking chassis to realize vertical lifting. A walking reducer is installed on the rear side of the walking chassis, and a guide wheel is installed on the front side. The vertical lifting platform is symmetrically provided with a left anchor arm and a right anchor arm that can realize height adjustment and swing adjustment on both sides. An advance support device is also hinged on the front end of the vertical lifting platform. A rear frame is arranged at the rear of the walking chassis, and a motor, a pump station and a fuel tank are installed in sequence on the upper left of the rear frame to form a power system. A cab and an electric control box are arranged above the power system. An automatic cable winding mechanism and a cable winding guide roller group are installed on the left side of the cab, and a rear stabilizing boot is installed at the bottom of the rear frame.

[0012] Furthermore, the vertical lifting platform includes a main connecting rod, a compensation connecting rod, an upper stabilizing connecting rod, a lower stabilizing connecting rod and a platform, wherein the main connecting rod and the compensation connecting rod are symmetrically arranged on both sides of the bottom of the platform, one end of the compensation connecting rod is hinged on the walking chassis, and the other end is hinged to the middle of the main connecting rod; one end of the main connecting rod is hingedly connected to the bottom of the vertical lifting platform, and the other end of the main connecting rod is hingedly connected to the main connecting rod sliding track through a main connecting rod sliding hinge seat, and the main connecting rod sliding track is installed on the walking chassis; the upper stabilizing connecting rod and the lower stabilizing connecting rod are connected by a connecting pin shaft, the upper stabilizing connecting rod is connected to the bottom of the platform, and the lower stabilizing connecting rod is connected to the walking chassis; it also includes a platform front lifting cylinder and two platform rear lifting cylinders, and the two ends of the platform front lifting cylinder are respectively hinged to the platform and the walking chassis through the front cylinder upper hinge seat and the front cylinder lower connecting seat; the two platform rear lifting cylinders are hinged to the walking chassis through the rear cylinder hinge seat.

[0013] Furthermore, the front end of the vertical lifting platform is hinged with an advance support device through a swing cylinder. The advance support device includes an advance support sleeve and a beam sleeve. The advance support sleeve is embedded with a lifting cylinder. The advance support sleeve and the beam sleeve are connected by sleeve connecting ears. Spring returners are installed on both sides of the lower part of the beam sleeve; beam telescopic sleeves are embedded at both ends of the beam sleeve, and a supporting beam is installed at the outer end of the beam telescopic sleeve.

[0014] Furthermore, the left anchor guard boom includes a boom articulated seat, an outer boom sleeve, an inner boom sleeve, a basket adjustment sleeve, an outer folding basket, an inner folding basket and a drill rack. The boom articulated seat is connected to the rear side of the vertical lifting platform by screws, a sleeve articulated seat is installed on the upper part of the boom articulated seat, a leveling oil swing seat is installed in the middle part of the boom articulated seat, and an inner lifting cylinder seat and an outer lifting cylinder seat are installed on both sides of the lower part of the boom articulated seat respectively, wherein the sleeve articulated seat is hinged to the outer boom sleeve, and a rear leveling cylinder, an outer lifting cylinder and an inner lifting cylinder are arranged below the outer boom sleeve, one end of the rear leveling cylinder is installed on the leveling oil swing seat, and the other end of the rear leveling cylinder is hingedly connected to the middle of the lower side of the outer boom sleeve. The side lifting cylinder and the inner lifting cylinder are respectively installed on the inner lifting cylinder seat and the outer lifting cylinder seat, the other ends of the outer lifting cylinder and the inner lifting cylinder are hinged on the lower side of the front end of the boom outer sleeve, the boom inner sleeve is inlaid inside the boom outer sleeve, the protruding end of the boom inner sleeve is connected with a retractable drill rack compensation sleeve, a hanging basket adjustment sleeve articulated seat and a hanging basket adjustment sleeve in sequence, the left side of the drill rack compensation sleeve is connected with a front end articulated seat, the outer side of the front end articulated seat is connected to the outer folding hanging basket through a pin shaft, the inner folding hanging basket is connected to the hanging basket adjustment sleeve articulated seat, the inner side of the inner folding hanging basket is connected with a hanging basket lifting cylinder, and the front end articulated seat is used to install the drill rack; the right anchor guard boom has the same structure as the left anchor guard boom.

[0015] Furthermore, the front end articulated seat is connected to a left-right swing motor and a horizontal swing motor in sequence, and the front end articulated seat is connected to the drill frame through the two motors, and the drill frame is equipped with a drill box and an automatic drill clamping mechanism.

[0016] Compared with the background technology, the present invention has obvious advantages:

[0017] 1. It has dual-stage lifting functions of platform lifting and boom lifting. The whole machine has a large lifting range. The top anchor support can adapt to tunnels with a maximum height of 5100mm. The side wall height can meet the horizontal support of 600-4500mm, basically covering the needs of medium and thick coal seams and thick coal seam tunnel mining.

[0018] 2. The newly developed anchor arm has high degree of freedom and flexible rotation. It has multiple actions such as horizontal rotation of the arm, up and down rotation, extension and retraction of the boom, automatic leveling of the boom, horizontal rotation of the drill frame, up and down rotation and forward compensation. Each action is used in conjunction with each other to meet the requirements of anchor bolt and cable support in the entire section of the tunnel. Each boom is equipped with two left and right reversing baskets, and personnel can easily operate the top anchor, anchor cable and side wall middle section anchor bolt support. By combining the control of the forward compensation and front leveling cylinder of the drill frame, the drill arm can be moved downward to complete the bottom side wall anchor bolt support. For the bottom and top side wall anchor bolt support, when personnel cannot stand on the boom basket to perform button anchor protection operations, remote control can be used for remote operation to achieve side wall anchor bolt support. This operation not only greatly improves the support efficiency, but also improves the comfort and safety of personnel.

[0019] 3. The drill rig is equipped with an automatic drill stabilizing mechanism, which can easily realize the positioning of the drill rod. No operator intervention is required during the drilling process. Through electro-hydraulic proportional control, the bottom hole can be drilled slowly first and then quickly, with high drilling efficiency and success rate.

[0020] 4. The platform lifting mechanism utilizes the upgraded mechanism of the scissor-type lifting platform, which reduces the redundant connecting rods of the scissor-type lifting mechanism and realizes the linear characteristics of the scissor-type lifting mechanism. The platform lifting action does not require additional action adjustments to meet the row requirements, thereby improving the efficiency of anchor protection.

[0021] 5. An electro-hydraulic travel system has been developed. The anchor drill rig has adopted an electro-hydraulic proportional control system for the first time, including an electro-hydraulic travel synchronization control system, a multi-cylinder intelligent electro-hydraulic synchronous lifting system, and an anchor arm electro-hydraulic control system. The electro-hydraulic travel synchronization control system can measure speed and realize the synchronization of the travel speed of the left and right crawlers of the anchor drill rig, which is of great significance to improving the fixed-step travel of the anchor drill rig; the multi-cylinder intelligent electro-hydraulic synchronous lifting system is mainly used for vertical lifting platforms to realize the automatic control and remote control of platform lifting and positioning; the anchor arm electro-hydraulic control system is used to adjust the posture of the anchor arm, control the action of the drill frame, complete the drilling and anchoring actions with one click, and realize automation and remote control. The use of an electro-hydraulic control system has greatly improved the automation level of the operation, making the anchor drill rig more reliable, stable, and flexible. For tunnels with poor roof conditions, it can ensure that the equipment maintains the ideal anchor position in the tunnel without a driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is the main view of the overall structure of the anchor drilling vehicle;

[0023] Figure 2 This is a top view of the overall structure of the anchor drilling vehicle;

[0024] Figure 3 This is a schematic diagram of the overall structure of the anchor drilling vehicle during operation;

[0025] Figure 4 Schematic diagram of the anchor arm and drilling frame structure Figure Ⅰ ;

[0026] Figure 5 Schematic diagram of the anchor arm and drilling frame structure Figure II ;

[0027] Figure 6 Schematic diagram of the action of the anchor arm structure when supporting with top anchor Figure Ⅰ ;

[0028] Figure 7 Schematic diagram of the action of the anchor arm structure when supporting with top anchor Figure II ;

[0029] Figure 8 The action diagram of the anchor arm structure when it is a side anchor Figure Ⅰ ;

[0030] Fig. 9 The action diagram of the anchor arm structure when it is a side anchor Figure II ;

[0031] Fig.10 The action diagram of the anchor arm structure when it is a side anchor Figure III ;

[0032] Fig.11 The schematic diagram of the vertical lifting platform action structure is to remove the anchor guard arm;

[0033] Fig.12 This is a schematic diagram of the structure of the advance support device;

[0034] Fig.13 This is the schematic diagram of the electro-hydraulic travel control system;

[0035] Fig.14 This is the schematic diagram of the platform lifting control system;

[0036] Fig.15 This is the structural block diagram of the electro-hydraulic control system of the anchor guard boom;

[0037] Fig.16 This is the schematic diagram of the electro-hydraulic control system for the anchor guard boom;

[0038] As shown in the figures, the list of reference numerals is as follows:

[0039] 1. Walking chassis, 2. Vertical lifting platform, 3. Walking reducer, 4. Rear frame, 5. Motor, 6. Electric control box, 7. Cab, 8. Pump station, 9. Left anchor arm, 10. Left explosion-proof electro-hydraulic proportional reversing valve, 11. Advanced support device, 12. Guide wheel, 13. Right explosion-proof electro-hydraulic proportional reversing valve, 14. Right anchor arm, 15. Fuel tank, 16. Automatic cable winding mechanism, 17. Cable winding guide Roller group, 18, boom articulated seat, 19, inner lifting (swinging) cylinder seat, 20, outer lifting cylinder, 21, outer sleeve of boom, 22, pressure block, 23, front end articulated seat, 24, outer folding hanging basket, 25, inner folding hanging basket, 26, hanging basket adjustment sleeve articulated seat, 27, hanging basket adjustment sleeve, 28, automatic drill clamping mechanism, 29, drill rack, 30, drill box, 31, inner lifting cylinder, 32, Inner lifting cylinder seat, 33, leveling oil swing seat, 34, sleeve articulated seat, 35, rear leveling cylinder, 36, drilling rack compensation sleeve, 37, big arm inner sleeve, 38, hanging basket lifting cylinder, 39, left and right swing motor, 40, horizontal swing motor, 41, rear stabilizing boot, 42, rear cylinder articulated seat, 43, main connecting rod sliding track, 44, lower stabilizing link, 45, main connecting rod sliding articulated seat, 46, upper stabilizing Fixed connecting rod, 47, front cylinder lower connecting seat, 48, compensation connecting rod, 49, platform front lifting cylinder, 50, main connecting rod, 51, platform rear lifting cylinder, 52, connecting pin, 53, front cylinder upper articulated seat, 54, swing cylinder, 55, lifting cylinder, 56, advance support sleeve, 57, sleeve connecting ear, 58, beam telescopic sleeve, 59, spring returner, 60, beam sleeve, 61, supporting beam. DETAILED DESCRIPTION

[0040] The present invention will be further described below in conjunction with the accompanying drawings:

[0041] The present invention is further described in detail below in conjunction with specific implementation schemes and drawings, which is only intended to elaborate on the specific implementation schemes of the present invention and does not impose any limitation on the present invention. The protection scope of the present invention shall be subject to the claims.

[0042] Its main technical parameters are as follows:

[0043] Economic width of the lane (mm): 3000-6000

[0044] Economic height of the roadway (mm): 2600-4500

[0045] Side anchor support height range (mm): 600-4500

[0046] Maximum height of top anchor cable (mm): 6000

[0047] Dimensions (mm): 6100×1400×2300

[0048] Ground clearance (mm): 260

[0049] Machine weight (t): about 17

[0050] Installed power (kW): 55

[0051] Voltage level (V): 1140

[0052] Number of drill arms: 2

[0053] Adaptable rock compressive strength: ≤70

[0054] Combination Figure 1 , 2 As shown, this embodiment provides an electro-hydraulic walking anchor control two-arm anchor cable bolt drilling vehicle. The whole machine uses a crawler walking mechanism, has a narrow body, and is flexible in walking and maneuvering. Through the electro-hydraulic control system, the anchor drilling vehicle can move accurately in a straight line. The operator stands on the standing basket of the anchor protection arm to perform top anchor and auxiliary anchor covering operations in a large range of tunnels. It is possible to enter the head of the comprehensive excavator or continuous coal mining machine from the side to carry out anchor support, and it is also possible to carry out additional anchor cables and anchor bolts behind the excavation equipment.

[0055] The anchor cable and bolt drilling vehicle provided in this embodiment is generally composed of a traveling chassis 1, a vertical lifting platform 2, a rear frame 4, a left anchor arm 9, a right anchor arm 14, an advanced support device 11, a cab 7, an electric control box 6, an automatic cable winding mechanism 16, and an electro-hydraulic control system. The vertical lifting platform 2 is arranged directly above the traveling chassis 1 to achieve vertical lifting and height adjustment; a traveling reducer 3 is installed on the rear side of the traveling chassis 1, and a guide wheel 12 is installed on the front side to ensure that the drilling vehicle moves forward smoothly. The left anchor arm 9 and the right anchor arm 14 are symmetrically hinged on the vertical lifting platform 2. Depending on the working conditions, the left explosion-proof electro-hydraulic proportional reversing valve 10 and the right explosion-proof electro-hydraulic proportional reversing valve 13 are used to adjust the extension and swing to achieve height adjustment and swing adjustment on both sides; an advance support device 11 is also hinged on the front end of the vertical lifting platform 2, which can be raised to the top for support during anchor operation; a rear frame 4 is arranged at the rear of the walking chassis 1 to achieve the balance of the center of gravity of the whole vehicle; a motor 5, a pump station 8, and a fuel tank 15 are installed in sequence on the upper left of the rear frame 4 to form a power system, and a cab 7 and an electric control box 6 are arranged above the power system. An automatic cable winding mechanism 16 and a cable winding guide roller group 17 are installed on the left side of the cab 7. When the drilling vehicle moves forward, the cable is automatically wound, which is convenient for workers to work and saves labor. The automatic cable winding mechanism is a prior art, and a rear stabilizing boot 41 is installed at the bottom of the rear frame 4, which is placed on the bottom surface during platform operation to ensure the stability of the fuselage and improve safety.

[0056] See also Figure 3 , Figure 4 , Figure 5The anchor arm is symmetrically distributed on the left and right sides. Taking the left anchor arm as an example, it is mainly composed of an arm articulated seat 18, an arm outer sleeve 21, an arm inner sleeve 37, a basket adjustment sleeve 27, an outer folding basket 24, an inner folding basket 25, and a drill frame 29. The anchor arm is connected to the rear side of the vertical lifting platform 2 through the arm articulated seat 18 by screws. A sleeve articulated seat 34, a leveling oil swing seat 33, an inner lifting cylinder seat 32, and an outer lifting cylinder seat 19 are installed on the upper side of the arm articulated seat 18. The sleeve articulated seat 34 is hinged to the outer sleeve 21 of the boom, and the rear leveling cylinder 35, the outer lifting cylinder 20, and the inner lifting cylinder 31 are arranged below the outer sleeve, wherein the rear leveling cylinder 35, the outer lifting cylinder 20, and the inner lifting cylinder 31 are respectively hinged to the leveling oil swing seat 33, the inner lifting cylinder seat 32, and the outer lifting cylinder seat 19 through the pin shaft. The rear leveling cylinder 35, the outer lifting cylinder 20, and the inner lifting cylinder 31 can realize a large range of actions such as leveling, lifting up and down, and swinging in and out of the outer sleeve. When the anchor guard boom needs to realize the function of lifting up and down, the outer lifting cylinder 20 and the inner lifting cylinder 31 are synchronously extended and contracted to drive the entire anchor guard boom to operate, and at the same time, the rear leveling cylinder 35 is extended and retracted within a certain range for displacement error compensation. When the anchor guard boom swings outward, the outer lifting cylinder 20 contracts, the inner lifting cylinder 31 extends at the same time, and the rear leveling cylinder 35 extends at the same time to compensate for the displacement error; when the anchor guard boom swings inward, the outer lifting cylinder 20 extends, the inner lifting cylinder 31 contracts at the same time, and the rear leveling cylinder 35 contracts at the same time to compensate for the displacement error.

[0057] In this embodiment, the boom inner sleeve 37 is embedded inside the boom outer sleeve 21, and the telescopic stability of the inner sleeve 37 is ensured by four pressure blocks 22 placed on the outer sleeve. The other protruding end of the boom inner sleeve 37 is connected in sequence with the drill rig compensation sleeve 36, the hanging basket adjustment sleeve hinge seat 26, and the hanging basket adjustment sleeve 27. The drill rig compensation sleeve 36 is retractable with a stroke of 500mm, and the front end hinge seat 23 is connected on the left side. The outer side of the front end hinge seat 23 is connected to the outer side of the outer folding hanging basket 24 through a pin shaft. The inner side of the hanging basket adjustment sleeve hinge seat 26 is connected to the inner side of the inner folding hanging basket 25. Among them, the outer side folding hanging basket 24 is fixed and swings up and down or left and right with the boom; the inner side of the inner folding hanging basket 25 is connected to the hanging basket lifting cylinder 38, which can still move vertically up and down when the anchor boom is stationary, so that the operator can adjust the working space conveniently.

[0058] In this embodiment, the left-right swing motor 39 and the horizontal swing motor 40 are connected to the front hinge seat 23 in sequence, and the two motors are used to realize the rotation and lifting action of the drill frame 29 at any angle. The drill box 30 and the automatic drill clamping mechanism 28 are installed on the drill frame 29. When the operator is working, the anchor rod is placed on the drill box 30. As the drill box moves forward, the anchor rod is driven into the working surface. In this process, the automatic drill clamping mechanism 29 installed on the top of the drill box can play a good role in stabilizing the drill.

[0059] In this embodiment, when top anchor support is being performed, the drill rig is placed in a vertical upward position through the left and right swing motors 39 and the horizontal swing motor 40, and then the outer lifting (swing) cylinder 20 and the inner lifting (swing) cylinder 31 enable movement in the up and down directions within a range of -8° to 40° and swing in the horizontal direction within a range of 0° to 45°, and then the stability of the anchor boom is achieved through the two rear leveling cylinders 35 of the left and right anchor booms; the drill rig compensation sleeve 36 can achieve horizontal extension within a range of 500 mm, thereby increasing the working range of the working surface.

[0060] In this embodiment, when anchoring the side wall, the drilling rig is placed in a perpendicular direction to the working surface by means of the left and right swing motor 39 and the horizontal swing motor 40, and the outer lifting (swing) cylinder 20 and the inner lifting (swing) cylinder 31 enable movement of -8° to 40° in the up and down direction and swing in the range of 0° to 45° in the horizontal direction, thereby realizing anchor support from the bottom to the top of the side wall.

[0061] See also Figure 6 The vertical lifting platform 2 adopts a split scissor-type connecting rod mechanism, including a main connecting rod 50, a compensation connecting rod 48, an upper stabilizing connecting rod 46 and a lower stabilizing connecting rod 44, wherein the main connecting rod 50 and the compensation connecting rod 48 are symmetrically placed on both sides of the platform, one end of the compensation connecting rod 48 is hinged to the walking chassis 1, and the other end is hinged to the main connecting rod 50; one end of the main connecting rod 50 is hinged to the walking chassis 1 through the main connecting rod sliding hinge seat 45 and the main connecting rod sliding track 43, and can slide on the connecting rod sliding track 43 to realize the lifting of the platform; the upper stabilizing connecting rod 46 and the lower stabilizing connecting rod 44 are connected by a connecting pin 52, which can enhance the bending resistance of the platform, the upper stabilizing connecting rod 46 is connected to the platform, and the lower stabilizing connecting rod 44 is connected to the walking chassis 1.

[0062] In this embodiment, a three-cylinder lifting method with one cylinder in front and two cylinders in the back is adopted, including a platform front lifting cylinder 49 and two platform rear lifting cylinders 51. The platform front lifting cylinder is respectively hinged to the platform and the traveling chassis through the front cylinder upper articulation seat 53 and the front cylinder lower connection seat 47; the two platform rear lifting cylinders 51 are hinged to the traveling chassis 1 through the rear cylinder articulation seat 42. When the tunnel working surface is high, the three cylinders with one cylinder in front and two cylinders in the back are lifted at the same time, and at the same time drive the main connecting rod 50, the compensation connecting rod 48, the upper stabilizing connecting rod 46 and the lower stabilizing connecting rod 44 to lift and move upward, and the main connecting rod 50 slides forward on the main connecting rod sliding track 43 for a certain stroke, which depends on the actual working conditions.

[0063] In this embodiment, through the action mode of the anchor arm and the platform, the top anchor rod of the whole machine can be applied to the tunnel with a maximum height of 6000mm, meeting the support requirements of the top anchor rod and anchor cable of the coal mine series of high tunnels. The side support height can meet the range of 600mm at the bottom to 4500mm at the top, taking into account the anchor cable and the vehicle-mounted anchor cable locking mechanism. One device can complete all semi-automatic operations within the tunnel section, liberating labor while improving the anchor efficiency by nearly 1.5 times, and improving the current situation of misaligned excavation and support. It greatly improves the working environment of workers and improves the safety level of operations.

[0064] See also Figure 7 In order to further improve the stability of the drilling vehicle operation, an advance support device is hinged at the front end of the vertical lifting platform through a swing cylinder 54, which can achieve a certain range of angle adjustment, including an advance support sleeve 56 and a beam sleeve 60; a lifting cylinder 55 is embedded in the advance support sleeve 56, which can realize the lifting and lowering of the advance support device to adapt to the tunnel. The advance support sleeve 56 and the beam sleeve 60 are connected by a sleeve connecting ear 57. In order to ensure the flexibility of the beam sleeve 60, spring returners 59 are installed on both sides of the bottom; beam telescopic sleeves 58 are embedded on both sides of the beam sleeve 60, and a supporting beam 61 is installed at the other end of the beam telescopic sleeve 58. When performing advance support, by adjusting the advance support sleeve 5 and the beam telescopic sleeve 58, the net coverage is carried out to the greatest extent, ensuring the safety of the top coal seam anchoring.

[0065] In this embodiment, the anchor drilling vehicle adopts an electro-hydraulic proportional control system for the first time, including an electro-hydraulic travel synchronization control system, a multi-cylinder intelligent electro-hydraulic synchronous lifting system and an anchor arm electro-hydraulic control system.

[0066] See also Fig.13The electro-hydraulic travel synchronization control system is mainly composed of explosion-proof motors, hydraulic piston pumps, functional valve groups, hydraulic motors, two-way valves, reducers and speed measuring devices. With the initial signal as a reference, the left track speed is detected by the left reducer speed measuring device, and the right track speed is detected by the right reducer speed measuring device. The speed difference between the two is obtained by comparing with the initial speed. According to the speed difference combined with the PID control algorithm, the opening flow of the two-way valve corresponding to the motors on both sides is adjusted, thereby ensuring the speed synchronization characteristics of the left and right sides, reducing the speed difference between the left and right sides, and ensuring the walking straightness of the whole machine.

[0067] See also Fig.14 , high-precision displacement sensors are built into the platform front lifting cylinder 49 and the platform rear lifting cylinder 51 to achieve accurate measurement of the cylinder extension and contraction amount. When the anchor drilling vehicle is moving in the tunnel, the extension and retraction amount of the front lifting cylinder 49 and the rear lifting cylinder 51 of the platform is 0, and the intelligent electro-hydraulic control lifting platform is in the lowest position, ensuring the minimum height of the whole machine and improving the passability of the whole machine; when the anchor drilling vehicle is in the initial position of anchor protection, the rear stabilizing shoe 41 supports the ground, and the electro-hydraulic control system of the vertical lifting platform 2 automatically calculates the optimal movement path of the lifting platform according to the cross-sectional parameters of the anchor protection tunnel, and the front lifting cylinder 49 and the rear lifting cylinder 51 of the platform are in motion. During the extension of the cylinders, the extension amount of the front lifting cylinder 49 of the platform is used as a reference, and the front displacement sensor monitors the extension amount of the front lifting cylinder 49 of the platform, and the rear displacement sensor detects the extension amount of the rear platform lifting cylinder 51. The controller performs PID feedback to adjust the opening flow of the rear platform lifting cylinder 51, thereby ensuring that the extension amount of the two rear cylinders is equal to that of the front cylinder, ensuring stability during the platform lifting process, and when reaching the anchor protection position, the intelligent electro-hydraulic control system gives an electro-hydraulic control signal to ensure that the platform is raised to the accurate anchor protection position. The whole process is fully automated by the electronic control system, without human intervention. After the anchoring is completed, the vertical lifting platform drops to the lowest position, the anchor drilling vehicle is in standby mode, and then enters the next working cycle.

[0068] See also Fig.15 , Fig.16The electro-hydraulic control system of the anchor guard arm includes a power supply, a control box, a remote controller, a receiver, an operation box, an explosion-proof electro-hydraulic ratio reversing valve group, at least two speed sensors, a pressure sensor, a displacement sensor and an electrical control part. The receiver is used to receive the signal transmitted by the remote controller and is placed on the outer sleeve 21 of the anchor guard arm; the operation box is placed on the articulated seat 26 of the hanging basket adjustment sleeve for the convenience of the operator, and is used to adjust the anchor guard arm to realize the anchor guard operation; the explosion-proof electro-hydraulic ratio reversing valve group includes a left explosion-proof electro-hydraulic ratio reversing valve 10 and a right explosion-proof electro-hydraulic ratio reversing valve 13, which have explosion-proof electrical proportional control and pressure compensation functions; the pressure sensor is arranged on the left explosion-proof electro-hydraulic ratio reversing valve 10 and the right explosion-proof electro-hydraulic ratio reversing valve 13, and is used to collect pressure data; the speed sensor is arranged on the left and right swing motors 39, the horizontal swing motor 40 and the drill box 30, and is used to collect the speed data of the motor and the drill box during operation; the displacement sensor is arranged on the drill frame 29, and is used to collect the lifting displacement data of the anchor guard arm drill frame; the control box is placed in the electric control box 6, including an input terminal, a controller, an output terminal, and an amplifier, connected to a power supply, providing power and drive control output for the receiver and the operation box explosion-proof electro-hydraulic ratio reversing valve group, and providing power and signal input for the pressure sensor, the speed sensor, and the displacement sensor. At the same time, the remote control and operation box are equipped with all the control function buttons for drilling. The remote control has a band selection function, which can remotely operate the boom and drill rig. In conjunction with the automatic reset and stabilizing mechanism, anchor operations can be performed without the assistance of personnel. The electro-hydraulic control system of the anchor guard arm can be controlled by wireless transmission and manual direct operation, thereby realizing the lifting, swinging and telescopic actions of the anchor guard arm and drill rig.

[0069] In this embodiment, corresponding signal data are collected by displacement sensors, pressure sensors and speed sensors and input into the controller, and the corresponding working conditions of the actual work are obtained through data analysis. Then, the controller outputs reasonable displacement, pressure and speed parameters to realize real-time adjustment of the rear leveling cylinder 35, the outer lifting cylinder 20, the inner lifting cylinder 31, the left and right swing motor 39, the horizontal swing motor 40, the drill box 30 and the drill frame 29 to complete the working face anchoring operation.

[0070] The above are only the principles and embodiments of the present invention. It should be noted that, for those skilled in the art, several other modifications can be made based on the principles of the present invention, which should also be considered as the protection scope of the present invention.

Claims

1. An electro-hydraulic anchor control double-basket two-arm anchor cable bolt drilling vehicle, characterized in that: The utility model comprises a walking chassis (1), a vertical lifting platform (2), a rear frame (4), a left anchor guard arm (9), a right anchor guard arm (14), an advance support device (11), a cab (7), an electric control box (6) and an automatic cable winding mechanism (16). The vertical lifting platform (2) is arranged directly above the walking chassis (1) to achieve vertical lifting. The walking chassis (1) is provided with a travel reducer (3) at the rear side and a guide wheel (12) at the front side. The vertical lifting platform (2) is symmetrically provided with a left anchor guard arm which can achieve height adjustment and swing adjustment on both sides. (9) and a right anchor arm (14), an advance support device (11) is also hinged on the front end of the vertical lifting platform (2), a rear frame (4) is arranged behind the walking chassis (1), a motor (5), a pump station (8) and a fuel tank (15) are installed in sequence on the upper left of the rear frame (4) to form a power system, a cab (7) and an electric control box (6) are arranged above the power system, an automatic cable winding mechanism (16) and a cable winding guide roller group (17) are installed on the left side of the cab (7), and a rear stabilizing boot (41) is installed at the bottom of the rear frame (4); The vertical lifting platform (2) comprises a main connecting rod (50), a compensating connecting rod (48), an upper stabilizing connecting rod (46), a lower stabilizing connecting rod (44) and a platform, wherein the main connecting rod (50) and the compensating connecting rod (48) are arranged on a walking chassis (1), one end of the compensating connecting rod (48) is hinged on the walking chassis (1), and the other end is hinged to the middle of the main connecting rod (50); one end of the main connecting rod (50) is hingedly connected to the bottom of the vertical lifting platform (2), and the other end of the main connecting rod (50) is hingedly connected to the main connecting rod sliding track (43) through the main connecting rod sliding hinge seat (45), and the main connecting rod sliding track (43) is installed On the walking chassis (1); an upper stabilizing link (46) and a lower stabilizing link (44) are connected via a connecting pin (52); the upper stabilizing link (46) is connected to the bottom of the platform, and the lower stabilizing link (44) is connected to the walking chassis (1); it also includes a platform front lifting cylinder (49) and two platform rear lifting cylinders (51); the two ends of the platform front lifting cylinder (49) are respectively hinged to the platform and the walking chassis (1) via a front cylinder upper hinge seat (53) and a front cylinder lower connecting seat (47); the two platform rear lifting cylinders (51) are hinged to the walking chassis (1) via a rear cylinder hinge seat (42).

2. The electro-hydraulic anchor control double-basket two-arm anchor cable bolt drilling vehicle according to claim 1 is characterized by: The front end of the vertical lifting platform (2) is hingedly connected with an advance support device via a swing cylinder (54), and the advance support device comprises an advance support sleeve (56) and a crossbeam sleeve (60). The advance support sleeve (56) is embedded with a lifting cylinder (55), and the advance support sleeve (56) and the crossbeam sleeve (60) are connected via sleeve connecting ears (57). Spring returners (59) are installed on both sides of the lower part of the crossbeam sleeve (60); crossbeam telescopic sleeves (58) are embedded at both ends of the crossbeam sleeve (60), and a supporting crossbeam (61) is installed at the outer end of the crossbeam telescopic sleeve (58).

3. The electro-hydraulic anchor control double-basket two-arm anchor cable bolt drilling vehicle according to claim 1 is characterized by: The left anchor guard boom (9) comprises a boom articulated seat (18), an outer boom sleeve (21), an inner boom sleeve (37), a basket adjustment sleeve (27), an outer folding basket (24), an inner folding basket (25) and a drilling frame (29). The boom articulated seat (18) is connected to the rear side of the vertical lifting platform (2) by screws. A sleeve articulated seat (34) is installed on the upper part of the boom articulated seat (18). A leveling oil swing seat (33) is installed in the middle part of the boom articulated seat (18). An inner lifting cylinder seat (32) and an outer lifting cylinder seat (19) are respectively installed on both sides of the lower part of the seat (18), wherein the sleeve hinge seat (34) is hinged to the outer sleeve (21) of the upper arm, and a rear leveling cylinder (35), an outer lifting cylinder (20) and an inner lifting cylinder (31) are arranged below the outer sleeve (21) of the upper arm, one end of the rear leveling cylinder (35) is installed on the leveling oil swing seat (33), and the other end of the rear leveling cylinder (35) is hingedly connected to the middle part of the lower side of the outer sleeve (21) of the upper arm. The outer lifting cylinder (20) and the inner lifting cylinder (31) are respectively mounted on the inner lifting cylinder seat (32) and the outer lifting cylinder seat (19). The other ends of the outer lifting cylinder (20) and the inner lifting cylinder (31) are hinged to the lower front end of the boom outer sleeve (21). The inner sleeve (37) of the boom is embedded in the outer sleeve (21). The extended end of the boom inner sleeve (37) is connected to the retractable drilling frame compensation sleeve (36) and the hanging basket adjustment sleeve hinge seat (26) in sequence. and a basket adjustment sleeve (27), the left side of the drill frame compensation sleeve (36) is connected to a front end hinged seat (23), the outer side of the front end hinged seat (23) is connected to the outer folding basket (24) through a pin shaft, the basket adjustment sleeve hinged seat (26) is connected to the inner folding basket (25), the inner side of the inner folding basket (25) is connected to the basket lifting cylinder (38), and the front end hinged seat (23) is installed on the drill frame (29); the right anchor guard arm (14) and the left anchor guard arm (9) have the same structure.

4. The electro-hydraulic anchor control double-basket two-arm anchor cable bolt drilling vehicle according to claim 3 is characterized by: The front end hinge seat (23) is connected to a left-right swing motor (39) and a horizontal swing motor (40) in sequence. The front end hinge seat (23) is connected to a drill frame (29) via the two motors. The drill frame (29) is equipped with a drill box (30) and an automatic drill clamping mechanism (28).

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