Anchor trolley and anchor unit thereof

Abstract

The present invention discloses an anchor trolley and an anchor unit thereof, comprising a propulsion beam, an anchor propeller, a rock drill, an anchor warehouse and a grouting pipe; a fixed seat is arranged at the rear end of the propulsion beam, the anchor propeller and the rock drill are both arranged on the fixed seat in a position-switchable manner, and are both connected to a switching mechanism, the switching mechanism can drive the anchor propeller and the rock drill to switch back and forth between the anchor hole station and the idle station one by one; a clamping mechanism and a manipulator are arranged on the width side of the propulsion beam; the manipulator can grab the grouting pipe of the non-grouting station and drive the grouting pipe to switch back and forth between the non-grouting station and the grouting station, and can also grab the anchor loaded in the anchor warehouse and drive the anchor to move to the anchor hole station. The operation process of the anchor unit is mainly completed by the anchor unit itself, which reduces human participation, greatly reduces the safety risk and labor intensity of the operators, and has a high degree of automation, and the construction process is closely connected, which greatly improves the construction efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and in particular to an anchor trolley and an anchor unit thereof. Background Art

[0002] At present, bolt support is a widely used reinforcement support method in drilling and blasting mining and tunnel construction. It usually uses pneumatic rock drills or rock drilling rigs to drill holes, and then uses simple gantry or hanging basket to assist in manual grouting and installation of bolts. This operation method is not only labor-intensive and inefficient, but also has high safety risks for operators.

[0003] In summary, how to solve the problems of high labor intensity, low efficiency and high safety risks for operators in anchor support has become a technical problem that technical personnel in this field need to solve urgently. Summary of the invention

[0004] The purpose of the present invention is to provide an anchor trolley and an anchor unit thereof, so as to solve the problems of high labor intensity, low efficiency and high safety risk of operators in anchor support.

[0005] In order to achieve the above-mentioned object, the present invention provides an anchor unit of an anchor trolley, comprising a propulsion beam, an anchor propeller, a rock drill, an anchor library and a grouting pipe;

[0006] A fixed seat is provided at the rear end of the propulsion beam, and a switching mechanism is provided on the fixed seat. The anchor pusher and the rock drill are both provided on the fixed seat in a position-switchable manner and are both connected to the switching mechanism. The switching mechanism can drive the anchor pusher and the rock drill to switch back and forth between the anchor hole position and the idle position one by one;

[0007] A clamping mechanism and a manipulator are provided on the width side of the pushing beam; the clamping mechanism is used to clamp the grouting pipe to keep it at the non-grouting station, and the manipulator can grab the grouting pipe at the non-grouting station and drive the grouting pipe to switch back and forth between the non-grouting station and the grouting station;

[0008] The anchor rod warehouse is arranged on the axially parallel side of the propulsion beam, and the anchor rod warehouse and the manipulator are located on the same side. The manipulator can also grab the anchor rods loaded in the anchor rod warehouse and drive the anchor rods to move to the anchor rod hole station.

[0009] Preferably, the anchor rod library is connected to the beam body of the propulsion beam through an anchor rod bracket.

[0010] Preferably, the clamping mechanism is arranged on the anchor support.

[0011] Preferably, the fixed seat is provided with a first tray, a second tray, and a movable tray located between the first tray and the second tray, the first tray, the second tray and the movable tray have a common sliding groove, and the direction of the sliding groove is perpendicular to the extension direction of the propulsion beam, the anchor pusher is slidably arranged in the sliding groove of the first tray, and the rock drill is slidably arranged in the sliding groove of the second tray, and the switching mechanism includes a first push rod and a second push rod, the first push rod is used to drive the anchor pusher to slide in and out of the movable tray, and the second push rod is used to drive the rock drill to slide in and out of the movable tray, the movable tray can slide along the extension direction of the propulsion beam, and when the anchor pusher is located at the movable tray, the anchor pusher is at the anchor hole station, and when the rock drill is located at the movable tray, the rock drill is at the anchor hole station.

[0012] Preferably, a front end drill support located at the front of the propulsion beam and an intermediate drill support located in the middle of the propulsion beam are also provided on the beam body of the propulsion beam, and a first drill support driver and a second drill support driver are also provided on the beam body of the propulsion beam. The first drill support driver is used to drive the front end drill support to switch back and forth between the drilling station and the non-drilling station, and the second drill support driver is used to drive the intermediate drill support to switch back and forth between the drill support station and the non-drilling station.

[0013] Preferably, the manipulator is arranged on the beam body of the propulsion beam.

[0014] Preferably, the manipulator includes a mounting base fixed to the beam body of the propulsion beam, a clamping bracket pivotally hinged to the mounting base, a driving assembly for driving the clamping bracket to rotate around its hinged pivot on the mounting base, a jaw plate hinged to the front end of the clamping bracket and a jaw plate driver for driving the jaw plate, wherein the jaw plate driver can drive the jaw plate to move toward and away from the front end of the clamping bracket to achieve a grasping and releasing action.

[0015] Preferably, the driving assembly includes an articulated plate, a first linear push rod and a second linear push rod, and the articulated plate is provided with a first articulated shaft, a second articulated shaft and a third articulated shaft arranged in a triangle; the first articulated shaft is hingedly connected to the mounting seat; one end of the first linear push rod is hinged to the second articulated shaft, and the other end of the first linear push rod is hinged to the mounting seat; one end of the second linear push rod is hinged to the third articulated shaft, and the other end of the second linear push rod is hinged to the clamping bracket.

[0016] Preferably, an articulated bracket is provided on the mounting seat, and the clamping bracket is hinged to the articulated bracket.

[0017] Compared with the background technology introduction, the anchor unit of the above-mentioned anchor trolley includes a propulsion beam, an anchor pusher, a rock drill, an anchor warehouse and a grouting pipe; a fixed seat is arranged at the rear end of the propulsion beam, and a switching mechanism is arranged on the fixed seat, the anchor pusher and the rock drill are both arranged on the fixed seat in a position-switchable manner, and are both connected to the switching mechanism, and the switching mechanism can successively drive the anchor pusher and the rock drill to switch back and forth between the anchor hole station and the idle station; a clamping mechanism and a manipulator are arranged on the width side of the propulsion beam; the clamping mechanism is used to clamp the grouting pipe to keep it in the non-grouting station, and the manipulator can grab the grouting pipe at the non-grouting station and drive the grouting pipe to switch back and forth between the non-grouting station and the grouting station; the anchor warehouse is arranged on the axially parallel side of the propulsion beam, and the anchor warehouse and the manipulator are located on the same side, and the manipulator can also grab the anchor loaded in the anchor warehouse and drive the anchor to move to the anchor hole station. During the implementation and application of the anchor unit, a switching mechanism is used to switch the rock drill to the anchor hole station, and the rock drill drives the drill rod to rotate and advance at the anchor hole station to perform the drilling operation; after the drilling operation of the anchor hole is completed, the rock drill drives its drill rod to retreat, the switching mechanism switches the rock drill to an idle station, and switches the anchor pusher to the anchor hole station, and the grouting pipe at the non-grouting station is grabbed to the grouting station by a manipulator, and the anchor pusher is advanced and rotated to dock with the grouting pipe, and the anchor pusher continues to advance, so that the front end of the grouting pipe can be inserted into the anchor hole, the manipulator is released and swung open, and the anchor pusher continues to advance to push the grouting pipe to the bottom of the hole, at this time, the grouting operation can be performed; grouting operation After the work is completed, the anchor pusher will be withdrawn, and the manipulator will grab the grouting pipe again. The anchor pusher will be separated from the grouting pipe by rotation, and then the grouting pipe will be sent to the clamping mechanism by the manipulator. The grouting pipe will return to the initial non-grouting position. At this time, the anchor installation operation can be performed. The manipulator grabs the anchor loaded on the anchor library and drives the anchor to the anchor hole position. At this time, the anchor pusher at the anchor hole position performs the pushing operation and docks with the anchor. After that, the manipulator releases the clamping effect on the anchor, and the anchor pusher continues to push, so that the anchor can be inserted into the anchor hole. Finally, the locking nut of the anchor section is tightened by the rotation of the anchor pusher, and the installation operation of the anchor is completed. Through this anchor unit, the equipment itself can realize the functions of automatic anchor hole drilling, automatic grouting, and anchor installation at the same time. The operation process is mainly completed by the anchor unit equipment itself, which reduces human participation, greatly reduces the safety risk of operators, and also reduces labor intensity. It has a high degree of automation and a tight connection between construction processes, which greatly improves construction efficiency.

[0018] In addition, the present invention also provides an anchor trolley, including an anchor unit, which is the anchor unit of the anchor trolley described in any of the above schemes. Since the anchor unit has the above technical effects, the anchor trolley with the anchor unit should also have corresponding technical effects, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the overall structure of an anchor rod unit provided in an embodiment of the present invention;

[0020] Figure 2 A schematic structural diagram of an anchor rod unit provided in an embodiment of the present invention omitting the hydraulic pipeline support;

[0021] Figure 3 A schematic diagram of the structure of a manipulator provided in an embodiment of the present invention.

[0022] superior Figure 1-Figure 3 middle,

[0023] Anchor rod warehouse 1, swing motor 2, clamping mechanism 3, grouting pipe 4, manipulator 5, mounting seat 501, hinged support 502, clamping bracket 503, hinged plate 504, jaw plate 505, second linear push rod 506, jaw plate driver 507, first linear push rod 508, drill rod 6, front end drill support 7, propulsion beam 8, middle drill support 9, propulsion cylinder 10, rock drill 11, second pallet 12, movable pallet 13, switching mechanism 14, fixed seat 15, first pallet 16, cycloidal motor 17, anchor rod pusher 18, hydraulic pipeline support 19. DETAILED DESCRIPTION

[0024] The core of the present invention is to provide an anchor trolley and an anchor unit thereof to solve the problems of high labor intensity, low efficiency and high safety risk of operators in anchor support.

[0025] In order to enable those skilled in the art to better understand the technical solution provided by the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0026] like Figure 1-Figure 3 As shown, an embodiment of the present invention provides an anchor unit of an anchor trolley, including a propulsion beam 8, an anchor propeller 18, a rock drill 11, an anchor library 1 and a grouting pipe 4; a fixed seat 15 is arranged at the rear end of the propulsion beam 8, and a switching mechanism 14 is arranged on the fixed seat 15. The anchor propeller 18 and the rock drill 11 are both arranged on the fixed seat 15 in a position-switchable manner and are both connected to the switching mechanism 14. The switching mechanism 14 can successively drive the anchor propeller 18 and the rock drill 11 to move between the anchor hole working position and the idle position. The pushing beam 8 can be switched back and forth between the two workstations; a clamping mechanism 3 and a manipulator 5 are arranged on the width side of the pushing beam 8; the clamping mechanism 3 is used to clamp the grouting pipe 4 to keep it in the non-grouting workstation, and the manipulator 5 can grab the grouting pipe 4 at the non-grouting workstation and drive the grouting pipe 4 to switch back and forth between the non-grouting workstation and the grouting workstation; the anchor rod warehouse 1 is arranged on the axially parallel side of the pushing beam 8, and the anchor rod warehouse 1 and the manipulator 5 are located on the same side, and the manipulator 5 can also grab the anchor rods loaded in the anchor rod warehouse 1 and drive the anchor rods to move to the anchor rod hole workstation.

[0027] During the implementation and application of the anchor unit, a switching mechanism is used to switch the rock drill to the anchor hole station, and the rock drill drives the drill rod to rotate and advance at the anchor hole station to perform the drilling operation; after the drilling operation of the anchor hole is completed, the rock drill drives its drill rod to retreat, the switching mechanism switches the rock drill to an idle station, and switches the anchor pusher to the anchor hole station, and the grouting pipe at the non-grouting station is grabbed to the grouting station by a manipulator, and the anchor pusher is advanced and rotated to dock with the grouting pipe, and the anchor pusher continues to advance, so that the front end of the grouting pipe can be inserted into the anchor hole, the manipulator is released and swung open, and the anchor pusher continues to advance to push the grouting pipe to the bottom of the hole, at this time, the grouting operation can be performed; grouting operation After the work is completed, the anchor pusher will be withdrawn, and the manipulator will grab the grouting pipe again. The anchor pusher will be separated from the grouting pipe by rotation, and then the grouting pipe will be sent to the clamping mechanism by the manipulator. The grouting pipe will return to the initial non-grouting position. At this time, the anchor installation operation can be performed. The manipulator grabs the anchor loaded on the anchor library and drives the anchor to the anchor hole position. At this time, the anchor pusher at the anchor hole position performs the pushing operation and docks with the anchor. After that, the manipulator releases the clamping effect on the anchor, and the anchor pusher continues to push, so that the anchor can be inserted into the anchor hole. Finally, the locking nut of the anchor section is tightened by the rotation of the anchor pusher, and the installation operation of the anchor is completed. Through this anchor unit, the equipment itself can realize the functions of automatic anchor hole drilling, automatic grouting, and anchor installation at the same time. The operation process is mainly completed by the anchor unit equipment itself, which reduces human participation, greatly reduces the safety risk of operators, and also reduces labor intensity. It has a high degree of automation and a tight connection between construction processes, which greatly improves construction efficiency.

[0028] It should be noted here that those skilled in the art should be able to understand that the anchor warehouse 1 is generally provided with a swing motor 2, which can drive the anchors loaded on the anchor warehouse 1 to move to the position to be grasped. In addition, it should be noted that, in general, a cycloidal motor 17 is generally provided at the front end of the anchor pusher, which can drive the anchor pusher to rotate. In addition, it should be noted that the clamping mechanism 3 can have only the clamping and releasing functions, or it can have the clamping and conveying functions of a manipulator. In actual application, it can be configured according to actual needs, and no specific limitation is made here.

[0029] In some specific implementation schemes, the anchor rod warehouse 1 can be connected to the beam body of the advancing beam 8 through an anchor rod bracket. The advancing beam and the anchor rod warehouse are connected through the anchor rod bracket, making the arrangement of the anchor rod warehouse more convenient. In addition, the clamping mechanism 3 can be specifically set on the anchor rod bracket, or on the anchor rod warehouse, or on the beam body of the advancing beam. No more specific restrictions are made here. In actual application, the arrangement can be selected according to actual needs.

[0030] In some specific embodiments, the fixed seat 15 is provided with a first tray 16, a second tray 12, and a movable tray 13 located between the first tray 16 and the second tray 12. The first tray 16, the second tray 12 and the movable tray 13 have a common sliding groove, and the direction of the sliding groove is perpendicular to the extension direction of the propulsion beam 8. The anchor pusher 18 is slidably disposed in the sliding groove of the first tray 16, and the rock drill 11 is slidably disposed in the sliding groove of the second tray 12. The switching mechanism 14 includes a first push rod and a second push rod. The first push rod is used to drive the anchor pusher 18 to slide in and out of the movable tray 13, and the second push rod is used to drive the rock drill 11 to slide in and out of the movable tray 13. The movable tray 13 can slide along the extension direction of the propulsion beam 8, and when the anchor pusher 18 is located at the movable tray 13, the anchor pusher 18 is in the anchor hole position, and when the rock drill 11 is located at the movable tray 13, the rock drill 11 is in the anchor hole position. Through the above-mentioned first tray, second tray and movable tray, in conjunction with the co-directional slide slot, it is more convenient to switch the anchor pusher and the rock drill to the anchor hole station, and the structure is simple and easy to implement. It should be noted that the movable tray moves along the extension direction of the propulsion beam, specifically, by connecting the propulsion cylinder 10 provided on the propulsion beam with the movable tray, and the movement of the movable tray is driven by the telescopic movement of the propulsion cylinder.

[0031] In some specific implementation schemes, the beam body of the above-mentioned propulsion beam 8 can also be provided with a front end supporter 7 located at the front of the propulsion beam 8 and a middle supporter 9 located at the middle of the propulsion beam 8. The beam body of the propulsion beam 8 is also provided with a first supporter driver and a second supporter driver. The first supporter driver is used to drive the front end supporter 7 to switch back and forth between the drilling station and the non-drilling station, and the second supporter driver is used to drive the middle supporter 9 to switch back and forth between the supporting station and the non-supporting station. By arranging the front end supporter and the middle supporter, the drill rod that reaches the anchor hole station can be supported, thereby ensuring the accuracy of drilling the drill rod 6. It should be noted that when the rock drill moves forward to drill a hole, or when it switches to the second tray 12, the drill rod is always supported by the front-end drill support 7; when the rock drill moves forward to drill a hole, when the rock drill approaches the middle drill support 9, the middle drill support 9 needs to give way and will switch to the non-drilling support position; in addition, the grouting pipe and the anchor rod are both supported by the manipulator 5, and the manipulator 5 will give way and swing away during the advancement of the thruster.

[0032] It should also be noted that the aforementioned manipulator 5 can be specifically set on the beam of the advancing beam 8, or can be designed on the anchor rod library. When the anchor rod library is connected to the advancing beam through the anchor rod bracket, the manipulator can also be designed on the anchor rod bracket. In the actual application process, it can be selected according to actual needs. In this application, it is preferred to design the manipulator on the advancing beam.

[0033] In a further embodiment, the specific structure of the manipulator 5 may include a mounting seat 501 fixed to the beam body of the propulsion beam 8, a clamping bracket 503 pivotally hinged to the mounting seat 501, a driving assembly for driving the clamping bracket 503 to rotate around its hinged pivot on the mounting seat 501, a jaw plate 505 hinged to the front end of the clamping bracket 503, and a jaw plate driver 507 for driving the jaw plate 505, wherein the jaw plate driver 507 can drive the jaw plate 505 to approach and move away from the front end of the clamping bracket 503 to achieve the grabbing and releasing action. The clamping bracket can be driven to swing relative to the mounting seat by the driving assembly, so that the manipulator can grasp the grouting pipe and the anchor rod to the anchor rod hole station, and the jaw plate driver drives the jaw plate to approach and move away from the clamping bracket to achieve the grabbing and releasing action of the jaw plate, and the structure is gradual and easy to implement. Of course, it can be understood that the above is only an example of the specific structure of the manipulator in the embodiment of the present invention. In actual application, other structural forms of the manipulator can also be selected, and no more specific restrictions are made here.

[0034] In a further embodiment, the driving assembly may specifically include a hinge plate 504, a first linear push rod 508 and a second linear push rod 506. The hinge plate 504 is provided with a first hinge shaft, a second hinge shaft and a third hinge shaft arranged in a triangle; the first hinge shaft is hingedly connected to the mounting seat 501; one end of the first linear push rod 508 is hinged to the second hinge shaft, and the other end of the first linear push rod 508 is hinged to the mounting seat 501; one end of the second linear push rod 506 is hinged to the third hinge shaft, and the other end of the second linear push rod 506 is hinged to the clamping bracket 503. By designing the driving assembly into a structure of double linear push rods in conjunction with a hinge plate, on the one hand, the swing angle control of the manipulator is made more flexible, and for different flip positions, it is only necessary to drive different linear push rods to move without the need for sensor arrangement. For example, during grouting, the first linear push rod 508 of the manipulator 5 extends, and the second linear push rod 506 retracts. At this time, the manipulator 5 is in the position of clamping the grouting pipe, and the jaw plate driver 507 extends to clamp the grouting pipe 4; the second linear push rod 506 extends, and the grouting pipe 4 reaches the docking anchor rod position. At this time, the anchor rod pusher 18 is pushed forward (when a movable tray 13 is provided on the fixed seat 15, the upper movable tray 13 is driven by the propulsion cylinder 10, thereby driving the anchor rod pusher to advance), and the cycloidal motor 17 rotates to make the anchor rod pusher 1 8 is connected with the thread of the grouting pipe 4; the anchor pusher 18 continues to advance, the jaw plate driver 507 retracts, and the second linear pusher 506 retracts, so that the grouting pipe 4 can be inserted into the anchor hole, and grouting can be carried out; when the anchor is installed, the first linear pusher 508 and the second linear pusher 506 of the manipulator 5 are both retracted, the manipulator 5 is in the anchor clamping position, and the jaw plate driver 507 extends to clamp the anchor; the manipulator 5 swings the anchor to the anchor docking position, and the anchor pusher 18 is pushed forward at this time, so that the anchor pusher 18 can be connected with the anchor. In the process of grabbing and shifting the grouting pipe and the process of grabbing and shifting the anchor, the manipulator can complete different operation processes by only controlling the movement modes of different linear pushers, and the arrangement of position sensors is omitted.

[0035] In some more specific embodiments, the mounting seat 501 may also be provided with an articulated bracket 502, and the clamping bracket 503 is hinged to the articulated bracket 502. By designing the articulated bracket 502, the articulated connection between the clamping bracket and the mounting seat is more convenient.

[0036] It should be noted that most of the driving components in the anchor rod unit are driven by oil cylinders. Therefore, generally speaking, a hydraulic pipeline bracket 19 is also arranged on the propulsion beam 8 to facilitate the pipeline arrangement of the hydraulic components.

[0037] In addition, the present invention also provides an anchor trolley, including an anchor unit, which is the anchor unit of the anchor trolley described in any of the above schemes. Since the anchor unit has the above technical effects, the anchor trolley with the anchor unit should also have corresponding technical effects, which will not be repeated here.

[0038] The above is a detailed introduction to the anchor trolley and anchor unit provided by the present invention. It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other.

[0039] It should also be noted that, in this article, terms such as "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that an article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such articles or devices. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the article or device including the above elements.

[0040] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. An anchor unit of an anchor trolley, characterized in that: It comprises a propulsion beam (8), an anchor propeller (18), a rock drill (11), an anchor library (1) and a grouting pipe (4); A fixing seat (15) is provided at the rear end of the propulsion beam (8), a switching mechanism (14) is provided on the fixing seat (15), the anchor pusher (18) and the rock drill (11) are both arranged on the fixing seat (15) in a position-switchable manner, and are both connected to the switching mechanism (14), and the switching mechanism (14) can drive the anchor pusher (18) and the rock drill (11) to switch back and forth between the anchor hole position and the idle position in sequence; A clamping mechanism (3) and a manipulator (5) are provided on the width side of the propulsion beam (8); the clamping mechanism (3) is used to clamp the grouting pipe (4) so ​​as to keep it at a non-grouting station, and the manipulator (5) is capable of grabbing the grouting pipe (4) at the non-grouting station and driving the grouting pipe (4) to switch back and forth between the non-grouting station and the grouting station; The anchor rod warehouse (1) is arranged on an axially parallel side of the propulsion beam (8), and the anchor rod warehouse (1) and the manipulator (5) are located on the same side, and the manipulator (5) is also capable of grabbing the anchor rods loaded in the anchor rod warehouse (1) and driving the anchor rods to move to the anchor rod hole station; The fixed seat (15) is provided with a first tray (16), a second tray (12), and a movable tray (13) located between the first tray (16) and the second tray (12); the first tray (16), the second tray (12), and the movable tray (13) have a common sliding groove, and the direction of the sliding groove is perpendicular to the extension direction of the propulsion beam (8); the anchor pusher (18) is slidably arranged in the sliding groove of the first tray (16); the rock drill (11) is slidably arranged in the sliding groove of the second tray (12); and the switching mechanism (14) includes a first a push rod and a second push rod, wherein the first push rod is used to drive the anchor pusher (18) to slide in and out of the movable tray (13), and the second push rod is used to drive the rock drill (11) to slide in and out of the movable tray (13), the movable tray (13) can slide along the extension direction of the propulsion beam (8), and when the anchor pusher (18) is located on the movable tray (13), the anchor pusher (18) is located at the anchor hole position, and when the rock drill (11) is located on the movable tray (13), the rock drill (11) is located at the anchor hole position; The propulsion beam (8) is also provided with a front end drill support (7) located at the front of the propulsion beam (8) and a middle drill support (9) located at the middle of the propulsion beam (8), and the propulsion beam (8) is also provided with a first drill support driver and a second drill support driver, the first drill support driver is used to drive the front end drill support (7) to switch back and forth between the drilling station and the non-drilling station, and the second drill support driver is used to drive the middle drill support (9) to switch back and forth between the drilling station and the non-drilling station; The manipulator (5) is arranged on the beam body of the propulsion beam (8), and the manipulator (5) comprises a mounting seat (501) fixed to the beam body of the propulsion beam (8), a clamping bracket (503) pivotally hinged to the mounting seat (501), a driving assembly for driving the clamping bracket (503) to rotate around its hinged pivot on the mounting seat (501), a jaw plate (505) hinged to the front end of the clamping bracket (503), and a jaw plate driver (507) for driving the jaw plate (505), wherein the jaw plate driver (507) is capable of driving the jaw plate (505) to move toward and away from the front end of the clamping bracket (503) to achieve a grasping and releasing action; The driving assembly comprises a hinged plate (504), a first linear push rod (508) and a second linear push rod (506); the hinged plate (504) is provided with a first hinge shaft, a second hinge shaft and a third hinge shaft arranged in a triangle; the first hinge shaft is hingedly connected to the mounting seat (501); one end of the first linear push rod (508) is hingedly connected to the second hinge shaft, and the other end of the first linear push rod (508) is hingedly connected to the mounting seat (501); one end of the second linear push rod (506) is hingedly connected to the third hinge shaft, and the other end of the second linear push rod (506) is hingedly connected to the clamping bracket (503).

2. The anchor unit of the anchor trolley according to claim 1, characterized in that: The anchor rod library (1) is connected to the beam body of the propulsion beam (8) via an anchor rod bracket.

3. The anchor unit of the anchor trolley according to claim 2, characterized in that: The clamping mechanism (3) is arranged on the anchor support.

4. The anchor unit of the anchor trolley according to claim 1, characterized in that: The mounting seat (501) is provided with an articulated bracket (502), and the clamping bracket (503) is hingedly connected to the articulated bracket (502).

5. An anchor trolley, comprising an anchor unit, characterized in that: The anchor unit is an anchor unit of an anchor trolley according to any one of claims 1 to 4.

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