Anchor drilling robot

Abstract

The present invention discloses an anchor drilling vehicle robot, comprising a frame and a drill arm mechanism; the drill arm mechanism comprises a front drill arm mechanism and a rear drill arm mechanism, the rear drill arm mechanism comprises a first rear drill arm and a second rear drill arm, the first rear drill arm is slidably connected to the left rear part of the frame along the front-back direction, and the second rear drill arm is slidably connected to the right rear part of the frame along the front-back direction. The front drill arm mechanism comprises a fixed seat, a first side drill arm, a second side drill arm and an intermediate drill arm, the front drill arm mechanism is connected to the front of the frame, the first side drill arm is slidably connected to the fixed seat along the left-right direction through a first movable slide rail and is located on the left side of the fixed seat, the second side drill arm is slidably connected to the fixed seat along the left-right direction through a second movable slide rail and is located on the right side of the fixed seat, and the intermediate drill arm is slidably connected to the third slide rail of the fixed seat along the left-right direction. The anchor drilling vehicle robot of the present invention has the advantages of high adaptability to tunnels and high support efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel excavation and support, and in particular to an anchor drilling vehicle robot. Background Art

[0002] In the related art, the movement range of each drill arm in the front drill arm mechanism of the anchor drilling vehicle is limited. For example, although the middle drill arm in the front drill arm mechanism can move in the left and right directions of the anchor drilling vehicle, it can only move within a certain range on both sides of the center position of the front drill arm mechanism, and the movement range is also limited. The side drill arm can move left and right, deflect left and right, and deflect forward and backward, but cannot move up and down at the same time. In addition, the rear drill arm of the anchor drilling vehicle cannot move forward and backward, move up and down, deflect left and right, and deflect forward and backward at the same time, which reduces the tunnel adaptability and support efficiency of the anchor drilling vehicle. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, an embodiment of the present invention provides an anchor drilling vehicle robot, including a frame and a drilling arm mechanism;

[0004] The drill arm mechanism comprises a front drill arm mechanism and a rear drill arm mechanism, the rear drill arm mechanism comprises a first rear drill arm and a second rear drill arm, the first rear drill arm is arranged at the left rear part of the frame, the first rear drill arm is connected to the first push frame, the first push frame is slidably connected to the frame along the front and rear direction, the second rear drill arm is arranged at the right rear part of the frame, the second rear drill arm is connected to the second push frame, the second push frame is slidably connected to the frame along the front and rear direction, the front drill arm mechanism comprises a fixed seat, a first side drill arm, a second side drill arm and a middle drill arm;

[0005] The front drill arm mechanism is connected to the front part of the frame, the first side drill arm is connected to the first movable slide rail, the first movable slide rail is slidably connected to the first slide rail of the fixed seat along the left-right direction, the first side drill arm is located on the left side of the fixed seat, the second side drill arm is connected to the second movable slide rail, the second movable slide rail is slidably connected to the second slide rail of the fixed seat along the left-right direction, the second side drill arm is located on the right side of the fixed seat, and the middle drill arm is slidably connected to the third slide rail of the fixed seat along the left-right direction.

[0006] Therefore, the anchor drilling vehicle robot according to the embodiment of the present invention has the advantages of high tunnel adaptability and high support efficiency.

[0007] In some embodiments, the anchor drilling vehicle robot according to an embodiment of the present invention further includes a connecting frame, the front drill arm mechanism is connected to the connecting frame, and a plurality of connecting holes connected to the frame are provided on the connecting frame at intervals along the up and down directions, and the connecting frame is connected to the front of the frame through fasteners and one of the plurality of connecting holes.

[0008] In some embodiments, the anchor drilling vehicle robot according to the embodiment of the present invention further comprises a first driving member and a second driving member;

[0009] The first driving member is arranged on the frame, and the first driving member is connected to the first pushing frame so as to drive the first pushing frame to move forward and backward on the frame; the second driving member is arranged on the frame, and the second driving member is connected to the second pushing frame so as to drive the second pushing frame to move forward and backward on the frame.

[0010] In some embodiments, each of the first driving member and the second driving member is a forward and backward movement cylinder.

[0011] In some embodiments, the anchor drilling vehicle robot according to an embodiment of the present invention further comprises a bifurcated air cylinder, wherein the bifurcated air cylinder comprises a first branch air cylinder, a second branch air cylinder and a third branch air cylinder;

[0012] The first air distribution tube is arranged at the left front part of the frame, and the second air distribution tube is arranged at the right front part of the frame; the third air distribution tube is arranged at the middle rear part of the frame, and the front end of the third air distribution tube is connected with the rear end of each of the first air distribution tube and the second air distribution tube.

[0013] In some embodiments, a first left-right push cylinder is disposed on the fixed seat, and the first left-right push cylinder is connected to the first movable slide rail so as to drive the first movable slide rail to move on the first slide rail;

[0014] A second left-right push cylinder is disposed on the fixed seat, and the second left-right push cylinder is connected to the second movable slide rail so as to drive the second movable slide rail to move on the second slide rail;

[0015] A rack is provided on the fixing seat, and the rack extends in the left-right direction. A motor is provided on the middle drill arm, and the motor is connected to a gear transmission. The gear is meshed with the rack to drive the middle drill arm to move on the third slide rail.

[0016] In some embodiments, the first slide rail is arranged on the upper part of the fixing seat, the second slide rail is arranged on the lower part of the fixing seat, a slot extending along the left-right direction is arranged in the middle part of the fixing seat, and the third slide rail is arranged in the slot.

[0017] In some embodiments, each of the first rear drill arm, the second rear drill arm, the first side drill arm, and the second side drill arm comprises a first fixed bracket, a sliding bracket, a lifting cylinder, a rotating cylinder, a rotating bracket, a side drill frame, and a first swing cylinder;

[0018] The first fixed bracket of the first rear drill arm is connected to the left rear part of the frame, the first fixed bracket of the second rear drill arm is connected to the right rear part of the frame, the first fixed bracket of the first side drill arm is connected to the first movable slide rail, and the first fixed bracket of the second side drill arm is connected to the second movable slide rail; the sliding bracket is slidably connected to the first fixed bracket; one of the body and the piston rod of the lifting cylinder is connected to the first fixed bracket, and the other of the body and the piston rod of the lifting cylinder is connected to the sliding bracket so that The sliding bracket is pushed to move up and down on the first fixed bracket; the body of the rotating cylinder is connected to the sliding bracket; the rotating bracket is connected to the driving shaft of the rotating cylinder, and the axis of the driving shaft extends in the front-rear direction; the side drilling frame is hingedly connected to the rotating bracket; the body and one of the piston rods of the first swing cylinder are hingedly connected to the side drilling frame, and the other of the body and the piston rod of the first swing cylinder is hingedly connected to the rotating bracket to drive the side drilling frame to swing, and the swing axis of the side drilling frame is perpendicular to the axis of the driving shaft.

[0019] In some embodiments, the intermediate drill arm includes a second fixed support, an intermediate drill frame, and a second swing cylinder;

[0020] The second fixed bracket is slidably connected to the third slide rail; the intermediate drill rack is hingedly connected to the second fixed bracket; one of the body and the piston rod of the second swing cylinder is hingedly connected to the intermediate drill rack, and the other of the body and the piston rod of the second swing cylinder is hingedly connected to the second fixed bracket to drive the intermediate drill rack to swing, and the swing axis of the intermediate drill rack extends in the left and right direction.

[0021] In some embodiments, a walking portion is connected to the lower portion of the frame, and the walking portion includes a first walking mechanism and a second walking mechanism. The first walking mechanism, the second walking mechanism and the frame form a driving passage for the belt conveyor to pass through. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of an anchor drilling vehicle robot according to an embodiment of the present invention.

[0023] Figure 2 1 is a schematic diagram of a front drill arm mechanism according to an embodiment of the present invention.

[0024] Figure 3 is a schematic diagram of each of the first rear drill arm, the second rear drill arm, the first side drill arm, and the second side drill arm according to an embodiment of the present invention.

[0025] Figure 4 This is the second schematic diagram of the front drill arm mechanism according to an embodiment of the present invention.

[0026] Figure 5 Schematic diagram of the retracted state of the first and second pushing frames of the anchor drilling vehicle robot according to an embodiment of the present invention.

[0027] Figure 6 Schematic diagram of the extended state of the first pushing frame and the second pushing frame of the anchor drilling vehicle robot according to an embodiment of the present invention.

[0028] Figure numerals: 100, anchor drilling vehicle robot; 1, frame; 11, operating table; 12, ceiling; 21, rear drilling arm mechanism; 211, first rear drilling arm; 212, second rear drilling arm; 22, front drilling arm mechanism; 221, fixed seat; 2213, first slide rail; 2215, third slide rail; 2216, slot; 2217, rack; 222, first side drilling arm; 223, second side drilling arm; 201, first fixed bracket; 202, sliding bracket; 203, lifting cylinder; 204, rotating cylinder; 205, rotating bracket; 206, side drilling frame; 207, first Swing cylinder; 224, middle drill arm; 2241, second fixed bracket; 2242, middle drill frame; 2243, second swing cylinder; 2244, gear; 2245, motor; 226, first movable slide rail; 227, first left and right push cylinder; 228, second movable slide rail; 229, second left and right push cylinder; 3, connecting frame; 4, first push frame; 5, second push frame; 61, first branch air duct; 62, second branch air duct; 63, third branch air duct; 7, walking part; 71, first walking mechanism; 72, second walking mechanism; 8, electric control system; 9, hydraulic system. DETAILED DESCRIPTION

[0029] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0030] Reference below Figure 1-Figure 6 The anchor drilling robot 100 according to the embodiment of the present invention is described. The anchor drilling robot 100 according to the embodiment of the present invention comprises a frame 1 and a drilling arm mechanism. The drilling arm mechanism comprises a front drilling arm mechanism 22 and a rear drilling arm mechanism 21 .

[0031] The rear drill arm mechanism 21 includes a first rear drill arm 211 and a second rear drill arm 212. The first rear drill arm 211 is arranged at the left rear portion of the frame 1, and is connected to the first push frame 4, and the first push frame 4 is slidably connected to the frame 1 along the front-rear direction. The second rear drill arm 212 is arranged at the right rear portion of the frame 1, and is connected to the second push frame 5, and the second push frame 5 is slidably connected to the frame 1 along the front-rear direction.

[0032] The front drill arm mechanism 22 includes a fixed seat 221, a first side drill arm 222, a second side drill arm 223 and an intermediate drill arm 224. The front drill arm mechanism 22 is connected to the front of the frame 1. The first side drill arm 222 is connected to the first movable slide rail 226. The first movable slide rail 226 is slidably connected to the first slide rail 2213 of the fixed seat 221 along the left-right direction. The first side drill arm 222 is located on the left side of the fixed seat 221. The second side drill arm 223 is connected to the second movable slide rail 228. The second movable slide rail 228 is slidably connected to the second slide rail of the fixed seat 221 along the left-right direction. The second side drill arm 223 is located on the right side of the fixed seat 221. The intermediate drill arm 224 is slidably connected to the third slide rail 2215 of the fixed seat 221 along the left-right direction.

[0033] In the related art, the movement range of each drill arm in the front drill arm mechanism of the anchor drilling vehicle is limited. For example, although the middle drill arm in the front drill arm mechanism can move in the left and right directions of the anchor drilling vehicle, it can only move within a certain range on the left and right sides of the center position of the front drill arm mechanism, and the movement range is also limited. In addition, the number of middle drill arms is fixed and difficult to increase, and the efficiency is low. The side drill arm can move left and right, deflect left and right, and deflect forward and backward, but cannot move up and down at the same time. In addition, the rear drill arm of the anchor drilling vehicle cannot move forward and backward, move up and down, deflect left and right, and deflect forward and backward at the same time, all of which reduce the tunnel adaptability and support efficiency of the anchor drilling vehicle. In other words, the drill arm mechanism in the related art reduces the tunnel adaptability and support efficiency of the anchor drilling vehicle because it cannot move or has a small movement range.

[0034] According to the embodiment of the present invention, the anchor drilling vehicle robot 100 is provided with a third slide rail 2215 in the front drill arm mechanism 22 and the middle drill arm 224 is directly connected to the third slide rail 2215 by sliding in the left and right directions. This facilitates the middle drill arm 224 to slide freely in the left and right directions of the anchor drilling vehicle robot 100, so that the front drill arm mechanism 22 can realize anchoring and protection operations in the center of the tunnel, and can also realize anchoring and protection operations within a certain range on both sides of the center of the tunnel, thereby greatly improving the tunnel adaptability and support efficiency of the anchor drilling vehicle robot 100.

[0035] In addition, the middle drill arm 224 moves in the left-right direction on the third slide rail 2215 on the fixed seat 221, and the number of the middle drill arms 224 can be increased according to the need for tunnel support. The first side drill arm 222 can move in the left-right direction on the outer side of the left end of the fixed seat 221 with the first movable slide rail 226. The second side drill arm 223 can move in the left-right direction on the outer side of the right end of the fixed seat 221 with the second movable slide rail 228. The middle drill arm 224, the first side drill arm 222 and the second side drill arm 223 will not affect each other when moving. In other words, the first side drill arm 222, the second side drill arm 223 and the middle drill arm 224 of the front drill arm mechanism 22 can all move in the left-right direction, and the moving range is large, and the drill arms do not interfere with each other during the movement and anchoring operation. As a result, the front drill arm mechanism 22 can have a larger anchoring range in the first direction, thereby further improving the tunnel adaptability and support efficiency of the anchor drilling vehicle robot 100. Moreover, since each of the first push frame 4 and the second push frame 5 can slide forward and backward on the frame 1, each of the first rear drill arm 211 and the second rear drill arm 212 can move forward and backward on the frame 1, so as to facilitate the adjustment of the front and rear positions of the rear drill arm mechanism 21 in the tunnel, and facilitate the rear drill arm mechanism 21 to align the holes when anchoring (for example, when side anchors are driven on the same cross section where the tunnel boring machine has already driven the top anchor, it is convenient to align the holes so that the side anchors and the top anchors are driven on the same cross section), and at the same time, the rear drill arm mechanism 21 can drive anchors within a certain distance relative to the front drill arm mechanism 22 so as to adapt to different support spacings, thereby further improving the tunnel adaptability of the anchor drilling vehicle robot 100. For example, the rear drill arm mechanism 21 is moved so that the spacing between the rear drill arm mechanism 21 and the front drill arm mechanism 22 is an integer multiple of the tunnel anchor row spacing, or the rear drill arm mechanism 21 is moved so that the spacing between the rear drill arm mechanism 21 and the front drill arm mechanism 22 is an integer multiple of the tunnel anchor row spacing plus half of the anchor row spacing (because the anchor cable is usually arranged between two rows of anchor rods). In this way, when the anchor drilling vehicle robot 100 stops at one position, it can simultaneously perform anchor and cable support operations on the top and side of the tunnel, thereby reducing the number of times the entire vehicle is moved, thereby improving the support efficiency.

[0036] Therefore, the anchor drilling robot 100 according to the embodiment of the present invention has the advantages of high tunnel adaptability and high support efficiency.

[0037] Reference below Figure 1-Figure 6 The anchor drilling vehicle robot 100 according to an embodiment of the present invention is described in detail.

[0038] The anchor drilling robot 100 according to the embodiment of the present invention includes a frame 1 and a drill arm mechanism. The drill arm mechanism includes a front drill arm mechanism 22 and a rear drill arm mechanism 21. The front drill arm mechanism 22 and the rear drill arm mechanism 21 of this embodiment can both perform anchor bolt and cable support on the top of the tunnel, and the first side drill arm 222, the second side drill arm 223, the first rear drill arm 211 and the second rear drill arm 212 can also perform anchor bolt and cable support on the side of the tunnel. The rear drill arm mechanism 21 includes a first rear drill arm 211 and a second rear drill arm 212. The first rear drill arm 211 is connected to the first push frame 4, the first push frame 4 is connected to the left rear part of the frame 1, and the first push frame 4 can slide in the front-to-back direction. The second rear drill arm 212 is connected to the second push frame 5, the second push frame 5 is connected to the right rear part of the frame 1, and the second push frame 5 can slide in the front-to-back direction and be connected to the frame 1.

[0039] The front drill arm mechanism 22 includes a fixed seat 221, a first side drill arm 222, a second side drill arm 223 and an intermediate drill arm 224. The front drill arm mechanism 22 is connected to the front of the frame 1. The first side drill arm 222 is connected to the first movable slide rail 226. The first movable slide rail 226 is slidably connected to the first slide rail 2213 of the fixed seat 221 along the left-right direction. The first side drill arm 222 is located on the left side of the fixed seat 221. The second side drill arm 223 is connected to the second movable slide rail 228. The second movable slide rail 228 is slidably connected to the second slide rail of the fixed seat 221 along the left-right direction. The second side drill arm 223 is located on the right side of the fixed seat 221. The intermediate drill arm 224 is slidably connected to the third slide rail 2215 of the fixed seat 221 along the left-right direction.

[0040] The left and right directions are Figure 1 , Figure 2 and Figure 4 As shown by arrow A in the figure, the up and down directions are as follows Figure 1-Figure 6 As shown by arrow B in the figure, the front-to-back direction is Figure 1 , Figure 2 , Figure 4 As shown by arrow C in FIG.

[0041] It is understandable that a ceiling 12 and an operating table 11 are further provided on the upper part of the frame 1, and the operating table 11 is located below the ceiling 12. The anchor drilling vehicle robot 100 further includes an electric control system 8 and a hydraulic system 9 arranged on the frame 1.

[0042] like Figure 5 and Figure 6As shown, the anchor drilling vehicle robot 100 according to the embodiment of the present invention further includes a connecting frame 3. The front drill arm mechanism 22 is connected to the connecting frame 3. A plurality of connection holes (not shown in the figure) connected to the frame 1 are provided on the connecting frame 3 at intervals in the up-down direction. The connecting frame 3 is connected to the front of the frame 1 through fasteners and one of the plurality of connection holes. Thus, by changing the connection holes between the connecting frame 3 and the frame 1, the up-down position of the connecting frame 3 on the frame 1 can be changed, thereby changing the up-down position (the height on the anchor drilling vehicle robot 100) of the front drill arm mechanism 22 installed on the connecting frame 3 to adapt to lanes of different heights, thereby further improving the lane adaptability of the anchor drilling vehicle robot 100.

[0043] In some embodiments, the anchor drilling vehicle robot 100 according to the embodiment of the present invention further includes a first driving member (not shown in the figure) and a second driving member (not shown in the figure). The first driving member is arranged on the frame 1, and the first driving member is connected to the first push frame 4 so as to drive the first push frame 4 to move forward and backward on the frame 1. The second driving member is arranged on the frame 1, and the second driving member is connected to the second push frame 5 so as to drive the second push frame 5 to move forward and backward on the frame 1. Thus, the first push frame 4 can be moved by controlling the first driving member, and the second push frame 5 can be moved by controlling the second driving member, so that the support positions of the first rear drilling arm 211 and the second rear drilling arm 212 can be adjusted separately, thereby further improving the roadway adaptability and support efficiency of the anchor drilling vehicle robot 100.

[0044] Optionally, each of the first driving member and the second driving member is a forward and backward push cylinder. The first push frame 4 and the second push frame 5 are driven by the cylinder, which has a simple structure and good maintainability.

[0045] like Figure 1 As shown, the anchor drilling vehicle robot 100 according to an embodiment of the present invention further includes a forked air cylinder. The forked air cylinder includes a first branch air cylinder 61, a second branch air cylinder 62 and a third branch air cylinder 63. The first branch air cylinder 61 is arranged at the left front part of the frame 1. The second branch air cylinder 62 is arranged at the right front part of the frame 1. The third branch air cylinder 63 is arranged at the middle and rear part of the frame 1. The front end of the third branch air cylinder 63 is connected to the rear end of each of the first branch air cylinder 61 and the second branch air cylinder 62. A forked air cylinder is provided, and the first branch air cylinder 61 and the second branch air cylinder 62 of the forked air cylinder are respectively located at the left and right sides of the frame 1, so as to avoid interference with the connecting frame 3 connected to the middle part of the frame 1, thereby making the structure of the anchor drilling vehicle robot 100 more compact and reasonable. In addition, the first branch air duct 61 and the second branch air duct 62 located on the left and right sides of the frame 1 are convenient for docking with the two air ducts on both sides of the tunnel boring machine body. At the same time, the two branch air ducts are on both sides to avoid affecting the tunnel boring machine's unloading of materials from the conveyor hopper passing under the anchor drilling vehicle robot 100.

[0046] like Figure 2 As shown, the fixed seat 221 is provided with a first left-right push cylinder 227, which is connected to the first movable slide rail 226 so as to drive the first movable slide rail 226 to move on the first slide rail 2213. The fixed seat 221 is provided with a second left-right push cylinder 229, which is connected to the second movable slide rail 228 so as to drive the second movable slide rail 228 to move on the second slide rail. The fixed seat 221 is provided with a rack 2217, which extends in the left-right direction. The middle drill arm 224 is provided with a motor 2245 and a gear 2244. The gear 2244 is meshed with the rack 2217. The motor 2245 is in transmission connection with the gear 2244 so as to drive the middle drill arm 224 to move on the third slide rail 2215. Therefore, by controlling the first left and right push cylinder 227, the first movable slide rail 226 can be moved, by controlling the second left and right push cylinder 229, the second movable slide rail 228 can be moved, and by controlling the motor 2245, the middle drill arm 224 can be moved, so that the support position of each of the middle drill arm 224, the first side drill arm 222 and the second side drill arm 223 can be easily adjusted separately, thereby further improving the tunnel adaptability and support efficiency of the anchor drilling vehicle robot 100.

[0047] In addition, the gear 2244 can move freely within the full length of the rack 2217, so that the intermediate drill arm 224 can move freely within the full length of the third slide rail 2215, thereby improving the adaptability of the tunnel and the support efficiency.

[0048] like Figure 2 and Figure 4 As shown, the first slide rail 2213 is arranged on the upper part of the fixing seat 221. The second slide rail is arranged on the lower part of the fixing seat 221. A slot 2216 extending in the left-right direction is arranged in the middle part of the fixing seat 221. The third slide rail 2215 is arranged in the slot 2216.

[0049] Thus, the third slide rail 2215 can be arranged in the nearly full length range of the fixed seat 221 along the left-right direction. The telescopic range of the first left-right push cylinder 227 and the first slide rail 2213 can be arranged in the nearly full length range of the fixed seat 221 along the left-right direction. The telescopic range of the second left-right push cylinder 229 and the second slide rail can be arranged in the nearly full length range of the fixed seat 221 along the left-right direction. The third slide rail 2215, the first left-right push cylinder 227 and the first slide rail 2213, the second left-right push cylinder 229 and the second slide rail do not interfere with each other in the left-right direction of the fixed seat 221, so that the left-right space of the fixed seat 221 can be fully utilized, so that the left-right movement range of the first side drill arm 222, the middle drill arm 224 and the second side drill arm 223 is larger, thereby further improving the roadway adaptability and support efficiency of the anchor drilling vehicle robot 100.

[0050] In addition, the third slide rail 2215 is arranged in the groove 2216 in the middle of the fixed seat 221, which can facilitate a part of the middle drill arm 224 to penetrate into the groove 2216 and cooperate with the third slide rail 2215, thereby improving the cooperation strength between the middle drill arm 224 and the third slide rail 2215.

[0051] like Figure 4 As shown, according to the need for tunnel support, the number of the intermediate drill arms 224 can be multiple. For example, the number of the intermediate drill arms 224 is two. Each intermediate drill arm 224 has a motor 2245 and a gear 2244 matched therewith, so that each intermediate drill arm 224 can be driven separately, so that any of the multiple intermediate drill arms 224 can move left and right without affecting each other, thereby further improving the tunnel adaptability and support efficiency of the anchor drilling vehicle robot 100.

[0052] like Figure 2-Figure 4 As shown, each of the first rear drill arm 211, the second rear drill arm 212, the first side drill arm 222 and the second side drill arm 223 includes a first fixed bracket 201, a sliding bracket 202, a lifting cylinder 203, a rotating cylinder 204, a rotating bracket 205, a side drill frame 206 and a first swing cylinder 207.

[0053] The first fixed bracket 201 of the first rear drill arm 211 is connected to the left rear part of the frame 1 through the first push frame 4. The first fixed bracket 201 of the second rear drill arm 212 is connected to the right rear part of the frame 1 through the second push frame 5. The first fixed bracket 201 of the first side drill arm 222 is connected to the first movable slide rail 226. The first fixed bracket 201 of the second side drill arm 223 is connected to the second movable slide rail 228.

[0054] The sliding bracket 202 is slidably connected to the first fixed bracket 201. One of the body and the piston rod of the lifting cylinder 203 is connected to the first fixed bracket 201. The other of the body and the piston rod of the lifting cylinder 203 is connected to the sliding bracket 202 so as to push the sliding bracket 202 to move up and down on the first fixed bracket 201. The body of the rotating cylinder 204 is connected to the sliding bracket 202. The rotating bracket 205 is connected to the driving shaft of the rotating cylinder 204 so that the rotating cylinder 204 can drive the rotating bracket 205 to rotate. The axis of the driving shaft extends in the front-to-back direction. The side drilling frame 206 is hingedly connected to the rotating bracket 205. One of the body and the piston rod of the first swinging cylinder 207 is hingedly connected to the side drilling frame 206, and the other of the body and the piston rod of the first swinging cylinder 207 is hingedly connected to the rotating bracket 205 so as to drive the side drilling frame 206 to swing. The swing axis of the side drilling frame 206 is perpendicular to the axis of the driving shaft of the rotating cylinder 204 .

[0055] Thus, the side drilling frame 206 of each of the first rear drilling arm 211 and the second rear drilling arm 212 can move forward and backward, the side drilling frame 206 of the first side drilling arm 222 can move left and right on the left side of the fixing seat 221, and the side drilling frame 206 of the second side drilling arm 223 can move left and right on the right side of the fixing seat 221. The side drilling frame 206 of each of the first rear drilling arm 211, the second rear drilling arm 212, the first side drilling arm 222, and the second side drilling arm 223 can also be lifted up and down, rotated around the axis of the driving shaft extending in the front-to-back direction, and swung forward and backward at a certain angle, so that the anchor drilling vehicle robot 100 has higher roadway adaptability.

[0056] It should be noted that the upper part of the first fixed bracket 201 of the first side drill arm 222 is connected to the first movable slide rail 226. The lower part of the first fixed bracket 201 of the second side drill arm 223 is connected to the second movable slide rail 228. Since the first slide rail 2213 is arranged at the upper part of the fixed seat 221, and the second slide rail is arranged at the lower part of the fixed seat 221. Thus, the first slide rail 2213 is located at the upper part of the second slide rail, and the first movable slide rail 226 is located at the upper part of the second movable slide rail 228. The upper part of the first fixed bracket 201 of the first side drill arm 222 is connected to the first movable slide rail 226. The lower part of the first fixed bracket 201 of the second side drill arm 223 is connected to the second movable slide rail 228, so that the heights of the first fixed bracket 201 of the first side drill arm 222 and the first fixed bracket 201 of the second side drill arm 223 in the up and down directions can be consistent.

[0057] like Figure 2 and Figure 4As shown, the middle drill arm 224 includes a second fixed bracket 2241, an middle drill frame 2242 and a second swing oil cylinder 2243. The second fixed bracket 2241 is slidably connected to the third slide rail 2215. The middle drill frame 2242 is hingedly connected to the second fixed bracket 2241. One of the body and the piston rod of the second swing oil cylinder 2243 is hingedly connected to the middle drill frame 2242, and the other of the body and the piston rod of the second swing oil cylinder 2243 is hingedly connected to the second fixed bracket 2241 so as to drive the middle drill frame 2242 to swing. The swing axis of the middle drill frame 2242 extends in the left-right direction.

[0058] Thus, the middle drill frame 2242 of the middle drill arm 224 can move in the left and right direction, and can also swing forward and backward at a certain angle, so that the front drill arm mechanism 22 of the anchor drilling vehicle robot 100 has higher tunnel adaptability.

[0059] like Figure 1 As shown, the lower part of the frame 1 is connected to a walking part 7. The walking part 7 includes a first walking mechanism 71 and a second walking mechanism 72. The first walking mechanism 71, the second walking mechanism 72 and the frame 1 form a driving passage for the conveyor belt to pass through. This makes it convenient for the anchor drilling vehicle robot 100 to straddle the conveyor belt, thereby facilitating the parallel operation of excavation, support and transportation in the tunnel.

[0060] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0061] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0062] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0064] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0065] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An anchor drilling robot, characterized in that: include: frame; and A drill arm mechanism, the drill arm mechanism includes a front drill arm mechanism and a rear drill arm mechanism, the rear drill arm mechanism includes a first rear drill arm and a second rear drill arm, the first rear drill arm is arranged at the left rear part of the frame, the first rear drill arm is connected to a first push frame, the first push frame is slidably connected to the frame along the front and rear direction, the second rear drill arm is arranged at the right rear part of the frame, the second rear drill arm is connected to a second push frame, the second push frame is slidably connected to the frame along the front and rear direction, the front drill arm mechanism includes: The front drill arm mechanism is connected to the front of the frame. a first side drill arm, the first side drill arm is connected to a first movable slide rail, the first movable slide rail is slidably connected to the first slide rail of the fixed seat along the left-right direction, and the first side drill arm is located on the left side of the fixed seat, a second side drill arm, the second side drill arm is connected to a second movable slide rail, the second movable slide rail is slidably connected to the second slide rail of the fixed seat along the left-right direction, and the second side drill arm is located on the right side of the fixed seat, and An intermediate drill arm, wherein the intermediate drill arm is slidably connected to the third slide rail of the fixing seat in a left-right direction; It further comprises a connecting frame, the front drill arm mechanism is connected to the connecting frame, a plurality of connecting holes connected to the frame are provided on the connecting frame at intervals in the up-down direction, and the connecting frame is connected to the front of the frame through a fastener and one of the plurality of connecting holes; Further comprising a forked air duct, the forked air duct comprising: a first air distribution cylinder and a second air distribution cylinder, wherein the first air distribution cylinder is arranged at the left front part of the frame, and the second air distribution cylinder is arranged at the right front part of the frame; and A third air distribution tube, the third air distribution tube is arranged at the middle and rear part of the frame, and the front end of the third air distribution tube is connected with the rear end of each of the first air distribution tube and the second air distribution tube; The first slide rail is arranged on the upper part of the fixing seat, the second slide rail is arranged on the lower part of the fixing seat, a slot extending along the left-right direction is arranged in the middle part of the fixing seat, and the third slide rail is arranged in the slot; Each of the first rear drill arm, the second rear drill arm, the first side drill arm, and the second side drill arm comprises: a first fixed bracket, wherein the first fixed bracket of the first rear drill arm is connected to the left rear portion of the frame, the first fixed bracket of the second rear drill arm is connected to the right rear portion of the frame, the first fixed bracket of the first side drill arm is connected to the first movable slide rail, and the first fixed bracket of the second side drill arm is connected to the second movable slide rail; A sliding bracket, wherein the sliding bracket is slidably connected to the first fixed bracket; A lifting cylinder, wherein one of the body and the piston rod of the lifting cylinder is connected to the first fixed bracket, and the other of the body and the piston rod of the lifting cylinder is connected to the sliding bracket so as to push the sliding bracket to move up and down on the first fixed bracket; A rotating oil cylinder, the body of which is connected to the sliding bracket; A rotating bracket, wherein the rotating bracket is connected to a driving shaft of the rotating cylinder, and an axis of the driving shaft extends in a front-to-rear direction; A side drilling frame, the side drilling frame being hingedly connected to the rotating support; and A first swing oil cylinder, one of a body and a piston rod of the first swing oil cylinder is hingedly connected to the side drilling frame, and the other of the body and the piston rod of the first swing oil cylinder is hingedly connected to the rotating bracket so as to drive the side drilling frame to swing, and the swing axis of the side drilling frame is perpendicular to the axis of the driving shaft; The intermediate drill arm comprises: a second fixed bracket, the second fixed bracket being slidably connected to the third slide rail; an intermediate drilling frame, the intermediate drilling frame being hingedly connected to the second fixed support; and A second swing cylinder, one of the body and the piston rod of the second swing cylinder is hingedly connected to the intermediate drilling frame, and the other of the body and the piston rod of the second swing cylinder is hingedly connected to the second fixed bracket to drive the intermediate drilling frame to swing, and the swing axis of the intermediate drilling frame extends in the left and right direction.

2. The anchor drilling robot according to claim 1, characterized in that: Further including: A first driving member, the first driving member is arranged on the frame, and the first driving member is connected to the first push frame so as to drive the first push frame to move forward and backward on the frame; and A second driving member is arranged on the frame, and the second driving member is connected to the second push frame so as to drive the second push frame to move forward and backward on the frame.

3. The anchor drilling robot according to claim 2, characterized in that: Each of the first driving member and the second driving member is a forward and backward moving cylinder.

4. The anchor drilling robot according to claim 1, characterized in that: A first left-right push cylinder is disposed on the fixed seat, and the first left-right push cylinder is connected to the first movable slide rail so as to drive the first movable slide rail to move on the first slide rail; A second left-right push cylinder is disposed on the fixed seat, and the second left-right push cylinder is connected to the second movable slide rail so as to drive the second movable slide rail to move on the second slide rail; A rack is provided on the fixing seat, and the rack extends in the left-right direction. A motor is provided on the middle drill arm, and the motor is connected to a gear transmission. The gear is meshed with the rack to drive the middle drill arm to move on the third slide rail.

5. The anchor drilling robot according to claim 1, characterized in that: The lower part of the frame is connected with a walking part, and the walking part includes a first walking mechanism and a second walking mechanism. The first walking mechanism, the second walking mechanism and the frame form a driving passage for the belt conveyor to pass through.

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