Automatic support operation system

Abstract

The application discloses an automatic support operation system, which comprises a rack, a net laying device, a drilling device and a rod feeding device; the net laying device comprises a net roll bin and a roll grabbing assembly, the net roll bin is installed on the rack, and the roll grabbing assembly is installed on the rack; the net roll bin is used for storing anchor net rolls; the drilling device comprises a mechanical arm and a drilling machine, the mechanical arm is connected to the rack, and the drilling machine is installed on the mechanical arm; the rod feeding device comprises an anchor rod rack and a rod grabbing assembly, both the anchor rod rack and the rod grabbing assembly are installed on the rack, the rod grabbing assembly is located between the anchor rod rack and the mechanical arm, and the anchor rod rack is used for storing a plurality of anchor rods; through the arrangement of the net laying device, the drilling device and the rod feeding device, the present application improves the semi-automatic operation process of net laying and anchor rod driving, and through the cooperation between the highly integrated mechanical structures required by net laying and anchor rod driving, continuous operation of anchor net laying and anchor rod driving can be realized, and the labor intensity and operation time are reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of supporting equipment, and particularly relates to an automatic supporting operation system. BACKGROUND

[0002] In order to ensure the safety of underground workers, supporting is an indispensable process for the underground tunneling working face. The tunneling face supporting is mainly to realize the stability of the surrounding rock of the underground tunneling roadway by laying metal nets and driving anchor rods.

[0003] The existing tunneling working face supporting operation is mainly in the form of manual operation and anchor rod drilling by the anchor rod drilling machine on the tunneling machine. However, the net laying and anchor rod driving operations are relatively separated, the labor intensity is high, the operation time is long, and the automatic operation of the underground supporting cannot be realized. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art. To this end, the embodiment of the present application proposes an automatic supporting operation system which highly integrates the mechanical structures required for the net laying and anchor rod driving operations, realizes the continuous operation of the anchor net and anchor rod driving through the cooperation between each other, improves the semi-automatic operation process of the present net laying and anchor rod driving, and reduces the labor intensity and operation time.

[0005] The automatic supporting operation system of the embodiment of the present application comprises a rack, a net laying device, a drilling machine device and a rod feeding device. The net laying device comprises a net roll bin and a roll grabbing assembly. The net roll bin is installed on the rack, and the roll grabbing assembly is installed on the rack. The net roll bin is used for storing anchor net rolls, and the roll grabbing assembly is used for grabbing the anchor net rolls and conveying them to a set position. The drilling machine device comprises a mechanical arm and a drilling machine. The mechanical arm is connected to the rack, and the drilling machine is installed on the mechanical arm. The mechanical arm is used to drive the drilling machine to move to a set position, and the drilling machine is used to drill anchor rods into the set position. The rod feeding device comprises an anchor rod rack and a rod grabbing assembly. The anchor rod rack and the rod grabbing assembly are both installed on the rack, and the rod grabbing assembly is located between the anchor rod rack and the mechanical arm. The anchor rod rack is used for storing a plurality of anchor rods, and the rod grabbing assembly is used for grabbing the anchor rods on the anchor rod rack and installing them on the drilling machine.

[0006] The automatic supporting operation system of the embodiment of the present application improves the semi-automatic operation process of the present net laying and anchor rod driving by the setting of the net laying device, the drilling machine device and the rod feeding device, and realizes the continuous operation of the anchor net and anchor rod driving by the highly integrated mechanical structures required for the net laying and anchor rod driving operations, thereby reducing the labor intensity and operation time.

[0007] In some embodiments, the roll grabbing assembly comprises:

[0008] A turntable seat is installed on the rack.

[0009] a rotating table, which is rotatably connected to the rotating table seat;

[0010] a hydraulic telescopic rod, which is installed in the rotating table seat, one end of the hydraulic telescopic rod being connected to the rotating table seat, the other end of the hydraulic telescopic rod being connected to the rotating table, the rotating table being movable along the axial direction of the rotating table under the drive of the hydraulic telescopic rod;

[0011] a connecting arm, a lower end of which being connected to the rotating table;

[0012] a first oil cylinder, a lower end of which being connected to the rotating table, an upper end of which being connected to the connecting arm, the connecting arm being able to swing under the drive of the first oil cylinder;

[0013] a cantilever, which is connected to an upper end of the connecting arm;

[0014] a second oil cylinder, a lower end of which being connected to the connecting arm, an upper end of which being connected to the cantilever, the cantilever being able to swing under the drive of the second oil cylinder;

[0015] a grabbing hand, which is connected to one end of the cantilever, the grabbing hand being used for clamping on both sides of the anchor net roll to grab the anchor net roll.

[0016] In some embodiments, the grabbing roll assembly further comprises a gear ring, a first driving device and a gear, the gear ring being arranged in the rotating table, the gear ring being connected to the inner wall of the rotating table and being coaxial with the rotating table, the first driving device being arranged in the rotating table, the gear being sleeved on the output shaft of the first driving device and being engaged with the gear ring.

[0017] In some embodiments, the grabbing roll assembly further comprises a first telescopic rod, a cross section of the first telescopic rod being rectangular, one end of the first telescopic rod being connected to the cantilever, the other end of the first telescopic rod being connected to the grabbing hand, the grabbing hand being slidable along the length direction of the first telescopic rod under the drive of the first telescopic rod.

[0018] In some embodiments, the grabbing hand comprises a support and two anchor net roll clamping jaws, the support being connected to one end of the cantilever, the two anchor net roll clamping jaws being connected to the support and being spaced apart along the length direction of the support, a clamping groove being arranged on the upper end surface of the anchor net roll clamping jaw, the clamping groove being suitable for clamping one end of the anchor net roll.

[0019] In some embodiments, the mechanical arm comprises:

[0020] A connecting piece is rotatably connected to the frame body, and a second driving device is connected to the frame body and in driving connection with the connecting piece;

[0021] A rotary arm has one end rotatably connected to the connecting piece;

[0022] A rotary oil cylinder has one end connected to the connecting piece and the other end connected to the rotary arm, and the rotary arm is swingable under the drive of the rotary oil cylinder;

[0023] A drill frame is connected to the other end of the rotary arm, and a drilling machine is mounted on the drill frame and slidable along the length direction of the drill frame;

[0024] A positioning plate is rotatably connected to the drill frame, and the positioning plate is provided with a positioning hole coaxial with the output shaft of the drilling machine.

[0025] In some embodiments, the anchor rod frame comprises:

[0026] A first rotating shaft is mounted on the frame;

[0027] A third driving device is mounted on the frame and in driving connection with the first rotating shaft;

[0028] A placement disc support is sleeved on the first rotating shaft;

[0029] A plurality of second rotating shafts are connected to the placement disc support and arranged at intervals along the circumference of the first rotating shaft;

[0030] A plurality of placement discs are in one-to-one correspondence with the plurality of second rotating shafts, and each placement disc is sleeved on a corresponding second rotating shaft, and each placement disc is provided with a plurality of mounting holes distributed at intervals along the circumference of the placement disc, and an anchor rod is inserted into each mounting hole.

[0031] In some embodiments, the upper rod device further comprises a fourth driving device mounted on the frame, and when the second rotating shaft corresponds to the fourth driving device, the second rotating shaft is in driving connection with the fourth driving device.

[0032] In some embodiments, the grab rod assembly comprises:

[0033] A lifting and rotating seat is mounted on the frame;

[0034] a support installed on the lifting swivel base, the support being rotatable around the axis of the lifting swivel base under the drive of the lifting swivel base and being movable along the axis of the lifting swivel base under the drive of the lifting swivel base;

[0035] a grab hand installed on the support, the grab hand being used to grab an anchor rod on the anchor rod rack and to be installed on the drilling machine.

[0036] In some embodiments, the grab hand comprises a first clamping arm, a second clamping arm, a return spring and an electromagnet, the first clamping arm and the second clamping arm are both connected to the support, the first clamping arm is slidable in a direction towards / away from the second clamping arm, the return spring is located between the first clamping arm and the second clamping arm, one end of the return spring is connected to the first clamping arm, the other end of the return spring is connected to the second clamping arm, the return spring is used to drive the first clamping arm to slide in a direction away from the second clamping arm, the electromagnet is connected to the second clamping arm, the electromagnet is used to drive the first clamping arm to slide in a direction towards the second clamping arm. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is a schematic diagram of an automatic support operation system according to an embodiment of the present application.

[0038] Figure 2 is a schematic diagram of a net laying device according to an embodiment of the present application.

[0039] Figure 3 is a schematic diagram of a drilling machine device according to an embodiment of the present application.

[0040] Figure 4 is a schematic diagram of a rod lifting device according to an embodiment of the present application.

[0041] REFERENCE NUMERALS:

[0042] rack 1,

[0043] net laying device 2, net roll warehouse 201, warehouse 2011, rack 2012, pedestal 202, rotary table 203, hydraulic telescopic rod 204, connecting arm 205, first oil cylinder 206, cantilever 207, second oil cylinder 208, roll grabbing hand 209, gear ring 210, first driving device 211, gear wheel 212, first telescopic rod 213,

[0044] drilling machine device 3, mechanical arm 31, connecting piece 311, rotary arm 312, rotary oil cylinder 313, drill rack 314, positioning plate 315, drill rack arm 316, drilling machine 32,

[0045] The upper rod device 4 comprises an anchor rod rack 41, a first rotating shaft 411, a third driving device 412, a placing disc support 413, a second rotating shaft 414, a placing disc 415, a grabbing rod assembly 42, a lifting rotary seat 421, a support 422, a grabbing rod hand 423,

[0046] The anchor net roll 5,

[0047] The anchor rod 6. DETAILED DESCRIPTION

[0048] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0049] The automatic support operation system of the embodiments of the present application is described below.

[0050] As Figure 1 shown, the automatic support operation system of the embodiments of the present application comprises a rack 1, a net laying device 2, a drilling device 3 and an upper rod device 4.

[0051] The net laying device 2 comprises a net roll bin 201 and a grabbing roll assembly, the net roll bin 201 is installed on the rack 1, and the grabbing roll assembly is installed on the rack 1. The net roll bin 201 is used to store the anchor net roll 5, and the grabbing roll assembly is used to grab the anchor net roll and deliver it to a set position, such as the two sides and the top of the roadway. The net laying device 2 is located at the front end of the rack 1. Before the automatic support operation system is started, sufficient anchor net rolls are loaded into the net roll bin 201. When the automatic support operation system is started, the grabbing roll assembly first grabs one end of the anchor net roll and places it at the two sides or the top of the roadway. The other end of the anchor net roll is not limited by the grabbing roll assembly, so that the anchor net roll is hung down and unfolded under the action of its own gravity, and the laying of the anchor net is completed.

[0052] The drilling device 3 comprises a mechanical arm 31 and a drilling machine 32. The mechanical arm 31 is connected to the rack 1, and the drilling machine 32 is installed on the mechanical arm 31. The mechanical arm 31 is used to drive the drilling machine 32 to move to a set position, and the drilling machine 32 is used to drill the anchor rod into the set position. The drilling device 3 is located behind the net laying device 2. After the anchor net roll is laid, the mechanical arm 31 drives the drilling machine 32 to move to the anchor net, and the drilling machine 32 drills the anchor rod into the rock mass and presses the anchor net with the tray on the anchor rod. The anchor rod is repeatedly drilled into the set position until the entire anchor net is laid and fixed with the anchor rod and the tray on the anchor rod.

[0053] The upper rod device 4 comprises an anchor rod rack 41 and a rod grabbing assembly 42, both of which are installed on the frame 1, and the rod grabbing assembly 42 is located between the anchor rod rack 41 and the drilling machine 32, the anchor rod rack is used for storing a plurality of anchor rods 6, and the rod grabbing assembly 42 is used for grabbing the anchor rod on the anchor rod rack 41 and installing on the drilling machine 32; the anchor rod rack 41 is located at the end of the frame 1, and the rod grabbing assembly 42 is located between the drilling machine device 3 and the anchor rod rack 41, before the automatic support operation system is started, sufficient anchor rods are loaded on the anchor rod rack, when the automatic support operation system is started, the rod grabbing assembly 42 installs the anchor rod on the anchor rod rack on the drilling machine 32, after the drilling machine 32 drills the anchor rod into the rock mass, the mechanical arm 31 drives the drilling machine 32 to reset, the rod grabbing assembly 42 installs the anchor rod on the anchor rod rack on the motor again, until the anchor net is laid and fixed by the anchor rod and the tray on the anchor rod or the anchor rod on the anchor rod rack 41 is used up.

[0054] The automatic support operation system of the embodiment of the application improves the current semi-automatic operation process of laying a net and drilling an anchor rod by the setting of the net laying device 2, the drilling machine device 3 and the upper rod device 4, and realizes continuous operation of laying a net and drilling an anchor rod by the cooperation of the mechanical structures required by the net laying and anchor drilling operations, thereby reducing the labor intensity and operation time.

[0055] As shown in Figure 1 Optionally, the net roll warehouse 201 comprises a warehouse 2011 and a rack 2012, the warehouse 2011 is connected to the frame 1, and the rack 2012 is connected to the warehouse 2011 and located above the warehouse 2011, the anchor net rolls in the warehouse 2011 are closely arranged to increase the number of the anchor net rolls stored in the warehouse 2011, and the rack 2012 is provided with a net roll rack, and the anchor net rolls are sequentially arranged on the net roll rack to facilitate the grabbing of the roll grabbing assembly.

[0056] Optionally, the net laying device 2 and the drilling machine device 3 are provided in plurality, the plurality of net laying devices 2 and the plurality of drilling machine devices 3 are one-to-one corresponding, the plurality of net laying devices 2 are distributed along the left-right direction on the frame 1, and the plurality of net laying devices 2 and the plurality of drilling machine devices 3 operate simultaneously to further improve the operation speed.

[0057] As shown in Figure 1 and Figure 2As shown, in some embodiments, the coil gripping assembly includes a turntable 203 base 202, a turntable 203, a hydraulic telescopic rod 204, a connecting arm 205, a first hydraulic cylinder 206, a cantilever 207, a second hydraulic cylinder 208, and a coil gripper 209. The turntable 203 base 202 is mounted on the frame 1, and the turntable 203 is rotatably connected to the turntable 203 base 202. The hydraulic telescopic rod 204 is installed inside the turntable 203 base 202, with one end connected to the turntable 203 base 202 and the other end connected to the turntable 203. The turntable 203 moves along the turntable 203 under the drive of the hydraulic telescopic rod 204. The axial movement is possible. The lower end of the connecting arm 205 is connected to the turntable 203. The lower end of the first hydraulic cylinder 206 is connected to the turntable 203, and the upper end of the first hydraulic cylinder 206 is connected to the connecting arm 205. The connecting arm 205 can pitch and swing under the drive of the first hydraulic cylinder 206. The cantilever 207 is connected to the upper end of the connecting arm 205. The lower end of the second hydraulic cylinder 208 is connected to the connecting arm 205, and the upper end of the second hydraulic cylinder 208 is connected to the cantilever 207. The cantilever 207 can pitch and swing under the drive of the second hydraulic cylinder 208. The grabber 209 is connected to one end of the cantilever 207. The grabber 209 is used to clamp onto both sides of the anchor net roll to grab the anchor net roll.

[0058] When laying the anchor mesh, the turntable 203 rotates, causing the connecting arm 205 to rotate. The first hydraulic cylinder 206 and the second hydraulic cylinder 208 drive the connecting arm 205 and the cantilever 207 to move, thereby adjusting the position of the grabbing hand 209 so that the grabbing hand 209 is engaged with both sides of the anchor mesh roll. Then, the turntable 203 rotates, causing the connecting arm 205 to rotate. The first hydraulic cylinder 206 and the second hydraulic cylinder 208 drive the connecting arm 205 and the cantilever 207 to move again, adjusting the position of the grabbing hand 209 so that the grabbing hand 209 drives the anchor mesh roll to the two sides or the top of the roadway. Since the other end of the anchor mesh roll is not restricted by the grabbing assembly, the anchor mesh roll hangs down and unfolds under its own gravity, completing the laying of the anchor mesh.

[0059] like Figure 2 As shown, the gripping assembly further includes a gear ring 210, a first drive device 211, and a gear 212. The gear ring 210 is disposed inside the turntable 203, connected to the inner wall of the turntable 203, and coaxial with the turntable 203. The first drive device 211 is disposed inside the turntable 203, and the gear 212 is sleeved on the output shaft of the first drive device 211 and meshes with the gear ring 210. The first drive device 211 drives the gear 212 to rotate, the gear 212 drives the gear ring 210 meshing with the gear 212 to rotate, and the gear ring 210 drives the turntable 203 to rotate around the axis of the gear ring 210 as the center of rotation.

[0060] Optionally, the first drive device 211 is a stepper motor.

[0061] like Figure 1 andFigure 2 As shown, the gripping assembly further includes a first telescopic rod 213 with a rectangular cross-section. One end of the first telescopic rod 213 is connected to the cantilever 207, and the other end is connected to the gripper 209. The gripper 209 can slide along the length of the first telescopic rod 213 under its drive. Thus, in these embodiments, when the connecting arm 205 and the cantilever 207 move the gripper 209 to a position aligned with the set position, the gripping or web-laying movement can be completed simply by moving the gripper 209 along the length of the first telescopic rod 213, simplifying the movement of the gripping assembly. Simultaneously, the square cross-section of the first telescopic rod 213 prevents the gripper 209 from rotating due to uneven gravity on both sides, avoiding gripping or web-laying failures or accidents caused by the rotation of the gripper 209.

[0062] Optionally, the grabber 209 includes a bracket (not shown) and two anchor mesh roll clamps (not shown). The bracket is connected to one end of the cantilever 207, and the two anchor mesh roll clamps are both connected to the bracket, with the two clamps spaced apart along the length of the bracket. A slot is provided on the upper surface of each clamp, suitable for engaging one end of the anchor mesh roll. Thus, in these embodiments, the grabber 209 moves to below the anchor mesh roll, and then moves upward to allow one side of the anchor mesh roll to enter the slot, thereby completing the grabbing of the anchor mesh roll by the grabber 209 and simplifying the movement of the grabber 209 in grabbing the anchor mesh roll.

[0063] like Figure 1 and Figure 3 As shown, in some embodiments, the robotic arm 31 includes a connector 311, a second drive device (not shown), a rotary arm 312, a rotary cylinder 313, a drill frame 314, and a positioning plate 315. The connector 311 is rotatably connected to the frame, the second drive device is connected to the frame, and the second drive device is connected to the connector 311 in a transmission manner. One end of the rotary arm 312 is rotatably connected to the connector 311, one end of the rotary cylinder 313 is connected to the connector 311, and the other end of the rotary cylinder 313 is connected to the rotary arm 312. The rotary arm 312 can swing under the drive of the rotary cylinder 313. The drill frame 314 is connected to the other end of the rotary arm 312, and the drill 32 is mounted on the drill frame 314. The drill 32 can slide along the length direction of the drill frame 314. The positioning plate 315 is rotatably connected to the drill frame 314, and the positioning plate 315 is provided with a positioning hole, which is coaxial with the output shaft of the drill 32.

[0064] When the drilling rig device 3 is in operation, the grab rod device installs one end of the anchor rod to the drilling rig 32 and places the anchor rod in the positioning hole, thereby completing the installation and positioning of the anchor rod, and then the drilling rig 32 is started and fed along the length direction of the drilling frame 314 to drill the anchor rod into the rock mass and compress the anchor rod tray on the anchor net, and the drilling of the anchor rod into the designated position is repeated until the entire anchor net is laid and fixed by the anchor rods and the anchor rod trays.

[0065] Optionally, a second telescopic rod (not shown) is installed on the drilling frame 314, the axis of the second telescopic rod is parallel to the length direction of the drilling frame 314, one end of the second telescopic rod is connected to the drilling frame 314, and the other end of the second telescopic rod is connected to the drilling rig 32, and the drilling rig 32 is slidable along the length direction of the drilling frame 314 under the drive of the second telescopic rod.

[0066] As shown in Figure 1 Optionally, the mechanical arm 31 further comprises a drilling frame arm 316, the first end of the drilling frame arm 316 is rotatably connected to one end of the slewing arm 312, the second end of the drilling frame arm 316 is rotatably connected to the drilling frame 314, and the first end of the drilling frame arm 316 and the second end of the drilling frame arm 316 are respectively driven by the slewing motor. Thus, in these embodiments, the automatic support operation system of the embodiments of the present application makes the drilling frame 314 rotatable relative to the slewing arm 312 through the arrangement of the drilling frame arm 316, so that the movement of the drilling frame 314 is more flexible, and the drilling frame arm 316 increases the movement range of the drilling frame 314 and reduces the movement dead angle of the drilling frame 314.

[0067] As shown in Figure 1 and Figure 4 In some embodiments, the anchor rod rack 41 comprises a first rotating shaft 411, a third driving device 412, a placement disc support 413, a second rotating shaft 414 and a placement disc 415; the first rotating shaft 411 is installed on the rack 1, the third driving device 412 is installed on the rack 1, the third driving device 412 is in transmission connection with the first rotating shaft 411, the placement disc support 413 is sleeved on the first rotating shaft 411, the second rotating shaft 414 is in plurality, the plurality of second rotating shafts 414 are connected to the placement disc support 413, the plurality of second rotating shafts 414 are arranged in a spaced manner along the circumference of the first rotating shaft 411, the placement disc 415 is in plurality and corresponds to the plurality of second rotating shafts 414 one by one, the placement disc 415 is sleeved on the corresponding second rotating shaft 414, the placement disc 415 is provided with a plurality of mounting holes, the plurality of mounting holes are distributed in a spaced manner along the circumference of the placement disc 415, and the anchor rod is inserted into the mounting hole.

[0068] When the upper rod device 4 is in operation, after the grab rod assembly 42 grabs an anchor rod on the placing disc 415, the second rotating shaft 414 drives the placing disc 415 to rotate, so that the next anchor rod moves to a set position, and the grabbing is repeated until all the anchor rods on the current placing disc 415 are grabbed, then the first rotating shaft 411 rotates, so that the next placing disc 415 moves to a set position, and the grabbing is repeated until all the anchor rods on the anchor rod rack 41 are grabbed.

[0069] Further, the upper rod device 4 further comprises a fourth driving device (not shown) installed on the rack 1, and the second rotating shaft 414 is in transmission connection with the fourth driving device when the second rotating shaft 414 rotates to a position corresponding to the fourth driving device.

[0070] Optionally, a driving gear 212 (not shown) is installed on an output shaft of the fourth driving device, and a driven gear 212 (not shown) matched with the driving gear 212 is installed on each of the second rotating shafts 414, and the driven gear 212 on the second rotating shaft 414 is engaged with the driving gear 212 when the second rotating shaft 414 rotates to a position corresponding to the fourth driving device.

[0071] In some embodiments, the grab rod assembly 42 comprises a lifting and rotating seat 421, a support 422, and a grab rod hand 423; the lifting and rotating seat 421 is installed on the rack 1, the support 422 is installed on the lifting and rotating seat 421, the support 422 is rotatable about an axis of the lifting and rotating seat 421 under the driving of the lifting and rotating seat 421, and the support 422 is movable along the axis of the lifting and rotating seat 421 under the driving of the lifting and rotating seat 421, the grab rod hand 423 is installed on the support 422, and the grab rod hand 423 is used to grab the anchor rod on the anchor rod rack 41 and install the anchor rod on the drilling machine 32.

[0072] When the grab rod assembly 42 is in operation, the lifting and rotating seat 421 rotates to drive the support 422 to rotate, so that the grab rod hand 423 corresponds to the anchor rod on the anchor rod rack 41, the lifting and rotating seat 421 drives the support 422 to move upward after the grab rod hand 423 clamps the anchor rod, the grab rod hand 423 drives the anchor rod to move upward so that the anchor rod is separated from the anchor rod rack 41, then the lifting and rotating seat 421 drives the support 422 to rotate, so that the anchor rod is aligned with the drilling machine 32, and one end of the anchor rod is installed on the drilling machine 32, and the installation of the anchor rod is completed.

[0073] Further, the grab hand 423 comprises a first clamping arm, a second clamping arm, a reset spring and an electromagnet, the first clamping arm and the second clamping arm are connected to the support 422, the first clamping arm is slidable in a direction towards / away from the second clamping arm, the reset spring is located between the first clamping arm and the second clamping arm, one end of the reset spring is connected to the first clamping arm, the other end of the reset spring is connected to the second clamping arm, the reset spring is used to drive the first clamping arm to slide in a direction away from the second clamping arm, and the electromagnet is connected to the second clamping arm and used to drive the first clamping arm to slide in a direction towards the second clamping arm.

[0074] When the grab hand 423 operates, the electromagnet is started to drive the first clamping arm to slide in a direction towards the second clamping arm, the first clamping arm and the second clamping arm clamp the anchor rod, after the anchor rod is installed on the drilling machine 32, the electromagnet is turned off, and the first clamping arm slides in a direction away from the second clamping arm under the action of the reset spring, so that the grab hand 423 is separated from the anchor rod.

[0075] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0076] In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0077] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0078] In the present application, unless specifically stated and limited otherwise, a first feature "on" or "under" a second feature can be directly in contact with the second feature, or indirectly in contact with the second feature through an intermediate medium. Also, a first feature "over", "above" and "on top of" a second feature can be directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. A first feature "under", "below" and "underneath" a second feature can be directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0079] In the present application, the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" mean that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the present application. The illustrative appearances of the above-mentioned terms in various places in the specification are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Moreover, the terms "first", "second", "third", etc. are used herein merely as identifiers for different elements, regions, or layers, and are not intended to be taken literally, unless otherwise specified.

[0080] Although the above-mentioned embodiments have been shown and described, it is to be understood that the above-mentioned embodiments are exemplary, and are not to be construed as limiting the present application, and any changes, modifications, replacements, and variations of the above-mentioned embodiments made by those skilled in the art are within the scope of the present application.

Claims

1. An automated bolting operation system, characterized by, The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system.

2. The automated support operation system according to claim 1, characterized by The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. 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The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation system. The application relates to an automatic support operation 3. The automated support operation system of claim 1, wherein The roll grabbing assembly further comprises a first telescopic rod, a cross section of the first telescopic rod is rectangular, one end of the first telescopic rod is connected with the cantilever, and the other end of the first telescopic rod is connected with the roll grabbing hand, the roll grabbing hand is slidable along the length direction of the first telescopic rod under the drive of the first telescopic rod.

4. The automated support operation system of claim 1, wherein The mechanical arm comprises: a connecting piece and a second driving device, the connecting piece is rotatably connected to a frame body, and the second driving device is connected to the frame body and in transmission connection with the connecting piece; a rotary arm, one end of the rotary arm is rotatably connected to the connecting piece; a rotary oil cylinder, one end of the rotary oil cylinder is connected to the connecting piece, and the other end of the rotary oil cylinder is connected to the rotary arm, the rotary arm is swingable under the drive of the rotary oil cylinder; a drilling rig, the drilling rig is connected to the other end of the rotary arm, a drilling machine is installed on the drilling rig, and the drilling machine is slidable along the length direction of the drilling rig; a positioning plate, the positioning plate is rotatably connected to the drilling rig, and the positioning plate is provided with a positioning hole coaxial with an output shaft of the drilling machine.

5. The automated support operation system of claim 1, wherein, The anchor rod rack comprises: a first rotating shaft, the first rotating shaft is installed on the rack; a third driving device, the third driving device is installed on the rack and in transmission connection with the first rotating shaft; a placing disc support, the placing disc support is sleeved on the first rotating shaft; a plurality of second rotating shafts, the plurality of second rotating shafts are connected to the placing disc support and are arranged at intervals along the circumference of the first rotating shaft; a plurality of placing discs, the plurality of placing discs correspond to the plurality of second rotating shafts one by one, the placing discs are sleeved on the corresponding second rotating shafts, and the placing discs are provided with a plurality of mounting holes distributed at intervals along the circumference of the placing discs, and anchor rods are inserted into the mounting holes.

6. The automated support operation system according to claim 5, characterized by The upper rod device further comprises a fourth driving device, the fourth driving device is installed on the rack, and when the second rotating shaft rotates to correspond to the fourth driving device, the second rotating shaft is in transmission connection with the fourth driving device.

7. The automated support operation system of claim 1, wherein The grab rod assembly comprises: a lifting rotary seat, the lifting rotary seat is installed on the rack; a support, the support is installed on the lifting rotary seat, the support is rotatable about the axis of the lifting rotary seat under the drive of the lifting rotary seat, and the support is movable along the axis of the lifting rotary seat under the drive of the lifting rotary seat; a grab rod hand, the grab rod hand is installed on the support and used for grabbing anchor rods on the anchor rod rack and installing the anchor rods on the drilling machine.

8. The automated support operation system of claim 7, wherein, The grab bar hand comprises a first clamping arm, a second clamping arm, a reset spring and an electromagnet, the first clamping arm and the second clamping arm are connected to the support, the first clamping arm is slidable in the direction of approaching / leaving the second clamping arm, the reset spring is located between the first clamping arm and the second clamping arm, one end of the reset spring is connected with the first clamping arm, the other end of the reset spring is connected with the second clamping arm, the reset spring is used to drive the first clamping arm to slide in the direction of leaving the second clamping arm, and the electromagnet is connected to the second clamping arm, and the electromagnet is used to drive the first clamping arm to slide in the direction of approaching the second clamping arm.

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