Anchor drilling vehicle, power system and control method

Abstract

The present invention discloses an anchor drilling vehicle, a power system, and a control method. A diesel engine is provided, and a generator is connected to one output end of the diesel engine via a coupling. A transfer case is provided at the other output end of the diesel engine, and the output shafts of the transfer case are connected to a first hydraulic pump and a second hydraulic pump, respectively. The present invention achieves dual control through the power system, both electronic and oil-controlled. For devices with relatively low work intensity requirements, such as working devices driven by motors, construction accuracy is high, and each process is fully automated, allowing full-section anchoring operations to be performed. Remote control can be performed by personnel away from the work area, greatly improving the device's applicability and operational capabilities. For devices with relatively high work intensity requirements, such as the vehicle body and angle adjustment device, hydraulic control is adopted, saving energy while achieving better power control.

Description

Technical Field

[0001] The present invention relates to the technical field of anchor drilling machines for coal mines, and in particular to an anchor drilling vehicle, a power system and a control method. Background Art

[0002] Currently, anchor bolting, as an effective roadway support method, has become the primary support method for coal mine roadways and an indispensable technology for achieving high-yield and efficient production. During anchor bolting, the hole diameter is 30 mm and the hole depth is generally 2.4 m. Four to six roof anchor bolts are installed in the roadway section, and six to eight anchor bolts are installed on both sides of the sidewalls. When some anchor bolts and anchor nets in a coal mine roadway fail, this can cause deformation of the surrounding rock, directly impacting the safety of construction personnel and equipment. Manual repair of the roadway anchor bolts is necessary, but specialized equipment for this purpose is lacking on the market.

[0003] At present, in response to the demand for anchor hole re-drilling and repair construction of tunnel roofs and high-level side walls, domestic coal mines generally rely on manual use of single-body pneumatic anchor drill arms for re-drilling operations. Although the movement is convenient and flexible, its capacity is small and the construction scope is limited, the degree of automation is low, the safety performance is poor, the labor intensity is high, and it needs to connect water, connect air, and set up an operating platform, and the construction is difficult. Some coal mines also use traditional hydraulic drilling rigs for construction, which are generally simple modifications of conventional tunnel drilling rigs with low specialization. Although the construction efficiency is high, there are problems such as inconvenient equipment transfer, poor adaptability to tunnel conditions and limited adjustment range of the whole machine. At the same time, the existing special multi-arm anchor drilling rigs on the market are mainly used to match tunneling machines for large-scale anchor drilling construction. The re-drilling anchor construction has the characteristics of long site distribution distance and small number of construction projects at a single site. The equipment has problems such as difficult transfer and movement, long auxiliary adjustment time, and low construction efficiency. In addition, the equipment currently on the market generally uses hydraulic transmission systems for anchor construction, drilling construction, anchor net, anchor agent installation and anchor installation, etc. The construction efficiency is low and the precision is low. It is impossible to achieve full process automation and requires manual auxiliary operation. The safety performance is poor and cannot meet the requirements of safe and efficient drilling construction in coal mines. Summary of the Invention

[0004] In response to the problems existing in the above-mentioned existing anchor bolting equipment, the present invention provides an anchor bolt drilling vehicle, a power system and a control method. The working device is driven by an electric motor, has high construction precision, and each process is fully automatic. It can perform full-section anchoring construction operations, and personnel can perform remote control away from the work area, thereby greatly improving the scope of application and operating capacity of the equipment.

[0005] To achieve the above object, the present invention is implemented through the following technical solutions:

[0006] A power system for an anchor drilling vehicle is provided, wherein a diesel engine is provided, and a generator is provided at one output end of the diesel engine via a coupling; a transfer case is provided at the other output end of the diesel engine, and the output shafts of the transfer case are respectively connected to a first hydraulic pump and a second hydraulic pump.

[0007] Optionally, the output power of the diesel engine satisfies:

[0008]

[0009] Where: N f is the output power of the diesel engine, kW;

[0010] P H is the generator output power, kW;

[0011] P e is the rated power of the diesel engine under rated operating conditions, kW;

[0012] η is the efficiency of the generator;

[0013] k1 is the power correction coefficient of the generator, ranging from 0.9 to 1;

[0014] k2 is the power correction coefficient of the hydraulic pump, ranging from 0.9 to 1;

[0015] p1 is the system pressure of hydraulic pump 1, MPa;

[0016] Q1 is the system flow of hydraulic pump 1, L / min;

[0017] p2 is the system pressure of hydraulic pump 2, MPa;

[0018] Q2 is the system flow of hydraulic pump 2, L / min;

[0019] η1 is the efficiency of hydraulic pump 1;

[0020] η2 is the efficiency of hydraulic pump 2.

[0021] Optionally, an electric control system is provided, wherein the electric control system is powered by a generator and a driver is provided, and a feed motor, a rotary motor, an anchoring motor and a servo motor are provided in parallel with the driver.

[0022] Optionally, a hydraulic system is also provided, which is powered by hydraulic pump 1 and hydraulic pump 2. A hydraulic oil tank is provided, which includes a first hydraulic circuit, which is powered by hydraulic pump 1 and transfers hydraulic oil to hydraulic valve group 1; and a second hydraulic circuit, which is powered by hydraulic pump 2 and transfers hydraulic oil to hydraulic valve group 2.

[0023] An anchor drilling vehicle is provided with a vehicle body, on which a working device, an angle adjustment device, a power system and an auxiliary system are arranged; the power system is any anchor drilling rig power system described in the present invention.

[0024] Optionally, the power system is installed in the vehicle body, and the generator provides power to the working device; the hydraulic pump 1 and the hydraulic pump 2 provide power to the angle adjustment device and the vehicle body.

[0025] Optionally, a pneumatic system is also provided, which includes an air compressor, an air storage tank, a filter dryer, an anchor agent bin and an air pipeline. The air is compressed by the air compressor and then sprayed into the air storage tank; the high-pressure gas in the air storage tank is dried and filtered by the filter dryer, and then the resin medicine roll stored in the anchor agent bin is pushed into the air pipeline.

[0026] Optionally, the angle adjustment device is provided with a main working arm, the lower end of the main working arm is hingedly provided with a second rotary reducer, and the upper end of the second rotary reducer is hingedly provided with a hydraulic cylinder; the piston end of the hydraulic cylinder is hinged to the middle part of the main working arm; the upper end of the main working arm is hingedly provided with a secondary working arm, and a third rotary reducer is provided at the hinged position; and a rotary reducer is provided at the end of the secondary working arm.

[0027] Optionally, the working device includes a feeding fuselage, the lower part of which is connected to the angle adjustment device through a rotary reducer; a feeding device, a rotary device and an anchoring device are provided at one end of the feeding fuselage, and an anchor rod bin and a side thrust device are provided on the feeding fuselage; an orifice device and a straightener are provided at the other end of the feeding fuselage.

[0028] The control method of the anchor drilling vehicle of the present invention comprises:

[0029] Step 1: After determining the failure location of the roadway anchor, the construction personnel will operate the anchor drilling vehicle to move to the location and inspect the safety and construction conditions of the work site;

[0030] Step 2: Stabilize the anchor drilling vehicle, adjust the angle of the working device through the angle adjustment device to ensure that the working range of the working device meets the design requirements, and use the working device to install the anchor net to the failure area of ​​the tunnel and fix it;

[0031] Step 3: Move the rotary device into position, use the rotary device and the feeding device to complete the drilling construction of the drill rod once, and then return the rotary device to the initial position;

[0032] Step 4: After the orifice device rotates, press the drill rod head downward from the orifice position, and at the same time insert the feed body into the orifice position. Use the pneumatic system to drive multiple resin cartridges into the drill hole, connect the drill rod head to the orifice device, and cooperate with the side thrust device to move the rotary device sideways.

[0033] Step 5: The side push device moves the anchor device to its place, the anchor rod magazine transports the anchor rod to the corresponding axial direction of the anchor device, the anchor device connects the anchor rod, and cooperates with the feeding device to complete the anchor rod construction, so that the anchor rod rotates and stirs the resin to the bottom of the hole to ensure that the anchor rod and the hole wall are bonded;

[0034] Step 6: Use steps 3 to 5 to complete the anchor rod construction at the rest of the anchor net to meet the design requirements for anchor net installation.

[0035] The present invention has the following beneficial effects:

[0036] The anchor drilling vehicle of the present invention has changed the current predicament of lack of specialized construction equipment for supplementary anchoring. It has the ability to move quickly, independent water and air supply, integrated installation of anchor net and anchoring agent, etc. The working device is driven by an electric motor, with high construction precision. Each process is fully automatic, and full-section anchoring construction operations can be carried out. Personnel can perform remote control away from the work area, thereby greatly improving the scope of application and operation capacity of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of the anchor drilling rig of the present invention;

[0038] Figure 2 for Figure 1 Schematic diagram of the power system structure in ;

[0039] Figure 3 This is a schematic diagram of the power transmission route of the electronic control system;

[0040] Figure 4 This is a schematic diagram of the power transmission route of the hydraulic system;

[0041] Figure 5 for Figure 1 Schematic diagram of the working device structure;

[0042] Figure 6 This is a schematic diagram of the structure of the pneumatic anchoring agent transmission system;

[0043] Figure 7 for Figure 1 Schematic diagram of the angle adjustment device structure;

[0044] The meanings of the symbols in the accompanying drawings are as follows:

[0045] 1-car body, 2-power system, 3-angle adjustment device, 4-working device, 5-auxiliary system;

[0046] 20-Hydraulic valve group 1, 21-Driver, 22-Hydraulic valve group 2, 23-Controller, 24-Generator, 25-Diesel engine, 251-Coupling, 252-Transfer case, 26-Hydraulic pump 1, 27-Hydraulic pump 2, 28-Remote control, 29-Hydraulic oil tank, a-Feed motor, b-Slewing motor, c-Anchor motor, d-Servo motor;

[0047] 41-feeding device, 42-rotating device, 43-anchoring device, 44-thrusting device, 45-anchor bar, 46-feeding fuselage, 47-orifice device, 48-centralizer;

[0048] 31-slewing reducer 2, 32-main working arm, 33-hydraulic cylinder, 34-slewing reducer 1, 35-secondary working arm, 36-slewing reducer 3;

[0049] 6-gas pipeline, 7-anchoring agent tank, 8-filter dryer, 9-gas storage tank, 10-air compressor. DETAILED DESCRIPTION

[0050] The present invention is described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention. The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0051] Combine Figure 2-4 The power system of the anchor drilling rig of the present invention comprises a diesel engine 25. One output end of the diesel engine 25 is connected to a generator 24 via a coupling 251. The other output end of the diesel engine 25 is connected to a transfer case 252. The output shafts of the transfer case 252 are respectively connected to hydraulic pump 1 26 and hydraulic pump 2 27. The diesel engine 25 is installed within the vehicle body 1 and provides total power to the anchor drilling rig. One output end is connected to the generator 24, and the other output end is connected to the input end of the transfer case 252. The input shafts of hydraulic pump 1 26 and hydraulic pump 2 27 are respectively connected to the output shaft of the transfer case 252. Hydraulic pump 1 26 is connected to hydraulic valve group 1 20 via hydraulic hoses, and hydraulic pump 2 27 is connected to hydraulic valve group 2 22 via hydraulic hoses. A controller 23 and a driver 21 are respectively fixed to the vehicle body 1. A remote control 28 is placed in the cab. The diesel engine 25 cancels the conventional fan end connection, and the two ends of the crankshaft are respectively a generator and a hydraulic pump station. The output at both ends can ensure that the electronic control system and the hydraulic system can work normally, saving equipment layout space. At the same time, the generator output power can realize closed-loop control and be adjusted according to the external load feedback. By controlling the output torque and speed of the rotary motor, feed motor, anchor drilling rig and rotating motor, the working mechanism can be guaranteed to infinitely adjust the construction capacity according to the size of the external load, with high energy utilization. At the same time, when the equipment is on standby, the diesel engine can output at a relatively low power idle speed.

[0052] In the embodiment of the present disclosure, to ensure the normal operation of the electronic control system and the hydraulic system and to improve the output efficiency of the diesel engine 25, the output power of the diesel engine 25 should be efficiently matched with the output power of the electronic control system and the hydraulic system on both sides. The output power of the diesel engine 25 satisfies:

[0053]

[0054] Where: N f is the output power of the diesel engine, kW;

[0055] P H is the generator output power, kW;

[0056] P e is the rated power of the diesel engine under rated operating conditions, kW;

[0057] η is the efficiency of the generator;

[0058] k1 is the power correction coefficient of the generator, ranging from 0.9 to 1;

[0059] k2 is the power correction coefficient of the hydraulic pump, ranging from 0.9 to 1;

[0060] p1 is the system pressure of hydraulic pump 1, MPa;

[0061] Q1 is the system flow of hydraulic pump 1, L / min;

[0062] p2 is the system pressure of hydraulic pump 2, MPa;

[0063] Q2 is the system flow of hydraulic pump 2, L / min;

[0064] η1 is the efficiency of hydraulic pump 1;

[0065] η2 is the efficiency of hydraulic pump 2.

[0066] The power system is matched according to the formula. When the diesel engine starts, its total output power is adjusted in real time according to the above formula to ensure that the total output power meets the design requirements, improving energy utilization and operating efficiency. A sensor unit collects the electronic control system's input power and its output voltage signals in real time. These signals are calibrated to determine the corresponding relationship between the input power and output voltage signals. The sensor unit's voltage signal is applied to the hydraulic system's solenoid pressure reducing valve. The output pressure oil of the solenoid pressure reducing valve acts on the internal swash plate cylinder rods of hydraulic pumps one and two. By changing the swash plate angles of hydraulic pumps one and two, the hydraulic system's output flow rate is adjusted, ultimately changing the hydraulic system's input power. The electronic control system and the hydraulic system utilize power feedback control. When the input power required by the electronic control system increases, the diesel engine speed increases, which inevitably increases the hydraulic system flow rate and power. At this time, power feedback reduces the hydraulic system's output power, ensuring that the electronic control system's power dominates the diesel engine's total output power, achieving intelligent matching between the electronic control system and the hydraulic system. When the electronic control system is on standby, the voltage signal of the generator sensor unit approaches zero, and the output pressure oil pressure of the electromagnetic pressure reducing valve approaches zero. At this time, the hydraulic system is only affected by the load sensitive signal of the hydraulic valve, and outputs according to the load, and the output power is completely determined by the load of the hydraulic system.

[0067] In the embodiment of the present disclosure, an electric control system is also provided. The electric control system is powered by a generator 24, a driver 21 is provided, and a feed motor a, a rotary motor b, an anchoring motor c and a servo motor d are provided in parallel with the driver 21. Figure 3 As shown, the electronic control system is mainly used to control the electric control circuit transmission of the anchor drilling rig; the electronic control system is mainly powered by the generator 24, which is transmitted to the driver 21. The driver 21 transmits the power to the feed motor a, the rotary motor b, the anchoring motor c and the servo motor d respectively to ensure the matching of voltage and current. The controller 23 mainly controls the action of each actuator, and the remote control 28 is used to send signals to the controller 23.

[0068] In the embodiment of the present disclosure, a hydraulic system is also provided. The hydraulic system is powered by a hydraulic pump 1 26 and a hydraulic pump 2 27. A hydraulic oil tank 29 is provided. The hydraulic system includes a first hydraulic circuit powered by a hydraulic pump 1 26 and transmits hydraulic oil to a hydraulic valve group 1 20; and a second hydraulic circuit powered by a hydraulic pump 2 27 and transmits hydraulic oil to a hydraulic valve group 2 22. Figure 4As shown, the hydraulic system primarily controls the hydraulic circuit transmission of the anchor drilling rig. Powered by dual hydraulic pumps and sharing a hydraulic oil tank 29, the system comprises two hydraulic circuits. The first hydraulic circuit is powered by hydraulic pump 1 26, which delivers hydraulic oil to hydraulic valve group 1 20. This valve group 20 then delivers the hydraulic oil to the two wheel-side hydraulic motors and four hydraulic outriggers of vehicle body 1. The second hydraulic circuit is powered by hydraulic pump 2 27, which delivers hydraulic oil to hydraulic valve group 2 22. This valve group 22 then delivers the hydraulic oil to various components requiring hydraulic oil, including slewing reducer 1, slewing reducer 2, slewing reducer 3, the hydraulic cylinder, the side thrust cylinder, the rotary cylinder, the gripper swing cylinder, the gripper grab cylinder, the feed cylinder, the swing cylinder, the water pump, and the hydraulic motor.

[0069] like Figure 1 The illustration shows a rock bolting rig, comprising a vehicle body 1, on which are mounted a working device 4, an angle adjustment device 3, and a power system 2. The power system 2 can be any of the power systems for rock bolting rigs described herein. To enhance the rig's operational capabilities, an auxiliary system 5 is also provided. The power system 2 and auxiliary system 5 are arranged within the chassis of the vehicle body 1. The angle adjustment device 3 is mounted on the chassis of the vehicle body 1 via a second rotary reducer 31. The working device 4 is connected to the angle adjustment device 3 via a first rotary reducer 34.

[0070] like Figure 5 As shown, the working device 4 includes a feeding body 46, and the lower part of the feeding body 46 is connected to the angle adjustment device 3 through a rotary reducer 34; a feeding device 41, a rotary device 42 and an anchoring device 43 are arranged at one end of the feeding body 46, and an anchor rod magazine 45 and a side thrust device 44 are arranged on the feeding body 46; an orifice device 47 and a straightener 48 are arranged at the other end of the feeding body 46; the feeding body 46 is connected to the angle adjustment device 3 through a rotary reducer 34, and includes a double cylindrical guide rail, a ball screw device, a support plate, a body and a front top device, the double cylindrical guide rail is fixed in the body, the ball screw device is installed on the body, the support plate is connected to the ball screw device through a nut mounting seat, and slides back and forth through the double cylindrical guide rail, and the front top device is mainly used to push the feeding body into the tunnel roof or side wall, and at the same time, the front end has a permanent magnet, which can pick up the anchor nets one by one.

[0071] The rotary device 42 includes a rotary motor, a reducer 1, a power head 1, and a drill rod. The output shaft of the rotary motor b is connected to the input end of the reducer 1 for transmission. The reducer 1 is fixed to the side thrust device 44. The output end of the reducer 1 is connected to the input end of the power head 1 for transmission. The output shaft of the power head 1 is connected to the drill rod through a thread for transmission. The length of the drill rod can be customized according to the construction conditions. The drilling construction is completed in one stroke.

[0072] The anchoring device 43 includes an anchoring motor, a reducer 2, and a power head 2. The output shaft of the anchoring motor c is connected to the input end of the reducer 2 for transmission. The reducer 2 is fixed to the side thrust device 44. The output end of the reducer 2 is connected to the input end of the power head 2 for transmission. The output shaft of the power head 2 is connected to the anchor rod through a hexagonal connection for transmission. Anchor rod construction is completed in one anchoring stroke.

[0073] The side thrust device 44 is arranged at the rear end of the feed fuselage 46. The side thrust cylinder can complete the switching between the rotating device 42 and the anchoring device 43, and fix the rotating device 42 or the anchoring device 43 on the support plate;

[0074] The feeding device 41 includes a feeding motor and a reducer 3. The output shaft of the feeding motor a is connected to the input end of the reducer 3 for transmission. The reducer 3 is fixed to the feeding body 46. The output end of the reducer 3 is connected to the ball screw device for transmission.

[0075] The centralizer 48 is mounted on the front of the feeder body 46 and is used to stabilize the anchor and drill rod construction;

[0076] The anchor bar bin 45 includes a bin body, a rotating oil cylinder, a gripper swing oil cylinder, a gripper grabbing oil cylinder and multiple anchor bars. The bin body is fixed to the side of the fuselage and adopts a left wheel structure for storing multiple anchor bars. The rotating oil cylinder rotates the bin body to complete the switching of anchor bars. The gripper swing oil cylinder completes the accurate delivery of anchor bars to the second center position of the power head. The gripper grabbing oil cylinder completes the grabbing and releasing of anchor bars.

[0077] The orifice device 47 includes a servo motor d, a feed cylinder, a swing cylinder, a machine base, and a feed mechanism. The servo motor d is connected to the machine base to complete the rotation of the machine base and press the drill rod head from the orifice position to the bottom. The feed cylinder is connected to the feed mechanism and is used to insert the feed mechanism into the orifice position. The swing cylinder is connected to the machine base and is used to fix the drill rod to the machine base.

[0078] Auxiliary system 5 includes pneumatic system and water system;

[0079] like Figure 6As shown, the pneumatic system includes an air compressor 10, an air tank 9, a filter-dryer 8, an anchoring agent tank 7, and an air pipeline 6. After being compressed by the air compressor 10, the air is ejected into the air tank 9. After being dried and filtered by the filter-dryer 8, the high-pressure gas in the air tank 9 pushes the resin rolls stored in the anchoring agent tank 7 into the air pipeline 6. The air compressor 10 is driven by a hydraulic motor. Air is collected through the air inlet of the air compressor 10, compressed by the air compressor 10, and ejected from the air outlet of the air compressor 10 into the air tank 9. Due to the temperature difference between the air collected at the air inlet and the compressed air ejected from the air outlet after work, most of the condensed water will inevitably precipitate, along with a small amount of oil and impurities. The filter-dryer 8 separates most of the oil and dust. Filtering by the filter-dryer 8 can produce relatively pure air and prevent water precipitation. The anchoring agent tank 7 stores the resin rolls, and the air pipeline 6 is connected to the orifice device 47. The water system includes a water tank, a water pump, and a water pipe. The water tank is fixed in the vehicle platform and is used to store static pressure water. The water pump is used to spray water from the water tank. One end of the water pipe is connected to the water tank, and the other end is connected to the power head to provide water for construction.

[0080] like Figure 7 As shown, the angle adjustment device 3 is provided with a main working arm 32, and the lower end of the main working arm 32 is hingedly provided with a rotary reducer 2 31, and the rotary reducer 2 31 is hingedly provided with a hydraulic cylinder 33; the piston end of the hydraulic cylinder 33 is hinged to the middle part of the main working arm 32; the upper end of the main working arm 32 is hingedly provided with a secondary working arm 35, and a rotary reducer 36 is provided at the hinge position; the end of the secondary working arm 35 is provided with a rotary reducer 1 34; the lower end of the main working arm 32 is connected to one end of the rotary reducer 2 31, and the other end of the rotary reducer 2 31 is connected to the vehicle body 1, so as to realize the steering function of the main working arm 32, one end of the hydraulic cylinder 33 is connected to the vehicle body 1 or the rotary reducer 2 31, and the other end is connected to the middle part of the main working arm 32, so as to complete the angle adjustment function of the main working arm 32, and the upper end of the main working arm 32 is connected to the secondary working arm 35 through the rotary reducer 36, so as to realize the angle adjustment function of the secondary working arm 35.

[0081] The control method of the anchor drilling vehicle includes:

[0082] Step 1: After determining the location of the failed anchor bolts in the roadway, the construction personnel will operate the anchor drilling vehicle to transport the location, inspect the safety and construction conditions of the work site, clean up the failed anchor bolts, anchor nets, and broken coal and rock blocks on the surface, and promptly address safety hazards to ensure operational safety.

[0083] Step 2: Use four sets of hydraulic legs to stabilize the electric intelligent anchor drill rig, adjust the angle of the working device 4 through the angle adjustment device 3 to ensure that the working range of the working device 4 meets the design requirements, and the construction personnel use the remote control 28 to remotely control the construction from a safe distance. Use the front lifting device of the working device 4 to install the anchor net to the failure area of ​​the roadway and fix it;

[0084] Step 3: The construction worker operates the remote control 28 to move the rotary device 42 into position and fix it to the support plate. The rotary device 42 and the feed device 41 cooperate to complete the drilling construction of the drill rod once. According to the construction needs, the slag and dust can be discharged through the water system. Then the rotary device 42 returns to the initial position. The output capacity of the rotary motor b and the feed motor a can be infinitely adjusted according to the load changes inside and outside the borehole. The precise control can adapt to different construction tunnel conditions, ensure construction efficiency, and complete the drilling construction automatically.

[0085] Step 4: After the orifice device 47 rotates, it presses the drill rod head downward from the orifice position, and at the same time, the feed mechanism is inserted into the orifice position. The pneumatic system is used to drive multiple resin coils into the drill hole. Then, the oil cylinder is swung to connect the drill rod head with the orifice device, and the side push mechanism is used to move the rotary device 42 sideways, automatically completing the coil loading operation.

[0086] Step 5: The side push device 44 moves the anchor device 43 sideways into place and fixes it to the support plate; the anchor rod magazine 45 transports the anchor rod to the center position of the power head 2, and the anchor device 43 connects the anchor rod and fixes it with the anchor rod nut through the power head 2. At the same time, the feeding device 41 cooperates to complete the anchor rod construction. First, the power head 2 drives the anchor rod nut to output a small torque, so that the anchor rod rotates at a certain speed to stir the resin to the bottom of the hole, ensuring that the anchor rod and the hole wall are tightly bonded together and have a certain strength. Finally, the power head 2 outputs a large torque to cut off the anchor rod nut pin, and the anchor rod tray is installed through the nut to realize automated anchor rod construction.

[0087] Step 6: Use steps 3 to 5 to complete the anchor rod construction at the rest of the anchor net to meet the design requirements for anchor net installation.

[0088] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A power system for an anchor drilling vehicle, characterized in that: A diesel engine (25) is provided, and a generator (24) is connected to an output end of one side of the diesel engine (25) via a coupling (251); The other side output end of the diesel engine (25) is connected to a transfer case (252), and the output shaft of the transfer case (252) is connected to a hydraulic pump 1 (26) and a hydraulic pump 2 (27). The output power of the diesel engine (25) satisfies: ； Where: is the output power of the diesel engine, kW; is the generator output power, kW; is the rated power of the diesel engine under rated operating conditions, kW; is the efficiency of the generator; is the power correction coefficient of the generator, ranging from 0.9 to 1; is the power correction coefficient of the hydraulic pump, ranging from 0.9 to 1; is the system pressure of hydraulic pump 1, MPa; is the system flow of hydraulic pump 1, L / min; is the system pressure of hydraulic pump 2, MPa; is the system flow of hydraulic pump 2, L / min; is the efficiency of hydraulic pump 1; is the efficiency of hydraulic pump 2; An electric control system is also provided, wherein the electric control system is powered by a generator (24), a driver (21) is provided, and a feed motor (a), a rotary motor (b), an anchoring motor (c) and a servo motor (d) are provided in parallel with the driver (21); A hydraulic system is also provided, wherein the hydraulic system is powered by a hydraulic pump 1 (26) and a hydraulic pump 2 (27), a hydraulic oil tank (29) is provided, and includes a first hydraulic circuit, wherein the first hydraulic circuit is powered by the hydraulic pump 1 (26) and transmits hydraulic oil to the hydraulic valve group 1 (20); The second hydraulic circuit comprises a second hydraulic circuit powered by a second hydraulic pump (27) for delivering hydraulic oil to a second hydraulic valve group (22); The power system is matched according to the formula. The sensor unit is used to collect the input power of the electronic control system and the output voltage signal of the sensor unit in real time. The input power and output voltage signals are calibrated to obtain the corresponding relationship between the input power and the output voltage signal. The voltage signal of the sensor unit is applied to the electromagnetic pressure reducing valve of the hydraulic system. The output pressure oil of the electromagnetic pressure reducing valve acts on the internal swash plate cylinder rod of hydraulic pump 1 and hydraulic pump 2. By changing the swash plate angle of hydraulic pump 1 and hydraulic pump 2, the output flow of the hydraulic system is changed, and ultimately the input power of the hydraulic system is changed. The electronic control system and the hydraulic system adopt power feedback control. When the input power required by the electronic control system increases, the diesel speed increases. At this time, the output power of the hydraulic system is reduced through power feedback. When the electronic control system is on standby, the voltage signal of the generator sensor unit approaches zero, and the output pressure oil pressure of the electromagnetic pressure reducing valve approaches zero. At this time, the hydraulic system is only affected by the load sensitive signal of the hydraulic valve, and outputs according to the load, and the output power is completely determined by the load of the hydraulic system.

2. An anchor drilling vehicle, characterized in that: A vehicle body (1) is provided, wherein a working device (4), an angle adjustment device (3) and a power system (2) are provided on the vehicle body (1); The power system (2) is the anchor drilling rig power system according to claim 1.

3. The anchor drilling vehicle according to claim 2, characterized in that: The power system (2) is installed in the vehicle body (1), and the generator (24) provides power to the working device (4); The hydraulic pump 1 (26) and the hydraulic pump 2 (27) provide power for the angle adjustment device (3) and the vehicle body (1).

4. The anchor drilling vehicle according to claim 2, characterized in that: A pneumatic system is also provided, comprising an air compressor (10), an air storage tank (9), a filter dryer (8), an anchoring agent bin (7) and an air transmission pipeline (6). After being compressed by the air compressor (10), the air is ejected into the air storage tank (9); The high-pressure gas in the gas storage tank (9) is dried and filtered by the filter dryer (8), and then the resin roll stored in the anchoring agent bin (7) is pushed into the gas transmission pipeline (6).

5. The anchor drilling vehicle according to claim 2, characterized in that: The angle adjustment device (3) is provided with a main working arm (32), the lower end of the main working arm (32) is hingedly provided with a second rotary reducer (31), and the upper end of the second rotary reducer (31) is hingedly provided with a hydraulic cylinder (33); The piston end of the hydraulic oil cylinder (33) is hinged to the middle of the main working arm (32); the upper end of the main working arm (32) is hinged to the secondary working arm (35), and the hinge position is provided with a rotary reducer 3 (36); the end of the secondary working arm (35) is provided with a rotary reducer 1 (34).

6. The anchor drilling vehicle according to claim 5, characterized in that: The working device (4) includes a feeding body (46), and the lower part of the feeding body (46) is connected to the angle adjustment device (3) through a rotary reducer (34); A feeding device (41), a rotating device (42) and an anchoring device (43) are provided at one end of the feeding fuselage (46), and an anchor rod bin (45) and a side thrust device (44) are provided on the feeding fuselage (46); The other end of the feed body (46) is provided with an orifice device (47) and a centralizer (48).

7. The control method of the anchor drilling vehicle according to claim 6, characterized in that: include: Step 1: After determining the failure location of the roadway anchor, the construction personnel will operate the anchor drilling vehicle to move to the location and inspect the safety and construction conditions of the work site; Step 2: Stabilize the anchor drilling vehicle, adjust the angle of the working device (4) through the angle adjustment device (3), ensure that the operating range of the working device (4) meets the design requirements, and use the working device (4) to install the anchor net to the failure area of ​​the tunnel and fix it; Step 3: Move the rotary device (42) to the position, use the rotary device (42) and the feeding device (41) to complete the drilling construction of the drill rod once, and then return the rotary device (42) to the initial position; Step 4: After the orifice device (47) rotates, the drill rod head is pressed downward from the orifice position, and at the same time, the feed body (46) is inserted into the orifice position, and a plurality of resin cartridges are driven into the drill hole using the pneumatic system. The drill rod head is connected to the orifice device (47), and the side thrust device (44) is used to move the rotary device (42) sideways; Step 5: The side push device (44) moves the anchoring device (43) to the right side, and the anchor rod magazine (45) transports the anchor rod to the corresponding axial direction of the anchoring device (43). The anchoring device (43) connects the anchor rod and cooperates with the feeding device (41) to complete the anchor rod construction. The anchor rod rotates and stirs the resin to the bottom of the hole to ensure that the anchor rod and the hole wall are bonded; Step 6: Use steps 3 to 5 to complete the anchor rod construction at the rest of the anchor net to meet the design requirements for anchor net installation.

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