Automated roof bolter

Abstract

The application discloses an automatic anchor rod drilling rig, which comprises a vehicle body, a mechanical arm assembly, a drilling frame assembly and an anchor injection assembly. The mechanical arm assembly comprises a first mounting seat, a telescopic arm and a connecting device. The first mounting seat is rotatably arranged on the vehicle body. One end of the telescopic arm is rotatably connected with the first mounting seat. The other end of the telescopic arm is connected with the connecting device. The drilling frame assembly is rotatably connected with the connecting device. The anchor injection assembly comprises a frame, a first sleeve, a grouting piece, an anchor rod adapter and a driving piece. The frame is connected with the drilling frame assembly and is movable along the length direction of the drilling frame assembly. The grouting piece is connected with the frame and is movable along the length direction of the drilling frame assembly. The grouting piece is provided with a fluid channel which is communicated with the first sleeve. The anchor rod adapter is connected with one end of the first sleeve which is away from the grouting piece. The driving piece is drivingly connected with the first sleeve. The automatic anchor rod drilling rig has high mechanization degree and improves the anchor rod supporting efficiency.

Description

Technical Field

[0001] This invention belongs to the field of tunnel support technology, and particularly relates to an automated bolt drilling rig. Background Technology

[0002] In related technologies, the construction process of anchor bolt support includes drilling, conveying anchoring agent, mixing anchoring agent, installing anchor bolts and cables, and tensioning the anchor bolts. This process is cumbersome, highly reliant on manual labor, and after drilling, the surrounding rock is prone to collapse under mining stress. Manually inserting the anchoring agent into the borehole is difficult, especially in fractured coal and rock masses or uneven borehole walls, requiring considerable time to complete the installation and reducing support efficiency. Drilling, anchoring agent installation, and pre-tensioning all require different tools, and disassembling drill rods and switching between different tools is time-consuming. Such a complex and cumbersome process limits the development of automation and intelligence in anchor bolt support construction, and low levels of mechanization and automation result in slow coal mine roadway construction. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of this invention propose an automated anchor bolt drilling rig, which has a high degree of mechanization and improves the efficiency of anchor bolt support.

[0004] The automated anchor bolt drilling rig of this invention includes a vehicle body, a robotic arm assembly, a drill frame assembly, and an anchoring assembly. The robotic arm assembly includes a first mounting base, a telescopic arm, and a connecting device. The first mounting base is rotatably mounted on the vehicle body. The telescopic arm is telescopic along its length, with one end rotatably connected to the first mounting base and the other end connected to the connecting device. The drill frame assembly is rotatably connected to the connecting device. The anchoring assembly includes a frame, a first sleeve, a grouting component, an anchor bolt adapter, and a drive component. The frame is connected to the drill frame assembly and is movable along the length of the drill frame assembly. The axis of the first sleeve is arranged along the length of the drill frame assembly. The grouting component is connected to the frame and is movable along the length of the drill frame assembly. The grouting component has a fluid channel communicating with the first sleeve. The anchor bolt adapter is connected to the end of the first sleeve away from the grouting component. The drive component is connected to the frame and is drively connected to the first sleeve.

[0005] The automated rock bolt drilling rig of this invention realizes the automation of drilling, grouting, and pre-tightening operations in the rock bolt support process. Moreover, the rock bolt drilling rig can perform drilling and anchoring operations on the surrounding rock at any location in complex roadway environments. It has a high degree of mechanization, which greatly improves the efficiency of rock bolt support in roadways. In addition, the grouting component is stationary relative to the external environment during the drilling process, so that the fluid channel is suitable for conveying easily reactive and easily volatile fluid media.

[0006] In some embodiments, the anchoring assembly further includes a second sleeve rotatably connected to the grouting member, a portion of the second sleeve being located within the first sleeve and helically driven with the first sleeve, and a portion of the grouting member being located within the first sleeve and the second sleeve.

[0007] In some embodiments, the first sleeve includes a first segment and a second segment connected along its length. The anchor bolt adapter is connected to the end of the first segment away from the second segment. The second segment has an internal thread, and the outer peripheral wall of the second sleeve has an external thread that matches the internal thread. The first sleeve and the second sleeve are helically driven by the internal thread and the external thread. The nominal size of the internal thread in the second segment is D, and the inner diameter of the second segment is d. The nominal size D of the internal thread in the second segment and the inner diameter d of the second segment should satisfy D > d.

[0008] In some embodiments, the anchoring assembly further includes a limiting post, which is connected to the frame and the axis of the limiting post is arranged along the length direction of the drilling frame assembly. There are multiple limiting posts, which are distributed at intervals along the circumference of the first sleeve. The grouting component is provided with multiple limiting through holes corresponding to the multiple limiting posts, and the limiting posts are slidably fitted in the corresponding limiting through holes.

[0009] In some embodiments, there are multiple fluid channels, and the multiple fluid channels are not interconnected.

[0010] In some embodiments, the drill frame assembly includes a frame, a support slide column, and a travel slide column. The frame has a first through hole and a second through hole, the extension directions of the first through hole and the second through hole are parallel to each other. The support slide column passes through the first through hole and is slidable along the first through hole. There are multiple travel slide columns, at least one of which passes through the second through hole and is slidable along the second through hole. The frame is connected to at least one of the travel slide columns and is movable along the length direction of the travel slide column.

[0011] In some embodiments, the robotic arm assembly further includes a first telescopic cylinder and a second telescopic cylinder, one end of the first telescopic cylinder being rotatably connected to the vehicle body, the other end of the first telescopic cylinder being rotatably connected to the telescopic arm, one end of the second telescopic cylinder being rotatably connected to the first mounting base, and the other end of the second telescopic cylinder being rotatably connected to the telescopic arm.

[0012] In some embodiments, a top net device is also included, the top net device including a lifting column, a sliding column and a support plate, the length of the lifting column is adjustable, one end of the lifting column is connected to the vehicle body, the other end of the lifting column is connected to the sliding column, the length of the sliding column is adjustable along the width direction of the vehicle body, and the support plate is provided at both ends of the sliding column.

[0013] In some embodiments, the automated bolt drilling rig further includes:

[0014] A traveling device is provided at the bottom of the vehicle body to drive the anchor drill rig to travel along the tunnel.

[0015] An anti-slip device is provided at the bottom of the vehicle body to prevent the anchor drilling rig from slipping while going uphill;

[0016] A power unit for providing power to the robotic arm assembly, the drilling rig, and the traveling device.

[0017] In some embodiments, the automated anchor drilling rig further includes an operating platform detachably disposed outside the robotic arm assembly. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of an automated anchor bolt drilling rig according to an embodiment of the present invention.

[0019] Figure 2 This is a front view of the automated anchor drilling rig according to an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the robotic arm assembly, drill frame assembly, and anchoring assembly of the automated anchor drilling rig according to an embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram of the drill frame assembly and anchor injection assembly of the automated anchor drilling rig according to an embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of the anchoring assembly according to an embodiment of the present invention.

[0023] Figure 6 This is a rear view of the anchoring assembly according to an embodiment of the present invention.

[0024] Figure 7 This is a top view of the anchoring assembly according to an embodiment of the present invention.

[0025] Figure 8 This is a top sectional view of the anchoring assembly according to an embodiment of the present invention.

[0026] Figure label:

[0027] Vehicle body 1;

[0028] Robotic arm assembly 2; first mounting base 21; telescopic arm 22; connecting device 23; second telescopic bar 24;

[0029] Drill frame assembly 3; frame 31; support slide 32; stroke slide 33;

[0030] Anchoring assembly 4; frame 41; first sleeve 42; grouting component 43; fluid channel 431; limiting hole 432; anchor bolt adapter 44; driving component 45; second sleeve 46; limiting post 47;

[0031] Top net device 5;

[0032] Walking device 6;

[0033] Anti-slip device 7;

[0034] Power unit 8. Detailed Implementation

[0035] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0036] The automated bolt drilling rig of the present invention is described below with reference to the accompanying drawings.

[0037] like Figures 1 to 8 As shown, the automated anchor bolt drilling rig of this embodiment includes a vehicle body 1, a robotic arm assembly 2, a drill frame assembly 3, and an anchor injection assembly 4.

[0038] The vehicle body 1 is the basic structure of the automated anchor drilling rig, used to install various components.

[0039] The robotic arm assembly 2 includes a first mounting base 21, a telescopic arm 22, and a connecting device 23. The first mounting base 21 is rotatably mounted on the vehicle body 1. The telescopic arm 22 is extendable and retractable along its length. One end of the telescopic arm 22 is rotatably connected to the first mounting base 21, and the other end is connected to the connecting device 23. The drill frame assembly 3 is rotatably connected to the connecting device 23. The robotic arm assembly 2 of this embodiment has six degrees of freedom, enabling the construction of all top anchor bolts, left side anchor bolts, and right side anchor bolts within two roadway spacings without moving the anchor bolt drilling rig. This ensures that the anchor bolt drilling rig can perform drilling and anchoring operations on the surrounding rock at any location in complex roadway environments.

[0040] It is understandable that the first mounting base 21 is rotatable relative to the vehicle body 1, meaning that the first mounting base 21 can swing left and right in the horizontal direction, thereby driving the telescopic arm 22 to swing; the telescopic arm 22 is rotatable relative to the first mounting base 21, meaning that the telescopic arm 22 can swing up and down in the vertical direction, thereby adjusting the pitch angle of the telescopic arm 22; the telescopic arm 22 is telescopic, thereby adjusting the position of the drill frame assembly 3; the connecting device 23 can move along its length direction, which can further adjust the position of the drill frame assembly 3 to increase the maximum stroke of the drill frame assembly 3, and the adjustment of the connecting device 23 is a fine adjustment, which can precisely adjust... The position of the drill frame assembly 3; furthermore, the drill frame assembly 3 is rotatable relative to the connecting device 23, meaning that the drill frame assembly 3 can rotate circumferentially along the connecting device 23, allowing the drill frame assembly 3 to drill and anchor to different wall surfaces. For example, if the drill frame assembly 3 is set vertically, it can drill holes in the top surrounding rock; if the drill frame assembly 3 is set horizontally, it can drill holes in the surrounding rock on both sides. In addition, the drill frame assembly 3 can also rotate in the front-back direction relative to the connecting device 23, that is, the drill frame assembly 3 can tilt forward or backward. Due to the unevenness of the tunnel wall, the drill frame assembly 3 can be tilted to drill and anchor to wall surfaces at different angles. Thus, the drill frame assembly 3 can perform six different movements, that is, it has six degrees of freedom.

[0041] The anchoring assembly 4 includes a frame 5, a first sleeve 42, a grouting component 43, an anchor bolt adapter 44, and a drive component 45. The frame 5 is connected to the drill frame assembly 3 and is movable along the length of the drill frame assembly 3 to drive the hollow anchor bolt or drill rod to feed into the borehole. The axis of the first sleeve 42 is set along the length of the drill frame assembly 3. The grouting component 43 is connected to the frame 5 and is movable along the length of the drill frame assembly 3. The grouting component 43 is provided with a fluid channel 431 communicating with the first sleeve 42, so that the fluid (e.g., water or anchoring agent) in the fluid channel 431 can be transported into the first sleeve 42. The anchor bolt adapter 44 is connected to the end of the first sleeve 42 away from the grouting component 43. The drive component 45 is connected to the frame 5 and is drivenly connected to the first sleeve 42.

[0042] The automated rock bolt drilling rig of this invention realizes the automation of drilling, grouting, and pre-tightening operations in the rock bolt support process. Moreover, the rock bolt drilling rig can perform drilling and anchoring operations on the surrounding rock at any location in complex roadway environments. It has a high degree of mechanization, which greatly improves the efficiency of rock bolt support in roadways. In addition, the grouting component 43 is stationary relative to the external environment during the drilling process, so that the fluid channel 431 is suitable for conveying fluid media that are easily reactive and easily volatile and dissipated.

[0043] Optionally, the drive component 45 includes a hydraulic motor, a drive gear, and a driven gear. The hydraulic motor is connected to the frame 41. The drive gear is sleeved on the output shaft of the hydraulic motor, and the driven gear is sleeved on the rotating shaft and meshes with the drive gear. The hydraulic motor drives the driven gear to rotate, thereby rotating the first sleeve 42. It can be understood that when the hydraulic motor rotates forward, it drives the rotating shaft 2 to rotate in reverse via the drive and driven gears; when the hydraulic motor rotates in reverse, it drives the first sleeve 42 to rotate forward via the drive and driven gears.

[0044] like Figure 5 , Figure 6 and Figure 8 As shown, in some embodiments, the anchoring assembly 4 further includes a second sleeve 46, which is rotatably connected to the grouting component 43. A portion of the second sleeve 46 is located within the first sleeve 42 and is helically driven with the first sleeve 42. A portion of the grouting component 43 is located within the first sleeve 42 and the second sleeve 46. The second sleeve 46 is rotatable relative to the grouting component 43, thereby preventing the grouting component 43 from rotating during the rotation of the first sleeve 42. This eliminates the need for the fluid channel 431 to rotate with the first sleeve 42, making the fluid channel 431 suitable for conveying easily reactive and volatile fluid media. Thus, the second sleeve 46 serves as a connecting element between the first sleeve 42 and the grouting component 43.

[0045] like Figure 8 As shown, the first sleeve 42 further includes a first section and a second section connected along its length. The anchor bolt adapter 44 is connected to the end of the first section away from the second section. The second section is provided with an internal thread. The outer peripheral wall of the second sleeve 46 is provided with an external thread that matches the internal thread. The first sleeve 42 and the second sleeve 46 are helically driven by the internal thread and the external thread. The nominal size of the internal thread in the second section is D, and the inner diameter of the second section is d. The nominal size D of the internal thread in the second section and the inner diameter d of the second section should satisfy D > d.

[0046] It is understandable that when the first sleeve 42 rotates to drive the anchor bolt drilling (i.e., when the rotation direction of the first sleeve 42 is the same as the rotation direction during drilling), and the internal thread 21 on the first sleeve 42 and the external thread 41 on the second sleeve 46 are not fully engaged, the first sleeve 42 drives the second sleeve 3 to translate relative to the frame 1 in the direction closer to the anchor bolt (e.g., ...). Figure 8 In the process, the second sleeve 46 moves backward relative to the frame 1. After the internal thread 21 and external thread 41 are fully engaged, the second sleeve 46 rotates synchronously with the first sleeve 42. When the rotation of the first sleeve 42 causes the nut on the anchor rod to be pre-tightened (i.e., when the rotation direction of the first sleeve 42 is the same as the rotation direction during pre-tightening), the rotation direction of the first sleeve 42 is opposite to the rotation direction when the first sleeve 42 rotates to drive the anchor rod to drill. At this time, the second sleeve 46 moves backward relative to the frame 1 (e.g., ...). Figure 8 In the middle, the second sleeve 46 moves forward relative to the frame 1.

[0047] like Figure 8 Specifically, the first segment is located at the rear end of the second segment. The external thread on the second sleeve 46 is located at the rear end of the second sleeve 46. The internal thread of the first sleeve 42 meshes with the external thread of the second sleeve 46. Under the action of the threaded pair, when the first sleeve 42 and the second sleeve 46 rotate relative to each other, the second sleeve 46 will move relative to the first sleeve 42 in the front-back direction. Furthermore, the friction between the internal thread of the first sleeve 42 and the external thread of the second sleeve 46 is much smaller than the friction between the second sleeve 46 and the grouting component 43, ensuring that when the internal and external threads are not fully engaged, the first sleeve 42 rotates and drives the second sleeve 46 to move in the front-back direction, thereby driving the grouting component 43 to move in the front-back direction.

[0048] When the internal thread of the first sleeve 42 is fully engaged with the external thread of the second sleeve 46:

[0049] If the first sleeve 42 rotates clockwise, the second sleeve 46 cannot move backward relative to the first sleeve 42 because the internal and external threads are fully engaged. Therefore, the first sleeve 42 drives the second sleeve 46 to rotate synchronously, allowing for the drilling of the anchor bolt. Furthermore, since the second sleeve 46 is rotatably connected to the grouting component 43, the rotational movement of the grouting component 43 is avoided.

[0050] If the first sleeve 42 is reversed, since the second sleeve 46 can move forward relative to the first sleeve 42, and the frictional force of the threads between the first sleeve 42 and the second sleeve 46 is less than the frictional force of the rotation between the second sleeve 46 and the grouting component 43, the first sleeve 42 drives the second sleeve 46 to move forward, thereby driving the grouting component 43 to move forward, so that the anchor bolt pre-tightening operation can be performed.

[0051] Therefore, the first sleeve 42 rotates clockwise and drives the anchor rod to perform drilling operations, and the first sleeve 42 rotates counterclockwise and drives the anchor rod to perform pre-tightening operations. In addition, when the first sleeve 42 rotates counterclockwise, it also drives the grouting component 43 to move forward, so as to avoid the grouting component 43 interfering with the pre-tightening of the anchor rod.

[0052] Similarly, when the internal thread of the first sleeve 42 and the external thread of the second sleeve 46 are not fully engaged, the first sleeve 42 rotates forward and drives the second sleeve 46 to move backward, thereby driving the grouting component 43 to move backward until the internal and external threads are fully engaged, and the grouting component 43 stops moving backward.

[0053] In some embodiments, the anchoring assembly 4 further includes limiting posts 47, which are connected to the frame 5 and whose axis is arranged along the length of the drill frame assembly 3. Multiple limiting posts 47 are distributed circumferentially along the first sleeve 42. The grouting component 43 has multiple limiting through holes corresponding to the multiple limiting posts 47, and the limiting posts 47 are slidably fitted within the corresponding limiting through holes. The limiting posts 47 and limiting holes 432 restrict the circumferential rotation of the anchoring component along the first sleeve 42, preventing the fluid in the fluid channel 431 from shaking and failing.

[0054] In some embodiments, there are multiple fluid channels 431, which are not interconnected. It is understood that by having multiple fluid channels 431 corresponding one-to-one with multiple media sources, the multiple fluid channels 431 can provide media according to the needs of actual working conditions. For example, during drilling, one fluid channel 431 delivers water to the anchor bolt to clean up the coal slag generated during drilling; during anchoring, the water supply is shut off, and the other fluid channels 431 supply anchoring agent to the anchor bolt to anchor it to the surrounding rock.

[0055] In some embodiments, the drill frame assembly 3 is characterized in that it includes a frame 31, a support slide column 32, and a travel slide column 33. The frame 31 is provided with a first through hole and a second through hole. The extension directions of the first through hole and the second through hole are parallel to each other. The support slide column 32 passes through the first through hole and is slidable along the first through hole. There are multiple travel slide columns 33, at least one of which passes through the second through hole and is slidable along the second through hole. The frame 5 is connected to at least one travel slide column 33 and is movable along the length direction of the travel slide column 33.

[0056] In related technologies, anchor bolt drilling rigs generally use a V-groove guide rail slider structure to adjust the position of the drill box. However, this type of anchor bolt drilling rig has low motion coordination accuracy and is prone to deformation during operation. In this embodiment, the drilling rig uses a sliding column guide rail structure instead of the V-groove coordination method in traditional hydraulic anchor bolt drilling rigs. Compared to the V-groove structure, the sliding column guide rail structure has more complete motion constraints, thereby improving the coordination accuracy of the sliding motion. Simultaneously, it ensures the structural strength of the anchor bolt drilling rig, preventing structural deformation due to motion coordination accuracy issues during use, and improving the construction position accuracy of the anchor bolt drilling rig.

[0057] In some embodiments, the robotic arm assembly 2 further includes a first telescopic cylinder and a second telescopic cylinder 24. One end of the first telescopic cylinder is rotatably connected to the vehicle body 1, and the other end is rotatably connected to the telescopic arm 22. One end of the second telescopic cylinder 24 is rotatably connected to the first mounting base 21, and the other end is rotatably connected to the telescopic arm 22. The first telescopic cylinder is horizontally positioned, with one end of its cylinder body rotatably connected to the vehicle body 1 and one end of its piston rod rotatably connected to the telescopic arm 22. Moving the piston rod along the cylinder body causes the telescopic arm 22 to swing left and right. One end of the cylinder body of the second telescopic cylinder 24 is rotatably connected to the first mounting base 21, and one end of its piston rod is rotatably connected to the telescopic arm 22. Extending or retracting the piston rod along the cylinder body causes the telescopic arm 22 to swing up and down, thereby adjusting the pitch angle of the telescopic arm 22.

[0058] In some embodiments, there are two robotic arm assemblies 2, which are arranged at intervals along the width direction of the vehicle body 1. Each robotic arm assembly 2 is connected to a drilling rig. The two robotic arm assemblies 2 can simultaneously control two drilling rigs to perform drilling or anchor bolt support, which can effectively improve the working efficiency of the anchor bolt drilling rig.

[0059] like Figure 1 and Figure 2 As shown, in some embodiments, a top mesh device 5 is also included. The top mesh device 5 includes a lifting column, a sliding column, and a support plate. The length of the lifting column is adjustable. One end of the lifting column is connected to the vehicle body 1, and the other end is connected to the sliding column. The length of the sliding column is adjustable along the width direction of the vehicle body 1. The support plate is located at both ends of the sliding column. In use, the length of the lifting column is adjusted so that the support plates located at both ends of the sliding column abut against the surrounding rock. The length of the sliding column can also be adjusted according to the width of the tunnel, thereby laying the steel mesh on the top of the tunnel.

[0060] like Figure 1 and Figure 2As shown, in some embodiments, the automated anchor drilling rig also includes a walking device 6, an anti-slip device 7, and a power unit 8. The walking device 6 is located at the bottom of the vehicle body 1 to drive the anchor drilling rig along the roadway. The anti-slip device 7 is located at the bottom of the vehicle body 1 to prevent the anchor drilling rig from slipping during uphill operation. The power unit 8 is used to provide power to the robotic arm assembly 2, the drilling rig, and the walking device 6.

[0061] The walking device 6 is located at the bottom of the vehicle body 1 to drive the anchor drilling rig along the roadway. The anti-slip device 7 is located at the bottom of the vehicle body 1 to prevent the anchor drilling rig from slipping during uphill operation. The power unit 8 is used to provide power to the robotic arm assembly 2, the drilling rig and the walking device 6. The power unit 8 consists of an oil tank, an explosion-proof motor, a hydraulic pump, an electromagnetic starter, a cooler and other components. The power source of the entire vehicle is provided by an electrically driven hydraulic pump station. The power unit 8 of the anchor drilling rig is a mature existing technology and will not be described in detail.

[0062] In some embodiments, the automated bolt drilling rig further includes an operating platform (not shown), which is detachably mounted on the outside of the robotic arm assembly 2 and adjacent to the drilling rig. The operating platform is for workers to step on. Because the operating platform is detachably mounted on the outside of the robotic arm assembly 2, it can be easily removed when the bolt drilling rig needs to be moved. When the bolts or drill rods need to be replaced, it can be reinstalled on the robotic arm assembly 2 without affecting the movement of the bolt drilling rig, thus ensuring the bolt support efficiency of the bolt drilling rig in the roadway.

[0063] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0064] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0065] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0066] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0067] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0068] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. An automated anchor bolt drilling rig, characterized in that, include: The vehicle body; A robotic arm assembly, each of which is connected to a drilling rig, the robotic arm assembly includes a first mounting base, a telescopic arm, and a connecting device. The first mounting base is rotatably mounted on the vehicle body. The telescopic arm is telescopic along its length. One end of the telescopic arm is rotatably connected to the first mounting base, and the other end of the telescopic arm is connected to the connecting device. A drill frame assembly, wherein the drill frame assembly is rotatably connected to the connecting device; An anchoring assembly includes a frame, a first sleeve, an grouting component, an anchor bolt adapter, a drive component, and limiting posts. The frame is connected to the drill frame assembly and is movable along the length of the drill frame assembly. The axis of the first sleeve is arranged along the length of the drill frame assembly. The grouting component is connected to the frame and is movable along the length of the drill frame assembly. The grouting component has a fluid channel communicating with the first sleeve. The anchor bolt adapter is connected to the end of the first sleeve away from the grouting component. The drive component is connected to the frame and is drively connected to the first sleeve. The limiting posts are connected to the frame and their axes are arranged along the length of the drill frame assembly. There are multiple limiting posts, which are spaced apart circumferentially along the first sleeve. The grouting component has multiple limiting through holes corresponding one-to-one with the multiple limiting posts, and the limiting posts slide within the corresponding limiting through holes.

2. The automated anchor bolt drilling rig according to claim 1, characterized in that, The anchoring assembly further includes a second sleeve, which is rotatably connected to the grouting component. A portion of the second sleeve is located inside the first sleeve and is helically driven with the first sleeve. A portion of the grouting component is located inside the first sleeve and the second sleeve.

3. The automated anchor bolt drilling rig according to claim 2, characterized in that, The first sleeve includes a first section and a second section connected along its length. The anchor bolt adapter is connected to the end of the first section away from the second section. The second section has an internal thread, and the outer peripheral wall of the second sleeve has an external thread that matches the internal thread. The first sleeve and the second sleeve are helically driven by the internal thread and the external thread. The nominal size of the internal thread in the second section is D, and the inner diameter of the second section is d. The nominal size D of the internal thread in the second section and the inner diameter d of the second section should satisfy D > d.

4. The automated anchor bolt drilling rig according to claim 1, characterized in that, There are multiple fluid channels, and these multiple fluid channels are not interconnected.

5. The automated anchor bolt drilling rig according to claim 1, characterized in that, The drill frame assembly includes a frame, a support slide column, and a travel slide column. The frame has a first through hole and a second through hole, the extension directions of the first through hole and the extension directions of the second through hole are parallel to each other. The support slide column passes through the first through hole and is slidable along the first through hole. There are multiple travel slide columns, at least one of which passes through the second through hole and is slidable along the second through hole. The frame is connected to at least one of the travel slide columns and is movable along the length direction of the travel slide column.

6. The automated anchor bolt drilling rig according to claim 1, characterized in that, The robotic arm assembly also includes a first telescopic cylinder and a second telescopic cylinder. One end of the first telescopic cylinder is rotatably connected to the vehicle body, and the other end of the first telescopic cylinder is rotatably connected to the telescopic arm. One end of the second telescopic cylinder is rotatably connected to the first mounting base, and the other end of the second telescopic cylinder is rotatably connected to the telescopic arm.

7. The automated anchor bolt drilling rig according to claim 1, characterized in that, It also includes a top net device, which includes a lifting column, a sliding column, and a support plate. The length of the lifting column is adjustable. One end of the lifting column is connected to the vehicle body, and the other end of the lifting column is connected to the sliding column. The length of the sliding column is adjustable along the width direction of the vehicle body. The support plate is located at both ends of the sliding column.

8. The automated anchor bolt drilling rig according to claim 1, characterized in that, Also includes: A walking device is provided at the bottom of the vehicle body to drive the automated anchor drilling rig to move along the tunnel. An anti-slip device is provided at the bottom of the vehicle body to prevent the automated anchor drilling rig from slipping while going uphill; A power unit for providing power to the robotic arm assembly, the drilling rig, and the traveling device.

9. The automated anchor bolt drilling rig according to claim 1, characterized in that, It also includes an operating platform, which is detachably mounted on the outside of the robotic arm assembly.

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