A turnover avoidance system and avoidance method for a coal mine drilling rig

Abstract

The application discloses a turnover avoiding system for a coal mine drilling machine, which comprises a support, a drilling box propelling mechanism, a drilling rod bin and a manipulator arranged on the support, a drilling box swing oil cylinder and a drilling box movably connected to the output end of the drilling box propelling mechanism, the output end of the drilling box swing oil cylinder movably connected to the drilling box, the drilling rod bin and the manipulator arranged on the same side of the support, and the drilling box swing oil cylinder arranged on the side of the drilling box propelling mechanism far from the manipulator, and further discloses a turnover avoiding method for the coal mine drilling machine. The drilling box propelling mechanism, the manipulator, the drilling rod bin, the drilling box swing oil cylinder and the drilling box are arranged, so that the drilling machine can automatically avoid different specifications of anchor rods and anchor ropes in the anchor rod and anchor rope supporting construction of a coal mine tunnel, drilling-hole-filling-anchor-agent-inserting-anchor-rod-anchor-rope operation is realized, the drilling machine is fully automated and intelligentized, and then intelligent supporting operation of the coal mine can be realized, the number of operation personnel and operation time are saved, and the operation efficiency is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of coal mine construction technology, and more specifically to a tilting avoidance system and avoidance method for coal mine drilling rigs. Background Technology

[0002] Coal mine roadways require anchor bolt and cable support, necessitating the insertion of anchoring agent into the boreholes and the installation of anchor bolts and cables for reinforcement. Currently, after drilling in underground coal mine roadways, it is not possible to directly use this drilling rig for fully automated installation of anchoring agent and anchor bolts / cables. Manual installation or the use of specialized equipment is mandatory, and it is impossible to use the same equipment for both types of anchor bolts and cables.

[0003] The existing methods for installing anchor bolts and cables are as follows: 1) Manual installation: This method is relatively flexible and can install any quantity and type of anchor bolts and cables. However, manual installation at higher positions requires climbing, which reduces efficiency and poses safety hazards. Furthermore, working at heights requires at least two people, resulting in a large demand for personnel. 2) Manually assisted mechanical installation: This method uses simple mechanical pushing devices. The anchor bolts and cables are first loaded into the equipment, then aligned with the drilled hole, and a person standing on the ground pushes the anchor bolts and cables into the hole. These structures require manual assistance and cannot achieve automatic continuous installation. 3) Automatic mechanical installation devices: Currently, the automatic mechanical anchor installation devices used domestically and internationally can only install and tighten anchor cables. They cannot avoid or install long anchor bolts, and the devices are complex in structure and occupy a large amount of space.

[0004] With the continuous upgrading of intelligent construction in coal mines, new requirements have been put forward for automatic anchor bolt and cable support. Achieving fully automated continuous operation of anchor bolts and cables has become an urgent need for underground roadway support construction in coal mines. However, all anchor bolt and cable installation equipment currently available both domestically and internationally suffers from the problem of not being able to achieve full automation. Summary of the Invention

[0005] In view of this, the present invention provides a tilting avoidance system and avoidance method for coal mine drilling rigs, the purpose of which is to solve the problems existing in the prior art.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A tilting avoidance system for a coal mine drilling rig includes: a support frame; a drill box propulsion mechanism, a drill rod chamber, and a manipulator are mounted on the support frame; the output end of the drill box propulsion mechanism is movably connected to a drill box swing cylinder and a drill box; the output end of the drill box swing cylinder is movably connected to the drill box; the drill rod chamber and the manipulator are located on the same side of the support frame; the drill box swing cylinder is located on the side of the drill box propulsion mechanism away from the manipulator.

[0008] Preferably, the drill box propulsion mechanism includes a drill box propulsion cylinder, sprockets, chains, and a drill box propulsion seat; the piston rod of the drill box propulsion cylinder is fixedly connected to the bracket; the cylinder barrel of the drill box propulsion cylinder is slidably connected to the piston rod; the drill box propulsion seat is slidably disposed on the bracket; two sprockets are rotatably connected to both sides of the cylinder barrel of the drill box propulsion cylinder; each sprocket is provided with a chain; one end of each chain is fixedly connected to the bracket, and the other end of each chain is fixedly connected to the drill box propulsion seat.

[0009] Preferably, the bracket is provided with two guide rods; the two guide rods are symmetrically arranged on both sides of the drill box propulsion cylinder; both sides of the drill box propulsion seat are provided with guide holes that are adapted to the guide rods; the drill box propulsion seat is slidably connected to the guide rods through the guide holes.

[0010] Preferably, the drill box is rotatably connected to the drill box propulsion seat via a first pin.

[0011] Preferably, the output end of the drill box swing cylinder is rotatably connected to the drill box via a second pin.

[0012] Preferably, the drill box propulsion base is provided with a guide plate; the guide plate is provided with an arc-shaped guide groove; the second pin extends and passes through the arc-shaped guide groove.

[0013] Preferably, the drill box advance base is provided with a fixed base; the upper and lower end faces of the drill box swing cylinder are provided with rotating shafts; the drill box swing cylinder is rotatably connected to the fixed base through the rotating shafts.

[0014] Preferably, the fixed base is provided with a buffer mechanism; the buffer mechanism includes a sleeve, a compression spring and a telescopic rod; the sleeve is fixedly connected to the fixed base; the telescopic rod is slidably connected inside the sleeve, and the end of the telescopic rod away from the fixed base extends to the outside of the sleeve; the compression spring is disposed inside the sleeve; the compression spring is located between the fixed base and the telescopic rod.

[0015] Preferably, a groove is provided on the inner wall of the sleeve; correspondingly, a slider is provided on the outer wall of the telescopic rod that is adapted to the groove; the slider is slidably connected in the groove.

[0016] A method for overturning collision avoidance for coal mine drilling rigs, utilizing the aforementioned overturning collision avoidance system for coal mine drilling rigs, includes the following steps:

[0017] S1: Before starting work, the anchor bolts and anchor cables are first installed into the drill pipe chamber. The drill pipe chamber is rotated to the designated position, and the coal mine drilling rig performs drilling operations. After the operation is completed, the drill pipe is retracted, and then the manipulator is swung in to grab the anchor bolts and anchor cables. The manipulator remains clamped and waits for the drill box to avoid the impact. The buffer mechanism remains in its initial position.

[0018] S2: The drill box swing cylinder starts to work. The piston rod of the drill box swing cylinder retracts and pulls the drill box to swing along the arc guide groove to the preset position, providing clearance space for the installation of anchor bolts and anchor cables. During this process, the telescopic rod of the buffer mechanism contacts the drill box, the compression spring is compressed, reducing the force of the drill box swing cylinder, ensuring structural strength, and ensuring smooth movement.

[0019] S3: The robotic arm holds the anchor bolt and anchor cable and swings it to the center of the borehole. The robotic arm then transports the anchor bolt and anchor cable into the drilled borehole until the bottom of the anchor bolt and anchor cable exceeds the top of the drill box.

[0020] S4: Control the drilling box swing cylinder to push the drilling box to swing along the arc guide groove to the center position of the drilling hole. The telescopic rod disengages from the drilling box. Under the action of the compression spring, the telescopic rod returns to the initial position. The drilling box propulsion mechanism drives the drilling box to rise until the drilling box rises to the bottom of the anchor bolt and anchor cable.

[0021] S5: Control the chuck of the drill box to clamp the bottom of the anchor bolt and anchor cable, and the drill box propulsion mechanism continues to drive the drill box to rise, delivering all the anchor bolt and anchor cable into the borehole, and controlling the rotation and fastening of the drill box.

[0022] The present invention achieves the following technical effects compared to the prior art:

[0023] 1) By setting up a drill box propulsion mechanism, a manipulator, a drill rod chamber, a drill box swing cylinder, and a drill box, the present invention can enable the drilling rig to automatically avoid different specifications of anchor bolts and cables during the construction of anchor bolt and cable support in coal mine roadways, and realize the drilling-filling of anchoring agent-insertion of anchor bolts and cables operation, thereby realizing the full automation and intelligence of the drilling rig, and thus realizing intelligent support operation in coal mines, which saves the number of operators and the operation time, and greatly improves the operation efficiency.

[0024] 2) This invention uses a combination of a drill box propulsion cylinder, sprocket, and chain as the power source for the drill box, making the entire system structure more compact. This allows it to be used in smaller coal mine roadways, thereby meeting the needs of coal mine roadway support construction.

[0025] 3) This invention guides the second pin shaft through an arc-shaped guide groove, which enables the drill box to perform avoidance operations according to a specified track, ensuring that the drilling rig can achieve fully automatic and intelligent operation;

[0026] 4) The obstacle avoidance system of the present invention can achieve fully automated operation, effectively save labor costs, avoid the waste of time due to alternating human and machine operations, greatly improve work efficiency, and has a simple overall structure and occupies little space. Attached Figure Description

[0027] Figure 1 This is an isometric view of a tilting avoidance system for a coal mine drilling rig according to the present invention.

[0028] Figure 2 This is an isometric view of a flip-type obstacle avoidance system for coal mine drilling rigs after the guide rod has been removed, according to the present invention.

[0029] Figure 3 This is a cross-sectional view of a flip-type obstacle avoidance system for a coal mine drilling rig after the guide rod has been removed, according to the present invention.

[0030] Figure 4 Left view of the buffer mechanism, drill box swing cylinder and drill box connection part;

[0031] Figure 5 A top view of the buffer mechanism, the drill box swing cylinder, and the drill box connection part;

[0032] Figure 6 This is a cross-sectional view of the buffer mechanism;

[0033] Figure 7 This is a diagram of the internal structure of the sleeve;

[0034] Figure 8 This is a schematic diagram of the telescopic rod structure;

[0035] Figure 9 This is a schematic diagram of the guide plate structure;

[0036] Figure 10 A schematic diagram illustrating the initial state of the system before it begins to operate;

[0037] Figure 11 for Figure 10 Sectional view of section line AA in the middle;

[0038] Figure 12 A diagram illustrating the system's operational state when it needs to avoid certain obstacles.

[0039] Figure 13 for Figure 12 Sectional view of the BB section line;

[0040] Figure 14 A diagram illustrating how the system reverts to its initial state to avoid this obstacle.

[0041] Figure 15 for Figure 14 A sectional view of the CC section line;

[0042] In the diagram: 1. Support; 2. Drill box propulsion mechanism; 201. Drill box propulsion cylinder; 202. Sprocket; 203. Chain; 204. Drill box propulsion seat; 3. Drill rod chamber; 4. Robotic arm; 5. Buffer mechanism; 501. Sleeve; 502. Compression spring; 503. Telescopic rod; 504. Stop; 6. Drill box swing cylinder; 7. Drill box; 8. Guide rod; 9. First pin; 10. Second pin; 11. Guide plate; 12. Arc-shaped guide groove; 13. Fixed seat; 14. Rotating shaft; 15. Slide groove; 16. Slider; 17. Anchor bolt / anchor cable; 18. Bolt; 19. Cotter pin; 20. Rotating copper sleeve; 21. Swinging copper sleeve. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Example

[0045] Reference Figure 1-15 As shown, this invention discloses a tilting avoidance system for coal mine drilling rigs, comprising: a support 1; a drill box propulsion mechanism 2, a drill rod chamber 3, and a manipulator 4 are provided on the support 1; the output end of the drill box propulsion mechanism 2 is movably connected to a drill box swing cylinder 6 and a drill box 7; the output end of the drill box swing cylinder 6 is movably connected to the drill box 7; the drill rod chamber 3 and the manipulator 4 are located on the same side of the support 1; the drill box swing cylinder 6 is located on the side of the drill box propulsion mechanism 2 away from the manipulator 4;

[0046] In use, the anchor bolt and anchor cable 17 are first installed into the drill rod chamber 3. The drill rod chamber 3 is rotated to the designated position, and the coal mine drilling rig performs drilling operations. After the operation is completed, the drill rod is retracted. Then, the manipulator 4 swings in to grab the anchor bolt and anchor cable 17. The manipulator 4 remains clamped and waits for the drill box 7 to move aside. The drill box swing cylinder 6 starts working, pulling the drill box 7 to the preset position to provide clearance for the installation of the anchor bolt and anchor cable 17. The manipulator 4 holds the anchor bolt and anchor cable 17 and swings it to the center of the borehole. The manipulator 4 then delivers the anchor bolt and anchor cable 17 into the drilled borehole until the bottom of the anchor bolt and anchor cable 17 exceeds the top of the drill box 7. The drill box swing cylinder 6 is then controlled to push the drill box 7 to swing to the center of the borehole. At the center of the borehole, the drill box propulsion mechanism 2 drives the drill box 7 to rise until it reaches the bottom of the anchor bolt and anchor cable 17. The chuck of the drill box 7 clamps the bottom of the anchor bolt and anchor cable 17. The drill box propulsion mechanism 2 continues to drive the drill box 7 to rise, delivering the entire anchor bolt and anchor cable 17 into the borehole. The drill box 7 is then rotated and tightened. This allows the drilling rig to automatically avoid anchor bolts and anchor cables of different specifications during anchor bolt and anchor cable support construction in coal mine roadways. It enables drilling, filling anchoring agent, and inserting anchor bolts and anchor cables, thus achieving full automation and intelligence of the drilling rig. This allows for intelligent support operations in coal mines, saving both the number of workers and the time required, and greatly improving work efficiency.

[0047] In this embodiment, the drill box propulsion mechanism 2 includes a drill box propulsion cylinder 201, sprockets 202, chains 203, and a drill box propulsion seat 204. The drill box propulsion cylinder is a double-acting piston hydraulic cylinder with a fixed piston rod: the piston rod of the drill box propulsion cylinder 201 is fixedly connected to the bracket 1; the cylinder barrel of the drill box propulsion cylinder 201 is slidably connected to the piston rod of the drill box propulsion cylinder 201 and can move up and down along the piston rod of the drill box propulsion cylinder 201; the drill box propulsion seat 204 is slidably mounted on the bracket 1; two sprockets 202 are rotatably connected to the left and right sides of the cylinder barrel of the drill box propulsion cylinder 201; each sprocket 202 is provided with a chain 203; one end of each chain 203 is fixedly connected to the bracket 1, and the other end of each chain 203 is fixedly connected to the drill box propulsion seat 204, so that the drill box propulsion cylinder 201 is located on the drill box propulsion cylinder 204. Two chains 203 and two sprockets 202 on the same side of cylinder 201 do not interfere with each other and form a pulley mechanism; the drill box swing cylinder 6 and the drill box 7 are movably connected to the drill box propulsion seat 204; in use, under the action of hydraulic oil, the cylinder barrel of the drill box propulsion cylinder 201 moves up and down along the piston rod of the drill box propulsion cylinder 201, and the sprocket 202 moves up and down and rotates under the drive of the cylinder barrel of the drill box propulsion cylinder 201, so that the chain 203 moves up and down while moving around the sprocket, thereby causing the chain 203 to drive the drill box propulsion seat 204 to move up and down, and then causing the drill box propulsion seat 204 to drive the drill box swing cylinder 6 and the drill box 7 to move up and down, thereby realizing the up and down movement of the drill box. The entire drill box propulsion mechanism has a compact structure, so that the entire avoidance system can be used in smaller coal mine roadways and meet the needs of coal mine roadway support construction operations.

[0048] In this embodiment, the bracket 1 is provided with two guide rods 8; the two guide rods 8 are symmetrically arranged on the left and right sides of the drill box propulsion cylinder 201; the drill box propulsion seat 204 is provided with guide holes on both the left and right sides that are adapted to the guide rods 8; the drill box propulsion seat 204 is slidably connected to the guide rods 8 through the guide holes; by setting the guide rods, the drill box propulsion seat can be guided, thereby making the movement of the drill box more stable.

[0049] In this embodiment, the drill box 7 is rotatably connected to the drill box propulsion seat 204 via the first pin 9.

[0050] In this embodiment, the first pin 9 is fixedly connected to the drill box propulsion seat 204 by bolts 18, which can prevent the first pin from coming out during the operation of the avoidance system and improve the rotational stability of the drill box.

[0051] In this embodiment, a rotating copper sleeve 20 is provided at the rotatable connection between the drill box 7 and the first pin 9.

[0052] In this embodiment, the piston rod end of the drill box swing cylinder 6 is rotatably connected to the drill box 7 via the second pin 10.

[0053] In this embodiment, the second pin 10 is provided with a cotter pin 19.

[0054] In this embodiment, a guide plate 11 is provided on the drill box propulsion seat 204; an arc-shaped guide groove 12 is provided on the guide plate 11; the second pin 10 extends and passes through the arc-shaped guide groove 12. In use, the second pin is guided by the arc-shaped guide groove, which allows the drill box to run along a specified track and perform avoidance operations, ensuring that the drilling rig can achieve fully automatic and intelligent operation.

[0055] In this embodiment, a fixed seat 13 is provided on the drill box advance base 204; a rotating shaft 14 is provided on both the upper and lower end faces of the drill box swing cylinder 6; the drill box swing cylinder 6 is rotatably connected to the fixed seat 13 through the rotating shaft 14.

[0056] In this embodiment, a swing copper sleeve 21 is provided at the rotatable connection between the fixed base 13 and the rotating shaft 14.

[0057] In this embodiment, a buffer mechanism 5 is provided on the fixed base 13; the buffer mechanism 5 includes a sleeve 501, a compression spring 502, and a telescopic rod 503; the sleeve 501 is fixedly connected to the fixed base 13; the telescopic rod 503 is slidably connected inside the sleeve 501, and one end of the telescopic rod 503 extends to the outside of the sleeve 501 away from the fixed base 13; the compression spring 502 is disposed inside the sleeve 501; the compression spring 502 is located between the fixed base 13 and the telescopic rod 503; in use, when the drill box swing cylinder 6 drives the drill box 7 to swing closer to the drill box... When the hydraulic cylinder 6 swings to one side, the drill box 7 contacts the telescopic rod 503 and pushes the telescopic rod 503 to slide inside the sleeve 501. The compression spring 502 is compressed. When the drill box swing cylinder 6 drives the drill box 7 to swing away from the drill box swing cylinder 6, the drill box 7 gradually separates from the telescopic rod 503. The telescopic rod 503 returns to its original position under the action of the compression spring 502. During this process, the buffer mechanism can reduce the thrust of the drill box swing cylinder on the drill box, ensuring a smooth and impact-free movement process, and guaranteeing the structural strength of the system and the stability of the drilling rig.

[0058] In this embodiment, the sleeve 501 is a cylindrical structure with openings at both ends; one end of the sleeve 501 is fixedly connected to the fixed base, and the other end of the sleeve 501 is threadedly connected to a stop 504; the stop 504 has a through hole for the telescopic rod 503 to pass through; the stop 504 can limit the telescopic rod 503 without affecting the normal operation of the buffer mechanism, thus preventing the telescopic rod from detaching from the sleeve.

[0059] In this embodiment, a groove 15 is provided on the inner wall of the sleeve 501; correspondingly, a slider 16 adapted to the groove 15 is provided on the outer wall of the telescopic rod 503; the slider 16 is slidably connected in the groove 15 to improve the stability of the telescopic rod during the sliding process.

[0060] In this embodiment, the drill box propulsion base 204 includes a propulsion plate and guide blocks disposed on the left and right sides of the propulsion plate; one end of each of the four chains 203 is fixedly connected to the propulsion plate; each guide block has a guide hole in the vertical direction for sliding connection of the guide rod 8.

[0061] This invention also discloses a tilting avoidance method for coal mine drilling rigs, which utilizes the aforementioned tilting avoidance system for coal mine drilling rigs and includes the following steps:

[0062] S1: Before starting work, the anchor bolt and anchor cable 17 are first installed into the drill rod chamber 3. The drill rod chamber 3 is rotated to the designated position, and the coal mine drilling rig performs drilling operations. After the operation is completed, the drill rod is retracted. Then the robot arm 4 is swung in to grab the anchor bolt and anchor cable 17. The robot arm 4 is kept in a clamped state and waits for the drill box 7 to avoid it. The buffer mechanism 5 maintains the initial position.

[0063] S2: The drill box swing cylinder 6 starts to work, the piston rod of the drill box swing cylinder 6 retracts, and pulls the drill box 7 to swing along the arc guide groove 12 to the preset position, providing clearance space for the installation of anchor bolts and anchor cables 17. During this process, the telescopic rod 503 of the buffer mechanism 5 contacts the drill box 7, the compression spring 502 is compressed, reducing the force of the drill box swing cylinder 6, ensuring structural strength, and ensuring smooth movement.

[0064] S3: The robotic arm 4 holds the anchor bolt and anchor cable 17 and swings it to the center of the borehole. The robotic arm 4 then transports the anchor bolt and anchor cable 17 into the drilled borehole until the bottom of the anchor bolt and anchor cable 17 exceeds the top of the drill box 7.

[0065] S4: Control the drilling box swing cylinder 6 to push the drilling box 7 to swing along the arc guide groove 12 to the center position of the drilling hole. The telescopic rod 503 gradually disengages from the drilling box 7, and the telescopic rod 503 returns to the initial position under the action of the compression spring 502. The drilling box propulsion mechanism 2 drives the drilling box 7 to rise until the drilling box 7 rises to the bottom of the anchor bolt and anchor cable 17.

[0066] S5: Control the chuck of the drill box 7 to clamp the bottom of the anchor bolt and anchor cable 17, and the drill box propulsion mechanism 2 continues to drive the drill box 7 to rise and transport the anchor bolt and anchor cable 17 into the borehole. Control the rotation and tightening of the drill box 7 to complete the installation of the anchor bolt and anchor cable.

[0067] In this embodiment, after the anchor bolt and anchor cable 17 are installed, the drill box 7, the robot arm 4 and the drill rod chamber 3 return to their original positions, so that the avoidance system returns to its initial state, making it convenient for the next installation.

[0068] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the technical scope of the present invention. Therefore, any minor modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A tilting-type obstacle avoidance method for coal mine drilling rigs, characterized in that, A flip-type obstacle avoidance system for a coal mine drilling rig includes: a support (1); the support (1) is provided with a drill box propulsion mechanism (2), a drill rod chamber (3), and a manipulator (4); the output end of the drill box propulsion mechanism (2) is movably connected to a drill box swing cylinder (6) and a drill box (7); the output end of the drill box swing cylinder (6) is movably connected to the drill box (7); the drill rod chamber (3) and the manipulator (4) are located on the same side of the support (1); the drill box swing cylinder (6) is located on the side of the drill box propulsion mechanism (2) away from the manipulator (4); The drill box propulsion mechanism (2) includes a drill box propulsion cylinder (201), a sprocket (202), a chain (203), and a drill box propulsion seat (204); the piston rod of the drill box propulsion cylinder (201) is fixedly connected to the bracket (1); the cylinder of the drill box propulsion cylinder (201) is slidably connected to the piston rod of the drill box propulsion cylinder (201); the drill box propulsion seat (204) is slidably disposed on the bracket (1); two sprockets (202) are rotatably connected to both sides of the cylinder of the drill box propulsion cylinder (201); each sprocket (202) is provided with a chain (203); one end of each chain (203) is fixedly connected to the bracket (1), and the other end of each chain (203) is fixedly connected to the drill box propulsion seat (204); The output end of the drill box swing cylinder (6) is rotatably connected to the drill box (7) via the second pin (10); The drill box propulsion base (204) is provided with a guide plate (11); the guide plate (11) is provided with an arc-shaped guide groove (12); the second pin (10) extends and passes through the arc-shaped guide groove (12). The bracket (1) is provided with two guide rods (8); the two guide rods (8) are symmetrically arranged on both sides of the drill box propulsion cylinder (201); both sides of the drill box propulsion seat (204) are provided with guide holes that are adapted to the guide rods (8); the drill box propulsion seat (204) is slidably connected to the guide rods (8) through the guide holes; The drill box (7) is rotatably connected to the drill box propulsion seat (204) via the first pin (9); The drill box pusher (204) is provided with a fixed seat (13); the upper and lower end faces of the drill box swing cylinder (6) are provided with rotating shafts (14); the drill box swing cylinder (6) is rotatably connected to the fixed seat (13) through the rotating shafts (14); The fixed base (13) is provided with a buffer mechanism (5); the buffer mechanism (5) includes a sleeve (501), a compression spring (502) and a telescopic rod (503); the sleeve (501) is fixedly connected to the fixed base (13); the telescopic rod (503) is slidably connected inside the sleeve (501), and the end of the telescopic rod (503) away from the fixed base (13) extends to the outside of the sleeve (501); the compression spring (502) is disposed inside the sleeve (501); the compression spring (502) is located between the fixed base (13) and the telescopic rod (503); The inner wall of the sleeve (501) is provided with a sliding groove (15); correspondingly, the outer wall of the telescopic rod (503) is provided with a slider (16) that is adapted to the sliding groove (15); the slider (16) is slidably connected in the sliding groove (15); The avoidance method includes the following steps: S1: Before starting work, first put the anchor bolt and anchor cable (17) into the drill rod chamber (3), rotate the drill rod chamber (3) to the designated position, and the coal mine drilling machine will carry out drilling operations. After the operation is completed, the drill rod will be retracted, and then the robot arm (4) will be placed in to grab the anchor bolt and anchor cable (17). The robot arm (4) will keep the clamped state and wait for the drill box (7) to avoid it. The buffer mechanism (5) will keep the initial position. S2: The drill box swing cylinder (6) starts to work. The piston rod of the drill box swing cylinder (6) retracts and pulls the drill box (7) to swing along the arc guide groove (12) to the preset position, providing clearance space for the installation of anchor bolts and anchor cables (17). During this process, the telescopic rod (503) of the buffer mechanism (5) contacts the drill box (7), and the compression spring (502) is compressed, reducing the force of the drill box swing cylinder (6), ensuring structural strength, and ensuring smooth movement. S3: The robot arm (4) holds the anchor bolt and anchor cable (17) and moves it to the center of the borehole. The robot arm (4) then transports the anchor bolt and anchor cable (17) into the drilled borehole until the bottom of the anchor bolt and anchor cable (17) exceeds the top of the drill box (7). S4: Control the drilling box swing cylinder (6) to push the drilling box (7) to swing along the arc guide groove (12) to the center position of the drilling hole. The telescopic rod (503) disengages from the drilling box (7). Under the action of the compression spring (502), the telescopic rod (503) returns to the initial position. The drilling box propulsion mechanism (2) drives the drilling box (7) to rise until the drilling box (7) rises to the bottom of the anchor bolt and anchor cable (17). S5: Control the chuck of the drill box (7) to clamp the bottom of the anchor rod and anchor cable (17), and the drill box propulsion mechanism (2) continues to drive the drill box (7) to rise and deliver all the anchor rod and anchor cable (17) into the borehole, and control the rotation and fastening of the drill box (7).

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