Fully automatic drilling and anchoring robot

Abstract

The present application relates to a kind of drill anchor robots, belong to the field of drill anchor, including walking part, transmission part and working part, one end of the transmission part is rotatably mounted on the walking part of place, and is driven by the walking part of place, the other end of the transmission part is equipped with the working part of place.The present application has the advantages that: the drilling operation of roadway is optimized, drilling and anchoring of anchor rod are integrated, automatic filling of anchor rod is realized, roadway is formed at one time, the overall driving efficiency of roadway is improved, the life and health safety of workers is effectively guaranteed, and the problems of low efficiency and complicated drill anchor operation in roadway support are effectively solved.

Description

Technical Field

[0001] This invention relates to a fully automated drilling and anchoring robot, belonging to the field of drilling and anchoring. Background Technology

[0002] In the coal mining industry, especially in the support system, the harsh environment and complex construction techniques mean that manual labor remains the primary method of support work. This negatively impacts the safety and health of workers, and even threatens their lives.

[0003] Patent publication number CN111088990B discloses a fully automatic anchor bolt drilling rig for coal mines. This fully automatic anchor bolt drilling rig can realize a series of operations such as movement, positioning, net laying, drilling, spraying, bolt installation and anchor bolt fastening. It has high support efficiency and automation level, and short operation time, and has application value in the research of rapid tunneling in coal mine roadways.

[0004] Patent publication number CN108104853B discloses a fully automated drilling and anchoring vehicle. This vehicle integrates the processes of laying anchor mesh, drilling anchor holes, injecting anchoring agent, and installing anchor bolts. It can automate the laying of anchor mesh on the roadway roof and the mechanized and automated support of anchor bolts on the roof and sidewalls, effectively solving the current problem of imbalance between excavation and support ratios. It provides valuable support for achieving parallel operations of excavation, support, and anchoring when used in conjunction with tunneling equipment. While the aforementioned drilling and anchoring robots (anchor bolt drilling vehicles) can improve support quality and speed, and some drilling and anchoring machinery can integrate mesh transportation, mesh laying, roof mesh installation, sidewall support, drilling, and bolt installation, effectively solving the problem of imbalance between excavation and support ratios, they provide a theoretical basis for rapid tunneling in coal mines. However, the overall structure of the drilling and anchoring robot (anchor drilling rig) equipment system is large and complex, and the anchor mesh support still requires manual assistance. Its level of automation and intelligence needs to be further improved. In addition, during the anchor support operation, the drilling, anchoring agent injection, rod replacement, and rod installation of the integrated drilling and anchoring device are cumbersome and consume a long support time, which to some extent hinders the realization of rapid tunnel excavation.

[0005] Meanwhile, due to the harsh environment of mountainous areas, it is inconvenient to arrange a large number of personnel on-site during operations. However, some engineers need to provide on-site guidance for drilling operations. When the drilling rig explores in the mountains, information such as road conditions and travel distance are uncertain factors. Moreover, due to the terrain, the signal is very poor in the wild mountains. To ensure the optimal route and drilling operations, wireless network transmission is required for signal interaction. Existing walking mechanisms have problems with unstable walking and inconvenient operation. Although there are some multi-axis robotic arms for the drilling and anchoring field, most of them use guide rail-supported hydraulic cylinders for movement, which has limited adjustment dimensions and is more restricted and inflexible during operation.

[0006] Due to the limitations of existing technology, there is a lack of a device that enables the entire underground coal mining process to be mechanized, continuous, and systematic, while significantly reducing labor intensity, improving work efficiency, and better protecting the lives and property of underground workers. Summary of the Invention

[0007] To overcome the shortcomings of existing technologies, this invention provides a drilling and anchoring device for a fully automated drilling and anchoring robot. The technical solution of this invention is as follows:

[0008] A fully automated drilling and anchoring robot includes a walking unit, a transmission unit, and a working unit. One end of the transmission unit is rotatably mounted on the walking unit and driven by it. The other end of the transmission unit is equipped with the working unit. The walking unit includes a frame, tracks, a left front walking support unit, a right front walking support unit, a left rear walking support unit, and a right rear walking support unit. Tracks are mounted on both sides of the frame, with two tracks symmetrically arranged along the frame. The left front walking support unit is mounted on the left side of the front of the frame, and the right front walking support unit is mounted on the right side. The left front walking support unit and the right front walking support unit are aligned along the frame. The vehicle is configured such that: a left rear walking support unit is installed on the left side of the rear of the frame, and a right rear walking support unit is installed on the right side; the left and right rear walking support units are symmetrically arranged along the frame; when the left, right, left, and right rear walking support units are in contact with the ground, the tracks are away from the ground; a wireless transmission device and an intelligent sensing system are also installed on the frame; the tracks, left, right, left, and right rear walking support units, the wireless transmission device, and the intelligent sensing system are all controlled by a control box installed on the frame.

[0009] The intelligent sensing system includes a state sensing sensor and an actuator. The state sensing sensor is used to acquire environmental state parameters in real time and transmit them to the control box. The actuator is used to acquire and execute the work instructions issued by the control box. The wireless transmission device is used for signal connection and data transmission between the remote control terminal and the control box.

[0010] The left front walking support unit includes a left front support joint, a left front cylinder connecting seat, a left front support leg, a left front support cylinder, and a left front support foot pad. One end of the left front support leg is rotatably mounted on the vehicle frame via the left front support joint, and the other end is fitted with the left front support foot pad. The cylinder body of the left front support cylinder is hinged to the left front support leg, and the piston rod of the left front support cylinder is mounted on the vehicle frame via the left front cylinder connecting seat. The piston rod of the left front support cylinder is hinged together with the left front cylinder connecting seat. The left front support leg is bent.

[0011] The right front walking support unit includes a right front support joint, a right front cylinder connecting seat, a right front support leg, a right front support cylinder, and a right front support foot pad. One end of the right front support leg is rotatably mounted on the vehicle frame via the right front support joint, and the other end is fitted with the right front support foot pad. The cylinder body of the right front support cylinder is hinged to the right front support leg, and the piston rod of the right front support cylinder is mounted on the vehicle frame via the right front cylinder connecting seat. The piston rod of the right front support cylinder is hinged together with the left front cylinder connecting seat. The right front support leg is bent.

[0012] The left rear walking support unit includes a left rear support joint, a left rear cylinder connecting seat, a left rear support leg, a left rear support cylinder, and a left rear support foot pad. One end of the left rear support leg is rotatably mounted on the vehicle frame via the left rear support joint, and the other end is fitted with the left rear support foot pad. The cylinder body of the left rear support cylinder is hinged to the left rear support leg, and the piston rod of the left rear support cylinder is mounted on the vehicle frame via the left rear cylinder connecting seat. The piston rod of the left rear support cylinder is hinged together with the left rear cylinder connecting seat. The left rear support leg is bent.

[0013] The right rear walking support unit includes a right rear support joint, a right rear cylinder connecting seat, a right rear support leg, a right rear support cylinder, and a right rear support foot pad. One end of the right rear support leg is rotatably mounted on the vehicle frame via the right rear support joint, and the other end is fitted with the right rear support foot pad. The cylinder body of the right rear support cylinder is hinged to the right rear support leg, and the piston rod of the right rear support cylinder is mounted on the vehicle frame via the right rear cylinder connecting seat. The piston rod of the right rear support cylinder is hinged together with the right rear cylinder connecting seat. The right rear support leg is bent.

[0014] The transmission unit includes a front robotic arm, a rear robotic arm, a first rotary joint, a second rotary joint, a third rotary joint, and a combined joint. The lower part of one end of the rear robotic arm is mounted on the first rotary joint, and the upper part of the other end of the rear robotic arm is mounted on the second rotary joint. A forearm luffing cylinder base is mounted on the second rotary joint. The forearm luffing cylinder base is generally Z-shaped. One end of the front robotic arm is rotatably mounted on the upper part of the forearm luffing cylinder base via a rear hinge seat, and the upper part of the other end is mounted on the third rotary joint. The combined joint is mounted on the third rotary joint. The cylinder body of the forearm luffing cylinder is hinged to the lower part of the forearm luffing cylinder base. A front hinge seat is provided at the lower part of the rear robotic arm, and the piston rod of the forearm luffing cylinder is hinged to the front hinge seat.

[0015] The combined joint includes a fourth rotary joint and a fifth rotary joint, with the fifth rotary joint mounted on the upper part of the fourth rotary joint and arranged perpendicularly to the fourth rotary joint.

[0016] The first, second, third, fourth, and fifth rotary joints have the same structure, each including a rotary support, a rotating disk, and a drive motor. The rotating disk is rotatably mounted on the rotary support and is driven by the drive motor mounted on the rotary support. The rotation surfaces of the first, second, and third rotary joints all rotate along the plane containing the X-axis; the fourth rotary joint rotates along the plane containing the Z-axis; and the fifth rotary joint rotates along the plane containing the Y-axis.

[0017] The working unit includes a drill-anchor frame, an upper stabilizer, a lower stabilizer, a main beam rotator, an upper main beam rotation unit, a lower main beam rotation unit, a first drill rig chuck, and a second drill rig chuck. A main beam rotator, vertically oriented, is rotatably mounted on the drill-anchor frame. The upper stabilizer is mounted on the upper part of the main beam rotator, and the lower stabilizer is mounted on the lower part. The cross-section of the main beam rotator is generally fan-shaped. A first lifting space for the first drill rig to move up and down is provided on one side of the main beam rotator, and a second lifting space for the second drill rig to move up and down is provided on the other side. An upper main beam rotation unit is installed near the upper region of the main beam rotator to drive its rotation, and a lower main beam rotation unit is installed near the lower region of the main beam rotator to drive its rotation. The rotating unit is located below the upper main beam rotating unit and corresponds to it. Both the upper and lower main beam rotating units are mounted on the drilling and anchoring frame via support frames. The anchor bolt output unit and the anchoring agent output unit are also installed on the drilling and anchoring frame. An anchor bolt output robotic arm base is installed on the drilling and anchoring frame between the anchor bolt output unit and the main beam rotator, and an anchor bolt output robotic arm is installed on the anchor bolt output robotic arm base. An anchoring agent output robotic arm base is installed on the drilling and anchoring frame between the anchoring agent output unit and the main beam rotator, and an anchoring agent output robotic arm is installed on the anchoring agent output robotic arm base. The first drilling rig chuck and the second drilling rig chuck are installed at the upper end of the main beam rotator, forming an angle between them.

[0018] The first and second drilling rigs have the same structure, both including a rotary drive unit, a lifting drive unit, a rotary drive base, a lifting drive base, an output shaft base, a lifting input bevel gear shaft base, and a connecting plate. On the connecting plate, the output shaft base, rotary drive base, lifting drive base, and lifting input bevel gear shaft base are sequentially installed from top to bottom. A gap is formed between the output shaft base and the rotary drive base, between the rotary drive base and the lifting drive base, and between the lifting drive base and the lifting input bevel gear shaft base. The rotary drive unit is fixedly mounted on the rotary drive base, and the lifting drive unit is fixedly mounted on the lifting drive base.

[0019] The rotation drive unit includes a rotation servo motor, which is fixedly mounted on the rotation drive base. A first synchronous pulley is mounted on the motor shaft of the rotation servo motor via a spline. A second synchronous pulley is mounted on the rotation drive base, and the first and second synchronous pulleys are connected by a synchronous belt drive. A third synchronous pulley is mounted on the second synchronous pulley via a spline, and the third synchronous pulley is coaxial with the second synchronous pulley. An output shaft is rotatably mounted on the output shaft base, and a fourth synchronous pulley is mounted on the output shaft, connected to the third synchronous pulley by a synchronous belt drive. The outer end of the output shaft passes through the output shaft base.

[0020] The lifting drive unit includes a lifting servo motor, which is fixedly mounted on the lifting drive base. A fifth synchronous pulley is mounted on the motor shaft of the lifting servo motor via a spline. A sixth synchronous pulley is rotatably mounted on the lifting drive base and is connected to the fifth synchronous pulley via a synchronous belt drive. A seventh synchronous pulley is mounted on the sixth synchronous pulley via a spline and is coaxial with the sixth synchronous pulley. A lifting input bevel gear shaft is rotatably mounted on the lifting input bevel gear shaft base and the lifting drive base. An eighth synchronous pulley is mounted on the lifting input bevel gear shaft. The eighth synchronous pulley is connected to the seventh synchronous pulley via a synchronous belt drive. One end of the lifting input bevel gear shaft passes through the lifting drive base to form an active bevel gear surface. The lifting drive shaft is rotatably mounted on the connecting plate and is perpendicular to the connecting plate. A positioning snap ring is installed between the lifting drive shaft and the connecting plate to prevent the lifting drive shaft from moving. A driven bevel gear that meshes with the active bevel gear surface is installed at one end of the lifting drive shaft, and a lifting gear is installed at the other end after passing through the connecting plate. This lifting gear meshes with a lifting rack provided in the first lifting space or the second lifting space. A lifting guide unit is also installed on the connecting plate.

[0021] The lifting guide unit includes a first lifting guide wheel, a second lifting guide wheel, a third lifting guide wheel, a fourth lifting guide wheel, and a fifth lifting guide wheel. The first and second lifting guide wheels are installed on the upper part of the connecting plate; the fourth and fifth lifting guide wheels are installed on the lower part of the connecting plate; and the third lifting guide wheel is installed in the middle of the connecting plate. The line connecting the first and fourth lifting guide wheels is arranged vertically, and both are in rolling engagement with a protrusion on one side of the main beam rotator. The line connecting the second, third, and fifth lifting guide wheels is arranged vertically, and both are in rolling engagement with a protrusion on the other side of the main beam rotator.

[0022] The upper main beam rotation unit includes an upper main beam rotation gear seat, a first upper main beam rotation gear ring, a second upper main beam rotation gear ring, an upper main beam rotation servo motor base, a first upper main beam rotation servo motor, and a second upper main beam rotation servo motor. A first arc-shaped connecting part and a second arc-shaped connecting part are provided on the main beam rotator. One end of the second arc-shaped connecting part and one end of the first arc-shaped connecting part form the first lifting space; the other end of the second arc-shaped connecting part and the other end of the first arc-shaped connecting part form the second lifting space. The first upper main beam rotation gear ring is fixedly installed on the first arc-shaped connecting part, and the second arc-shaped connecting part is fixedly installed on the second arc-shaped connecting part. The system is equipped with a second upper main beam rotating gear ring; both the first and second upper main beam rotating gear rings are embedded in the rotating groove of the upper main beam rotating gear seat and rotatably engage with the rotating groove; an upper main beam rotating servo motor base is mounted on the upper main beam rotating gear seat; a first upper main beam rotating servo motor and a second upper main beam rotating servo motor are mounted on the upper main beam rotating servo motor base; a first upper rotating gear meshing with the first upper main beam rotating gear ring is mounted on the motor shaft of the first upper main beam rotating servo motor; and a second upper rotating gear meshing with the second upper main beam rotating gear ring is mounted on the motor shaft of the second upper main beam rotating servo motor.

[0023] The lower main beam rotation unit includes a lower main beam rotation gear seat, a first lower main beam rotation gear ring, a second lower main beam rotation gear ring, a lower main beam rotation servo motor base, a first lower main beam rotation servo motor, and a second lower main beam rotation servo motor. The first lower main beam rotation gear ring is fixedly mounted on the first arc-shaped connecting part, and the second lower main beam rotation gear ring is fixedly mounted on the second arc-shaped connecting part. Both the first lower main beam rotation gear ring and the second lower main beam rotation gear ring are embedded in the rotation groove of the lower main beam rotation gear seat and rotatably engage with the rotation groove. The lower main beam rotation gear seat is equipped with... A base for a lower main beam rotary servo motor is provided; a first lower main beam rotary servo motor and a second lower main beam rotary servo motor are mounted on the base; a first lower rotary gear meshing with a first lower main beam rotary ring gear is mounted on the motor shaft of the first lower main beam rotary servo motor; a second lower rotary gear meshing with a second lower main beam rotary ring gear is mounted on the motor shaft of the second lower main beam rotary servo motor; the first upper main beam rotary servo motor, the second upper main beam rotary servo motor, the first lower main beam rotary servo motor, and the second lower main beam rotary servo motor operate synchronously.

[0024] The anchor bolt output unit and the anchoring agent output unit have the same structure, both including a fixed frame, a servo motor base, an upper outer shell, a lower outer shell, an upper fixed plate, a middle upper fixed plate, a middle lower fixed plate, and a lower fixed plate. A vertically oriented rotary servo motor is installed at the lower part of the servo motor base, and the fixed frame is fixedly installed at the upper part of the servo motor base. The upper outer shell is rotatably mounted on the fixed frame via a first upper tapered roller bearing and a second upper tapered roller bearing, with the first upper tapered roller bearing located above the second upper tapered roller bearing. The lower outer shell is rotatably mounted on the fixed frame via a first lower tapered roller bearing and a second lower tapered roller bearing, with the first lower tapered roller bearing located above the second lower tapered roller bearing. The servo motor drive shaft passes sequentially through the lower outer shell and the upper outer shell, and is connected via the rotary servo motor... The system is driven by a motor. An upper deep groove ball bearing is installed between the servo motor drive shaft and the upper housing, and a lower deep groove ball bearing is installed between the servo motor drive shaft and the lower housing. A lower drive gear meshing with the internal tooth surface of the lower housing is installed at the lower part of the servo motor drive shaft. An upper drive gear meshing with the internal tooth surface of the upper housing is installed at the upper part of the servo motor drive shaft. A top plate, an upper fixed plate, and a middle-upper fixed plate are fixedly installed sequentially from top to bottom on the exterior of the upper housing. A middle-lower fixed plate, a lower fixed plate, and a bottom fixed plate are fixedly installed sequentially from top to bottom on the exterior of the lower housing. Several slots for fixing anchor rods or anchoring agents are provided in the circumferential direction of the top plate, upper fixed plate, middle-upper fixed plate, middle-lower fixed plate, lower fixed plate, and bottom fixed plate. A workpiece output unit is fixedly installed on a fixed frame between the middle-upper fixed plate and the middle-lower fixed plate.

[0025] The workpiece output unit includes a moving hydraulic cylinder, a jaw, an upper jaw telescopic guide cylinder, and a lower jaw telescopic guide cylinder. The moving hydraulic cylinder, upper jaw telescopic guide cylinder, and lower jaw telescopic guide cylinder are all arranged radially along the fixed frame. The upper jaw telescopic guide cylinder is located at the upper part of the moving hydraulic cylinder, and the lower jaw telescopic guide cylinder is located at the lower part. The jaw is arranged vertically, with its upper end connected to the upper jaw telescopic guide cylinder and its lower end connected to the lower jaw telescopic guide cylinder. A push rod is installed on the telescopic rod of the moving hydraulic cylinder. The push rod has an arc-shaped groove for ejecting anchor rods or anchoring agents. A jaw clamping groove is provided on the jaw. The space for workpiece clamping is formed between the arc-shaped groove of the push rod and the jaw clamping groove.

[0026] The advantages of this invention are:

[0027] 1. The long and narrow structure makes it easy to pass through narrow places, such as walking from the side of the tunneling machine to the front of the tunneling machine.

[0028] 2. The frame is equipped with a left front travel support unit, a right front travel support unit, a left rear travel support unit, and a right rear travel support unit, which can ensure the stability of the frame in complex environments.

[0029] 3. The left front walking support unit, right front walking support unit, left rear walking support unit and right rear walking support unit can operate independently, ensuring that the vehicle body can be adjusted to achieve a balanced and stable state in working places with large slopes.

[0030] 4. The setup of the left front travel support unit, right front travel support unit, left rear travel support unit, and right rear travel support unit ensures the stability of the rig body when it extends to a relatively far distance, thereby increasing the working area of ​​the rig.

[0031] 5. Rotation along the plane of the X-axis is achieved through the first, second, and third rotary joints; rotation along the plane of the Z-axis is achieved through the fourth rotary joint; and rotation along the plane of the Y-axis is achieved through the fifth rotary joint. When in use, the combined joints are connected to the drilling and anchoring machine body by bolts. The two-way adjustment of the combined joints enables the drilling and anchoring machine body to generate two-axis movement. When the forearm luffing cylinder is working, it drives the front mechanical arm to move up and down, realizing multi-directional movement, with a wide range of motion and more precise positioning.

[0032] 6. The drilling operation of the roadway has been optimized to meet the requirements of rapid support for underground roadways; drilling and anchor bolting are integrated into one, realizing automated anchor bolt loading and one-time roadway formation. This greatly reduces the time spent on support during traditional roadway excavation, improves the overall excavation efficiency of the roadway, effectively protects the life, health and safety of workers, and effectively solves the problems of low efficiency and cumbersome drilling and anchoring operations in roadway support. It has broad market prospects in the rapid excavation of roadways. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the main structure of the present invention.

[0034] Figure 2 yes Figure 1 A schematic diagram of the structure of the central traveling section.

[0035] Figure 3 yes Figure 2 Top view.

[0036] Figure 4 yes Figure 1 A schematic diagram of the transmission unit.

[0037] Figure 5 yes Figure 4 Top view.

[0038] Figure 6 yes Figure 4 Another perspective illustration.

[0039] Figure 7 yes Figure 1 A schematic diagram of the main structure of the central working department.

[0040] Figure 8 yes Figure 7 Top view.

[0041] Figure 9 yes Figure 7 A schematic diagram of the structure of the anchor bolt output unit (anchoring agent output unit).

[0042] Figure 10 yes Figure 9 The main view.

[0043] Figure 11 yes Figure 10 AA sectional view.

[0044] Figure 12 yes Figure 7 A schematic diagram of the lifting drive unit.

[0045] Figure 13 yes Figure 12 The left view.

[0046] Figure 14 yes Figure 7 A schematic diagram of the structure of the middle main beam rotator, the upper main beam rotator unit, and the lower main beam rotator unit.

[0047] Figure 15 yes Figure 14 The left view.

[0048] Figure 16 yes Figure 14 A three-dimensional image.

[0049] Figure 17 yes Figure 14 Top view.

[0050] Figure 18 yes Figure 14 A sectional view.

[0051] Explanation of reference numerals in the attached figures:

[0052] 1001. Frame; 1002. Tracks; 1003A. Left front support joint; 1004A. Left front cylinder connector; 1005A. Left front support leg; 1006A. Left front support cylinder; 1007A. Left front support foot pad; 1003C. Right front support joint; 1004C. Right front cylinder connector; 1005C. Right front support leg; 1006C. Right front support cylinder; 1007C. Right front support foot pad; 1003B. Left rear support joint; 1004B. Left rear cylinder connector; 1005B. Left rear support leg; 1006B. Left rear support cylinder; 1007B. Left rear support foot pad; 1003D. Right rear support joint; 1004D. Right rear cylinder connector; 1005D. Right rear support... Support leg; 1006D, right rear support cylinder; 1007D, right rear support foot pad; 1008, control box; 2001, first rotary joint; 2002, rear robotic arm; 2003, second rotary joint; 2004, front robotic arm; 2005, third rotary joint; 2006, combined joint; 2007, forearm luffing cylinder; 2008, forearm luffing cylinder base; 2009, fourth rotary joint; 2010, fifth rotary joint; 3001, drill and anchor frame; 3002, upper stabilizer; 3003, lower stabilizer; 3004, main beam rotator; 3007A, first drill rig clamp; 3007B, second drill rig clamp; 3-2A, first drill rig; 3-2B, second drill rig; 3009, lifting gear. Item; 3010A, Anchor Bolt Output Unit; 3010B, Anchoring Agent Output Unit; 3013, Anchor Bolt Output Robotic Arm Base; 3014, Anchor Bolt Output Robotic Arm; 3015, Anchoring Agent Output Robotic Arm Base; 3016, Anchoring Agent Output Robotic Arm; 3-2001, Connecting Plate; 3-2003, Rotation Servo Motor; 3-2004, Rotation Drive Base; 3-2005, First Synchronous Belt Pulley; 3-2006, Second Synchronous Belt Pulley; 3-2007, Third Synchronous Belt Pulley; 3-2008, Fourth Synchronous Belt Pulley; 3-2009, Output Shaft; 3-2010, Output Shaft Base; 3-2011, Lifting Servo Motor; 3-2012, Lifting Drive Base; 3-2013, Fifth Synchronous Belt Pulley; 3 -2014, Sixth Synchronous Belt Pulley; 3-2015, Seventh Synchronous Belt Pulley; 3-2016, Eighth Synchronous Belt Pulley; 3-2017, Lifting Input Bevel Gear Shaft; 3-2018, Driven Bevel Gear; 3-2019, Positioning Snap Ring; 3-2020, Lifting Transmission Shaft; 3-2021, Lifting Gear; 3-2022, Lifting Input Bevel Gear Shaft Base; 3-2002A, First Lifting Guide Wheel; 3-2002B, Second Lifting Guide Wheel; 3-2002C, Third Lifting Guide Wheel; 3-2002D, Fourth Lifting Guide Wheel; 3-2002E, Fifth Lifting Guide Wheel; 3005A, Upper Main Beam Rotating Gear Seat; 3006A, First Upper Main Beam Rotating Gear Ring; 3006C, Second Upper Main Beam Rotating Gear Ring;3008A, Upper main beam rotary servo motor base; 3009A, First upper main beam rotary servo motor; 3009B, Second upper main beam rotary servo motor; 3017, First arc-shaped connecting part; 3018, Second arc-shaped connecting part; 3005B, Lower main beam rotary gear seat; 3006B, First lower main beam rotary gear ring; 3006D, Second lower main beam rotary gear ring; 3008B, Lower main beam rotary servo motor base; 3009C, First lower main beam rotary servo motor; 3009D, Second lower main beam rotary servo motor; 3-1004, Fixing frame; 3-1008, Servo motor base; 3-1009, Rotary servo motor; 3-1010, Servo motor drive shaft; 3-1001B, Upper outer shell; 3 -1001A, Lower outer shell; 3-1015, Top plate; 3-1013A, Upper fixed plate; 3-1013B, Middle-upper fixed plate; 3-1003B, Middle-lower fixed plate; 3-1014, Anchor bolt; 3-1003A, Lower fixed plate; 3-1002, Bottom fixed plate; 3-1007D, First upper tapered roller bearing; 3-1007C, Second upper tapered roller bearing; 3-1011A, Upper deep groove ball bearing; 3-1011B, Lower deep groove ball bearing; 3-1012A, Upper drive gear; 3-1012B, Lower drive gear; 3-1005, Moving cylinder; 3-1006, Claw; 3-1006A, Upper claw telescopic guide cylinder; 3-100B, Lower claw telescopic guide cylinder. Detailed Implementation

[0053] The present invention will be further described below with reference to specific embodiments, and the advantages and features of the present invention will become clearer as a result. However, these embodiments are merely exemplary and do not constitute any limitation on the scope of the present invention. Those skilled in the art should understand that modifications or substitutions can be made to the details and form of the technical solutions of the present invention without departing from the spirit and scope of the present invention, but all such modifications and substitutions fall within the protection scope of the present invention.

[0054] See Figures 1 to 18This invention relates to a fully automatic drilling and anchoring robot, comprising a walking unit, a transmission unit, and a working unit. One end of the transmission unit is rotatably mounted on the walking unit and driven by the walking unit. The other end of the transmission unit is mounted on the working unit. The walking unit includes a frame 1001, walking tracks 1002, a left front walking support unit, a right front walking support unit, a left rear walking support unit, and a right rear walking support unit. The walking tracks 1002 are respectively mounted on both sides of the frame 1001, and the two walking tracks 1002 are symmetrically arranged along the frame 1001. The left front walking support unit is mounted on the left side of the front part of the frame 1001, and the right front walking support unit is mounted on the right side. The left front walking support unit and the right front walking support unit are connected. The support units are symmetrically arranged along the frame 1001; the left rear travel support unit is installed on the left side of the rear part of the frame, and the right rear travel support unit is installed on the right side. The left rear travel support unit and the right rear travel support unit are symmetrically arranged along the frame 1001; when the left front travel support unit, right front travel support unit, left rear travel support unit and right rear travel support unit are in contact with the ground, the travel track 1002 is away from the ground; wireless transmission equipment and intelligent sensing system are also installed on the frame. The travel track 1002, left front travel support unit, right front travel support unit, left rear travel support unit and right rear travel support unit, wireless transmission equipment and intelligent sensing system are all controlled by the control box 1008 installed on the frame.

[0055] The intelligent sensing system includes a state sensing sensor and an actuator. The state sensing sensor is used to acquire environmental state parameters in real time and transmit them to the control box. The actuator is used to acquire and execute the work instructions issued by the control box. The wireless transmission device is used for signal connection and data transmission between the remote control terminal and the control box. The state sensor includes, but is not limited to, laser positioners, distance sensors, thermometers, level gauges, pressure sensors, etc.

[0056] The left front walking support unit includes a left front support joint 1003A, a left front cylinder connecting seat 1004A, a left front support leg 1005A, a left front support cylinder 1006A, and a left front support foot pad 1007A. One end of the left front support leg 1005A is rotatably mounted on the frame 1001 via the left front support joint 1003A, and the other end is mounted on the left front support foot pad 1007A. The cylinder body of the left front support cylinder 1006A is hinged to the left front support leg 1005A, and the piston rod of the left front support cylinder 1006A is mounted on the frame 1001 via the left front cylinder connecting seat 1004A. The piston rod of the left front support cylinder 1006A is hinged together with the left front cylinder connecting seat 1004A. The left front support leg 1005A is bent.

[0057] The right front walking support unit includes a right front support joint 1003C, a right front cylinder connecting seat 1004C, a right front support leg 1005C, a right front support cylinder 1006C, and a right front support foot pad 1007C. One end of the right front support leg 1005C is rotatably mounted on the frame 1001 via the right front support joint 1003C, and the other end is mounted on the right front support foot pad 1007C. The cylinder body of the right front support cylinder 1006C is hinged to the right front support leg 1005C, and the piston rod of the right front support cylinder 1006C is mounted on the frame 1001 via the right front cylinder connecting seat 1004C. The piston rod of the right front support cylinder 1006C is hinged together with the left front cylinder connecting seat 1004C. The right front support leg 1005C is bent.

[0058] The left rear walking support unit includes a left rear support joint 1003B, a left rear cylinder connecting seat 1004B, a left rear support leg 1005B, a left rear support cylinder 1006B, and a left rear support foot pad 1007B. One end of the left rear support leg 1005B is rotatably mounted on the frame 1001 via the left rear support joint 1003B, and the other end is mounted on the left rear support foot pad 1007B. The cylinder body of the left rear support cylinder 1006B is hinged to the left rear support leg 1005B, and the piston rod of the left rear support cylinder 1006B is mounted on the frame 1001 via the left rear cylinder connecting seat 1004B. The piston rod of the left rear support cylinder 1006B is hinged together with the left rear cylinder connecting seat 1004B. The left rear support leg 1005B is bent.

[0059] The right rear walking support unit includes a right rear support joint 1003D, a right rear cylinder connecting seat 1004D, a right rear support leg 1005D, a right rear support cylinder 1006D, and a right rear support foot pad 1007D. One end of the right rear support leg 1005D is rotatably mounted on the frame 1001 via the right rear support joint 1003D, and the other end is mounted on the right rear support foot pad 1007D. The cylinder body of the right rear support cylinder 1006D is hinged to the right rear support leg 1005D, and the piston rod of the right rear support cylinder 1006D is mounted on the frame 1001 via the right rear cylinder connecting seat 1004D. The piston rod of the right rear support cylinder 1006D is hinged together with the right rear cylinder connecting seat 1004D. The right rear support leg 1005D is bent.

[0060] The working principle of the walking unit is as follows: After entering the work site via the walking track 1002, the intelligent sensing system senses the site conditions. When it reaches a suitable position, the control box controls the left front walking support unit, right front walking support unit, left rear walking support unit, and right rear walking support unit to move synchronously (before reaching the site, the left front walking support unit, right front walking support unit, left rear walking support unit, and right rear walking support unit are all located on the upper part of the frame 1001). The left front support cylinder 1006A drives the left front support leg 1005A to move... The left front support foot pad 1007A is moved downward until it contacts the ground; the right front support cylinder 1006C drives the right front support leg 1005C to swing downward until it contacts the ground; the left rear support cylinder 1006B drives the left rear support leg 1005B to swing downward until it contacts the ground; the right rear support cylinder 1006D drives the right rear support leg 1005D to swing downward until it contacts the ground, thus completing the fixing of the frame 1001.

[0061] The transmission unit includes a front robotic arm 2004, a rear robotic arm 2002, a first rotary joint 2001, a second rotary joint 2003, a third rotary joint 2005, and a combined joint 2006. The lower part of one end of the rear robotic arm 2002 is mounted on the first rotary joint 2001, and the upper part of the other end of the rear robotic arm 2002 is mounted on the second rotary joint 2003. A forearm luffing cylinder base 2008 is mounted on the second rotary joint 2003. The forearm luffing cylinder base 2008 is generally Z-shaped. The front robotic arm 2004 is configured such that one end is rotatably mounted on the upper part of the forearm luffing cylinder base 2008 via a rear hinge seat, and the upper part of the other end is mounted on the third rotary joint 2005. The combined joint 2006 is mounted on the third rotary joint 2005. The cylinder body of the forearm luffing cylinder 2007 is hinged to the lower part of the forearm luffing cylinder base 2008. A front hinge seat is provided at the lower part of the rear robotic arm 2002, and the piston rod of the forearm luffing cylinder 2007 is hinged to the front hinge seat.

[0062] The combined joint 2006 includes a fourth rotary joint 2009 and a fifth rotary joint 2010. The fifth rotary joint 2010 is mounted on the upper part of the fourth rotary joint 2009 and is arranged perpendicularly to the fourth rotary joint 2009.

[0063] The first rotary joint 2001, the second rotary joint 2003, the third rotary joint 2005, the fourth rotary joint 2009, and the fifth rotary joint 2010 have the same structure, each including a rotary support, a rotary disk, and a drive motor. The rotary disk is rotatably mounted on the rotary support and is driven by the drive motor mounted on the rotary support. The rotation surfaces of the first rotary joint 2001, the second rotary joint 2003, and the third rotary joint 2005 all rotate along the plane containing the X-axis; the fourth rotary joint 2009 rotates along the plane containing the Z-axis; and the fifth rotary joint 2010 rotates along the plane containing the Y-axis.

[0064] The working principle of the transmission unit is as follows:

[0065] 1. The rear robotic arm 2002 of the six-axis robotic arm is fixed to the first rotary joint 2001 by bolts, and the rear robotic arm 2002 rotates with the first rotary joint 2001.

[0066] 2. The second rotary joint 2003 of the six-axis robotic arm is fixed to the rear robotic arm 2002 by bolts, and the base 2008 of the forearm luffing cylinder is fixed to the second rotary joint 2003 by bolts, and rotates with the second rotary joint 2003.

[0067] 3. The rear part of the front robotic arm 2004 of the six-axis robotic arm is hinged to the base 2008 of the luffing cylinder, and the front part is hinged to the piston rod of the luffing cylinder 2007. When the luffing cylinder 2007 extends or retracts, the front robotic arm 2004 rotates at the hinge point of the base 2008 of the luffing cylinder, and the other end moves up and down around the hinge point as the luffing cylinder 2007 extends or retracts.

[0068] 4. The third rotary joint 2005 is fixed to the other end of the front robotic arm 2004 by bolts; the combined joint 2006 is fixed to the third rotary joint 2005 by bolts, and the combined joint rotates with the third rotary joint 2005.

[0069] 5. The combined joint is connected to the drilling rig body by bolts. The two-way adjustment of the combined joint 2006 causes the drilling and anchoring rig body 3 to produce two-axis movement.

[0070] The working unit includes a drill-anchor frame 3001, an upper stabilizer 3002, a lower stabilizer 3003, a main beam rotator 3004, an upper main beam rotation unit, a lower main beam rotation unit, a first drill rig chuck 3007A, and a second drill rig chuck 3007B. A vertically oriented main beam rotator 3004 is rotatably mounted on the drill-anchor frame 3001. The upper stabilizer 3002 is mounted on the upper part of the main beam rotator 3004, and the lower stabilizer 3003 is mounted on the lower part. The upper stabilizer 3002 and the lower stabilizer 3003 rotate in cooperation. The upper stabilizer 3002 extends upwards, and the lower stabilizer 3003 moves downwards. The telescopic mechanism supports the drilling and anchoring frame 3001. The main beam rotator 3004 has a fan-shaped cross-section. A first lifting space for the first drilling rig 3-2A to move up and down is provided on one side of the main beam rotator 3004, and a second lifting space for the second drilling rig 3-2B to move up and down is provided on the other side. The first drilling rig is used for outputting anchor bolts, and the second drilling rig 3-2B is used for outputting anchoring agent. An upper main beam rotating unit that drives the main beam rotator 3004 is installed near the upper part of the main beam rotator 3004, and a lower main beam rotating unit that drives the main beam rotator 3004 is installed near the lower part of the main beam rotator 3004. The lower main beam rotating unit is located below the upper main beam rotating unit and corresponds to it. Both the upper and lower main beam rotating units are mounted on the drilling and anchoring frame 3001 via support frames. The anchor bolt output unit 3010A and anchoring agent output unit 3010B are also mounted on the drilling and anchoring frame 3001. An anchor bolt output robotic arm base 3013 is mounted on the drilling and anchoring frame 3001 between the anchor bolt output unit and the main beam rotator 3004. An anchor bolt output robotic arm 3014 is mounted on the anchor bolt output robotic arm base 3013 and is used to output anchor bolts. An anchor rod is taken from unit 3010A and placed in a preset position; an anchor rod output mechanical arm base 3015 is installed on the drilling and anchoring frame 3001 between the anchor rod output unit and the main beam rotator 3004, and an anchor rod output mechanical arm 3016 is installed on the anchor rod output mechanical arm base 3015. The anchor rod output mechanical arm 3016 is used to take the anchor rod from the anchor rod output unit 3010B and place it in a preset position; the first drilling rig clamp 3007A and the second drilling rig clamp 3007B are installed at the upper end of the main beam rotator 3004, and an angle is formed between the first drilling rig clamp 3007A and the second drilling rig clamp 3007B.

[0071] The first drilling rig 3-2A and the second drilling rig 3-2B have the same structure, both including a rotation drive unit, a lifting drive unit, a rotation drive base 3-2004, a lifting drive base 3-2012, an output shaft base 3-2010, a lifting input bevel gear shaft base 3-2022, and a connecting plate 3-2001. On the connecting plate 3-2001, the output shaft base 3-2010, the rotation drive base 3-2004, the lifting drive base 3-2012, and the lifting input bevel gear shaft base are sequentially installed from top to bottom. The bevel gear shaft base 3-2022 has a gap between the output shaft base 3-2010 and the rotation drive base 3-2004, a gap between the rotation drive base 3-2004 and the lifting drive base 3-2012, and a gap between the lifting drive base 3-2012 and the lifting input bevel gear shaft base 3-2022; the rotation drive unit is fixedly installed on the rotation drive base 3-2004, and the lifting drive unit is fixedly installed on the lifting drive base 3-2012.

[0072] The rotation drive unit is used to realize the rotation of the first drilling rig 3-2A and the second drilling rig 3-2B; through the rotation of the rotation drive units of the first drilling rig 3-2A and the second drilling rig 3-2B, the alternating operation of the first drilling rig 3-2A and the second drilling rig 3-2B is realized.

[0073] The rotation drive unit includes a rotation servo motor 3-2003, which is fixedly mounted on the rotation drive base 3-2004. A first synchronous pulley 3-2005 is mounted on the motor shaft of the rotation servo motor 3-2003 via a spline. A second synchronous pulley 3-2006 is mounted on the rotation drive base 3-2004. The first synchronous pulley 3-2005 and the second synchronous pulley 3-2006 are connected by a synchronous belt drive. A third synchronous pulley 3-2007 is mounted on the 06 via a spline. The third synchronous pulley 3-2007 is coaxially arranged with the second synchronous pulley 3-2006. An output shaft 3-2009 is rotatably mounted on the output shaft base 3-2010. A fourth synchronous pulley 3-2008 is mounted on the output shaft 3-2009. The fourth synchronous pulley 3-2008 is connected to the third synchronous pulley 3-2007 via a synchronous belt drive. The outer end of the output shaft 3-2009 passes through the output shaft base 3-2010.

[0074] When the servo motor 3-2003 is working, it drives the first synchronous pulley 3-2005 to work. The first synchronous pulley 3-2005 drives the second synchronous pulley 3-2006 to rotate via the synchronous belt. The second synchronous pulley 3-2006 drives the third synchronous pulley 3-2007 to rotate via the synchronous belt. The third synchronous pulley 3-2007 drives the fourth synchronous pulley 3-2008 to rotate via the synchronous belt, thereby realizing the rotation of the output shaft 3-2009 for drilling.

[0075] The lifting drive unit includes a lifting servo motor 3-2011, which is fixedly mounted on the lifting drive base 3-2012. A fifth synchronous pulley 3-2013 is splined onto the motor shaft of the lifting servo motor 3-2011. A sixth synchronous pulley 3-2014 is rotatably mounted on the lifting drive base 3-2012. The sixth synchronous pulley 3-2014 and the fifth synchronous pulley 3-2013 are connected. 13. A synchronous belt drive is used for connection; a seventh synchronous belt pulley 3-2015 is splined on the sixth synchronous belt pulley 3-2014, and the seventh synchronous belt pulley 3-2015 is coaxially arranged with the sixth synchronous belt pulley 3-2014; a lifting input bevel gear shaft 3-2017 is rotatably mounted on the lifting input bevel gear shaft base 3-2022 and the lifting drive base 3-2012, and an eighth synchronous belt pulley 3-2016 is mounted on the lifting input bevel gear shaft 3-2017. The eighth synchronous pulley 3-2015 is connected to the seventh synchronous pulley 3-2015 via a synchronous belt drive. One end of the lifting input bevel gear shaft 3-2017 passes through the lifting drive base 3-2012 to form an active bevel gear surface. The lifting transmission shaft 3-2020 is rotatably mounted on the connecting plate 3-2001 and is perpendicular to the connecting plate 3-2001. An anti-lifting transmission mechanism is installed between the lifting transmission shaft 3-2020 and the connecting plate 3-2001. The moving shaft 3-2020 has a positioning snap ring 3-2019 for traversing; a driven bevel gear 3-2018 that meshes with the active bevel gear surface is installed at one end of the lifting transmission shaft 3-2020, and a lifting gear 3-2021 is installed at the other end after passing through the connecting plate 3-2001. The lifting gear 3-2021 meshes with the lifting rack 3009 provided in the first lifting space or the second lifting space; a lifting guide unit is also installed on the connecting plate 3-2001.

[0076] The lifting drive unit is used to realize the lifting of the first drilling rig 3-2A and the second drilling rig 3-2B; through the driving of the lifting drive unit of the first drilling rig 3-2A and the second drilling rig 3-2B, the alternating lifting of the first drilling rig 3-2A and the second drilling rig 3-2B is realized.

[0077] When the lifting servo motor 3-2011 rotates, it drives the fifth synchronous pulley 3-2013 to rotate. The fifth synchronous pulley 3-2013 drives the sixth synchronous pulley 3-2014 to rotate via a synchronous belt. When the sixth synchronous pulley 3-2014 rotates, it drives the seventh synchronous pulley 3-2015 to rotate. The seventh synchronous pulley 3-2015 drives the eighth synchronous pulley 3-2016 to rotate via a synchronous belt. When the eighth synchronous pulley 3-2016 rotates, it drives the lifting input bevel gear shaft 3-2017 to rotate, thereby realizing the meshing of the active bevel gear surface with the driven bevel gear 3-2018. The driven bevel gear 3-2018 drives the lifting transmission shaft 3-2020 to rotate. When the lifting transmission shaft 3-2020 rotates, the lifting gear 3-2021 rotates together with the lifting transmission shaft 3-2020. When the lifting gear 3-2021 rotates, it meshes with the lifting rack 3009 and moves up and down along the direction of the lifting rack 3009.

[0078] The lifting guide unit includes a first lifting guide wheel 3-2002A, a second lifting guide wheel 3-2002B, a third lifting guide wheel 3-2002C, a fourth lifting guide wheel 3-2002D, and a fifth lifting guide wheel 3-2002E. The first lifting guide wheel 3-2002A and the second lifting guide wheel 3-2002B are installed on the upper part of the connecting plate 3-2001; the fourth lifting guide wheel 3-2002D and the fifth lifting guide wheel 3-2002E are installed on the lower part of the connecting plate 3-2001. The third lifting guide wheel 3-2002C is installed in the middle of the connecting plate 3-2001; the line connecting the first lifting guide wheel 3-2002A and the fourth lifting guide wheel 3-2002D is arranged in the vertical direction, and they all roll in cooperation with the protrusion on one side of the main beam rotator 3004; the line connecting the second lifting guide wheel 3-2002B, the third lifting guide wheel 3-2002C and the fifth lifting guide wheel 3-2002E is arranged in the vertical direction, and they all roll in cooperation with the protrusion on the other side of the main beam rotator 3004.

[0079] The upper main beam rotation unit includes an upper main beam rotation gear seat 3005A, a first upper main beam rotation gear ring 3006A, a second upper main beam rotation gear ring 3006C, an upper main beam rotation servo motor base 3008A, a first upper main beam rotation servo motor 3009A, and a second upper main beam rotation servo motor 3009B. A first arc-shaped connecting part 3017 and a second arc-shaped connecting part 3018 are provided on the main beam rotator 3004. One end of the second arc-shaped connecting part 3018 forms the first lifting space with one end of the first arc-shaped connecting part 3017; the other end of the second arc-shaped connecting part 3018 forms the second lifting space with the other end of the first arc-shaped connecting part 3017. The first upper main beam rotation gear ring 3006A is fixedly installed on the first arc-shaped connecting part 3017, and the second arc-shaped connecting part 3006A... A second upper main beam rotating gear ring 3006C is fixedly installed on the 18th. Both the first upper main beam rotating gear ring 3006A and the second upper main beam rotating gear ring are embedded in the rotating groove of the upper main beam rotating gear seat 3005A and rotatably engage with the rotating groove. An upper main beam rotating servo motor base 3008A is installed on the upper main beam rotating gear seat 3005A. A first upper main beam rotating servo motor 3009A and a second upper main beam rotating servo motor 3009B are installed on the upper main beam rotating servo motor base 3008A. A first upper rotating gear meshing with the first upper main beam rotating gear ring 3006A is installed on the motor shaft of the first upper main beam rotating servo motor 3009A. A second upper rotating gear meshing with the second upper main beam rotating gear ring 3006C is installed on the motor shaft of the second upper main beam rotating servo motor 3009B.

[0080] The lower main beam rotation unit includes a lower main beam rotation gear seat 3005B, a first lower main beam rotation gear ring 3006B, a second lower main beam rotation gear ring 3006D, a lower main beam rotation servo motor base 3008B, a first lower main beam rotation servo motor 3009C, and a second lower main beam rotation servo motor 3009D. The first lower main beam rotation gear ring 3006B is fixedly mounted on the first arc-shaped connecting part 3017, and the second lower main beam rotation gear ring is fixedly mounted on the second arc-shaped connecting part 3018. Both the first lower main beam rotation gear ring 3006B and the second lower main beam rotation gear ring are embedded in the rotation groove of the lower main beam rotation gear seat 3005B and rotatably engage with the rotation groove. The lower main beam rotation gear seat 3005B is mounted on... The system includes a lower main beam rotation servo motor base 3008B; a first lower main beam rotation servo motor 3009C and a second lower main beam rotation servo motor 3009D are mounted on the lower main beam rotation servo motor base 3008B. A first lower rotating gear that meshes with a first lower main beam rotation gear ring 3006B is mounted on the motor shaft of the first lower main beam rotation servo motor 3009C; a second lower rotating gear that meshes with a second lower main beam rotation gear ring 3006D is mounted on the motor shaft of the second lower main beam rotation servo motor 3009D; the first upper main beam rotation servo motor 3009A, the second upper main beam rotation servo motor 3009B, the first lower main beam rotation servo motor 3009C, and the second lower main beam rotation servo motor 3009D operate synchronously.

[0081] A first upper rotating gear, meshing with a first upper main beam rotating gear ring 3006A, is mounted on the motor shaft of the first upper main beam rotating servo motor 3009A; a second upper rotating gear, meshing with a second upper main beam rotating gear ring, is mounted on the motor shaft of the second upper main beam rotating servo motor 3009B. Rotation of the first upper main beam rotating servo motor 3009A drives the first upper main beam rotating gear ring 3006A to rotate, and rotation of the second upper main beam rotating servo motor 3009B drives the second upper main beam rotating gear ring 3006C to rotate.

[0082] A first lower rotating gear that meshes with the first lower main beam rotating gear ring 3006B is mounted on the motor shaft of the first lower main beam rotating servo motor 3009C; a second lower rotating gear that meshes with the second lower main beam rotating gear ring 3006D is mounted on the motor shaft of the second lower main beam rotating servo motor 3009D; the rotation of the first lower main beam rotating servo motor 3009C drives the first lower main beam rotating gear ring 3006B to rotate, and the rotation of the second lower main beam rotating servo motor 3009D drives the second lower main beam rotating gear ring 3006D to rotate.

[0083] The anchor bolt output unit 3010A and the anchoring agent output unit 3010B have the same structure, both including a fixing frame 3-1004, a servo motor base 3-1008, an upper outer shell 3-1001B, a lower outer shell 3-1001A, an upper fixing plate 3-1013A, a middle upper fixing plate 3-1013B, a middle lower fixing plate 3-1003B, and a lower fixing plate 3-1003A. A vertically oriented rotary servo motor 3-1009 is installed at the lower part of the servo motor base 3-1008, and the fixing frame 3-1004 is fixedly installed at the upper part of the servo motor base 3-1008. The upper outer shell 3-1001B is connected by a first upper tapered roller bearing 3-1007D and... The second upper tapered roller bearing 3-1007C is rotatably mounted on the fixed frame 3-1004, and the first upper tapered roller bearing 3-1007D is located above the second upper tapered roller bearing 3-1007C; the lower housing 3-1001A is rotatably mounted on the fixed frame 3-1004 via the first lower tapered roller bearing 3-1007B and the second lower tapered roller bearing 3-1007A, and the first lower tapered roller bearing 3-1007B is located above the second lower tapered roller bearing 3-1007A; the servo motor drive shaft 3-1010 passes sequentially through the lower housing 3-1001A and the upper housing 3-1001B, and is connected to the rotary servo motor 3-1 009 Drive; An upper deep groove ball bearing 3-1011A is installed between the servo motor drive shaft 3-1010 and the upper housing 3-1001B, and a lower deep groove ball bearing 3-1011B is installed between the servo motor drive shaft 3-1010 and the lower housing 3-1001A; a lower drive gear 3-1012B that meshes with the internal tooth surface of the lower housing 3-1001A is installed on the lower part of the servo motor drive shaft 3-1010; an upper drive gear 3-1012A that meshes with the internal tooth surface of the upper housing 3-1001B is installed on the upper part of the servo motor drive shaft 3-1010; a top plate 3-1015 and an upper... are sequentially fixedly installed from top to bottom on the outside of the upper housing 3-1001B. Fixed plate 3-1013A and upper middle fixed plate 3-1013B; the lower middle fixed plate 3-1003B, lower fixed plate 3-1003A and bottom fixed plate 3-1002 are installed sequentially from top to bottom on the outside of the lower outer shell 3-1001A. Several slots for fixing anchor rods or anchoring agents are provided in the circumferential direction of the top plate 3-1015, upper fixed plate 3-1013A, upper middle fixed plate 3-1013B, lower middle fixed plate 3-1003B, lower fixed plate 3-1003A and bottom fixed plate 3-1002; a workpiece output unit is fixedly installed on the fixing frame 3-1004 between the upper middle fixed plate 3-1013B and the lower middle fixed plate 3-1003B.

[0084] The fixed frame 3-1004 and the servo motor base 3-1008 are connected by bolts to form a fixed part for connection with the drilling and anchoring machine frame. The upper outer shell 3-1001B is rotatably mounted on the fixed frame 3-1004 via the first upper tapered roller bearing 3-1007D and the second upper tapered roller bearing 3-1007C; the lower outer shell 3-1001A is rotatably mounted on the fixed frame 3-1004 via the first lower tapered roller bearing 3-1007B and the second lower tapered roller bearing 3-1007A, thereby realizing the rotation of the upper outer shell 3-1001B and the lower outer shell 3-1001A.

[0085] The rotation of the rotary servo motor 3-1009 directly drives the servo motor drive shaft 3-1010 to rotate. The servo motor drive shaft 3-1010, fixed by the upper deep groove ball bearing 3-1011A and the lower deep groove ball bearing 3-1011B, is driven by the upper drive gear 3-1012A and the lower drive gear 3-1012B, which in turn drives the lower outer shell 3-1001A and the upper outer shell 3-1001B to rotate.

[0086] Several slots for fixing anchor rods or anchoring agents are provided in the circumferential direction of the top plate 3-1015, upper fixing plate 3-1013A, middle upper fixing plate 3-1013B, middle lower fixing plate 3-1003B, lower fixing plate 3-1003A and bottom fixing plate 3-1002. Several anchor rods or anchoring agents are arranged vertically and installed in the slots of the top plate 3-1015, upper fixing plate 3-1013A, middle upper fixing plate 3-1013B, middle lower fixing plate 3-1003B, lower fixing plate 3-1003A and bottom fixing plate 3-1002.

[0087] The workpiece output unit includes a moving hydraulic cylinder 3-1005, a chuck 3-1006, an upper chuck telescopic guide cylinder 3-1006A, and a lower chuck telescopic guide cylinder 3-100B. The moving hydraulic cylinder 3-1005, the upper chuck telescopic guide cylinder 3-1006A, and the lower chuck telescopic guide cylinder 3-100B are all arranged radially along the fixed frame 3-1004. The upper chuck telescopic guide cylinder 3-1006A is located above the moving hydraulic cylinder 3-1005, and the lower chuck telescopic guide cylinder 3-1006A is located below the moving hydraulic cylinder 3-1005. 00B, the jaw 3-1006 is arranged vertically, the upper end of the jaw 3-1006 is connected to the upper jaw telescopic guide cylinder 3-1006A, and the lower end is connected to the lower jaw telescopic guide cylinder 3-100B; a push rod is installed on the telescopic rod of the moving cylinder 3-1005, and the push rod is provided with a push rod arc groove for pushing out the anchor rod or anchoring agent. The jaw 3-1006 is provided with a jaw clamping groove, and the space for clamping the workpiece is formed between the push rod arc groove and the jaw clamping groove.

[0088] Taking an anchor bolt as an example, when it is necessary to extend anchor bolt 3-1014, the push rod of the moving cylinder 3-1005 moves outward, placing anchor bolt 3-1014 into the arc-shaped groove of the push rod until it is pushed into the clamping groove of the jaw. Then, under the combined action of the moving cylinder 3-1005, the upper jaw telescopic guide cylinder 3-1006A, and the lower jaw telescopic guide cylinder 3-100B, anchor bolt 3-1014 is delivered to the designated position. After extending anchor bolt 3-1014, the moving cylinder 3-1005 returns to its original position, and the jaw 3-1006 resets under the action of the jaw telescopic guide cylinder 3-1006A and the lower jaw telescopic guide cylinder 3-100B. Rotary servo motor 3-1009 drives servo motor transmission shaft 3-1010, which in turn drives upper housing 3-1001B via upper drive gear 3-1012A; and lower housing 3-1001A via lower drive gear 3-1012B. Simultaneously, it drives top plate 3-1015, upper fixed plate 3-1013A, middle upper fixed plate 3-1013B, middle lower fixed plate 3-1003B, lower fixed plate 3-1003A, and bottom fixed plate 3-1002, causing anchor bolt 3-1014 to rotate to the designed position, waiting for the next anchor bolt 3-1014 to be removed.

[0089] The working principle of the working unit is as follows: After reaching the preset position, the drilling and anchoring device finds the drilling position, extends the lower stabilizer 3003 to contact the ground, and extends the upper stabilizer 3002 to support the top plate. The first drilling rig 3-2A begins drilling (drilling process: the rotation drive unit of the first drilling rig starts to rotate, with a speed adjustable from 0 to 300 revolutions per minute; the lifting servo motor 3-2011 of the lifting drive unit starts to rotate; through the meshing of the lifting gear 3-2021 and the lifting rack 3009, the first drilling rig pushes the anchor rod upward along the lifting rack 3009 to drill the hole; at the same time as drilling, the anchoring agent output robotic arm 3016 puts the anchoring agent into the idle second drilling rig). After drilling is completed, the first drilling rig 3-2A returns to its original position, and then the main beam rotator 3004 rotates on the upper main beam rotation unit. Driven by the lower main beam rotating unit, the two drilling rigs (first drilling rig 3-2A and second drilling rig 3-2B) rotate 120 degrees around the upper stabilizer 3002 and lower stabilizer 3003. The second drilling rig 3-2B rotates to the bottom of the drilled hole and pushes the anchoring agent into the drilled hole (at the same time, the output anchor rod robotic arm 3014 removes the anchor rod and places it into the first drilling rig 3-2A). The second drilling rig 3-2B returns to its original position, the main beam rotator 3004 rotates 120 degrees, the first drilling rig 3-2A rotates to the bottom of the hole, the second drilling rig 3-2B rotates back to its original position, the first drilling rig 3-2A pushes the anchor rod into the hole and stirs it evenly to ensure that the anchoring agent is in full contact with the anchor rod (staying for 10 seconds), and the first drilling rig 3-2A returns to its original position. After one anchor bolt is installed, the upper stabilizer 3002 and lower stabilizer 3003 are retracted. As the traveling mechanism moves, it moves to the next drilling position (at the same time, the main beam rotator rotates 120 degrees clockwise, the output anchor bolt robotic arm 3014 installs the anchor bolt onto the first drilling rig 3-2A, and then the main beam rotator rotates 120 degrees counterclockwise, and the first drilling rig 3-2A enters the drilling preparation state). The entire process of positioning, drilling, installing anchoring agent and anchor bolt is repeated.

[0090] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A drilling and anchoring robot, characterized in that, The vehicle comprises a walking section, a transmission section, and a working section. One end of the transmission section is rotatably mounted on the walking section and driven by the walking section. The other end of the transmission section is mounted on the working section. The walking section includes a frame, tracks, a left front walking support unit, a right front walking support unit, a left rear walking support unit, and a right rear walking support unit. The four walking support units are respectively mounted on the front and rear parts of the left and right sides of the frame. The walking support units on the left and right sides are symmetrically arranged along the frame. When the four walking support units are in contact with the ground, the tracks move away from the ground. A wireless transmission device and an intelligent sensing system are also mounted on the frame. The tracks, the walking support units, the wireless transmission device, and the intelligent sensing system are all controlled by a control box mounted on the frame. The working unit includes a drill-anchor frame, an upper stabilizer, a lower stabilizer, a main beam rotator, an upper main beam rotator unit, a lower main beam rotator unit, a first drill rig chuck, and a second drill rig chuck. A main beam rotator, arranged vertically, is rotatably mounted on the drill-anchor frame. The upper stabilizer is mounted on the upper part of the main beam rotator, and the lower stabilizer is mounted on the lower part. The cross-section of the main beam rotator is generally fan-shaped. A first lifting space for the first drill rig to move up and down is provided on one side of the main beam rotator, and a second lifting space for the second drill rig to move up and down is provided on the other side. An upper main beam rotator unit is installed near the upper region of the main beam rotator to drive its rotation, and a lower main beam rotator unit is installed near the lower region of the main beam rotator to drive its rotation. The rotating unit is located below the upper main beam rotating unit and corresponds to it. Both the upper and lower main beam rotating units are mounted on the drilling and anchoring frame via support frames. An anchor bolt output unit and an anchoring agent output unit are also installed on the drilling and anchoring frame. An anchor bolt output robot arm base is installed on the drilling and anchoring frame between the anchor bolt output unit and the main beam rotator, and an anchor bolt output robot arm is installed on the anchor bolt output robot arm base. An anchoring agent output robot arm base is installed on the drilling and anchoring frame between the anchoring agent output unit and the main beam rotator, and an anchoring agent output robot arm is installed on the anchoring agent output robot arm base. The first drilling rig fixture and the second drilling rig fixture are installed at the upper end of the main beam rotator, forming an angle between them.

2. The drilling and anchoring robot according to claim 1, characterized in that, The intelligent sensing system includes a state sensing sensor and an actuator. The state sensing sensor is used to acquire environmental state parameters in real time and transmit them to the control box. The actuator is used to acquire and execute the work instructions issued by the control box. The wireless transmission device is used for signal connection and data transmission between the remote control terminal and the control box.

3. The drilling and anchoring robot according to claim 1, characterized in that, The left front walking support unit includes a left front support joint, a left front cylinder connecting seat, a left front support leg, a left front support cylinder, and a left front support foot pad. One end of the left front support leg is rotatably mounted on the vehicle frame via the left front support joint, and the other end is fitted with the left front support foot pad. The cylinder body of the left front support cylinder is hinged to the left front support leg, and the piston rod of the left front support cylinder is mounted on the vehicle frame via the left front cylinder connecting seat. The piston rod of the left front support cylinder is hinged together with the left front cylinder connecting seat. The left front support leg is bent.

4. A drilling and anchoring robot according to claim 3, characterized in that, The right front walking support unit includes a right front support joint, a right front cylinder connecting seat, a right front support leg, a right front support cylinder, and a right front support foot pad. One end of the right front support leg is rotatably mounted on the vehicle frame via the right front support joint, and the other end is fitted with the right front support foot pad. The cylinder body of the right front support cylinder is hinged to the right front support leg, and the piston rod of the right front support cylinder is mounted on the vehicle frame via the right front cylinder connecting seat. The piston rod of the right front support cylinder is hinged together with the left front cylinder connecting seat. The right front support leg is bent.

5. A drilling and anchoring robot according to claim 4, characterized in that, The left rear walking support unit includes a left rear support joint, a left rear cylinder connecting seat, a left rear support leg, a left rear support cylinder, and a left rear support foot pad. One end of the left rear support leg is rotatably mounted on the vehicle frame via the left rear support joint, and the other end is fitted with the left rear support foot pad. The cylinder body of the left rear support cylinder is hinged to the left rear support leg, and the piston rod of the left rear support cylinder is mounted on the vehicle frame via the left rear cylinder connecting seat. The piston rod of the left rear support cylinder is hinged together with the left rear cylinder connecting seat. The left rear support leg is bent.

6. A drilling and anchoring robot according to claim 5, characterized in that, The right rear walking support unit includes a right rear support joint, a right rear cylinder connecting seat, a right rear support leg, a right rear support cylinder, and a right rear support foot pad. One end of the right rear support leg is rotatably mounted on the vehicle frame via the right rear support joint, and the other end is fitted with the right rear support foot pad. The cylinder body of the right rear support cylinder is hinged to the right rear support leg, and the piston rod of the right rear support cylinder is mounted on the vehicle frame via the right rear cylinder connecting seat. The piston rod of the right rear support cylinder is hinged together with the right rear cylinder connecting seat. The right rear support leg is bent.

7. A drilling and anchoring robot according to claim 5, characterized in that, The transmission unit includes a front robotic arm, a rear robotic arm, a first rotary joint, a second rotary joint, a third rotary joint, and a combined joint. The lower part of one end of the rear robotic arm is mounted on the first rotary joint, and the upper part of the other end of the rear robotic arm is mounted on the second rotary joint. A forearm luffing cylinder base is mounted on the second rotary joint. The forearm luffing cylinder base is generally Z-shaped. One end of the front robotic arm is rotatably mounted on the upper part of the forearm luffing cylinder base via a rear hinge seat, and the upper part of the other end is mounted on the third rotary joint. The combined joint is mounted on the third rotary joint. The cylinder body of the forearm luffing cylinder is hinged to the lower part of the forearm luffing cylinder base. A front hinge seat is provided at the lower part of the rear robotic arm, and the piston rod of the forearm luffing cylinder is hinged to the front hinge seat.

8. A drilling and anchoring robot according to claim 7, characterized in that, The combined joint includes a fourth rotary joint and a fifth rotary joint, with the fifth rotary joint mounted on the upper part of the fourth rotary joint and arranged perpendicularly to the fourth rotary joint.

9. A drilling and anchoring robot according to claim 8, characterized in that, The first, second, third, fourth, and fifth rotary joints have the same structure, each including a slewing support, a rotating disk, and a drive motor. The rotating disk is rotatably mounted on the slewing support and is driven by the drive motor mounted on the slewing support. The rotation surfaces of the first, second, and third rotary joints all rotate along the plane containing the X-axis; the fourth rotary joint rotates along the plane containing the Z-axis; and the fifth rotary joint rotates along the plane containing the Y-axis.

10. A drilling and anchoring robot according to claim 1, characterized in that, The first and second drilling rigs have the same structure, both including a rotary drive unit, a lifting drive unit, a rotary drive base, a lifting drive base, an output shaft base, a lifting input bevel gear shaft base, and a connecting plate. On the connecting plate, the output shaft base, the rotary drive base, the lifting drive base, and the lifting input bevel gear shaft base are installed sequentially from top to bottom. A gap is formed between the output shaft base and the rotary drive base, a gap is formed between the rotary drive base and the lifting drive base, and a gap is formed between the lifting drive base and the lifting input bevel gear shaft base. The rotation drive unit is fixedly mounted on the rotation drive base, and the lifting drive unit is fixedly mounted on the lifting drive base.

11. A drilling and anchoring robot according to claim 10, characterized in that, The rotation drive unit includes a rotation servo motor, which is fixedly mounted on the rotation drive base. A first synchronous pulley is mounted on the motor shaft of the rotation servo motor via a spline. A second synchronous pulley is mounted on the rotation servo motor base, and the first and second synchronous pulleys are connected by a synchronous belt drive. A third synchronous pulley is mounted on the second synchronous pulley via a spline, and the third synchronous pulley is coaxially arranged with the second synchronous pulley. An output shaft is rotatably mounted on the output shaft base, and a fourth synchronous pulley is mounted on the output shaft, which is connected to the third synchronous pulley by a synchronous belt drive. The outer end of the output shaft passes through the output shaft base.

12. A drilling and anchoring robot according to claim 10 or 11, characterized in that, The lifting drive unit includes a lifting servo motor, which is fixedly mounted on the lifting drive base. A fifth synchronous pulley is mounted on the motor shaft of the lifting servo motor via a spline. A sixth synchronous pulley is rotatably mounted on the lifting drive base and is connected to the fifth synchronous pulley via a synchronous belt drive. A seventh synchronous pulley is mounted on the sixth synchronous pulley via a spline and is coaxial with the sixth synchronous pulley. A lifting input bevel gear shaft is rotatably mounted on a lifting input bevel gear shaft base and a lifting drive base. An eighth synchronous pulley is mounted on the lifting input bevel gear shaft. The synchronous pulley and the seventh synchronous pulley are connected by a synchronous belt drive. One end of the lifting input bevel gear shaft passes through the lifting drive base to form an active bevel gear surface. The lifting drive shaft is rotatably mounted on the connecting plate and is perpendicular to the connecting plate. A positioning snap ring is installed between the lifting drive shaft and the connecting plate to prevent the lifting drive shaft from moving. A driven bevel gear that meshes with the active bevel gear surface is installed at one end of the lifting drive shaft, and a lifting gear is installed at the other end after passing through the connecting plate. This lifting gear meshes with a lifting rack provided in the first lifting space or the second lifting space. A lifting guide unit is also installed on the connecting plate.

13. A drilling and anchoring robot according to claim 12, characterized in that, The lifting guide unit includes a first lifting guide wheel, a second lifting guide wheel, a third lifting guide wheel, a fourth lifting guide wheel, and a fifth lifting guide wheel. The first and second lifting guide wheels are installed on the upper part of the connecting plate; the fourth and fifth lifting guide wheels are installed on the lower part of the connecting plate; and the third lifting guide wheel is installed in the middle of the connecting plate. The line connecting the first and fourth lifting guide wheels is arranged vertically, and both are in rolling engagement with a protrusion on one side of the main beam rotator. The line connecting the second, third, and fifth lifting guide wheels is arranged vertically, and both are in rolling engagement with a protrusion on the other side of the main beam rotator.

14. A drilling and anchoring robot according to claim 11, characterized in that, The upper main beam rotation unit includes an upper main beam rotation gear seat, a first upper main beam rotation gear ring, a second upper main beam rotation gear ring, an upper main beam rotation servo motor base, a first upper main beam rotation servo motor, and a second upper main beam rotation servo motor. A first arc-shaped connecting part and a second arc-shaped connecting part are provided on the main beam rotator. One end of the second arc-shaped connecting part and one end of the first arc-shaped connecting part form the first lifting space; the other end of the second arc-shaped connecting part and the other end of the first arc-shaped connecting part form the second lifting space. The first upper main beam rotation gear ring is fixedly installed on the first arc-shaped connecting part, and the second upper main beam rotation gear ring is fixedly installed on the second arc-shaped connecting part. Both the first and second upper main beam rotating gear rings are embedded in the rotating slots of the upper main beam rotating gear seat and rotate in cooperation with the rotating slots; an upper main beam rotating servo motor base is mounted on the upper main beam rotating gear seat; a first upper main beam rotating servo motor and a second upper main beam rotating servo motor are mounted on the upper main beam rotating servo motor base; a first upper rotating gear that meshes with the first upper main beam rotating gear ring is mounted on the motor shaft of the first upper main beam rotating servo motor; and a second upper rotating gear that meshes with the second upper main beam rotating gear ring is mounted on the motor shaft of the second upper main beam rotating servo motor.

15. A drilling and anchoring robot according to claim 14, characterized in that, The lower main beam rotation unit includes a lower main beam rotation gear seat, a first lower main beam rotation gear ring, a second lower main beam rotation gear ring, a lower main beam rotation servo motor base, a first lower main beam rotation servo motor, and a second lower main beam rotation servo motor. The first lower main beam rotation gear ring is fixedly mounted on the first arc-shaped connecting part, and the second lower main beam rotation gear ring is fixedly mounted on the second arc-shaped connecting part. Both the first lower main beam rotation gear ring and the second lower main beam rotation gear ring are embedded in the rotation groove of the lower main beam rotation gear seat and rotatably engage with the rotation groove. The lower main beam rotation gear seat is equipped with... A base for a lower main beam rotary servo motor is provided; a first lower main beam rotary servo motor and a second lower main beam rotary servo motor are mounted on the base; a first lower rotary gear meshing with a first lower main beam rotary gear ring is mounted on the motor shaft of the first lower main beam rotary servo motor; a second lower rotary gear meshing with a second lower main beam rotary gear ring is mounted on the motor shaft of the second lower main beam rotary servo motor; the first upper main beam rotary servo motor, the second upper main beam rotary servo motor, the first lower main beam rotary servo motor, and the second lower main beam rotary servo motor operate synchronously.

16. A drilling and anchoring robot according to claim 1, characterized in that, The anchor bolt output unit and the anchoring agent output unit have the same structure, both including a fixed frame, a servo motor base, an upper outer shell, a lower outer shell, an upper fixed plate, a middle upper fixed plate, a middle lower fixed plate, and a lower fixed plate. A vertically oriented rotary servo motor is installed at the lower part of the servo motor base, and the fixed frame is fixedly installed at the upper part of the servo motor base. The upper outer shell is rotatably mounted on the fixed frame via a first upper tapered roller bearing and a second upper tapered roller bearing, with the first upper tapered roller bearing located above the second upper tapered roller bearing. The lower outer shell is rotatably mounted on the fixed frame via a first lower tapered roller bearing and a second lower tapered roller bearing, with the first lower tapered roller bearing located above the second lower tapered roller bearing. The servo motor drive shaft passes through the lower outer shell and the upper outer shell in sequence, and is driven by the rotary... A servo motor drive is included; an upper deep groove ball bearing is installed between the servo motor drive shaft and the upper housing, and a lower deep groove ball bearing is installed between the servo motor drive shaft and the lower housing; a lower drive gear meshing with the internal tooth surface of the lower housing is installed at the lower part of the servo motor drive shaft; an upper drive gear meshing with the internal tooth surface of the upper housing is installed at the upper part of the servo motor drive shaft; a top plate, an upper fixed plate, and a middle-upper fixed plate are fixedly installed sequentially from top to bottom on the outside of the upper housing; a middle-lower fixed plate, a lower fixed plate, and a bottom fixed plate are fixedly installed sequentially from top to bottom on the outside of the lower housing; several slots for fixing anchor rods or anchoring agents are provided in the circumferential direction of the top plate, upper fixed plate, middle-upper fixed plate, middle-lower fixed plate, lower fixed plate, and bottom fixed plate; a workpiece output unit is fixedly installed on the fixed frame between the middle-upper fixed plate and the middle-lower fixed plate.

17. A drilling and anchoring robot according to claim 16, characterized in that, The workpiece output unit includes a moving cylinder, a jaw, an upper jaw telescopic guide cylinder, and a lower jaw telescopic guide cylinder. The moving cylinder, upper jaw telescopic guide cylinder, and lower jaw telescopic guide cylinder are all arranged radially along the fixed frame. The upper jaw telescopic guide cylinder is located above the moving cylinder, and the lower jaw telescopic guide cylinder is located below it. The jaw is arranged vertically, with its upper end connected to the upper jaw telescopic guide cylinder and its lower end connected to the lower jaw telescopic guide cylinder. A push rod is installed on the telescopic rod of the moving cylinder. The push rod has an arc-shaped groove for ejecting anchor rods or anchoring agents. A jaw clamping groove is provided on the jaw. The space for workpiece clamping is formed between the arc-shaped groove of the push rod and the jaw clamping groove.

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