A fully automatic bolt drill jumbo for coal mines

Abstract

The present invention relates to a fully automatic bolt drill rig for coal mines, including a whole machine. A rear device is arranged at the rear of the whole machine, a chassis device is arranged on the lower side of the whole machine, a pump station is arranged at the front of the rear device and on the upper side of the chassis device, a lifting device is arranged in the middle of the whole machine, an automatic net laying device is arranged on the lifting device, a right automatic drilling and bolting mechanism and a left automatic drilling and bolting mechanism which are symmetric to each other are arranged on one side of the whole machine, a slewing mechanism is arranged at the center of the automatic net laying device, the right automatic drilling and bolting mechanism and the left automatic drilling and bolting mechanism, and workbenches are arranged on both sides of the whole machine. The fully automatic bolt drill rig for coal mines is a new type of fully automatic bolt drill rig that can realize mechanized operations such as one-time positioning, automatic positioning of bolt spacing, automatic net laying, automatic hole finding, automatic loading and unloading of drill pipes, automatic drilling, automatic loading of resin anchoring agents, automatic bolting, and automatic stirring and pre-tightening, and can realize the rapid support of bolts at the top and sides.

Description

Technical Field

[0001] The present invention relates to the technical field of bolt drill jumbos, and particularly to a fully automatic bolt drill jumbo for coal mines. Background Art

[0002] At present, there are two forms of ordinary hydraulic bolt drill jumbos on the market. One is the small swing arm + integral lifting platform type, and the other is the large swing arm type. No matter which form it is, automatic hole finding cannot be achieved, and multiple actions such as swing angle adjustment, compensation, and leveling are required to find the hole, resulting in low efficiency. There are also problems such as manual rod connection, disassembly of drill rods, climbing the boom, applying anchoring agent, moving the drill arm, installing bolts, and the small size of the drill rod removing device, which cannot pass through the tray.

[0003] Based on the above requirements of coal mines and the problems existing in ordinary hydraulic bolt drill jumbos, it is trending towards the direction of automation. Currently, there are two forms of automation structures on the market:

[0004] One is that the mesh storage bin is placed in front, used to store diamond meshes, and automatic mesh laying is carried out as the drill jumbo moves; two extended drill arms are arranged, and two drill boxes are installed on the drill arms, respectively used for drilling and installing bolts. The drill arms can move on the slide rails to realize the installation of top bolts; two chain-type bolt bins are arranged at the rear, and the bolts use front-mounted resin anchoring agents.

[0005] The other is a drill jumbo with an automatic mesh laying robotic arm in a swing arm form. The robotic arm is installed with a manipulator to clamp the steel mesh for automatic mesh laying; a swing arm type drill arm is arranged for drilling and installing bolts, and a chain-type bolt bin is arranged at the rear of the drill arm; a resin anchoring agent spraying device is installed at the rear of the drill jumbo to spray and install the resin anchoring agent.

[0006] For the first above-mentioned structure: The limitations of automatic mesh laying are relatively large. According to the requirements of GBT35056-2018 "Technical Specification for Bolt Support in Coal Mine Roadways", standard support components also need steel belts, and this structure cannot achieve the installation of steel belts; since front-mounted resin anchoring agent bolts are used, the length of the bolts is increased invisibly, resulting in the same increase in the length of the drill arms, and thus the overall height of the machine is very high, making it impossible to use in small-height roadways, and the applicable range is limited; two drill boxes are arranged on the drill arms, and the two drill boxes need to be alternately moved to realize drilling and installing bolts, and the process is cumbersome; a chain-type bolt bin is used, and the positioning is inaccurate during rotation and movement, and it is difficult to achieve precise rod picking by the manipulator; the two drill arms adopt a fixed slide rail type, and the drill arms cannot realize the support of side bolts, and bolts need to be supplemented later, which cannot meet the requirements of rapid tunneling support.

[0007] The second structure described above: Similar to the first solution, this structure is also unable to install steel belts and can only install steel mesh; since both the automatic mesh-laying robotic arm and the drilling arm are swing-arm types, it is very difficult to accurately position the two swing arms during mesh-laying and drilling, which is time-consuming; because the structure consists of one mesh-laying robotic arm and one drilling arm, this will result in low drilling efficiency in the same roadway and cannot meet the requirements of rapid tunneling support.

[0008] In summary, the present application proposes a fully automatic bolt drill rig for coal mines, which can achieve mechanized operations such as one-time positioning, automatic positioning of bolt spacing, automatic mesh-laying, automatic hole-finding, automatic loading and unloading of drill pipes, automatic drilling, automatic loading of resin anchoring agents, automatic installation of bolts, and automatic stirring and pre-tightening. It fundamentally solves the deficiencies existing in current bolt support operations and is a rapid support equipment that can truly reduce the number of personnel, improve efficiency, provide rapid support, replace manual labor with mechanization, and reduce the number of personnel through automation, ensuring the tunneling speed and support quality. Summary of the Invention

[0009] In view of the deficiencies of the prior art, the present invention provides a fully automatic bolt drill rig for coal mines, which has the advantages of achieving one-time positioning, automatic positioning of bolt spacing, automatic mesh-laying, automatic hole-finding, automatic loading and unloading of drill pipes, automatic drilling, automatic loading of resin anchoring agents, automatic installation of bolts, and automatic stirring and pre-tightening, and solves the problem of relatively large limitations in automatic mesh-laying.

[0010] To achieve the above object, the present invention provides the following technical solution: A fully automatic bolt drill rig for coal mines, including a whole machine. A rear device is arranged at the rear of the whole machine, a chassis device is arranged below the whole machine, a pump station is arranged at the front of the rear device and above the chassis device, a lifting device is arranged in the middle of the whole machine, an automatic mesh-laying device is arranged on the lifting device, symmetric right and left automatic drill-anchoring mechanisms are arranged on one side of the whole machine, a slewing mechanism is arranged at the center of the automatic mesh-laying device and the right and left automatic drill-anchoring mechanisms, workbenches are arranged on both sides of the whole machine, and a control box for separately controlling the right and left automatic drill-anchoring mechanisms is arranged on the whole machine;

[0011] Among them, the chassis device includes left and right travels for the whole vehicle to move, legs and a frame. The left and right travels are symmetrically distributed. One side of the frame is fixed to the whole machine, and the legs are fixed below the whole machine.

[0012] Furthermore, the rear device includes a cable reel, a shield, an electric control box, and an oil tank. Among them, the cable reel is located at the left rear of the whole machine and fixed to the frame. The shield is fixed outside the cable reel, the electric control box, and the oil tank. The electric control box is located at the right rear of the whole machine and on the right side of the cable reel and fixed to the upper surface of the oil tank. The oil tank is fixed to the frame, and one side of the shield and the electric control box is fixed to the oil tank.

[0013] Further, the pump station includes an explosion-proof motor, a plunger pump, a pump disc and a coupling. The output shaft of the explosion-proof motor is fixed to the plunger pump through the coupling, and the pump disc and the coupling are located in the middle of the pump station.

[0014] Further, the lifting device includes a resin anchoring agent spraying device, a rear oil cylinder, a lifting frame and a front oil cylinder. The rear oil cylinder and the front oil cylinder are fixed to the frame body. The resin anchoring agent spraying device is located in the middle of the lifting device and is fixed to the lifting frame. The number of the rear oil cylinders is two, and the two rear oil cylinders are symmetrically installed on the left and right sides at the rear of the lifting frame. The upper part of the rear oil cylinder is fixed to the lifting frame, and the lower part is fixed to the frame body. The lifting frame is located in the middle of the lifting device, and the front oil cylinder is located in the middle at the front of the lifting frame. The upper part of the front oil cylinder is fixed to the lifting frame, and the lower part is fixed to the frame body.

[0015] Further, the automatic mesh laying device includes a front conveying device, a rotary device, side conveying devices, a fixed beam and a lifting oil cylinder. The front conveying device is located at the front end of the automatic mesh laying device. The rotary device is fixed on the fixed beam and is installed and fixed to the front conveying device and the side conveying devices. The side conveying devices are located on the left and right sides of the automatic mesh laying device. The fixed beam is located at the upper end of the lifting oil cylinder and is fixed to the rotary device. The lifting oil cylinder is located at the bottom on the lower side of the automatic mesh laying device, and the number is four.

[0016] Further, the right automatic drilling and anchoring mechanism includes a drilling arm a, a manipulator a and a rod magazine a, and the left automatic drilling and anchoring mechanism includes a drilling arm b, a manipulator b and a rod magazine b.

[0017] Further, the manipulator a and the manipulator b are located in the middle of the rod magazine a, the rod magazine b, the drilling arm a and the drilling arm b, and the rod magazine a and the rod magazine b are installed on the left sides of the drilling arm a and the drilling arm b.

[0018] Further, the slewing mechanism includes a slewing frame, a sliding mechanism, a side clamping device and a swing angle mechanism. The sliding mechanism is fixed to one side of the slewing frame. The side clamping device is fixed to the output shaft of the sliding mechanism. The swing angle mechanism is fixed to one side of the sliding mechanism.

[0019] Further, the number of the workbenches is two, and they are symmetrically distributed on both sides of the whole machine. One side of the workbench is fixed to the lifting frame through a telescopic oil cylinder.

[0020] Further, the number of the control boxes is two, and each control box includes a transmitter, a receiver and a control box body. The transmitter and the receiver are both fixed to the inner wall of the control box body, and a PLC controller is built in the control box body.

[0021] Compared with the prior art, the technical solution of the present application has the following beneficial effects:

[0022] The fully automatic bolt drill rig for coal mines is equipped with two sets of intelligent control systems, which can control all auxiliary functions. Drilling and anchoring can be operated with a single key. It is configured with an automatic net laying device, which can realize automatic net laying. The automatic net laying device is positioned with the automatic drilling and anchoring mechanism to achieve rapid positioning and hole finding. It is configured with two sets of automatic drilling and anchoring mechanisms. The automatic drilling and anchoring mechanism is equipped with a manipulator and a bolt library, which can realize automatic drill rod feeding, automatic drilling, automatic resin anchoring agent feeding, automatic bolt feeding, and automatic pre-tightening anchoring. The automatic drilling and anchoring mechanism is configured with a left-wheel pistol-type bolt bin, which can accurately control the rotation angle through a swing oil cylinder and an angle sensor to ensure the consistency of each bolt taking. The automatic drilling and anchoring mechanism is configured with a clamping guide to facilitate the smooth passing of the tray. The automatic drilling and anchoring mechanism can meet the requirements of self-drilling bolts and the anchoring of ordinary non-ribbed threaded steel bolts by increasing or decreasing the manipulator, with a wider application range. The whole vehicle is configured with a resin anchoring agent spraying device to realize the automatic spraying of resin anchoring agent. The whole vehicle is configured with a slewing mechanism, which can realize the bolt support at the top and the side. The whole vehicle is configured with outriggers, which can firmly stabilize the drill rig. The whole vehicle is configured with a cable reel, which can realize the automatic winding and unwinding of the cable. Relevant parameters can be preset in advance according to the actual working conditions to achieve one-key hole layout and one-key support. The intelligent control system is equipped with intelligent fault diagnosis, which is convenient for maintenance. It can achieve one-time positioning, automatic positioning of bolt spacing, automatic net laying, automatic hole finding, automatic loading and unloading of drill rods, automatic drilling, automatic loading of resin anchoring agent, automatic bolt feeding, and automatic stirring and pre-tightening. It is a new type of fully automatic bolt drill rig that can realize mechanized operations such as rapid support of bolts at the top and the side. By using a variety of sensors and swing oil cylinders, its positioning is more accurate, fundamentally solving the deficiencies existing in current bolt support operations. It is a fast support equipment that can truly reduce the number of personnel, improve efficiency, achieve mechanized substitution for people, and automatic reduction of people, ensuring the tunneling speed and support quality. Description of the Drawings

[0023] Figure 1 It is a schematic structural diagram of the present invention;

[0024] Figure 2 It is a side view of the structure of the present invention.

[0025] In the figure: 1 Rear device, 101 Cable reel, 102 Shield, 103 Electric control box, 104 Fuel tank, 2 Pump station, 201 Flameproof motor, 202 Plunger pump, 3 Lifting device, 301 Resin anchoring agent spraying device, 302 Rear oil cylinder, 303 Lifting frame, 304 Front oil cylinder, 4 Automatic net laying device, 401 Front conveying device, 402 Rotary device, 403 Side conveying device, 404 Fixed beam, 405 Lifting oil cylinder, 5 Right automatic drilling and anchoring mechanism, 501 Drilling arm a, 502 Manipulator a, 503 Rod storage a, 6 Left automatic drilling and anchoring mechanism, 601 Drilling arm b, 602 Manipulator b, 603 Rod storage b, 7 Rotary mechanism, 701 Rotary frame, 702 Sliding mechanism, 703 Side tightening device, 704 Swing angle mechanism, 8 Workbench, 9 Chassis device, 901 Left travel, 902 Right travel, 903 Leg, 904 Frame body, 10 Control box, 11 Whole machine. Specific embodiments

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] Please refer to Figure 1-2 , a fully automatic bolt drill rig for coal mines in this embodiment includes a whole machine 11. A rear device 1 is arranged at the rear of the whole machine 11, a chassis device 9 is arranged under the whole machine 11, a pump station 2 is arranged at the front of the rear device 1 and above the chassis device 9, a lifting device 3 is arranged in the middle of the whole machine 11, an automatic net laying device 4 is arranged on the lifting device 3, symmetric right and left automatic drilling and anchoring mechanisms 5 and 6 are arranged on one side of the whole machine 11, a rotary mechanism 7 is arranged at the center of the automatic net laying device 4 and the right and left automatic drilling and anchoring mechanisms 5 and 6, workbenches 8 are arranged on both sides of the whole machine 11, and a control box 10 for separately controlling the right and left automatic drilling and anchoring mechanisms 5 and 6 is arranged on the whole machine 11.

[0028] Among them, the chassis device 9 includes a left travel 901 and a right travel 902 for the whole vehicle to travel, legs 903 and a frame body 904. The left travel 901 and the right travel 902 are symmetrically distributed. One side of the frame body 904 is fixed to the whole machine 11, and the legs 903 are fixed under the whole machine 11.

[0029] It should be noted that the left traveling mechanism 901 and the right traveling mechanism 902 are located on both sides of the chassis device 9 and are used for the vehicle to travel; one front leg 903 is arranged at the front and two rear legs 903 are arranged at the rear. After the drill rig reaches the preset position, the legs 903 are extended to fix the whole machine 11; the frame 904 is mainly used to install other components, and two intelligent control systems are respectively provided in the two control boxes.

[0030] Among them, the rear device 1 includes a cable reel 101, a shield 102, an electric control box 103 and an oil tank 104. Among them, the cable reel 101 is located at the left rear of the whole machine 11 and is fixed to the frame 904. The shield 102 is fixed outside the cable reel 101, the electric control box 103 and the oil tank 104. The electric control box 103 is located at the right rear of the whole machine 11 and is fixed to the upper surface of the oil tank 104 on the right side of the cable reel 101. The oil tank 104 is fixed to the frame 904, and one side of the shield 102 and the electric control box 103 is fixed to the oil tank 104.

[0031] It should be noted that the cable reel 101 is used for automatically winding and unwinding the cable, which is convenient for movement and effectively reduces the labor intensity of workers dragging the cable. The whole rear device 1 is composed of multiple detachable small parts, which is convenient for disassembly and assembly and is used for protecting each component. The electric control box 103 is internally provided with electrical components such as a PLC for intelligent control. The oil tank 104 provides hydraulic oil for the pump station 2.

[0032] The pump station 2 includes an explosion-proof motor 201, a plunger pump 202, a pump disc and a coupling. The output shaft of the explosion-proof motor 201 is fixed to the plunger pump 202 through the coupling, and the pump disc and the coupling are located in the middle of the pump station 2.

[0033] It should be noted that the explosion-proof motor 201 provides rotational power for the plunger pump 202, and its start and stop are controlled by the electric control box 103. Through the rotation of the explosion-proof motor 201, the rotational power is transmitted to the coupling, and the coupling then transmits the power to the plunger pump 202, so that the plunger pump 202 works, sucking the hydraulic oil in the oil tank 104 and converting it into high-pressure output.

[0034] The lifting device 3 includes a resin anchoring agent spraying device 301, a rear oil cylinder 302, a lifting frame 303, and a front oil cylinder 304. The rear oil cylinder 302 and the front oil cylinder 304 are fixed to the frame 904. The resin anchoring agent spraying device 301 is located in the middle of the lifting device 3 and is fixed to the lifting frame 303. The number of rear oil cylinders 302 is two, and the two rear oil cylinders 302 are symmetrically installed on the left and right sides of the rear of the lifting frame 303, and the upper part of the rear oil cylinder 302 is fixed to the lifting frame 303 and the lower part is fixed to the frame 904. The lifting frame 303 is located in the middle of the lifting device 3, and the front oil cylinder 304 is located in the middle of the front of the lifting frame 303, and the upper part of the front oil cylinder 304 is fixed to the lifting frame 303 and the lower part is fixed to the frame 904.

[0035] It should be noted that the lifting device 3 is used to lift the resin anchor injection device 301, the automatic mesh laying device 4, the slewing mechanism 7, and the workbench 8. The resin anchor injection device 301 is used to store resin anchors and inject the resin anchors into the drill hole through compressed air according to a control signal to achieve automatic installation of resin anchors. The rear oil cylinder 302 is equipped with a rope pull sensor and cooperates with the front oil cylinder 304 to adjust the angle of the lifting platform. The front oil cylinder 304 is also equipped with a rope pull sensor and cooperates with the rear oil cylinder 302 to adjust the angle of the lifting platform.

[0036] The automatic mesh laying device 4 includes a front conveying device 401, a slewing device 402, side conveying devices 403, a fixed beam 404, and lifting oil cylinders 405. The front conveying device 401 is located at the front end of the automatic mesh laying device 4. The slewing device 402 is fixed on the fixed beam 404 and is installed and fixed to the front conveying device 401 and the side conveying devices 403. The side conveying devices 403 are located on the left and right sides of the automatic mesh laying device 4. The fixed beam 404 is located at the upper end of the lifting oil cylinders 405 and is fixed to the slewing device 402. The lifting oil cylinders 405 are located at the bottom of the lower side of the automatic mesh laying device 4 and the number is four.

[0037] It should be noted that the front conveying device 401 is driven by an oil cylinder for conveying, used to fix the steel belt anchor mesh, and automatically convey the steel belt anchor mesh to the front end, so that the steel belt holes are quickly aligned with the drill box for automatic mesh laying and quick positioning to find holes. The side conveying devices 403 are driven by an oil cylinder for conveying, used to lift the steel belt anchor mesh, and the lifting oil cylinders 405 are used to lift the automatic mesh laying device 4.

[0038] The right automatic drilling and anchoring mechanism 5 includes a drill arm a501, a manipulator a502, and a rod magazine a503. The left automatic drilling and anchoring mechanism 6 includes a drill arm b601, a manipulator b602, and a rod magazine b603.

[0039] Among them, the manipulator a502 and the manipulator b602 are located in the middle of the rod magazine a503, the rod magazine b603 and the drill arm a501, the drill arm b601. The rod magazine a503 and the rod magazine b603 are installed on the left sides of the drill arm a501 and the drill arm b601.

[0040] It should be noted that the drill boom a501 and the drill boom b601 are installed with a rotary drill box, a guide, a propulsion device, etc., and are mainly used to realize drill-anchor operations such as automatic bolt drilling, automatic resin anchoring agent loading, and automatic stirring and pre-tightening. Among them, the guide holds and guides the drill pipe and the bolt, and the gripper has a large opening to facilitate the smooth passage of the tray. The manipulator a502 and the manipulator b602 are used to clamp the bolt and rotate the bolt to the positions of the drill boom a501 and the drill boom b601. The rod storage bins a503 and b603 are in the form of a revolver and are used to store bolts. Swing cylinders and angle sensors are respectively installed at both ends of the rod storage bins a503 and b603, which can accurately control the rotation angle to ensure the consistency of rod taking each time. The right automatic drill-anchor mechanism 5 and the left automatic drill-anchor mechanism 6 can meet the requirements of self-drilling bolts and the anchoring of ordinary ribless threaded steel bolts by increasing or decreasing the manipulators.

[0041] The slewing mechanism 7 includes a slewing frame 701, a sliding mechanism 702, a side tightening device 703, and a swing angle mechanism 704. The sliding mechanism 702 is fixed to one side of the slewing frame 701, the side tightening device 703 is fixed to the output shaft of the sliding mechanism 702, and the swing angle mechanism 704 is fixed to one side of the sliding mechanism 702.

[0042] It should be noted that a cable-pulling sensor and an angle sensor are installed in the slewing mechanism 7, which are mainly used to accurately control the bolt spacing and the drilling and anchoring angle.

[0043] The number of workbenches 8 is two, and they are symmetrically distributed on both sides of the whole machine 11. One side of the workbench 8 is fixed to the lifting frame 303 through a telescopic oil cylinder.

[0044] It should be noted that the workbench 8 is equipped with a telescopic oil cylinder. After the drill truck is stabilized, the platform is placed from the vertical to the horizontal, and the oil cylinder is extended forward to increase the standing space for personnel. It is mainly used for personnel to stand and observe the drilling and anchoring situation.

[0045] Among them, the number of control boxes 10 is two, and each includes a transmitter, a receiver, and a control box. The transmitter and the receiver are both fixed to the inner wall of the control box, and a PLC controller is built into the control box.

[0046] It should be noted that both sets of intelligent control systems can control the drill truck to move, the outriggers 903 to be stabilized, the platform to be telescoped, automatic mesh laying, and the lifting device 3 to lift; the electric control box 103 is internally equipped with electrical components such as a PLC, receives and issues signals to control the actions of each valve, and can preset relevant parameters according to the actual working conditions; in addition, the right remote control system controls the right automatic drill-anchor mechanism 5, and the left remote control system controls the left automatic drill-anchor mechanism 6, and preset interference control conditions in advance to avoid interference between the two sets of automated drill booms; the intelligent control system can also realize fault diagnosis to facilitate repair and maintenance.

[0047] All the electrical components mentioned in the text are electrically connected to the main controller and the power supply, and all the electrical components mentioned in the text are conventional known devices. Therefore, no further elaboration will be made in this application. The main controller can be a conventional known device such as a computer that plays a control role. The control circuit of the main controller can be realized by simple programming by those skilled in the art. The provision of the power supply also belongs to the common knowledge in the art. And this application is mainly used to protect mechanical devices. Therefore, the control method and circuit connection will not be explained in detail in this application.

[0048] The jumbo in this embodiment can achieve new fully automatic bolt jumbos for mechanized operations such as one-time positioning, automatic positioning of bolt spacing, automatic mesh laying, automatic hole finding, automatic drill pipe loading and unloading, automatic drilling, automatic resin anchoring agent loading, automatic bolt installation, and automatic stirring and pre-tightening. It can achieve rapid support for roof and rib bolts. This vehicle uses a variety of sensors and swing cylinders to make its positioning more accurate, fundamentally solving the deficiencies existing in current bolt support operations. It is a rapid support equipment that can truly achieve labor reduction and efficiency improvement, rapid support, mechanized substitution for humans, and automation for labor reduction, ensuring the tunneling speed and support quality.

[0049] The working principle of the above embodiment is as follows:

[0050] The cable reel 101 is used for automatically winding and unwinding the cable, facilitating movement and effectively reducing the labor intensity of workers dragging the cable. The entire rear device 1 consists of multiple detachable small components, which is convenient for disassembly and assembly and is used for protecting each component. The electric control box 103 houses electrical components such as PLC for intelligent control. The fuel tank 104 supplies hydraulic oil to the pump station 2. The explosion-proof motor 201 provides rotational power for the plunger pump 202, and its start and stop are controlled by the electric control box 103. Through the rotation of the explosion-proof motor 201, the rotational power is transmitted to the coupling, and the coupling then transmits the power to the plunger pump 202, enabling the plunger pump 202 to operate, sucking the hydraulic oil from the fuel tank 104 and converting it into high-pressure output. The lifting device 3 is used to lift the resin anchor injection device 301, the automatic mesh laying device 4, the slewing mechanism 7, and the workbench 8. The resin anchor injection device 301 is used to store resin anchors and inject the resin anchors into the drill hole through compressed air according to the control signal, realizing the automatic installation of resin anchors. The rear oil cylinder 302 is equipped with a rope tension sensor and cooperates with the front oil cylinder 304 to realize the angle adjustment of the lifting platform. The front oil cylinder 304 is also equipped with a rope tension sensor and cooperates with the rear oil cylinder 302 to realize the angle adjustment of the lifting platform. The front conveying device 401 is driven by an oil cylinder for conveying, used to fix the steel belt anchor mesh and automatically convey the steel belt anchor mesh to the front end, making the steel belt holes quickly align with the drill box for automatic mesh laying and quick positioning to find the holes. The side conveying device 403 is driven by an oil cylinder for conveying and is used to support the steel belt anchor mesh. The lifting oil cylinder 405 is used to realize the lifting of the automatic mesh laying device 4. The drill arm a 501 and the drill arm b 601 are equipped with a rotary device (drill box), a guide, a propulsion device, etc., mainly used to realize drilling and anchoring operations such as automatic drilling of anchor bolts, automatic application of resin anchors, and automatic stirring and pre-tightening. Among them, the guide clamps the drill pipe and the anchor bolt and guides. The gripper has a large opening, facilitating the smooth passage of the tray. The manipulator a 502 and the manipulator b 602 are used to clamp the anchor bolt and rotate the anchor bolt to the drill arm a 501 and the drill arm b 601. The rod storage bins a 503 and b 603 are in the form of a revolver and are used to store anchor bolts. Swing oil cylinders and angle sensors are respectively installed at both ends of the rod storage bins a 503 and b 603, which can accurately control the rotation angle to ensure the consistency of rod taking each time. The right automatic drilling and anchoring mechanism 5 and the left automatic drilling and anchoring mechanism 6 can meet the requirements of self-drilling anchor bolts and anchoring of ordinary non-longitudinal ribbed deformed steel bars by increasing or decreasing the manipulators. The slewing mechanism 7 is installed with a rope tension sensor and an angle sensor at the corner position, mainly used to accurately control the anchor bolt spacing and the drilling and anchoring angle. The workbench 8 is equipped with a telescopic oil cylinder. After stabilizing the drill rig, the platform is placed from the vertical to the horizontal, and the oil cylinder is extended forward to increase the standing space for personnel, mainly used for personnel to stand and observe the drilling and anchoring situation. The left traveling 901 and the right traveling 902 are located on both sides of the chassis device 9 and are used for the whole vehicle to travel; One front leg 903 is arranged at the front and two rear legs are arranged at the rear. After the drill rig reaches the preset position, the legs 903 are extended to fix the whole machine 11;The frame 904 is mainly used for installing other components. Two control boxes are respectively equipped with two intelligent control systems. Both sets of intelligent control systems can control the walking of the jumbo, the stabilization of the outriggers 903, the telescoping of the platform, the automatic mesh laying, and the lifting of the lifting device 3. Inside the electric control box 103, there are electrical components such as PLC, which receive and issue signals to control the actions of each valve, and can preset relevant parameters according to the actual working conditions. In addition, the right remote control system controls the right automatic drill-anchor mechanism 5, and the left remote control system controls the left automatic drill-anchor mechanism 6, and preset the interference control conditions in advance to avoid the interference of the two sets of automated drill arms. The intelligent control system can also realize fault diagnosis, which is convenient for maintenance.

[0051] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0052] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully automatic bolt drill rig for coal mines, comprising a whole machine (11), characterized in that: At the rear of the whole machine (11), there is a rear device (1). At the lower side of the whole machine (11), there is a chassis device (9). At the front of the rear device (1) and above the chassis device (9), there is a pumping station (2). In the middle of the whole machine (11), there is a lifting device (3). On the lifting device (3), there is an automatic net laying device (4). On one side of the whole machine (11), there are symmetrically arranged a right automatic drilling and anchoring mechanism (5) and a left automatic drilling and anchoring mechanism (6). At the center of the automatic net laying device (4), the right automatic drilling and anchoring mechanism (5) and the left automatic drilling and anchoring mechanism (6), there is a slewing mechanism (7). On both sides of the whole machine (11), there are workbenches (8). The whole machine (11) is provided with a control box (10) for separately controlling the right automatic drilling and anchoring mechanism (5) and the left automatic drilling and anchoring mechanism (6); Among them, the chassis device (9) includes a left travel (901) and a right travel (902) for the whole vehicle to travel, outriggers (903) and a frame body (904). The left travel (901) and the right travel (902) are symmetrically distributed. One side of the frame body (904) is fixed to the whole machine (11). The outriggers (903) are fixed to the lower side of the whole machine (11); The lifting device (3) includes a resin anchoring agent spraying device (301), a rear oil cylinder (302), a lifting frame (303), and a front oil cylinder (304). The rear oil cylinder (302) and the front oil cylinder (304) are fixed to the frame body (904). The resin anchoring agent spraying device (301) is located in the middle of the lifting device (3) and is fixed to the lifting frame (303). The number of the rear oil cylinders (302) is two, and the two rear oil cylinders (302) are symmetrically installed on the left and right sides at the rear of the lifting frame (303). The upper part of the rear oil cylinder (302) is fixed to the lifting frame (303), and the lower part is fixed to the frame body (904). The lifting frame (303) is located in the middle of the lifting device (3). The front oil cylinder (304) is located in the middle at the front of the lifting frame (303), and the upper part of the front oil cylinder (304) is fixed to the lifting frame (303), and the lower part is fixed to the frame body (904); The automatic net laying device (4) includes a front conveying device (401), a slewing device (402), side conveying devices (403), a fixed beam (404), and lifting oil cylinders (405). The front conveying device (401) is located at the front end of the automatic net laying device (4). The slewing device (402) is fixed on the fixed beam (404) and is installed and fixed to the front conveying device (401) and the side conveying devices (403). The side conveying devices (403) are located on the left and right sides of the automatic net laying device (4). The fixed beam (404) is located at the upper end of the lifting oil cylinders (405) and is fixed to the slewing device (402). The lifting oil cylinders (405) are located at the bottom on the lower side of the automatic net laying device (4), and the number is four; The right automatic drilling and anchoring mechanism (5) includes a drilling arm a (501), a manipulator a (502), and a rod turret a (503), and the left automatic drilling and anchoring mechanism (6) includes a drilling arm b (601), a manipulator b (602), and a rod turret b (603).

2. The fully automatic bolt drill jumbo for coal mines according to claim 1, wherein: The rear device (1) includes a cable reel (101), a shield (102), an electric control box (103), and an oil tank (104). Among them, the cable reel (101) is located at the left rear of the whole machine (11) and is fixed to the frame body (904). The shield (102) is fixed to the outside of the cable reel (101), the electric control box (103), and the oil tank (104). The electric control box (103) is located at the right rear of the whole machine (11) and is fixed to the upper surface of the oil tank (104) on the right side of the cable reel (101). The oil tank (104) is fixed to the frame body (904), and one side of the shield (102) and the electric control box (103) is fixed to the oil tank (104).

3. The fully automatic bolt drill rig for coal mines according to claim 1, characterized in that: The pump station (2) includes an explosion-proof motor (201), a plunger pump (202), a pump disc, and a coupling. The output shaft of the explosion-proof motor (201) is fixed to the plunger pump (202) through the coupling, and the pump disc and the coupling are located in the middle of the pump station (2).

4. A fully automatic bolt drill rig for coal mines according to claim 1, characterized in that: The manipulator a (502) and the manipulator b (602) are located in the middle of the rod turret a (503), the rod turret b (603), the drilling arm a (501), and the drilling arm b (601). The rod turret a (503) and the rod turret b (603) are installed on the left side of the drilling arm a (501) and the drilling arm b (601).

5. A fully automatic bolt drill rig for coal mines according to claim 1, characterized in that: The slewing mechanism (7) includes a slewing frame (701), a sliding mechanism (702), a side tightening device (703), and a swing angle mechanism (704). The sliding mechanism (702) is fixed to one side of the slewing frame (701). The side tightening device (703) is fixed to the output shaft of the sliding mechanism (702), and the swing angle mechanism (704) is fixed to one side of the sliding mechanism (702).

6. The fully automatic bolt drill jumbo for coal mines according to claim 1, characterized in that: The number of the workbenches (8) is two, and they are symmetrically distributed on both sides of the whole machine (11). One side of the workbench (8) is fixed to the lifting frame (303) through a telescopic oil cylinder.

7. The fully automatic bolt drill jumbo for coal mines according to claim 1, characterized in that: The number of the control boxes (10) is two, and they include a transmitter, a receiver, and a control box. Both the transmitter and the receiver are fixed to the inner wall of the control box, and a PLC controller is built into the control box.

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