Automatic rod changing mechanism, coal mine anchor rod drill and control method thereof

Abstract

The application provides an automatic rod changing mechanism, a coal mine anchor rod drilling machine and a control method thereof. The automatic rod changing mechanism comprises a sliding platform, a sliding oil cylinder, a cantilever mechanism, a second gripper oil cylinder, a second gripper and a U-shaped plate. The cantilever mechanism is connected with the sliding oil cylinder, the sliding oil cylinder is used for driving the cantilever mechanism to slide on the sliding platform, two ends of the cantilever mechanism are respectively provided with the U-shaped plate, the U-shaped plate is provided with a U-shaped guide groove, the U-shaped plate at one end is provided with the second gripper, and the second gripper oil cylinder is used for driving the second gripper to perform clamping or loosening actions. When the rod needs to be changed, the second gripper slides to a working position through the sliding platform. When the rod does not need to be changed, the second gripper slides to a side position through the sliding platform. The coal mine anchor rod drilling machine comprises a first gripper, a fixed base frame, a drilling box and a sliding frame. The automatic rod changing mechanism can replace manual rod changing tasks and is safe and reliable. The automatic rod changing mechanism can adapt to narrow working space in a coal mine tunnel and realize a variable stroke drilling depth of 2-3 meters.

Description

Technical Field

[0001] This invention patent relates to the field of roadway support construction in coal mine tunneling, and particularly to an automatic rod changing mechanism, a coal mine anchor drilling rig and its control method. Background Technology

[0002] Currently, due to space constraints in coal mine roadways, the known size and configuration of anchor bolt drilling rigs for coal mines are relatively small, with a drilling stroke generally less than 2 meters. When the drilling depth exceeds the rig's drilling stroke, manual rod replacement is necessary. Since anchor bolt drilling rigs can rotate 180 degrees in both horizontal and vertical spaces, manually changing rods during construction is a difficult and dangerous task, requiring high labor intensity.

[0003] Another common method is to design a rotating rod changing mechanism. The rotating mechanism drives the drill rod to rotate and swing to the hole position, and cooperates with the clamping rotating mechanism to realize the replacement of multiple rods. During the operation, the rod changing mechanism needs to swing to the side position, which occupies a lot of space, has poor alignment accuracy, and is heavy, even heavier than the weight of the anchor drilling machine. The structure is complex and not suitable for the narrow space of coal mine roadways and the need for flexible construction of lightweight anchor drilling machines. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatic rod changing mechanism, a coal mine anchor drilling rig, and its control method.

[0005] To address the problems of existing technologies, this invention discloses an automatic rod-changing mechanism, comprising: a sliding platform, a sliding cylinder, a cantilever mechanism, a second gripper cylinder, a second gripper, and a U-shaped plate; the cantilever mechanism is connected to the sliding cylinder, and the sliding cylinder drives the cantilever mechanism to slide on the sliding platform; U-shaped plates are respectively provided at both ends of the cantilever mechanism, and the U-shaped plates are provided with U-shaped guide grooves; the second gripper is installed on one end of the U-shaped plate, and the second gripper cylinder drives the second gripper to perform clamping or releasing actions; when rod changing is required, the second gripper slides to the working position via the sliding platform; when rod changing is not required, the second gripper slides to the side position via the sliding platform.

[0006] Furthermore, it also includes rubber clamping blocks, which are respectively disposed at both ends of the cantilever mechanism.

[0007] Furthermore, the sliding platform is provided with a wedge-shaped groove, and the sliding cylinder is provided with a wedge-shaped guide rail. The sliding platform and the sliding cylinder are slidably connected through the wedge-shaped groove and the wedge-shaped guide rail.

[0008] Accordingly, a coal mine anchor drilling rig includes: a first clamp, a fixed base frame, a drill box, a slide, and the aforementioned automatic rod changing mechanism; the first clamp is connected to the fixed base frame via a primary sliding mechanism, the primary sliding mechanism being used to perform extension and retraction of the first clamp; the slide is connected to the fixed base frame via a primary sliding mechanism, the primary sliding mechanism also being used to perform extension and retraction of the slide; the drill box is slidably connected to the slide; and the automatic rod changing mechanism is located between the first clamp and the drill box; wherein the length of the sliding platform does not exceed the width of the fixed base frame.

[0009] Furthermore, the primary sliding mechanism includes a gripper guide rod and a gripper guide rod telescopic cylinder. One end of the gripper guide rod is connected to the first gripper, and the other end is connected to the fixed base frame through the gripper guide rod telescopic cylinder.

[0010] Furthermore, the primary sliding mechanism includes a slide guide rod and a slide cylinder mounted on the slide; the secondary sliding mechanism includes a drill box guide rod and a drill box cylinder. The slide guide rod is connected to a fixed base frame via the slide cylinder, and the slide cylinder is used to drive the slide to extend or retract. The drill box is slidably connected to the drill box guide rod, and the drill box cylinder is used to drive the drill box to slide on the drill box guide rod.

[0011] Furthermore, the secondary sliding mechanism also includes a chain drive mechanism, which, together with the drill box cylinder, drives the drill box to slide on the drill box guide rod.

[0012] Furthermore, the automatic lever-changing mechanism is connected to the first gripper, and the automatic lever-changing mechanism moves with the first gripper.

[0013] Furthermore, the drilling rig employs two drill rod sections, including a first drill rod and a second drill rod. Both the first and second drill rod sections have external threaded structures and stop blocks at their front ends, and internal circumference circles and drive anti-detachment square heads at their rear ends. The threaded structures and internal circumference circles are used for threaded connection between the first and second drill rod sections. The stop blocks abut against the internal circumference circles after the first and second drill rod sections are threaded together. The drive sleeve of the drill box has a square hole structure with a reverse axial locking groove structure on its inner side. The drive anti-detachment square head is inserted into the drive sleeve of the drill box, and the drive sleeve of the drill box drives the first and second drill rod sections to rotate forward or in reverse.

[0014] The control methods for the aforementioned coal mine anchor drilling rigs include: Step 1: The second clamp holds the first drill rod and slides it to the working position, so that the front end of the first drill rod is aligned with the first clamp and the rear end is aligned with the drive sleeve of the drill box. The drill box moves forward so that the drive anti-disengagement square head at the rear end of the first drill rod is inserted into the drive sleeve 31 of the drill box. The second clamp and the first clamp are released. The drill box moves forward so that the front end of the first drill rod is sent to the first clamp. The second clamp slides to the side position. Step 2: The drill box drive sleeve drives the first section of drill rod to drill, the first clamp holds the first section of drill rod, and the drill box retracts to the initial position; Step 3: The second clamp holds the second drill rod and slides it to the working position, so that the external thread structure at the front end of the second drill rod is aligned with the inner circle at the rear end of the first drill rod, and the drive anti-disengagement square head at the rear end of the second drill rod is aligned with the drive sleeve of the drill box. The drill box moves forward so that the drive anti-disengagement square head at the rear end of the second drill rod is inserted into the drive sleeve of the drill box. The second clamp is released, the drill box moves forward and the drive sleeve rotates forward so that the external thread structure at the front end of the second drill rod is threaded to the inner circle at the rear end of the first drill rod, and the drive sleeve of the drill box stops rotating. Step 4: The second clamp slides to the side position, releases the first clamp, the drill box moves forward, the drive sleeve rotates forward, and the second section of the drill rod is drilled in. Step 5: Reverse the drill box drive sleeve and move it backward to pull back the first and second drill rod sections, so that the second drill rod section is positioned between the first clamp and the drill box. Step 6: The first clamp holds the first section of drill rod, the drill box drive sleeve reverses to disengage the first section of drill rod and the second section of drill rod from the threaded connection, and the second clamp slides to the working position and clamps the second section of drill rod. Step 7: The drill box drive sleeve rotates forward to unlock, the drill box retracts to the initial position and disengages from the second drill rod, and the second clamp holds the second drill rod and slides it to the side position; Step 8: Move the drill box forward so that the drive anti-disengagement square head at the rear end of the first drill rod is inserted into the drill box drive sleeve; Step 9: Reverse lock the drill box drive sleeve, release the first clamp, the drill box retracts to the initial position, and pulls back the first section of drill rod; the anchor drill moves to the next hole position and repeats steps 2-9. Step 10: Complete drilling at all holes, remove the first and second drill rod sections, and retract both the primary sliding mechanism and the primary sliding mechanism.

[0015] The beneficial effects of this invention are as follows: The automatic pole-changing mechanism of this invention can replace manual pole-changing tasks, and is safe and reliable. The size and structure of the automatic rod changing mechanism do not exceed the original coverage space of the drilling rig, making it suitable for the narrow working space of coal mine tunnels.

[0016] The drilling rig is equipped with a two-stage sliding mechanism, which enables two-stage variable stroke, achieving a variable stroke drilling depth of 2 to 3 meters. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the drilling rig structure of the present invention; Figure 2 This is a schematic diagram of the drilling rig structure of the present invention; Figure 3 This is a schematic diagram of the first clamping device structure of the present invention; Figure 4 This is a schematic diagram of the automatic lever-changing mechanism of the present invention; Figure 5 This is a schematic diagram of the drill pipe front end mechanism of the present invention; Figure 6 This is a schematic diagram of the drill pipe rear end structure of the present invention; Figure 7 This is a schematic diagram of the rod-changing state of the present invention; Figure 8 This is a schematic diagram of the rod-changing state of the present invention; Figure 9 This is a schematic diagram of the rod-changing state of the present invention; Figure 10 This is a schematic diagram of the rod-changing state of the present invention; Figure 11 This is a schematic diagram of the rod-changing state of the present invention; Figure 12 This is a schematic diagram of the rod-changing state of the present invention; Figure 13 This is a schematic diagram of the rod-changing state of the present invention; Figure 14 This is a schematic diagram of the rod-changing state of the present invention; Figure 15 This is a schematic diagram of the rod-changing state of the present invention; Figure 16 This is a schematic diagram of the rod-changing state of the present invention.

[0018] Figure label: 1. First gripper; 2. Fixed base frame; 3. Drill box; 4. Slide; 5. Automatic rod changing mechanism; 1-0. Grip caliper; 1-1. Lower part is gripping cylinder; 11. Gripper guide rod; 31. Drive sleeve; 41. Slide guide rod; 42. Drill box guide rod; 51. Sliding platform; 52. Sliding cylinder; 53. Cantilever mechanism; 54. Second gripper cylinder; 55. Second gripper; 56. U-shaped plate; 57. Rubber clamping block; 61. Threaded structure; 62. Stop block; 63. Inscribed circle; 64. Drive anti-detachment square head; 6-1. First section of drill rod; 6-2. Second section of drill rod. Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0020] This disclosure provides a dual-rod sliding automatic rod changing mechanism and its control method for a variable-stroke coal mine anchor drilling rig. It enables automatic rod changing, drilling, and retraction of two drill rods, achieving a variable-stroke drilling depth of 2 to 3 meters. Furthermore, it allows for automatic rod changing, drilling, and retraction during multiple drilling operations, eliminating the need for manual rod connection, saving manpower, reducing construction risks, and improving construction efficiency. The structure is simple and reliable, allowing for the cyclical replacement of two drill rods without occupying valuable roadway space, and is lightweight. It is well-suited to the construction requirements of coal mine anchor drilling rigs.

[0021] The implementation of this patent involves designing a variable-stroke coal mine anchor drilling rig with a dual-rod sliding automatic rod changing mechanism, combining the structural and construction characteristics of the rig. This mechanism enables automatic replacement of the two drill rods, drilling, and rod retraction. Furthermore, a rod changing method is designed in conjunction with the sliding rod changing mechanism to achieve simple, reliable, and practical automatic rod changing and automatic drilling.

[0022] like Figure 1-2 As shown, the structure of the anchor drilling rig includes four parts: a fixed base frame 2, a slide 4, a drill box 3, and a first clamp 1, as well as an automatic rod changing mechanism 5. The first clamp 1 is connected to the fixed base frame 2 via the clamp guide rod 11, and its telescopic sliding is controlled by the clamp guide rod telescopic cylinder. The slide 4 is connected to the fixed base frame 2 via the slide guide rod 41, and the telescopic movement of the slide 4 is driven by the slide cylinder. The drill box 3 is connected to the drill box guide rod 42 on the slide 4 via a slider, and the telescopic movement of the drill box 3 is achieved by the drill box cylinder and chain drive mechanism. The automatic rod changing mechanism 5 is welded to the back plate of the first clamp 1, and its movement is synchronized with the first clamp 1. The anchor drilling rig mainly achieves two-stage sliding telescopic movement. The first-stage sliding telescopic movement includes: the sliding telescopic movement of the first clamp 1, controlled by the clamp guide rod telescopic cylinder; and the sliding telescopic movement of the slide 4, driven by the slide cylinder. The second-stage sliding telescopic movement includes the sliding telescopic movement of the drill box 3, driven by the drilling cylinder and chain drive. Each stage of sliding travel is 800mm, and the two stages together can achieve a drilling depth of 1.6 meters. After two stages of retraction, the minimum transport size can be achieved at around 1.2 meters.

[0023] The drilling process is as follows: The first clamp 1 extends to the drill rod's travel position, and the drill rod is installed so that one end is inserted into the drive connector of the drill box 3, while the other end is clamped by the first clamp 1. Then, the slide 4 extends the anchor drill to the designated hole position, ensuring that the front panel of the first clamp 1 touches the tunnel wall. The clamp is released, and the drill box 3 rotates forward to achieve the drilling action. When pulling back the drill rod, the drill box 3 or the first clamp 1 clamps or holds the drill rod to pull it out. Without the automatic rod changing mechanism 5, all auxiliary actions are performed manually. Personnel must participate in the entire drilling process and complete actions such as placing the drill rod, unlocking the drill rod, and lowering the drill rod. The work is dangerous and arduous.

[0024] Based on the structural and drilling characteristics, this patent invention discloses a dual-rod sliding automatic rod changing mechanism and method for a variable-stroke coal mine anchor drilling rig. This ensures automatic rod changing with a variable drilling stroke of 2-3.4 meters, while maintaining a minimal increase in length and no increase in width or height.

[0025] This invention utilizes an automatic rod-changing mechanism 5 installed at the rear end of the primary sliding mechanism holder 1 to achieve variable stroke rod changing. During drilling, the primary holder 1, acting as the primary sliding mechanism, extends first, and its extension length is variable. This variable stroke determines the length of the assembled drill rod, thus determining the total drilling depth. The variable stroke allows for the adaptation to drill rods of various lengths. For example, if the automatic rod-changing mechanism 5 extends 500mm following the holder 1, and the secondary sliding stroke of the drill box 3 is 800mm, the drilling rig can assemble a drill rod of 800+500=1300mm. After drilling the first section of drill rod using the rod-changing mechanism 5, the second section is then installed, achieving a drilling depth of 1300×2=2600mm.

[0026] like Figure 3 The first clamp 1 has a clamping caliper 1-0 at the top and a clamping cylinder 1-1 at the bottom, and the clamping caliper 1-0 is driven by the clamping cylinder 1-1 to clamp or release.

[0027] like Figure 4 As shown, the automatic rod changing mechanism 5 consists of a sliding platform 51, a sliding cylinder 52, a cantilever mechanism 53, a second gripper cylinder 54, a second gripper 55, a U-shaped plate 56, and a rubber clamping block 57. The sliding platform 51 is welded to the back plate of the clamp 1, and has a transverse wedge-shaped groove. The sliding cylinder 52 is hinged to the sliding platform 51 by a pin. The lower part of the sliding cylinder 52 has a wedge-shaped guide rail, which is installed in the transverse wedge-shaped groove of the sliding platform 51, allowing the sliding cylinder 52 to slide within the wedge-shaped groove. The sliding cylinder 52 has two stroke positions, corresponding to the lateral and centering positions of the cantilever mechanism 53, respectively. The centering position is the working position used for rod changing, while the lateral position is a position that does not affect the drilling of the drilling rig. Since the two working positions of the cantilever mechanism 53 correspond to the fully retracted and fully extended positions of the sliding cylinder 52, the positioning is accurate, the repeatability is high, and the control is simple and reliable. One end of the cantilever mechanism 53 is a U-shaped plate 56 with a guiding function and is equipped with a clamp 55, while the other end is only a U-shaped guide plate. Rubber clamping blocks 57 are installed at both ends. Special attention should be paid to ensuring that the opening of the U-shaped plate faces the center of the hole. The second clamp 55 is driven by the second clamp cylinder 54 installed at the bottom. During operation, the drill rod is inserted laterally into the U-shaped guide groove of the U-shaped plate 56. The second clamp 55 clamps the drill rod under the drive of the second clamp cylinder 54. Since the drilling rig can operate at many angles, the second clamp 55 may loosen during rod changing. Therefore, a rubber clamping block 57 is designed for auxiliary clamping to prevent the drill rod from falling off. Since the opening of the U-shaped plate 55 faces the center of the borehole, the rod changing mechanism can retract to the side position when the drill rod is sent to the center position without jamming or interference. Due to the cantilever mechanism 53, the anchor drilling rig has a two-stage telescopic structure. Therefore, its cantilever length should consider the full retraction, rod changing position when extended, and the working stroke of the drill box. The automatic rod changing mechanism 5 can follow the clamp 1. The length of its extension determines the variable stroke length of the drill rod that can be loaded, and thus determines the variable stroke of the drilling depth.

[0028] The automatic rod changing mechanism 5 adopts a sliding rod changing structure. The automatic rod changing mechanism 5 and the drill rod are housed in the empty space on one side of the drill box 3. This arrangement does not increase the overall width and height of the drilling rig, and it does not interfere with drilling in the drill box 3 or the two-stage sliding operation of the drilling rig. A sliding platform 51 with a transverse wedge-shaped groove is welded to the rear upright plate of the first holder 1. Sliding is achieved by a sliding cylinder 52. The lower end of the sliding cylinder 52 is machined with a wedge-shaped guide rail. The transverse movement of the sliding cylinder 52 controls the rod position. The rod position control utilizes the cylinder's limit stroke position, making control simple, precise, and reliable. The upper end is the mounting interface for the cantilever mechanism 53, which is bolted to the upper part of the sliding cylinder 52. The minimum stroke position of the sliding cylinder 52 is the side-positioned drill rod storage position of the cantilever mechanism 53, and the maximum stroke position of the sliding cylinder 52 is the center position of the borehole. During rod replacement, the cantilever mechanism 53 slides to the center of the hole, working with the drill box 3 and the first clamp 1 to complete the rod replacement. After the rod replacement is completed, the cantilever mechanism 53 slides to the side position under the push of the hydraulic cylinder, and the drill box 3 drives the drill rod to complete drilling. During rod removal, the cantilever mechanism 53 slides to the center of the hole, working with the drill box 3 and the first clamp 1 to complete the rod replacement. The automatic rod replacement mechanism 5 clamps the removed drill rod and slides it to the side position. The drill box 3 continues to remove another drill rod, the first clamp 1 clamps the drill rod, and it moves to the next hole position for cyclic drilling.

[0029] like Figure 5 As shown, the drill pipe joint structure and the methods for connecting, removing, and unlocking the drill pipe are illustrated. The front end of the drill pipe is designed with an external thread structure 61, which can be a standard thread or a tapered thread; a stop block 62 is provided at the rear end of the thread structure 61; as shown... Figure 6 As shown, the rear end of the drill rod is designed with the structure shown. One end has a drive anti-detachment square head 64, used for rotational drive and to lock the drill rod back, limiting axial displacement. The front end of the square head has a large-tapered inscribed circle 63 for positioning and guidance, and a tapered square corner structure is designed at one corner to facilitate the guiding connection of the rear square head. A threaded hole is designed on the inner end of the connector for connecting the drill rod. The drive sleeve 31 of the drill box 3 is designed with a square hole structure, with a reverse axial locking groove structure added to the inside. This structure allows for rotational drive when rotating forward, combined with the drill rod square head; when rotating backward, the drill rod square head sinks into the locking groove, locking the drill box 3 to the drill rod, allowing for pullback and unlocking. Through a specially designed drill rod connector, in conjunction with the drilling rig and automatic rod changing mechanism 5 and method, only the connector at the end furthest from the drill box 3 can be unlocked when unlocking the drill rod, avoiding uncertainty in unlocking the connector and preventing problems with rod changing control.

[0030] For two-stage telescopic anchor bolt drilling rigs used in coal mines, the most common rod-changing mechanism is the swing rod-changing mechanism. Since the main components of a two-stage telescopic anchor bolt drilling rig can all achieve independent telescopic sliding, the swing rod-changing mechanism can only be installed on the fixed base frame at the bottom of the structure to ensure a relatively fixed rod-changing position. This requires a large structural height, and to ensure structural rigidity, its structural mass will be very large; some swing rod-changing mechanisms even exceed the mass of the anchor bolt drilling rig. Furthermore, because it needs to laterally swing to allow drilling space for the drill box, it requires a large lateral swing space. Additionally, the swing rod-changing mechanism has poor structural rigidity, rotational accuracy, and repeatability. Based on these three points, the swing rod-changing mechanism is heavy, requires a large space, and has poor hole-setting accuracy. Anchor bolt drilling rigs need to operate in confined spaces and extend from a slender boom to the borehole wall, both of which require the anchor bolt drilling rig to be small and lightweight. Therefore, the swing rod-changing mechanism is not suitable for two-stage telescopic anchor bolt drilling rigs used in coal mines.

[0031] In view of this, such as Figures 7 to 16 As shown, in one aspect of this disclosure, a control method for a lightweight, space-saving sliding variable-stroke automatic lever-changing mechanism is provided: This embodiment uses a 1.6-meter stroke anchor drilling rig, requiring the clamping of two 1.2-meter drill rods, as an example to illustrate its working process and rod changing method. When the anchor drilling rig is working, I. Pre-operation rod installation: The first clamp 1 extends forward, and the clamp guide rod 11 extends 400mm. The first section of drill rod 6-1 is installed, with its front end extending 42mm beyond the caliper of the first clamp 1. The first clamp 1 clamps tightly, and the drill box 3 moves forward 208mm, clamping the first section of drill rod 6-1 at its tail. The second section of drill rod 6-2 is then installed, with the front end of the drill rod approximately 23mm from the second clamp 55. (The text abruptly ends here.) Figure 7 As shown.

[0032] II. Drilling the first drill rod section 6-1: Release the first clamp 1, and rotate the drill box 3 clockwise until the front end of the first drill rod section 6-1 is approximately 61mm from the first clamp 1. The first clamp 1 then clamps the first drill rod section 6-1, and the drill box 3 retracts to its initial position. (Example:) Figure 8 As shown.

[0033] III. Installing the second drill rod 6-2: The automatic rod changing mechanism 5 clamps the second drill rod 6-2 and moves it to the center of the hole. Slightly loosen the second clamp 55. The drill box 3 slowly rotates forward and moves 100mm, the two drill rods are threadedly connected, and the drill box stops moving. Figure 9 As shown.

[0034] IV. Drilling the second drill rod section 6-2: The second clamp 55 is fully open, the first clamp 1 is fully open, and the automatic rod changing mechanism 5 slides to the side position. The drill box 3 drills to a position approximately 61mm from the front end of the second drill rod section 6-2, away from the first clamp 1. (The text abruptly ends here.) Figure 10 As shown.

[0035] V. Retraction: The drive sleeve 31 of the drill box 3 rotates 30 degrees, the drill box 3 retracts, pulling back the first drill rod 6-1 and the second drill rod 6-2. The first drill rod 6-1 extends approximately 61mm beyond the first clamp, and the second drill rod 6-2 is positioned entirely between the first clamp 1 and the drill box 3. Figure 11 As shown.

[0036] VI. Unloading the first drill pipe: The first clamp 1 clamps the pipe, and the automatic pipe changing mechanism 5 moves to the neutral position. (Example: ...) Figure 12 As shown.

[0037] 7. Move the second drill rod 6-2 to the side position: The drive sleeve 31 of the drill box 3 reverses to unlock the threaded connection. The drill box 3 moves backward, moving the unlocked second drill rod 6-2 until its front end is approximately 23mm from the second clamp 55. The second clamp 55 clamps. The drive sleeve 31 of the drill box 3 rotates 30 degrees clockwise, and the drill box 3 retracts to its initial position. The automatic rod changing mechanism 5 slides to the side position. Figure 13 As shown.

[0038] 8. Drill box 3 advances to the front end, then rotates clockwise to align with the hole. (Example:) Figure 14 As shown.

[0039] 9. Retracting the first drill rod section 6-1: The drive sleeve 31 of the drill box 3 reverses and locks, the drill box 3 retracts and pulls out the first drill rod section 6-1 until its front end is approximately 42mm from the first clamp 1. The first clamp 1 clamps. The drill box 3 stops operating. The anchor drilling rig moves to the next hole position, and the cycle repeats to the second step to continue drilling… (Example:) Figure 15 As shown.

[0040] 10. After completing all drilling, the two drill pipe sections are removed, the clamp retracts to the transport position, and the automatic rod changing mechanism 5 is in the side position. (Example:) Figure 16 As shown.

[0041] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Additionally, in the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, in the accompanying drawings of this invention, the fill patterns are only for distinguishing layers and do not constitute any other limitation.

[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A rock bolt drilling rig for coal mines, characterized in that, include: The system comprises a first clamp (1), a fixed base frame (2), a drill box (3), a slide (4), and an automatic rod changing mechanism (5); the automatic rod changing mechanism (5) includes: a sliding platform (51), a sliding cylinder (52), a cantilever mechanism (53), a second clamp cylinder (54), a second clamp (55), and a U-shaped plate (56); the cantilever mechanism (53) is connected to the sliding cylinder (52), the sliding cylinder (52) is used to drive the cantilever mechanism (53) to slide on the sliding platform (51), and U-shaped plates (56) are respectively provided at both ends of the cantilever mechanism (53). The U-shaped plate (56) is provided with a U-shaped guide groove, and the second clamp (55) is installed on one end of the U-shaped plate (56). The second clamp cylinder (54) is used to drive the second clamp (55). The first clamp (1) is connected to the fixed base frame (2) through a first-level sliding mechanism. The first-level sliding mechanism is used to perform the extension and retraction of the first clamp (1). The slide (4) is connected to the fixed base frame (2) through a first-level sliding mechanism. The first-level sliding mechanism is used to perform the extension and retraction of the first clamp (1). The slide (4) is connected to the fixed base frame (2) through a first-level sliding mechanism. The first-level sliding mechanism is also used to perform the extension and retraction of the slide (4). The drill box (3) and the slide (4) are slidably connected through a second-level sliding mechanism. The automatic rod changing mechanism (5) is located between the first clamp (1) and the drill box (3). The length of the sliding platform (51) does not exceed the width of the fixed base frame (2).

2. The anchor drilling rig for coal mines according to claim 1, characterized in that, It also includes rubber clamping blocks (57), which are respectively located at both ends of the cantilever mechanism (53).

3. The anchor drilling rig for coal mines according to claim 1, characterized in that, The sliding platform (51) is provided with a wedge-shaped groove, and the sliding cylinder (52) is provided with a wedge-shaped guide rail. The sliding platform (51) and the sliding cylinder (52) are slidably connected through the wedge-shaped groove and the wedge-shaped guide rail.

4. The anchor drilling rig for coal mines according to claim 1, characterized in that, The first-level sliding mechanism includes a clamp guide rod (11) and a clamp guide rod telescopic cylinder. One end of the clamp guide rod (11) is connected to the first clamp (1), and the other end is connected to the fixed base frame (2) through the clamp guide rod telescopic cylinder.

5. The anchor drilling rig for coal mines according to claim 1, characterized in that, The first-level sliding mechanism includes a slide guide rod (41) and a slide cylinder on the slide (4); the second-level sliding mechanism includes a drill box guide rod (42) and a drill box cylinder. The slide guide rod (41) is connected to the fixed base frame (2) through the slide cylinder. The slide cylinder is used to drive the slide (4) to extend and retract. The drill box (3) is slidably connected to the drill box guide rod (42). The drill box cylinder is used to drive the drill box (3) to slide on the drill box guide rod (42).

6. The anchor drilling rig for coal mines according to claim 5, characterized in that, The secondary sliding mechanism also includes a chain drive mechanism (43), which, together with the drill box cylinder, drives the drill box (3) to slide on the drill box guide rod (42).

7. The anchor drilling rig for coal mines according to claim 1, characterized in that, The automatic rod changing mechanism (5) is connected to the first clamp (1), and the automatic rod changing mechanism (5) moves with the first clamp (1).

8. The anchor drilling rig for coal mines according to claim 1, characterized in that, The drilling rig uses two drill rods, including a first drill rod (6-1) and a second drill rod (6-2). Both the first and second drill rods have an external thread structure (61) and a stop (62) at their front ends. Both the first and second drill rods have an inscribed circle (63) and a drive anti-detachment square head (64) at their rear ends. The thread structure (61) and the inscribed circle (63) are used for the first and second drill rods (6-1 and 6-2). -2) Threaded connection is performed; the stop block (62) is used to abut against the inner circle (63) after the first drill rod (6-1) and the second drill rod (6-2) are threadedly connected; the drive sleeve (31) of the drill box (3) is a square hole structure, and its inner side is provided with a reverse axial locking groove structure. The drive anti-detachment square head (64) is used to insert into the drive sleeve (31) of the drill box (3). The drive sleeve (31) of the drill box (3) drives the first drill rod (6-1) and the second drill rod (6-2) to rotate forward or reverse.

9. The control method for a coal mine anchor drilling rig according to claim 8, characterized in that, include: Step 1: The second clamp (55) clamps the first section of drill rod (6-1) and slides it to the working position, so that the front end of the first section of drill rod (6-1) is aligned with the first clamp (1) and the rear end is aligned with the drive sleeve (31) of the drill box (3). The drill box (3) moves forward so that the drive anti-disengagement square head (64) of the rear end of the first section of drill rod (6-1) is inserted into the drive sleeve (31) of the drill box (3). The second clamp (55) and the first clamp (1) are released. The drill box (3) moves forward so that the front end of the first section of drill rod (6-1) is sent to the first clamp (1). The second clamp (55) slides to the side position. Step 2: The drive sleeve (31) of the drill box (3) drives the first section of drill rod (6-1) to drill, the first clamp (1) clamps the first section of drill rod (6-1), and the drill box (3) retracts to the initial position; Step 3: The second clamp (55) clamps the second section of drill rod (6-2) and slides it to the working position, so that the external thread structure (61) at the front end of the second section of drill rod (6-2) is aligned with the inner circle (63) at the rear end of the first section of drill rod (6-1), and the drive anti-disengagement square head (64) at the rear end of the second section of drill rod (6-2) is aligned with the drive sleeve (31) of the drill box (3). The drill box (3) moves forward so that the drive anti-disengagement square head (64) at the rear end of the second section of drill rod (6-2) is inserted into the drive sleeve (31) of the drill box (3). The second clamp (55) is released, the drill box (3) moves forward and the drive sleeve (31) rotates forward so that the external thread structure (61) at the front end of the second section of drill rod (6-2) is threaded to the inner circle (63) at the rear end of the first section of drill rod (6-1), and the drive sleeve (31) of the drill box (3) stops rotating. Step 4: The second clamp (55) slides to the side position, releases the first clamp (1), the drill box (3) moves forward, the drive sleeve (31) rotates forward, and the second section of drill rod (6-2) is drilled. Step 5: The drive sleeve (31) of the drill box (3) reverses and moves backward, pulling back the first drill rod (6-1) and the second drill rod (6-2) so that the second drill rod (6-2) is located between the first clamp (1) and the drill box (3); Step 6: The first clamp (1) clamps the first section of drill rod (6-1), and the drive sleeve (31) of the drill box (3) reverses to disengage the threaded connection between the first section of drill rod (6-1) and the second section of drill rod (6-2). The second clamp (55) slides to the working position and clamps the second section of drill rod (6-2). Step 7: The drive sleeve (31) of the drill box (3) rotates forward to unlock, the drill box (3) moves back to the initial position and disengages from the second section of drill rod (6-2), and the second clamp (55) clamps the second section of drill rod (6-2) and slides it to the side position; Step 8: Move the drill box (3) forward so that the drive anti-detachment square head (64) at the rear end of the first drill rod (6-1) is inserted into the drive sleeve (31) of the drill box (3). Step 9: The drive sleeve (31) of the drill box (3) is reversed and locked, the first clamp (1) is released, the drill box (3) is moved back to the initial position, and the first section of drill rod (6-1) is pulled back; Step 10: Move the anchor drill to the next hole position and repeat steps 2-9; after completing drilling of all holes, remove the first section of drill rod (6-1) and the second section of drill rod (6-2), and retract both the primary and secondary sliding mechanisms.

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