Temporary support automatic drilling and anchoring and net laying device and method

Abstract

The present application belongs to the technical field of coal mine support netting, and specifically relates to a temporary support automatic drilling and anchoring and netting device and method. The device comprises a walking mechanism, a temporary support mechanism and an anchor rod drilling machine being installed on the upper side of the walking mechanism, a mechanical arm being arranged at the front end of the walking mechanism and used for grabbing anchor nets for top netting and grabbing anchor rods for installing the anchor rods on the anchor rod drilling machine, an anchor net storage mechanism being arranged at the rear end of the walking mechanism and used for storing anchor nets, and an anchor rod storage mechanism being arranged at the rear end of the walking mechanism and used for storing anchor rods, and a net feeding mechanism being arranged at the middle part of the walking mechanism and used for feeding the anchor nets placed in the anchor net storage mechanism to the automatic netting mechanism. The present application solves the problem of low work efficiency caused by manual operation in the prior art, and effectively protects the health and safety of workers in a harsh and dangerous environment.

Description

Technical Field

[0001] This invention belongs to the field of coal mine support mesh laying technology, specifically a temporary support automatic drilling and anchoring and mesh laying device and method. Background Technology

[0002] With the increase in tunnel excavation speed and coal mining volume, new requirements have been put forward for the safety of support and mesh laying. In the existing technology, the work of support and mesh laying still requires manual operation. However, manual operation consumes a lot of physical strength of the operators. In addition, the dangers of respirable dust and operators being in the open roof area also seriously threaten the health and safety of the workers. Summary of the Invention

[0003] To address the technical problems of low work efficiency and adverse environmental impacts on the health and safety of workers caused by manual operation in the prior art for support, drilling, anchoring, and net laying, this invention provides an automatic drilling, anchoring, and net laying device and method for temporary support.

[0004] The present invention adopts the following technical solution: an automatic drilling and anchoring and net laying device for temporary support, comprising: a walking mechanism, wherein a temporary support mechanism and an anchor drilling machine are installed on the upper side of the walking mechanism; The walking mechanism is equipped with a robotic arm at the front end, which is used to grab the anchor net for top netting and grab the anchor rod for installation onto the anchor drilling machine; The rear end of the traveling mechanism is equipped with a net storage mechanism for storing anchor nets and a bolt storage mechanism for storing anchor bolts. A net-feeding mechanism is set in the middle of the walking mechanism to transport the anchor net placed in the net storage mechanism to the automatic net-laying mechanism.

[0005] In some embodiments, the robotic arm includes a robotic arm moving base that can move left and right, on which a left half robotic arm and a right half robotic arm are mounted, and a rotating platform is mounted at the front end of the left half robotic arm and the right half robotic arm. The rotating platform is driven to rotate by a rotary motor, and a robotic arm is mounted on the front side of the rotating platform.

[0006] In some embodiments, the robotic arm includes a telescopic guide rail mounted on a rotating platform, on which two sets of robotic finger frames are mounted, and two robotic fingers are fixed on the robotic finger frames. The opening and closing of the two robotic fingers is controlled by the gripper telescopic guide rail to grasp the anchor net.

[0007] In some embodiments, the temporary support mechanism includes a support frame, which includes four legs and a frame supported by the legs. A pusher arm with four fingers is installed in the middle of the frame. A top slide rail is provided on the upper middle of the frame. A lifting cylinder that can slide along the top slide rail is installed on the top slide rail. A rotating cylinder is provided at the lower end of the lifting cylinder. After the sheet anchor net is lifted to the side, the four fingers of the pusher arm are inserted into the sheet anchor net. Then, the distance between the sheet anchor net and the roadway sidewall is controlled by adjusting the top slide rail. The distance between the sheet anchor net and the ground is controlled by the lifting cylinder. After the anchor net is laid, the pusher arm can be rotated to a position parallel to the vehicle's travel direction by the rotating cylinder.

[0008] In some embodiments, the net feeding mechanism includes a base fixed on both sides of the traveling mechanism, an I-beam installed on the base, a rotating shaft between the I-beams driven by a motor, rubber wheels deployed on both sides of the rotating shaft, and a net lifting shaft driven by a motor installed above the I-beam on each side. The net lifting shaft is fixed to one end of the net lifting arm, and the other end of the net lifting arm is a free end. When the electric box drives the net lifting shaft to rotate, the net lifting arm and the net lifting shaft rotate, thereby lifting the anchor net sheet located above the rubber wheels toward the side of the machine body to anchor the sidewall of the roadway.

[0009] In some embodiments, the anchor rod storage mechanism includes a rod storage frame rotating shaft that can move back and forth. The upper end of the rod storage frame rotating shaft is mounted on a spatial linkage mechanism, and the lower end of the rod storage frame rotating shaft is connected to a telescopic hydraulic cylinder II. An anchor rod storage outer frame is mounted on the rod storage frame rotating shaft. While the rod storage frame rotating shaft moves back and forth, the anchor rod storage outer frame rotates around the rod storage frame rotating shaft through the spatial linkage mechanism. When the rod storage frame rotating shaft moves to its farthest end, one of the anchor rod storage outer frames faces outward. An anchor rod storage drawer is provided inside the anchor rod storage outer frame, and a telescopic hydraulic cylinder I is provided between the anchor rod storage drawer and the anchor rod storage outer frame.

[0010] In some embodiments, the anchor storage drawer is provided with multiple inclined plates inside, and the anchor rod can roll down the inclined plates. An outlet is provided at the bottom inclined plate, and a push rod block is provided at the outlet. After the anchor storage drawer is pushed out by the telescopic cylinder I, the push rod block separates from the outlet. A temporary anchor rod gripper is provided at the bottom of the push rod block to catch the anchor rod that falls from the outlet.

[0011] In some embodiments, the mesh storage mechanism includes a mesh box plate, a mesh storage box, a pusher wheel, a telescopic cylinder, a mesh storage box slide rail, a mesh storage box base, and a mesh storage box rotating plate. When the mesh storage box contains sheet-type anchor mesh, the rotating wheel inside the mesh storage box can push out the bottom sheet-type anchor mesh, while the upper anchor mesh sheets are blocked by the mesh box plate. After the sheet-type anchor mesh is pushed out, the rubber wheel teeth can insert into the anchor mesh. Then, the rotating shaft drives the rubber wheel to rotate, causing the anchor mesh to move forward. If the roadway roof is being supported, after moving to a suitable position, the robotic arm will pick up the anchor mesh and advance it into the roadway. For support, after the bottom layer of anchor mesh is transported out of the storage box, the rotating plate of the upper layer of storage box rotates, causing the upper layer of anchor mesh to fall to the bottom layer. This process is repeated to continue transporting anchor mesh. If the sidewall of the roadway is to be supported, the sheet anchor mesh is moved to a certain position and then lifted by the lifting arm. Then the pushing arm is rotated by the rotating cylinder, and the top slide rail on the support frame is adjusted left and right. The lifting cylinder is adjusted up and down to insert the pushing arm into the anchor mesh. Then the top slide rail pushes the pushing arm and the anchor mesh onto the roadway wall for anchoring.

[0012] In some embodiments, a spatial distance measuring device, a laser spotlight, and a gyroscope are provided on the front and rear sides of the walking mechanism; The spatial distance measuring device includes infrared ranging sensors installed at both the front and rear ends. By checking whether the displayed distances of the infrared ranging sensors at the front and rear ends are the same, it can be determined whether the machine body is parallel to the sidewall of the roadway. Then, the position of the machine body is adjusted to make the machine body parallel to the sidewall of the roadway before anchoring is carried out. The gyroscope is used to detect whether the device is in a horizontal position; Laser spotlights are used to indicate the location of anchor bolt supports.

[0013] A method for using an automatic drilling and anchoring and mesh laying device for temporary support includes: S1: The temporary support automatic drilling and anchoring and mesh laying device moves in the roadway; S2: The spatial distance measuring device measures the distance between the temporary support automatic drilling and anchoring and net laying device and the roadway sidewall. Based on this distance, it is determined whether to move the temporary support automatic drilling and anchoring and net laying device in the roadway again, or to carry out anchor net laying work. S3: Carry out anchor mesh laying work; S4: Arrange several parallel laser spotlights on the side of the top of the temporary support structure support frame, and set the distance between the laser spotlights in advance. After the anchor mesh laying work is completed, adjust the angle of the spotlights as a whole so that the laser end shines on the appropriate position on the wall. S5: Anchor bolts are laid using an anchor bolt drilling machine that can identify color differences at the laser irradiation location; S6: After the anchor bolts in this row are laid, adjust the angle of the laser spotlight and continue laying the next row of anchor bolts until the anchor bolts at the location of the automatic netting mechanism are laid.

[0014] Compared with the prior art, the present invention has the following beneficial effects: This invention solves the problem of low work efficiency caused by manual operation in the prior art for support and mesh laying, and also effectively protects the health and safety of workers in harsh and dangerous environments. The temporary support, automatic drilling and anchoring, and mesh laying device provided by this invention enables mechanical completion of support and mesh laying work, eliminating the need for manual labor. This reduces the labor intensity of construction workers, improves support efficiency, relatively reduces the impact of harsh environments on workers' operations, and increases the safety factor of construction. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a temporary support and automatic drilling and anchoring and net laying device provided in one embodiment of the present invention; Figure 2 This is a schematic diagram of the robotic arm in a temporary support and automatic drilling and anchoring and net laying device provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the automatic net feeding mechanism in a temporary support and automatic drilling and anchoring and net laying device provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the support and net-pushing mechanism in a temporary support and automatic drilling and anchoring and net-laying device provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the anchor storage mechanism in a temporary support and automatic drilling and anchoring and net laying device provided in an embodiment of the present invention; Figure 6 This is a cross-sectional schematic diagram of the anchor storage mechanism of a temporary support and automatic drilling and anchoring and net laying device provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of an anchor drilling rig for a temporary support and automatic drilling and anchoring and mesh laying device provided in one embodiment of the present invention; Figure 8 This is a schematic diagram of a storage and anchoring net mechanism provided in one embodiment of the present invention; Figure 9 This is a schematic diagram of the technical process of laying netting and anchor bolts according to an embodiment of the present invention; In the diagram, 1-robotic arm, 2-net delivery mechanism, 3-temporary support mechanism, 4-anchor bolt storage mechanism, 5-anchor bolt drilling rig, 6-net storage mechanism, 7-traveling mechanism, 1-1-rotating platform, 1-2-telescopic guide rail, 1-3-grip telescopic guide rail, 1-4-robotic finger, 1-5-left hydraulic motor, 1-6-triangular movable plate, 1-8-middle hydraulic motor, 1-9-right hydraulic motor, 1-10-robotic arm moving base, 2-1-base, 2-2-I-beam, 2-3-rotating shaft, 2-4-net lifting shaft, 2-5-rubber wheel, 2-6-net lifting arm, 3-1-support frame, 3-2-top slide rail, 3-3-lifting cylinder, 3-4-net pushing arm, 3-5-rotating cylinder, 4-1-bar storage 4-2-Anchor bolt storage outer frame, 4-3-Telescopic cylinder I, 4-4-Anchor bolt storage drawer, 4-5-Anchor bolt temporary gripper, 4-6-Spatial linkage mechanism, 4-7-Telescopic cylinder II, 4-8-Push rod block, 5-1-First guide column, 5-2-Rotary hydraulic motor, 5-3-Lifting cylinder I, 5-4-Anchor bolt drilling rig moving platform, 5-5-Anchor bolt, 5-6-Clamping mechanism, 5-7-Second clamp, 5-8-Sleeve, 5-9-Power head, 5-10-Lifting cylinder II, 6-1-Net cage plate, 6-2-Net cage storage, 6-3-Pushing wheel, 6-4-Net cage base, 6-5-Telescopic cylinder III, 6-6-Net cage slide rail, 6-7-Net cage rotating plate. Detailed Implementation

[0016] The present invention will be further described in detail below with reference to specific embodiments and accompanying drawings. It is only intended to illustrate the specific embodiments of the present invention in detail and does not impose any limitation on the present invention. The scope of protection of the present invention shall be determined by the claims.

[0017] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. Reference Figure 1 The present invention proposes a temporary support and automatic drilling and anchoring and net laying device, comprising: a robotic arm 1, a net feeding mechanism 2, a temporary support and net pushing mechanism 3, an anchor / drill rod storage mechanism 4, an anchor drilling machine 5, a net storage mechanism 6, and a walking device 7. Reference Figure 2The robotic arm 1 is located at the front of the temporary support automatic drilling and anchoring and net laying device. The robotic arm moving base 1-10 can move the entire robotic arm 1 left and right in the entire device, which is convenient for grabbing anchor rods and installing anchor rods on the anchor drilling machine 5. The left hydraulic motor 1-5 controls the movement of the robotic arm intermediate frame 1-8, the triangular movable plate 1-6 and the left half of the robotic arm. The right hydraulic motor 1-9 controls the movement of the right half of the robotic arm. The rotary motor 1-7 controls the rotation of the rotating platform 1-1 where the robotic arm is located. Through the cooperation of the left hydraulic motor 1-5 and the right hydraulic motor 1-9, the robotic arm can be grasped and placed at all angles in the vertical plane.

[0018] The robotic arm consists of a telescopic guide rail 1-2, a robotic finger frame, a gripper telescopic guide rail 1-3, and robotic fingers 1-4. The telescopic guide rail 1-2 controls the distance between the two robotic finger frames to accommodate anchor nets and anchor rods of different specifications. The robotic fingers 1-4 are fixed to the finger frames by pins, and the gripper telescopic guide rail 1-3 controls the opening and closing of the fingers to grasp the anchor net.

[0019] refer to Figure 3 The automatic net feeding mechanism 2 includes an I-beam 2-2 fixed between bases 2-1, with a rotating shaft 2-3 between the I-beams. The rotating shaft 2-3 is driven by a motor, and rubber wheels 2-5 are deployed on both sides of the rotating shaft 2-3. The teeth on the rubber wheels 2-5 are used to insert into the anchor net holes. Then, the rotating shaft 2-3 drives the rubber wheels 2-5 to rotate and bring the anchor net forward. The net lifting arm 2-6 on the upper part of the I-beam 2-2 is used to lift the anchor net to both sides. When the electrical box above the base plate drives the net lifting shaft 2-4 to rotate, the net lifting arm 2-6 rotates with the net lifting shaft 2-4, thereby lifting the anchor net pieces located above the rubber wheels 2-5 to the side of the machine body to anchor the sidewall of the roadway.

[0020] Reference Figure 4 The temporary support mechanism 3 includes a support frame welded to the base plate. The support frame includes four legs and a frame supported by the legs. A pusher arm 3-5 with four fingers is installed in the middle of the top frame. A top slide rail 3-2 is set in the middle of the top of the support frame. A lifting cylinder 3-3 that can slide along the top slide rail 3-2 is installed on the top slide rail 3-2. A rotating cylinder 3-4 is set at the lower end of the lifting cylinder 3-3. After the lifting arm 2-6 lifts the sheet anchor net to the side, the four fingers of the pusher arm 3-5 can be inserted into the sheet anchor net. Then, the distance between the sheet anchor net and the roadway sidewall is controlled by adjusting the top slide rail 3-2. The distance between the sheet anchor net and the ground is controlled by the lifting cylinder 3-3. After the anchor net is laid, the pusher arm 3-5 can be rotated to a position parallel to the direction of vehicle travel by the rotating cylinder 3-4.

[0021] Reference Figure 5The anchor rod storage mechanism 4 includes a rod storage frame rotating shaft 4-1 that can move back and forth. The upper end of the rod storage frame rotating shaft 4-1 is mounted on a spatial linkage mechanism 4-6, and the lower end of the rod storage frame rotating shaft 4-1 is connected to a telescopic hydraulic cylinder II 4-7. An anchor rod storage outer frame 4-2 is mounted on the rod storage frame rotating shaft 4-1. While the rod storage frame rotating shaft 4-1 moves back and forth, the anchor rod storage outer frame 4-2 rotates around the rod storage frame rotating shaft 4-1 through the spatial linkage mechanism. When the rod storage frame rotating shaft 4-1 moves to its farthest end, one of the anchor rod storage outer frames 4-2 faces outward. An anchor rod storage drawer 4-4 is provided inside the anchor rod storage outer frame 4-2, and a telescopic hydraulic cylinder I 4-3 is provided between the anchor rod storage drawer 4-4 and the anchor rod storage outer frame 4-2.

[0022] The anchor bolt storage drawer 4-4 is equipped with multiple inclined plates inside, and the anchor bolts can roll down the inclined plates. An outlet is set at the bottom inclined plate, and a push rod block 4-8 ​​is set at the outlet. After the anchor bolt storage drawer 4-4 is pushed out by the telescopic cylinder I 4-3, the push rod block 4-8 ​​separates from the outlet. A temporary anchor bolt gripper 4-5 is set at the bottom of the push rod block 4-8 ​​to catch the anchor bolts that fall from the outlet.

[0023] The anchor rod storage mechanism 4 is located above the net storage mechanism 6. The rod storage frame rotation shaft 4-1 can move back and forth along the slide rail under the drive of the push cylinder. While moving back and forth, the anchor rod storage drawer can rotate around the rod storage frame rotation shaft 4-1 through the spatial linkage mechanism. When the rod storage frame rotation shaft 4-1 moves to the farthest end, one of the anchor rod storage drawers 4-4 faces outward. When the telescopic cylinder I 4-3 pushes the inner frame of the anchor rod storage to the farthest end, one anchor rod in the inner frame of the anchor rod storage rolls out along the platform and onto the anchor rod temporary gripper 4-5. The use of the anchor rod in the inner frame of the anchor rod storage can be detected through the observation hole. When the anchor rod in the storage drawer is used up, the telescopic cylinder II 4-7 moves the rod storage frame rotation shaft 4-1 to the nearest end, and at the same time, the corresponding anchor rod storage drawer rotates to face outward.

[0024] refer to Figure 6 The anchor bolt storage drawer 4-4 has an inclined plate inside. After the anchor bolt rolls to the lowest inclined plate, as the telescopic cylinder I 4-3 extends, the anchor bolt rolls on top of the push rod block 4-8 ​​until the telescopic cylinder I 4-3 reaches its farthest end. Then the anchor bolt falls out of the empty space and rolls onto the anchor bolt temporary gripper 4-5, where the robotic arm 1 can grab the anchor bolt. After that, the anchor bolt drilling machine rotates the hydraulic motor 5-2 to make the anchor bolt drilling machine rotate for easy installation of the anchor bolt. After the anchor bolt is installed, the anchor bolt drilling machine rotates to the top or side for anchoring.

[0025] refer to Figure 7First, the anchor drilling rig is rotated by the rotary hydraulic motor 5-2, making it easier for the anchor rod grasped by the manipulator to be inserted into the anchor drilling rig. Then, the anchor drilling rig rotates upward to anchor the top of the roadway or rotates in the opposite direction to anchor the sidewall of the roadway. When anchoring the top of the roadway, the anchor drilling rig can be lifted upward by the lifting cylinder I 5-3, and then the lifting cylinder II 5-10 can use the power head 5-9 and the anchor rod it carries to anchor the top of the roadway. The same principle applies when anchoring the sidewall. The anchor drilling rig can be first oriented towards the sidewall by the rotary hydraulic motor 5-2, and then anchoring can be performed.

[0026] refer to Figure 8 The storage net mechanism 6 is fixed on the last bottom plate of the temporary support and automatic drilling and anchoring and net laying device, including net box plate 6-1, storage net box 6-2, net pushing wheel 6-3, storage net box base 6-4, telescopic cylinder III 6-5, storage net box slide rail 6-6 and storage net box rotating plate 6-7.

[0027] The storage net box 6-2 is installed on the L-shaped storage net box base 6-4. The bottom of the storage net box base 6-4 is provided with a storage net box slide rail 6-6. The storage net box 6-2 slides along the storage net box slide rail 6-6. A telescopic hydraulic cylinder III 6-5 is provided between the back of the storage net box base 6-4 and the storage net box 6-2. A net pushing wheel 6-3 is provided on the bottom inner side of the storage net box 6-2. Multiple sets of downward reversible storage net box rotating plates 6-7 are symmetrically arranged on both sides of the storage net box 6-2. A net box plate 6-1 is provided at the front opening of the storage net box 6-2. A gap is provided between the net box plate 6-1 and the bottom of the storage net box 6-2 to allow a set of anchor nets to go out.

[0028] When the storage box 6-2 contains sheet anchor nets, the telescopic cylinder 6-5 first moves the storage box 6-2 to a suitable position. Then, the rotating wheel inside the storage box 6-2 pushes out the bottom sheet anchor nets, while the upper anchor net sheets are blocked by the box plate 6-1. After the sheet anchor nets are pushed out, the rubber wheel teeth can be inserted into the anchor nets. Then, the rotating shaft 2-3 drives the rubber wheel 2-5 to rotate, moving the anchor nets forward to a suitable position. If the roadway roof is to be supported, the robotic arm 1 grabs the anchor nets for support. If the roadway sidewall is to be supported, the sheet anchor nets are moved to a certain position and then the lifting arm 2-6 lifts the anchor nets. Then, the pushing arm 3-4 is rotated by the rotating cylinder 3-5, the top slide rail 3-2 on the support frame 3-1 is adjusted left and right, and the lifting cylinder 3-3 is adjusted up and down to insert the pushing arm 3-4 into the anchor nets. Then, the top slide rail 3-2 pushes the pushing arm 3-4 and the anchor nets onto the roadway wall for anchoring. After the bottom layer of anchor netting is transported out of storage box 6-2, the rotating plate 6-7 of the upper layer of storage box rotates, causing the anchor netting of the upper layer to fall to the bottom layer. This process is then repeated to continue transporting the anchor netting out.

[0029] The implementation method of the temporary support and automatic drilling and anchoring and net laying device is as follows: First, the telescopic cylinder 6-5 pushes the net storage box 6-2 forward to a suitable position. Then, the net pushing wheel 6-3 in the net storage box 6-2 pushes the sheet anchor net forward until the anchor net hole is inserted by the wheel teeth of the rubber wheel 2-5. Then, the rotating shaft 2-3 starts to rotate, driving the rubber wheel 2-5 to rotate, thereby transporting the anchor net to the front of the machine. When it is necessary to anchor the roof, the robotic arm 1 controls the robotic arm to grab the anchor net. Then, the robotic arm pushes the anchor net onto the roof of the roadway.

[0030] When sidewall anchoring is required, the telescopic cylinder 6-5 pushes the mesh storage box 6-2 forward to a suitable position. Then, the pusher wheel 6-3 inside the mesh storage box 6-2 pushes the sheet anchor mesh forward until the anchor mesh holes are inserted into the teeth of the rubber wheel 2-5. Immediately, the rotating shaft 2-3 starts to rotate, driving the rubber wheel 2-5 to rotate. After the sheet anchor mesh is transported to a suitable position above the rubber wheel 2-5, the lifting arm 2-6 lifts the anchor mesh to both sides of the machine body. Then, the pusher arm 3-4 rotates in the direction of rotation via the rotating cylinder 3-5, and is adjusted left and right by the top slide rail 3-2 on the support frame 3-1. The lifting cylinder 3-3 adjusts the up and down position so that the pusher arm 3-4 inserts into the anchor mesh. Then, the top slide rail 3-2 pushes the pusher arm 3-4 and the anchor mesh onto the tunnel wall for anchoring.

[0031] When the storage box 6-2 contains the anchor net roll, the telescopic cylinder 6-5 first pushes the storage box 6-2 forward to a suitable position, then the head of the anchor net roll extends from under the box plate 6-1 and hangs on the teeth of the rubber wheel 2-5. Then the rotating shaft 2-3 rotates, driving the rubber wheel 2-5 to rotate, so that the anchor net moves to a suitable position at the front end, and then the robotic arm 1 grabs the anchor net. When it is necessary to anchor the sidewall of the roadway, the lifting arm 2-6 can also lift the anchor net to the left or right side for convenient anchoring.

[0032] Furthermore, during anchor bolt support, the rod storage frame rotation shaft 4-1 of the anchor / drill rod storage mechanism 4 can move back and forth along the slide rail under the drive of the push cylinder. Simultaneously, the anchor bolt storage drawer can rotate around the rod storage frame rotation shaft 4-1 via a spatial linkage mechanism. When the rod storage frame rotation shaft 4-1 moves to its farthest end, one of the anchor bolt storage drawers 4-4 faces outwards. The interior of the anchor bolt storage drawer 4-4 is an inclined plate. After the anchor bolt rolls to the lowest inclined plate, with the extension of the telescopic cylinder I 4-3, the anchor bolt rolls on top of the push rod block 4-8 ​​until the telescopic cylinder I 4-3 reaches its farthest end, at which point the anchor bolt falls out of the empty space and then rolls to the anchor bolt temporary gripper 4. On the -5, the robotic arm 1 can grab the anchor bolt, and then the anchor bolt drill rig is rotated under the action of the rotary hydraulic motor 5-2, so that the anchor bolt grabbed by the robotic arm can be easily inserted into the anchor bolt drill rig. Then the anchor bolt drill rig rotates upward to anchor the top of the roadway or rotates in the opposite direction to receive the anchor bolt to anchor the side wall of the roadway. When anchoring the top of the roadway, the lifting cylinder I 5-3 can first lift the anchor bolt drill rig upward, and then the lifting cylinder II 5-10 can use the power head 5-9 and the anchor bolt loaded to anchor the top of the roadway. The same applies to anchoring the side wall. The rotary hydraulic motor 5-2 can first be used to turn the anchor bolt drill rig towards the side wall, and then anchoring can be performed.

[0033] According to one embodiment of the present invention, the walking system is a tracked walking device, and the connection method between the lifting cylinder and the connecting seat includes: ball joint connection or pin connection.

[0034] It should be noted here that the functions, algorithms, and methods involved in this invention are merely conventional adaptive applications of existing technologies. Therefore, the improvement of existing technologies by this invention lies essentially in the connection relationships between hardware components, rather than in the functions, algorithms, and methods themselves. In other words, although this invention involves some functions, algorithms, and methods, it does not include any improvements to the functions, algorithms, and methods themselves. The descriptions of functions, algorithms, and methods in this invention are for the purpose of better illustrating and understanding this invention. In the description of this application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to 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 present invention.

Claims

1. A temporary support automatic drill and anchor and mesh laying device, characterised in that, include: The traveling mechanism (7) is equipped with a temporary support mechanism (3) and an anchor drilling machine (5) on its upper side. The walking mechanism (7) is equipped with a mechanical arm (1) at the front end, which is used to grab the anchor net for top netting and grab the anchor rod for installation onto the anchor drilling machine (5); The rear end of the walking mechanism (7) is provided with a net storage mechanism (6) for storing the anchor net and an anchor storage mechanism (4) for storing the anchor rod. A net feeding mechanism (2) is provided in the middle of the walking mechanism to transport the anchor net placed in the net storage mechanism (6) to the automatic net laying mechanism; The anchor storage mechanism (4) includes a rod storage frame rotating shaft (4-1) that can move back and forth. The upper end of the rod storage frame rotating shaft (4-1) is mounted on a spatial linkage mechanism (4-6), and the lower end of the rod storage frame rotating shaft (4-1) is connected to a telescopic cylinder II (4-7). An anchor storage outer frame (4-2) is mounted on the rod storage frame rotating shaft (4-1). While the rod storage frame rotating shaft (4-1) moves back and forth, the anchor storage outer frame (4-2) rotates around the rod storage frame rotating shaft (4-1) through the spatial linkage mechanism. When the rod storage frame rotating shaft (4-1) moves to the farthest end, one of the anchor storage outer frames (4-2) faces outward. An anchor bolt storage drawer (4-4) is installed inside the anchor bolt storage outer frame (4-2), and a telescopic hydraulic cylinder I (4-3) is installed between the anchor bolt storage drawer (4-4) and the anchor bolt storage outer frame (4-2). The anchor storage drawer (4-4) is equipped with multiple inclined plates inside, and the anchor rod can roll down the inclined plates. An outlet is set at the bottom inclined plate, and a push rod block (4-8) is set at the outlet. After the anchor storage drawer (4-4) is pushed out by the telescopic cylinder I (4-3), the push rod block (4-8) separates from the outlet. A temporary anchor rod gripper (4-5) is set at the bottom of the push rod block (4-8) to grab the anchor rod that falls from the outlet. The storage net mechanism (6) includes a net box plate (6-1), a storage net box (6-2), a net pusher wheel (6-3), a storage net box base (6-4), a telescopic cylinder II (6-5), a storage net box slide rail (6-6), and a storage net box rotating plate (6-7). The storage net box (6-2) is installed on the L-shaped storage net box base (6-4). The bottom of the storage net box base (6-4) is provided with a storage net box slide rail (6-6). The storage net box (6-2) slides along the storage net box slide rail (6-6). A telescopic hydraulic cylinder II (6-5) is provided between the back of the storage net box base (6-4) and the storage net box (6-2). A push net wheel (6-3) is provided on the bottom inner side of the storage net box (6-2). Multiple sets of storage net box rotating plates (6-7) that can reverse downwards are symmetrically provided on both sides of the storage net box (6-2). A net box plate (6-1) is provided at the front opening of the storage net box (6-2). A gap is provided between the net box plate (6-1) and the bottom of the storage net box (6-2) to allow a set of anchor nets to go out.

2. The temporary support automatic drill and anchor and net laying device according to claim 1, characterized in that, The robotic arm (1) includes a robotic arm moving base (1-10) that can move left and right. A left half robotic arm and a right half robotic arm are mounted on the robotic arm moving base (1-10). A rotating platform (1-1) is mounted at the front end of the left half robotic arm and the right half robotic arm. The rotating platform (1-1) is driven to rotate by a rotating motor (1-7). A robotic arm is mounted on the front side of the rotating platform (1-1).

3. A temporary support automatic drill and anchor and net laying device according to claim 2 wherein, The robotic arm includes a telescopic guide rail (1-2) mounted on a rotating platform (1-1). Two sets of robotic finger frames are mounted on the telescopic guide rail (1-2). Two robotic fingers (1-4) are fixed on the robotic finger frames. The two robotic fingers (1-4) are controlled by the gripper telescopic guide rail (1-3) to open and close the fingers to grasp the anchor net.

4. The temporary support automatic drill and anchor and net laying device according to claim 1, characterized in that, The temporary support mechanism (3) includes a support frame (3-1), which includes four legs and a frame supported by the legs. A pusher arm (3-5) with four fingers is installed in the middle of the frame. A top slide rail (3-2) is provided in the middle of the upper side of the frame. A lifting cylinder (3-3) that can slide along the top slide rail (3-2) is installed on the top slide rail (3-2). A rotating cylinder (3-4) is provided at the lower end of the lifting cylinder (3-3). When the sheet anchor net is lifted to the side, the four fingers of the pusher arm (3-5) are inserted into the sheet anchor net. Then, the distance between the sheet anchor net and the side wall of the roadway is controlled by adjusting the top slide rail (3-2). The distance between the sheet anchor net and the ground is controlled by the lifting cylinder (3-3). After the anchor net is laid, the pusher arm (3-5) can be rotated to a position parallel to the direction of vehicle travel by the rotating cylinder (3-4).

5. The temporary support automatic drill and anchor and net laying device of claim 1 wherein, The net feeding mechanism (2) includes a base (2-1) fixed on both sides of the walking mechanism (7). I-beams (2-2) are installed on the base (2-1). There is a rotating shaft (2-3) between the I-beams (2-2). The rotating shaft (2-3) is driven by a motor. Rubber wheels (2-5) are deployed on both sides of the rotating shaft (2-3). A lifting shaft (2-4) driven by a motor is set above the I-beams (2-2) on each side. One end of the lifting shaft (2-4) is fixed to the lifting arm (2-6). The other end of the lifting arm (2-6) is a free end. When the electric box drives the lifting shaft (2-4) to rotate, the lifting arm (2-6) rotates with the lifting shaft (2-4), so that the anchor net plate located above the rubber wheel (2-5) can be lifted to the side of the machine body to anchor the side wall of the roadway.

6. The temporary support automatic drill and anchor and net laying device of claim 1 wherein, Spatial distance measuring devices, laser spotlights and gyroscopes are installed on the front and rear sides of the walking mechanism (7); The spatial distance measuring device includes infrared ranging sensors installed at both the front and rear ends. By checking whether the displayed distances of the infrared ranging sensors at the front and rear ends are the same, it can be determined whether the machine body is parallel to the sidewall of the roadway. Then, the position of the machine body is adjusted to make the machine body parallel to the sidewall of the roadway before anchoring is carried out. The gyroscope is used to detect whether the temporary support automatic drilling and anchoring and net laying device is in a horizontal state; Laser spotlights are used to indicate the location of anchor bolt supports.

7. A method of using the temporary support automatic drilling and anchoring and net laying device according to claim 6, characterized in that, include: S1: The temporary support automatic drilling and anchoring and mesh laying device moves in the roadway; S2: The spatial distance measuring device measures the distance between the temporary support automatic drilling and anchoring and net laying device and the roadway sidewall. Based on this distance, it is determined whether to move the temporary support automatic drilling and anchoring and net laying device in the roadway again, or to carry out anchor net laying work. S3: Carry out anchor mesh laying work; S4: Arrange several parallel laser spotlights on the side of the top of the temporary support structure support frame, and set the distance between the laser spotlights in advance. After the anchor mesh laying work is completed, adjust the angle of the spotlights as a whole so that the laser end shines on the appropriate position on the wall. S5: Anchor bolts are laid using an anchor bolt drilling machine that can identify color differences at the laser irradiation location; S6: After the anchor bolts are laid, adjust the angle of the laser spotlight and continue laying the next row of anchor bolts until the anchor bolts at the location of the automatic netting mechanism are laid.

Images