Automatic switching, mounting and drilling anchor rod device and method of use

Abstract

This invention belongs to the field of coal mine underground roadway support technology, specifically an automatic switching and installation device for anchor bolts and its usage method. It includes: a main frame for mounting other mechanisms; a drilling mechanism installed within the main frame for drilling anchor bolts or drill rods; an anchor bolt storage mechanism, parallel to one side of the drilling mechanism, for storing anchor bolts; a clamping mechanism positioned above the drilling mechanism for positioning the ends of the anchor bolts; and an anchor bolt grasping robot for grasping the anchor bolts from the anchor bolt storage mechanism to the drilling mechanism. This invention reduces the labor intensity of workers, ensures support quality, and improves the efficiency of underground support.

Description

Technical Field

[0001] This invention belongs to the field of coal mine underground roadway support technology, specifically an automatic switching and installation device for drill bolts and its usage method. Background Technology

[0002] Rock bolt support is the primary method of support for underground coal mine roadways. Currently, most underground rock bolt support in coal mines is done manually. This involves first drilling holes manually, then manually pushing the rock bolts into the appropriate positions, and finally tightening them. Manual support poses significant health risks to frontline workers, who are more susceptible to diseases like pneumoconiosis compared to other workers. Furthermore, due to limited human strength, it's impossible to guarantee the quality of every support, thus compromising the overall safety of the roadway.

[0003] Currently, most underground roadway support equipment in domestic coal mines adopts a single-process support method, which requires workers to carry out secondary on-site reinforcement, increasing the production cost of enterprises and reducing production efficiency. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides an automatic switching and installation device for drill anchor bolts and a method for using it.

[0005] This invention adopts the following technical solution: an automatic switching and installation device for drill anchor bolts, comprising: The main frame, used to mount other components; The drilling mechanism is installed inside the main frame and is used for drilling anchor bolts or drill rods. The bolt storage mechanism is arranged parallel to one side of the drilling mechanism and is used to store bolts. The clamping mechanism is located above the drilling mechanism and is used to position the end of the anchor rod. An anchor bolt grabbing robot is used to grab anchor bolts from the anchor bolt storage mechanism to the drilling mechanism.

[0006] In some embodiments, the drilling mechanism includes a left guide post and a right guide post arranged side by side, a left slider and a right slider respectively provided on the left guide post and the right guide post, an attachment plate fixed between the left slider and the right slider, a hydraulic motor power head fixed on the attachment plate, the top of the hydraulic motor power head is the hydraulic motor drill rod mounting point, and a high-pressure water interface and a liquid anchoring agent pump interface are added to the bottom. It also includes a drill pipe lifting hydraulic cylinder, located between the left and right guide columns. The bottom of the drill pipe lifting hydraulic cylinder is fixed on the main frame, and sprockets are installed on both sides of the top of the drill pipe lifting hydraulic cylinder. A drill pipe lifting chain assembly is threaded on the sprockets. One end of the drill pipe lifting chain assembly is connected to the rear fixed plate through a chain clamp, and the other end is connected to the attachment plate through a chain clamping block.

[0007] In some embodiments, the bolt storage mechanism includes an upper storage plate and a lower storage plate that can move left and right. The upper and lower storage plates are driven to move left and right by a drive device. The upper and lower storage plates are equipped with a holder for placing bolts and a magnet box for holding magnets.

[0008] In some embodiments, the drive device includes a chain drive assembly mounted on the main frame. The chain drive assembly is fixed to the upper and lower bin plates by pins. The upper or lower bin plate is fixed to the end of the anchor bolt bin pushing hydraulic cylinder. During operation, the anchor bolt bin pushing hydraulic cylinder pushes the upper or lower bin plate, causing the chain to rotate around the roller, thereby driving the upper and lower bin plates to move along the track.

[0009] In some embodiments, the clamping mechanism includes a clamping head top plate and a clamping head bottom plate. The clamping head top plate and the clamping head bottom plate are respectively hinged to a left clamping plate and a right clamping plate on both sides by a pin. The front ends of the left clamping plate and the right clamping plate form a circular hole that allows the anchor rod to pass through. A clamping head clamping hydraulic cylinder is hinged between the tail ends of the left clamping plate and the right clamping plate.

[0010] In some embodiments, the anchor bolt gripping manipulator includes a slider disposed above the anchor bolt storage mechanism and the drilling mechanism. The slider is pushed left and right by a manipulator pushing hydraulic cylinder. A built-in magnetostrictive displacement sensor is installed on the manipulator pushing hydraulic cylinder. A manipulator lowering hydraulic cylinder is installed on the slider. A slide is installed on the extended end of the manipulator lowering hydraulic cylinder. A manipulator that is driven to close and open by the manipulator gripping hydraulic cylinder is disposed on the slide.

[0011] In some embodiments, the slider is mounted on a T-shaped bar of the main frame.

[0012] In some embodiments, the main frame includes a front panel and a rear panel, with a side panel and a base plate connecting the front panel and the rear panel.

[0013] In some embodiments, the drill rod includes a hollow drill rod, with a high-pressure water interface at the bottom and a water outlet at the top.

[0014] A method for using an automatic switching and installation device for drill anchor bolts includes: S1: The manipulator push hydraulic cylinder extends and reaches the designated position. Then, the manipulator lower hydraulic cylinder extends. When the manipulator reaches the drill rod surface, the lower hydraulic cylinder stops, and the manipulator grab hydraulic cylinder starts working to clamp the drill rod. At this time, the lower hydraulic cylinder retracts, causing the manipulator to move the drill rod upward to the designated position. Then, the manipulator push hydraulic cylinder extends. The built-in magnetostrictive displacement sensor detects the displacement of the hydraulic cylinder, bringing it in front of the hydraulic motor power head. While the hydraulic motor power head rotates, the drill rod lifting hydraulic cylinder lifts, tightening the threads of the bottom interface of the hollow drill rod with the hydraulic motor drill rod mounting point. After the drill rod reaches the designated position, the manipulator clamping hydraulic cylinder releases, and the manipulator push hydraulic cylinder and the manipulator lower hydraulic cylinder return to their initial positions. Then, the drill rod lifting hydraulic cylinder extends, moving upward with the attachment plate and the hydraulic motor power head. At the same time, the hydraulic motor power head rotates again, drilling the drill rod into the tunnel wall. S2: During drilling, high-pressure water is injected into the hollow drill rod through the high-pressure water interface and then sprayed out from the top outlet of the hollow drill rod, which plays a role in cooling, dust removal and slag removal. After the drill rod is completely drilled into the tunnel wall, the clamp head holds the drill rod, and the hydraulic motor reverses to separate the bottom interface of the hollow drill rod from the hydraulic motor drill rod installation point. The drill rod lifting hydraulic cylinder retracts to the initial position, and then the anchor rod grabbing manipulator grabs the hollow anchor rod. After tightening the threads of the bottom interface of the hollow anchor rod and the hydraulic motor drill rod installation point in the same steps, the anchor rod grabbing manipulator releases, and the drill rod lifting hydraulic cylinder moves slowly upward with the attachment plate and the hydraulic motor power head. At the same time, the hydraulic motor power head rotates until the top interface of the hollow anchor rod and the bottom interface of the hollow drill rod are tightened. The anchor rod and drill rod are then combined into a whole drill rod to continue drilling into the tunnel wall. At the same time, the high-pressure water pump works. S3: Repeat the above steps until the drilling depth of the spliced ​​anchor rod meets the standard. Turn off the high-pressure water pump and turn on the liquid anchoring agent pump. Inject the liquid anchoring agent into the hollow anchor rod from the liquid anchoring agent interface. Pump it out from the water outlet at the top of the hollow drill rod and fill the entire hole along the external thread of the hollow anchor rod. Then turn off the anchoring agent pump and turn on the high-pressure water pump to flush the remaining liquid anchoring agent in the hydraulic motor power head into the hollow anchor rod to prevent it from solidifying and clogging the inside of the hydraulic motor power head. S4: After the anchor bolt anchoring action is completed, repeat the above action to drive in the next anchor bolt. When all the anchor bolts on the lower plate of the anchor bolt chamber are driven in, the hydraulic cylinder for pushing the anchor bolt chamber starts to work, pushing the upper plate of the anchor bolt chamber to directly above the original position of the lower plate. Then repeat the above action to drive the anchor bolts of the upper plate into the roadway to achieve anchor bolt support for the roadway. When performing the next round of support, repeat the S4 action to achieve support.

[0015] Compared with existing technologies, this invention utilizes the coordinated operation of the main frame, drilling mechanism, bolt chamber mechanism, clamping mechanism, and bolt-grabbing manipulator to automate bolt support in underground roadways. It offers advantages such as precise positioning, rapid support, large bolt chamber capacity, compact structure, high drilling efficiency, wide applicability, and simple operation. This invention reduces the labor intensity of workers, ensures support quality, and improves the efficiency of underground support. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of an automatic switching and installation device for drill anchor bolts provided by the present invention; Figure 2 This is a front view of the main frame provided by the present invention; Figure 3 This is a schematic diagram of the main frame provided by the present invention; Figure 4 This is a schematic diagram of the drilling mechanism provided by the present invention. Figure 5 This is a schematic diagram II of the drilling mechanism provided by the present invention. Figure 6 This is a schematic diagram (III) of the drilling mechanism provided by the present invention; Figure 7 This is a detailed schematic diagram I of the bolt magazine provided by the present invention; Figure 8 This is a detailed schematic diagram II of the bolt magazine provided by the present invention; Figure 9 This is a schematic diagram I of the clamping mechanism provided by the present invention; Figure 10 This is a schematic diagram II of the clamping mechanism provided by the present invention; Figure 11 This is a schematic diagram of the anchor bolt gripping robot provided by the present invention; Figure 12 This is a schematic diagram of the hollow drill pipe provided by the present invention; Figure 13 This is a schematic diagram of the hollow anchor bolt provided by the present invention; Figure 14 This is a schematic diagram of the hydraulic motor power head provided by the present invention; In the diagram: 1-Main frame mechanism, 2-Drilling mechanism, 3-Anchor bolt chamber, 4-Clamping mechanism, 5-Anchor bolt gripping manipulator, 1.1-Side plate, 1.2-Front plate, 1.3-Rear plate, 1.4-T-shaped rod, 1.5-Base plate, 2.1-Hydraulic motor power head, 2.2-Left slider, 2.3-Right slider, 2.4-Attachment plate, 2.5-Guide post, 2.6-Guide post, 2.7-Drill rod lifting chain assembly, 2.8-Drill rod lifting hydraulic cylinder, 2.9-Clamping chain block, 2-10-Chain holder, 2-11-Rear fixing plate, 2.a-Hydraulic motor drill rod mounting location, 2.b-Liquid anchoring agent pump interface, 2.c-High pressure Water interface, 3.1-Upper chamber plate, 3.2-Lower chamber plate, 3.3-Anchor bolt chamber pushing hydraulic cylinder, 3.4-Chain drive assembly, 4.1-Grip head top plate, 4.2-Grip head bottom plate, 4.3-Left clamping plate, 4.4-Right clamping plate, 4.5-Grip head clamping hydraulic cylinder, 5.1-Manipulator pushing hydraulic cylinder, 5.2-Slider, 5.3-Manipulator lowering hydraulic cylinder, 5.4-Manipulator gripping hydraulic cylinder, 5.5-Slide, 5.6-Built-in magnetostrictive displacement sensor, Z.1-Bottom interface of hollow drill rod, Z.2-Top water outlet of hollow drill rod, M.1-Bottom interface of hollow anchor bolt, M.2-Top interface of hollow anchor bolt. Detailed Implementation

[0017] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0018] This invention provides an automatic switching and installation device for drill anchor bolts and a method for using it, such as... Figure 1 As shown, the device includes a column frame structure 1, a drilling mechanism 2, an anchor bolt chamber 3, a clamping mechanism 4, and an anchor bolt gripping robot 5.

[0019] like Figure 2 , 3 As shown, the main frame includes a T-shaped rod 1.4, a front plate 1.2, a rear plate 1.3, a side plate 1.1, and a base plate 1.5. The T-shaped rod 1.4 is formed by welding one long rod to two short rods. The two short rods are welded to the middle of the long rod. The two ends of the long rod are connected to the front plate 1.2 and the rear plate 1.3 of the main frame by bolts. The front plate 1.2 and the rear plate 1.3 are equipped with rails and pins for the rollers. The side plate 1.1 is connected to the front plate 1.2 and the rear plate 1.3 by bolts. The two ends of the base plate 1.5 are welded to the front plate 1.2 and the rear plate 1.3, respectively.

[0020] like Figure 4-6As shown, the drilling mechanism 2 includes a hydraulic motor power head 2.1, a left slider 2.2, a right slider 2.3, an attachment plate 2.4, a left guide post 2.5 and a right guide post 2.6, a drill pipe lifting hydraulic cylinder 2.8, and a drill pipe lifting chain assembly 2.7. The drilling mechanism 2 includes a left guide post 2.5 and a right guide post 2.6 arranged side by side. A left slider 2.2 and a right slider 2.3 are respectively installed on the left guide post 2.5 and the right guide post 2.6. An attachment plate 2.4 is fixed between the left slider 2.2 and the right slider 2.3. The hydraulic motor power head 2.1 is fixed on the attachment plate 2.4. The top of the hydraulic motor power head 2.1 is the hydraulic motor drill pipe mounting point 2.a, and the bottom is equipped with a high-pressure water interface 2.c and a liquid anchoring agent pump interface 2.c.

[0021] It also includes a drill pipe lifting hydraulic cylinder 2.8, located between the left guide post 2.5 and the right guide post 2.6. The bottom of the drill pipe lifting hydraulic cylinder 2.8 is fixed on the main frame 1. Sprockets are installed on both sides of the top of the drill pipe lifting hydraulic cylinder 2.8. A drill pipe lifting chain assembly 2.7 is threaded through the sprockets. One end of the drill pipe lifting chain assembly 2.7 is connected to the rear fixing plate 2.11 through the chain holder 2.10, and the other end is connected to the attachment plate 2.4 through the chain clamping block 2.9.

[0022] The extension and retraction of the drill rod lifting hydraulic cylinder 2.8 drives the drill rod lifting chain assembly 2.7 to rotate around the shaft, thereby lifting the drill rod. Simultaneously, the hydraulic motor power head 2.1 drives the anchor bolt to rotate, and the drill rod lifting hydraulic cylinder 2.8 performs the lifting action, driving the anchor bolt into the roadway. This method of driving the anchor bolt into the roadway is highly efficient and provides good support quality.

[0023] like Figure 3 , 7 As shown in Figure 8, the anchor bolt chamber 3 includes an upper chamber plate 3.1, a lower chamber plate 3.2, an anchor bolt chamber pushing hydraulic cylinder 3.3, and a chain drive assembly 3.4. Both the upper chamber plate 3.1 and the lower chamber plate 3.2 are equipped with a mounting bracket 3.5 for placing anchor bolts and a magnet box 3.6 for holding magnets. The chain drive assembly 3.4 is connected to the front plate 1.2 and the rear plate 1.3 of the main frame by pins. The two ends of the upper chamber plate 3.1 and the lower chamber plate 3.2 are shaped to cooperate with the tracks of the front plate 1.2 and the rear plate 1.3 of the main frame. The magnet box 3.6 is connected to the upper and lower chamber plates by bolts. The anchor bolt chamber is divided into upper and lower layers, which can hold more anchor bolts, so that the anchor bolts do not need to be replenished frequently during operation. The chain drive assembly is fixed to the upper and lower chamber plates by pins. During operation, the hydraulic cylinder 3.3 pushes the upper chamber plate, causing the chain to rotate around the roller, thereby driving the upper and lower chamber plates to move along the track. Before operation, the anchor bolts are put into the anchor bolt chamber, and the magnets on the anchor bolt chamber firmly hold the anchor bolts to prevent them from falling.

[0024] like Figure 9 , 10As shown, the clamping mechanism includes a clamping head top plate 4.1, a clamping head bottom plate 4.2, a left clamping plate 4.3, a right clamping plate 4.4, and a clamping head hydraulic cylinder 4.5. The left clamping plate 4.2 and the right clamping plate 4.3 are hinged to the top plate 4.1 and the bottom plate 4.2 by pins. The left and right clamping plates can rotate around the pins. The clamping hydraulic cylinder 4.5 is hinged to the left and right clamping plates at both ends. The entire clamping head is connected to the front plate of the main frame by bolts. The extension and retraction of the clamping hydraulic cylinder 4.5 causes the left and right clamping plates to rotate around the pins, thereby clamping and straightening the anchor bolts. This ensures that the anchor bolts can be driven into the roadway in a straight line during the anchor bolt installation process, guaranteeing the support quality.

[0025] like Figure 11 As shown, the anchor bolt gripping robot includes a push hydraulic cylinder 5.1, a slider 5.2, a down hydraulic cylinder 5.3, a built-in magnetostrictive displacement sensor 5.6, a gripping hydraulic cylinder 5.4, and a carriage 5.5. The push hydraulic cylinder 5.1 is connected to the main frame side plate 1.1 by bolts; the hole in the middle of the slider 5.2 connects to the push hydraulic cylinder 5.1, and the T-shaped rod 1.4 passes through the holes at both ends of the slider 5.2, connecting the slider 5.2 to the T-shaped rod 1.4; the holes at both ends of the carriage 5.5 pass through the connecting rod under the slider; the built-in magnetostrictive displacement sensor 5.6 is mounted on the push hydraulic cylinder 5.1. The extension and retraction of the push hydraulic cylinder 5.1 and the down hydraulic cylinder 5.3 move the robot to the designated position, enabling it to accurately grip the anchor bolt. During this process, the magnetostrictive displacement sensor 5.6 measures the displacement of the hydraulic cylinder in real time, thereby obtaining the spatial position of the robot and ensuring that the robot can accurately grip the anchor bolt. Using robotic arms to grip drill rods reduces the workload of workers and improves work efficiency.

[0026] like Figure 12 As shown, the bottom interface Z.1 of the hollow drill rod can be gripped by a robotic arm and then tightened to the hydraulic motor drill rod mounting point 2.a under the rotation of the hydraulic motor power head. The water outlet Z.2 at the top of the hollow drill rod can spray high-pressure water when drilling with the anchor drilling machine, which can reduce the temperature of the drill bit and reduce dust. The drill cuttings in the hole flow out of the hole along the threads around the drill rod with the high-pressure water, which plays a cleaning role in the subsequent consolidation of the anchoring agent.

[0027] like Figure 13 As shown, similarly, the bottom interface M.1 of the hollow anchor rod can be tightened to the installation point 2.a of the hydraulic motor drill rod under the rotation of the hydraulic motor power head, and the top interface M.2 of the hollow anchor rod can be tightened to the bottom interface Z.1 of the hollow drill rod under the rotation of the hydraulic motor power head, or it can be tightened to the bottom interface M.1 of the next hollow anchor rod, so as to connect multiple anchor rods and thus complete the deep anchoring.

[0028] like Figure 14As shown, a liquid injection device is installed at the bottom of the hydraulic motor power head. The high-pressure water interface 2.c can be connected to an external high-pressure water pump to realize the water spraying action when the anchor drilling rig is drilling, which can cool down, remove dust and clean slag. After all the anchors are installed, the high-pressure water valve is closed, and the liquid anchoring agent can be injected into the hollow anchor / drill rod from the liquid anchoring agent interface 2.b. Then it flows out from the water outlet Z.2 at the top of the hollow drill rod and fills the hole wall along the thread to realize the grouting of the anchor.

[0029] Working principle: This invention provides a method for automatically switching and installing drill bolt devices. By utilizing the cooperation of the main frame, drilling mechanism, bolt chamber mechanism, clamping mechanism and bolt grabbing robot, the automation of bolt support in underground roadways is achieved.

[0030] Before starting work, the drill rod and anchor rod are placed in the anchor rod chamber and then placed on the chuck. Magnets on the upper and lower chamber plates of the anchor rod chamber hold the anchor rod in place, preventing it from falling off during operation. The drill rod lifting hydraulic cylinder retracts, placing the drilling mechanism at its lowest position, ready for the anchor rod grabbing robot to grab the drill rod and install it onto the hydraulic motor power head.

[0031] During operation, the push hydraulic cylinder of the anchor bolt gripping manipulator extends. After reaching the designated position, the lower hydraulic cylinder extends. When the manipulator reaches the drill rod surface, the hydraulic cylinder stops, and the gripping hydraulic cylinder begins to clamp the drill rod. At this time, the lower hydraulic cylinder retracts, causing the manipulator to move upward with the drill rod to the designated position. Then, the push hydraulic cylinder extends, and the built-in magnetostrictive displacement sensor detects the displacement of the hydraulic cylinder, bringing it to the front of the hydraulic motor power head. As the hydraulic motor power head rotates, the drill rod lifting hydraulic cylinder lifts, tightening the threads of the bottom interface of the hollow drill rod with the hydraulic motor drill rod mounting point. After the drill rod reaches the designated position, the gripping hydraulic cylinder releases, and the push and lower hydraulic cylinders return to their initial positions. Then, the lifting hydraulic cylinder extends, moving upward with the attachment plate and the hydraulic motor power head. At the same time, the hydraulic motor power head rotates again, drilling the drill rod into the tunnel wall.

[0032] During drilling, high-pressure water is injected into the hollow drill rod through the high-pressure water interface and then sprayed out from the top outlet of the hollow drill rod, serving to cool, remove dust, and discharge slag. After the drill rod is completely drilled into the tunnel wall, the clamping head holds the drill rod, and the hydraulic motor reverses to separate the bottom interface of the hollow drill rod from the hydraulic motor drill rod installation point. The drill rod lifting hydraulic cylinder retracts to its initial position, and then the anchor rod grabbing manipulator grabs the hollow anchor rod. After tightening the threads of the bottom interface of the hollow anchor rod to the hydraulic motor drill rod installation point using the same steps, the anchor rod grabbing manipulator releases, and the drill rod lifting hydraulic cylinder, along with the attachment plate and the hydraulic motor power head, slowly moves upward while the hydraulic motor power head rotates. This continues until the top interface of the hollow anchor rod is tightened to the bottom interface of the hollow drill rod, merging the anchor rod and drill rod into a single drill rod to continue drilling into the tunnel wall. At the same time, the high-pressure water pump operates.

[0033] Repeat the above steps until the drilling depth of the spliced ​​anchor bolt meets the standard. Then, turn off the high-pressure water pump and turn on the liquid anchoring agent pump. Inject the liquid anchoring agent into the hollow anchor bolt through the liquid anchoring agent interface. Pump it out from the water outlet at the top of the hollow drill rod and fill the entire hole along the external thread of the hollow anchor bolt. Then, turn off the anchoring agent pump and turn on the high-pressure water pump to flush the remaining liquid anchoring agent in the hydraulic motor power head into the hollow anchor bolt to prevent it from solidifying and clogging the inside of the hydraulic motor power head.

[0034] After the anchor bolt anchoring is completed, the above steps are repeated to drive in the next anchor bolt. Once all the anchor bolts on the lower plate of the anchor bolt chamber are driven in, the hydraulic cylinder for pushing the anchor bolt chamber activates, pushing the upper plate of the anchor bolt chamber directly above the original position of the lower plate. The above steps are then repeated to drive the anchor bolts on the upper plate into the roadway, achieving anchor bolt support for the roadway. For the next round of support, the above steps are repeated to achieve the desired support. This anchor bolt support equipment can complete the drilling and grouting anchoring process in one operation, greatly saving manpower and time. Furthermore, the use of spliced ​​hollow anchor bolts can adapt to anchoring requirements of different depths, making it widely applicable.

[0035] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An automatic switching and installation device for drill anchor bolts, characterized in that, include: Main frame (1), used for mounting other mechanisms; Drilling mechanism (2) is installed inside the main frame (1) and is used to drill anchor rods or drill rods. An anchor bolt storage mechanism (3) is set parallel to one side of the drilling mechanism (2) and is used to store anchor bolts; Clamping mechanism (4) is set above drilling mechanism (2) and is used to position the end of anchor rod; An anchor bolt grabbing manipulator (5) is used to grab anchor bolts from the anchor bolt storage mechanism (3) to the drilling mechanism (2); The drilling mechanism (2) includes a left guide column (2.5) and a right guide column (2.6) arranged side by side. A left slider (2.2) and a right slider (2.3) are respectively installed on the left guide column (2.5) and the right guide column (2.6). An attachment plate (2.4) is fixed between the left slider (2.2) and the right slider (2.3). A hydraulic motor power head (2.1) is fixed on the attachment plate (2.4). The top of the hydraulic motor power head (2.1) is the hydraulic motor drill rod mounting point (2.a), and the bottom is equipped with a high-pressure water interface (2.c) and a liquid anchoring agent pump interface (2.b). It also includes a drill pipe lifting hydraulic cylinder (2.8), located between the left guide post (2.5) and the right guide post (2.6). The bottom of the drill pipe lifting hydraulic cylinder (2.8) is fixed on the main frame (1). Sprockets are installed on both sides of the top of the drill pipe lifting hydraulic cylinder (2.8). A drill pipe lifting chain assembly (2.7) is threaded on the sprockets. One end of the drill pipe lifting chain assembly (2.7) is connected to the rear fixing plate (2.11) through the chain holder (2.10), and the other end is connected to the attachment plate (2.4) through the chain clamping block (2.9). The anchor bolt storage mechanism (3) includes an upper storage plate (3.1) and a lower storage plate (3.2) that can move left and right. The upper storage plate (3.1) and the lower storage plate (3.2) are driven to move left and right by a drive device. The upper storage plate (3.1) and the lower storage plate (3.2) are equipped with a bracket (3.5) for placing anchor bolts and a magnet box (3.6) for holding magnets. The drive device includes a chain drive assembly (3.4) mounted on the main frame (1). The chain drive assembly (3.4) is fixed to the upper chamber plate (3.1) and the lower chamber plate (3.2) by a pin. The upper chamber plate (3.1) or the lower chamber plate (3.2) is fixed to the end of the anchor bolt chamber pushing hydraulic cylinder (3.3). During operation, the anchor bolt chamber pushing hydraulic cylinder (3.3) pushes the upper chamber plate (3.1) or the lower chamber plate (3.2), causing the chain to rotate around the roller, thereby driving the upper chamber plate (3.1) and the lower chamber plate (3.2) to move along the track.

2. The automatic switching and installation device for drill anchor bolts according to claim 1, characterized in that, The clamping mechanism (4) includes a clamping head top plate (4.1) and a clamping head bottom plate (4.2). The clamping head top plate (4.1) and the clamping head bottom plate (4.2) are respectively hinged to the left clamping plate (4.3) and the right clamping plate (4.4) on both sides by a pin. The front ends of the left clamping plate (4.3) and the right clamping plate (4.4) form a circular hole that allows the anchor rod to pass through. The tail ends of the left clamping plate (4.3) and the right clamping plate (4.4) are hinged to the clamping head clamping hydraulic cylinder (4.5).

3. The automatic switching and installation device for drill anchor bolts according to claim 2, characterized in that, The anchor bolt gripping manipulator (5) includes a slider (5.2) disposed above the anchor bolt storage mechanism (3) and the drilling mechanism (2). The slider (5.2) is pushed left and right by the manipulator pushing hydraulic cylinder (5.1). A built-in magnetostrictive displacement sensor (5.6) is installed on the manipulator pushing hydraulic cylinder (5.1). A manipulator lowering hydraulic cylinder (5.3) is installed on the slider (5.2). A slide (5.5) is installed on the extended end of the manipulator lowering hydraulic cylinder (5.3). A manipulator driven by the manipulator gripping hydraulic cylinder (5.4) to close and open is provided on the slide (5.5).

4. The automatic switching and installation device for drill anchor bolts according to claim 3, characterized in that, The slider (5.2) is mounted on the T-shaped rod (1.4) of the main frame (1).

5. The automatic switching and installation device for drill anchor bolts according to claim 4, characterized in that, The main frame (1) includes a front plate (1.2) and a rear plate (1.3), and a side plate (1.1) and a base plate (1.5) are connected between the front plate (1.2) and the rear plate (1.3).

6. The automatic switching and installation device for drill anchor bolts according to claim 5, characterized in that, The drill rod includes a hollow drill rod, with a high-pressure water interface (Z.1) at the bottom and a water outlet (Z.2) at the top.

7. A method of using the automatic switching and installation of the drill anchor bolt device as described in claim 6, characterized in that, include: S1: The manipulator push hydraulic cylinder (5.1) extends and reaches the designated position. Then, the manipulator lower hydraulic cylinder (5.3) extends. When the manipulator reaches the drill rod surface, the manipulator lower hydraulic cylinder (5.3) stops, and the manipulator grab hydraulic cylinder (5.4) starts working to clamp the drill rod. At this time, the manipulator lower hydraulic cylinder (5.3) begins to retract, causing the manipulator to move the drill rod upward to the designated position. Then, the manipulator push hydraulic cylinder (5.1) begins to extend. The built-in magnetostrictive displacement sensor (5.6) detects the displacement of the hydraulic cylinder and moves it to the hydraulic motor power head ( In front of 2.1), while the hydraulic motor power head (2.1) rotates, the drill rod lifting hydraulic cylinder lifts the drill rod so that the bottom interface of the hollow drill rod is screwed tightly with the thread at the hydraulic motor drill rod installation point. After the drill rod reaches the designated position, the manipulator grabs the hydraulic cylinder and releases it. The manipulator pushes the hydraulic cylinder and the manipulator moves the hydraulic cylinder back to the initial position. Then the drill rod lifting hydraulic cylinder extends, carrying the attachment plate and the hydraulic motor power head upward. At the same time, the hydraulic motor power head rotates again, drilling the drill rod into the tunnel wall. S2: During drilling, high-pressure water is injected into the hollow drill rod through the high-pressure water interface and then sprayed out from the top outlet of the hollow drill rod, which serves to cool, remove dust, and remove slag. After the drill rod is completely drilled into the tunnel wall, the clamping head holds the drill rod, and the hydraulic motor power head reverses to separate the bottom interface of the hollow drill rod from the hydraulic motor drill rod installation point. The drill rod lifting hydraulic cylinder retracts to the initial position, and then the anchor rod grabbing manipulator grabs the hollow anchor rod. After tightening the threads of the bottom interface of the hollow anchor rod and the hydraulic motor drill rod installation point in the same steps, the anchor rod grabbing manipulator releases, and the drill rod lifting hydraulic cylinder moves slowly upward with the attachment plate and the hydraulic motor power head. At the same time, the hydraulic motor power head rotates until the top interface of the hollow anchor rod and the bottom interface of the hollow drill rod are tightened. The anchor rod and drill rod are then combined into a whole drill rod to continue drilling into the tunnel wall. At the same time, the high-pressure water pump works. S3: Repeat step S2 until the drilling depth of the spliced ​​anchor rod meets the standard. Turn off the high-pressure water pump and turn on the liquid anchoring agent pump. Inject the liquid anchoring agent into the hollow anchor rod from the liquid anchoring agent pump interface. Pump it out from the water outlet at the top of the hollow drill rod and fill the entire hole along the external thread of the hollow anchor rod. Then turn off the liquid anchoring agent pump and turn on the high-pressure water pump to flush the residual liquid anchoring agent in the hydraulic motor power head into the hollow anchor rod to prevent it from solidifying and clogging the inside of the hydraulic motor power head. S4: After the anchor bolt anchoring action is completed, repeat the actions of S1-S3 to drive in the next anchor bolt. When all the anchor bolts on the lower plate of the anchor bolt chamber are driven in, the hydraulic cylinder of the anchor bolt chamber pushes the upper plate of the anchor bolt chamber to the position directly above the original position of the lower plate, so as to realize the alternating supply of anchor bolts between the upper and lower plates. When performing the next round of support, repeat the action of S4 to achieve support.

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