A single-arm wheeled bolt and cable drill rig for coal mines

Abstract

The present invention belongs to the technical field of underground coal mining and tunneling support equipment, and particularly relates to a single-arm wheeled bolt and cable drill rig for coal mines; it includes a wheeled chassis, a multi-degree-of-freedom working arm, and an on-board automatic drill rig; the wheeled chassis bears the entire drill rig, and the main structure is divided into a front frame and a rear frame; one end of the multi-degree-of-freedom working arm is fixedly connected to the tail of the rear frame, and the other end is connected to the on-board automatic drill rig and has multiple degrees of freedom of movement relative to the rear frame; the multiple degrees of freedom of movement constitute two-stage fine adjustment acting on the on-board automatic drill rig. The first stage realizes fine adjustment and positioning through the lifting, left and right swinging, telescoping, and rotation of the working arm, and the second stage realizes fine adjustment and positioning through the left and right swinging, front and rear folding, and vertical lifting of the leveling swing mechanism. The multiple degrees of freedom of movement cooperate to achieve a large-range adjustment of the on-board automatic drill rig, which can cover the needs of full-section roof bolting, side bolting, and floor bolting support; it replaces the traditional manual pneumatic bolt drill rig and the existing bolt and cable trolley for supplementary bolting and cable bolting operations.

Description

Technical Field

[0001] The present invention belongs to the technical field of underground coal mining support equipment, and particularly relates to a single-arm wheeled bolt and cable drill vehicle for coal mines. Background Art

[0002] In the technical field of underground roadway driving support equipment in coal mines, under the conditions of underground coal mine roadways, after the roadway driving is completed, spalling and roof scale dropping will occur within a certain period. In order to ensure the safety of underground coal mine construction, it is necessary to manually conduct regular inspection and repair of the supported roadways and perform secondary support. At present, conventional pneumatic bolt machines are mainly used for roadway reinforcement support. The operation locations are scattered, the movement is frequent, and the operation efficiency is low. It is necessary to manually transport the pneumatic bolt machines over a long distance, and the installation, disassembly, and arrangement operations of water pipes and high-pressure air pipes are also required before and after work; it is also necessary to prepare materials such as cables, bolts, anchoring agents, drill pipes, etc. for drill-anchoring construction in advance. The operation site is messy, the labor intensity of workers is high, and there are relatively large management risks and safety hazards.

[0003] Existing mainstream bolt drill vehicles, such as the crawler-mounted single-arm cable drill vehicles represented by the application numbers 201620946118.8 and 202110924615.3, have the problems of slow crawler walking speed, damage to the hardened road surface, and only realizing manual operation of the on-board drill rig for construction, and do not solve the functions of fully automatic bolt construction and long-distance high-speed circuit support of the equipment in the roadway; for example, the single-arm automatic cable drill vehicles represented by the application number 201811478727.5 and the authorization number 204677108U adopt a wheeled integral chassis and manual operation of the on-board drill rig through a handle for construction, but there is a problem of a relatively large turning radius of the integral body; the single-arm bolt and cable drill vehicle represented by the authorization number CN216665502U realizes articulated steering, reduces the turning radius, and improves the passing performance, but its whole machine only loads one person, does not meet the scientific configuration of one person for drill-anchoring operation and one person for driving and assisting operation, and it does not have a vehicle stabilizing mechanism, and the elastic vibration deformation of the tires during drilling has an impact on the hole forming accuracy; this scheme only realizes the mechanized construction of the top and side walls, does not cover the construction of top bolts, side wall bolts, and floor grounding holes at the same time, and does not realize fully automatic bolt operation. Summary of the Invention

[0004] The supported roadways in underground coal mines need to be regularly inspected and repaired for secondary support; the present invention aims to solve the problems that the current roadway reinforcement support requires manual long-distance transportation of pneumatic bolt machines, with scattered operation locations, frequent movement, low operation efficiency, and large management risks and safety hazards.

[0005] The present invention provides the following technical solution: a single-arm wheeled bolt and cable drill vehicle for coal mines, comprising a wheeled chassis, a multi-degree-of-freedom working arm, and an on-board automatic drill rig;

[0006] The wheeled chassis carries the drilling vehicle, which is a four-wheel articulated structure body. The main structure is divided into a front frame and a rear frame. The front frame has a front stabilizing mechanism, and the rear frame has a rear stabilizing mechanism. The front and rear stabilizing mechanisms are retracted when the drilling vehicle is moving, and are deployed during anchor drilling operations to lift the tires off the ground.

[0007] One end of the multi-degree-of-freedom working arm is fixed to the tail of the rear frame, and the other end is connected to the airborne automatic drilling rig and has multiple degrees of freedom of movement relative to the rear frame; the multiple degrees of freedom of movement constitute a two-stage fine adjustment acting on the airborne automatic drilling rig. The first stage is achieved by the lifting, left and right swinging, telescoping and rotating of the working arm to achieve fine adjustment positioning, and the second stage is achieved by the left and right swinging, front and rear folding and vertical lifting of the leveling swing mechanism to achieve fine adjustment positioning. Multiple degrees of freedom of movement work together to achieve a large range of adjustment of the airborne automatic drilling rig, which can cover the needs of full-section top anchor, side anchor and ground anchor support.

[0008] Furthermore, the multi-degree-of-freedom working arm includes a working arm base, a lifting cylinder, an outer sleeve of the working arm, an inner sleeve of the working arm, a slewing reducer, a leveling and swinging device, and a telescopic cylinder;

[0009] The working arm base is fixed to the rear frame by a number of bolts; the working arm outer sleeve and one end of the two lifting cylinders are connected to the working arm base through a cross shaft assembly, and the other ends of the two lifting cylinders are hinged to the working arm outer sleeve. The lifting cylinders and the working arm outer sleeve form an angle, and the two lifting cylinders are linked to realize the working arm outer sleeve swinging up and down and / or left and right;

[0010] The inner sleeve of the working arm is inserted into the outer sleeve of the working arm, and the inner sleeve of the working arm is driven by the built-in telescopic cylinder to telescope along the outer sleeve of the working arm;

[0011] The gyro reducer is coaxially installed at the end of the inner sleeve of the working arm. The gyro reducer can rotate 360 degrees to realize full-section drilling of the airborne automatic drilling rig. The leveling swing device is connected to the gyro reducer.

[0012] Further, the leveling and swinging device comprises a mounting plate, a swinging seat, a pin shaft, a lifting mechanism, a leveling cylinder and a swinging cylinder;

[0013] The mounting plate is fixed to the slewing reducer by screws, and the slewing reducer drives the swing seat to rotate 360°; the swing cylinder is mounted on the mounting plate by bolts, and the swing seat is mounted above the swing cylinder and can rotate within several angles around the axis of the swing cylinder; the bearing part of the lifting mechanism is connected to the swing seat through a pin shaft, and the lifting part of the lifting mechanism is connected to the airborne automatic drilling rig, one end of the leveling cylinder is connected to the swing seat, and the other end is connected to the bearing part of the lifting mechanism.

[0014] Furthermore, the airborne automatic drilling rig includes a frame, a roof plate assembly, an anchoring agent installation system, a drill box, an anchor box, a drill-anchor box switching mechanism, a feeding assembly, a lifting mechanism connection part, and a rod protection mechanism;

[0015] The roof plate assembly is arranged on the frame;

[0016] The drill box and the anchor box are slidably assembled on the frame through the drill-anchor box switching mechanism. The drill box has a first working position and a first waiting position. In the first working position, the drill box is aligned with the drill pipe located at the second position and is used for drilling. In the first waiting position, the drill box is idle; the anchor box has a second working position and a second waiting position. In the second working position, the anchor box is used for the installation and fastening of the anchor rod with the anchor rod located at the second position. In the second waiting position, the anchor box and the anchor rod are idle;

[0017] The feeding assembly is adapted to drive the drill box at the first working position to move axially along the frame to achieve the feeding of the drill box, and the feeding assembly is also adapted to drive the anchor box at the second working position to move axially along the frame to achieve the feeding of the anchor box;

[0018] The lifting mechanism connection part is connected to the lifting part of the lifting mechanism;

[0019] The rod protection mechanism is arranged on the upper part of the lifting mechanism connection part to limit the anchor rod in the second working position and the second waiting position, so that the head of the anchor rod can smoothly enter the centering bearing bush of the roof plate assembly;

[0020] The anchoring agent installation system is arranged at the side end of the frame.

[0021] Furthermore, the rod protection mechanism includes a sliding block, which is installed on two sliding rods. The sliding rod is a stepped shaft, with a limiting end face at one end and is installed on a rotating shaft at the other end; a telescopic spring is installed on the sliding rod. The telescopic spring is divided into a working state and a non-working state. In the non-working state, the distance Lx is the maximum value L1. In the working state, Lx < L1. The distance Lx is the distance from the limiting end face of the sliding rod to the rotating shaft; the rotating shaft is installed on a fixed ear seat and is limited by a lock plate at the end. A torsion spring is installed on the rotating shaft. One end of the torsion spring is fixed through a torsion spring limiting block fixed on the rotating shaft, and the other end is restricted through a limiting screw fixed on the fixed ear seat; the first state of the sliding rod is the horizontal position, and the second state is the rotating position, that is, the sliding block rotates a certain angle around the rotating shaft 3, that is, the axis of the sliding rod has a certain angle with the horizontal plane, and this angle is α, 0 ≤ α ≤ 90°.

[0022] Furthermore, the drill box is installed on a drill box connecting plate and realizes relative sliding with the guide connecting plate through a switching guide post. The guide connecting plate is fed axially along the frame under the drive of the feeding assembly;

[0023] The drilling and anchor box switching mechanism includes a left fixed seat, a right fixed seat, an anti-rotation plate and a switching cylinder. The left fixed seat and the right fixed seat are connected to both sides of the guide connecting plate, the anti-rotation plate is overlapped on the left fixed seat and the right fixed seat, and the lower end of the anti-rotation plate is installed with an anti-rotation wear-resistant strip; the two ends of the switching cylinder are respectively installed on the left fixed seat and the right fixed seat, and the anti-rotation wear-resistant strip is embedded in the groove of the switching cylinder barrel, so that the switching cylinder barrel can never rotate in the circumferential direction; a drilling box toggle block is installed on the drilling box, and an anchor box toggle block is installed on the anchor box, and the cylinder barrel of the switching cylinder cooperates with the drilling box toggle block and the anchor box toggle block to push the drilling box and the anchor box to switch positions.

[0024] Further, the anchoring agent installation system includes a swing arm, a drive motor, a jack tube, a medicine roll storage hose, a rope driving mechanism, a rope driving motor, a wire rope displacement sensor and a wire rope storage tube;

[0025] The anchor installation system is divided into a centering mechanism and a rope driving mechanism from top to bottom. The centering mechanism uses a driving motor to drive the swing arm for centering positioning. The upper plug-in tube of the rope driving mechanism and the medicine roll storage hose are concentrically connected, and the middle of the medicine roll storage hose can accommodate multiple medicine rolls. Under the action of the rope driving motor, the wire rope drives the medicine roll in the medicine roll storage hose into the hole through the plug-in tube. The wire rope displacement sensor monitors the extension of the wire rope and feeds back to the control system to determine the amount of medicine roll extension.

[0026] Furthermore, a radiator, a fuel tank, an exhaust gas treatment box, a front vehicle stabilizing mechanism, a water supply tank, a front drive axle, tires, an engine assembly, a torque converter, a cab, a gearbox, a hydraulic oil tank, a steering hydraulic system and a pneumatic system for controlling gear shifting are installed on the front frame; and a drilling and anchoring water tank, a passenger compartment, a pipe reel, a rear vehicle stabilizing mechanism, a standing platform storage box, a rear drive axle, a silo, a starting gas tank, steering oil and a multi-degree-of-freedom working arm are installed on the rear frame.

[0027] Furthermore, a detachable standing platform is mounted on the leveling and swinging device, and the detachable standing platform includes a protective chain, mounting side panels, protective tubes, pedals and a flip short ladder; the mounting side panels, protective tubes, pedals and protective chains form a riding area, and the flip short ladder is connected to the pedals for entering the riding area from below.

[0028] Furthermore, the outer sleeve of the working arm is fixedly connected to the transverse axis of the cross-axis assembly, the transverse axis is connected to a first encoder, the first encoder rotates synchronously with the transverse axis, and the first encoder is used to monitor the lifting angle of the outer sleeve of the working arm;

[0029] The pin shaft is fixed to the bearing part of the lifting mechanism through a spring pin. The pin shaft is connected to a second encoder. The second encoder rotates synchronously with the pin shaft and is used to monitor the swing angle of the lifting mechanism.

[0030] Compared with the prior art, the advantages of the present invention are:

[0031] A single-arm wheeled bolt and cable drill rig for coal mines provided by the present invention has strong transfer ability, realizes fully automated construction of roof and rib bolts and side rib bolts, and at the same time takes into account the construction of floor earthing holes and manual cable construction, replacing traditional manual pneumatic bolt drills and existing bolt and cable drill rigs for supplementary bolting and cable bolting operations, and solving the problems of high on-site labor intensity, low work efficiency and unsafe construction.

[0032] The single-arm wheeled bolt and cable drill rig of the present invention has four stabilizing legs. When working, the tires are suspended off the ground, and the working state is more stable.

[0033] The single-arm wheeled bolt and cable drill rig of the present invention can carry two people at the same time. When driving, one is the driver and the other is the safety officer. After parking, one person operates the drilling and the other person assists in the operation, meeting the requirements of the equipment usage scenario.

[0034] The single-arm wheeled bolt and cable drill rig of the present invention has a large-capacity water storage tank. When the equipment is used for sporadic supplementary drilling in the roadway, the on-vehicle water source is used, and when local large-area support is carried out, an external water source is adopted.

[0035] The single-arm wheeled bolt and cable drill rig of the present invention is fully hydraulically controlled. The power part is an explosion-proof diesel engine driving a hydraulic oil pump to supply liquid to the system. The mechanical part actuators are controlled by various control elements of the hydraulic system, with simple operation, low failure rate and convenient maintenance.

[0036] The single-arm wheeled bolt and cable drill rig of the present invention has a multi-degree-of-freedom working arm arranged on the rear frame, with seven degrees of freedom of movement, including three degrees of freedom at the rear end, namely the lifting, swinging and telescoping of the telescopic sleeve; and four degrees of freedom at the front end, namely the front and rear pitching, inner and outer swinging, left and right rotation and up and down lifting of the on-board automatic drill, realizing the positioning function of the on-board automatic drill for drilling roof bolts, side bolts, bottom bolts and cable holes.

[0037] The single-arm wheeled bolt and cable drill rig of the present invention has an on-board automatic drill, realizing full-process automation when driving bolts, that is, full-process automation of automatic drilling, automatic drill rod withdrawal, automatic installation of anchoring agent, automatic installation of bolts and bolt stirring and fastening during bolt construction. Description of the Drawings

[0038] Figure 1 It is an axonometric schematic diagram of the drill rig in the traveling state;

[0039] Figure 2 It is an axonometric schematic diagram of the drill rig in the state of constructing top bolts;

[0040] Figure 3 It is an axonometric schematic diagram of the drill rig in the state of constructing side rib bolts;

[0041] Figure 4 It is a structural schematic diagram of the whole drill rig;

[0042] Figure 5 Structural schematic diagram of a multi-degree-of-freedom working arm;

[0043] Figure 6 Partial view of a multi-degree-of-freedom working arm;

[0044] Figure 7 Schematic diagram of the secondary positioning of a multi-degree-of-freedom working arm;

[0045] Figure 8 Structural schematic diagram of a leveling swing device;

[0046] Figure 9 Structural schematic diagram of a detachable man-standing platform;

[0047] Figure 10 Structural schematic diagram of an airborne automatic drill rig;

[0048] Figure 11 Structural schematic diagram of an anchoring agent installation system;

[0049] Figure 12 Structural schematic diagram of a rod protection mechanism;

[0050] Figure 13 Partial top view of a rod protection mechanism;

[0051] Figure 14 Operation schematic diagram of a rod protection mechanism;

[0052] Figure 15 Structural schematic diagram of a drill-anchor box switching mechanism;

[0053] Figure 16 Top view of a drill-anchor box switching mechanism;

[0054] Figure 17 Schematic diagram of the back side of the guiding connecting plate of a feed assembly.

[0055] In the figure: 1 - Wheeled chassis; 2 - Multi-degree-of-freedom working arm; 3 - Airborne automatic drill rig; 4 - Hydraulic system; 5 - Electrical system;

[0056] 1.1 - Radiator; 1.2 - Fuel tank; 1.3 Exhaust gas treatment box; 1.4 - Front vehicle stabilizing mechanism; 1.5 - Water replenishing tank; 1.6 - Front drive axle; 1.7 - Tire; 1.8 - Engine assembly; 1.9 - Torque converter; 1.10 - Cab; 1.11 - Gearbox; 1.12 - Hydraulic oil tank; 1.13 - Drill-anchor water tank; 1.14 - Crew compartment; 1.15 - Hose reel; 1.16 - Rear vehicle stabilizing mechanism; 1.17 - Man-standing platform storage box; 1.18 - Rear drive axle; 1.19 - Hopper; 1.20 - Starting air tank; 1.21 - Steering oil;

[0057] 2.1 - Working arm base; 2.2 - Lifting oil cylinder; 2.3 - Outer sleeve of working arm; 2.4 - Inner sleeve of working arm; 2.5 - Rotary reducer; 2.6 - Leveling swing device; 2.7 - Telescopic oil cylinder; 2.8 - First encoder; 2.9 - Second encoder; 2.10 - Detachable man - standing platform;

[0058] 2.6.1 - Mounting plate; 2.6.2 - Swing seat; 2.6.3 - Pin shaft; 2.6.4 - Spring pin; 2.6.5 - Bronze bushing; 2.6.6 - Lifting mechanism; 2.6.7 - Leveling oil cylinder; 2.6.8 - Swing oil cylinder;

[0059] Guard chain 2.10.1; Mounting side plate 2.10.2; Protection pipe 2.10.3; Pedal 2.10.4; Flipping short ladder 2.10.5;

[0060] 3.1 - Frame; 3.2 - Top plate assembly; 3.3 - Anchor agent installation system; 3.4 - Drill box; 3.5 - Anchor box; 3.6 - Drill - anchor box switching mechanism; 3.7 - Feeding assembly; 3.8 - Lifting mechanism; 3.9 - Guard bar mechanism;

[0061] 3.3.1 - Swing arm; 3.3.2 - Driving motor; 3.3.3 - Jacking pipe; 3.3.4 - Cartridge storage hose; 3.3.5 - Rope driving mechanism; 3.3.6 - Rope driving motor; 3.3.7 - Steel wire rope displacement sensor; 3.3.8 - Steel wire rope storage pipe;

[0062] 3.6.1 - Left fixed seat; 3.6.2 - Right fixed seat; 3.6.3 - Anti - rotation plate; 3.6.4 - Anchor box toggle block; 3.6.5 - Anti - rotation wear - resistant strip; 3.6.6 - Switching oil cylinder; 3.6.7 - Drill box toggle block; 3.6.8 - Screw rod adjusting mechanism; 3.6.9 - Proximity sensor;

[0063] 3.7.1 - Drill box connecting plate; 3.7.2 - Switching guide post; 3.7.3 - Positioning hole; 3.7.4 - Guide connecting plate;

[0064] 3.9.1 - Sliding block; 3.9.2 - Sliding rod; 3.9.3 - Rotating shaft; 3.9.4 - Telescopic spring; 3.9.5 - Locking nut; 3.9.6 - Torsion spring limit block; 3.9.7 - Torsion spring; 3.9.8 - Fixed ear seat; 3.9.9 - Locking plate; 3.9.10 - Limit screw;

[0065] 7 - Anchor rod; 8 - Drill rod. Detailed implementation mode

[0066] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0067] As Figure 1 , Figure 2 , Figure 3 , Figure 4 shown: A single-arm wheeled bolt and cable drill rig for coal mines includes a wheeled chassis 1 and main components such as a multi-degree-of-freedom working arm 2, an on-board automatic drill 3, a hydraulic system 4, an electric control system 5, and a pneumatic system 6 provided thereon. The hydraulic system 4 controls the movement of all actuators of the equipment through a pump station, including the steering mechanism, the front stabilizer 1.4, the rear stabilizer 1.16, the multi-degree-of-freedom working arm 2, and the on-board automatic drill 3. The hydraulic pump station is driven by a diesel engine 1.8. The electric control system 5 controls the movement logic and automatic functions of the whole vehicle, including the monitoring of the whole machine status, the attitude detection of the working arm / drill and anchor module, the automatic deployment and folding of the working arm, the full-automatic bolt support operation, and the semi-automatic cable operation, etc.

[0068] The wheeled chassis 1 is located at the bottom of the drilling rig and is a four-rubber-wheel articulated body structure. The main structure is divided into a front frame and a rear frame. Among them, the radiator 1.1, fuel tank 1.2, exhaust gas treatment box 1.3, front vehicle stabilizing mechanism 1.4, water replenishing tank 1.5, front drive axle 1.6, tires 1.7, engine assembly 1.8, torque converter 1.9, cab 1.10, gearbox 1.11, hydraulic oil tank 1.12, steering part hydraulic system, and pneumatic system for controlling gear shifting are on the front frame. The drill-anchor water tank 1.13, crew compartment 1.14, pipe reel 1.15, rear vehicle stabilizing mechanism 1.16, storage box for standing platform 1.17, rear drive axle 1.18, material bin 1.19, starting air tank 1.20, steering oil 1.21, and multi-degree-of-freedom working arm 2 are on the rear frame. The chassis mechanism has a double crew compartment, with the cab on the front frame and the second crew compartment on the rear frame. When the drill-anchor robot cruises and walks, it can carry two people at the same time. When driving, one person is the driver and the other is the safety officer. After parking, one person operates the drilling and the other assists in the operation, meeting the requirements of the equipment usage scenario. The chassis mechanism has a large-capacity drill-anchor water tank 1.13. The water storage capacity of the drill-anchor water tank can meet the requirements of wet drilling construction for 40 rock bolts in place or 6 cable bolts. The drill-anchor water tank also has the ability to connect to an external water source. When the equipment is used for sporadic bolting in the roadway, the on-vehicle water source is used, and when local large-area support is carried out, an external water source is adopted. There is a material bin 1.19 on the upper part of the rear frame of the chassis mechanism. This material bin can carry dozens of construction consumables such as rock bolts, resin anchor agents, and cable bolt trays with the vehicle. By setting fixed rings on the front and rear frames, ten 6.5-meter cable bolts can be carried with the vehicle without affecting the driving and steering of the vehicle.

[0069] The articulated part of the chassis mechanism is provided with a safety protection connecting rod and an electronic detection alarm. The safety protection connecting rod rigidly connects the front and rear frames. The electronic detection alarm detects the effective or ineffective state of the protection connecting rod, and transmits the detection signal to the vehicle control system to achieve that the vehicle does not move during anchor support operations and does not perform anchor support during walking and moving.

[0070] The chassis mechanism has a front vehicle stabilizing mechanism 1.4 and a rear vehicle stabilizing mechanism 1.16. The front vehicle stabilizing mechanism 1.4 is located in front of the front tires. The front vehicle stabilizing mechanism 1.4 is of a two-stage type, with the first stage extending horizontally and the first stage extending vertically. The rear vehicle stabilizing mechanism 1.16 is located behind the rear tires and has the same structure as the front vehicle stabilizing mechanism 1.4. During anchor drilling operations, the legs of the vehicle stabilizing mechanism extend to lift the tires off the ground.

[0071] As Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 shown: The multi-degree-of-freedom working arm 2 includes a working arm base 2.1, a lifting oil cylinder 2.2, a working arm outer sleeve 2.3, a working arm inner sleeve 2.4, a slewing reducer 2.5, a leveling swing device 2.6, and a telescopic oil cylinder 2.7.

[0072] The base 2.1 of the working arm is fixed to the rear frame by a number of bolts; one end of the outer sleeve 2.3 of the working arm and two lifting cylinders 2.2 is connected to the base 2.1 of the working arm through a cross-axis assembly, and the other end of the two lifting cylinders 2.2 is hinged to the outer sleeve 2.3 of the working arm. The lifting cylinders 2.2 form an angle with the outer sleeve 2.3 of the working arm, and the two lifting cylinders 2.2 are linked to achieve the up-and-down swing and / or left-and-right swing of the outer sleeve 2.3 of the working arm. When one of the two lifting cylinders 2.2 extends and the other retracts, the left-and-right swing of the outer sleeve 2.3 of the working arm is achieved. The outer sleeve 2.3 of the working arm is fixedly connected to the horizontal axis of the cross-axis assembly. The horizontal axis is connected to the first encoder 2.8, and the first encoder 2.8 rotates synchronously with the horizontal axis. The first encoder 2.8 is used to monitor the lifting angle of the outer sleeve 2.3 of the working arm.

[0073] The inner sleeve 2.4 of the working arm is inserted into the outer sleeve 2.3 of the working arm, and the inner sleeve 2.4 of the working arm is driven by the built-in telescopic cylinder 2.7 to extend and retract along the outer sleeve 2.3 of the working arm.

[0074] The slewing reducer 2.5 is coaxially installed at the end of the inner sleeve 2.4 of the working arm. The slewing reducer 2.5 can rotate 360°, enabling the full-section drilling of the airborne automatic drill rig 3. The leveling and swinging device 2.6 is connected to the slewing reducer 2.5. The multi-degree-of-freedom working arm mechanism has seven degrees of freedom of movement, including three degrees of freedom at the rear end, namely the lifting, swinging, and telescoping of the telescopic sleeve; and four degrees of freedom at the front end, namely the front-and-back pitching, inner-and-outer swinging, left-and-right rotation, and up-and-down lifting of the airborne automatic drill rig, realizing the positioning function of the top bolt, side bolt, bottom bolt, and cable bolt drilling of the airborne automatic drill rig.

[0075] As Figure 8 shown: The leveling and swinging device 2.6 includes a mounting plate 2.6.1, a swinging seat 2.6.2, a pin shaft 2.6.3, a lifting mechanism 2.6.6, a leveling cylinder 2.6.7, and a swinging cylinder 2.6.8;

[0076] The mounting plate 2.6.1 is fixed to the slewing reducer 2.5 by screws, and the slewing reducer 2.5 drives the swinging seat 2.6.2 to rotate 360°; the swinging cylinder 2.6.8 is installed on the mounting plate 2.6.1 by bolts. The swinging seat 2.6.2 is installed above the swinging cylinder 2.6.8 and can rotate within a certain angle around the axis of the swinging cylinder; the bearing part of the lifting mechanism 2.6.6 is connected to the swinging seat 2.6.2 through the pin shaft 2.6.3, and the lifting part of the lifting mechanism 2.6.6 is connected to the airborne automatic drill rig 3. One end of the leveling cylinder 2.6.7 is connected to the swinging seat 2.6.2, and the other end is connected to the bearing part of the lifting mechanism.

[0077] The pin shaft 2.6.3 is fixed to the bearing part of the lifting mechanism 2.6.6 through a spring pin 2.6.4, and a copper bushing 2.6.5 is pressed into the shaft hole of the pin shaft 2.6.3 installed on the swing seat 2.6.2; when the leveling oil cylinder works, the pin shaft 2.6.3 can rotate around the copper bushing 2.6.5 by a certain angle to realize the folding of the on-board automatic drill rig 3. The pin shaft 2.6.3 is connected to the second encoder 2.9, and the second encoder 2.9 rotates synchronously with the pin shaft 2.6.3 to monitor the swing angle of the lifting mechanism 2.6.6.

[0078] The spatial pose of the on-board automatic drill rig is mainly determined by the multi-degree-of-freedom working arm. The multi-degree-of-freedom working arm consists of a working arm base, a working arm outer sleeve, a working arm inner sleeve, a leveling swing device, a detachable man platform, etc. The working arm base is fixed to the rear frame by bolts. There are two working arm lifting oil cylinders, one end of which is hinged to the working arm base, and the other end is hinged to the oil cylinder ear seat of the working arm outer sleeve. The multi-degree-of-freedom working arm is driven by the linkage of the two lifting oil cylinders to complete lifting and swinging left and right by a certain angle. When the two lifting oil cylinders lift and lower simultaneously, the working arm swings up and down. When the two lifting oil cylinders extend and retract, the multi-degree-of-freedom working arm swings left and right; telescopic oil cylinders are arranged inside the working arm inner sleeve and the outer sleeve, which can make the inner sleeve extend and retract back and forth along the outer sleeve. The slewing reducer on the inner sleeve mounting seat can make the on-board automatic drill rig rotate 360 degrees to realize the work switching between roof bolts, side bolts and ground bolts and complete the anchor drilling operation. The hydraulic swing cylinder arranged in the leveling swing device can make the on-board automatic drill rig swing left and right by a certain angle, and the leveling oil cylinder can make the on-board automatic drill rig swing up and down by a certain angle, so as to realize one-key folding and unfolding. During work, the pose of the on-board automatic drill rig is adjusted by adjusting the up and down, left and right swing angles of the working arm, the front and rear displacement of the telescopic sleeve, the rotation angle and the leveling angle.

[0079] Such as Figure 5 、 Figure 9As shown in the figure: The end of the multi-degree-of-freedom working arm 2 is provided with a detachable man-standing platform 2.10, and the detachable man-standing platform 2.10 is installed on the leveling swing device 2.6. The detachable man-standing platform 2.10 includes a protective chain 2.10.1, mounting side plates 2.10.2, protective tubes 2.10.3, pedals 2.10.4 and a flipping short ladder 2.10.5; the mounting side plates 2.10.2, protective tubes 2.10.3, pedals 2.10.4 and the protective chain 2.10.1 enclose a riding area, and the flipping short ladder 2.10.5 is connected to the pedal 2.10.4 for entering the riding area from below. The weight of each part of the detachable man-standing platform 2.10 is less than 15 kg, which is convenient for manual disassembly. The mounting side plates 2.10.2 are provided with a series of hanging holes and are hung on the side of the end of the multi-degree-of-freedom working arm 2 through bolts, and the mounting height is adjustable to adapt to the use of personnel of different heights. During the whole process of automatic support for bolt operation and when drilling and installing anchoring agents for cable bolt operation, there is no need to install a man-standing platform. When a tensioning tool is needed for tightening during cable bolt operation, it is temporarily installed and used, installed as needed, and stored in the man-standing platform storage box 1.17 of the wheeled chassis 1 after disassembly after use.

[0080] As Figure 10 shown: The airborne automatic drill 3 includes a frame 3.1, a top plate assembly 3.2, an anchoring agent installation system 3.3, a drill box 3.4, an anchor box 3.5, a drill-anchor box switching mechanism 3.6, a feed assembly 3.7, a lifting mechanism connection part 3.8 and a rod protection mechanism 3.9.

[0081] The top plate assembly 3.2 is arranged on the frame 3.1; the drill box 3.4 and the anchor box 3.5 are slidably assembled on the frame 3.1 through the drill-anchor box switching mechanism 3.6. The drill box 3.4 has a first working position and a first waiting position. In the first working position, the drill box 3.4 is aligned with the drill pipe located at the second position and is used for drilling. In the first waiting position, the drill box 3.4 is idle; the anchor box 3.5 has a second working position and a second waiting position. In the second working position, the anchor box 3.5 is used for bolt installation and tightening with the bolt located at the second position. In the second waiting position, the anchor box 3.5 and the bolt are idle. The feed assembly 3.7 is adapted to drive the drill box 3.4 in the first working position to move along the axial direction of the frame 3.1 to realize the feed of the drill box 3.4, and the feed assembly 3.7 is also adapted to drive the anchor box 3.5 in the second working position to move along the axial direction of the frame 3.1 to realize the feed of the anchor box 3.5. The lifting mechanism connection part 3.8 is connected to the lifting part of the lifting mechanism 2.6.6. The rod protection mechanism 3.9 is arranged on the upper part of the lifting mechanism connection part 3.8 to realize the limitation of the bolt in the second working position and the second waiting position, so that the head of the bolt can smoothly enter the centering bushing of the top plate assembly 3.2. The anchoring agent installation system 3.3 is arranged at the side end of the frame 3.1.

[0082] As Figure 11As shown in the figure: The anchoring agent installation system 3.3 includes a swing arm 3.3.1, a driving motor 3.3.2, a socket pipe 3.3.3, a cartridge storage hose 3.3.4, a rope driving mechanism 3.3.5, a rope driving motor 3.3.6, a wire rope displacement sensor 3.3.7, and a wire rope storage pipe 3.3.8.

[0083] The anchoring agent installation system 3.3 is divided into a centering mechanism and a rope driving mechanism from top to bottom. The centering mechanism uses the driving motor 3.3.2 to drive the swing arm 3.3.1 for centering and positioning. The upper part of the rope driving mechanism, the socket pipe 3.3.3 and the cartridge storage hose 3.3.4 are concentrically connected. Multiple cartridges can be accommodated in the middle of the cartridge storage hose 3.3.4. Under the action of the rope driving motor 3.3.6, the wire rope drives the cartridges in the cartridge storage hose 3.3.4 to enter the hole through the socket pipe 3.3.3. The wire rope displacement sensor 3.3.7 monitors the extension amount of the wire rope and feeds it back to the control system to judge the cartridge ejection amount.

[0084] As Figure 12 、 Figure 13 、 Figure 14 As shown in the figure: The rod protection mechanism 3.9 includes a sliding block 3.9.1. The sliding block 3.9.1 is installed on two sliding rods 3.9.2. The sliding rod 3.9.2 is a stepped shaft with a limiting end face at one end and is installed on the rotating shaft 3.9.3 at the other end and is limited by a locking nut 3.9.5. A telescopic spring 3.9.4 is installed on the sliding rod 3.9.2. The telescopic spring 3.9.4 is divided into a working state and a non-working state. In the non-working state, the distance Lx is the maximum value L1. In the working state, Lx < L1. The distance Lx is the distance from the limiting end face of the sliding rod 3.9.2 to the rotating shaft 3.9.3. The rotating shaft 3.9.3 is installed on the fixed ear seat 3.9.8 and is limited by a lock plate 3.9.9 at the end. A torsion spring 3.9.7 is installed on the rotating shaft 3.9.3. One end of the torsion spring 3.9.7 is fixed by a torsion spring limiting block 3.9.6 fixed on the rotating shaft 3.9.3, and the other end is restricted by a limiting screw 3.9.10 fixed on the fixed ear seat 3.9.8. The first state of the sliding rod 3.9.2 is the horizontal position, and the second state is the rotating position, that is, the sliding block 3.9.1 rotates a certain angle around the rotating shaft 3.9.3, that is, the axis of the sliding rod 3.9.2 has a certain angle with the horizontal plane, and this angle is α, 0 ≤ α ≤ 90°.

[0085] Generally, the rod protection mechanism is integrated into the automatic drill as an independent module and installed on one side of the drill to realize the limitation of the anchor rod 7 in the working position and the waiting position, so that the head of the anchor rod 7 can smoothly enter the drill hole; this mechanism can also protect and position the drill pipe 8 in the working position, so that the position of its head is accurately positioned.

[0086] The process flow is as follows: when the drill box 3.4 carries the drill rod 8 and reaches a certain height during the drilling process, the drill box 3.4 hits the sliding block 3.9.1 on the rod protection mechanism, pushing the sliding block 3.9.1 to rise until the drill rod 8 reaches the predetermined depth, and the drill box 3.4 stops rising. At this time, the angle between the sliding rod 3.9.2 and the horizontal plane is α=45°. Then, the rod is withdrawn, and the drill box 3.4 descends to the bottom of the drill frame. The sliding rod 3.9.2 rotates from α=45° to α=0.

[0087] like Figure 15 , Figure 16 , Figure 17 As shown: the drill box 3.4 is installed on the drill box connecting plate 3.7.1 of the feeding assembly 3.7, and the relative sliding between the drill box and the guide connecting plate 3.7.4 is achieved by switching the guide column 3.7.2. A positioning hole 3.7.3 is provided at the lower part of the drill box connecting plate 3.7.1, and the positioning hole 3.7.3 is used to align the drill box and the guide connecting plate 3.7.4. The guide connecting plate 3.7.4 is driven by the feeding assembly 3.7 to feed axially along the frame 3.1, so that the drill anchor box switching mechanism 3.6 can feed axially along the frame 3.1 as a whole.

[0088] The drilling and anchor box switching mechanism 3.6 includes a left fixed seat 3.6.1, a right fixed seat 3.6.2, an anti-rotation plate 3.6.3 and a switching cylinder 3.6.6. The left fixed seat 3.6.1 and the right fixed seat 3.6.2 are connected to both sides of the guide connecting plate 3.7.4. The anti-rotation plate 3.6.3 is overlapped on the left fixed seat 3.6.1 and the right fixed seat 3.6.2. The lower end of the anti-rotation plate 3.6.3 is installed with an anti-rotation wear strip 3.6.5; the two ends of the switching cylinder 3.6.6 are respectively installed on the left fixed seat On the seat 3.6.1 and the right fixed seat 3.6.2, the anti-rotation wear-resistant strip 3.6.5 is embedded in the groove of the cylinder barrel of the switching cylinder 3.6.6, so that the cylinder barrel of the switching cylinder 3.6.6 cannot rotate in the circumferential direction at all times; a drill box toggle block 3.6.7 is installed on the drill box 3.4, and an anchor box toggle block 3.6.4 is installed on the anchor box 3.5. The cylinder barrel of the switching cylinder 3.6.6 cooperates with the drill box toggle block 3.6.7 and the anchor box toggle block 3.6.4 to push the drill box 3.4 and the anchor box 3.5 to switch positions.

[0089] The left fixing seat 3.6.1 and the right fixing seat 3.6.2 are provided with a screw adjustment mechanism 3.6.8 and a proximity sensor 3.6.9. The screw adjustment mechanism 3.6.8 limits the travel range of the oil cylinder barrel 3.6.6, and the proximity sensor 3.6.9 detects the position signal and transmits the signal to the control system.

[0090] The switching guide column 3.7.2 is not in full circumferential contact with the guide connecting plate 3.7.4. The switching guide column 3.7.2 is provided with 4 section planes, so that a certain space is left between the switching guide column 3.7.4 and the guide hole of the guide connecting plate 3.7.1, which is convenient for the discharge of sludge and debris.

[0091] The airborne automatic drilling rig is fixed at the end of the multi-degree-of-freedom working arm to realize the full process automation of anchor bolting, that is, automatic drilling, automatic withdrawal of drill rods, automatic installation of anchoring agents, automatic installation of anchor bolts, and stirring and tightening of anchor bolts during anchor bolt construction.

[0092] The wheeled single-arm anchor cable drilling vehicle of the present invention has a reasonable overall structure, novel design, and diverse functions. It realizes the automated operation of anchor drilling construction in coal mine tunnels, reduces the labor intensity of workers, improves the safety of workers, improves the quality and efficiency of construction, and better guarantees the quality of the project.

[0093] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A single-arm wheeled bolt and cable drill rig for coal mines, characterized in that: It includes a wheeled chassis (1), a multi-degree-of-freedom working arm (2), and an on-board automatic drill rig (3); The wheeled chassis (1) bears the entire drill rig vehicle and is a four-rubber-wheel articulated structure body. The main structure is divided into a front frame and a rear frame; the front frame has a front vehicle stabilizer mechanism (1.4), and the rear frame has a rear vehicle stabilizer mechanism (1.16). The front and rear vehicle stabilizer mechanisms are retracted when the drill rig is moving and are deployed during anchor drilling operations to lift the tires off the ground; One end of the multi-degree-of-freedom working arm (2) is fixedly connected to the tail of the rear frame, and the other end is connected to the on-board automatic drill rig (3) and has multiple degrees of freedom of movement relative to the rear frame; the multiple degrees of freedom of movement constitute two-stage fine adjustment acting on the on-board automatic drill rig (3). The first stage realizes fine positioning through the lifting, left and right swinging, telescoping, and rotation of the working arm, and the second stage realizes fine positioning through the left and right swinging, front and rear folding, and vertical lifting of the leveling swing mechanism. The multiple degrees of freedom of movement cooperate to achieve a large range of adjustment of the on-board automatic drill rig (3), which can cover the needs of full-section roof anchor, side anchor, and floor anchor support; The multi-degree-of-freedom working arm (2) includes a working arm base (2.1), a lifting oil cylinder (2.2), a working arm outer sleeve (2.3), a working arm inner sleeve (2.4), a slewing reducer (2.5), a leveling swing device (2.6), and a telescoping oil cylinder (2.7); one end of the working arm outer sleeve (2.3) and two lifting oil cylinders (2.2) is connected to the working arm base (2.1) through a cross-axis assembly, and the other end of the two lifting oil cylinders (2.2) is hinged to the working arm outer sleeve (2.3). The lifting oil cylinders (2.2) form an angle with the working arm outer sleeve (2.3), and the two lifting oil cylinders (2.2) are linked to realize the up and down swinging and / or left and right swinging of the working arm outer sleeve (2.3); when the double lifting oil cylinders lift and lower simultaneously, the multi-degree-of-freedom working arm (2) swings up and down, and when the double lifting oil cylinders extend and retract, the multi-degree-of-freedom working arm (2) swings left and right; The described on-board automatic drill rig (3) includes a frame (3.1), a roof plate assembly (3.2), an anchoring agent installation system (3.3), a drill box (3.4), an anchor box (3.5), a drill-anchor box switching mechanism (3.6), a feed assembly (3.7), a lifting mechanism connection part (3.8), and a rod protection mechanism (3.9); The roof plate assembly (3.2) is arranged on the frame (3.1); The drill box (3.4) and the anchor box (3.5) are slidably assembled on the frame (3.1) through the drill-anchor box switching mechanism (3.6). The drill box (3.4) has a first working position and a first waiting position. In the first working position, the drill box (3.4) is aligned with the drill pipe located at the second position and is used for drilling. In the first waiting position, the drill box (3.4) is idle; the anchor box (3.5) has a second working position and a second waiting position. In the second working position, the anchor box (3.5) is used for the installation and fastening of the anchor rod with the anchor rod located at the second position. In the second waiting position, the anchor box (3.5) and the anchor rod are idle; The feeding assembly (3.7) is suitable for driving the drill box (3.4) at the first working position to move axially along the frame (3.1) to achieve feeding of the drill box (3.4); the feeding assembly (3.7) is also suitable for driving the anchor box (3.5) at the second working position to move axially along the frame (3.1) to achieve feeding of the anchor box (3.5); The lifting mechanism connecting part (3.8) is connected to the lifting part of the lifting mechanism (2.6.6); The rod protection mechanism (3.9) is arranged on the upper part of the lifting mechanism connection part (3.8) to limit the anchor rod in the second working position and the second waiting position, so that the head of the anchor rod can smoothly enter the centering bearing bush of the top plate assembly (3.2); The anchoring agent installation system (3.3) is arranged at the side end of the frame (3.1); The drilling box (3.4) is installed on the drilling box connecting plate ( On the frame (3.7.1), the guide column (3.7.2) is switched to realize relative sliding with the guide connecting plate (3.7.4), and the guide connecting plate (3.7.4) is driven by the feeding assembly (3.7) to feed axially along the frame (3.1); The drilling and anchor box switching mechanism (3.6) comprises a left fixed seat (3.6.1), a right fixed seat (3.6.2), an anti-rotation plate (3.6.3) and a switching cylinder (3.6.6). The left fixed seat (3.6.1) and the right fixed seat (3.6.2) are connected to both sides of the guide connecting plate (3.7.4). The anti-rotation plate (3.6.3) is overlapped on the left fixed seat (3.6.1) and the right fixed seat (3.6.2). The lower end of the anti-rotation plate (3.6.3) is installed with an anti-rotation wear strip (3.6.5). The two ends of the switching cylinder (3.6.6) are respectively installed on the left fixed seat (3.6.1) and the right fixed seat (3.6.2). On the right seat (3.6.1) and the right fixed seat (3.6.2), the anti-rotation wear strip (3.6.5) is embedded in the groove of the cylinder barrel of the switching oil cylinder (3.6.6), so that the cylinder barrel of the switching oil cylinder (3.6.6) cannot rotate in the circumferential direction at all times; a drilling box toggle block (3.6.7) is installed on the drilling box (3.4), and an anchor box toggle block (3.6.4) is installed on the anchor box (3.5). The cylinder barrel of the switching oil cylinder (3.6.6) is connected with the drilling box toggle block (3.6.7) and the anchor box toggle block (3.6.4) to push the drilling box (3.4) and the anchor box (3.5) to switch positions.

2. The single-arm wheeled bolt and cable drill rig for coal mines according to claim 1, characterized in that: The working arm base (2.1) is fixed to the rear frame by a plurality of bolts; The working arm inner sleeve (2.4) is inserted into the working arm outer sleeve (2.3), and the working arm inner sleeve (2.4) is driven by a built-in telescopic oil cylinder (2.7) to telescope along the working arm outer sleeve (2.3); The gyro reducer (2.5) is coaxially mounted on the end of the inner sleeve (2.4) of the working arm. The gyro reducer (2.5) can rotate 360 degrees to realize full-section drilling by the airborne automatic drilling rig (3). The leveling swing device (2.6) is connected to the gyro reducer (2.5).

3. A single-arm wheeled bolt and cable drill rig for coal mines according to claim 2, characterized in that: The leveling and swinging device (2.6) comprises a mounting plate (2.6.1), a swing seat (2.6.2), a pin shaft (2.6.3), a lifting mechanism (2.6.6), a leveling cylinder (2.6.7) and a swing cylinder (2.6.8); The mounting plate (2.6.1) is fixed to the slewing reducer (2.5) by screws, and the slewing reducer (2.5) drives the swing seat (2.6.2) to rotate 360°; the swing cylinder (2.6.8) is mounted on the mounting plate (2.6.1) by bolts, and the swing seat (2.6.2) is mounted above the swing cylinder (2.6.8) and can rotate within a certain angle around the axis of the swing cylinder; the bearing part of the lifting mechanism (2.6.6) is connected to the swing seat (2.6.2) by a pin shaft (2.6.3), the lifting part of the lifting mechanism (2.6.6) is connected to the on-board automatic drill (3), and one end of the leveling cylinder (2.6.7) is connected to the swing seat (2.6.2) and the other end is connected to the bearing part of the lifting mechanism.

4. The single-arm wheeled bolt and cable drill rig for coal mines according to claim 1, characterized in that: The described rod protection mechanism (3.9) includes a sliding block (3.9.1), the sliding block (3.9.1) is mounted on two sliding rods (3.9.2), the sliding rod (3.9.2) is a stepped shaft with a limiting end face at one end and is mounted on the rotating shaft (3.9.3) at the other end; a telescopic spring (3.9.4) is mounted on the sliding rod (3.9.2), the telescopic spring (3.9.4) has a working state and a non-working state. In the non-working state, the distance Lx is the maximum value L1, and in the working state, Lx < L1. The distance Lx is the distance from the limiting end face of the sliding rod (3.9.2) to the rotating shaft (3.9.3); the rotating shaft (3.9.3) is mounted on the fixed ear seat (3.9.8) and is limited at the end by a locking plate (3.9.9). A torsion spring (3.9.7) is mounted on the rotating shaft (3.9.3), one end of the torsion spring (3.9.7) is fixed by a torsion spring limiting block (3.9.6) fixed on the rotating shaft (3.9.3), and the other end is restricted by a limiting screw (3.9.10) fixed on the fixed ear seat (3.9.8); the first state of the sliding rod (3.9.2) is the horizontal position, and the second state is the rotating position, that is, the sliding block (3.9.1) rotates a certain angle around the rotating shaft (3.9.3), that is, the axis of the sliding rod (3.9.2) has a certain angle with the horizontal plane, and this angle is α, 0 ≤ α ≤ 90°.

5. A single-arm wheeled bolt and cable drill rig for coal mines according to claim 1, characterized in that: The described anchoring agent installation system (3.3) includes a swing arm (3.3.1), a drive motor (3.3.2), a socket tube (3.3.3), a cartridge storage hose (3.3.4), a rope driving mechanism (3.3.5), a rope driving motor (3.3.6), a wire rope displacement sensor (3.3.7), and a wire rope storage tube (3.3.8); The anchoring agent installation system (3.3) is divided into a centering mechanism and a rope driving mechanism from top to bottom. The centering mechanism uses a driving motor (3.3.2) to drive a swing arm (3.3.1) for centering and positioning. The upper jacking pipe (3.3.3) and the cartridge storage hose (3.3.4) of the rope driving mechanism are concentrically connected. Multiple cartridges can be accommodated in the middle of the cartridge storage hose (3.3.4). Under the action of the rope driving motor (3.3.6), the steel wire rope drives the cartridges in the cartridge storage hose (3.3.4) to enter the hole through the jacking pipe (3.3.3). The steel wire rope displacement sensor (3.3.7) monitors the extension amount of the steel wire rope and feeds it back to the control system to judge the cartridge ejection amount.

6. The single-arm wheeled bolt and cable drill rig for coal mines according to claim 1, wherein: A radiator (1.1), a fuel tank (1.2), an exhaust gas treatment box (1.3), a front stabilizer (1.4), a makeup water tank (1.5), a front drive axle (1.6), tires (1.7), an engine assembly (1.8), a torque converter (1.9), a cab (1.10), a gearbox (1.11), a hydraulic oil tank (1.12), a steering part hydraulic system, and a pneumatic system for controlling gear shifting are installed on the front frame. A drill-anchor water tank (1.13), a crew compartment (1.14), a hose reel (1.15), a rear stabilizer (1.16), a platform storage box for standing people (1.17), a rear drive axle (1.18), a bunker (1.19), a starting air tank (1.20), steering oil (1.21), and a multi-degree-of-freedom working arm (2) are installed on the rear frame.

7. A single-arm wheeled bolt and cable drill rig for coal mines according to claim 3, characterized in that: A detachable standing platform (2.10) is carried on the leveling swing device (2.6). The detachable standing platform (2.10) includes a protective chain (2.10.1), mounting side plates (2.10.2), protective pipes (2.10.3), pedals (2.10.4), and a folding short ladder (2.10.5). The mounting side plates (2.10.2), protective pipes (2.10.3), pedals (2.10.4), and protective chain (2.10.1) enclose a riding area. The folding short ladder (2.10.5) is connected to the pedal (2.10.4) for entering the riding area from below.

8. A single-arm wheeled bolt and cable drill rig for coal mines according to claim 3, characterized in that: The outer sleeve (2.3) of the working arm is fixedly connected to the horizontal shaft of the cross shaft assembly. The horizontal shaft is connected to a first encoder (2.8). The first encoder (2.8) rotates synchronously with the horizontal shaft and is used to monitor the lifting angle of the outer sleeve (2.3) of the working arm. The pin shaft (2.6.3) is fixedly connected to the bearing part of the lifting mechanism (2.6.6) through a spring pin (2.6.4). The pin shaft (2.6.3) is connected to a second encoder (2.9). The second encoder (2.9) rotates synchronously with the pin shaft (2.6.3) and is used to monitor the swing angle of the lifting mechanism (2.6.6).

Images