Multi-link vertical lifting workbench and anchor protection device of anchor and excavation integrated machine

Abstract

The application provides a multi-connecting-rod vertical lifting workbench and anchor protection device of a combined excavating and anchoring machine, and belongs to the technical field of coal mine roadway rapid excavation equipment, and comprises a lower support frame, an upper support frame, a connecting frame I, a connecting frame II, a connecting frame III, a connecting frame IV, a connecting frame V, a connecting frame VI, a support oil cylinder, a pin shaft I, a pin shaft II, a pin shaft III, a pin shaft IV, a pin shaft Va, a pin shaft Vb, a pin shaft VIa, a pin shaft VIb, a pin shaft VIIa and a pin shaft VIIb. Under the premise of meeting the passability of the combined excavating and anchoring machine, a large-stroke lifting mechanism is designed, real-time and vertical lifting of the workbench is realized, the defect that the operation height cannot be adjusted in the traditional design is solved, and the operation comfort is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of rapid tunneling equipment for coal mine roadways, and specifically discloses a multi-link vertical lifting worktable and an integrated tunneling and anchoring machine anchoring device. Background Technology

[0002] The integrated tunneling and anchoring machine is an installation platform for anchoring equipment. The workbench is equipped with a top anchor drilling machine and a front side drilling machine for supporting the top plate and front side. The workbench is not only the carrier of the anchoring equipment, but also the operator's work area.

[0003] Based on the mining height range of the roadway, tunneling and anchoring machines are currently classified into low-profile, standard, and high-mining-height models. Traditionally, the design takes the roadway height as a prerequisite, considering equipment maneuverability, and the workbench height is a fixed dimension. This traditional design results in different models having only one workbench; when the mining height changes, the workbench must be replaced to adapt to the new height. Furthermore, when the mining height changes during the excavation of the same roadway, the fixed-height workbench cannot adapt to the changing height in a timely manner, easily causing difficulties for the operator. Summary of the Invention

[0004] This invention provides a highly adaptable multi-link vertical lifting work platform and an integrated tunneling and anchoring machine anchoring device, which can adapt to the work platform height requirements of roadways with different mining heights, and can adjust the work platform working height in real time according to the roadway height. Within the working range, the work platform can not only maintain real-time vertical lifting, but also meet the support deviation requirements through optimized design.

[0005] The aforementioned multi-link vertical lifting worktable includes a lower support frame, an upper support frame, connecting frame I, connecting frame II, connecting frame III, connecting frame IV, connecting frame V, connecting frame VI, a support cylinder, and pins I, II, III, IV, VA, VAb, VIa, VIb, VIIa, and VIIb. Connecting frame I includes two opposing connecting rods I, the bottom ends of which are rotatably connected to both sides of the lower support frame via pins I. Connecting frame II includes two opposing connecting rods II, the bottom ends of which are rotatably connected to both sides of the lower support frame via pins II. Connecting frame III includes two opposing connecting rods III, the top ends of which are rotatably connected to both sides of the upper support frame via pins III. Connecting frame IV... The system includes two opposing connecting rods IV and a reinforcing rod IV connecting the two connecting rods IV. The top ends of the two connecting rods IV and both sides of the upper support frame are rotatably connected by pins IV. The connecting frame V includes two opposing connecting rods V. The top ends of connecting rod V, the top ends of connecting rod I, and the bottom ends of connecting rod III are rotatably connected by pins VAa. The bottom ends of connecting rod V and the middle part of connecting rod II are rotatably connected by pins VAb. The connecting frame VI includes two opposing connecting rods VI. The bottom ends of connecting rod VI, the top ends of connecting rod II, and the bottom ends of connecting rod IV are rotatably connected by pins VIa. The top ends of connecting rod VI and the middle part of connecting rod III are rotatably connected by pins VIb. The bottom end of the support cylinder and the lower support frame are rotatably connected by pins VIIa. The top end of the support cylinder and the reinforcing rod IV are rotatably connected by pins VIIb.

[0006] In the aforementioned multi-link vertical lifting worktable, connecting frame I further includes a reinforcing rod I connecting two connecting rods I; connecting frame II further includes a reinforcing rod II connecting two connecting rods II; connecting frame III further includes a reinforcing rod III connecting two connecting rods III; connecting frame V further includes a reinforcing rod V connecting two connecting rods V; and connecting frame VI further includes a reinforcing rod VI connecting two connecting rods VI.

[0007] In the aforementioned multi-link vertical lifting worktable, the support cylinder has a built-in displacement sensor that can display the worktable's working height in real time.

[0008] In the aforementioned multi-link vertical lifting worktable, the distances between pins I and II, and between pins III and IV, are all equal, denoted as X; the distances between pins I and VA, VA and III, II and VIa, and VIa and IV are all equal, denoted as Y; the distances between pins II and VAb, and III and VIb are all equal, denoted as Z; the distances between pins VA and VAb, and between pins VIa and IV are all equal, denoted as Z; The distances between pins VIb are all equal, denoted as T; the vertical heights between pins II and VA, and between pins III and VIa are all equal, denoted as H1; the vertical heights between pins I and VIa, and between pins IV and VA are all equal, denoted as H2; the vertical heights between pins I and the lower support frame, and between pins II and the lower support frame are all equal, denoted as H3; the vertical heights between pins III and the upper support frame, and between pins IV and the upper support frame are all equal, denoted as H3. All heights are equal, denoted as H4; the distances between pins II and VA, and between pins III and VI, are equal, denoted as d1; the triangle formed by pins II, I, and VA is congruent to the triangle formed by pins III, IV, and VI, with the angle corresponding to pin I being equal to the angle corresponding to pin IV, denoted as α, and the angle corresponding to pin II being equal to the angle corresponding to pin III, denoted as ∠1; the triangle formed by pins VA, II, and VI is congruent to the triangle formed by pins VA, III, and VI. The triangle formed by pins I, II, and VIA is congruent with the triangle formed by pins IV, III, and VA. The angle corresponding to pin II is equal to the angle corresponding to pin III, and is denoted as ∠2. The triangle formed by pins I, II, and VIA and the triangle formed by pins IV, III, and VA are congruent with the angle corresponding to pin II and the angle corresponding to pin III, and is denoted as ∠3. When the multi-link vertical lifting worktable is in any state, the vertical height between the lower support frame and the upper support frame is H, and the horizontal misalignment of the edges on the same side of the lower support frame and the upper support frame is ΔX.

[0009] H and ΔX are controlled by X, Y, Z, T, H3, H4, and α according to the following formula;

[0010] H = H1 + H2 + H3 + H4

[0011] △X=Y×(cos∠3-cosα),

[0012] In the formula, H1 = Y × sinα,

[0013] H2 = Y × sin∠3,

[0014] ∠3=∠1-∠2,

[0015]

[0016] d1 = X 2+Y 2 -2×X×Y×cosα.

[0017] The aforementioned integrated tunneling and anchoring machine anchoring device includes a telescopic platform, a top anchor assembly, a front side panel assembly, and the aforementioned multi-link vertical lifting work platform; the telescopic platform is connected to the upper support frame and extends and retracts along the front-rear direction of the multi-link vertical lifting work platform; the top anchor assembly includes an inner top anchor drill and an outer top anchor drill; both the inner and outer top anchor drills are installed at the front end of the telescopic platform; the front side panel assembly includes a front side panel drill; the front side panel drill is installed at the front end of the upper support frame, located below the inner and outer top anchor drills.

[0018] In the aforementioned integrated tunneling and anchoring machine anchoring device, the top anchor assembly further includes a fixed sleeve, an inner sliding frame, an outer sliding frame, a sliding cylinder, an inner deflection frame, an outer deflection frame, an inner deflection cylinder I, an inner deflection cylinder II, an outer rotary reducer, and an outer deflection cylinder; the fixed sleeve is fixedly installed on the telescopic platform; the inner and outer sliding frames are slidably connected to the fixed sleeve and driven by the sliding cylinder to slide in the left and right directions along the multi-link vertical lifting platform; the inner deflection frame is rotatably installed on the inner sliding frame; the two ends of the inner deflection cylinder I are respectively connected to the inner sliding frame and the inner deflection frame, driving the inner deflection frame to slide in the left and right directions along the multi-link vertical lifting platform. The worktable deflects left and right; the inner top anchor drilling machine is rotatably mounted on the inner deflection frame; the two ends of the inner deflection cylinder II are respectively connected to the inner deflection frame and the inner top anchor drilling machine, driving the inner top anchor drilling machine to deflect in the front and back direction of the multi-link vertical lifting worktable; the outer deflection frame is rotatably connected to the outer sliding frame through the outer rotary reducer, and is driven by the outer rotary reducer to deflect in the left and right direction of the multi-link vertical lifting worktable; the outer top anchor drilling machine is rotatably mounted on the outer deflection frame; the two ends of the outer deflection cylinder are respectively connected to the outer deflection frame and the outer top anchor drilling machine, driving the outer top anchor drilling machine to deflect in the front and back direction of the multi-link vertical lifting worktable.

[0019] In the aforementioned integrated tunneling and anchoring machine anchoring device, the top anchor assembly also includes an inner top anchor drilling machine operating platform and an outer top anchor drilling machine operating platform; both the inner and outer top anchor drilling machine operating platforms are installed on a telescopic platform.

[0020] In the aforementioned integrated tunneling and anchoring machine anchoring device, the front side panel assembly also includes a front side panel drilling rig mounting frame and a front side panel drilling rig deflection cylinder; the front side panel drilling rig mounting frame is fixedly installed at the front end of the upper support frame; the front side panel drilling rig is rotatably installed on the front side panel drilling rig mounting frame; the two ends of the front side panel drilling rig deflection cylinder are respectively connected to the front side panel drilling rig mounting frame and the front side panel drilling rig, driving the front side panel drilling rig to deflect in the left and right directions along the multi-link vertical lifting worktable.

[0021] The aforementioned integrated tunneling and anchoring machine anchoring device also includes a water exploration component; the water exploration component includes a water exploration drill rig mounting base, a swing mechanism, a slewing mechanism, and a water exploration drill rig; the water exploration drill rig mounting base is rotatably mounted on the telescopic platform and is driven by the swing mechanism to swing in the up-down direction of the multi-link vertical lifting worktable; the water exploration drill rig is rotatably mounted on the water exploration drill rig mounting base and is driven by the slewing mechanism to swing in the left-right direction of the multi-link vertical lifting worktable.

[0022] The aforementioned integrated excavator and anchoring machine also includes a climbing ladder; the climbing ladder is installed on the telescopic platform.

[0023] Compared with the prior art, the present invention has the following beneficial effects.

[0024] (1) Under the premise of ensuring the passability of the entire machine of the tunneling and anchoring machine, a large-stroke lifting mechanism was designed to realize the real-time vertical lifting of the work platform, which solved the defect of the traditional design that could not adjust the working height and improved the working comfort.

[0025] (2) Given the parameters H and H+ΔH, by modifying the parameters X, Y, Z and T, the horizontal misalignment ΔX can be designed to be optimal, allowing designers to quickly obtain the optimal link parameters and shorten the design cycle.

[0026] (3) The built-in displacement sensor of the support cylinder can display the working height of the workbench in real time, so that the operator can adjust the platform height in a timely manner. Attached Figure Description

[0027] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 A schematic diagram of the structure of a multi-link vertical lifting worktable;

[0029] Figure 2 This is an assembly diagram of the lower support frame, connecting frame I, connecting frame II, and connecting frame V;

[0030] Figure 3 This is an assembly drawing of the lower support frame, connecting frame I, connecting frame II, connecting frame III, connecting frame IV, connecting frame V, connecting frame VI, and supporting hydraulic cylinder;

[0031] Figure 4 A comparison diagram of the highest and lowest states of a multi-link vertical lifting worktable;

[0032] Figure 5A schematic diagram for calculating the horizontal misalignment of a multi-link vertical lifting worktable;

[0033] Figure 6 for Figure 5 A simplified diagram;

[0034] Figure 7 A schematic diagram of the anchor protection device for an integrated tunneling and anchoring machine;

[0035] Figure 8 This is a schematic diagram of the top anchor assembly.

[0036] Figure 9 for Figure 8 A schematic diagram from another direction;

[0037] Figure 10 This is a schematic diagram of the rotation of the outer top anchor drilling rig in the top anchor assembly;

[0038] Figure 11 This is a structural diagram of the front side panel assembly;

[0039] Figure 12 This is a schematic diagram of the water exploration component.

[0040] In the diagram: 1-Lower support frame; 2-Upper support frame; 3-Connecting frame I; 4-Connecting frame II; 5-Connecting frame III; 6-Connecting frame IV; 7-Connecting frame V; 8-Connecting frame VI; 9-Support cylinder; 10-Pin I; 11-Pin II; 12-Pin III; 13-Pin IV; 14-Pin VA; 15-Pin VAb; 16-Pin VIa; 17-Pin VIb; 18-Pin VIIa; 19-Pin VIIb; 20-Telescopic platform; 21-Ladder; 22-Fixed sleeve; 23-Inner sliding frame; 24-Outer sliding frame; 25-Sliding cylinder; 26-Inner deflection frame; 27-Outer deflection frame; 28-Inner deflection cylinder I; 29-Inner deflection cylinder II; 30-Outer rotary reducer; 31-Outer deflection cylinder; 32-Inner top anchor drilling rig; 33-Outer top anchor drilling rig; 34-Inner top anchor drilling rig control panel; 35-Outer top anchor drilling rig control panel; 36-Front side drilling rig mounting frame; 37-Front side drilling rig deflection cylinder; 38-Front side drilling rig; 39-Water exploration drilling rig mounting base; 40-Swing mechanism; 41-Rotation mechanism; 42-Water exploration drilling rig. Detailed Implementation

[0041] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Example 1

[0043] This embodiment provides a multi-link vertical lifting worktable, including a lower support frame 1, an upper support frame 2, a connecting frame I 3, a connecting frame II 4, a connecting frame III 5, a connecting frame IV 6, a connecting frame V 7, a connecting frame VI 8, a support cylinder 9, a pin I 10, a pin II 11, a pin III 12, a pin IV 13, a pin VA 14, a pin VA 15, a pin VI 16, a pin VI 17, a pin VII 18, and a pin VII 19.

[0044] The connecting frame I3 includes two opposing connecting rods I and a reinforcing rod I connecting the two connecting rods I. The bottom ends of the two connecting rods I and the two sides of the lower support frame 1 are rotatably connected by pins I10.

[0045] The connecting frame II4 includes two opposing connecting rods II and a reinforcing rod II connecting the two connecting rods II. The bottom ends of the two connecting rods II and the two sides of the lower support frame 1 are rotatably connected by pins II11.

[0046] The connecting frame Ⅲ5 includes two opposing connecting rods Ⅲ and a reinforcing rod Ⅲ connecting the two connecting rods Ⅲ. The top ends of the two connecting rods Ⅲ and the two sides of the upper support frame 2 are rotatably connected by pins Ⅲ12.

[0047] The connecting frame Ⅳ6 includes two opposing connecting rods Ⅳ and a reinforcing rod Ⅳ connecting the two connecting rods Ⅳ. The top ends of the two connecting rods Ⅳ and the two sides of the upper support frame 2 are rotatably connected by pins Ⅳ13.

[0048] The connecting frame V7 includes two opposing connecting rods V and a reinforcing rod V connecting the two connecting rods V. The top end of connecting rod V, the top end of connecting rod I, and the bottom end of connecting rod III are rotatably connected by pin VA14, and the bottom end of connecting rod V and the middle part of connecting rod II are rotatably connected by pin VB15.

[0049] The connecting frame VI8 includes two opposing connecting rods VI and a reinforcing rod VI connecting the two connecting rods VI. The bottom end of connecting rod VI, the top end of connecting rod II, and the bottom end of connecting rod IV are rotatably connected by pin VIa16. The top end of connecting rod VI and the middle part of connecting rod III are rotatably connected by pin VIb17.

[0050] The bottom end of the support cylinder 9 and the lower support frame 1 are rotatably connected by pin Ⅶa18, and the top end of the support cylinder 9 and the reinforcing rod IV are rotatably connected by pin Ⅶb19. The support cylinder 9 has a built-in displacement sensor that can display the working height of the worktable in real time.

[0051] The lower support frame 1, upper support frame 2, and connecting frame are connected by pins to form a rigid structural component. There are three sets of spatial multi-link connections. The connecting pins are optimized, and the linkage system forms three sets of spatial parallelograms, resulting in a strong structural load-bearing capacity. The support cylinder 9, driven by the pump station of the integrated excavator and anchor machine, extends its piston rod, pushing the connecting frame IV6 upwards, simultaneously driving the entire upper support frame 2 upwards, and vice versa. This allows for a large lifting capacity within a limited height range.

[0052] During the movement, the upper support frame 2 and the lower support frame 1 maintain a strict horizontal relationship in real time. The vertical height between the lower support frame 1 and the upper support frame 2 is H, and the horizontal misalignment of the same side edges of the lower support frame 1 and the upper support frame 2 is ΔX. Through optimized design, it can be ensured that ΔX is within a controllable range when the multi-link vertical lifting worktable is at height H. The optimization process is as follows:

[0053] The distance between pin I10 and pin II11, and the distance between pin III12 and pin IV13 are all equal, denoted as X;

[0054] The distances between pin I10 and pin VA14, pin VA14 and pin III12, pin II11 and pin VI16, and pin VI16 and pin IV13 are all equal, and are denoted as Y;

[0055] The distances between pins II11 and Vb15, and between pins III12 and VIb17 are all equal, and are denoted as Z;

[0056] The distances between pins Ⅴa14 and Ⅴb15, and between pins Ⅵa16 and Ⅵb17 are all equal, denoted as T;

[0057] The vertical height between pin II11 and pin VA14, and the vertical height between pin III12 and pin VI16 are all equal, and are denoted as H1;

[0058] The vertical height between pin I10 and pin VIa16, and the vertical height between pin IV13 and pin VA14 are all equal, and are denoted as H2;

[0059] The vertical height between pin I10 and the lower support frame 1, and the vertical height between pin II11 and the lower support frame 1 are all equal, and are set as H3;

[0060] The vertical height between pin III12 and upper support frame 2, and the vertical height between pin IV13 and upper support frame 2 are all equal, and are set as H4;

[0061] The distance between pin II11 and pin VA14, and the distance between pin III12 and pin VI16 are all equal, and are denoted as d1;

[0062] The triangle formed by pins II11, I10, and VA14 is congruent to the triangle formed by pins III12, IV13, and VI16. The angle corresponding to pin I10 is equal to the angle corresponding to pin IV13, denoted as α. The angle corresponding to pin II11 is equal to the angle corresponding to pin III12, denoted as ∠1.

[0063] The triangle formed by pins Ⅴa14, Ⅱ11, and Ⅵa16 is congruent to the triangle formed by pins Ⅴa14, Ⅲ12, and VIa16. The angle corresponding to pin Ⅱ11 is equal to the angle corresponding to pin Ⅲ12, and is denoted as ∠2.

[0064] The triangle formed by pin I10, pin II11, and pin VIa16 is congruent to the triangle formed by pin IV13, pin III12, and pin VA14. The angle corresponding to pin II11 is equal to the angle corresponding to pin III12, and is denoted as ∠3.

[0065] H and ΔX are controlled by X, Y, Z, T, H3, H4, and α according to the following formula;

[0066] H = H1 + H2 + H3 + H4

[0067] △X=Y×(cos∠3-cosα), where H1=Y×sinα,

[0068] H2 = Y × sin∠3,

[0069] ∠3=∠1-∠2,

[0070]

[0071] d1 = X 2 +Y 2 -2×X×Y×cosα.

[0072] In the design process of a multi-link vertical lifting worktable, X, Y, Z, T, H3, and H4 are the design variables. By adjusting X, Y, Z, T, H3, and H4, H is made to meet the design requirements, while ΔX is optimized to minimize its value. Using the above formula, α is changed to simulate the lifting process of the multi-link vertical lifting worktable. This allows for the rapid calculation of the performance of various combinations of X, Y, Z, T, H3, and H4 under different H values. Compared with modifying the 3D model, this method speeds up the calculation and improves the design efficiency.

[0073] The smaller the value of ΔX, the smaller the horizontal offset of the upper support frame 2 when the multi-link vertical lifting worktable changes from the previous height to the next height. Taking the multi-link vertical lifting worktable from the lowest state of 1080mm to the highest state of 2080mm as an example, the horizontal offset is only 0.5mm in the highest state.

[0074] Example 2

[0075] This embodiment provides an anchoring device for an integrated tunneling and anchoring machine, including a telescopic platform 20, a top anchor assembly, a front side panel assembly, a water exploration assembly, a ladder 21, and the aforementioned multi-link vertical lifting worktable.

[0076] The telescopic platform 20 is connected to the upper support frame 2 and extends and retracts along the front and rear directions of the multi-link vertical lifting work platform to achieve "zero top-to-bottom distance" anchoring operation.

[0077] Ladder 21 is installed on telescopic platform 20.

[0078] The top anchor assembly includes a fixed sleeve 22, an inner sliding frame 23, an outer sliding frame 24, a sliding cylinder 25, an inner deflection frame 26, an outer deflection frame 27, an inner deflection cylinder I 28, an inner deflection cylinder II 29, an outer rotary reducer 30, an outer deflection cylinder 31, an inner top anchor drilling machine 32, an outer top anchor drilling machine 33, an inner top anchor drilling machine operating platform 34, and an outer top anchor drilling machine operating platform 35. The fixed sleeve 22 is fixedly installed on the front end of the upper surface of the telescopic platform 20; the inner sliding frame 23 and the outer sliding frame 24 are slidably connected to the fixed sleeve 22 respectively, and are driven by the sliding cylinder 25 to slide in the left and right directions of the multi-link vertical lifting worktable; the inner deflection frame 26 is rotatably installed on the inner sliding frame 23; the two ends of the inner deflection cylinder I 28 are respectively connected to the inner sliding frame 23 and the inner deflection frame 26, driving the inner deflection frame 26 to deflect in the left and right directions of the multi-link vertical lifting worktable; the inner top anchor drill 32 is rotatably installed on the inner deflection frame 26; the two ends of the inner deflection cylinder II 29 are respectively connected to the inner deflection frame 26 and the inner top anchor drill 32. The outer deflector frame 27 is rotatably connected to the outer sliding frame 24 via the outer rotary reducer 30, and is driven by the outer rotary reducer 30 to deflect in the left and right directions of the multi-link vertical lifting platform. The outer top anchor drill 33 is rotatably mounted on the outer deflector frame 27. The two ends of the outer deflector cylinder 31 are respectively connected to the outer deflector frame 27 and the outer top anchor drill 33, driving the outer top anchor drill 33 to deflect in the front and back directions of the multi-link vertical lifting platform. The inner top anchor drill operating platform 34 and the outer top anchor drill operating platform 35 are both mounted on the telescopic platform 20. After the outer top anchor drill 33 rotates, it can be used for sidewall anchor bolt support. After timely support of the roadway sidewalls, the stability of the sidewall coal wall is greatly improved.

[0079] The front side support assembly includes a front side support drilling rig mounting frame 36, a front side support drilling rig deflection cylinder 37, and a front side support drilling rig 38. The front side support drilling rig mounting frame 36 is fixedly installed at the front end of the upper support frame 2. The front side support drilling rig 38 is rotatably installed on the front side support drilling rig mounting frame 36, located below the inner top anchor drilling rig 32 and the outer top anchor drilling rig 33. The two ends of the front side support drilling rig deflection cylinder 37 are respectively connected to the front side support drilling rig mounting frame 36 and the front side support drilling rig 38, driving the front side support drilling rig 38 to deflect in the left and right directions along the multi-link vertical lifting worktable, realizing small-angle swing, which facilitates the same-space support of the side support.

[0080] The water exploration assembly includes a water exploration drill mount 39, a swing mechanism 40, a rotation mechanism 41, and a water exploration drill 42. The water exploration drill mount 39 is rotatably mounted on the telescopic platform 20 and is driven by the swing mechanism 40 to swing along the up-down direction of the multi-link vertical lifting worktable, thereby adjusting the up-down angle of the drilling. The water exploration drill 42 is rotatably mounted on the water exploration drill mount 39 and is driven by the rotation mechanism 41 to swing along the left-right direction of the multi-link vertical lifting worktable, thereby adjusting the left-right direction of the drilling. The water exploration assembly not only enables water exploration operations in the front coal wall but also meets the water exploration needs of the side coal wall, eliminating the need to purchase specialized equipment and saving procurement costs.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-link vertical lifting worktable, characterized in that, It includes a lower support frame (1), an upper support frame (2), a connecting frame I (3), a connecting frame II (4), a connecting frame III (5), a connecting frame IV (6), a connecting frame V (7), a connecting frame VI (8), a support cylinder (9), a pin I (10), a pin II (11), a pin III (12), a pin IV (13), a pin VA (14), a pin VAb (15), a pin VIa (16), a pin VIb (17), a pin VIIa (18), and a pin VIIb (19); The connecting frame I (3) includes two connecting rods I arranged opposite to each other. The bottom ends of the two connecting rods I and the two sides of the lower support frame (1) are rotatably connected by pin I (10). The connecting frame II (4) includes two connecting rods II arranged opposite to each other. The bottom ends of the two connecting rods II and the two sides of the lower support frame (1) are rotatably connected by pins II (11). The connecting frame Ⅲ (5) includes two connecting rods Ⅲ arranged opposite to each other, and the top ends of the two connecting rods Ⅲ and the two sides of the upper support frame (2) are rotatably connected by pins Ⅲ (12); The connecting frame Ⅳ (6) includes two connecting rods Ⅳ arranged opposite each other and a reinforcing rod Ⅳ connecting the two connecting rods Ⅳ. The top ends of the two connecting rods Ⅳ and the two sides of the upper support frame (2) are rotatably connected by pins Ⅳ (13). The connecting frame V (7) includes two connecting rods V arranged opposite to each other. The top end of connecting rod V, the top end of connecting rod I, and the bottom end of connecting rod III are rotatably connected by pin VA (14). The bottom end of connecting rod V and the middle part of connecting rod II are rotatably connected by pin VB (15). The connecting frame VI (8) includes two connecting rods VI arranged opposite to each other. The bottom end of connecting rod VI, the top end of connecting rod II, and the bottom end of connecting rod IV are rotatably connected by pin VIa (16). The top end of connecting rod VI and the middle part of connecting rod III are rotatably connected by pin VIb (17). The bottom end of the support cylinder (9) and the lower support frame (1) are rotatably connected by pin VIIa (18), and the top end of the support cylinder and the reinforcing rod IV are rotatably connected by pin VIIb (19).

2. The multi-link vertical lifting worktable according to claim 1, characterized in that, The connecting frame I (3) also includes a reinforcing rod I that connects the two connecting rods I; The connecting frame II (4) also includes a reinforcing rod II that connects the two connecting rods II; The connecting frame Ⅲ (5) also includes a reinforcing rod Ⅲ that connects the two connecting rods Ⅲ; The connecting frame V (7) also includes a reinforcing rod V that connects the two connecting rods V; The connecting frame VI (8) also includes a reinforcing rod VI that connects the two connecting rods VI.

3. The multi-link vertical lifting worktable according to claim 1, characterized in that, The support cylinder (9) has a built-in displacement sensor.

4. The multi-link vertical lifting worktable according to claim 1, characterized in that, The distance between pin I (10) and pin II (11), and the distance between pin III (12) and pin IV (13) are all equal, denoted as X; The distances between pin I (10) and pin VA (14), pin VA (14) and pin III (12), pin II (11) and pin VIA (16), and pin VIA (16) and pin IV (13) are all equal, and are denoted as Y; The distance between pin II (11) and pin VB (15), and the distance between pin III (12) and pin VI (17) are all equal, and are denoted as Z; The distance between pins Ⅴa(14) and Ⅴb(15) and the distance between pins Ⅵa(16) and Ⅵb(17) are all equal, and are denoted as T; The vertical height between pin II (11) and pin VA (14) and the vertical height between pin III (12) and pin VI (16) are all equal, and are set as H1; The vertical height between pin I (10) and pin V a (16) and the vertical height between pin IV (13) and pin V a (14) are all equal, and are set as H2; The vertical height between pin I (10) and the lower support frame (1) and the vertical height between pin II (11) and the lower support frame (1) are equal, and are set as H3; The vertical height between pin III (12) and the upper support frame (2) and the vertical height between pin IV (13) and the upper support frame (2) are equal, and are set as H4; The distance between pin II (11) and pin VA (14), and the distance between pin III (12) and pin VI (16) are all equal, and are set as d1; The triangle formed by pins II (11), I (10), and VA (14) is congruent to the triangle formed by pins III (12), IV (13), and VIA (16). The angle corresponding to pin I (10) is equal to the angle corresponding to pin IV (13), and is set as α. The angle corresponding to pin II (11) is equal to the angle corresponding to pin III (12), and is set as ∠1. The triangle formed by pins Ⅴa(14), Ⅱ(11), and Ⅵa(16) is congruent to the triangle formed by pins Ⅴa(14), Ⅲ(12), and Ⅵa(16). The angle corresponding to pin Ⅱ(11) is equal to the angle corresponding to pin Ⅲ(12), and is set as ∠2. The triangle formed by pin I (10), pin II (11), and pin VIA (16) is congruent to the triangle formed by pin IV (13), pin III (12), and pin VA (14). The angle corresponding to pin II (11) is equal to the angle corresponding to pin III (12), and is set as ∠3. When the multi-link vertical lifting worktable is in any state, the vertical height between the lower support frame (1) and the upper support frame (2) is H, and the horizontal misalignment of the same side edge of the lower support frame (1) and the upper support frame (2) is ΔX. H and ΔX are controlled by X, Y, Z, T, H3, H4, and α according to the following formula; H = H1 + H2 + H3 + H4 △X=Y×(cos∠3-cosα), In the formula, H1 = Y × sinα, H2 = Y × sin∠3, ∠3＝∠1-∠2， d1=X 2 +Y 2 -2×X×Y×cosα。 5. An anchoring device for an integrated tunneling and anchoring machine, characterized in that, Includes a telescopic platform (20), a top anchor assembly, a front side panel assembly, and a multi-link vertical lifting worktable as described in any one of claims 1-4; The telescopic platform (20) is connected to the upper support frame (2) and extends and retracts along the front and rear directions of the multi-link vertical lifting worktable; The top anchor assembly includes an inner top anchor drill (32) and an outer top anchor drill (33); The inner top anchor drilling machine (32) and the outer top anchor drilling machine (33) are both installed at the front end of the telescopic platform (20); the front side panel assembly includes the front side panel drilling machine (38); The front side drilling rig (38) is installed at the front end of the upper support frame (2) and is located below the inner top anchor drilling rig (32) and the outer top anchor drilling rig (33).

6. The anchoring device for an integrated tunneling and anchoring machine according to claim 5, characterized in that, The top anchor assembly also includes a fixed sleeve (22), an inner sliding frame (23), an outer sliding frame (24), a sliding cylinder (25), an inner deflection frame (26), an outer deflection frame (27), an inner deflection cylinder I (28), an inner deflection cylinder II (29), an outer rotary reducer (30), and an outer deflection cylinder (31); The fixed sleeve (22) is fixedly installed on the telescopic platform (20); The inner sliding frame (23) and the outer sliding frame (24) are slidably connected to the fixed sleeve (22) respectively, and are driven by the sliding cylinder (25) to slide in the left and right directions of the multi-link vertical lifting worktable; The inner deflection frame (26) is rotatably mounted on the inner sliding frame (23); The two ends of the inner deflection cylinder I (28) are connected to the inner sliding frame (23) and the inner deflection frame (26) respectively, driving the inner deflection frame (26) to deflect in the left and right directions of the multi-link vertical lifting worktable; The inner top anchor drilling machine (32) is rotatably mounted on the inner deflection frame (26); The two ends of the inner deflection cylinder II (29) are connected to the inner deflection frame (26) and the inner top anchor drill (32) respectively, driving the inner top anchor drill (32) to deflect in the front and rear direction of the multi-link vertical lifting worktable; The outer deflection frame (27) is rotatably connected to the outer sliding frame (24) through the outer rotary reducer (30), and is driven by the outer rotary reducer (30) to deflect in the left and right directions of the multi-link vertical lifting worktable. The outer top anchor drilling machine (33) is rotatably mounted on the outer deflection frame (27); The two ends of the outer deflection cylinder (31) are connected to the outer deflection frame (27) and the outer top anchor drill (33) respectively, driving the outer top anchor drill (33) to deflect in the front and rear direction of the multi-link vertical lifting worktable.

7. The anchoring device for an integrated tunneling and anchoring machine according to claim 6, characterized in that, The top anchor assembly also includes an inner top anchor drilling machine operating platform (34) and an outer top anchor drilling machine operating platform (35); The inner top anchor drilling machine operating platform (34) and the outer top anchor drilling machine operating platform (35) are both installed on the telescopic platform (20).

8. The anchoring device for an integrated tunneling and anchoring machine according to claim 5, characterized in that, The front side assembly also includes a front side drill mounting bracket (36) and a front side drill deflection cylinder (37); The front side drilling rig mounting bracket (36) is fixedly installed at the front end of the upper support frame (2); The front side drilling rig (38) is rotatably mounted on the front side drilling rig mounting frame (36); The two ends of the front side drilling rig deflection cylinder (37) are connected to the front side drilling rig mounting frame (36) and the front side drilling rig (38) respectively, driving the front side drilling rig (38) to deflect in the left and right directions along the multi-link vertical lifting worktable.

9. The anchoring device for an integrated tunneling and anchoring machine according to claim 5, characterized in that, It also includes a water exploration assembly; the water exploration assembly includes a water exploration drill mounting base (39), a swing mechanism (40), a rotation mechanism (41), and a water exploration drill (42); The water exploration drilling rig mounting base (39) is rotatably mounted on the telescopic platform (20) and is driven by the swing mechanism (40) to swing in the up and down direction of the multi-link vertical lifting worktable; The water exploration drilling rig (42) is rotatably mounted on the water exploration drilling rig mounting base (39) and is driven by the rotary mechanism (41) to swing left and right along the multi-link vertical lifting worktable.

10. The anchoring device for an integrated tunneling and anchoring machine according to claim 9, characterized in that, It also includes ladders (21); The ladder (21) is installed on the telescopic platform (20).

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