Onboard automatic anchor protection machine

Abstract

The invention provides an onboard automatic anchor protection machine which comprises a traction mechanism, a telescopic lifting mechanism, a swing arm mechanism, a turnover mechanism, a rotation compensation mechanism, an anchor pushing mechanism, an anchor rod bin and a cartridge injection system. Wherein the anchoring and pushing mechanism comprises a drilling frame, an anchoring and pushing chain, an anchoring and pushing oil cylinder, a guide wheel, a power head sliding block, a power head, a drill rod clamping device, a drilling rod, a front drill rod, a middle drill rod, a drilling manipulator, an anchoring manipulator and a tip device. A sliding rail of the traction mechanism is fixed to tunneling mechanical equipment, anchor protection operation of different positions of a top anchor and a side anchor is achieved through coordinated movement of the telescopic lifting mechanism, the swing arm mechanism, the turnover mechanism and the rotation compensation mechanism, automatic drilling and automatic explosive cartridge and anchor rod installation are achieved through the drilling manipulator and the anchor manipulator, and the construction efficiency is improved. And mechanization and automation of anchor protection operation are truly achieved, working face operators are reduced, the working environment of workers is improved, the operation safety is improved, and the anchor protection efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to an airborne automatic anchoring machine, belonging to the technical field of anchoring machinery for coal mine lanes, highway and railway tunnels. Background Art

[0002] At present, most of the airborne equipment used for anchoring in coal mine tunnels, highway and railway tunnels in China are single-function anchor drilling rigs, which can only be used to drill anchor holes. The installation of anchors and medicine coils needs to be done manually, and automation cannot be achieved, resulting in low production efficiency.

[0003] At present, most of the domestic airborne anchor drills are used on tunnel boring machines for full coal or semi-coal rock tunnel excavation support. However, the airborne anchor protectors for hard rock tunnel excavation equipment have not been truly used in production practice, especially the anchor protectors that can be automated on hard rock excavation equipment are still blank. Summary of the invention

[0004] In order to solve the problems mentioned in the above background technology, the present invention proposes an automated anchoring machine for hard rock tunneling equipment, which solves the problem of manual anchoring in hard rock tunneling construction, realizes the automation of anchoring in hard rock tunnel construction, and improves production efficiency and operation safety.

[0005] The present invention provides an airborne automatic anchor guard, which comprises a traction mechanism, a telescopic lifting mechanism, a swing arm mechanism, a flip mechanism, a rotation compensation mechanism, an anchor pushing mechanism, an anchor rod bin, and a medicine roll injection system.

[0006] Preferably, the traction mechanism includes a hydraulic motor, a reducer, a driving sprocket, a traction chain, a guide sprocket, a slide plate, and a slide rail; the slide rail is fixed and fixedly mounted on the excavation machinery and equipment; the driving sprocket and the guide sprocket are respectively mounted on both ends of the slide rail; both ends of the traction chain are connected to the slide plate, and the driving sprocket is driven to rotate by the hydraulic motor and the reducer, and then the slide plate is pulled by the traction chain to slide along the track on the slide rail.

[0007] Preferably, the telescopic lifting mechanism includes a counterweight, a lifting cylinder, a telescopic outer cylinder, a telescopic inner cylinder, a transition block, and a telescopic cylinder; the counterweight is connected to the slide plate by bolts; the telescopic outer cylinder is connected to the slide plate by a pin; the end of the lifting cylinder barrel is connected to the slide plate by a pin, and the rod end is connected to the telescopic outer cylinder by a pin, and the telescopic outer cylinder is raised or lowered by the extension and contraction of the lifting cylinder; the end of the telescopic cylinder barrel is connected to the telescopic outer cylinder by a pin, and the rod end is connected to the telescopic inner cylinder by a pin; the telescopic inner cylinder and the telescopic outer cylinder are matched by a plane bearing, and under the drive of the telescopic cylinder, the telescopic inner cylinder telescopes and moves in the telescopic outer cylinder; the transition block is connected to the telescopic outer cylinder by a through bolt.

[0008] Preferably, the swing arm mechanism includes a left arm plate, a right arm plate, a swing arm cylinder, and a flip reducer mounting frame; one end of the left arm plate is connected to the transition block through a pin shaft, and the other end is connected to the flip reducer mounting frame through a pin shaft; one end of the right arm plate is connected to the transition block through a pin shaft, and the other end is connected to the flip reducer mounting frame through a pin shaft; the barrel end of the swing arm cylinder is connected to the right arm plate through a pin shaft, and the rod end is connected to the flip reducer mounting frame through a pin shaft; the left arm plate, the right arm plate, the transition block, and the flip reducer mounting frame form a four-bar mechanism, and under the drive of the swing arm cylinder, the left arm plate and the right arm plate swing simultaneously.

[0009] Preferably, the flipping mechanism includes a flipping reducer and a flipping frame; one side of the flipping reducer is connected to the flipping reducer mounting frame by bolts, and the other side is connected to the flipping frame by bolts, and the flipping frame is driven to flip by the rotation of the flipping reducer.

[0010] Preferably, the slewing compensation mechanism includes a slewing reducer, a slewing reducer fixing plate, a compensation bracket, a compensation cylinder, a lower slider, and an upper slider; one side of the slewing reducer is connected to the flip frame by bolts, and the other side is connected to the slewing reducer fixing plate by bolts; the slewing reducer fixing plate is connected to the compensation bracket by bolts; the barrel end of the compensation cylinder is connected to the compensation bracket by a pin, and the rod end is connected to the drill rack by a pin, and the drill rack slides along the slider of the compensation bracket through the extension and retraction of the compensation cylinder.

[0011] Preferably, the anchor pushing mechanism includes a drill frame, an anchor pushing chain, an anchor pushing cylinder, a guide wheel, a power head slider, a power head, a drill bit device, a drill rod, a front support drill, a middle support drill, a drill manipulator, an anchor manipulator, and a top device.

[0012] The drilling rack is connected with the compensation bracket through an upper slider and a lower slider. The drilling rack slides along the slider of the compensation bracket through the extension and contraction of the compensation oil cylinder.

[0013] The power head is connected to the slideway on the drilling rig through a power head slider; the rod end of the anchor push cylinder is connected to the drilling rig through a pin shaft, and guide wheels are installed at both ends of the cylinder barrel; there are two anchor push chains, one is a working chain and the other is a return chain, one end of the anchor push chain is connected to the power head slider, and the other end is fixed on the drilling rig by passing through the guide wheels at both ends.

[0014] The drilling manipulator is composed of a drilling manipulator connecting plate, a drilling manipulator fixed shaft, a drilling manipulator rotating shaft, a drilling manipulator rotating cylinder, a drilling finger frame, a drilling finger cylinder, a drilling fixed finger, and a drilling movable finger; the drilling manipulator connecting plate is connected to the drilling frame by bolts, and the drilling manipulator fixed shaft is fixedly connected to the drilling manipulator connecting plate; the drilling hand rotating shaft is rotatably connected to the drilling manipulator connecting plate; the drilling hand rotating cylinder rod end is connected to the drilling hand rotating shaft through a cylinder connecting seat, and the drilling hand rotating cylinder barrel end is connected to the drilling hand fixed shaft through a cylinder connecting seat, and the drilling hand rotating shaft is rotated by the extension and retraction of the drilling hand rotating cylinder; one side of the drilling finger frame is connected to the drilling hand rotating shaft and rotates with the drilling hand rotating shaft; the drilling finger cylinder barrel end is connected to the drilling finger frame, and the drilling finger cylinder rod end is connected to the drilling movable finger, and the fingers are opened and closed by the extension and retraction of the drilling finger cylinder, and the drill rod is grasped and installed, so as to realize the automatic installation of the drill rod.

[0015] The anchor manipulator is composed of an anchor manipulator connecting plate, an anchor hand rotating cylinder, an anchor hand rotating shaft, an anchor hand fixed shaft, an anchor arm frame, an anchor finger frame, an anchor finger cylinder, an anchor finger swing cylinder, an anchor fixed finger, and an anchor movable finger; the anchor manipulator connecting plate is connected to the drill frame by a through bolt; the anchor hand fixed shaft is fixedly connected to the anchor manipulator connecting plate; the anchor hand rotating shaft is rotatably connected to the anchor manipulator connecting plate; the rod end of the anchor hand rotating cylinder is connected to the anchor hand rotating shaft through a cylinder connecting seat, and the barrel end of the anchor hand rotating cylinder is connected to the anchor hand fixed shaft through a cylinder connecting seat, and the anchor hand rotating shaft is rotated by the extension and contraction of the anchor hand rotating cylinder; one side of the anchor arm frame is fixedly connected to the anchor hand rotating shaft, and the other side is connected to the anchor finger swing cylinder barrel end and the anchor finger frame; the anchor finger cylinder barrel end is connected to the anchor finger frame, and the rod end of the anchor finger cylinder is connected to the anchor movable finger, and the fingers are opened and closed through the extension and contraction of the anchor finger cylinder, so as to grasp and install the anchor rod, thereby realizing the automatic installation of the anchor rod.

[0016] Preferably, the anchor rod bin is composed of a fixed frame, a fixed shaft, a bin rotating pawl, a right fixed disk, an anchor rod, an anchor rod clamp, a right mounting disk, a left mounting disk, a left fixed disk, a left fixed frame, a rotating cylinder, a bin rotating ratchet, a bin rotating cylinder connecting plate, and a bin rotating cylinder; the fixed shaft is connected to the left fixed frame and the right fixed frame; the bin rotating cylinder connecting plate is fixed on the fixed shaft; the barrel end of the bin rotating cylinder is connected to the bin rotating cylinder connecting plate, and the rod end is connected to the bin rotating pawl through a connecting rod; the rotating cylinder is connected to the fixed shaft through a bearing, and the right mounting disk and the left mounting disk are fixedly mounted thereon; the anchor rod clamp is fixed on the mounting disk; the bin rotating ratchet is connected to the rotating cylinder, and the rotating cylinder is driven to rotate by the rotation of the bin rotating ratchet, and the anchor rod is installed in the anchor rod bin through the anchor rod clamp.

[0017] Preferably, the medicine roll injection system includes a control valve, a medicine roll bin, a hose, and an injection mechanism.

[0018] The medicine roll bin is composed of a roll bin ratchet cylinder, a swing rod and a pawl, a roll bin ratchet, a right sealing gasket of the air inlet joint, a right end plate, a bracket, an air outlet joint, a left sealing gasket, a left end plate, a medicine storage roll tube, and a sealing pressure plate; the barrel side of the roll bin ratchet cylinder is connected to the bracket, and the rod end is connected to the swing rod and the ratchet, and the swing rod and the pawl are driven by the extension and contraction of the roll bin ratchet cylinder, thereby rotating the roll bin ratchet; the medicine storage roll tube is connected to the right end plate and the left end plate to form a rotating reel; the roll bin ratchet and the right end plate are fixed together by bolts, and when the roll bin ratchet rotates, the rotating reel is driven to rotate.

[0019] The injection mechanism consists of a fixing clamp, an injection bracket, an injection telescopic oil cylinder, a moving pipe, a fixed guide pipe, and an injection pipe; the fixing clamp is used to fix to the drill pipe manipulator and swing with the drill pipe manipulator; the injection pipe is connected to the moving pipe through a threaded pipe; the moving pipe is placed in the fixed guide pipe; the barrel end of the injection telescopic oil cylinder is fixedly connected to the injection bracket, and the rod end is connected to the moving pipe, and the moving pipe is driven to move in the fixed guide pipe by the extension and retraction of the injection telescopic oil cylinder.

[0020] The characteristics of the airborne automatic anchor guard described in the present invention are:

[0021] 1. The entire anchor guard has a compact structure and small dimensions. It can be combined with a variety of excavation equipment without size restrictions.

[0022] 2. The power head propulsion adopts a multiplier mechanism, using the short stroke of the anchor push cylinder to achieve a large propulsion distance.

[0023] 3. It can adapt to a wide range of tunnel sections. By adopting lifting, swinging, flipping and rotating compensation mechanisms, it can meet the requirements of different tunnel sections.

[0024] 4. All actions of the anchor guard are mechanized and automated, with quick and flexible movements, precise drilling and good stability during operation.

[0025] 5. Anchor rod bins, medicine coil bins and manipulators are set up to realize anchor protection automation, which greatly improves the efficiency of anchor protection, effectively shortens the cycle time of anchor protection operations, reduces the number of operators, improves the safety and practicality of anchor protection operations, and lays a good foundation for realizing intelligent hard rock excavation.

[0026] The airborne automatic anchoring machine described in the present invention is not only suitable for coal mining machinery, but also can be used for other mine tunnels, highway and railway tunnel construction machinery. It has a wide range of uses and is the best companion for current hard rock tunnel excavation engineering construction equipment. The device has excellent humanized design, compact structure, scientific and reasonable structure, high strength and strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0028] In the attached picture:

[0029] Figure 1 This is a front view of the structural schematic diagram of an airborne automated anchor guard described in the present invention;

[0030] Figure 2 It is a top view of the structural schematic diagram of an airborne automated anchor guard according to the present invention;

[0031] Figure 3 This is a front view of a structural schematic diagram of a traction mechanism of an airborne automated anchor guard described in the present invention;

[0032] Figure 4 It is a top view of the structural schematic diagram of the traction mechanism of an airborne automated anchor guard described in the present invention;

[0033] Figure 5 It is a schematic diagram of the structure of the swing arm mechanism of an airborne automatic anchor guard described in the present invention;

[0034] Figure 6 This is a front view of a schematic diagram of the flipping mechanism structure of an airborne automated anchor guard described in the present invention;

[0035] Figure 7 It is a top view of the structural schematic diagram of the flipping mechanism of an airborne automatic anchor guard described in the present invention;

[0036] Figure 8 This is a front view of a structural schematic diagram of a slewing compensation mechanism of an airborne automated anchor guard described in the present invention;

[0037] Fig. 9 It is a top view of the structural schematic diagram of the slewing compensation mechanism of an airborne automatic anchor guard described in the present invention;

[0038] Fig.10 It is a left view of the structural schematic diagram of the slewing compensation mechanism of an airborne automatic anchor guard described in the present invention;

[0039] Fig.11 This is a front view of the structural schematic diagram of the anchor pushing mechanism of an airborne automated anchor guard described in the present invention;

[0040] Fig.12 It is a top view of the structural schematic diagram of the anchor pushing mechanism of an airborne automatic anchor guard described in the present invention;

[0041] Fig.13 This is a front view of a structural schematic diagram of a drilling manipulator of an airborne automated anchor guard described in the present invention;

[0042] Fig.14 This is a left view of the structural schematic diagram of a drilling manipulator of an airborne automated anchor guard described in the present invention;

[0043] Fig.15 This is a front view of the structural schematic diagram of the anchor manipulator of an airborne automated anchor guard described in the present invention;

[0044] Fig.16 It is a left view of the structural schematic diagram of the anchor manipulator of an airborne automated anchor guard described in the present invention;

[0045] Fig.17 It is a structural schematic diagram of an anchor bar bin of an airborne automated anchor guard described in the present invention;

[0046] Fig.18 It is a structural schematic diagram of a drug coil injection system of an airborne automated anchor guard described in the present invention;

[0047] Fig.19 This is a schematic diagram of the structure of a cartridge bin of an airborne automated anchor guard described in the present invention;

[0048] Fig. 20 It is a structural schematic diagram of the injection mechanism of an airborne automated anchor guard described in the present invention.

[0049] In the figure: 1-traction mechanism; 2-telescopic lifting mechanism; 3-swing arm mechanism; 4-turning mechanism; 5-rotation compensation mechanism; 6-anchor pushing mechanism; 7-anchor bar bin; 8-medicine roll injection system; 101-hydraulic motor; 102-reducer; 103-driving sprocket; 104-traction chain; 105-guide sprocket; 106-slide plate; 107-slide rail; 201-counterweight; 202-lifting cylinder; 203-telescopic outer cylinder; 204-telescopic inner cylinder; 205-transition block; 206-telescopic cylinder; 301-left arm plate; 302-right arm plate; 303-swing arm cylinder; 304-turning reducer mounting frame; 401-turning reducer; 402-turning frame; 501-rotation reducer; 50 2-slewing reducer fixing plate; 503-compensation bracket; 504-compensation cylinder; 505-lower slider; 506-upper slider; 601-drilling frame; 602-anchor push chain; 603-anchor push cylinder; 604-guide wheel; 605-power head slider; 606-power head; 607-clamping device; 608-drill rod; 609-front support drill; 610-middle support drill; 611-drilling manipulator; 612-anchor manipulator; 613-top device; 61101-drilling manipulator connecting plate; 61102-drilling hand fixed shaft; 61103-drilling hand rotating shaft; 61104-drilling hand rotating cylinder; 61105-drilling finger frame; 61106-drilling finger cylinder; 61107-drilling fixed finger; 611 08-drilling movable finger; 61201-anchor manipulator connecting plate; 61202-anchor hand rotating cylinder; 61203-anchor hand rotating shaft; 61204-anchor hand fixed shaft; 61205-anchor arm frame; 61206-anchor finger frame; 61207-anchor finger cylinder; 61208-anchor finger swing cylinder; 61209-anchor fixed finger; 61210-anchor movable finger; 701-right fixed frame; 702-fixed shaft; 703-bin rotating pawl; 704-right fixed plate; 705-anchor rod; 706-anchor rod clamp; 707-right mounting plate; 708-left mounting plate; 709-left fixed plate; 710-left fixed frame; 711-rotating cylinder; 712-bin rotating ratchet; 713-bin rotating cylinder Connecting plate; 714-bin rotating cylinder; 801-control valve; 802-hose; 803-medicine roll bin; 804-injection mechanism; 80301-roll bin ratchet cylinder; 80302-swing rod and ratchet; 80303-roll bin ratchet; 80304-air inlet connector; 80305-right sealing pad; 80306-right end plate; 80307-bracket; 80308-air outlet connector; 80309-left sealing pad; 80310-left end plate; 80311-medicine storage roll pipe; 80312-sealing pressure plate; 80401-fixing clamp; 80402-injection bracket; 80403-injection telescopic cylinder; 80404-moving pipe; 80405-fixed sleeve; 80406-injection pipe. DETAILED DESCRIPTION

[0050] The specific implementation of the present invention is further described in detail below with reference to the accompanying drawings:

[0051] like Figure 1 , 2 As shown, the airborne automatic anchor guard includes a traction mechanism 1, a telescopic lifting mechanism 2, a swing arm mechanism 3, a flip mechanism 4, a rotation compensation mechanism 5, an anchor pushing mechanism 6, an anchor rod bin 7, and a medicine roll injection system 8.

[0052] The traction mechanism 1 has a specific structure as follows Figure 3 , Figure 4 As shown, it is mainly composed of a hydraulic motor 101, a reducer 102, a driving sprocket 103, a traction chain 104, a guide sprocket 105, a slide plate 106, and a slide rail 107; the slide rail 107 is fixed and fixedly installed on the excavation machinery and equipment; the driving sprocket 103 and the guide sprocket 105 are respectively installed at both ends of the slide rail 107; the two ends of the traction chain 104 are connected to the slide plate 106, and the driving sprocket 103 is driven to rotate by the hydraulic motor 101 and the reducer 102, and then the slide plate 106 is pulled by the traction chain 104 to slide along the track on the slide rail 107.

[0053] The telescopic lifting mechanism 2 has a specific structure as follows Figure 1 , Figure 2 As shown, it mainly consists of a counterweight 201, a lifting cylinder 202, a telescopic outer cylinder 203, a telescopic inner cylinder 204, a transition block 205, and a telescopic cylinder 206; the counterweight 201 is connected to the slide plate 106 by bolts; the telescopic outer cylinder 203 is connected to the slide plate 106 by a pin; the cylinder end of the lifting cylinder 202 is connected to the slide plate 106 by a pin, and the rod end is connected to the telescopic outer cylinder 203 by a pin, and the lifting cylinder The telescopic outer cylinder 203 is raised or lowered by the extension and retraction of 202; the cylinder end of the telescopic oil cylinder 206 is connected to the telescopic outer cylinder 203 through a pin shaft, and the rod end is connected to the telescopic inner cylinder 204 through a pin shaft; the telescopic inner cylinder 204 cooperates with the telescopic outer cylinder 203 through a plane bearing, and under the drive of the telescopic oil cylinder 206, the telescopic inner cylinder 204 telescopes and moves in the telescopic outer cylinder 203; the transition block 205 is connected to the telescopic inner cylinder 204 by a through bolt.

[0054] The swing arm mechanism 3 has a specific structure as follows Figure 5As shown, it is mainly composed of a left arm plate 301, a right arm plate 302, a swing arm cylinder 303, and a flip reducer mounting frame 304; one end of the left arm plate 301 is connected to the transition block 205 through a pin, and the other end is connected to the flip reducer mounting frame 304 through a pin; one end of the right arm plate 302 is connected to the transition block 205 through a pin, and the other end is connected to the flip reducer mounting frame 304 through a pin; the barrel end of the swing arm cylinder 303 is connected to the right arm plate 302 through a pin, and the rod end is connected to the flip reducer mounting frame 304 through a pin; the left arm plate 301, the right arm plate 302, the transition block 205, and the flip reducer mounting frame 304 form a four-bar mechanism, and under the drive of the swing arm cylinder 303, the left arm plate 301 and the right arm plate 302 swing simultaneously.

[0055] The flip mechanism 4 has a specific structure as follows Figure 6 , Figure 7 As shown, it is mainly composed of a flip reducer 401 and a flip frame 402; one side of the flip reducer 401 is connected to the flip reducer mounting frame 304 by bolts, and the other side is connected to the flip frame 402 by bolts. The flip reducer 401 is rotated to drive the flip frame 402 to flip.

[0056] The rotation compensation mechanism 5 has a specific structure as follows: Figure 8 , Fig. 9 , Fig.10 As shown, it is mainly composed of a rotary reducer 501, a rotary reducer fixing plate 502, a compensation bracket 503, a compensation cylinder 504, a lower slider 505, and an upper slider 506; one side of the rotary reducer 501 is connected to the flip frame 402 by bolts, and the other side is connected to the rotary reducer fixing plate 502 by bolts, and the rotary reducer fixing plate 502 is connected to the compensation bracket 503 by bolts; the barrel end of the compensation cylinder 504 is connected to the compensation bracket 503 by a pin shaft, and the rod end is connected to the drill rig 601 by a pin shaft, and the drill rig 601 slides along the slider of the compensation bracket 503 through the extension and retraction of the compensation cylinder 504.

[0057] The anchor pushing mechanism 6 has a specific structure as follows Fig.11 , Fig.12As shown, it mainly consists of a drill frame 601, an anchor push chain 602, an anchor push cylinder 603, a guide wheel 604, a power head slider 605, a power head 606, a clamping device 607, a drill rod 608, a front support drill 609, a middle support drill 610, a drill manipulator 611, an anchor manipulator 612, and a top device 613; the drill frame 601 is connected to the compensation bracket 503 through an upper slider 506 and a lower slider 505, and the drill frame 601 is extended and retracted by the compensation cylinder 504. 1 slides along the slider of the compensation bracket 503; the power head 606 is connected to the slideway on the drill frame 601 through the power head slider 605; the rod end of the anchor push cylinder 603 is connected to the drill frame 601 through a pin shaft, and guide wheels 604 are installed at both ends of the cylinder barrel; the anchor push chain 602 is two, one is a working chain, and the other is a return chain. One end of the anchor push chain 602 is connected to the power head slider 605, and the other end passes through the guide wheels 604 at both ends and is fixed on the drill frame 601.

[0058] The drilling manipulator 611 has a specific structure as follows Fig.13 , Fig.14 As shown, it mainly consists of a drilling manipulator connecting plate 61101, a drilling manipulator fixed shaft 61102, a drilling manipulator rotating shaft 61103, a drilling manipulator rotating cylinder 61104, a drilling finger frame 61105, a drilling finger cylinder 61106, a drilling fixed finger 61107, and a drilling movable finger 61108; the drilling manipulator connecting plate 61101 is connected to the drilling frame 601 by bolts; the drilling manipulator fixed shaft 61102 is fixedly connected to the drilling manipulator connecting plate 61101; the drilling manipulator rotating shaft 61103 is rotatably connected to the drilling manipulator connecting plate 61101; the rod end of the drilling manipulator rotating cylinder 61104 is connected to the drilling manipulator rotating shaft through a cylinder connecting seat 61103 is connected, the barrel end of the driller's rotating cylinder 61104 is connected to the driller's fixed shaft 61103 through the cylinder connecting seat, and the driller's rotating shaft 61103 is rotated by the extension and retraction of the driller's rotating cylinder 61104; one side of the drill finger frame 61105 is connected to the drill finger frame 61105, and rotates with the drill hand rotating shaft 61103; the barrel end of the drill finger cylinder 61106 is connected to the drill finger frame 61105, and the rod end of the drill finger cylinder 61106 is connected to the drill movable finger 61108, and the drill finger cylinder 61106 is extended and retracted to open and close the fingers, grab and install the drill rod, thereby realizing the automatic installation of the drill rod.

[0059] The anchor manipulator 612 has a specific structure as follows: Fig.15 , Fig.16As shown, it mainly consists of an anchor manipulator connecting plate 61201, an anchor hand rotating cylinder 61202, an anchor hand rotating shaft 61203, an anchor hand fixed shaft 61204, an anchor arm frame 61205, an anchor finger frame 61206, an anchor finger cylinder 61207, an anchor finger swing cylinder 61208, an anchor fixed finger 61209, and an anchor movable finger 61210; the anchor manipulator connecting plate 61201 is connected to the drill rig 601 by a through bolt; the anchor hand fixed shaft 61204 is fixedly connected to the anchor manipulator connecting plate 61201; the anchor hand rotating shaft 61203 is rotatably connected to the anchor manipulator connecting plate 61201; the rod end of the anchor hand rotating cylinder 61202 is connected to the anchor hand through a cylinder connecting seat The rotating shaft 61203 is connected, the cylinder end of the anchor hand rotating cylinder 61202 is connected to the anchor hand fixed shaft 61204 through the cylinder connecting seat, and the anchor hand rotating shaft 61203 is rotated by the extension and retraction of the anchor hand rotating cylinder 61202; one side of the anchor arm frame 61205 is fixedly connected to the anchor hand rotating shaft 61203, and the other side is connected to the cylinder end of the anchor finger swing cylinder 61208 and the anchor finger frame 61206; the cylinder end of the anchor finger cylinder 61207 is connected to the anchor finger frame 61206, and the rod end of the anchor finger cylinder 61207 is connected to the anchor movable finger 61210, and the fingers are opened and closed, the anchor rod is grabbed and installed by the extension and retraction of the anchor finger cylinder 61207, so as to realize the automatic installation of the anchor rod.

[0060] The anchor bar bin 7 has a specific structure as follows Fig.17 As shown, it mainly consists of a right fixed frame 701, a fixed shaft 702, a warehouse rotation pawl 703, a right fixed disk 704, an anchor rod 705, an anchor rod clamp 706, a right mounting disk 707, a left mounting disk 708, a left fixed disk 709, a left fixed frame 710, a rotating cylinder 711, a warehouse rotation ratchet 712, a warehouse rotation cylinder connecting plate 713, and a warehouse rotation cylinder 714; the fixed shaft 702 is connected to the left fixed frame 710 and the right fixed frame 701; the warehouse rotation cylinder connecting plate 713 is fixed on the fixed shaft 702; the The cylinder end of the warehouse rotating cylinder 714 is connected to the warehouse rotating cylinder connecting plate 713, and the rod end is connected to the warehouse rotating pawl 703 through a connecting rod; the rotating cylinder 711 is connected to the fixed shaft 702 through a bearing, and a right mounting plate 707 and a left mounting plate 708 are fixedly installed thereon; the anchor rod clamp 706 is fixed on the mounting plate; the warehouse rotating ratchet 712 is connected to the rotating cylinder 711, and the rotating cylinder 711 is driven to rotate by the rotation of the warehouse rotating ratchet 712; the anchor rod 705 is installed in the anchor rod warehouse through the anchor rod clamp 706.

[0061] The medicine roll injection system 8 is specifically composed of Fig.18 As shown, it is mainly composed of a control valve 801, a medicine roll bin 803, a hose 802, and an injection mechanism 804.

[0062] The medicine roll bin 803 has a specific structure as follows Fig.19 As shown, it mainly consists of a winding bin ratchet cylinder 80301, a swing rod and a ratchet 80302, a winding bin ratchet 80303, an air inlet connector 80304, a right sealing gasket 80305, a right end plate 80306, a bracket 80307, ​​an air outlet connector 80308, a left sealing gasket 80309, a left end plate 80310, a medicine storage winding tube 80311, and a sealing pressure plate 80312; the barrel side of the winding bin ratchet cylinder 80301 is connected to the bracket 80307, The rod end is connected to the swing rod and the ratchet 80302, and the swing rod and the pawl 80302 are driven by the extension and contraction of the winding bin ratchet cylinder 80301, thereby rotating the winding bin ratchet 80303; the medicine storage winding tube 80311 is connected to the right end disk 80306 and the left end disk 80310 to form a rotating reel; the winding bin ratchet 80303 and the right end disk 80306 are fixed together by bolts, and when the winding bin ratchet 80303 rotates, it drives the rotating reel to rotate.

[0063] The injection mechanism 804 has a specific structure as follows Fig. 20 As shown, it is mainly composed of a fixing clamp 80401, an injection bracket 80402, an injection telescopic cylinder 80403, a movable tube 80404, a fixed guide tube 80405, and an injection tube 80406; the fixing clamp 80401 is used to fix to the drill pipe manipulator 611 and swing with the drill pipe manipulator 611; the injection tube 80406 is connected to the movable tube 80404 through a threaded tube; the movable tube 80404 is placed in the fixed guide tube 80405; the tube end of the injection telescopic cylinder 80403 is fixedly connected to the injection bracket 80402, and the rod end is connected to the movable tube 80404, and the movable tube 80404 is driven to move in the fixed guide tube 80405 by the extension and contraction of the injection telescopic cylinder 80403.

[0064] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. It can also be a reasonable combination of the features recorded in the above embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An airborne automatic anchor guard, comprising a traction mechanism (1), a telescopic lifting mechanism (2), a swing arm mechanism (3), a flip mechanism (4), a rotation compensation mechanism (5), an anchor pushing mechanism (6), an anchor rod bin (7), and a drug roll injection system (8), characterized in that: The traction mechanism (1) is mainly composed of a hydraulic motor (101), a reducer (102), a driving sprocket (103), a traction chain (104), a guide sprocket (105), a slide plate (106), and a slide rail (107); the slide rail (107) is fixed and fixedly installed on the excavation machinery and equipment; the driving sprocket (103) and the guide sprocket (105) are respectively installed at the two ends of the slide rail (107); the two ends of the traction chain (104) are connected to the slide plate (106), and the driving sprocket (103) is driven to rotate by the hydraulic motor (101) and the reducer (102), and then the slide plate (106) is pulled by the traction chain (104) to slide along the track on the slide rail (107). The telescopic lifting mechanism (2) is mainly composed of a counterweight (201), a lifting cylinder (202), a telescopic outer cylinder (203), a telescopic inner cylinder (204), a transition block (205), and a telescopic cylinder (206); the counterweight (201) is connected to the slide plate (106) by bolts; the telescopic outer cylinder (203) is connected to the slide plate (106) by a pin shaft; the cylinder end of the lifting cylinder (202) is connected to the slide plate (106) by a pin shaft, and the rod end is connected to the telescopic outer cylinder (203) by a pin shaft, The telescopic outer cylinder (203) is raised or lowered by the extension and retraction of the lifting cylinder (202); the cylinder end of the telescopic cylinder (206) is connected to the telescopic outer cylinder (203) through a pin shaft, and the rod end is connected to the telescopic inner cylinder (204) through a pin shaft; the telescopic inner cylinder (204) and the telescopic outer cylinder (203) are matched through a plane bearing, and under the drive of the telescopic cylinder (206), the telescopic inner cylinder (204) moves in the telescopic outer cylinder (203); the transition block (205) is connected to the telescopic inner cylinder (204) through a through bolt. The swing arm mechanism (3) is mainly composed of a left arm plate (301), a right arm plate (302), a swing arm oil cylinder (303), and a flip reducer mounting frame (304); one end of the left arm plate (301) is connected to the transition block (205) through a pin shaft, and the other end is connected to the flip reducer mounting frame (304) through a pin shaft; one end of the right arm plate (302) is connected to the transition block (205) through a pin shaft, and the other end is connected to the flip reducer mounting frame (304) through a pin shaft. The swing arm oil cylinder (303) is connected to the right arm plate (302) through a pin, and the rod end is connected to the flip reducer mounting frame (304) through a pin; the left arm plate (301), the right arm plate (302), the transition block (205), and the flip reducer mounting frame (304) form a four-bar mechanism, and under the drive of the swing arm oil cylinder (303), the left arm plate (301) and the right arm plate (302) are swung simultaneously. The flipping mechanism (4) is mainly composed of a flipping reducer (401) and a flipping frame (402); one side of the flipping reducer (401) is connected to the flipping reducer mounting frame (304) by bolts, and the other side is connected to the flipping frame (402) by bolts. The flipping reducer (401) is rotated to drive the flipping frame (402) to flip. The slewing compensation mechanism (5) is mainly composed of a slewing reducer (501), a slewing reducer fixing plate (502), a compensation bracket (503), a compensation oil cylinder (504), a lower slider (505), and an upper slider (506); one side of the slewing reducer (501) is connected to the turning frame (402) by bolts, and the other side is connected to the slewing reducer fixing plate (502) by bolts; the slewing reducer fixing plate (502) is connected to the compensation bracket (503) by bolts; the barrel end of the compensation oil cylinder (504) is connected to the compensation bracket (503) by a pin shaft, and the rod end is connected to the drill frame (601) by a pin shaft; the drill frame (601) slides along the slider of the compensation bracket (503) by the extension and retraction of the compensation oil cylinder (504). The anchor pushing mechanism (6) is mainly composed of a drill frame (601), an anchor pushing chain (602), an anchor pushing cylinder (603), a guide wheel (604), a power head slider (605), a power head (606), a clamping device (607), a drill rod (608), a front supporting drill (609), a middle supporting drill (610), a drilling manipulator (611), an anchor manipulator (612), and a top device (613); the drill frame (601) is connected to the compensation bracket (503) through an upper slider (506) and a lower slider (505), and the compensation cylinder (504) is used to push the compensation cylinder (504) to the anchor pushing mechanism (6); The drill frame (601) is telescopically extended to slide along the slider of the compensation bracket (503); the power head (606) is connected to the slideway on the drill frame (601) through the power head slider (605); the rod end of the anchor push cylinder (603) is connected to the drill frame (601) through a pin shaft, and guide wheels (604) are installed at both ends of the cylinder barrel; the anchor push chain (602) is composed of two chains, one is a working chain, and the other is a return chain. One end of the anchor push chain (602) is connected to the power head slider (605), and the other end passes around the guide wheels (604) at both ends and is fixed on the drill frame (601). The anchor bar bin (7) is mainly composed of a right fixing frame (701), a fixing shaft (702), a bin rotating pawl (703), a right fixing plate (704), an anchor bar (705), an anchor bar clamp (706), a right mounting plate (707), a left mounting plate (708), a left fixing plate (709), a left fixing frame (710), a rotating cylinder (711), a bin rotating ratchet (712), a bin rotating oil cylinder connecting plate (713), and a bin rotating oil cylinder (714); the fixing shaft (702) is connected to the left fixing frame (710) and the right fixing frame (701); the bin rotating oil cylinder connecting plate (713) is fixed to the fixing shaft (701). 702); the cylinder end of the bin rotating oil cylinder (714) is connected to the bin rotating oil cylinder connecting plate (713), and the rod end is connected to the bin rotating pawl (703) through a connecting rod; the rotating cylinder (711) is connected to the fixed shaft (702) through a bearing, and a right mounting plate (707) and a left mounting plate (708) are fixedly mounted thereon; the anchor rod clamp (706) is fixed on the mounting plate; the bin rotating ratchet (712) is connected to the rotating cylinder (711), and the rotating cylinder (711) is driven to rotate by the rotation of the bin rotating ratchet (712); the anchor rod (705) is installed in the anchor rod bin through the anchor rod clamp (706). The medicine roll injection system (8) is mainly composed of a control valve (801), a medicine roll bin (803), a hose (802), and an injection mechanism (804).

2. The airborne automated anchor guard according to claim 1, characterized in that: The drilling manipulator (611) is mainly composed of a drilling manipulator connecting plate (61101), a drilling hand fixed shaft (61102), a drilling hand rotating shaft (61103), a drilling hand rotating cylinder (61104), a drilling finger frame (61105), a drilling finger cylinder (61106), a drilling fixed finger (61107), and a drilling movable finger (61108); the drilling manipulator connecting plate (61101) is connected to the drilling frame (601) by bolts; the drilling hand fixed shaft (61102) is fixedly connected to the drilling manipulator connecting plate (61101); the drilling hand rotating shaft (61103) is rotationally connected to the drilling manipulator connecting plate (61101); the rod end of the drilling hand rotating cylinder (61104) is connected to the drilling frame (601) by a cylinder connecting seat The drill hand rotating shaft (61103) is connected to the drill hand rotating shaft (61103), and the end of the drill hand rotating oil cylinder (61104) is connected to the drill hand fixed shaft (61103) through the oil cylinder connecting seat. The drill hand rotating shaft (61103) is rotated by the extension and retraction of the drill hand rotating oil cylinder (61104); one side of the drill finger frame (61105) is connected to the drill hand rotating shaft (61103) and rotates with the drill hand rotating shaft (61103); the end of the drill finger oil cylinder (61106) is connected to the drill finger frame (61105), and the rod end of the drill finger oil cylinder (61106) is connected to the drill movable finger (61108). The drill finger oil cylinder (61106) is extended and retracted to open and close the finger, grab and install the drill rod, and realize the automatic installation of the drill rod.

3. The airborne automated anchor guard according to claim 1, characterized in that: The anchor manipulator (612) is mainly composed of an anchor manipulator connecting plate (61201), an anchor hand rotating cylinder (61202), an anchor hand rotating shaft (61203), an anchor hand fixed shaft (61204), an anchor arm frame (61205), an anchor finger frame (61206), an anchor finger cylinder (61207), an anchor finger swing cylinder (61208), an anchor fixed finger (61209), and an anchor movable finger (61210); the anchor manipulator connecting plate (61201) is connected to the drill frame (601) by bolts; the anchor hand fixed shaft (61204) is fixedly connected to the anchor manipulator connecting plate (61201); the anchor hand rotating shaft (61203) is rotatably connected to the anchor manipulator connecting plate (61201); the rod end of the anchor hand rotating cylinder (61202) is connected by oil The cylinder connecting seat is connected to the anchor hand rotating shaft (61203), and the cylinder end of the anchor hand rotating oil cylinder (61202) is connected to the anchor hand fixed shaft (61204) through the cylinder connecting seat. The anchor hand rotating shaft (61203) is rotated by the extension and retraction of the anchor hand rotating oil cylinder (61202); one side of the anchor arm frame (61205) is fixedly connected to the anchor hand rotating shaft (61203), and the other side is connected to the cylinder end of the anchor finger swinging oil cylinder (61208) and the anchor finger frame (61206); the cylinder end of the anchor finger oil cylinder (61207) is connected to the anchor finger frame (61206), and the rod end of the anchor finger oil cylinder (61207) is connected to the anchor movable finger (61210). By extending and retracting the anchor finger oil cylinder (61207), the finger is opened and closed, and the anchor rod is grasped and installed, thereby realizing the automatic installation of the anchor rod.

4. The airborne automated anchor guard according to claim 1, characterized in that: The medicine roll bin (803) is mainly composed of a roll bin ratchet cylinder (80301), a swing rod and a ratchet (80302), a roll bin ratchet (80303), an air inlet connector (80304), a right sealing gasket (80305), a right end plate (80306), a bracket (80307), an air outlet connector (80308), a left sealing gasket (80309), a left end plate (80310), a medicine storage roll tube (80311), and a sealing pressure plate (80312); the roll bin ratchet cylinder (80301) is connected to the bracket (80306) on the cylinder side. 307), the rod end is connected to the swing rod and the ratchet (80302), and the swing rod and the ratchet (80302) are driven by the extension and contraction of the winding bin ratchet cylinder (80301), so that the winding bin ratchet (80303) is rotated; the medicine storage winding tube (80311) is connected to the right end disk (80306) and the left end disk (80310) to form a rotating reel; the winding bin ratchet (80303) and the right end disk (80306) are fixed together by bolts, and when the winding bin ratchet (80303) rotates, the rotating reel is driven to rotate.

5. The airborne automated anchor guard according to claim 1, characterized in that: The injection mechanism (804) is mainly composed of a fixing clamp (80401), an injection bracket (80402), an injection telescopic oil cylinder (80403), a movable tube (80404), a fixed guide tube (80405), and an injection tube (80406); the fixing clamp (80401) is used to be fixed to the drill pipe manipulator (611) and swings with the drill pipe manipulator (611); the injection tube (80406) is connected to the movable tube (80404) through a threaded tube, and the movable tube (80404) is placed in the fixed guide tube (80405); the barrel end of the injection telescopic oil cylinder (80403) is fixedly connected to the injection bracket (80402), and the rod end is connected to the movable tube (80404), and the movable tube (80404) is driven to move in the fixed guide tube (80405) by the extension and retraction of the injection telescopic oil cylinder (80403).

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