Full-section automatic anchoring and protecting integrated robot for coal mine tunnel

Abstract

The invention discloses a coal mine tunnel full-section automatic anchoring and protecting integrated robot which comprises a walking module, a power source and control module, a laser radar positioning module, a net storage module, a net taking module, a net conveying module, a net laying module and an anchoring module, all the modules cooperate with one another, and automatic anchoring and protecting operation is achieved. The robot is started through remote control and enters a roadway, and the laser radar positioning module conducts three-dimensional scanning on the roadway so as to achieve accurate positioning and navigation. In the anchor protection area, a net conveying module conveys the anchor net to a net laying module, and a net laying manipulator lays the anchor net on a top plate and a side wall area; meanwhile, the anchoring module reinforces the roadway and the anchor net through an anchor rod drilling machine; when the anchor net is used up, the net storage module, the net taking module and the net conveying module automatically supplement a new anchor net, and continuous anchor protection operation is guaranteed; according to the invention, the automation degree of roadway anchor protection operation is improved, the labor intensity of workers is reduced, and the safety and the supporting stability are improved.

Description

Technical Field

[0001] The present invention relates to the field of coal mine tunnel support, and in particular to a coal mine tunnel full-section automatic anchoring and protection integrated robot, which aims to improve the automation and intelligence of anchoring and protection operations, reduce the labor intensity of workers, and improve work efficiency and safety. Background Art

[0002] In the process of anchoring and protecting coal mine tunnels, traditional manual operations have many problems such as high labor intensity, low efficiency, and poor safety. With the development of coal mining towards intelligence, traditional manual anchoring and protecting operations can no longer meet the high efficiency and safety requirements of modern coal mine production. Therefore, it is of great significance to develop a full-section automatic anchoring and protecting robot for coal mine tunnels. Summary of the invention

[0003] Aiming at the problems of low anchoring efficiency and roof rock collapse and spalling in existing coal mine tunnels, the present invention invents a full-section automatic anchoring and protection integrated robot for coal mine tunnels.

[0004] The technical solution is as follows: The robot of the present invention mainly comprises the following modules: a walking module, a power source and control module, a laser radar positioning module, a net storage module, a net retrieval module, a net transport module, a net laying module and an anchoring module.

[0005] The walking module includes driving wheels, crawler tracks, sprocket wheels, a trolley frame, supporting wheels, a tensioning device, a guide wheel, a chassis platform and a hydraulic motor; different bandwidths can be selected according to the ground pressure ratio of different terrains to adapt to the complex terrain of coal mine tunnels, and its power comes from the hydraulic pump station.

[0006] The power source and control module include an integrated electrical control cabinet, a hydraulic pump station, a guardrail, a pressure control valve, a cooling fan, an oil tank, a guardrail, a main pump and an auxiliary pump; the main pump and the auxiliary pump are used to suck out the hydraulic oil from the oil tank, provide the hydraulic oil to the walking module, the net storage module, the net taking module, the net laying module and the anchoring module, and suck back the hydraulic oil; the pressure control valve controls the flow state of the hydraulic oil through different valves; the guardrail can protect the power source and the control module from being scratched by the inner wall of the tunnel.

[0007] The laser radar positioning module includes a data processing center, a laser transmitter, a signal feedback sensor, a laser radar frame and a laser radar mounting base; the laser radar positioning module is responsible for three-dimensional modeling and real-time positioning of the tunnel, providing high-precision navigation and operation area identification.

[0008] The net storage module adopts a scissor-type hydraulic lifting net storage box design including an anchor net box, a lift bracket, a gravity sensor and a scissor-type lift hydraulic cylinder, which plays the role of storing anchor nets and automatically adjusting the height of the anchor net box according to the reduction of the number of anchor nets in the anchor net box.

[0009] The net retrieval module includes a transverse moving screw, a longitudinal moving screw, a gantry column, an anchor net retrieval manipulator, a net retrieval manipulator fixing sleeve, a gravity interconnection sensor, a crossbeam and a connecting beam; the transverse moving screw and the longitudinal moving screw play the role of adjusting the position of the anchor net retrieval manipulator; the anchor net retrieval manipulator is used to grab the anchor net in the anchor box of the storage net module; the gravity interconnection sensor is used to receive the gravity sensor signal to prepare for net retrieval; the gantry column, the crossbeam and the connecting beam are used to fix the transverse moving screw and the longitudinal moving screw and protect the storage net module, thereby realizing the precise grabbing and transportation of the anchor net.

[0010] The net transport module adopts the structure of a double-layer anchor net conveyor, which mainly includes a drive motor, an anchor net electromagnetic fixing plate group, a pressure sensor, a net transport module base and upper and lower conveyors; the anchor net electromagnetic fixing plate group fixes the two ends of the anchor net through an electromagnetic field, and transports the anchor net to the net laying module through the drive motor and the conveyor; the pressure sensor is responsible for sensing the pressure brought by the anchor net, and when the pressure drops, the signal is transmitted to the gravity sensor and the gravity interconnection sensor, thereby realizing the continuous supply of the anchor net.

[0011] The mesh laying module includes an anchor mesh laying manipulator and a mesh laying module base. The anchor mesh laying manipulator includes two side mesh laying manipulators and a middle roof mesh laying manipulator. The mesh laying module realizes automatic mesh laying of the entire section of the coal mine tunnel by grabbing the anchor mesh in the mesh transport module.

[0012] The anchoring module comprises a top plate anchoring module, a top plate anchoring module fixing seat, a side wall anchoring module, a gantry column and a crossbeam; the anchoring module starts to start while the net laying module is operating, so as to realize the simultaneous operation of anchoring and net laying.

[0013] The described coal mine tunnel full-section automatic anchoring and protection integrated robot aims at the problems of high labor intensity, low efficiency and poor safety in the full-section anchoring and protection operation of coal mine tunnels, and proposes a full-section anchoring and protection integrated robot with high automation and strong operation safety. The robot structure includes multiple modules, and each module works in coordination to realize the automated anchoring and protection operation process. The following is the basic working process of the present invention. The robot is started through the remote control center, and the walking module is started to make the hydraulic motor crawler chassis drive the robot forward to enter the coal mine tunnel. This process is realized by the power source and control module; the described machine After the robot enters the tunnel, the laser radar positioning module is started, which performs a three-dimensional scan of the tunnel through the laser transmitter and the signal feedback sensor, generates a three-dimensional image of the tunnel, and realizes accurate anchor position positioning and navigation control, ensuring that the robot can accurately reach the working area; when the robot reaches the anchor working area, the net transport module is started, which is composed of a double-layer anchor net conveyor and a synchronous belt transmission mechanism. The anchor nets in the net storage module and the net retrieval module are transmitted to the net laying module through the chain transmission mechanism, and the anchor nets pre-installed on the net transport module are transported to the position after positioning. , to prepare for the subsequent net laying operation; after the net laying module is started, the anchor net laying manipulator starts to work, which is composed of two side wall net laying manipulators and a roof laying manipulator. The anchor net laying manipulator grabs the anchor net from the net transport module and lays the anchor net on the roof and side wall areas of the tunnel respectively; at the same time, the anchoring module is started, and the anchoring module includes two side wall anchor protection modules and a roof plate anchor protection module. The module reinforces the roof, side walls and anchor nets through the anchor drilling rig to ensure that the anchor fixed tunnel and the anchor net are firmly fixed on the tunnel surface, thereby enhancing the stability and safety of the tunnel support; when the When the net transport module detects that the number of anchor nets is reduced, the net retrieval module is automatically started, and the net retrieval module extracts new anchor nets from the net storage box through the anchor net retrieval manipulator and transports them to the anchor net fixing electromagnetic plate group of the net transport module. When the anchor net is fixed on the anchor net fixing electromagnetic plate group of the net transport module, the net transport module is started again to transport the anchor net to the net laying module; at the same time, the scissor-type hydraulic lifting net storage box in the net storage module automatically adjusts its height according to the reduction in the weight of the anchor net, ensuring the smooth progress of the net retrieval process; this process is repeated to ensure continuous anchor protection operations in the tunnel.

[0014] The advantages of the present invention are: 1. The mesh laying module of the robot of the present invention adopts a structural design of mesh laying with multi-degree-of-freedom manipulators, and the anchoring module adopts a structural layout of one top anchor and two side anchors, which covers the area at the junction of the roof and the side walls at the same time, ensuring the full-section mesh laying effect; the anchoring module anchors the roof and the side walls through the anchor drilling rig, and monitors the drilling depth in real time to ensure the tunnel support strength; 2. The robot of the present invention adopts an automated net supply and grabbing system. The net storage module and the net retrieval module monitor the remaining amount of the anchor net in real time through gravity sensors and gravity interconnection sensors, and automatically adjust the storage height and net supply status of the anchor net, thereby ensuring a stable supply of the anchor net; at the same time, the grabbing manipulator equipped with the net retrieval module can accurately locate and grab the anchor net and place it in the net transport module, reducing errors and improving operation accuracy; 3. The robot of the present invention adopts a double-layer net transport structure, and the net transport module adopts a double-layer conveyor to ensure the stability of the anchor net during transportation and reduce the risk of sliding or falling; the upper and lower sets of anchor net electromagnetic fixing plate groups can firmly fix the anchor net during transportation; the pressure sensor of the net transport module can monitor the remaining amount of anchor net in real time, and transmit the signal to the net transport module and the net taking module to ensure that there is enough anchor net, so that the net laying module and the anchoring module can continue to operate; 4. The robot of the present invention adopts an accurate laser radar positioning system. Through the laser radar module, the robot can perform real-time three-dimensional scanning of the tunnel environment, generate a high-precision three-dimensional model, and provide accurate data support for the coordination of various modules; compared with traditional manual positioning, the system ensures the accuracy of the anchor position, avoids duplication or omission, and improves the intelligence and safety of tunnel support operations; 5. The walking module of the robot of the present invention adopts a four-track design. This structure can not only evenly disperse the weight of the equipment and reduce damage to the tunnel surface, but also cross complex terrain; this structure can also travel for a long time on soft ground and long-distance tunnels, and is suitable for various forms of tunnels. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the roof and side wall anchoring in a full-section automatic anchoring and protection integrated robot for coal mine tunnels of the present invention.

[0016] Figure 2 It is a schematic diagram of anchoring at the junction of the roof and side walls in a full-section automatic anchoring and protection integrated robot for coal mine tunnels of the present invention.

[0017] Figure 3 It is a schematic diagram of the general assembly structure of a full-section automatic anchoring and protection integrated robot for coal mine tunnels of the present invention.

[0018] Figure 4 and Figure 5 It is a schematic diagram of a walking module in a full-section automatic anchoring and protection integrated robot for coal mine tunnels of the present invention.

[0019] Figure 6 It is a schematic diagram of a power source and a control module in a full-section automatic anchoring and protection integrated robot for coal mine tunnels of the present invention.

[0020] Figure 7It is a schematic diagram of a hydraulic pump station in a power source and a control module of a full-section automatic anchoring and protection integrated robot for coal mine tunnels of the present invention.

[0021] Figure 8 It is a schematic diagram of a network storage module in a full-section automatic anchoring and protection integrated robot for coal mine tunnels of the present invention.

[0022] Fig. 9 It is a schematic diagram of a net-taking module in a full-section automatic anchor-protection integrated robot for coal mine tunnels of the present invention.

[0023] Fig.10 It is a schematic diagram of an anchor net taking manipulator in a full-section automatic anchoring and protection integrated robot taking module of a coal mine tunnel of the present invention.

[0024] Fig.11 It is a schematic diagram of a lead screw in a mesh taking module of a full-section automatic anchoring and protection integrated robot in a coal mine tunnel of the present invention.

[0025] Fig.12 It is a schematic diagram of a net transport module in a full-section automatic anchoring and protection integrated robot for coal mine tunnels of the present invention.

[0026] Fig.13 It is a schematic diagram of a conveyor in a network transport module of a full-section automatic anchoring and protection integrated robot in a coal mine tunnel of the present invention.

[0027] Fig.14 It is a schematic diagram of a drag chain frame in a conveyor in a network transport module of a full-section automatic anchoring and protection integrated robot in a coal mine tunnel of the present invention.

[0028] Fig.15 It is a schematic diagram of a mesh laying module in a full-section automatic anchoring and protection integrated robot for coal mine tunnels of the present invention.

[0029] Fig.16 It is a schematic diagram of an anchor net laying manipulator in a net laying module of a full-section automatic anchoring and protection integrated robot for coal mine tunnels of the present invention.

[0030] Fig.17 and Fig.18 It is a schematic diagram of full-section mesh laying of a mesh laying module in a full-section automatic anchoring and protection integrated robot for a coal mine tunnel according to the present invention.

[0031] Fig.19 It is a schematic diagram of an anchoring module in a full-section automatic anchoring and protection integrated robot for coal mine tunnels of the present invention.

[0032] Fig. 20 It is a schematic diagram of the junction between the top plate and the side wall of the anchoring module in the full-section automatic anchoring robot for coal mine tunnels of the present invention.

[0033] Fig.21It is a schematic diagram of a side rock bolt drill in a full-section automatic anchoring and protection integrated robot anchoring module of a coal mine tunnel according to the present invention.

[0034] Fig. 22 It is a schematic diagram of a laser radar positioning module in a full-section automatic anchoring and protection robot for coal mine tunnels of the present invention.

[0035] Fig.23 It is a schematic diagram of the installation position of a laser radar positioning module in a full-section automatic anchoring and protection robot for coal mine tunnels of the present invention.

[0036] In the figure: walking module 1, power source and control module 2, laser radar positioning module 3, net storage module 4, net retrieval module 5, net transportation module 6, net laying module 7, anchoring module 8, anchor net 9, driving wheel 10, crawler 11, support chain wheel 12, trolley frame 13, supporting wheel 14, tensioning device 15, guide wheel 16, chassis platform 17, hydraulic motor 18, integrated electrical control cabinet 19, pressure control valve 20, cooling fan 21, auxiliary pump 22, main pump 23, anchor net box 24, lift bracket 25, scissor lift hydraulic cylinder 26, transverse moving screw 27, anchor net retrieval manipulator 28, longitudinal moving screw 29, gantry column 30, beam 31, connecting beam 32. Net taking hand finger 33. Net taking hand rotary cylinder 34. Wrist rotary motor fixing ring 35. Net taking arm telescopic rod 36. Hydraulic cylinder outer cylinder 37. Net taking hand clamping cylinder 38. Wrist rotary motor 39. Screw drive motor 40. Screw slider 41. Screw guide rail 42. Shaft end block 43. Drive motor 44. Anchor net electromagnetic fixing plate group 45. Net transport module base 46. Conveyor column 47. Lower conveyor 48. Driving sprocket 49. Conveyor fixed beam 50. Drive shaft 51. Drive pulley 52. ​​Driven sprocket 53. Flange bearing 54. Drag chain frame 55. Chain group 56. Drag chain frame fixed beam 57. Drag chain frame shell 58. Roller 59. Anchor net laying machinery Hand 60, net laying module base 61, net laying finger 62, net laying finger slide rail 63, net laying finger clamping cylinder 64, net laying hand rotary motor 65, net laying wrist rotary motor 66, net laying hand forearm 67, net laying hand forearm connecting beam 68, net laying hand lifting hydraulic cylinder 69, net laying hand arm 70, net laying hand arm swing motor 71, net laying hand bottom rotating platform 72, net laying hand base 73, top plate anchor protection module 74, top plate anchor protection module fixing seat 75, side wall anchor protection module 76, side wall anchor drilling rig 77, drilling rig swing device 78, elevator connecting beam 79, elevator active pulley 80, side wall drilling rig slide rail 81, hoist flange bearing 82, elevator drive motor Machine 83, data processing center 84, laser transmitter 85, signal feedback sensor 86, laser radar skeleton 87, laser radar mounting base 88, hydraulic pump station 89, gravity sensor 90, gravity interconnection sensor 91, net taking manipulator fixing sleeve 92, pressure sensor 93, synchronous belt 94, top plate positioning sensor 95, swing hydraulic cylinder 96, guardrail 97, elevator mounting plate 98, side sensor 99, grabbing positioning sensor 100, conveyor synchronous belt 101, upper conveyor 102, outer fixed plate 103, elevator 104, elevator synchronous belt 105, oil tank 106, screw housing 107, screw shaft 108, sleeve 109. DETAILED DESCRIPTION

[0037] The present invention will be further described below in conjunction with the embodiments of the present invention, and the technical solutions of the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work, all modifications, equivalent substitutions, improvements, etc. should be included in the scope of protection of the present invention.

[0038] Reference Figures 1 to 3 The present invention relates to a full-section automatic anchoring and protection integrated robot for coal mine tunnels, which mainly comprises a walking module 1, a power source and control module 2, a laser radar positioning module 3, a net storage module 4, a net taking module 5, a net transportation module 6, a net laying module 7, an anchoring module 8 and an anchor net 9; the walking module 1 is used to install the power source and control module 2, the net storage module 4, the net taking module 5, the net transportation module 6, the net laying module 7 and the anchoring module 8; the laser radar fixing module 3 is respectively installed on the gantry columns of the net taking module 5 and the anchoring module 8; the anchor net 9 is placed in the net storage module 4 and the net transportation module 6; the power source and control module The control module 2 is installed at the tail of the walking module 1 by bolts; the net storage module 4 is installed on the walking module 1 by bolts and is located at the front end of the power source and control module 2; the net taking module 5 is installed on the walking module 1 by bolts and surrounds the net storage module 4 in the middle; the net transport module 6 is installed on the walking module 1 by bolts and is located at the front end of the net taking module 5; the net laying module 7 is installed on the walking module 1 by bolts and is located at the front end of the net transport module 6; the anchoring module 8 is installed on the walking module 1 by bolts and is located at the front end of the net laying module 7, so as to achieve the purpose of efficient anchoring; wherein Figure 1 and Figure 2 Shown are details of the robot's full-section anchoring process. Figure 3 Shown is the overall structure of the robot.

[0039] Reference Figure 4 and Figure 5The walking module 1 includes a driving wheel 10, a crawler track 11, a sprocket wheel 12, a trolley frame 13, a supporting wheel 14, a tensioning device 15, a guide wheel 16, a chassis platform 17 and a hydraulic motor 18; the driving wheel 10, the crawler track 11, the supporting wheel 12, the supporting wheel 14, the tensioning device 15, the guide wheel 16 and the hydraulic motor 18 in the walking module 1 are all installed on the trolley frame 13; in the present invention, the walking module adopts a four-track design. Compared with the traditional double-track or wheeled structure, this structure has better stability. The four tracks can more evenly disperse the weight of the equipment, especially in the environment where the coal mine tunnel has complex terrain or poor geological conditions, and can effectively reduce the risk of overturning. Coal mine tunnels are often accompanied by obstacles such as gravel, accumulated water and muddy ground. The four-track design increases the ground contact area of ​​the equipment, enhances the passing ability, and ensures continuous and safe anchoring operations; compared Compared with dual-track equipment, four tracks can better cross obstacles, making the robot more adaptable to the terrain of various tunnels; the steering flexibility of the four tracks is also relatively good, and it can flexibly turn and turn in narrow tunnels, which is convenient for operation; the four-track system balances the load of the equipment, reduces the pressure on each track, thereby effectively reducing the damage to the tunnel surface and extending the service life of the tunnel, and is especially suitable for tunnels on soft ground and long-distance construction; the four-track equipment combines advanced automation and intelligent control systems, which can accurately control the movement of each track, making the equipment travel more smoothly in complex terrain, and can adjust operations according to real-time terrain to improve work efficiency; the tracks disperse the load, reduce the friction and wear of the ground on the equipment, and extend the service life of the equipment. In addition, the four-track system enables the equipment to operate normally when some tracks fail, reducing downtime caused by equipment maintenance.

[0040] Reference Figure 6 and Figure 7 The power source and control module 2 includes an integrated electrical control cabinet 19, a hydraulic pump station 89, a guardrail 97, a pressure control valve 20, a cooling fan 21, an auxiliary pump 22, a main pump 23, and a fuel tank 106; refer to Figure 7, the hydraulic pump station 89 includes a pressure control valve 20, a cooling fan 21, an auxiliary pump 22, and a main pump 23; the integrated electrical control cabinet 19 and the hydraulic pump station 89 are both fixed to the tail of the walking module 1 and fixed with bolts; the guardrail 97 is fixed to the walking module 1 by bolts and surrounds the integrated electrical control cabinet 19 and the hydraulic pump station 89 in the middle; the cooling fan 21 is fixed to the side of the oil tank 106 by bolts; the auxiliary pump 22 and the main pump 23 are installed above the oil tank 106 by bolts; the pressure control valve 20 is connected to the oil outlet of the auxiliary pump 22 and the main pump 23 by threads; the guardrail 97 is used to protect the integrated electrical control cabinet 19 and the hydraulic pump station 89 to avoid collision with the inner wall of the tunnel; in the coal mine tunnel full-section automatic anchor protection integrated robot described in the present invention, the power source and control module 2 play a vital role, responsible for providing stable and sufficient power for each functional module of the robot power supply; the hydraulic pump station 89 drives the walking module 1, the net storage module 4, the anchor net taking manipulator 28, the laying hand clamping cylinder 64 of the anchor net laying manipulator 60, the laying hand lifting hydraulic cylinder 69 and the anchoring module 8 through the hydraulic system to ensure the smooth movement and precise operation of the robot in a complex tunnel environment; at the same time, the electrical control cabinet 19, as a control center, integrates the overall command processing and distribution functions of the robot; it receives operation instructions from the remote control center, coordinates the power output of the motor and the collaborative work of each module through an advanced electrical control system, and realizes automatic control and real-time monitoring; the electrical control cabinet 19 also integrates a safety protection mechanism, which can respond in time under abnormal circumstances to ensure the safety of the robot operation; through the efficient coordination of the power source and the control module 2, the robot can realize efficient, precise and safe operation of full-section automatic anchor protection, greatly improving the automation level of coal mine tunnel maintenance.

[0041] Reference Figure 8The net storage module 4 includes an anchor box 24, a lift bracket 25, a scissor lift hydraulic cylinder 26 and a gravity sensor 90; the anchor box 24 is mounted on the lift bracket 25 by bolts; the scissor lift hydraulic cylinder 26 is hinged on the lift bracket 25; the lift bracket 25 is mounted on the walking module 1 by bolts; the gravity sensor 90 is mounted on the bottom of the lift bracket 25 by bolts, and the gravity sensor line 90 is connected to the scissor lift hydraulic cylinder 26 to sense gravity changes; the net storage module 4 is designed with a large-capacity anchor box, which ensures that the net storage module can store a large amount of anchor nets and support long The continuous operation of the time reduces the need for frequent replenishment; the net storage module 4 is equipped with a gravity sensor 90. When it is detected that the weight of the anchor net 9 in the anchor net box 24 is reduced, the scissor-type hydraulic lifting cylinder 26 will automatically lift the anchor net box 24; the gravity sensor 90 communicates with the gravity interconnection sensor 91 in the net retrieval module 5, so that the anchor net 9 is at a suitable net retrieval height for the net retrieval module 5. This process provides convenient net retrieval conditions for the net retrieval module 5, ensuring a stable and continuous supply of the anchor net 9; the design of the net storage module 4 takes into account the close cooperation with the net retrieval module 5, realizing automatic net supply and efficient collaborative operation.

[0042] Reference Figures 9 to 11 The net taking module 5 includes a transverse moving screw 27, an anchor net taking manipulator 28, a longitudinal moving screw 29, a gantry column 30, a crossbeam 31, a connecting beam 32, a gravity interconnection sensor 91 and a net taking manipulator fixing sleeve 92; wherein the anchor net taking manipulator 28 includes a net taking hand finger 33, a net taking hand rotary hydraulic cylinder 34, a wrist rotary motor fixing ring 35, a net taking arm telescopic rod 36, a hydraulic cylinder outer tube 37, a net taking hand clamping cylinder 38, and a wrist rotary motor 39; the transverse moving screw 27 and the longitudinal moving screw 29 include a screw drive motor 40, a screw slider 41, a screw guide rail 42, an axis end block 43, a screw housing 107, a screw shaft 108, and a sliding sleeve 109; refer to Fig. 9, the gantry column 30 is installed on the walking module 1 and connected with bolts; the crossbeam 31 is connected between the two gantry columns 30 and connected with bolts; the two connecting beams 32 are connected between the two adjacent gantry columns 30 and connected with bolts; the two longitudinal movable screws 29 are installed on the two connecting beams 32 and connected with bolts; the transverse movable screw 27 is fixed on the two longitudinal movable screws 29 through a screw slider 41; the net taking manipulator fixed sleeve 92 is fixed on the transverse movable screw 27 through a screw slider 41; the anchor net taking manipulator 28 is fixed on the net taking manipulator fixed sleeve 92 by bolts; the gravity interconnection sensor 91 is installed on the net taking manipulator fixed sleeve 92 by bolts; refer to Fig.10 The net taking hand finger 33 is hinged with the net taking hand clamping cylinder 38; the net taking hand clamping cylinder 38 is connected with the net taking hand rotary hydraulic cylinder 34; the net taking hand rotary hydraulic cylinder 34 is hinged with the net taking arm telescopic rod 36; the wrist rotary motor fixing ring 35 is fixed on the net taking arm telescopic rod 36; the wrist rotary motor 39 is installed on the wrist rotary motor fixing ring 35 by bolts; the net taking arm telescopic rod 36 is installed concentrically with the hydraulic cylinder outer tube 37; refer to Fig.11 The screw drive motor 40 is installed on the screw housing 107 by bolts; the screw guide rail 42 is fixed on the screw housing 107 by bolts; the shaft end block 43 is installed on the screw housing 107 by bolts; both ends of the screw shaft 108 are installed on the shaft end block 43; the screw slider 41 and the sliding sleeve 109 are coaxially installed on the screw shaft 108; the anchor net retrieval manipulator 28 is accurately positioned by the transverse moving screw 27 and the longitudinal moving screw 29, and can quickly and accurately grab the anchor net 9 to reduce errors; the anchor net retrieval manipulator 28 transports the grabbed anchor net 9 to the anchor net electromagnetic fixing plate group 45 of the net transport module 6, which ensures the stability of the anchor net 9 during transportation and prevents the anchor net 9 from slipping or being damaged.

[0043] Reference Figure 12 to Figure 14The net transport module 6 includes a driving motor 44, an anchor net electromagnetic fixing plate group 45, a net transport module base 46, a conveyor column 47, a synchronous belt 94, a conveyor synchronous belt 101, a lower conveyor 48 and an upper conveyor 102; the lower conveyor 48 and the upper conveyor 102 include a driving sprocket 49, a conveyor fixed beam 50, a driving shaft 51, a driving pulley 52, a driven sprocket 53, a flange bearing 54, a drag chain frame 55, a chain group 56, a drag chain frame fixed beam 57, a pressure sensor 93, and an outer fixed plate 103; the drag chain frame 55 includes a drag chain frame shell 58 and a roller 59; refer to Fig.12 The driving motor 44 is connected to the lower conveyor 48 through the synchronous belt 94; the anchor net fixing electromagnetic plate group 45 is fixed to the upper conveyor 102 and the lower conveyor 48 by bolts; the upper conveyor 102 and the lower conveyor 48 are connected by the conveyor synchronous belt 101 and fixed by the conveyor column 47; refer to Fig.13 The driving sprocket 49, the driving shaft 51, the driving pulley 52 and the flange bearing 54 are coaxially connected and fixed to the outer fixed plate 103 by bolts through the flange bearing 54; the conveyor fixed beam 50 is connected to the drag chain frame 55 by bolts; the drag chain frame 55, the drag chain frame fixed beam 57 and the outer fixed plate 103 are connected by bolts; the net transport module base 46 is connected to the drag chain frame fixed beam 57 by bolts; the chain group 56 cooperates with the driving sprocket 49 and the driven sprocket 53; the roller 59 and the drag chain frame shell 58 cooperate through a hinge pin; the net transport module 6 is responsible for transporting the pre-installed anchor net 9 from the net storage module 4 and the net retrieval module 5 to the net laying module 7, ensuring that the anchor net laying robot 60 can obtain the required anchor net 9 at any time; the net transport module 6 uses the drive motor 44 and the drive The synchronous belt transmission mechanism composed of the driven pulley 52 realizes the smooth transportation of the anchor net and ensures the stability during transportation; the net transport module 6 adopts a double-layer transportation mode and is equipped with the anchor net electromagnetic fixing plate group 45, which can firmly fix the anchor net 9 when needed to prevent accidental sliding or falling during transportation; when the pressure sensor 93 of the net transport module 6 detects that the anchor net 9 is insufficient, the pressure sensor 93 is responsible for sensing the pressure brought by the anchor net, and when the pressure drops, the signal is transmitted to the gravity sensor 90 and the gravity interconnection sensor 91, the net storage module 4 adjusts the height, and the net retrieval module 5 automatically starts to grab the anchor net 9, thereby realizing the continuous supply of the anchor net; the net transport module 6 is linked with other modules through the integrated electrical control cabinet 19 to ensure that in the entire anchor protection process, the work of the net transport module 6 can be efficiently coordinated with the net laying module 7 and the anchoring module 8 to improve the overall operation efficiency.

[0044] Reference Figures 15 to 18 , the web laying module 7 includes an anchor web laying manipulator 60 and a web laying module base 61; the anchor web laying manipulator 60 includes a web laying finger 62, a web laying finger slide rail 63, a web laying finger clamping cylinder 64, a web laying hand rotary motor 65, a web laying wrist rotary motor 66, a web laying hand forearm 67, a web laying hand forearm connecting beam 68, a web laying hand lifting hydraulic cylinder 69, a web laying hand upper arm 70, a web laying hand upper arm swing motor 71, a web laying hand bottom rotary platform 72, a web laying manipulator base 73 and a grabbing positioning sensor 100; refer to Fig.15 The anchor net laying robot 60 is connected to the net laying module base 61 by bolts; Fig.16 , the web-laying finger 62 is coaxially connected to the web-laying finger slide rail 63; the web-laying finger clamping cylinder 64 is hinged to the web-laying finger 62; the web-laying hand rotary motor 65 is hinged to the web-laying finger clamping cylinder 64; the web-laying wrist rotary motor 66 is connected to the web-laying hand forearm 67 and the web-laying hand forearm connecting beam 68 by bolts, and is coaxially connected to the web-laying hand rotary motor 65; the web-laying hand forearm 67 and the web-laying hand forearm connecting beam 68 are hinged to the web-laying hand lifting hydraulic cylinder 69 and the web-laying hand upper arm 70; the web-laying hand lifting hydraulic cylinder 69 and the web-laying hand upper arm 70 are coaxially connected to the web-laying hand upper arm swing motor 71; the web-laying hand bottom rotary platform 72 is coaxially connected to the web-laying manipulator base 73; After the robot enters the working area, first, the remote control center starts the net laying module 7 to ensure that all parts of the system are operating normally. Then, the net laying arm swing motor 71 will drive the net laying arm 70 and the net laying arm 67 to extend forward. When reaching the predetermined position for grabbing the anchor net 9, the net laying finger 62 will move along the net laying finger slide rail 63 driven by the net laying finger clamping cylinder 64, and accurately identify the anchor mesh holes according to the grabbing positioning sensor 100 to grab the anchor net; finally, after grabbing the anchor net 9, the bottom rotating platform 72 of the anchor net hand and the anchor net hand lifting hydraulic cylinder 69 start working, and the manipulators on both sides of the anchor net laying manipulator 60 start to lay the net on the side gang, and the middle manipulator starts to lay the net on the top plate. The specific operations are as follows: Fig.17 As shown; for the unlaid net area that may exist at the junction of the top plate and the side, the net laying hand rotary motor 65 and the net laying hand lifting hydraulic cylinder 69 will adjust the posture to lay the net in the area, the specific operation is as follows Fig.18 As shown, thereby ensuring the smooth progress of the web laying work.

[0045] Reference Figures 19 to 21The anchoring module 8 includes a gantry column 30, a crossbeam 31, a top plate anchoring module 74, a top plate anchoring module fixing seat 75, a side wall anchoring module 76, and a top plate positioning and depth detection sensor 95; the side wall anchoring module includes a side wall anchor drilling rig 77, a drilling rig swing device 78, an elevator connecting beam 79, an elevator driving pulley 80, a side wall drilling rig slide rail 81, an elevator flange bearing 82, an elevator drive motor 83, a swing hydraulic cylinder 96, an elevator mounting plate 98, a side wall positioning and depth detection sensor 99, an elevator 104, and an elevator synchronous belt 105; refer to Fig.19 The gantry column 30 is installed on the chassis platform 17 of the walking module 1 and connected with bolts; the crossbeam 31 is connected between the two gantry columns 30 and connected with bolts; the top plate anchor module fixing seat 75 is fixed to the adjacent gantry columns 30 by bolts; the top plate anchor module 74 is installed on the top plate anchor module fixing seat 75 by bolts; the side support anchor module 76 is connected to the two adjacent gantry columns 30 by bolts through the elevator mounting plate 98; refer to Fig.21 The side wall anchor drill 77 is installed on the drilling rig swing device 78 by bolts; the elevator connecting beam 79 is fixed to the elevator 104 by bolts; the elevator drive motor 83 is connected to the elevator driving pulley 80 through the elevator synchronous belt 105; the drilling rig swing device 78 is coaxially connected to the side wall drilling rig slide rail 81; the swing hydraulic cylinder 96 is hinged on the drilling rig swing device 78; the anchoring process refers to Fig.19 and Fig. 20 First, the remote control center starts the anchoring module 8 and activates its core components, including the roof anchoring module 74 and the side wall anchoring module 76; after starting, the side wall anchor drill 77 in the side wall anchoring module 76 will start working, and accurately locate and drill holes on the side wall through the drilling rig swing device 78 and the side wall positioning and depth detection sensor 99. At the same time, the drilling rig swing device 78 and the elevator drive motor 83 are started to ensure that the anchor can be drilled at an appropriate height, depth and angle; at the same time, the roof anchoring module 74 and the roof positioning and depth detection sensor 95 will also work synchronously, and the drilling rig is responsible for drilling holes at the roof position for anchoring; during the drilling process, the roof positioning sensor 95 and the side wall positioning sensor 99 monitor the drilling depth and position of the anchor in real time to ensure that the anchoring effect meets safety standards.

[0046] Reference Fig. 22 and Fig.23The laser radar positioning module 3 includes a data processing center 84, a laser transmitter 85, a signal feedback sensor 86, a laser radar frame 87, and a laser radar mounting base 88; the data processing center 84 is mounted on the laser radar frame 87 by bolts; the laser transmitter 85 is mounted on the laser radar frame 87 by bolts and is located below the data processing center 84; the signal feedback sensor 86 is mounted on the laser radar frame 87 by bolts and is located below the laser transmitter 85; the laser radar mounting base 88 is mounted on the rear of the laser radar frame 87 by bolts, refer to Fig.23 , the laser radar positioning module 3 is installed on the gantry column 30 by bolts; the laser radar positioning module 3 is crucial in the working process of the full-section automatic anchor protection robot in the coal mine tunnel, and is mainly responsible for environmental perception, position positioning and navigation; first, when the robot is started and enters the coal mine tunnel, the laser transmitter 85 will emit a laser beam to perform high-precision scanning of the surrounding tunnels and obtain three-dimensional environmental data in real time; these data are fed back to the data processing center 84 through the signal feedback sensor 89 to generate a detailed three-dimensional tunnel model; when the robot drives to the working area, the laser radar positioning module 3 It is responsible for accurately locating the anchoring position and providing directional navigation; it can identify obstacles and structural features in the tunnel to ensure that the robot chooses the best driving path to avoid collisions; in the net-laying operation, the laser radar positioning module 3 guides the precise movement of the net-laying module 7 and the anchoring module 8 by monitoring the relative position of the robot and the target position; it can provide real-time feedback and adjust the movements of the net-laying module 7 and the anchoring module 8 to ensure that the anchor net 9 is accurately placed in the predetermined position; for the unanchored area at the junction of the top plate and the side wall, the laser radar positioning module 3 can identify it in time, and guide the net-laying module 7 and the anchoring module 8 to make remedial measures to ensure uniform coverage of the entire section.

[0047] Principle of the present invention: A coal mine tunnel full-section automatic anchoring and protection integrated robot described in the present invention works together through a series of efficient and automated modules to cope with the problems of high labor intensity, low efficiency and poor safety in coal mine tunnel anchoring and protection; the walking module 1 of the robot is driven by the hydraulic motor 18 and has stable movement ability; its positioning function is realized by the laser radar positioning module 3, which includes the laser transmitter 85 and the signal feedback sensor 86, and is responsible for real-time acquisition of three-dimensional data of the tunnel, generating a coal mine tunnel model through the data processing center 84, and determining the anchoring and protection position and direction; when the robot enters the working area, the net transport module 6 starts to transport the pre-installed anchor net 9 to the paving The mesh module 7; the anchor mesh laying manipulator 60 of the mesh laying module 7 is responsible for grabbing and laying the anchor mesh 9. The manipulator includes a plurality of adjustable moving parts, which can accurately grab the anchor mesh 9 and adjust the posture according to the tunnel conditions to ensure that the mesh can be effectively laid on the roof, the side walls and the junction between the two; at the same time, the anchoring module 8 is started to drive anchor rods into the roof, the side walls and the junction between the two to ensure the stability of the tunnel structure; when the number of anchor meshes is reduced, the mesh taking module 5 is activated to send the anchor mesh 9 to the anchor mesh electromagnetic fixing plate group 45 of the mesh transportation module 6 for fixing, and wait for the next time the mesh laying 9 is transported; the whole process is monitored and controlled by the remote control center to ensure that the robot efficiently and continuously completes the anchoring and protection operations of the coal mine tunnels.

[0048] Finally, it should be noted that the above is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned examples, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned examples or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A full-section automatic anchoring and protection robot for coal mine tunnels, characterized in that: The invention comprises a walking module (1), a power source and control module (2), a laser radar positioning module (3), a net storage module (4), a net retrieval module (5), a net transport module (6), a net laying module (7), an anchoring module (8) and an anchor net (9); the walking module (1) is used to install the power source and control module (2), the net storage module (4), the net retrieval module (5), the net transport module (6), the net laying module (7) and the anchoring module (8); the laser radar fixing module (3) is respectively installed on the gantry columns of the net retrieval module (5) and the anchoring module (8); the anchor net (9) is placed in the net storage module (4) and the net transport module (6); the power source and control module (3) is installed on the gantry columns of the net retrieval module (5) and the anchoring module (8); the anchor net (9) is placed in the net storage module (4) and the net transport module (6); the power source and control module (4) is installed on the gantry columns of the net retrieval module (5) and the anchoring module (8); the anchor net (9) is placed in the net storage module (4) and the net transport module (6); the power source and control module (3) is installed on the gantry columns of the net retrieval module (5) and the anchoring module (8); the power source and control module (3) is installed on the gantry columns of the net retrieval module (5) and the anchoring module (8); the anchor net (9) is placed in the net storage module (4) and the net transport module (6); the power source and control module (3) is installed on the gantry columns of the net The block (2) is mounted on the rear of the walking module (1) by bolts; the net storage module (4) is mounted on the walking module (1) by bolts and is located at the front end of the power source and control module (2); the net taking module (5) is mounted on the walking module (1) by bolts and surrounds the net storage module (4) in the middle; the net transport module (6) is mounted on the walking module (1) by bolts and is located at the front end of the net taking module (5); the net laying module (7) is mounted on the walking module (1) by bolts and is located at the front end of the net transport module (6); the anchoring module (8) is mounted on the walking module (1) by bolts and is located at the front end of the net laying module (7).

2. The full-section automatic anchoring and protection robot for coal mine tunnels according to claim 1 is characterized in that: The walking module (1) comprises a driving wheel (10), a crawler track (11), a sprocket wheel (12), a trolley frame (13), a supporting roller (14), a tensioning device (15), a guide wheel (16), a chassis platform (17) and a hydraulic motor (18); the driving wheel (10), the crawler track (11), the supporting roller (12), the supporting roller (14), the tensioning device (15), the guide wheel (16) and the hydraulic motor (18) in the walking module (1) are all mounted on the trolley frame (13).

3. The full-section automatic anchoring and protection robot for coal mine tunnels according to claim 1 is characterized in that: The power source and control module (2) comprises an integrated electrical control cabinet (19), a hydraulic pump station (89), and a guardrail (97); the hydraulic pump station (89) comprises a pressure control valve (20), a cooling fan (21), an auxiliary pump (22), a main pump (23), and an oil tank (106); the integrated electrical control cabinet (19) and the hydraulic pump station (89) are both fixed to the rear of the walking module (1) and fixed by bolts; the guardrail (97) is fixed to the walking module (1) by bolts and surrounds the integrated electrical control cabinet (19) and the hydraulic pump station (89) in the middle; the cooling fan (21) is fixed to the side of the oil tank (106) by bolts; the auxiliary pump (22) and the main pump (23) are installed above the oil tank (106) by bolts; and the pressure control valve (20) is connected to the oil outlets of the auxiliary pump (22) and the main pump (23) by threads.

4. The full-section automatic anchoring and protection robot for coal mine tunnels according to claim 1 is characterized in that: The net storage module (4) comprises an anchor net box (24), a lift bracket (25), a scissor-type lift hydraulic cylinder (26) and a gravity sensor (90); the anchor net box (24) is mounted on the lift bracket (25) by means of bolts; the scissor-type lift hydraulic cylinder (26) is hinged on the lift bracket (25); the lift bracket (25) is mounted on the walking module (1) by means of bolts; and the gravity sensor (90) is mounted on the bottom of the lift bracket (25) by means of bolts.

5. The full-section automatic anchoring and protection robot for coal mine tunnels according to claim 1 is characterized in that: The net retrieval module (5) comprises a transverse moving lead screw (27), an anchor net retrieval manipulator (28), a longitudinal moving lead screw (29), a gantry column (30), a crossbeam (31), a connecting beam (32), a gravity interconnection sensor (91) and a net retrieval manipulator fixing sleeve (92); wherein the anchor net retrieval manipulator (28) comprises a net retrieval hand finger (33), a net retrieval hand rotary hydraulic cylinder (34), a wrist rotary motor fixing ring (35), a net retrieval arm telescopic rod (36), a hydraulic cylinder outer cylinder (37), a net retrieval hand clamping cylinder (38), and a wrist rotary motor (39); the transverse moving lead screw (27) and the longitudinal moving lead screw (29) comprise a lead screw driving motor (40), a lead screw slider (41 ), a screw guide rail (42), an axis end stopper (43), a screw housing (107), a screw shaft (108), and a sleeve (109); the gantry column (30) is mounted on the walking module (1) and connected by bolts; the crossbeam (31) is connected between the two gantry columns (30) and connected by bolts; the two connecting beams (32) are connected between two adjacent gantry columns (30) and connected by bolts; the two longitudinal moving screws (29) are mounted on the two connecting beams (32) and connected by bolts; the transverse moving screw (27) is fixed to the two longitudinal moving screws (29) through the screw slider (41); the taking The net manipulator fixed sleeve (92) is fixed to the transverse moving screw (27) through the screw slider (41); the anchor net net taking manipulator (28) is fixed to the net taking manipulator fixed sleeve (92) through bolts; the gravity interconnection sensor (91) is installed on the net taking manipulator fixed sleeve (92) through bolts; the net taking hand finger (33) is hinged to the net taking hand clamping cylinder (38); the net taking hand clamping cylinder (38) is connected to the net taking hand rotary hydraulic cylinder (34); the net taking hand rotary hydraulic cylinder (34) is hinged to the net taking arm telescopic rod (36); the wrist rotary motor fixed ring (35) is fixed to the net taking arm telescopic rod (36) ; The wrist rotary motor (39) is mounted on the wrist rotary motor fixing ring (35) by bolts; the net-taking arm telescopic rod (36) is installed concentrically with the hydraulic cylinder outer tube (37); the screw drive motor (40) is mounted on the screw housing (107) by bolts; the screw guide rail (42) is fixed to the screw housing (107) by bolts; the shaft end block (43) is mounted on the screw housing (107) by bolts; both ends of the screw shaft (108) are mounted on the shaft end block (43); the screw slider (41) and the sliding sleeve (109) are coaxially mounted on the screw shaft (108).

6. The full-section automatic anchoring and protection robot for coal mine tunnels according to claim 1, characterized in that: The net transport module (6) comprises a driving motor (44), an anchor net electromagnetic fixing plate group (45), a net transport module base (46), a conveyor column (47), a synchronous belt (94), a conveyor synchronous belt (101), a lower conveyor (48) and an upper conveyor (102); the lower conveyor (48) and the upper conveyor (102) comprise a driving sprocket (49), a conveyor fixing beam (50), a driving shaft (51), a driving pulley (52), a driven sprocket (5 3), flange bearing (54), drag chain frame (55), chain group (56), drag chain frame fixing beam (57), pressure sensor (93), outer fixing plate (103); the drag chain frame (55) includes a drag chain frame housing (58) and a roller (59); the drive motor (44) is connected to the lower conveyor (48) through the synchronous belt (94); the anchor net electromagnetic fixing plate group (45) is fixed to the upper conveyor (102) and The upper conveyor (102) and the lower conveyor (48) are connected via the conveyor synchronous belt (101) and fixedly supported by the conveyor column (47); the driving sprocket (49), the driving shaft (51), the driving pulley (52) and the flange bearing (54) are coaxially connected and the flange bearing (54) is fixed to the outer fixing plate (103) via bolts; the conveyor fixed beam (50) is connected to the drag chain frame (55) via bolts; the drag chain frame (55), the drag chain frame fixed beam (57) and the outer fixing plate (103) are connected via bolts; the net transport module base (46) is connected to the drag chain frame fixed beam (57) via bolts; the chain group (56) is matched with the driving sprocket (49) and the driven sprocket (53); the roller (59) and the drag chain frame housing (58) are matched via hinge pins.

7. The full-section automatic anchoring and protection robot for coal mine tunnels according to claim 1, characterized in that: The web laying module (7) comprises an anchor web laying manipulator (60) and a web laying module base (61); the anchor web laying manipulator (60) is mounted on the web laying module base (61) by bolts; the web laying module base (61) is mounted on the walking module (1) by bolts; the anchor web laying manipulator (60) comprises a web laying finger (62), a web laying finger slide rail (63), a web laying finger clamping cylinder (64), a web laying hand rotary motor (65), a web laying wrist rotary motor (66), a web laying hand forearm (67), a web laying hand forearm connecting beam (68), a web laying hand lifting hydraulic cylinder (69), a web laying hand upper arm (70), a web laying hand upper arm swinging motor (71), a web laying hand bottom rotary platform (72), a web laying manipulator base (73) and a grabbing positioning sensor (100); the web laying finger (62) is coaxially connected to the web laying finger slide rail (63), a web laying finger clamping cylinder (64), a web laying hand rotary motor (65), a web laying wrist rotary motor (66), a web laying hand forearm (67), a web laying hand forearm connecting beam (68), a web laying hand lifting hydraulic cylinder (69), a web laying hand upper arm (70), a web laying hand upper arm swinging motor (71), a web laying hand bottom rotary platform (72), a web laying manipulator base (73) and a grabbing positioning sensor (100); The net laying finger slide rail (63) is connected to the net laying finger clamping cylinder (64) and the net laying finger (62); the net laying hand rotary motor (65) is hinged to the net laying finger clamping cylinder (64); the net laying wrist rotary motor (66) is connected to the net laying hand arm (67) and the net laying hand arm connecting beam (68) through bolts, and is coaxially connected to the net laying hand rotary motor (65); the net laying hand arm (67) and the net laying hand arm connecting beam (68) are hinged to the net laying hand lifting hydraulic cylinder (69) and the net laying hand arm (70); the net laying hand lifting hydraulic cylinder (69) and the net laying hand arm (70) are coaxially connected to the net laying hand arm swing motor (71); the net laying hand bottom rotary platform (72) is coaxially connected to the net laying manipulator base (73).

8. The full-section automatic anchoring and protection robot for coal mine tunnels according to claim 1, characterized in that: The anchoring module (8) comprises a gantry column (30), a crossbeam (31), a top plate anchoring module (74), a top plate anchoring module fixing seat (75), a side wall anchoring module (76), and a top plate positioning and depth detection sensor (95); the side wall anchoring module (76) comprises a side wall anchor drilling rig (77), a drilling rig swinging device (78), an elevator connecting beam (79), an elevator driving pulley (80), a side wall drilling rig slide rail (81), an elevator flange bearing (82), an elevator driving motor (83), a swing hydraulic cylinder (96), an elevator mounting plate (98), a side wall positioning and depth detection sensor (99), an elevator (104), and an elevator synchronous belt (105); the gantry column (30) is mounted on the chassis platform (17) of the walking module (1) and connected by bolts; the crossbeam (31) is connected between two gantry columns (30) and screwed. The top plate anchor module fixing seat (75) is fixed to the adjacent gantry columns (30) by bolts; the top plate anchor module (74) is installed on the top plate anchor module fixing seat (75) by bolts; the side wall anchor module (76) is connected to the two adjacent gantry columns (30) by bolts through the elevator mounting plate (98); the side wall anchor drill (77) is installed on the drill rig swing device (78) by bolts; the elevator connecting beam (79) is fixed to the elevator (104) by bolts; the elevator drive motor (83) is connected to the elevator active pulley (80) through the elevator synchronous belt (105); the drill rig swing device (78) is coaxially connected to the side wall drill rig slide rail (81); the swing hydraulic cylinder (96) is hinged on the drill rig swing device (78).

9. The full-section automatic anchoring and protection robot for coal mine tunnels according to claim 1, characterized in that: The laser radar positioning module (3) comprises a data processing center (84), a laser transmitter (85), a signal feedback sensor (86), a laser radar frame (87), and a laser radar mounting base (88); the data processing center (84) is mounted on the laser radar frame (87) by bolts; the laser transmitter (85) is mounted on the laser radar frame (87) by bolts and is located below the data processing center (84); the signal feedback sensor (86) is mounted on the laser radar frame (87) by bolts and is located below the laser transmitter (85); the laser radar mounting base (88) is mounted behind the laser radar frame (87) by bolts; and the laser radar mounting base (88) is fixed to the gantry columns (30) of the net taking module (5) and the anchoring module (8) by bolts.

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