Anchor rod drilling machine capable of automatically replacing rods and operation method

Abstract

The invention belongs to the technical field of anchor rod drilling machines, and particularly discloses an anchor rod drilling machine capable of automatically replacing rods and an operation method. The anchor rod drilling machine with the automatic rod replacing function is used for automatic rod replacing and drilling operation of anchor rods, anchor rods in a distributing box are released to a channel in the bottom of the distributing box one by one through a rod placing unit of the distributing mechanism, and anchor rod grooves in the circumferential direction of a temporary storage cylinder unit sequentially correspond to the channel in the bottom of the distributing box through a temporary storage conveying mechanism; a single anchor rod in a channel at the bottom of a distribution box is pushed to an anchor rod groove through a push rod unit of the distribution mechanism, the anchor rod is clamped by a first anchor rod clamp, a temporary storage cylinder unit is transferred to the position of a clamping lifting mechanism through a temporary storage conveying mechanism, and the anchor rod is transferred to a second anchor rod clamp of the clamping lifting mechanism from the temporary storage cylinder unit to be clamped. And the sliding seat slides vertically relative to the supporting stand column to drive the anchor rod to ascend and descend, so that the anchor rod is placed at the drilling end of the drilling machine body, the drilling end of the drilling machine body drives the anchor rod to conduct drilling operation, and therefore automatic replacement operation of the anchor rod is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of anchor drilling machines, and in particular relates to an anchor drilling machine with automatic rod changing and an operation method. Background Art

[0002] As an effective support method, anchor support has been widely used in coal mine tunnels, tunnels, slopes and other projects. As underground projects such as coal mines are continuously arranged deeper, the requirements for tunnel support are getting higher and higher. As the key equipment for anchor support, whether the anchor drill can work stably and efficiently under complex geological conditions directly affects the support effect, construction safety and construction efficiency of the tunnel. Therefore, the research and development of anchor drills has important practical significance. With the continuous advancement of science and technology, the stability and efficiency of anchor drills have been greatly improved from the initial simple mechanical structure to the current intelligent and automated control, which also makes the application of anchor drills in underground projects such as coal mines more extensive and in-depth. Traditional anchor drills require manual replacement of anchor rods, which is inefficient and has poor safety. Some anchor drills can achieve semi-automatic operation for replacing anchor rods, but still require manual on-site auxiliary operations, which are not efficient enough and have poor safety. Summary of the invention

[0003] The object of the present invention is to provide an anchor drilling rig with automatic rod changing and an operation method, so as to realize the automatic replacement operation of anchor rods.

[0004] In order to achieve the above object, the technical solutions adopted by the present invention are as follows:

[0005] An anchor drilling rig with automatic rod changing, comprising:

[0006] A running chassis capable of moving relative to the ground;

[0007] A distribution mechanism, which is arranged on the traveling chassis, stores the anchor rods and distributes a plurality of anchor rods to the temporary storage and conveying mechanism;

[0008] The temporary storage and conveying mechanism is arranged on the traveling chassis, and conveys a number of anchor rods distributed by the distribution mechanism and conveys the anchor rods to the clamping and lifting mechanism;

[0009] The clamping and lifting mechanism is arranged on the traveling chassis, clamps the anchor rod transmitted by the temporary storage and transmission mechanism and drives the anchor rod to be raised and lowered, so as to place the anchor rod at the drilling end of the drilling rig body;

[0010] The main body of the drilling rig is set on the traveling chassis and drives the anchor drilling operation.

[0011] Preferably, the dispensing mechanism comprises a dispensing box, a rod placing unit and a rod pushing unit;

[0012] The upper part of the distribution box is used to place anchor rods, and the bottom of the distribution box is provided with a channel allowing a single anchor rod to be output;

[0013] The rod releasing unit is arranged on the distribution box, and releases the anchor rods inside the distribution box one by one to the channel at the bottom of the distribution box;

[0014] The push rod unit is arranged on the distribution box to push the single anchor rod in the bottom channel of the distribution box to the temporary storage and conveying mechanism.

[0015] Preferably, a plurality of accommodating slots are arranged side by side inside the distribution box, each accommodating slot is arranged vertically, and the accommodating slots allow a plurality of anchor rods in a horizontal posture to be arranged vertically in layers, with one anchor rod arranged in each layer;

[0016] The rod placing unit comprises a first rod blocking plate, a second rod blocking plate, a first telescopic cylinder and a second telescopic cylinder;

[0017] The first baffle plate penetrates into the side of the distribution box and passes through each receiving slot, and the first baffle plate is located between the lowest anchor rod and the second lower anchor rod;

[0018] The second baffle plate penetrates into the side of the distribution box and passes through each receiving groove, and the second baffle plate is located below the lowest anchor rod;

[0019] The first telescopic cylinder is arranged on the distribution box, and the telescopic end of the first telescopic cylinder is connected to the outer end of the first baffle plate;

[0020] The second telescopic cylinder is arranged on the distribution box, and the telescopic end of the second telescopic cylinder is connected to the outer end of the second baffle plate.

[0021] Preferably, the second telescopic cylinder is configured as an electric cylinder.

[0022] Preferably, the push rod unit comprises a push rod and a third telescopic cylinder;

[0023] The push rod is slidably matched with the channel;

[0024] The third telescopic cylinder is arranged on the distribution box, and the telescopic end of the third telescopic cylinder is connected to the pushing rod.

[0025] Preferably, the cross section of the inner contour of the bottom of the distribution box is wide at the top and narrow at the bottom, and the channel is located at the narrowest part of the cross section of the inner contour of the bottom of the distribution box.

[0026] Preferably, the temporary storage conveying mechanism includes a first rotating seat, a first driving unit, a first swing column, a second driving unit, a second swing column, a third driving unit, a second rotating seat, a fourth driving unit and a temporary storage drum unit;

[0027] The lower end of the first rotating seat is rotatably connected to the running chassis, and the first driving unit can drive the first rotating seat to rotate relative to the running chassis;

[0028] The upper end of the first rotating seat is hinged to the lower end of the first swing column, and the second driving unit can drive the first swing column to swing relative to the first rotating seat;

[0029] The upper end of the first swing column is hinged to the lower end of the second swing column, and the third driving unit can drive the second swing column to swing relative to the first swing column;

[0030] The upper end of the second swing column is rotatably connected to the second rotating seat, and the fourth driving unit can drive the second rotating seat to rotate relative to the second swing column;

[0031] The temporary storage barrel unit is arranged on the second rotating seat, and the temporary storage barrel unit is used for a plurality of anchor rods distributed by the distribution mechanism.

[0032] Preferably, the temporary storage barrel unit comprises a support frame, a rotating shaft, a temporary storage motor, an anchor rod receiving plate and a first anchor rod clamp;

[0033] The support frame is arranged on the second rotating seat, the rotating shaft is rotatably connected to the support frame, the temporary storage motor is arranged on the support frame, and the output rotating shaft of the temporary storage motor is connected to one end of the rotating shaft;

[0034] An anchor rod accommodating plate and a first anchor rod clamp are arranged on the rotating shaft;

[0035] A plurality of anchor rod grooves are provided along the circumference of the edge of the receiving plate, and the anchor rods are placed in the anchor rod grooves;

[0036] The first anchor rod clamp can clamp the anchor rod or be detached from the anchor rod.

[0037] Preferably, the clamping and lifting mechanism comprises a supporting column, a sliding seat, a fourth telescopic cylinder and a second anchor clamp;

[0038] The supporting column is arranged on the traveling chassis, and the sliding seat is slidably matched on the supporting column;

[0039] One end of the fourth telescopic cylinder is connected to the supporting column, and the other end is connected to the sliding seat;

[0040] The second anchor rod clamp is arranged on the slide seat, and the second anchor rod clamp can clamp the anchor rod or be separated from the anchor rod.

[0041] An automatic rod-changing anchor drilling rig operation method is provided, using the above-mentioned automatic rod-changing anchor drilling rig, the method comprising the following steps:

[0042] Step 1: Place a set number of anchor rods on the dispensing mechanism, the dispensing mechanism dispenses a number of anchor rods to the temporary storage and conveying mechanism, the temporary storage and conveying mechanism conveys the anchor rods dispensed by the dispensing mechanism to the clamping and lifting mechanism, the clamping and lifting mechanism clamps the anchor rods conveyed by the temporary storage and conveying mechanism and drives the anchor rods to rise and fall, so as to place the anchor rods on the drilling end of the drilling rig body;

[0043] At the same time, the traveling chassis moves to a set position relative to the ground;

[0044] Step 2: The drilling end of the drilling rig body drives the anchor drilling operation.

[0045] The beneficial technical effects of the present invention are:

[0046] The anchor drilling rig with automatic rod replacement of the present invention is used for automatic rod replacement and drilling operations of anchor rods, the rod releasing unit of the dispensing mechanism releases the anchor rods inside the dispensing box one by one to the channel at the bottom of the dispensing box, the temporary storage conveying mechanism makes the anchor rod grooves in the circumferential direction of the temporary storage barrel unit correspond to the channel at the bottom of the dispensing box in sequence, the push rod unit of the dispensing mechanism pushes the single anchor rod in the channel at the bottom of the dispensing box to the anchor rod groove and the anchor rod is clamped by the first anchor rod clamp, the temporary storage conveying mechanism transfers the temporary storage barrel unit to the position of the clamping and lifting mechanism, the anchor rod is transferred from the temporary storage barrel unit to the second anchor rod clamp of the clamping and lifting mechanism, and the slide seat slides vertically relative to the supporting column to drive the anchor rod to rise and fall, so as to place the anchor rod on the drilling end of the drilling rig body, and the drilling end of the drilling rig body drives the anchor rod drilling operation, so as to realize the automatic replacement operation of the anchor rod; the replacement efficiency of the anchor rod is high, and the stability and safety are high. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the overall structure of an anchor drilling rig with automatic rod changing according to an embodiment of the present invention;

[0048] Figure 2 It is a front view of the dispensing mechanism according to an embodiment of the present invention;

[0049] Figure 3 It is a left side cross-sectional view of the dispensing mechanism according to an embodiment of the present invention;

[0050] Figure 4 It is a left side view of the temporary storage and conveying mechanism according to an embodiment of the present invention;

[0051] Figure 5 This is a schematic structural diagram of a temporary storage drum unit according to an embodiment of the present invention;

[0052] Figure 6 It is a structural schematic diagram of a clamping and lifting mechanism according to an embodiment of the present invention;

[0053] Figure 7 It is a schematic structural diagram of the second anchor clamp, the sixth telescopic cylinder and the rotating seat according to an embodiment of the present invention;

[0054] Figure 8 A top view of a drilling rig base and a turntable base according to an embodiment of the present invention;

[0055] Fig. 9 It is a cross-sectional view of a drilling rig base according to an embodiment of the present invention;

[0056] Fig.10 It is a schematic structural diagram of a chassis support leg according to an embodiment of the present invention;

[0057] Fig.11 A schematic diagram of the structure of a remote controller according to an embodiment of the present invention;

[0058] Reference numerals:

[0059] 1. Driving chassis, 11. Track drive unit, 12. Chassis legs, 121. Fixed legs, 122. Swinging legs, 123. Telescopic legs, 124. Grip seat, 13. Turntable base, 14. Drilling rig base, 141. Lower base, 142. Upper base, 143. Shock-absorbing spring, 2. Dispensing mechanism, 21. Dispensing box, 211. Passage, 212. Accommodating slot, 221. First baffle plate, 222. Second baffle plate, 223. First telescopic cylinder, 224. Second telescopic cylinder, 231. Push rod, 232. Third telescopic cylinder, 3. Temporary Storage and conveying mechanism, 31. first rotating seat, 32. first swing column, 33. second swing column, 34. second rotating seat, 351. support frame, 352. rotating shaft, 353. temporary storage motor, 354. anchor rod accommodating plate, 3541. anchor rod groove, 355. first anchor rod clamp, 4. clamping and lifting mechanism, 41. supporting column, 411. slide rail, 42. slide seat, 43. fourth telescopic cylinder, 44. second anchor rod clamp, 45. sixth telescopic cylinder, 46. rotating seat, 5. drilling rig body, 6. anchor rod, 7. remote controller, 8. three-dimensional visual sensor. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical scheme and beneficial effects of the present invention more clearly understood, the present invention is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. Certain embodiments of the present invention will be described more comprehensively with reference to the accompanying drawings, in which some but not all embodiments will be shown. In fact, the various embodiments of the present invention can be implemented in many different forms and should not be construed as being limited to the embodiments described herein; rather, these embodiments are provided so that the present invention meets applicable legal requirements.

[0061] In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "front", "back" and the like indicate directions or positional relationships based on directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0062] In an embodiment of the present invention, an anchor drilling rig and an operation method for automatically changing rods are provided. Please refer to Figures 1 to 11 shown.

[0063] An anchor drilling rig with automatic rod changing comprises a travel chassis 1, a distribution mechanism 2, a temporary storage and transmission mechanism 3, a clamping and lifting mechanism 4 and a drilling rig body 5.

[0064] The traveling chassis 1 is a self-driving chassis that can move relative to the ground. The two sides of the traveling chassis 1 are provided with crawler driving parts 11, which drive the traveling chassis 1 to move forward, backward, turn, stop, etc.

[0065] A set of chassis legs 12 is also provided at the front and rear positions on both sides of the traveling chassis 1. The chassis legs 12 include a fixed leg 121, a swinging leg 122, a leg swinging driving unit, a telescopic leg 123, a leg telescopic driving unit and a gripping seat 124. The upper end of the fixed leg 121 is fixedly connected to the side of the traveling chassis 1, the lower end of the fixed leg 121 is hinged to the upper end of the swinging leg 122, the leg swing driving unit can drive the swinging leg 122 to swing relative to the fixed leg 121, the upper end of the telescopic leg 123 slides with the swinging leg 122, and the leg telescopic driving unit can drive the telescopic leg 123 to extend or retract relative to the swinging leg 122. Among them, the leg swing driving unit is configured as a motor, and the leg telescopic driving unit is configured as a hydraulic cylinder.

[0066] When the traveling chassis 1 moves to a set position relative to the ground, before the drilling end of the drilling rig body 5 is ready for drilling operations, the chassis legs 12 contact the ground to achieve stable support for the traveling chassis 1. Specifically, the leg swing drive unit drives the swing leg 122 to swing downward relative to the fixed leg 121, so that the swing leg 122 is in a vertical posture, and the leg telescopic drive unit drives the telescopic leg 123 to extend downward relative to the swing leg 122, so that the gripping seat 124 contacts the ground. When the drilling operation is completed and the drilling position needs to be changed, the leg telescopic drive unit drives the telescopic leg 123 to retract upward relative to the swing leg 122, so that the gripping seat 124 is separated from the ground, and the leg swing drive unit drives the swing leg 122 to swing upward relative to the fixed leg 121, so that the swing leg 122 is folded under the fixed leg 121.

[0067] Safety gratings are arranged around the traveling chassis 1, and safety light curtains are defined around the traveling chassis 1 to prevent personnel from approaching the anchor rods and causing safety accidents, thereby improving operation safety.

[0068] A positioning module is provided on the driving chassis 1 , and the remote controller 7 is wirelessly connected to the positioning module via the 5G communication network, and the positioning module uploads the location of the driving chassis 1 in real time.

[0069] The distributing mechanism 2 is arranged on the traveling chassis 1 , stores the anchor rods 6 and distributes a plurality of anchor rods 6 to the temporary storage and conveying mechanism 3 .

[0070] The distribution mechanism 2 includes a distribution box 21, a rod placing unit and a rod pushing unit; the upper part of the distribution box 21 is used to place the anchor rod 6, and the bottom of the distribution box 21 is provided with a channel 211 that allows a single anchor rod 6 to be output, and the top of the channel 211 is an opening structure; the rod placing unit is arranged on the distribution box 21, and releases the anchor rods 6 inside the distribution box 21 one by one to the channel 211 at the bottom of the distribution box 21; the rod pushing unit is arranged on the distribution box 21, and pushes the single anchor rod 6 in the channel 211 at the bottom of the distribution box 21 to the temporary storage and conveying mechanism 3.

[0071] Seven receiving slots 212 are arranged side by side inside the distribution box 21, and each receiving slot 212 is arranged vertically. The receiving slots 212 allow a plurality of anchor rods 6 in a horizontal posture to be arranged vertically in a stacked manner, with one anchor rod 6 arranged in each layer. The rod placing unit includes a first baffle plate 221, a second baffle plate 222, a first telescopic cylinder 223, and a second telescopic cylinder 224; the first baffle plate 221 penetrates through the side of the distribution box 21 and passes through each receiving slot 212, and the first baffle plate 221 is located between the lowest anchor rod 6 and the next lower anchor rod 6; the second baffle plate 222 penetrates through the side of the distribution box 21 and passes through each receiving slot 212, and the second baffle plate 222 is located below the lowest anchor rod 6; the first telescopic cylinder 223 is arranged on the distribution box 21, and the telescopic end of the first telescopic cylinder 223 is connected to the first baffle plate 22 1; the second telescopic cylinder 224 is arranged on the distribution box 21, and the telescopic end of the second telescopic cylinder 224 is connected to the outer end of the second baffle plate 222; wherein, the first baffle plate 221 is arranged as three pieces arranged side by side, and the telescopic end of the first telescopic cylinder 223 is connected to the outer ends of the three first baffle plates 221 through a first transition piece; the second baffle plate 222 is arranged as three pieces arranged side by side, and the telescopic end of the second telescopic cylinder 224 is connected to the outer ends of the three second baffle plates 222 through a second transition piece; the first telescopic cylinder 223 is arranged as a pneumatic cylinder, and the second telescopic cylinder 224 is arranged as an electric cylinder.

[0072] The action process of the rod releasing unit is as follows: the second telescopic cylinder 224 drives the second baffle plate 222 to be pulled out from the respective receiving grooves 212 arranged side by side in turn, and the anchor rods 6 at the bottom of each receiving groove 212 from the inside to the outside fall into the channel 211 one by one. After all the anchor rods 6 at the bottom fall, the second telescopic cylinder 224 drives the second baffle plate 222 to pass through the respective receiving grooves 212 arranged side by side. The first telescopic cylinder 223 drives the first baffle plate 221 to be pulled out from the respective receiving grooves 212 arranged side by side, and the upper anchor rod 6 falls onto the second baffle plate 222. The first telescopic cylinder 223 drives the first baffle plate 221 to pass through the respective receiving grooves 212 arranged side by side.

[0073] It should be noted that the outer wall of the anchor rod 6 has an external thread. If the anchor rods 6 are stacked in the distribution box 21, when the anchor rods 6 fall down, adjacent anchor rods 6 are easily stuck in the upper position of the channel 211 when they come into contact, so that the anchor rods 6 can no longer fall into the channel 211. The rod placing unit of this embodiment allows the anchor rods 6 to fall into the channel 211 one by one, which can prevent adjacent anchor rods 6 from getting stuck in the upper position of the channel 211.

[0074] The push rod unit includes a push rod 231 and a third telescopic cylinder 232 ; the push rod 231 is slidably matched with the channel 211 ; the third telescopic cylinder 232 is arranged on the distribution box 21 , and the telescopic end of the third telescopic cylinder 232 is connected to the push rod 231 .

[0075] The action process of the push rod unit is as follows: after the anchor rod 6 enters the channel 211, the telescopic end of the third telescopic cylinder 232 drives the push rod 231 to move toward the direction of the temporary storage conveying mechanism 3, and the push rod 231 pushes the anchor rod 6 in the channel 211 out into the temporary storage conveying mechanism 3; the telescopic end of the third telescopic cylinder 232 drives the push rod 231 to move in the direction away from the temporary storage conveying mechanism 3 to allow the anchor rod 6 to enter the channel 211 again.

[0076] The cross section of the inner contour of the bottom of the distribution box 21 is wide at the top and narrow at the bottom. In this embodiment, the cross section of the inner contour of the bottom of the distribution box 21 is triangular, and the channel 211 is located at the narrowest position of the cross section of the inner contour of the bottom of the distribution box 21. In this way, the anchor rod 6 falling from each channel 211 automatically enters the channel 211 under the action of its own gravity.

[0077] The temporary storage and conveying mechanism 3 is arranged on the traveling chassis 1 , and receives a plurality of anchor rods 6 distributed by the distribution mechanism 2 and conveys the anchor rods 6 to the clamping and lifting mechanism 4 .

[0078] The temporary storage and conveying mechanism 3 includes a first rotating seat 31, a first driving unit, a first swinging column 32, a second driving unit, a second swinging column 33, a third driving unit, a second rotating seat 34, a fourth driving unit and a temporary storage cylinder unit. The lower end of the first rotating seat 31 is rotatably connected to the running chassis 1, the first rotating seat 31 is arranged along the vertical direction, the rotation axis of the first rotating seat 31 relative to the running chassis 1 coincides with the axis of the first rotating seat 31, the first driving unit is set as a motor, and the first driving unit can drive the first rotating seat 31 to rotate relative to the running chassis 1. The upper end of the first rotating seat 21 is hinged to the lower end of the first swinging column 32, the second driving unit is set as a motor, the second driving unit can drive the first swinging column 32 to swing relative to the first rotating seat 21, and the swing axis of the first swinging column 32 relative to the first rotating seat 31 is arranged along the horizontal direction. The upper end of the first swinging column 32 is hinged to the lower end of the second swinging column 33, the third driving unit is set as a motor, the third driving unit can drive the second swinging column 33 to swing relative to the first swinging column 32, and the swing axis of the second swinging column 33 relative to the first swinging column 32 is arranged along the horizontal direction. The upper end of the second swing column 33 is rotatably connected to the second rotating seat 34. The fourth driving unit is configured as a motor. The fourth driving unit can drive the second rotating seat 34 to rotate relative to the second swing column 33. The rotation axis of the second rotating seat 34 relative to the second swing column 33 coincides with the axis of the second rotating seat 34. A temporary storage barrel unit is provided on the second rotating seat 34. The temporary storage barrel unit is used for a plurality of anchor rods 6 distributed by the distribution mechanism 2.

[0079] The temporary storage cylinder unit includes a support frame 351, a rotating shaft 352, a temporary storage motor 353, an anchor rod accommodating disk 354 and a first anchor rod clamp 355; the support frame 351 is arranged on the second rotating seat 34, the rotating shaft 352 is rotatably connected to the support frame 351, the temporary storage motor 353 is arranged on the support frame 351, and the output shaft of the temporary storage motor 353 is connected to one end of the rotating shaft 352; the anchor rod accommodating disk 354 and the first anchor rod clamp 355 are arranged on the rotating shaft 352; a plurality of anchor rod grooves 3541 are opened along the circumference at the edge position of the accommodating disk 354, and the anchor rod 6 is placed in the anchor rod grooves 3541; the first anchor rod clamp 355 can clamp the anchor rod 6 or be detached from the anchor rod 6.

[0080] The operation process of the temporary storage conveying mechanism 3 is as follows: the first rotating seat 31 rotates at a set angle relative to the traveling chassis 1, the first swinging column 32 swings at a set angle relative to the first rotating seat 21, the second swinging column 33 swings at a set angle relative to the first swinging column 32, and the second rotating seat 34 rotates at a set angle relative to the second swinging column 33, so that the temporary storage barrel unit is placed at the exit position of the channel 211. The temporary storage motor 353 of the temporary storage barrel unit rotates to drive an anchor rod groove 3541 of the receiving plate 354 to align with the exit position of the channel 211, so that the push rod 231 pushes the anchor rod 6 in the channel 211 out into an anchor rod groove 3541. After an anchor rod 6 is pushed out into the anchor rod groove 3541, the temporary storage motor 353 rotates to drive the next anchor rod groove 3541 of the receiving plate 354 to align with the exit position of the channel 211, so that the push rod 231 continues to push the anchor rod 6 in the channel 211 out into the next anchor rod groove 3541. The first rotating seat 31 rotates at a set angle relative to the traveling chassis 1, the first swing column 32 swings at a set angle relative to the first rotating seat 21, the second swing column 33 swings at a set angle relative to the first swing column 32, and the second rotating seat 34 rotates at a set angle relative to the second swing column 33, so that the temporary storage barrel unit is erected and placed at the position of the clamping lifting mechanism 4, so as to transfer the anchor rod 6 of the temporary storage barrel unit to the clamping lifting mechanism 4.

[0081] The clamping and lifting mechanism 4 is arranged on the traveling chassis 1 , clamps the anchor rod 6 delivered by the temporary storage and delivery mechanism 3 and drives the anchor rod 6 to be raised and lowered, so as to place the anchor rod 6 at the drilling end of the drilling rig body 5 .

[0082] The clamping and lifting mechanism 4 includes a supporting column 41, a sliding seat 42, a fourth telescopic cylinder 43 and a second anchor rod clamp 44; the supporting column 41 is arranged on the traveling chassis 1, and the sliding seat 42 slides to cooperate with the slide rail 411 arranged vertically on the supporting column 41; the fourth telescopic cylinder 43 is configured as a hydraulic cylinder, one end of the fourth telescopic cylinder 43 is connected to the supporting column 41, and the other end is connected to the sliding seat 42; the second anchor rod clamp 44 is arranged on the sliding seat 42, and the second anchor rod clamp 44 can clamp the anchor rod 6 or detach from the anchor rod 6.

[0083] In addition, the clamping and lifting mechanism 4 further includes a sixth telescopic cylinder 45, a rotating seat 46 and a fifth driving unit; the cylinder end of the sixth telescopic cylinder 45 is connected to the sliding seat 42, the telescopic end of the sixth telescopic cylinder 45 is rotatably connected to the rotating seat 46, and the second anchor rod clamp 44 is arranged on the rotating seat 46. The telescopic end of the sixth telescopic cylinder 45 is extended or retracted relative to the cylinder end to drive the second anchor rod clamp 44 to approach or move away from the temporary storage and conveying mechanism 3. The fifth driving unit is configured as a motor, and the fifth driving unit can drive the rotating seat 46 to rotate relative to the telescopic end of the sixth telescopic cylinder 45, and the rotating axis of the rotating seat 46 relative to the telescopic end of the sixth telescopic cylinder 45 coincides with the axis of the rotating seat 46, and the rotating seat 46 rotates to drive the second anchor rod clamp 44 to rotate at a set angle.

[0084] The action process of the clamping and lifting mechanism 4 is as follows: the telescopic end of the fourth telescopic cylinder 43 is telescopic relative to the cylinder body end to drive the second anchor rod clamp 44 to align with the to-be-clamped position of an anchor rod 6 on the temporary storage tube unit, the telescopic end of the sixth telescopic cylinder 45 is extended relative to the cylinder body end to drive the second anchor rod clamp 44 to approach the anchor rod 6, the rotating seat 46 rotates the second anchor rod clamp 44 to rotate a set angle, and the second anchor rod clamp 44 clamps the anchor rod 6; the telescopic end of the fourth telescopic cylinder 43 is telescopic relative to the cylinder body end to drive the second anchor rod clamp 44 and the anchor rod 6 to rise and fall vertically, the rotating seat 46 rotates the second anchor rod clamp 44 to rotate a set angle, and the telescopic end of the sixth telescopic cylinder 45 is extended and retracted relative to the cylinder body end to place the anchor rod 6 on the drilling end of the drilling rig body 5.

[0085] The drilling rig body 5 is arranged on the traveling chassis 1 and drives the anchor rod 6 to perform drilling operations.

[0086] Specifically, the turntable base 13 is rotatably connected to the top of the traveling chassis 1, and the sixth driving unit can drive the turntable base 13 to rotate relative to the traveling chassis 1. A drilling rig base 14 is arranged on the turntable base 13, and a drilling rig body 5 is arranged on the drilling rig base 14. The drilling rig body 5 is not located at the center of the turntable base 13. The sixth driving unit drives the turntable base 13 to rotate a set angle relative to the traveling chassis 1, driving the drilling rig base 14 and the drilling rig body 5 thereon to rotate a set angle, so as to adjust the position of the drilling rig body 5 relative to the traveling chassis 1, and further adjust the drilling horizontal position of the drilling rig body 5. In addition, the drilling end of the drilling rig body 5 can adjust the pitch angle relative to the drilling rig body 5, and further adjust the drilling vertical position of the drilling rig body 5.

[0087] The drilling rig base 14 includes a lower base 141, an upper base 142 and a damping spring 143. The lower base 141 is arranged on the turntable base 13, the upper base 142 is located above the lower base 141, and a plurality of damping springs 143 are connected between the lower base 141 and the upper base 142. In this way, during the drilling process of the drilling rig body 5, the vibration generated by drilling is reduced from being transmitted to the driving chassis 1, thereby affecting the operating accuracy of other mechanisms.

[0088] The remote controller 7 is wirelessly connected to the control ends of various mechanisms and units of the anchor drilling rig via the 5G communication network to control the actions of each mechanism and unit to achieve remote wireless control of the anchor drilling rig.

[0089] A three-dimensional vision sensor 8 is also provided on the supporting column 41. The remote controller 7 is wirelessly connected to the three-dimensional vision sensor 8 via the 5G communication network. The three-dimensional vision sensor 8 can detect and identify the three-dimensional model of the object, can display the object more intuitively, and provide visual information for the actions of various mechanism units of the anchor drilling rig.

[0090] An automatic rod-changing anchor drilling machine operation method is provided, which uses the automatic rod-changing anchor drilling machine described above in this embodiment, and the method comprises the following steps:

[0091] Step 1: Place a set number of anchor rods 6 into the dispensing mechanism 2. The dispensing mechanism 2 dispenses a number of anchor rods 6 to the temporary storage and conveying mechanism 3. The temporary storage and conveying mechanism 3 conveys the number of anchor rods 6 dispensed by the dispensing mechanism 2 to the clamping and lifting mechanism 4. The clamping and lifting mechanism 4 clamps the anchor rods 6 conveyed by the temporary storage and conveying mechanism 3 and drives the anchor rods 6 to rise and fall, so as to place the anchor rods 6 at the drilling end of the drilling rig body 5.

[0092] The operation process of each mechanism and unit is as described above, and will not be repeated here;

[0093] At the same time, the traveling chassis 1 moves to a set position relative to the ground, and before the drilling end of the drilling rig body 5 is ready for drilling, the chassis legs 12 move to make the gripping seat 124 contact the ground. When the drilling operation is completed and the drilling position needs to be changed, the chassis legs 12 move to make the gripping seat 124 separate from the ground. The movement process of the chassis legs 12 is described above and will not be repeated here.

[0094] Step 2: The drilling end of the drilling rig body 5 drives the anchor rod 6 to perform drilling operations.

[0095] So far, the present embodiment has been described in detail in conjunction with the accompanying drawings. Based on the above description, those skilled in the art should have a clear understanding of the automatic rod-changing anchor drilling rig and the operating method of the present invention. The automatic rod-changing anchor drilling rig of the present invention is used for automatic rod-changing and drilling operations of anchor rods 6. The rod-releasing unit of the dispensing mechanism 2 releases the anchor rods 6 inside the dispensing box 21 one by one to the channel 211 at the bottom of the dispensing box 21. The temporary storage conveying mechanism 3 makes the anchor grooves 3541 on the circumference of the temporary storage barrel unit correspond to the bottom channel 211 of the dispensing box 21 in sequence. The push rod unit of the dispensing mechanism 2 pushes the single anchor rod 6 in the bottom channel 211 of the dispensing box 21 to the anchor groove 3541 and the first anchor clamp 355 clamps the anchor rod. 6, the temporary storage tube unit is transferred to the position of the clamping and lifting mechanism 4 by the temporary storage conveying mechanism 3, the anchor rod 6 is transferred from the temporary storage tube unit to the second anchor rod clamp 44 of the clamping and lifting mechanism 4, and the slide 42 slides vertically relative to the support column 41 to drive the anchor rod 6 to rise and fall, so as to place the anchor rod 6 at the drilling end of the drilling rig body 5, and the drilling end of the drilling rig body 5 drives the anchor rod 6 to drill, so as to realize the automatic replacement operation of the anchor rod 6; the replacement efficiency of the anchor rod 6 is high, and the stability and safety are high.

[0096] Of course, 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. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automatic bolt-changing anchor drilling rig, characterized in that: include: A running chassis capable of moving relative to the ground; A distribution mechanism, which is arranged on the traveling chassis, stores the anchor rods and distributes a plurality of anchor rods to the temporary storage and conveying mechanism; The temporary storage and conveying mechanism is arranged on the traveling chassis, and is used to convey a number of anchor rods distributed by the distribution mechanism and to convey the anchor rods to the clamping and lifting mechanism; The clamping and lifting mechanism is arranged on the traveling chassis, clamps the anchor rod transmitted by the temporary storage and transmission mechanism and drives the anchor rod to be raised and lowered, so as to place the anchor rod at the drilling end of the drilling rig body; The main body of the drilling rig is set on the traveling chassis and drives the anchor drilling operation.

2. The anchor drilling rig with automatic rod changing according to claim 1, characterized in that: The dispensing mechanism includes a dispensing box, a rod placing unit and a rod pushing unit; The upper part of the distribution box is used to place anchor rods, and the bottom of the distribution box is provided with a channel allowing a single anchor rod to be output; The rod releasing unit is arranged on the distribution box, and releases the anchor rods inside the distribution box one by one to the channel at the bottom of the distribution box; The push rod unit is arranged on the distribution box to push the single anchor rod in the bottom channel of the distribution box to the temporary storage and conveying mechanism.

3. The anchor drilling rig with automatic rod change according to claim 2, characterized in that: A plurality of receiving slots are arranged side by side inside the distribution box, each of which is arranged vertically, and the receiving slots allow a plurality of anchor rods in a horizontal posture to be arranged in a vertical stacked manner, with one anchor rod arranged in each layer; The rod placing unit comprises a first rod blocking plate, a second rod blocking plate, a first telescopic cylinder and a second telescopic cylinder; The first baffle plate penetrates into the side of the distribution box and passes through each receiving slot, and the first baffle plate is located between the lowest anchor rod and the second lower anchor rod; The second baffle plate penetrates into the side of the distribution box and passes through each receiving groove, and the second baffle plate is located below the lowest anchor rod; The first telescopic cylinder is arranged on the distribution box, and the telescopic end of the first telescopic cylinder is connected to the outer end of the first baffle plate; The second telescopic cylinder is arranged on the distribution box, and the telescopic end of the second telescopic cylinder is connected to the outer end of the second baffle plate.

4. The anchor drilling rig with automatic rod change according to claim 3, characterized in that: The second telescopic cylinder is configured as an electric cylinder.

5. An automatic rod-changing anchor drilling rig according to any one of claims 2 to 4, characterized in that: The push rod unit includes a push rod and a third telescopic cylinder; The push rod is slidably matched with the channel; The third telescopic cylinder is arranged on the distribution box, and the telescopic end of the third telescopic cylinder is connected to the pushing rod.

6. The anchor drilling rig with automatic rod change according to claim 2, characterized in that: The cross section of the inner contour of the bottom of the distribution box is wide at the top and narrow at the bottom, and the channel is located at the narrowest part of the cross section of the inner contour of the bottom of the distribution box.

7. The anchor drilling machine with automatic rod changing according to claim 1, characterized in that: The temporary storage conveying mechanism includes a first rotating seat, a first driving unit, a first swing column, a second driving unit, a second swing column, a third driving unit, a second rotating seat, a fourth driving unit and a temporary storage drum unit; The lower end of the first rotating seat is rotatably connected to the running chassis, and the first driving unit can drive the first rotating seat to rotate relative to the running chassis; The upper end of the first rotating seat is hinged to the lower end of the first swing column, and the second driving unit can drive the first swing column to swing relative to the first rotating seat; The upper end of the first swing column is hinged to the lower end of the second swing column, and the third driving unit can drive the second swing column to swing relative to the first swing column; The upper end of the second swing column is rotatably connected to the second rotating seat, and the fourth driving unit can drive the second rotating seat to rotate relative to the second swing column; The temporary storage barrel unit is arranged on the second rotating seat, and the temporary storage barrel unit is used for a plurality of anchor rods distributed by the distribution mechanism.

8. The anchor drilling machine with automatic rod changing according to claim 7, characterized in that: The temporary storage barrel unit includes a support frame, a rotating shaft, a temporary storage motor, an anchor rod receiving plate and a first anchor rod clamp; The support frame is arranged on the second rotating seat, the rotating shaft is rotatably connected to the support frame, the temporary storage motor is arranged on the support frame, and the output rotating shaft of the temporary storage motor is connected to one end of the rotating shaft; An anchor rod accommodating plate and a first anchor rod clamp are arranged on the rotating shaft; A plurality of anchor rod grooves are provided along the circumference of the edge of the receiving plate, and the anchor rods are placed in the anchor rod grooves; The first anchor rod clamp can clamp the anchor rod or be detached from the anchor rod.

9. The anchor drilling machine with automatic rod changing according to claim 1, characterized in that: The clamping and lifting mechanism comprises a supporting column, a sliding seat, a fourth telescopic cylinder and a second anchor clamp; The supporting column is arranged on the traveling chassis, and the sliding seat is slidably matched on the supporting column; One end of the fourth telescopic cylinder is connected to the supporting column, and the other end is connected to the sliding seat; The second anchor rod clamp is arranged on the slide seat, and the second anchor rod clamp can clamp the anchor rod or be separated from the anchor rod.

10. An automatic rod-changing anchor drilling machine operation method, characterized in that: The method of the anchor drilling rig with automatic rod changing according to any one of claims 1 to 9 comprises the following steps: Step 1: Place a set number of anchor rods on the dispensing mechanism, the dispensing mechanism dispenses a number of anchor rods to the temporary storage and conveying mechanism, the temporary storage and conveying mechanism conveys the anchor rods dispensed by the dispensing mechanism to the clamping and lifting mechanism, the clamping and lifting mechanism clamps the anchor rods conveyed by the temporary storage and conveying mechanism and drives the anchor rods to rise and fall, so as to place the anchor rods on the drilling end of the drilling rig body; At the same time, the traveling chassis moves to a set position relative to the ground; Step 2: The drilling end of the drilling rig body drives the anchor drilling operation.

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