Working mechanism of anchor rod trolley

Abstract

According to the working mechanism of the anchor rod trolley, a rock drilling device is installed at the top end of a main beam structure in a sliding fit mode, the rock drilling device is matched with a rock drilling propelling mechanism installed on the main beam structure, a righting mechanical arm is arranged at the tail end of the head of the main beam structure, and a telescopic arm structure is installed at the bottom end of the main beam structure in a sliding fit mode; a telescopic arm propelling mechanism is mounted between the telescopic arm structure and the main beam structure; a first side sliding seat structure is slidably mounted on one side of the telescopic arm structure, a second side sliding seat structure is slidably mounted on the other side of the telescopic arm structure, a drill rod grabbing manipulator is mounted at the top of the first side sliding seat structure, and an anchor rod grabbing manipulator is mounted at the top of the second side sliding seat structure; the second side sliding seat structure is further provided with an anchor rod library structure for storing anchor rods. The tail end of the telescopic arm structure is provided with a mesh mechanical arm used for grabbing the supporting mesh. The working mechanism well integrates the functions of anchor rod hole drilling, supporting mesh installation and anchor rod driving in the mine hole supporting process.

Description

Technical Field

[0001] The present invention relates to the technical field of bolt jumbo, and specifically to the working mechanism of a bolt jumbo. Background Art

[0002] During the support process of a mine tunnel, the basic technological process includes: drilling bolt holes, tightening the support mesh, and a series of operations for driving bolts. The existing bolt jumbos have relatively single functions and usually can only perform a single drilling or bolt driving operation. Then, a separate jumbo is used to complete the installation of the support mesh. This results in an unsmooth connection in the construction technological process during the mine tunnel support process, low construction efficiency, high operation intensity, and the need for a large number of bolt jumbos, which limits the operation space at the construction site. Summary of the Invention

[0003] To solve the current existing technical problems, the main purpose of the present invention is to provide a working mechanism of a bolt jumbo. This working mechanism well integrates the functions of drilling bolt holes, installing support meshes, and driving bolts during the mine tunnel support process, enabling a smooth connection of the entire support process and improving construction efficiency; moreover, it simplifies the structure of the existing bolt jumbo, while reducing the equipment operation space and being able to well adapt to a narrow operation space.

[0004] To achieve the above technical features, the object of the present invention is realized as follows: The working mechanism of a bolt jumbo includes a main beam structure. A rock drilling device is slidably and cooperatively installed at the top end of the main beam structure. The rock drilling device cooperates with a rock drilling propulsion mechanism installed on the main beam structure. A straightening manipulator for straightening the drill rod is provided at the end of the head of the main beam structure. A telescopic arm structure is slidably and cooperatively installed at the bottom end of the main beam structure. A telescopic arm propulsion mechanism is installed between the telescopic arm structure and the main beam structure; on one side of the telescopic arm structure, a first side sliding seat structure is slidably installed, and on the other side, a second side sliding seat structure is slidably installed. A drill rod grasping manipulator for grasping the drill rod is installed at the top of the first side sliding seat structure. A bolt grasping manipulator for grasping bolts is installed at the top of the second side sliding seat structure. A bolt storage structure for storing bolts is also installed on the second side sliding seat structure; a mesh manipulator for grasping the support mesh is installed at the end of the telescopic arm structure.

[0005] The main beam structure adopts a combined double-sided slide rail structure, including a top slide rail at the top and a bottom slide rail at the bottom. The tails of the top slide rail and the bottom slide rail are fixed with a main beam tail seat; The rock drilling device includes a rock drill. The rock drill is fixed on the top of a first sliding plate through a rock drill base. The first sliding plate is slidably supported on the top slide rail. The main shaft of the rock drill is connected to a drill rod.

[0006] The rock drilling and pushing mechanism includes a pushing oil cylinder. The piston rod of the pushing oil cylinder is fixed on the main beam structure. The cylinder body of the pushing oil cylinder is fixedly connected to the bottom end of the first sliding plate through a connecting seat. A driving wheel is rotatably installed at the end of the cylinder body of the pushing oil cylinder. One end of the head of the first sliding plate is connected to a first towing rope, and the other end of the first towing rope is fixedly connected to the bottom end of the main beam structure after passing around the driving wheel. One end of the tail of the first sliding plate is connected to a second towing rope, and the other end of the second towing rope is fixedly connected to the wheel frame of the driving wheel after passing around a horizontal wheel. The horizontal wheel is slidably installed on the top slide rail and is located at one end of the tail of the first sliding plate; a wire reel is installed on the wheel frame of the horizontal wheel.

[0007] The alignment manipulator includes a jaw mounting plate fixed at the end of the main beam structure. Paired alignment jaws are symmetrically hinged on the jaw mounting plate. A clamping oil cylinder is installed between the alignment jaws and the jaw mounting plate. After the alignment jaws are closed, they form a guide sleeve.

[0008] The telescopic arm structure includes a main arm. The main arm is slidably installed on the bottom slide rail through a first slider and a second slider. A telescopic arm is slidably installed inside the main arm. A telescopic arm driving oil cylinder is installed between the telescopic arm and the main arm; The telescopic arm pushing mechanism includes a first hinge seat fixed at the bottom end of the main beam structure. The first hinge seat is hinged to the end of the piston rod of the main arm pushing oil cylinder, and the end of the cylinder body of the main arm pushing oil cylinder is fixedly connected to the main arm.

[0009] The first side sliding seat structure includes a tail cross plate fixed at the tail end of the telescopic arm structure. A first side pushing oil cylinder is hinged on the tail cross plate. The cylinder body of the first side pushing oil cylinder is fixedly connected to the first side sliding seat. The first side sliding seat is slidably installed on the first side slide rail through a first side slider. The first side slide rail is fixed on the outside of the telescopic arm structure. A first side sliding seat top plate is provided at the top of the first side sliding seat. The drill pipe grasping manipulator is installed on the first side sliding seat.

[0010] The drill pipe grasping manipulator includes a first mounting plate. One end of the first mounting plate is hinged to the top end of the first side sliding seat top plate through a mounting plate hinge seat. A pitching oil cylinder is hinged between the bottom of the other end of the first mounting plate and the first side sliding seat. A first swinging mechanical arm is installed at the top end of the first mounting plate through a first swinging oil cylinder. A first clamping arm is hinged on the first swinging mechanical arm through a first clamping oil cylinder. After the first clamping arm and the first swinging mechanical arm are closed, they clamp the drill pipe; A travel block is provided on the outer wall of the first swinging mechanical arm. The travel block cooperates with a travel sensor fixed on the first mounting plate to control the swinging angle of the first swinging mechanical arm.

[0011] The second side sliding seat structure includes a tail cross plate fixed to the tail end of the telescopic arm structure. A second side pushing oil cylinder is hinged on the tail cross plate. The cylinder body of the second side pushing oil cylinder is fixedly connected to the second side sliding seat. The second side sliding seat is slidably installed on the second side slide rail through a second side slider, and the second side slide rail is fixed to the outside of the telescopic arm structure.

[0012] The anchor rod library structure includes an anchor rod library support seat fixed to the top of the second side sliding seat. An anchor rod library main shaft is rotatably installed on the anchor rod library support seat. Anchor rod chucks of different sizes are installed on the anchor rod library main shaft. Anchor rods are stored on the anchor rod chucks. The anchor rod library main shaft is connected to an anchor rod library driving oil cylinder for driving its rotation. One end of the tail of the anchor rod library driving oil cylinder is provided with an anchor rod tail positioning plate for limiting the tail of the anchor rod. The anchor rod grasping manipulator includes a manipulator base. The top end of the manipulator base is installed with a second swinging robotic arm through a second swinging oil cylinder. A second clamping arm is hinged on the second swinging robotic arm through a second clamping oil cylinder. After the second clamping arm and the second swinging robotic arm are closed, they clamp the anchor rod. The mesh sheet manipulator includes a rotating oil cylinder installed at the end of the telescopic arm structure. A rotating disc is installed on the rotating shaft of the rotating oil cylinder. An installation box body is fixed to the top end of the rotating disc. Clamping arm mounting plates are symmetrically fixed inside the installation box body at the top end of the rotating disc. A first clamping arm is hinged to one end of the clamping arm mounting plate, and a second clamping arm is hinged to the other end of the clamping arm mounting plate. A grasping oil cylinder is installed between the first clamping arm and the clamping arm mounting plate. A connecting rod for driving the two to move synchronously is hinged between the first clamping arm and the second clamping arm; a first arc-shaped top block and a second arc-shaped top block are installed at the top end of the installation box body.

[0013] The present invention has the following beneficial effects: 1. The working mechanism of the present invention well integrates the functions of drilling anchor rod holes, installing support mesh sheets, and driving anchor rods in the process of mine tunnel support, can realize the smooth connection of the entire support process, and improves the construction efficiency; moreover, it simplifies the structure of the existing anchor rod truck, and at the same time reduces the equipment operation space, and can well adapt to the narrow operation space.

[0014] 2. The manipulator of the present invention can be used in the process of mine tunnel support, and can perform a series of operations of grasping, rotating, and tightening the support mesh sheet with the help of the anchor rod truck, effectively simplifies the installation process of the support mesh sheet, and improves the installation efficiency of the support mesh sheet; in addition, its structure can effectively prevent the problem of snagging the mesh sheet during the operation process.

[0015] 3. The above-mentioned rock drilling device can realize rock drilling operations.

[0016] 4. The above-mentioned rock drilling propulsion mechanism can be used to provide the feeding action of the rock drilling device.

[0017] 5. The above-mentioned alignment manipulator can be used to align a drill pipe or an anchor rod during the drilling process.

[0018] 6. The above-mentioned telescopic arm structure can be used to control the extension of the mesh manipulator, thereby facilitating the subsequent operation of topping the mesh.

[0019] 7. The above-mentioned telescopic arm propulsion mechanism can be used to achieve the telescoping of the entire telescopic arm structure, thereby compensating for the telescopic arm structure.

[0020] 8. The above-mentioned first side sliding seat structure can achieve the propulsion action of the drill pipe grasping manipulator, thereby adjusting the position of the grasped drill pipe.

[0021] 9. The above-mentioned drill pipe grasping manipulator can be used for clamping and grasping during the disassembly of the drill pipe.

[0022] 10. The above-mentioned structure can be used to control the swing angle of the first swing robotic arm.

[0023] 11. The above-mentioned second side sliding seat structure can achieve the position adjustment of the anchor rod storage structure and the anchor rod grasping manipulator.

[0024] 12. The above-mentioned anchor rod storage structure can be used to store anchor rods.

[0025] 13. The above-mentioned anchor rod grasping manipulator can achieve the grasping and installation of anchor rods.

[0026] 14. The above-mentioned mesh manipulator can be used for grasping, rotating, and tensing the support mesh, thereby facilitating the subsequent support and installation of the support mesh on the inner wall of the mine tunnel.

[0027] 15. The working mechanism of the present invention adopts a modular structure design, which can effectively simplify the subsequent maintenance cost, and the replacement and repair of subsequent components are convenient and fast. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described below in conjunction with the drawings and embodiments.

[0029] Figure 1 is a three-dimensional view of the overall structure of the present invention from the first perspective.

[0030] Figure 2 is a three-dimensional view of the overall structure of the present invention from the second perspective.

[0031] Figure 3 is a three-dimensional view of the overall structure of the present invention from the third perspective.

[0032] Figure 4 is a three-dimensional view of the overall structure of the present invention from the fourth perspective.

[0033] Figure 5 This is a three-dimensional diagram from the fifth viewing angle of the overall structure of the present invention.

[0034] Figure 6 It is a side view of the overall structure of the present invention.

[0035] Figure 7 The overall structure of the present invention Figure 6 Medium AA view.

[0036] Figure 8 This is a three-dimensional diagram from the first perspective of the telescopic arm structure of the present invention.

[0037] Figure 9 This is a three-dimensional diagram from a second viewing angle of the telescopic arm structure of the present invention.

[0038] Figure 10 This is a three-dimensional image from the first perspective of the mesh robot of the present invention.

[0039] Figure 11 This is a three-dimensional image from a second perspective of the mesh robot of the present invention.

[0040] Figure 12 This is a three-dimensional image from the first perspective of the mesh robot of the present invention after the installation box is removed.

[0041] Figure 13 This is a three-dimensional image from a second perspective of the mesh robot of the present invention after the installation box is removed.

[0042] In the figure: main beam structure 1, rock drilling device 2, anchor bar library structure 3, anchor bar 4, anchor bar grabbing manipulator 5, second side sliding seat structure 6, righting manipulator 7, mesh manipulator 8, telescopic arm structure 9, drill rod grabbing manipulator 10, first side sliding seat structure 11, rock drilling propulsion mechanism 12, telescopic arm propulsion mechanism 13; Bottom slide rail 101, top slide rail 102, main beam tailstock 103; A first sliding plate 201, a rock drill 202, a rock drill base 203, and a drill rod 204; Anchor rod tail positioning plate 301, anchor rod chuck 302, anchor rod library main shaft 303, anchor rod library support seat 304, anchor rod library driving cylinder 305; A second swing mechanical arm 501, a mechanical arm base 502, a second swing oil cylinder 503, a second clamping arm 504, and a second clamping oil cylinder 505; A second side push cylinder 601, a second side slide rail 602, a second side slide block 603, and a second side shift slide seat 604; Clamping jaw mounting plate 701, clamping oil cylinder 702, and straightening clamping jaw 703; Rotating cylinder 801, rotating disk 802, mounting box 803, second clamping arm 804, first arc top block 805, second arc top block 806, first clamping arm 807, clamping arm mounting plate 808, grabbing cylinder 809, connecting rod 810; Telescopic arm driving cylinder 901, telescopic arm 902, main arm 903, first slide block 904, second slide block 905; Pitch cylinder 1001, travel sensor 1002, travel block 1003, mounting plate hinge seat 1004, first mounting plate 1005, first swing cylinder 1006, first clamping cylinder 1007, first swing mechanical arm 1008, first clamping arm 1009; A first side slide rail 1101, a first side sliding seat 1102, a first side sliding block 1103, a first side sliding seat top plate 1104, a first side push cylinder 1105, and a tail cross plate 1106; Propulsion cylinder 1201, first traction rope 1202, horizontal wheel 1203, pushing wheel 1204, second traction rope 1205, winding wheel 1206; The first articulated seat 1301 and the main arm propulsion cylinder 1302 . DETAILED DESCRIPTION

[0043] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0044] See also Figure 1-13 The working mechanism of the anchor trolley includes a main beam structure 1, a rock drilling device 2 is slidably installed on the top of the main beam structure 1, and the rock drilling device 2 cooperates with the rock drilling propulsion mechanism 12 installed on the main beam structure 1. A straightening manipulator 7 for straightening the drill rod is arranged at the head end of the main beam structure 1, and a telescopic arm structure 9 is slidably installed on the bottom end of the main beam structure 1, and a telescopic arm propulsion mechanism 13 is installed between the telescopic arm structure 9 and the main beam structure 1; a first side sliding seat structure 11 is slidably installed on one side of the telescopic arm structure 9, and a second side sliding seat structure 6 is slidably installed on the other side, a drill rod grabbing manipulator 10 for grabbing the drill rod is installed on the top of the first side sliding seat structure 11, and an anchor grabbing manipulator 5 for grabbing the anchor rod 4 is installed on the top of the second side sliding seat structure 6, and an anchor library structure 3 for storing anchor rods is also installed on the second side sliding seat structure 6; a mesh manipulator 8 for grabbing the support mesh is installed at the end of the telescopic arm structure 9. The working mechanism of the present invention well integrates the functions of anchor hole drilling, support mesh installation, and anchor driving in the process of mine tunnel support, which can achieve smooth connection of the entire support process and improve construction efficiency; moreover, it simplifies the existing anchor trolley structure, while reducing the equipment operating space, and can well adapt to small working spaces.

[0045] Furthermore, the main beam structure 1 adopts a combined double-sided slide rail structure, including a top slide rail 102 at the top and a bottom slide rail 101 at the bottom. The tail parts of the top slide rail 102 and the bottom slide rail 101 are fixed with a main beam tail seat 103. Through the above-mentioned main beam structure 1, the rock drilling device 2 and the mesh manipulator 8 can be effectively integrated, thereby effectively simplifying the structure of the entire working mechanism.

[0046] Furthermore, the rock drilling device 2 includes a rock drill 202. The rock drill 202 is fixed on the top of the first sliding plate 201 through a rock drill base 203. The first sliding plate 201 is slidably supported on the top slide rail 102. The main shaft of the rock drill 202 is connected with a drill rod 204. Through the above-mentioned rock drilling device 2, rock drilling operations can be realized. During the working process, the drill rod 204 is driven by the rock drill 202, and then the drilling action is realized through the drill rod 204.

[0047] In addition, in addition to being used for drilling, the rock drilling device 2 can also be used for bolting operations, thereby realizing the installation of bolts.

[0048] Furthermore, the rock drilling propulsion mechanism 12 includes a propulsion oil cylinder 1201. The piston rod of the propulsion oil cylinder 1201 is fixed on the main beam structure 1. The cylinder body of the propulsion oil cylinder 1201 is fixedly connected to the bottom end of the first sliding plate 201 through a connecting seat. A driving wheel 1204 is rotatably installed at the end of the cylinder body of the propulsion oil cylinder 1201. One end of the head of the first sliding plate 201 is connected to a first towing rope 1202. The other end of the first towing rope 1202 is fixed to the bottom end of the main beam structure 1 after passing around the driving wheel 1204. One end of the tail of the first sliding plate 201 is connected to a second towing rope 1205. The other end of the second towing rope 1205 is fixed to the wheel frame of the driving wheel 1204 after passing around a horizontal wheel 1203. The horizontal wheel 1203 is slidably installed on the top slide rail 102 and is located at one end of the tail of the first sliding plate 201; a wire reel 1206 is installed on the wheel frame of the horizontal wheel 1203. Through the above-mentioned rock drilling propulsion mechanism 12, the feeding action of the rock drilling device 2 can be provided. At the same time, it is convenient to provide subsequent bolting operations. During the working process, by the extension of the cylinder body of the propulsion oil cylinder 1201, the first towing rope 1202 can be advanced, thereby driving the rock drilling device 2 to realize the propulsion action.

[0049] Furthermore, the alignment manipulator 7 includes a jaw mounting plate 701 fixed to the end of the main beam structure 1. A pair of alignment jaws 703 are symmetrically hinged on the jaw mounting plate 701. A clamping oil cylinder 702 is installed between the alignment jaws 703 and the jaw mounting plate 701. The alignment jaws 703 form a guide sleeve after closing. Through the above alignment manipulator 7, the alignment of the drill pipe or anchor rod during the drilling process can be achieved. During the working process, the alignment jaws 703 are driven by the clamping oil cylinder 702, and then a guide sleeve is formed through the clamping of the alignment jaws 703.

[0050] Furthermore, the telescopic arm structure 9 includes a main arm 903. The main arm 903 is slidably installed on the bottom slide rail 101 through a first slider 904 and a second slider 905. A telescopic arm 902 is slidably installed inside the main arm 903. A telescopic arm driving oil cylinder 901 is installed between the telescopic arm 902 and the main arm 903. Through the above telescopic arm structure 9, the extension of the mesh manipulator 8 can be controlled, which is convenient for subsequent roof netting operations. During the working process, the telescopic arm 902 is driven to extend by the telescopic arm driving oil cylinder 901.

[0051] Furthermore, the telescopic arm propulsion mechanism 13 includes a first hinge seat 1301 fixed to the bottom end of the main beam structure 1. The first hinge seat 1301 is hinged to the end of the piston rod of the main arm propulsion oil cylinder 1302. The end of the cylinder body of the main arm propulsion oil cylinder 1302 is fixed to the main arm 903. Through the above telescopic arm propulsion mechanism 13, the telescoping of the entire telescopic arm structure 9 can be achieved, which can compensate for the telescopic arm structure 9. During the working process, the telescopic arm structure 9 is driven to extend along the main beam structure 1 by the main arm propulsion oil cylinder 1302.

[0052] Furthermore, the first side sliding seat structure 11 includes a tail cross plate 1106 fixed to the end of the telescopic arm structure 9. A first side push oil cylinder 1105 is hinged on the tail cross plate 1106. The cylinder body of the first side push oil cylinder 1105 is fixed to the first side sliding seat 1102. The first side sliding seat 1102 is slidably installed on the first side slide rail 1101 through a first side slider 1103. The first side slide rail 1101 is fixed to the outside of the telescopic arm structure 9. A first side sliding seat top plate 1104 is arranged on the top of the first side sliding seat 1102. The drill pipe grasping manipulator 10 is installed on the first side sliding seat 1102. Through the above first side sliding seat structure 11, the propulsion action of the drill pipe grasping manipulator 10 can be achieved, and the position adjustment of the grasped drill pipe can be realized.

[0053] Further, the drill pipe grasping manipulator 10 includes a first mounting plate 1005. One end of the first mounting plate 1005 is hinged to the top end of the first side sliding seat top plate 1104 through a mounting plate hinge seat 1004. A pitching oil cylinder 1001 is hinged between the bottom of the other end of the first mounting plate 1005 and the first side sliding seat 1102. A first swinging mechanical arm 1008 is mounted on the top end of the first mounting plate 1005 through a first swinging oil cylinder 1006. A first clamping arm 1009 is hinged on the first swinging mechanical arm 1008 through a first clamping oil cylinder 1007. After the first clamping arm 1009 and the first swinging mechanical arm 1008 are closed, they clamp the drill pipe. Through the above drill pipe grasping manipulator 10, it can be used for clamping and grasping during the drill pipe disassembly process. Moreover, the angle of the drill pipe can be adjusted through the pitching oil cylinder 1001. When it is necessary to disassemble the drill pipe and then install the anchor bolt, the position of the drill pipe grasping manipulator 10 is adjusted by starting the first swinging oil cylinder 1006, and then the first clamping oil cylinder 1007 is started. After the first clamping oil cylinder 1007 drives the first clamping arm 1009 and the first swinging mechanical arm 1008 to close, the drill pipe is clamped.

[0054] Further, a travel block 1003 is arranged on the outer wall of the first swinging mechanical arm 1008. The travel block 1003 cooperates with a travel sensor 1002 fixed on the first mounting plate 1005 to control the swinging angle of the first swinging mechanical arm 1008. Through the above structure, it can be used to control the swinging angle of the first swinging mechanical arm 1008.

[0055] Further, the second side sliding seat structure 6 includes a tail cross plate 1106 fixed to the tail end of the telescopic arm structure 9. A second side pushing oil cylinder 601 is hinged on the tail cross plate 1106. The cylinder body of the second side pushing oil cylinder 601 is fixedly connected to the second side sliding seat 604. The second side sliding seat 604 is slidably mounted on the second side slide rail 602 through a second side slider 603. The second side slide rail 602 is fixed on the outside of the telescopic arm structure 9. Through the above second side sliding seat structure 6, the position adjustment of the anchor bolt library structure 3 and the anchor bolt grasping manipulator 5 can be realized.

[0056] Further, the anchor bolt library structure 3 includes an anchor bolt library support seat 304 fixed on the top of the second side sliding seat 604. An anchor bolt library main shaft 303 is rotatably mounted on the anchor bolt library support seat 304. Different-sized anchor bolt chucks 302 are mounted on the anchor bolt library main shaft 303. The anchor bolt chucks 302 are used to store the anchor bolts 4. The anchor bolt library main shaft 303 is connected to an anchor bolt library driving oil cylinder 305 for driving its rotation. A tail positioning plate 301 for limiting the tail of the anchor bolt is arranged at one end of the tail of the anchor bolt library driving oil cylinder 305. Through the above anchor bolt library structure 3, it can be used to store the anchor bolts.

[0057] Further, the bolt grasping manipulator 5 includes a manipulator base 502. The top end of the manipulator base 502 is provided with a second swing arm 501 through a second swing oil cylinder 503. A second clamping arm 504 is hinged to the second swing arm 501 through a second clamping oil cylinder 505. After the second clamping arm 504 and the second swing arm 501 are closed, the bolt is clamped. Through the above bolt grasping manipulator 5, the grasping and installation of the bolt can be realized. During the working process, the second swing arm 501 is driven to swing by the second swing oil cylinder 503 so that it moves to the position of the bolt. Then, the second clamping oil cylinder 505 is started, and the second clamping arm 504 is driven by the second clamping oil cylinder 505 to be closed with the second swing arm 501 to clamp the bolt.

[0058] Further, the mesh sheet manipulator 8 includes a rotary oil cylinder 801 installed at the end of the telescopic arm structure 9. A rotary disk 802 is installed on the rotary shaft of the rotary oil cylinder 801. An installation box body 803 is fixed at the top end of the rotary disk 802. Clamping arm mounting plates 808 are symmetrically fixed inside the installation box body 803 at the top end of the rotary disk 802. A first clamping arm 807 is hinged to one end of the clamping arm mounting plate 808, and a second clamping arm 804 is hinged to the other end of the clamping arm mounting plate 15. A grasping oil cylinder 809 is installed between the first clamping arm 807 and the clamping arm mounting plate 808. A connecting rod 810 for driving the two to move synchronously is hinged between the first clamping arm 807 and the second clamping arm 804. A first arc-shaped top block 805 and a second arc-shaped top block 806 are installed at the top end of the installation box body 803. Through the above mesh sheet manipulator 8, the grasping, rotation and pressing of the support mesh sheet can be realized, which is convenient for the subsequent support and installation of the support mesh sheet on the inner wall of the mine tunnel. During the working process, when it is necessary to grasp the support mesh sheet, the grasping oil cylinder 809 is started. Through the combined action of the grasping oil cylinder 809 and the connecting rod 810, the first clamping arm 807 and the second clamping arm 804 are driven to synchronously perform the clamping action, thereby realizing the grasping of the support mesh sheet.

[0059] The specific working process and principle of the present invention: During the support process of the mine tunnel, first, the rock drilling device 2 is driven to advance by the rock drilling propulsion mechanism 12, and the rock drilling device 2 is synchronously used for drilling holes, so as to realize the drilling of bolt holes. After the drilling is completed, the drill pipe is disassembled by the drill pipe grasping manipulator 10. After the drill pipe is disassembled, the bolt grasping manipulator 5 is started. After the bolt is grasped by the bolt grasping manipulator 5, it is installed on the rock drilling device 2. Then, the telescopic arm structure 9 is started, and the mesh sheet manipulator 8 is driven by the telescopic arm structure 9 to move to the position of the support mesh sheet. The support mesh sheet is grasped by the mesh sheet manipulator 8 and pressed against the inner wall of the mine tunnel. Then, the rock drilling propulsion mechanism 12 is started, and the bolt is driven to drill by the rock drilling propulsion mechanism 12, so as to anchor the support mesh sheet.

Claims

1. The working mechanism of a bolter, characterized in that, It includes a main beam structure (1). A rock drilling device (2) is slidably and fittingly installed at the top of the main beam structure (1). The rock drilling device (2) cooperates with a rock drilling propulsion mechanism (12) installed on the main beam structure (1). A pipe straightening manipulator (7) for straightening the drill pipe is provided at the end of the head of the main beam structure (1). A telescopic arm structure (9) is slidably and fittingly installed at the bottom end of the main beam structure (1). A telescopic arm propulsion mechanism (13) is installed between the telescopic arm structure (9) and the main beam structure (1); a first side sliding seat structure (11) is slidably installed on one side of the telescopic arm structure (9), and a second side sliding seat structure (6) is slidably installed on the other side. A drill pipe grasping manipulator (10) for grasping the drill pipe is installed at the top of the first side sliding seat structure (11). An anchor rod grasping manipulator (5) for grasping the anchor rod (4) is installed at the top of the second side sliding seat structure (6). An anchor rod storage structure (3) for storing the anchor rods is also installed on the second side sliding seat structure (6); a mesh sheet manipulator (8) for grasping the support mesh sheet is installed at the end of the telescopic arm structure (9).

2. The working mechanism of the rock bolter according to claim 1, characterized in that: The main beam structure (1) adopts a combined double-sided slide rail structure, including a top slide rail (102) at the top and a bottom slide rail (101) at the bottom. The tails of the top slide rail (102) and the bottom slide rail (101) are fixed with a main beam tail seat (103); The rock drilling device (2) includes a rock drill (202). The rock drill (202) is fixed to the top of a first sliding plate (201) through a rock drill base (203). The first sliding plate (201) is slidably supported on the top slide rail (102). The main shaft of the rock drill (202) is connected with a drill pipe (204).

3. The working mechanism of the bolter according to claim 2, characterized in that: The rock drilling propulsion mechanism (12) includes a propulsion oil cylinder (1201). The piston rod of the propulsion oil cylinder (1201) is fixed on the main beam structure (1). The cylinder body of the propulsion oil cylinder (1201) is fixedly connected with the bottom end of the first sliding plate (201) through a connecting seat. A driving wheel (1204) is rotatably installed at the end of the cylinder body of the propulsion oil cylinder (1201). One end of the head of the first sliding plate (201) is connected with a first towing rope (1202). The other end of the first towing rope (1202) bypasses the driving wheel (1204) and is then fixed to the bottom end of the main beam structure (1). One end of the tail of the first sliding plate (201) is connected with a second towing rope (1205). The other end of the second towing rope (1205) bypasses a horizontal wheel (1203) and is then fixed to the wheel frame of the driving wheel (1204). The horizontal wheel (1203) is slidably installed on the top slide rail (102) and is located at one end of the tail of the first sliding plate (201); a wire reel (1206) is installed on the wheel frame of the horizontal wheel (1203).

4. The working mechanism of the bolter according to claim 1, characterized in that: The pipe straightening manipulator (7) includes a jaw mounting plate (701) fixed to the end of the main beam structure (1). Symmetrically hinged on the jaw mounting plate (701) are paired pipe straightening jaws (703). A clamping oil cylinder (702) is installed between the pipe straightening jaws (703) and the jaw mounting plate (701). The pipe straightening jaws (703) form a guide sleeve after closing.

5. The working mechanism of the bolter according to claim 2, characterized in that: The telescopic arm structure (9) includes a main arm (903). The main arm (903) is slidably mounted on the bottom slide rail (101) through a first slider (904) and a second slider (905). A telescopic arm (902) is slidably mounted inside the main arm (903). A telescopic arm driving oil cylinder (901) is installed between the telescopic arm (902) and the main arm (903). The telescopic arm propulsion mechanism (13) includes a first hinge seat (1301) fixed to the bottom end of the main beam structure (1). The first hinge seat (1301) is hinged to the end of the piston rod of the main arm propulsion oil cylinder (1302). The end of the cylinder body of the main arm propulsion oil cylinder (1302) is fixedly connected to the main arm (903).

6. The working mechanism of the bolter according to claim 2, wherein: The first side sliding seat structure (11) includes a tail cross plate (1106) fixed to the tail end of the telescopic arm structure (9). A first side push oil cylinder (1105) is hinged on the tail cross plate (1106). The cylinder body of the first side push oil cylinder (1105) is fixedly connected to the first side sliding seat (1102). The first side sliding seat (1102) is slidably mounted on the first side slide rail (1101) through a first side slider (1103). The first side slide rail (1101) is fixed to the outside of the telescopic arm structure (9). A first side sliding seat top plate (1104) is provided on the top of the first side sliding seat (1102). The drill pipe grasping manipulator (10) is installed on the first side sliding seat (1102).

7. The working mechanism of the bolter according to claim 6, characterized in that: The drill pipe grasping manipulator (10) includes a first mounting plate (1005). One end of the first mounting plate (1005) is hinged to the top end of the first side sliding seat top plate (1104) through a mounting plate hinge seat (1004). A pitching oil cylinder (1001) is hinged between the bottom of the other end of the first mounting plate (1005) and the first side sliding seat (1102). A first swinging mechanical arm (1008) is installed on the top end of the first mounting plate (1005) through a first swinging oil cylinder (1006). A first clamping arm (1009) is hinged on the first swinging mechanical arm (1008) through a first clamping oil cylinder (1007). After the first clamping arm (1009) and the first swinging mechanical arm (1008) are closed, they clamp the drill pipe. A travel block (1003) is provided on the outer wall of the first swinging mechanical arm (1008). The travel block (1003) cooperates with a travel sensor (1002) fixed on the first mounting plate (1005) to control the swinging angle of the first swinging mechanical arm (1008).

8. The working mechanism of the bolter according to claim 2, characterized in that: The second side sliding seat structure (6) includes a tail cross plate (1106) fixed to the tail end of the telescopic arm structure (9). A second side push oil cylinder (601) is hinged on the tail cross plate (1106). The cylinder body of the second side push oil cylinder (601) is fixedly connected to the second side sliding seat (604). The second side sliding seat (604) is slidably mounted on the second side slide rail (602) through a second side slider (603). The second side slide rail (602) is fixed to the outside of the telescopic arm structure (9).

9. The working mechanism of the bolter as claimed in claim 8, characterized in that: The bolt storage structure (3) includes a bolt storage support base (304) fixed to the top of the second side shift slider (604). A bolt storage main shaft (303) is rotatably installed on the bolt storage support base (304). Bolt chucks (302) with different sizes are installed on the bolt storage main shaft (303). Bolts (4) are stored on the bolt chucks (302). The bolt storage main shaft (303) is connected to a bolt storage drive oil cylinder (305) for driving its rotation. A bolt tail positioning disc (301) for limiting the bolt tail is provided at one end of the tail of the bolt storage drive oil cylinder (305). The bolt grasping manipulator (5) includes a manipulator base (502). A second swing mechanical arm (501) is installed at the top end of the manipulator base (502) through a second swing oil cylinder (503). A second clamping arm (504) is hinged on the second swing mechanical arm (501) through a second clamping oil cylinder (505). The bolt is clamped after the second clamping arm (504) and the second swing mechanical arm (501) are closed.

10. The working mechanism of the bolt rig according to claim 1, wherein: The mesh sheet manipulator (8) includes a rotary oil cylinder (801) installed at the end of the telescopic arm structure (9). A rotary disc (802) is installed on the rotary shaft of the rotary oil cylinder (801). An installation box body (803) is fixed to the top of the rotary disc (802). Clamping arm mounting plates (808) are symmetrically fixed inside the installation box body (803) at the top of the rotary disc (802). A first clamping arm (807) is hinged at one end of the clamping arm mounting plate (808). A second clamping arm (804) is hinged at the other end of the clamping arm mounting plate (15). A grasping oil cylinder (809) is installed between the first clamping arm (807) and the clamping arm mounting plate (808). A connecting rod (810) for driving the two to move synchronously is hinged between the first clamping arm (807) and the second clamping arm (804). A first arc-shaped top block (805) and a second arc-shaped top block (806) are installed at the top of the installation box body (803).

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