Net grabbing and net jacking integrated manipulator of anchor rod trolley and operation method

Abstract

The invention provides a net grabbing and net jacking integrated manipulator of an anchor rod trolley and an operation method. The net grabbing and net jacking integrated manipulator comprises a main arm, a telescopic arm is installed in the main arm in a sliding mode, a U-shaped groove is formed in one end of the head of the telescopic arm, a rotary net grabbing manipulator used for grabbing a net is fixed to the position where the U-shaped groove is located, and a telescopic power device is arranged between the main arm and the telescopic arm; a first sliding seat is fixed at one end of the top of the main arm; a second sliding seat is fixed at the other end; side plates are symmetrically fixed to the two outer side walls of the main arm, the bottom ends of the tails of the side plates are provided with main arm propelling hinge bases, and a tail plate is fixed to the tail of the main arm. The mechanical arm can be used for grabbing, rotating and jacking series operation processes of the supporting mesh, the mounting process of the supporting mesh is effectively simplified, and the mounting efficiency of the supporting mesh is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of bolt trucks, and specifically to an integrated manipulator for net grasping and net topping of a bolt truck and an operation method thereof. Background Art

[0002] During the process of supporting a mine tunnel with a bolt truck, it is necessary to install a support mesh. Currently, during the specific installation process of the support mesh, the commonly used installation process is as follows: First, a grasping manipulator is used to grasp the support mesh. Then, an adjustment mechanism is used to rotate and adjust the installation angle of the support mesh. After the support mesh is adjusted, a net topping mechanism is used to press the support mesh tightly against the inner wall of the top of the mine tunnel. Finally, bolt driving operations are performed to support and fix the support mesh.

[0003] The above-mentioned support mesh installation process is relatively complex, resulting in a complex structure of the working mechanism of the existing bolt truck for installing the support mesh, and thus a low installation efficiency of the support mesh.

[0004] In addition, the top part of the existing separate net topping structure uses a thimble structure. Specifically, refer to the prior application CN219452127U of our company, the dual-purpose net topping mechanism of the bolt truck. Since the head uses a nail needle structure, it is easy to have the problem of snagging the mesh during the specific use process, resulting in an unsmooth operation process and severely restricting the working efficiency. Summary of the Invention

[0005] To solve the current technical problems, the main purpose of the present invention is to provide an integrated manipulator for net grasping and net topping of a bolt truck and an operation method thereof. This manipulator can be used during the process of supporting a mine tunnel, and can perform a series of operations of grasping, rotating, and pressing the support mesh with the help of a bolt truck, effectively simplifying the installation process of the support mesh and improving the installation efficiency of the support mesh. In addition, its structure can effectively prevent the problem of snagging the support mesh during the operation process.

[0006] To achieve the above technical features, the object of the present invention is realized as follows: An integrated manipulator for net grasping and net topping of a bolt truck includes a main arm. A telescopic arm is slidably installed inside the main arm. One end of the head of the telescopic arm is provided with a U-shaped groove, and a rotary net grasping manipulator for net grasping is fixed at the position where the U-shaped groove is located. A telescopic power device is arranged between the main arm and the telescopic arm. One end of the top of the main arm is fixed with a first sliding seat, and the other end is fixed with a second sliding seat. Side plates are symmetrically fixed on the two outer side walls of the main arm. A main arm propulsion hinge seat is arranged at the bottom end of the tail of the side plate, and a tail plate is fixed at the tail of the main arm.

[0007] The telescopic power device includes a first oil cylinder hinge seat fixed to one end of the bottom of the main arm. The first oil cylinder hinge seat is hinged to the end of the piston rod of the telescopic oil cylinder through a fifth pin shaft. The cylinder body of the telescopic oil cylinder is hinged to a second oil cylinder hinge seat through a sixth pin shaft, and the second oil cylinder hinge seat is fixed to the bottom end of the head of the telescopic arm.

[0008] The rotary net-grabbing manipulator includes a rotary oil cylinder fixed inside the U-shaped groove. A rotary disk is fixedly installed on the main shaft of the rotary oil cylinder. An installation box body is fixed to the top of the rotary disk. Clamp arm mounting plates are symmetrically fixed inside the installation box body at the top of the rotary disk. One end of the clamp arm mounting plate is hinged to a first clamp arm through a first pin shaft, and the other end of the clamp arm mounting plate is hinged to a second clamp arm through a second pin shaft. A grabbing power device for driving the two to perform a grabbing action is installed between the first clamp arm and the second clamp arm; Clamp arm moving grooves for passing through the first clamp arm and the second clamp arm are symmetrically arranged on the installation box body.

[0009] The installation box body is fixedly connected to the rotary disk through a plurality of long bolts.

[0010] Symmetrically arranged oil cylinder mounting seats are fixed on the outer wall of the rotary oil cylinder. Bolt holes are provided on the oil cylinder mounting seats, and the bolt holes are fixedly connected to the U-shaped groove of the telescopic arm through penetrating bolts.

[0011] A first arc-shaped claw for hooking the mesh is provided at the end of the first clamp arm, and a second arc-shaped claw for hooking the mesh is provided at the end of the second clamp arm.

[0012] The grabbing power device includes an oil cylinder. The cylinder body of the oil cylinder is hinged between the clamp arm mounting plates through an oil cylinder pin shaft. The end of the piston rod of the oil cylinder is hinged to the bottom end of the first clamp arm through a piston rod pin shaft; The first clamp arm is hinged to a connecting rod through a third pin shaft, and the other end of the connecting rod is hinged to the bottom end of the second clamp arm through a fourth pin shaft.

[0013] The outer surface of the installation box body adopts an arc-shaped transition surface structure of a quadrangular pyramid frustum; A kidney-shaped groove is provided on the outer wall of the installation box body for passing through the oil pipe connecting the oil cylinder.

[0014] A first tightening block and a second tightening block are symmetrically fixed to the top of the installation box body. The first tightening block is arranged outside the first arc-shaped claw, and the second tightening block is arranged outside the second arc-shaped claw; Arc-shaped avoidance grooves are respectively machined inside the first tightening block and the second tightening block to ensure that the first arc-shaped claw and the second arc-shaped claw can move inside the arc-shaped avoidance grooves.

[0015] The operation method of the integrated net-grabbing and net-topping manipulator of the bolt jumbo includes the following steps: Step 1, adjustment of the position of the manipulator: Control the main arm to move through the bolter, and then move the rotary net-grabbing manipulator to the position where the support mesh is located; Then, control the telescopic power device to extend the telescopic arm, and then preliminarily press the rotary net-grabbing manipulator against the support mesh; Step 2, Grabbing of the support mesh: After the installation box body of the rotary net-grabbing manipulator is preliminarily pressed against the support mesh, start the oil cylinder of the rotary net-grabbing manipulator, synchronously drive the first clamping arm and the second clamping arm through the oil cylinder, and then open and grasp the support mesh through the first arc-shaped claw and the second arc-shaped claw; Step 3, Rotation of the support mesh: After the support mesh is reliably grasped, control the main arm to move through the bolter, and then carry the support mesh away from the ground; Then, start the rotary oil cylinder of the rotary net-grabbing manipulator, drive the entire support mesh to rotate through the rotary oil cylinder, and realize the adjustment of the installation angle; Step 4, Pressing of the support mesh: After the angle adjustment of the support mesh is completed, extend the telescopic arm, and then press the support mesh against the inner wall of the mine tunnel; Step 5, Anchoring of the support mesh: After the support mesh is pressed tightly, synchronously start the bolt-drilling mechanism of the bolter, drive bolts into the anchoring hole part, and then fix the support mesh through the bolts, so that it is fixed on the inner wall of the mine tunnel; Step 6, Reset of the rotary net-grabbing manipulator: After the support mesh is anchored, synchronously drive the first clamping arm and the second clamping arm through the oil cylinder, then close the first arc-shaped claw and the second arc-shaped claw, release the support mesh, and repeat steps 1 to 6 until all support meshes are installed.

[0016] The present invention has the following beneficial effects: 1. The manipulator of the present invention can be used in the process of mine tunnel support, and can perform a series of operations such as grabbing, rotating, and pressing the support mesh with the help of a bolter, effectively simplifying the installation process of the support mesh and improving the installation efficiency of the support mesh; in addition, its structure can effectively prevent the problem of snagging the mesh during the operation process.

[0017] 2. The rotary net-grabbing manipulator of the present invention can be used in the process of grabbing, rotating, and pressing the support mesh, effectively simplifying the installation process of the support mesh and improving the installation efficiency of the support mesh.

[0018] 3. Through the above-mentioned oil cylinder mounting seat, reliable installation and fixation between the entire manipulator and the mechanical arm of the bolter can be realized.

[0019] 4. The above-mentioned first arc-shaped claw and second arc-shaped claw facilitate the cooperative grasping with the mesh holes of the support mesh during the subsequent net-grasping process.

[0020] 5. The above-mentioned grasping power device can be used to provide grasping power.

[0021] 6. The above-mentioned waist-shaped groove facilitates the subsequent installation of the oil pipe.

[0022] 7. The above-mentioned first tightening block and second tightening block can be used to tighten the support mesh on the one hand, and protect the first arc-shaped claw and second arc-shaped claw on the other hand to prevent the problem of net hanging.

[0023] 8. The above-mentioned telescopic power device can be used to control the telescopic control of the telescopic arm, and further used to adjust the position of the rotary net-grasping manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below in conjunction with the drawings and embodiments.

[0025] Figure 1 It is a three-dimensional view of the overall structure of the present invention from the first perspective.

[0026] Figure 2 It is a three-dimensional view of the overall structure of the present invention from the second perspective.

[0027] Figure 3 It is a three-dimensional view of the overall structure of the present invention from the third perspective.

[0028] Figure 4 It is a side view of the overall structure of the present invention.

[0029] Figure 5 It is the Figure 4 A-A view of the present invention.

[0030] Figure 6 It is a three-dimensional view of the rotary net-grasping manipulator of the present invention from the first perspective.

[0031] Figure 7 It is a three-dimensional view of the rotary net-grasping manipulator of the present invention from the second perspective.

[0032] Figure 8 It is a three-dimensional view of the rotary net-grasping manipulator of the present invention from the third perspective.

[0033] Figure 9 It is a side view of the rotary net-grasping manipulator of the present invention.

[0034] Figure 10 It is the rotary net-grasping manipulator of the present invention Figure 9 B-B view.

[0035] Figure 11 This is a three-dimensional view from the first perspective of the rotary net-grabbing manipulator of the present invention after removing the mounting box body.

[0036] Figure 12 This is a three-dimensional view from the second perspective of the rotary net-grabbing manipulator of the present invention after removing the mounting box body.

[0037] Figure 13 This is a three-dimensional view from the third perspective of the rotary net-grabbing manipulator of the present invention after removing the mounting box body.

[0038] In the figure: rotary oil cylinder 1, oil cylinder mounting seat 2, bolt hole 3, rotary disk 4, long bolt 5, mounting box body 6, waist-shaped groove 7, second tightening block 8, second arc-shaped claw 9, second clamping arm 10, clamping arm movable groove 11, first clamping arm 12, first tightening block 13, first arc-shaped claw 14, clamping arm mounting plate 15, oil cylinder pin shaft 16, connecting rod 17, second pin shaft 18, fourth pin shaft 19, third pin shaft 20, first pin shaft 21, piston rod pin shaft 22, oil cylinder 23, rotary net-grabbing manipulator 24, U-shaped groove 25, telescopic arm 26, first sliding seat 27, main arm 28, side plate 29, second sliding seat 30, tail plate 31, main arm propulsion hinge seat 32, first oil cylinder hinge seat 33, fifth pin shaft 34, telescopic oil cylinder 35, sixth pin shaft 36, second oil cylinder hinge seat 37. Detailed implementation manners

[0039] The following further describes the implementation manners of the present invention in conjunction with the accompanying drawings.

[0040] See Figure 1-13 , the net-grabbing and net-topping integrated manipulator of the bolt trolley, including a main arm 28, a telescopic arm 26 is slidably installed inside the main arm 28, a U-shaped groove 25 is provided at one end of the head of the telescopic arm 26, and a rotary net-grabbing manipulator 24 for grabbing the net is fixed at the position where the U-shaped groove 25 is located. A telescopic power device is provided between the main arm 28 and the telescopic arm 26; a first sliding seat 27 is fixed at one end of the top of the main arm 28, and a second sliding seat 30 is fixed at the other end; side plates 29 are symmetrically fixed on the two outer side walls of the main arm 28, a main arm propulsion hinge seat 32 is provided at the bottom end of the tail of the side plate 29, and a tail plate 31 is fixed at the tail of the main arm 28. This manipulator can be used for the series of operations of grabbing, rotating and topping the support mesh, effectively simplifying the installation process of the support mesh and improving the installation efficiency of the support mesh. During the specific working process, the main arm 28 can be used to drive the entire manipulator to move and adjust the position to achieve net-grabbing operations at different positions. The telescopic power device can be used to control the telescopic control of the telescopic arm 26, and then realize the subsequent net-topping. The rotary net-grabbing manipulator 24 can realize the grabbing and rotating of the mesh.

[0041] Furthermore, the telescopic power device includes a first oil cylinder hinge seat 33 fixed to one end of the bottom of the main arm 28. The first oil cylinder hinge seat 33 is hinged to the end of the piston rod of the telescopic oil cylinder 35 through a fifth pin shaft 34. The cylinder body of the telescopic oil cylinder 35 is hinged to a second oil cylinder hinge seat 37 through a sixth pin shaft 36. The second oil cylinder hinge seat 37 is fixed to the bottom end of the head of the telescopic arm 26. The above-mentioned telescopic power device can be used to control the telescopic control of the telescopic arm 26, and further to realize the position adjustment of the rotary net-grabbing manipulator 24. During the working process, when the position of the rotary net-grabbing manipulator 24 needs to be adjusted, the telescopic oil cylinder 35 is started, and the telescopic arm 26 is driven by the telescopic oil cylinder 35. Then, the telescopic arm 26 slides out inside the main arm 28 to realize the telescopic adjustment of the telescopic arm 26.

[0042] Furthermore, the rotary net-grabbing manipulator 24 includes a rotary disk 4 fixedly installed on the main shaft of the rotary oil cylinder 1. The top end of the rotary disk 4 is fixed with a mounting box body 6. Symmetrically fixed inside the mounting box body 6 at the top end of the rotary disk 4 are clamping arm mounting plates 15. One end of the clamping arm mounting plate 15 is hinged with a first clamping arm 12 through a first pin shaft 21, and the other end of the clamping arm mounting plate 15 is hinged with a second clamping arm 10 through a second pin shaft 18. A grabbing power device for driving the two to perform the grabbing action is installed between the first clamping arm 12 and the second clamping arm 10; symmetrically arranged clamping arm moving grooves 11 for passing through the first clamping arm 12 and the second clamping arm 10 are provided on the mounting box body 6. This manipulator can be used for the series of operations of grabbing, rotating and tightening the support mesh, effectively simplifying the installation process of the support mesh and improving the installation efficiency of the support mesh. During the specific use process, by mounting the manipulator at the end of the robotic arm of the bolter, when the support mesh needs to be grabbed, the ends of the first clamping arm 12 and the second clamping arm 10 are extended into the mesh holes. Then, the grabbing power device is started, and the first clamping arm 12 and the second clamping arm 10 are driven by the grabbing power device to open, and then the support mesh is clamped. Then, the support mesh is grabbed with the help of the robotic arm. After being grasped tightly, the rotary oil cylinder 1 is started for angle adjustment. After the angle adjustment is completed, the robotic arm extends the manipulator, and then the support mesh is tightened against the inner wall of the mine tunnel for the next bolt installation operation.

[0043] Furthermore, the mounting box body 6 is fixedly connected to the rotary disk 4 through a plurality of long bolts 5. The reliable installation and fixation of the mounting box body 6 can be realized through the above-mentioned long bolts 5.

[0044] Furthermore, symmetrically arranged oil cylinder mounting seats 2 are fixed on the outer wall of the rotary oil cylinder 1. Bolt holes 3 are provided on the oil cylinder mounting seats 2, and the bolt holes 3 are fixedly connected to the robotic arm of the bolter through penetrating bolts. The reliable installation and fixation between the entire manipulator and the robotic arm of the bolter can be realized through the above-mentioned oil cylinder mounting seats 2.

[0045] Further, a first arc-shaped claw 14 for hooking the mesh sheet is provided at the end of the first clamping arm 12, and a second arc-shaped claw 9 for hooking the mesh sheet is provided at the end of the second clamping arm 10. Through the above-mentioned first arc-shaped claw 14 and second arc-shaped claw 9, it is convenient to realize the cooperative grasping with the mesh holes of the support mesh sheet during the subsequent mesh grasping process.

[0046] Further, the grasping power device includes an oil cylinder 23. The cylinder body of the oil cylinder 23 is hinged between the clamping arm mounting plates 15 through an oil cylinder pin shaft 16, and the end of the piston rod of the oil cylinder 23 is hinged and connected to the bottom end of the first clamping arm 12 through a piston rod pin shaft 22; a connecting rod 17 is hinged to the first clamping arm 12 through a third pin shaft 20, and the other end of the connecting rod 17 is hinged and connected to the bottom end of the second clamping arm 10 through a fourth pin shaft 19. Through the above-mentioned grasping power device, it can be used to provide grasping power. During the working process, when it is necessary to grasp the support mesh sheet, by starting the oil cylinder 23, the first clamping arm 12 is driven by the oil cylinder 23 to rotate around the first pin shaft 21, and then the first clamping arm 12 drives the second clamping arm 10 to rotate around the second pin shaft 18 through the connecting rod 17, so as to realize the synchronous opening or closing of the first clamping arm 12 and the second clamping arm 10, and achieve the mesh grasping action.

[0047] Further, the outer surface of the mounting box body 6 adopts an arc transition surface structure of a quadrangular pyramid frustum. By adopting a smooth surface structure, it is ensured that during the movement of the entire rotary mesh grasping manipulator 24, it can smoothly slide and contact with the outer surface of the support mesh sheet, effectively avoiding the problem that the traditional jacking structure is prone to snagging the support mesh sheet.

[0048] Further, a waist-shaped groove 7 is provided on the outer wall of the mounting box body 6, and the waist-shaped groove 7 is used for passing through the oil pipe connecting the oil cylinder 23. Through the above-mentioned waist-shaped groove 7, it is convenient for the subsequent installation of the oil pipe.

[0049] Further, a first tightening block 13 and a second tightening block 8 are symmetrically fixed at the top end of the mounting box body 6. The first tightening block 13 is arranged outside the first arc-shaped claw 14, and the second tightening block 8 is arranged outside the second arc-shaped claw 9. Arc-shaped avoidance grooves are respectively machined inside the first tightening block 13 and the second tightening block 8, and it is ensured that the first arc-shaped claw 14 and the second arc-shaped claw 9 can move inside the arc-shaped avoidance grooves. Through the above-mentioned first tightening block 13 and second tightening block 8, on the one hand, they can be used to tighten the support mesh sheet, and on the other hand, they can protect the first arc-shaped claw 14 and the second arc-shaped claw 9 to prevent the problem of snagging the mesh.

[0050] Embodiment 2: An operation method of a mesh grasping and roof net integrating manipulator of a bolt trolley includes the following steps: Step 1, adjustment of the manipulator position: Control the main boom 28 to move through the bolter, and then move the rotary net-grabbing manipulator 24 to the position where the support mesh is located. Then, control the telescopic power device to extend the telescopic boom 26, and then preliminarily press the rotary net-grabbing manipulator 24 against the support mesh. Step 2: Grabbing of the support mesh After the mounting box body 6 of the rotary net-grabbing manipulator 24 is preliminarily pressed against the support mesh, start the oil cylinder 23 of the rotary net-grabbing manipulator 24, and synchronously drive the first clamping arm 12 and the second clamping arm 10 through the oil cylinder 23, and then open and grip the support mesh through the opening of the first arc-shaped claw 14 and the second arc-shaped claw 9. Step 3: Rotation of the support mesh After the support mesh is reliably gripped, control the main boom 28 to move through the bolter, and then carry the support mesh away from the ground. Then, start the rotary oil cylinder 1 of the rotary net-grabbing manipulator 24, and drive the entire support mesh to rotate through the rotary oil cylinder 1 to realize the adjustment of the installation angle. Step 4: Pressing of the support mesh After the angle adjustment of the support mesh is completed, extend the telescopic boom 26, and then press the support mesh against the inner wall of the mine tunnel. Step 5: Anchoring of the support mesh After the support mesh is pressed tightly, synchronously start the bolt-driving mechanism of the bolter, drive in bolts at the anchoring hole part, and then fix the support mesh through the bolts to fix it on the inner wall of the mine tunnel. Step 6: Resetting of the rotary net-grabbing manipulator 24 After the support mesh is anchored, synchronously drive the first clamping arm 12 and the second clamping arm 10 through the oil cylinder 23, and then close the first arc-shaped claw 14 and the second arc-shaped claw 9 and release the support mesh, and then repeat steps 1 to 6 until all the support meshes are installed.

[0051] The specific working process and principle of the rotary net-grabbing manipulator of the present invention: During the specific use process, the entire manipulator is installed at the end of the boom of the bolter. When it is necessary to install the support mesh, first control the grasping power device to close the first arc claw 14 and the second arc claw 9, then insert the first arc claw 14 and the second arc claw 9 into the mesh holes of the support mesh. Then, start the grasping power device by starting the oil cylinder 23. The oil cylinder 23 drives the first clamping arm 12 to rotate around the first pin shaft 21, and then the first clamping arm 12 drives the second clamping arm 10 to rotate around the second pin shaft 18 through the connecting rod 17, thereby realizing the synchronous opening of the first clamping arm 12 and the second clamping arm 10 to grip the mesh. Then, use the robotic arm to grab the support mesh. After gripping, start the rotary oil cylinder 1 to adjust the angle. After the angle adjustment is completed, extend the manipulator, thereby pressing the support mesh tightly against the inner wall of the mine tunnel. Then, install the anchor bolt through the anchor bolt mechanism, and then fix the support mesh through the anchor bolt.

Claims

1. The integrated manipulator for grasping and roofing nets of a bolt rig, characterized in that, It includes a main arm (28), an extension arm (26) is slidably installed inside the main arm (28), a U-shaped groove (25) is provided at one end of the head of the extension arm (26), a rotary net-grabbing manipulator (24) for grabbing the net is fixed at the position where the U-shaped groove (25) is located, and a telescopic power device is provided between the main arm (28) and the extension arm (26); a first sliding seat (27) is fixed at one end of the top of the main arm (28), and a second sliding seat (30) is fixed at the other end; side plates (29) are symmetrically fixed on the two outer side walls of the main arm (28), a main arm propulsion hinge seat (32) is provided at the bottom end of the tail of the side plate (29), and a tail plate (31) is fixed at the tail of the main arm (28).

2. The integrated manipulator for catching and roofing nets of the bolt rig according to claim 1, characterized in that: The telescopic power device includes a first oil cylinder hinge seat (33) fixed at one end of the bottom of the main arm (28), the first oil cylinder hinge seat (33) is hinged to the end of the piston rod of the telescopic oil cylinder (35) through a fifth pin shaft (34), and the cylinder body of the telescopic oil cylinder (35) is hinged to a second oil cylinder hinge seat (37) through a sixth pin shaft (36), and the second oil cylinder hinge seat (37) is fixed at the bottom end of the head of the extension arm (26).

3. The integrated manipulator for catching and topping nets of the bolt rig according to claim 1, characterized in that: The rotary net-grabbing manipulator (24) includes a rotary oil cylinder (1), the rotary oil cylinder (1) is fixed inside the U-shaped groove (25), a rotary disk (4) is fixedly installed on the main shaft of the rotary oil cylinder (1), a mounting box body (6) is fixed at the top end of the rotary disk (4), clamping arm mounting plates (15) are symmetrically fixed inside the mounting box body (6) at the top end of the rotary disk (4), one end of the clamping arm mounting plate (15) is hinged to a first clamping arm (12) through a first pin shaft (21), the other end of the clamping arm mounting plate (15) is hinged to a second clamping arm (10) through a second pin shaft (18), and a grabbing power device for driving the two to perform a grabbing action is installed between the first clamping arm (12) and the second clamping arm (10); clamping arm moving grooves (11) for passing through the first clamping arm (12) and the second clamping arm (10) are symmetrically provided on the mounting box body (6).

4. The integrated manipulator for catching and topping nets of the bolt rig according to claim 3, characterized in that: The mounting box body (6) is fixedly connected to the rotary disk (4) through a plurality of long bolts (5).

5. The integrated manipulator for catching and topping nets of the bolt rig according to claim 3, characterized in that: Symmetrically arranged oil cylinder mounting seats (2) are fixed on the outer wall of the rotary oil cylinder (1), bolt holes (3) are provided on the oil cylinder mounting seats (2), and the bolt holes (3) are fixedly connected to the U-shaped groove (25) of the extension arm (26) through penetrating bolts.

6. The integrated manipulator for grabbing and roofing nets of the bolt rig according to claim 3, wherein: A first arc-shaped claw (14) for hooking the net is provided at the end of the first clamping arm (12), and a second arc-shaped claw (9) for hooking the net is provided at the end of the second clamping arm (10).

7. The integrated manipulator for catching and roofing nets of the bolter according to claim 1, characterized in that: The grabbing power device includes an oil cylinder (23), the cylinder body of the oil cylinder (23) is hinged between the clamping arm mounting plates (15) through an oil cylinder pin shaft (16), the end of the piston rod of the oil cylinder (23) is hinged to the bottom end of the first clamping arm (12) through a piston rod pin shaft (22); the first clamping arm (12) is hinged to a connecting rod (17) through a third pin shaft (20), and the other end of the connecting rod (17) is hinged to the bottom end of the second clamping arm (10) through a fourth pin shaft (19).

8. The integrated manipulator for catching and roofing nets of the rock bolt jumbo according to claim 5, characterized in that: The outer surface of the mounting box body (6) adopts an arc-transition surface structure of a quadrangular frustum. A kidney-shaped groove (7) is provided on the outer wall of the mounting box body (6), and the kidney-shaped groove (7) is used for the oil pipe of the connecting oil cylinder (23) to pass through.

9. The integrated manipulator for catching and topping nets of the bolter according to claim 8, characterized in that: The first tightening block (13) and the second tightening block (8) are symmetrically fixed at the top end of the mounting box body (6). The first tightening block (13) is arranged outside the first arc-shaped claw (14), and the second tightening block (8) is arranged outside the second arc-shaped claw (9). Arc-shaped avoidance grooves are respectively machined inside the first tightening block (13) and the second tightening block (8) to ensure that the first arc-shaped claw (14) and the second arc-shaped claw (9) can move inside the arc-shaped avoidance grooves.

10. The operating method of the integrated manipulator for catching and topping nets of the bolt rig according to any one of claims 1-9, characterized in that, It includes the following steps: Step 1, adjustment of the position of the manipulator: Control the main arm (28) to move through the bolter, and then move the rotary net-grabbing manipulator (24) to the position where the support mesh is located. Then, control the telescopic power device to extend the telescopic arm (26), and then preliminarily tighten the rotary net-grabbing manipulator (24) against the support mesh. Step 2, grasping of the support mesh: After the mounting box body (6) of the rotary net-grabbing manipulator (24) is preliminarily tightened against the support mesh, start the oil cylinder (23) of the rotary net-grabbing manipulator (24), synchronously drive the first clamping arm (12) and the second clamping arm (10) through the oil cylinder (23), and then open and grasp the support mesh through the first arc-shaped claw (14) and the second arc-shaped claw (9). Step 3, rotation of the support mesh: After the support mesh is reliably grasped, control the main arm (28) to move through the bolter, and then carry the support mesh away from the ground. Then, start the rotary oil cylinder (1) of the rotary net-grabbing manipulator (24), drive the entire support mesh to rotate through the rotary oil cylinder (1), and realize the adjustment of the installation angle. Step 4, tightening of the support mesh: After the angle of the support mesh is adjusted, extend the telescopic arm (26), and then tighten the support mesh against the inner side wall of the mine tunnel. Step 5, anchoring of the support mesh: After the support mesh is tightened, synchronously start the bolt-driving mechanism of the bolter, drive bolts into the anchoring holes, and then fix the support mesh through the bolts so that it is fixed on the inner wall of the mine tunnel. Step 6, reset of the rotary net-grabbing manipulator (24): After the support mesh is anchored, synchronously drive the first clamping arm (12) and the second clamping arm (10) through the oil cylinder (23), then close the first arc-shaped claw (14) and the second arc-shaped claw (9), release the support mesh, and repeat Step 1 to Step 6 until all the support meshes are installed.

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