Full-automatic anchoring agent filling equipment special for deep well coal mine

Abstract

The invention discloses a full-automatic anchoring agent filling device special for a deep well coal mine, and relates to the technical field of anchor rod fixing for the deep well coal mine, the full-automatic anchoring agent filling device comprises a mounting machine base, an anchoring agent storing and conveying mechanism and an anchoring agent filling pipe, a main hydraulic telescopic rod used for driving the material storage barrel to move is installed on the installation machine base. The device further comprises a plugging mechanism and a linkage compaction mechanism, the plugging mechanism comprises a sliding plugging piece and a first limiting spring, and the sliding plugging piece is arranged outside the anchoring agent filling pipe in a sliding mode. The arranged annular gear rolls along the second linkage rack, the rolling annular gear is in matched transmission through the ratchet ring and the pawl, rotation of the missing gear is achieved, the missing gear is matched with the first linkage rack, and therefore the sliding pipe is continuously pushed and jacked; the sliding pipe continuously pushes forwards in the process that the anchoring agent filling pipe retreats and injects the anchoring agent at the same time, the filled anchoring agent is conveniently compacted, and the compactness of the anchoring agent is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of anchoring for deep coal mines, in particular to full-automatic anchoring agent filling equipment special for deep coal mines. Background Art

[0002] In deep coal mine excavation, it is generally necessary to support the tunnel in the early stage of excavation. This is mainly done by drilling holes at appropriate locations on the tunnel rock wall through an anchoring trolley, injecting anchoring agents, and finally inserting anchor rods into the holes. The anchor rods exert prestress to inhibit rock strata delamination and crack expansion, forming a "pressure arch" structure and improving the self-bearing capacity of the surrounding rock. The filling effect of the anchor agent determines the fixed support effect of the anchor rod.

[0003] The existing anchor filling equipment is installed on the anchoring vehicle in conjunction with the anchor pushing system and the drilling system. The three can be switched and used based on the control system to complete drilling, anchor filling and anchor installation in sequence. When filling the anchor, the control system controls the corresponding delivery pipe to be inserted into the deep of the borehole, and then the anchor delivery system is started to inject the anchor into the borehole through the delivery pipe. At the same time, the control system also controls the delivery pipe to withdraw at a uniform speed so that the anchor fills the anchor installation hole with a certain depth. After filling, the anchor is inserted into the hole and fixed by bonding with the anchor.

[0004] The shortcomings of the existing anchor filling equipment are: when filling the anchor, the existing anchor filling equipment can be inserted into a borehole of a certain depth through a delivery pipe, and then the anchor is continuously injected during the uniform withdrawal process to ensure that the anchor is filled to different positions inside the borehole. However, during the filling process, the anchor itself may be unevenly mixed in raw materials, have too high viscosity, or be mixed with air, or have an unstable filling speed. This may lead to problems such as uneven distribution, bubbles, gaps, or local unfilled areas during the filling process. After the above problems occur, the existing filling equipment is not convenient for compacting the filled anchor, resulting in insufficient density, which will lead to the subsequent bonding and fixing effect of the anchor rod, affecting the support function. Summary of the invention

[0005] The purpose of the present invention is to provide a fully automatic anchor filling device for deep coal mines, so as to solve the technical problem that the anchor filling device for deep coal mines in the prior art is not convenient for compaction processing when filling the anchor, which easily affects the fixation of the anchor rod.

[0006] The technical problem to be solved by the present invention can be achieved by the following technical solutions:

[0007] A fully automatic anchoring agent filling device for deep well coal mines, including an installation base, an anchoring agent storage and conveying mechanism, and an anchoring agent filling pipe. The anchoring agent storage and conveying mechanism includes a storage barrel, and a main hydraulic telescopic rod for driving the storage barrel to move is installed on the installation base; the anchoring agent filling pipe is connected to the storage barrel, and further includes:

[0008] A plugging mechanism, which includes a sliding plugging member and a first limiting spring. The sliding plugging member is slidably arranged outside the anchoring agent filling pipe, and the sliding plugging member is also connected to the storage barrel through the first limiting spring. The sliding plugging member is used to plug the drill hole;

[0009] A linkage compaction mechanism, which includes a sliding pressing mechanism and a reciprocating motion mechanism. The sliding pressing mechanism is slidably arranged outside the anchoring agent filling pipe and is used to compact the anchoring agent. The sliding pressing mechanism is arranged in cooperation with the sliding plugging member through the reciprocating motion mechanism.

[0010] Preferably, the sliding pressing mechanism includes a sliding pipe and an automatic switch cover mechanism. The sliding pipe is slidably sleeved outside the anchoring agent filling pipe, and a second limiting spring is connected between the sliding pipe and the storage barrel. The automatic switch cover mechanism is arranged at the end of the sliding pipe away from the storage barrel. The reciprocating motion mechanism is used to drive the sliding pipe to slide along the anchoring agent filling pipe, and the sliding plugging member is slidably connected to the sliding pipe.

[0011] Preferably, the automatic switch cover mechanism includes a rotating cover and an elastic pull rope. One side of the rotating cover is movably connected to one side of the port of the sliding pipe through a return hinge. The other side of the rotating cover is connected to the elastic pull rope. A steering fixed pulley is arranged on the other side of the port of the sliding pipe. The end of the elastic pull rope away from the rotating cover is cooperatively wound around the steering fixed pulley and is fixedly connected to the anchoring agent filling pipe.

[0012] Preferably, the sliding plugging member includes an annular plugging plate and a plugging soft body. The annular plugging plate is slidably sleeved outside the sliding pipe, and the annular plugging plate is connected to the storage barrel through the first limiting spring. The plugging soft body is arranged on the annular plugging plate.

[0013] Preferably, the plugging soft body includes an annular soft capsule and filled sand. One side of the annular soft capsule is connected to the annular plugging plate, and the filled sand is filled inside the annular soft capsule.

[0014] Preferably, the reciprocating motion mechanism includes a unidirectional rotation driving mechanism, a missing gear, a first linkage rack, and a second linkage rack. The second linkage rack is fixedly connected to the sliding plugging member. The unidirectional rotation driving mechanism is rotatably arranged on the outer wall of the storage cylinder, and the unidirectional rotation driving mechanism is arranged in cooperation with the second linkage rack. The missing gear is coaxially arranged with the unidirectional rotation driving mechanism, and the missing gear is meshed with the first linkage rack in cooperation. The first linkage rack is fixedly connected to the sliding tube.

[0015] Preferably, the unidirectional rotation driving mechanism includes an annular gear and a unidirectional transmission mechanism. A shaft bracket is fixedly connected to the outer wall of the storage cylinder. The annular gear is rotatably connected to the shaft bracket, and the annular gear is meshed with the second linkage rack. The unidirectional transmission mechanism is connected to the missing gear and is also arranged in cooperation with the annular gear.

[0016] Preferably, the unidirectional transmission mechanism includes a ratchet ring, a pawl, and a rotating shaft. The ratchet ring is coaxially and fixedly installed on the inner ring of the annular gear, and the rotating shaft is rotatably connected to the outer wall of the storage cylinder. The pawl is movably connected to the rotating shaft through a return hinge, and the pawl is arranged in cooperation with the ratchet ring. The missing gear is coaxially and fixedly installed on the rotating shaft.

[0017] Preferably, the anchoring agent storage and conveying mechanism further includes an anchoring agent driving mechanism. The anchoring agent driving mechanism includes a secondary hydraulic telescopic rod and a piston-type pushing block. The piston-type pushing block is slidably arranged in the storage cylinder. The secondary hydraulic telescopic rod is fixedly installed outside the storage cylinder, and the telescopic end of the secondary hydraulic telescopic rod is fixedly connected to the piston-type pushing block.

[0018] Preferably, the missing gear is a single sector gear.

[0019] The beneficial effects of the present invention:

[0020] 1. In the present invention, the main hydraulic telescopic rod drives the anchoring agent filling tube to withdraw uniformly from the drill hole for installing the anchoring rod, and at the same time, the anchoring agent is conveyed through the anchoring agent driving mechanism and injected into the drill hole. During this process, the annular gear arranged rolls along the second linkage rack. The rolling annular gear relies on the cooperation of the ratchet ring and the pawl for transmission to realize the rotation of the missing gear. The missing gear, through cooperation with the first linkage rack, continuously pushes the sliding tube. Under the synchronous action of the return spring force of the second limit spring, the sliding tube continuously presses forward during the process of the anchoring agent filling tube withdrawing and injecting the anchoring agent. And during the pressing process, the rotary seal cover at the port of the sliding tube is automatically closed by the elastic pull rope for limiting, which is convenient for compacting the filled anchoring agent, ensuring the density of the anchoring agent, and reducing the occurrence of voids or local unfilled conditions in the filled anchoring agent, thereby avoiding insufficient bonding strength between the anchor bolt and the surrounding rock.

[0021] 2. During the process of inserting the anchoring agent filling tube into the drill hole, the sliding sealing member abuts against the outer port of the drill hole. During this process, the sliding sealing member and the sliding tube sleeved outside the anchoring agent filling tube undergo relative sliding. At the same time, since the second linkage rack is connected to the sliding sealing member, the second linkage rack can move relative to the annular gear connected in cooperation, so as to facilitate driving the annular gear to rotate automatically during the process of inserting or withdrawing the anchoring agent into or from the drill hole, thereby realizing the linkage of the sliding tube, and there is no need to separately control the operation of the sliding tube relative to the anchoring agent filling tube, improving the operation convenience.

[0022] 3. During the process of inserting the anchoring agent filling tube into the drill hole, the sliding sealing member abuts against the rock wall outside the drill hole by means of the arranged sealing soft body. Due to the flexibility of the sealing soft body itself, it is convenient to effectively fit the uneven rock wall. At the same time, since the annular sealing plate of the sliding sealing member slides relative to the arranged sliding tube and compresses the first limiting spring, the drill hole port is effectively closed by relying on the resilience of the first limiting spring, avoiding the outflow during the anchoring agent filling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is the schematic diagram of the overall structure of the present invention;

[0024] Figure 2 is the schematic diagram of the relative position distribution of the sliding tube, annular sealing plate and rotary seal cover in the present invention;

[0025] Figure 3 is the schematic diagram of the structure of the annular gear, second linkage rack and missing gear arranged in cooperation in the present invention;

[0026] Figure 4 is the schematic diagram of the structure of the missing gear, first linkage rack and sliding tube arranged in cooperation in the present invention;

[0027] Figure 5 is the schematic diagram of the structure of the ratchet ring and pawl connected in cooperation in the present invention;

[0028] Figure 6 is the schematic diagram of the relative position distribution of the sliding tube, rotary seal cover and anchoring agent filling tube in the present invention;

[0029] Figure 7 is the partial structure schematic diagram of the rotary seal cover and the anchoring agent filling tube connected in cooperation in the present invention;

[0030] Figure 8 is the sectional structure schematic diagram of the sliding tube and the anchoring agent filling tube connected in cooperation in the present invention;

[0031] Figure 9 is the state schematic diagram of the pawl when the ratchet ring rotates counterclockwise in the present invention;

[0032] Figure 10It is a schematic diagram of the state of the pawl when the ratchet ring rotates clockwise in the present invention;

[0033] Figure 11 It is a schematic structural diagram of an embodiment of the missing gear in the present invention;

[0034] Figure 12 It is a schematic structural diagram of another embodiment of the missing gear in the present invention

[0035] Figure 13 It is a schematic diagram of the state of the annular sealing plate when the sliding pipe is inserted into the drill hole in the present invention.

[0036] Explanation of reference numerals:

[0037] 1. Installation base; 2. Material storage cylinder; 3. Main hydraulic telescopic rod; 4. Piston-type push block; 5. Auxiliary hydraulic telescopic rod; 6. Sliding pipe; 7. Annular sealing plate; 8. Second linkage rack; 9. Sealing soft body; 10. First limit spring; 11. Rotating cover; 12. Annular gear; 13. Shaft frame; 14. First linkage rack; 15. Missing gear; 16. Rotating shaft; 17. Feeding pipe; 18. Second limit spring; 19. Pawl; 20. Ratchet ring; 21. Elastic pull rope; 22. Anchor agent filling pipe; 23. Steering fixed pulley; 24. Filling sediment; 25. Annular soft capsule. Detailed implementation manners

[0038] The following describes the detailed implementation manners of the present invention in detail, but it should be understood that the protection scope of the present invention is not limited by the detailed implementation manners.

[0039] As Figures 1 - 13As shown in the figure, the fully automatic anchoring agent filling equipment for deep well coal mines includes an installation base 1, an anchoring agent storage and conveying mechanism, and an anchoring agent filling pipe 22. The anchoring agent storage and conveying mechanism includes a storage cylinder 2, in which fluid anchoring agents such as cement mixtures or resins are stored. The installation base 1 is used to be connected to the robotic arm of a bolter. The robotic arm can operate based on a control system, driving the entire filling equipment to move. At the same time, a bolt pushing and installing mechanism and a drilling mechanism can also be installed on the robotic arm. The relative positions of the bolt pushing and installing mechanism, the drilling mechanism, and the anchoring agent filling equipment can all be deflected and switched, facilitating the switching of corresponding mechanisms for use based on actual needs. Rely on the drilling mechanism to drill holes for installing bolts on the inner wall of the mine shaft, and then rely on the anchoring agent storage and conveying mechanism to fill the anchoring agent into the holes. After the anchoring agent is filled, rely on the bolt pushing and installing mechanism to push and insert the bolts into the holes filled with the anchoring agent; A main hydraulic telescopic rod 3 is installed on the installation base 1. Here, a rotary drive member can also be installed between the main hydraulic telescopic rod 3 and the installation base 1 to adjust the position; The telescopic end of the main hydraulic telescopic rod 3 is fixedly connected to the storage cylinder 2, used to drive the storage cylinder 2 to move. The anchoring agent filling pipe 22 is fixedly connected to the storage cylinder 2, and the two are interconnected. The anchoring agent filling pipe 22 is used to insert into the hole for filling the anchoring agent. This filling equipment locates the position of the hole based on a visual positioning system, and then feeds back the information to the control system. The control system controls the movement of the robotic arm, driving the anchoring agent filling pipe 22 to align with the hole. Then, the control system controls the main hydraulic telescopic rod 3 to extend, driving the anchoring agent filling pipe 22 to insert deep into the hole. Then, control the anchoring agent storage and conveying mechanism to convey the anchoring agent, inject the anchoring agent into the hole, and while injecting, control the main hydraulic telescopic rod 3 to contract, driving the anchoring agent filling pipe 22 to gradually withdraw from the hole, ensuring that the anchoring agent fills the hole to a certain depth;

[0040] This filling equipment also includes a plugging mechanism and a linkage compaction mechanism. The plugging mechanism includes a sliding plugging member and a first limiting spring 10. The sliding plugging member is slidably arranged outside the anchoring agent filling pipe 22, and the sliding plugging member is also connected to the storage cylinder 2 through the first limiting spring 10. The first limiting spring 10 can be compressed. The sliding plugging member is used to plug the hole to prevent the anchoring agent from flowing out during the filling process; And when the anchoring agent filling pipe 22 is inserted into the hole, the sliding plugging member first abuts against the hole port position. Then, as the anchoring agent filling pipe 22 is gradually pushed in, the sliding plugging member slides relative to the anchoring agent filling pipe 22 and compresses the first limiting spring 10. Rely on the resilience of the first limiting spring 10 to press the sliding plugging member tightly against the hole port;

[0041] The linkage compaction mechanism includes a sliding top pressure mechanism and a reciprocating motion mechanism. The sliding top pressure mechanism is slidably disposed outside the anchoring agent filling tube 22. The sliding top pressure mechanism is used to compact the anchoring agent. The sliding top pressure mechanism is cooperatively arranged with the sliding plugging member through the reciprocating motion mechanism. When the anchoring agent filling tube 22 gradually withdraws from the drill hole and slides relative to the sliding plugging member, the reciprocating motion mechanism causes the sliding top pressure mechanism to continuously press, so as to facilitate the continuous compaction of the injected anchoring agent.

[0042] In some specific embodiments, such as Figures 6 to 8 As shown, the sliding top pressure mechanism includes a sliding tube 6 and an automatic switch cover mechanism. The sliding tube 6 is slidably sleeved outside the anchoring agent filling tube 22, and a second limiting spring 18 is connected between the sliding tube 6 and the storage cylinder 2. The second limiting spring 18 can be stretched. The automatic switch cover mechanism is arranged at one end of the sliding tube 6 away from the storage cylinder 2, and the reciprocating motion mechanism is used to drive the sliding tube 6 to slide along the anchoring agent filling tube 22. The sliding plugging member is slidably connected to the sliding tube 6.

[0043] Among them, the automatic switch cover mechanism includes a rotary cover 11 and an elastic pull rope 21. One side of the rotary cover 11 is movably connected to the edge of one side of the port of the sliding tube 6 through a resilient hinge. The other side of the rotary cover 11 is connected to the elastic pull rope 21. A notch is formed in the edge of the other side of the port of the sliding tube 6, and a steering fixed pulley 23 is installed in the notch. One end of the elastic pull rope 21 away from the rotary cover 11 is cooperatively wound around the steering fixed pulley 23 and is fixedly connected to the anchoring agent filling tube 22. When the sliding tube 6 does not slide relative to the anchoring agent filling tube 22, the rotary cover 11 does not close the port of the sliding tube 6. At this time, the anchoring agent conveyed by the anchoring agent storage and conveying mechanism can normally pass through the anchoring agent filling tube 22 and be discharged into the drill hole. When the sliding tube 6 slides relative to the anchoring agent filling tube 22 in the direction of stretching of the second limiting spring 18, due to the relative movement between the sliding tube 6 and the anchoring agent filling tube 22, the rotary cover 11 rotates under the limiting action of the elastic pull rope 21 to seal the port of the sliding tube 6. And as the sliding tube 6 continues to slide relative to the anchoring agent filling tube 22, the elastic pull rope 21 stretches to generate a resilience force to ensure that the rotary cover 11 effectively seals the port of the sliding tube 6. After the port of the sliding tube 6 is sealed, as the sliding tube 6 continues to move forward, the sealed end of the sliding tube 6 presses the anchoring agent filled in the drill hole, so as to facilitate the compaction effect.

[0044] In some specific embodiments, in combination with Figure 1 and Figure 8 As shown, the sliding plugging member includes an annular plugging plate 7 and a plugging soft body 9. The annular plugging plate 7 is slidably sleeved outside the sliding tube 6, and the annular plugging plate 7 is connected to the storage cylinder 2 through a first limiting spring 10. The annular plugging plate 7 is provided with a plugging soft body 9. The plugging soft body 9 is used to enhance the adaptability of the annular plugging plate 7 in contact with the rock wall and ensure the sealing effect.

[0045] In some other specific embodiments, the plugging flexible body 9 includes an annular soft capsule 25 and filled sediment 24. One side of the annular soft capsule 25 is adhesively bonded to the annular plugging plate 7, on the side of the annular plugging plate 7 away from the storage barrel 2. The filled sediment 24 is filled inside the annular soft capsule 25. The annular soft capsule 25 is a closed body to prevent the filled sediment 24 from leaking out. At the same time, the annular soft capsule 25 can be stretched and deformed. When the annular plugging plate 7 drives the plugging flexible body 9 to abut against the rock wall outside the drilling port, since both the annular soft capsule 25 and the filled sediment 24 are made of flexible materials, it is convenient to adapt to and fill different gap positions when contacting the uneven end face, ensuring the sealing effect. It should be noted that the filled sediment 24 here can be replaced with materials such as plasticine or sand.

[0046] In some specific embodiments, as Figures 2 to 4 shown, the reciprocating motion mechanism includes a unidirectional rotation driving mechanism, a missing gear 15, a first linkage rack 14 and a second linkage rack 8. The second linkage rack 8 is fixedly connected to the sliding plugging member, specifically, the second linkage rack 8 can be fixedly connected to the annular plugging plate 7 of the sliding plugging member. The unidirectional rotation driving mechanism is rotatably arranged on the outer wall of the storage barrel 2, and the unidirectional rotation driving mechanism is arranged in cooperation with the second linkage rack 8. The missing gear 15 is coaxially arranged with the unidirectional rotation driving mechanism, and the missing gear 15 is meshed with the first linkage rack 14 in cooperation. The first linkage rack 14 is fixedly connected to the sliding tube 6 through a bracket. The first linkage rack 14 and the second linkage rack 8 are both distributed parallel to the sliding tube 6.

[0047] Among them, the unidirectional rotation driving mechanism includes an annular gear 12 and a unidirectional transmission mechanism. A shaft bracket 13 is fixedly connected to the outer wall of the storage barrel 2. A U-shaped bracket is rotatably connected to the shaft bracket 13 through a rotating shaft. The annular gear 12 is rotatably connected to the shaft bracket 13 through the U-shaped bracket, and the annular gear 12 is meshed with the second linkage rack 8. The unidirectional transmission mechanism is connected to the missing gear 15, and the unidirectional transmission mechanism is also arranged in cooperation with the annular gear 12.

[0048] When the sliding plug moves closer to the storage cylinder 2 relative to the sliding pipe 6, the second linkage rack 8 operates synchronously with the sliding plug. During this process, the second linkage rack 8 drives the ring gear 12 to rotate counterclockwise. At this time, the one-way transmission mechanism cannot achieve transmission, that is, the missing gear 15 cannot rotate with the ring gear 12. When the sliding plug drives the second linkage rack 8 to slide relative to the sliding pipe 6 and away from the storage cylinder 2, the ring gear 12 rotates clockwise. In this way, the ring gear 12 drives the missing gear 15 to rotate, and the missing gear 15 drives the first linkage rack 14 to move horizontally in the direction of the drill hole. The first linkage rack 14 drives the sliding pipe 6 to move into the drill hole relative to the anchoring agent filling pipe 22, so as to facilitate the compaction action. And during this process, the second limit spring 18 stretches to generate a resilience force. In this way, when the missing gear 15 disengages from the first linkage rack 14, the sliding pipe 6 can be reset by relying on the second limit spring 18. Repeating this process can make the sliding pipe 6 continuously press the anchoring agent forward and compact the continuously filled anchoring agent.

[0049] In some specific implementation schemes, in combination with Figure 5 , Figure 9 and Figure 10 , the one-way transmission mechanism includes a ratchet ring 20, a pawl 19 and a rotating shaft 16. The ratchet ring 20 is coaxially and fixedly installed on the inner ring of the ring gear 12. The inner ring of the ratchet ring 20 is provided with slots for cooperating with the pawl 19. The rotating shaft 16 coincides with the central axis of the ratchet ring 20, and the rotating shaft 16 is rotatably connected to the outer wall of the storage cylinder 2 through a bearing. The pawl 19 is movably connected to the rotating shaft 16 through a resilient hinge, and the pawl 19 is arranged in cooperation with the ratchet ring 20. It should be noted that here the pawl 19 is in butt joint with the slots in the inner ring of the ratchet ring 20, and the end of the pawl 19 for connecting the rotating shaft 16 fits with the outer wall of the rotating shaft 16. At the same time, the end of the pawl 19 connecting the rotating shaft 16 is movably connected to the rotating shaft 16 through a resilient hinge on the side close to the sliding plug. The missing gear 15 is coaxially and fixedly installed on the rotating shaft 16, and the missing gear 15 rotates synchronously with the rotating shaft 16.

[0050] When the second linkage rack 8 drives the ring gear 12 to rotate counterclockwise, the ratchet ring 20 rotates synchronously with the ring gear 12. During this process, the slots distributed in the inner ring of the ratchet ring 20 squeeze the pawl 19, which can cause the pawl 19 to deflect relative to the rotating shaft 16, thus preventing the rotating shaft 16 from rotating. When the second linkage rack 8 drives the ring gear 12 to rotate clockwise, the ratchet ring 20 rotates synchronously with the ring gear 12. The ring gear 12 can push the pawl 19, so that it drives the rotating shaft 16 to rotate clockwise synchronously. The rotating shaft 16 drives the missing gear 15 to rotate, and the missing gear 15 drives the first linkage rack 14 to move horizontally.

[0051] It should be noted that the rotation connection position between the above-mentioned rotating shaft 16 and the storage cylinder 2 can be treated to increase the friction force to prevent the rotating shaft 16 from rotating randomly. For example, a rubber sleeve can be installed to wrap the rotating shaft 16, and the rubber sleeve is fixedly connected to the outer wall of the storage cylinder 2.

[0052] In some specific implementation schemes, the anchoring agent storage and conveying mechanism further includes an anchoring agent driving mechanism. The anchoring agent driving mechanism includes a secondary hydraulic telescopic rod 5 and a piston-type push block 4. The piston-type push block 4 is slidably disposed in the storage cylinder 2. Here, the piston-type push block 4 and the storage cylinder 2 form a piston mechanism. The secondary hydraulic telescopic rod 5 is fixedly installed outside the storage cylinder 2 through a bracket, and the telescopic end of the secondary hydraulic telescopic rod 5 is fixedly connected to the piston-type push block 4. When it is necessary to push the anchoring agent, when the anchoring agent filling pipe 22 is inserted in place, the control system controls the secondary hydraulic telescopic rod 5 to extend, pushing the piston-type push block 4 to slide along the inside of the storage cylinder 2, squeezing the anchoring agent into the anchoring agent filling pipe 22 to achieve filling.

[0053] In addition, it should be noted that here, the anchoring agent driving mechanism can also use a material pump for conveying, that is, it is not limited to the above-mentioned piston-type conveying structure. An adding pipe 17 is also installed on the storage cylinder 2, and an electric control valve is installed on the adding pipe 17. After the anchoring agent in the storage cylinder 2 is used up, the adding pipe 17 is docked through an external conveying system for anchoring agent replenishment.

[0054] In some specific implementation schemes, as Figure 11 shown, the missing gear 15 is a single sector gear.

[0055] In some other specific implementation schemes, as Figure 12 shown, the missing gear 15 is a plurality of sector gears arranged coaxially and flush with each other, and the missing gear 15 can be set to the corresponding shape according to needs to ensure the effective pushing of the sliding pipe 6.

[0056] In still some other specific implementation schemes, the wheel diameter of the missing gear 15 and the size of the first linkage rack 14 that mates with it can both be set based on actual needs, that is, the wheel diameter of the missing gear 15 is larger than the wheel diameter of the annular gear 12, ensuring that the distance the sliding pipe 6 advances each time is long enough and greater than the retracting distance of the anchoring agent filling pipe 22, so as to facilitate the effective extrusion of the anchoring agent and ensure the compaction effect.

[0057] For the convenience of those skilled in the art to understand the embodiments of this solution, the working principle of this solution will be briefly described below in combination with a specific application scenario:

[0058] First, rely on the drilling mechanism to drill holes for installing anchor bolts on the inner wall of the mine shaft. Then, based on the visual positioning system, locate the positions of the holes, and then feed back the information to the control system. The control system controls the movement of the robotic arm to drive the anchoring agent filling tube 22 to align with the holes. Then, the control system controls the main hydraulic telescopic rod 3 to extend, driving the storage cylinder 2 to move. The storage cylinder 2 drives the anchoring agent filling tube 22 sleeved with the sliding tube 6 to insert deep into the holes. During the insertion process, the annular sealing plate 7 drives the sealing soft body 9 to contact the rock wall outside the hole port. Since both the annular soft capsule 25 and the filling sediment 24 are made of soft materials, when contacting the uneven end face, it is convenient to adapt to fill different gap positions to ensure the sealing effect. And as the storage cylinder 2 drives the anchoring agent filling tube 22 to insert into the holes, the annular sealing plate 7 slides relative to the sliding tube 6 and approaches the storage cylinder 2, thereby compressing the first limiting spring 10. Relying on the resilience of the first limiting spring 10, the sealing soft body 9 is tightly attached to the hole port;

[0059] Then, the control system controls the auxiliary hydraulic telescopic rod 5 to extend at a constant speed, pushing the piston-type push block 4 to slide along the inside of the storage cylinder 2, squeezing the anchoring agent into the anchoring agent filling tube 22. Thus, the anchoring agent is filled into the holes through the anchoring agent filling tube 22. At the same time, the control system also controls the main hydraulic telescopic rod 3 to contract at a constant speed. During this process, the main hydraulic telescopic rod 3 drives the anchoring agent filling tube 22 to withdraw from the holes at a constant speed, and the anchoring agent is continuously injected during the withdrawal process;

[0060] Since the second linkage rack 8 runs synchronously when the annular sealing plate 7 slides relative to the sliding tube 6 and approaches the storage cylinder 2, during this process, the second linkage rack 8 drives the annular gear 12 to rotate counterclockwise. The ratchet ring 20 rotates synchronously with the annular gear 12. During this process, the card slots distributed in the inner ring of the ratchet ring 20 squeeze the pawl 19, enabling the pawl 19 to deflect relative to the rotating shaft 16, thereby preventing the rotating shaft 16 from rotating, that is, the missing gear 15 cannot rotate with the annular gear 12;

[0061] And during the process of the anchoring agent filling tube 22 withdrawing from the inside of the holes, the annular sealing plate 7 slides relative to the sliding tube 6 under the resilience of the first limiting spring 10 and moves away from the storage cylinder 2. During this process, the second linkage rack 8 connected to the annular sealing plate 7 also slides relative to the sliding tube 6 and moves away from the storage cylinder 2, resulting in the annular gear 12 rotating clockwise. In this way, the annular gear 12 drives the missing gear 15 to rotate, and the missing gear 15 drives the first linkage rack 14 to move horizontally in the direction of the holes. The first linkage rack 14 drives the sliding tube 6 to move into the holes relative to the anchoring agent filling tube 22;

[0062] When the sliding tube 6 slides relative to the anchoring agent filling tube 22 in the direction of stretching of the second limiting spring 18, due to the relative movement between the sliding tube 6 and the anchoring agent filling tube 22, the rotary cover 11 rotates under the limiting action of the elastic cord 21 to seal the port of the sliding tube 6. And as the sliding tube 6 continues to slide relative to the anchoring agent filling tube 22, the elastic cord 21 stretches to generate a resilience force to ensure that the rotary cover 11 effectively seals the port of the sliding tube 6. After the port of the sliding tube 6 is sealed, as the sliding tube 6 continues to move forward, the blocked end of the sliding tube 6 presses the anchoring agent filled in the borehole, thus facilitating the compaction effect.

[0063] And during this process, the second limiting spring 18 stretches to generate a resilience force. In this way, when the missing gear 15 disengages from the first linkage rack 14, the sliding tube 6 can be reset by relying on the second limiting spring 18. Repeating this way, the sliding tube 6 can continuously press the anchoring agent forward to compact the continuously filled anchoring agent, reducing the occurrence of voids or local unfilled conditions, thereby avoiding insufficient bonding strength between the bolt and the surrounding rock.

[0064] Finally, after the anchoring agent is filled, switch the bolt pushing mechanism, and rely on the control system to control the bolt pushing mechanism to push the bolt into the borehole and fix it by bonding with the anchoring agent to achieve support.

[0065] The above only discloses several specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any changes that can be thought of by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A fully automatic anchoring agent filling device for deep well coal mines, comprising an installation base (1), an anchoring agent storage and conveying mechanism, and an anchoring agent filling pipe (22). The anchoring agent storage and conveying mechanism includes a storage cylinder (2). A main hydraulic telescopic rod (3) for driving the movement of the storage cylinder (2) is installed on the installation base (1); the anchoring agent filling pipe (22) is connected to the storage cylinder (2), characterized in that, Further comprising: A plugging mechanism, the plugging mechanism includes a sliding plugging member and a first limiting spring (10), the sliding plugging member is slidably arranged outside the anchoring agent filling tube (22), and the sliding plugging member is also connected to the storage cylinder (2) through the first limiting spring (10), and the sliding plugging member is used for plugging the drilling hole; A linkage compaction mechanism, the linkage compaction mechanism includes a sliding pressing mechanism and a reciprocating motion mechanism, the sliding pressing mechanism is slidably arranged outside the anchoring agent filling tube (22), the sliding pressing mechanism is used for compacting the anchoring agent, and the sliding pressing mechanism is cooperatively arranged with the sliding plugging member through the reciprocating motion mechanism.

2. The fully automatic anchoring agent filling equipment dedicated to deep well coal mines according to claim 1, characterized in that, The sliding pressing mechanism includes a sliding tube (6) and an automatic switch cover mechanism, the sliding tube (6) is slidably sleeved outside the anchoring agent filling tube (22), and a second limiting spring (18) is connected between the sliding tube (6) and the storage cylinder (2), the automatic switch cover mechanism is arranged at one end of the sliding tube (6) away from the storage cylinder (2), the reciprocating motion mechanism is used for driving the sliding tube (6) to slide along the anchoring agent filling tube (22), and the sliding plugging member is slidably connected to the sliding tube (6).

3. The fully automatic anchoring agent filling equipment for deep well coal mines according to claim 2, wherein, The automatic switch cover mechanism includes a rotating cover (11) and an elastic pull rope (21), one side of the rotating cover (11) is movably connected to one side of the port of the sliding tube (6) through a return hinge, the other side of the rotating cover (11) is connected to the elastic pull rope (21), a steering fixed pulley (23) is arranged on the other side of the port of the sliding tube (6), and one end of the elastic pull rope (21) away from the rotating cover (11) is cooperatively wound around the steering fixed pulley (23) and is fixedly connected to the anchoring agent filling tube (22).

4. The fully automatic anchoring agent filling equipment for deep well coal mines according to claim 2, characterized in that, The sliding plugging member includes an annular plugging plate (7) and a plugging soft body (9), the annular plugging plate (7) is slidably sleeved outside the sliding tube (6), and the annular plugging plate (7) is connected to the storage cylinder (2) through the first limiting spring (10), and a plugging soft body (9) is arranged on the annular plugging plate (7).

5. The fully automatic anchoring agent filling equipment for deep well coal mines according to claim 4, characterized in that, The plugging soft body (9) includes an annular soft capsule (25) and filled sediment (24), the annular soft capsule (25) is connected to the annular plugging plate (7), and the filled sediment (24) is filled inside the annular soft capsule (25).

6. The fully automatic anchoring agent filling equipment for deep well coal mines according to claim 2, wherein The reciprocating motion mechanism includes a one-way rotation driving mechanism, a missing gear (15), a first linkage rack (14) and a second linkage rack (8), the second linkage rack (8) is fixedly connected to the sliding plugging member, the one-way rotation driving mechanism is rotatably arranged on the outer wall of the storage cylinder (2), and the one-way rotation driving mechanism is cooperatively arranged with the second linkage rack (8), the missing gear (15) is coaxially arranged with the one-way rotation driving mechanism, and the missing gear (15) is meshed with the first linkage rack (14) in cooperation, and the first linkage rack (14) is fixedly connected to the sliding tube (6).

7. The fully automatic anchoring agent filling equipment for deep well coal mines according to claim 6, characterized in that The unidirectional rotation drive mechanism includes an annular gear (12) and a unidirectional transmission mechanism. A shaft bracket (13) is fixedly connected to the outer wall of the material storage cylinder (2). The annular gear (12) is rotatably connected to the shaft bracket (13), and the annular gear (12) meshes with the second linkage rack (8). The unidirectional transmission mechanism is connected to the missing gear (15), and the unidirectional transmission mechanism is also arranged in cooperation with the annular gear (12).

8. The fully automatic anchoring agent filling equipment for deep well coal mines according to claim 7, characterized in that, The unidirectional transmission mechanism includes a ratchet ring (20), a ratchet pawl (19) and a rotating shaft (16). The ratchet ring (20) is coaxially and fixedly installed on the inner ring of the annular gear (12), and the rotating shaft (16) is rotatably connected to the outer wall of the material storage cylinder (2). The ratchet pawl (19) is movably connected to the rotating shaft (16) through a return hinge, and the ratchet pawl (19) is arranged in cooperation with the ratchet ring (20). The missing gear (15) is coaxially and fixedly installed on the rotating shaft (16).

9. The fully automatic anchoring agent filling equipment specialized for deep well coal mines according to claim 1, wherein, The anchoring agent storage and conveying mechanism further includes an anchoring agent drive mechanism. The anchoring agent drive mechanism includes a secondary hydraulic telescopic rod (5) and a piston-type push block (4). The piston-type push block (4) is slidably arranged in the material storage cylinder (2). The secondary hydraulic telescopic rod (5) is fixedly installed outside the material storage cylinder (2), and the telescopic end of the secondary hydraulic telescopic rod (5) is fixedly connected to the piston-type push block (4).

10. The fully automatic anchoring agent filling equipment specially used for deep well coal mines according to claim 6, characterized in that, The missing gear (15) is a single-sector gear.

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