Automatic rod changing type jumbolter for coal mine tunnel side wall anchor protection

Abstract

The invention discloses an automatic rod changing type jumbolter for coal mine tunnel side wall anchor protection. The automatic rod changing type jumbolter comprises a transverse translation posture adjusting assembly, a horizontal rotation posture adjusting assembly, a pitching posture adjusting assembly, a foundation supporting assembly, an anchor rod linear feeding assembly, an anchor rod multi-speed propelling assembly, an anchor rod clamping and stabilizing assembly, an anchor rod rotation driving and grouting combined assembly and an automatic rod changing assembly. According to the invention, full-automatic replacement of the anchor rod is realized, and the problems of high labor intensity, low working efficiency, potential safety hazards and the like during manual replacement of the anchor rod are solved; the horizontal translation posture adjusting capacity, the horizontal rotation posture adjusting capacity and the pitching posture adjusting capacity are achieved, different anchor protection operation positions can be adapted, and the application range of the anchor rod drilling machine is effectively expanded; an anchor rod multi-speed propelling function is added, so that the propelling efficiency of the anchor rod is improved; the grouting valve block with the double grouting ports is adopted, and flexible adjustment of grouting operation can be achieved through alternate work of the double grouting ports; and the requirements of full-automatic continuous operation of drilling, grouting and rod changing processes are met.

Description

Technical Field

[0001] The invention belongs to the technical field of anchor drilling machines, and in particular relates to an automatic rod-changing anchor drilling machine for side wall anchoring of coal mine tunnels. Background Art

[0002] Currently, underground projects are increasingly demanding higher efficiency and safety, especially in the sidewall anchoring of coal mine tunnels, which places higher demands on the performance of anchor bolting rigs. However, traditional anchor bolting rigs rely primarily on manual replacement of anchor bolts, resulting in high labor intensity, low efficiency, and potential safety hazards. Furthermore, their applicability is significantly reduced when tunnel space is limited. Therefore, as the limitations of traditional anchor bolting rigs have become increasingly prominent, improving the automation level of anchor bolting rigs is imperative. Summary of the Invention

[0003] In response to the problems existing in the prior art, the present invention provides an automatic rod-changing anchor drilling rig for side anchor protection of coal mine tunnels, which abandons the traditional manual method of replacing anchor rods and realizes fully automatic replacement of anchor rods, solving the problems of high labor intensity, low work efficiency, and safety hazards in manual replacement of anchor rods; it has the ability of lateral translation adjustment, horizontal rotation adjustment and pitch adjustment, which can adapt to different anchor protection operation positions and effectively expand the application scope of the anchor drilling rig; it adds an anchor rod double-speed propulsion function to improve the propulsion efficiency of the anchor rod; it adopts a grouting valve block with a double grouting port design, and the grouting operation can be flexibly adjusted through the alternating operation of the double grouting ports; it meets the needs of fully automated continuous operation of the drilling, grouting and rod-changing processes.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an automatic rod-changing anchor drilling rig for side anchoring of coal mine tunnels, comprising a lateral translation attitude adjustment component, a horizontal rotation attitude adjustment component, a pitching attitude adjustment component, a basic support component, an anchor linear feed component, an anchor double-speed propulsion component, an anchor clamping and stabilization component, an anchor rotary drive and grouting combined component and an automatic rod-changing component; the horizontal rotation attitude adjustment component is arranged on the lateral translation attitude adjustment component; the pitching attitude adjustment component is arranged on the horizontal rotation attitude adjustment component; the basic support component is arranged on the pitching attitude adjustment component; the anchor linear feed component and the anchor clamping and stabilization component are arranged in parallel on the basic support component; the anchor double-speed propulsion component is arranged on the anchor linear feed component; the anchor rotary drive and grouting combined component is arranged on the anchor double-speed propulsion component; the automatic rod-changing component is arranged on the basic support component and is located obliquely above the anchor rotary drive and grouting combined component.

[0005] The lateral translation and posture adjustment component includes a lateral translation and posture adjustment support, a lateral translation and posture adjustment cylinder, a lateral translation and posture adjustment slide plate, a lateral translation and posture adjustment slider and a lateral translation and posture adjustment guide slide rod; the lateral translation and posture adjustment guide slide rod adopts a parallel double-rod structure, and the lateral translation and posture adjustment guide slide rod is fixedly installed on the lateral translation and posture adjustment support; the lateral translation and posture adjustment slider is arranged on the lateral translation and posture adjustment guide slide rod, and the lateral translation and posture adjustment slider has a linear sliding degree of freedom relative to the lateral translation and posture adjustment guide slide rod; the lateral translation and posture adjustment slide plate is fixedly installed on the lateral translation and posture adjustment slider; the lateral translation and posture adjustment cylinder is located between the lateral translation and posture adjustment slide plate and the lateral translation and posture adjustment support, the lateral translation and posture adjustment cylinder and the lateral translation and posture adjustment guide slide rod are distributed parallel to each other, the rear end of the cylinder barrel of the lateral translation and posture adjustment cylinder is hinged to the lateral translation and posture adjustment support, and the front end of the piston rod of the lateral translation and posture adjustment cylinder is hinged to the lower surface of the lateral translation and posture adjustment slide plate.

[0006] The horizontal rotation attitude adjustment component includes a horizontal rotation attitude adjustment hydraulic motor and a worm gear turntable mechanism; the horizontal rotation attitude adjustment hydraulic motor is fixedly mounted on the upper surface of the transverse translation attitude adjustment slide; the worm gear turntable mechanism is fixedly mounted on the upper surface of the transverse translation attitude adjustment slide; the power output shaft of the horizontal rotation attitude adjustment hydraulic motor is coaxially fixedly connected with the power input worm of the worm gear turntable mechanism.

[0007] The pitch adjustment assembly includes a pitch adjustment support, a pitch adjustment cylinder and a pitch adjustment bearing seat; the pitch adjustment support is fixedly mounted on the power output worm gear turntable of the worm gear turntable mechanism; the pitch adjustment bearing seat is fixedly mounted on the pitch adjustment support, there are two pitch adjustment bearing seats and they are mirror-symmetrically distributed relative to the center of the pitch adjustment support; the rear end of the cylinder barrel of the pitch adjustment cylinder is hinged to the pitch adjustment support, there are two pitch adjustment cylinders and they are mirror-symmetrically distributed relative to the center of the pitch adjustment support.

[0008] The basic support assembly includes a basic support frame, an articulated ear seat plate, an articulated ear seat block, a pitch support shaft, a first basic support guide sleeve and a second basic support guide sleeve; the articulated ear seat plate is fixedly arranged at the rear end of the basic support frame; the pitch support shaft is fixedly arranged on the outer middle part of the basic support frame, and there are two pitch support shafts, which are mirror-symmetrically distributed on the left and right sides; the pitch support shaft is rotatably connected in the pitch adjustment bearing seat; the articulated ear seat block is located between the pitch support shaft and the articulated ear seat plate, and there are two articulated ear seat blocks, which are mirror-symmetrically distributed on the left and right sides; the first basic support guide sleeve is fixedly arranged above the front end of the basic support frame, and there are two first basic support guide sleeves, which are mirror-symmetrically distributed on the left and right sides; the second basic support guide sleeve is fixedly arranged below the front end of the basic support frame, and there are two second basic support guide sleeves, which are mirror-symmetrically distributed on the left and right sides; the front end of the piston rod of the pitch adjustment cylinder is hinged to the articulated ear seat block.

[0009] The anchor rod linear feed assembly includes an anchor rod linear feed oil cylinder, an anchor rod linear feed front support plate, an anchor rod linear feed rear support plate and an anchor rod linear feed guide slide; the anchor rod linear feed guide slide adopts a parallel double-rod structure, the first basic support guide sleeve is mounted on the anchor rod linear feed guide slide, and the anchor rod linear feed guide slide has a linear sliding freedom relative to the first basic support guide sleeve; the anchor rod linear feed front support plate is vertically fixedly installed at the front end of the anchor rod linear feed guide slide; the anchor rod linear feed rear support plate is vertically fixedly installed at the rear end of the anchor rod linear feed guide slide; the tail end of the cylinder barrel of the anchor rod linear feed oil cylinder is fixedly connected to the anchor rod linear feed front support plate, and the top end of the piston rod of the anchor rod linear feed oil cylinder passes through the notch on the anchor rod linear feed rear support plate and is hinged to the upper surface of the hinged ear seat plate; the anchor rod linear feed guide slide is distributed parallel to the anchor rod linear feed oil cylinder.

[0010] The anchor rod double-speed advancing component includes an anchor rod double-speed advancing oil cylinder, an anchor rod double-speed advancing guide slide, an anchor rod double-speed advancing guide slide, an anchor rod double-speed advancing guide slider, an anchor rod double-speed advancing slide plate, a chain, a first sprocket, a second sprocket, a chain plate adapter, a first gear, a second gear and a rack; the anchor rod double-speed advancing guide slide is located above the anchor rod linear feed guide slide and the two are distributed in parallel. The anchor rod double-speed advancing guide slide adopts a parallel double-rod structure, the front end of the anchor rod double-speed advancing guide slide is fixedly connected to the anchor rod linear feed front support plate, and the rear end of the anchor rod double-speed advancing guide slide is fixedly connected to the anchor rod linear feed rear support plate; the anchor rod double-speed advancing guide slider is arranged on the anchor rod double-speed advancing guide slide The anchor rod double-speed advancing guide slider has a linear sliding freedom relative to the anchor rod double-speed advancing guide slider; the anchor rod double-speed advancing slide plate is fixedly installed on the anchor rod double-speed advancing guide slider; the anchor rod double-speed advancing guide slider is located between the anchor rod double-speed advancing guide slider and the anchor rod linear feed front support plate, the anchor rod double-speed advancing guide slider is slidably connected to the anchor rod double-speed advancing guide slider, and the anchor rod double-speed advancing guide slider has a linear sliding freedom relative to the anchor rod double-speed advancing guide slider; the tail end of the cylinder barrel of the anchor rod double-speed advancing oil cylinder is fixedly connected to the anchor rod double-speed advancing guide slider, and the top end of the piston rod of the anchor rod double-speed advancing oil cylinder is fixedly connected to the anchor rod linear feed rear support plate, and the anchor rod double-speed advancing oil cylinder The first sprocket is connected to the side of the tail end of the cylinder barrel of the anchor rod double-speed advancing oil cylinder, and there are two first sprockets, and the two first sprockets are symmetrically distributed in a left-right mirror image; the second sprocket is connected to the side of the top end of the cylinder barrel of the anchor rod double-speed advancing oil cylinder, and there are two second sprockets, and the two second sprockets are symmetrically distributed in a left-right mirror image; the chain transmission is connected between the first sprocket and the second sprocket, and the chain is fixedly connected to the lower surface of the anchor rod double-speed advancing slide plate through the chain plate adapter; the first gear is coaxially fixed on the outside of the first sprocket, and the first gear rotates synchronously with the first sprocket; the second gear is coaxially fixed on the outside of the second sprocket, and the second gear rotates synchronously with the second sprocket Rotation; the rack is distributed parallel to the anchor rod speed advancing guide slide, the front end of the rack is fixedly connected to the front support plate of the anchor rod linear feed, and the rear end of the rack is fixedly connected to the rear support plate of the anchor rod linear feed; the first gear and the second gear are both engaged with the rack for transmission; when the anchor rod speed advancing cylinder is in a fully retracted state, the anchor rod speed advancing guide slide is located in the middle of the anchor rod speed advancing guide slide, and the anchor rod speed advancing slide plate is adjacent to the rear support plate of the anchor rod linear feed; when the anchor rod speed advancing cylinder is in a fully extended state, the anchor rod speed advancing guide slide is located at the front end of the anchor rod speed advancing guide slide, and the anchor rod speed advancing slide plate is adjacent to the front support plate of the anchor rod linear feed.

[0011] The anchor rod clamping and stabilizing assembly includes an anchor rod clamping and stabilizing rear support plate, an anchor rod clamping and stabilizing front support plate, an anchor rod clamping and stabilizing guide slide rod, a scissor-type anchor rod clamp, a transmission double-link rod, a transmission block, a clamp driving oil cylinder, a clamp outer guard plate and an anchor rod clamping and stabilizing assembly push-pull cylinder; the anchor rod clamping and stabilizing guide slide rod adopts a parallel double-rod structure, the second base support guide sleeve is mounted on the anchor rod clamping and stabilizing guide slide rod, and the anchor rod clamping and stabilizing guide slide rod has a linear sliding freedom relative to the second base support guide sleeve; the anchor rod clamping and stabilizing rear support plate is vertically fixedly installed at the rear end of the anchor rod clamping and stabilizing guide slide rod; the anchor rod clamping and stabilizing front support plate is vertically fixedly installed at the front end of the anchor rod clamping and stabilizing guide slide rod; the clamp outer guard plate is fixedly installed in front of the anchor rod clamping and stabilizing front support plate; the scissor-type anchor rod clamp is arranged on the clamp outer guard plate and the anchor rod clamping and stabilizing The top end of the driving member is hinged on the upper end of the driving member, and the upper end of the driving member is hinged on the upper end of the driving member, and the upper end of the driving member is hinged on the two lower ends of the driving member.

[0012] The anchor rod rotation drive and grouting combined assembly includes an anchor rod rotation drive hydraulic motor, a reduction gear box, an anchor rod adapter solenoid, a grouting valve block, a valve block pushing sleeve, a valve block pushing slide rod, a valve block pushing slide rod support, a valve block pushing oil cylinder and a valve block pushing force transmission frame; the reduction gear box is fixedly mounted on the anchor rod speed advancing slide plate, and the power output shaft of the reduction gear box is a hollow shaft; the anchor rod rotation drive hydraulic motor is fixedly mounted on the reduction gear box, and the power output shaft of the anchor rod rotation drive hydraulic motor is coaxially fixedly connected with the power input shaft of the reduction gear box; the power output shaft of the reduction gear box is coaxially fixedly sleeved on the outside of the anchor rod adapter solenoid, the anchor rod adapter solenoid rotates synchronously with the power output shaft of the reduction gear box, and the anchor rod and the anchor rod adapter solenoid are coaxially screwed together; the valve block pushing slide rod adopts a parallel double-rod structure, and the valve block pushing slide rod is fixedly mounted on the anchor rod speed advancing slide plate through the valve block pushing slide rod support Described retaining mechanism outer cover is positioned at the steaming tray upper end, and retaining mechanism outer cover end is provided with a hole, and a push-rod hole is provided on the bottom of retaining mechanism outer cover end.

[0013] The automatic rod-changing assembly includes an automatic rod-changing front support frame, an automatic rod-changing rear support frame, an automatic rod-changing front support plate, an automatic rod-changing rear support plate, an automatic rod-changing hydraulic motor, a worm gear reducer, an anchor rod replacement drive shaft, a front C-shaped ring retaining sleeve, a front anchor rod clamping plate, a rear C-shaped ring retaining sleeve, a rear anchor rod clamping plate, a rigid reinforcement support column, an anchor rod replacement swing shaft, an anchor rod replacement execution cylinder, an anchor rod replacement transmission swing arm, an anchor rod replacement manipulator, an anchor rod replacement limit frame, an anchor rod replacement limit pressure plate, a first rotation angle measurement encoder, a second rotation angle measurement encoder, an automatic rod-changing rear protective plate and an automatic rod-changing front protective cover; the lower end of the automatic rod-changing front support frame is fixedly connected to the front end side of the basic support frame; the automatic rod-changing rear support frame The lower end is fixedly connected to the rear end side of the base support frame; the automatic rod changing front support plate is fixedly installed on the top of the automatic rod changing front support frame; the automatic rod changing rear support plate is fixedly installed on the top of the automatic rod changing rear support frame; the rigid reinforced support column is vertically fixedly connected between the automatic rod changing front support plate and the automatic rod changing rear support plate; the front end of the anchor rod transposition drive shaft is rotatably connected to the center of the automatic rod changing front support plate through a bearing, and the rear end of the anchor rod transposition drive shaft is rotatably connected to the center of the automatic rod changing rear support plate through a bearing; the worm gear reducer is fixedly installed on the outer side of the automatic rod changing rear support plate, and the worm gear output shaft of the worm gear reducer is coaxially fixedly connected to the rear end of the anchor rod transposition drive shaft; the automatic rod changing hydraulic motor is fixedly installed The front C-ring stopper sleeve is fixedly mounted on the inner side of the front support plate of the automatic rod change, and the front C-ring stopper sleeve is coaxially distributed with the anchor rod transposition drive shaft; the front anchor rod clamping disk is located inside the front C-ring stopper sleeve, and the front anchor rod clamping disk is coaxially fixed on the anchor rod transposition drive shaft, and a plurality of anchor rod clamping grooves are evenly distributed along the circumferential direction of the front anchor rod clamping disk; the rear C-ring stopper sleeve is fixedly mounted on the inner side of the rear support plate of the automatic rod change, and the rear C-ring stopper sleeve is coaxially distributed with the anchor rod transposition drive shaft; the rear anchor rod clamping disk is located inside the rear C-ring stopper sleeve, and the rear anchor rod clamping disk is coaxially fixed on the anchor rod transposition drive shaft, and along the rear A plurality of anchor rod clamping grooves are evenly distributed in the circumferential direction of the anchor rod clamping disk; the two ends of the anchor rod are respectively located in the anchor rod clamping grooves of the front anchor rod clamping disk and the rear anchor rod clamping disk; the anchor rod replacement swing shaft is distributed parallel to the anchor rod replacement drive shaft, the front end of the anchor rod replacement swing shaft is rotatably connected to the eccentric point of the automatic rod changing front support plate through a bearing, and the rear end of the anchor rod replacement swing shaft is rotatably connected to the eccentric point of the automatic rod changing rear support plate through a bearing; the anchor rod replacement execution cylinder is located outside the automatic rod changing rear support frame, the cylinder end of the anchor rod replacement execution cylinder is hinged to the automatic rod changing rear support frame, the top end of the piston rod of the anchor rod replacement execution cylinder is hinged to one end of the anchor rod replacement transmission swing arm, and the other end of the anchor rod replacement transmission swing arm is fixedly connected to the rear end of the anchor rod replacement swing shaft;One end of the anchor rod replacement limit frame is fixedly connected to the anchor rod replacement swing shaft, and the other end of the anchor rod replacement limit frame is a degree of freedom. The swing path of the free end of the anchor rod replacement limit frame intersects with the rotation path of the anchor rod around the center line of the anchor rod transposition drive shaft, and the swing path of the free end of the anchor rod replacement limit frame passes through the center line of the anchor rod adapter screw; the anchor rod replacement manipulator is installed on the anchor rod replacement limit frame; the anchor rod replacement limit pressure plate is installed on the anchor rod replacement manipulator; the first rotation angle measurement encoder is arranged at the front end of the anchor rod transposition drive shaft; the second The rotation angle measurement encoder is located at the front end of the anchor rod replacement swing shaft; the automatic rod replacement rear guard plate is fixedly connected to the outside of the automatic rod replacement rear support plate via a connecting strut; the automatic rod replacement hydraulic motor, worm gear reducer, anchor rod replacement execution cylinder, and anchor rod replacement transmission swing arm are all located in the gap between the automatic rod replacement rear guard plate and the automatic rod replacement rear support plate; the automatic rod replacement front guard cover is fixedly mounted on the outside of the automatic rod replacement front support plate, and the first and second rotation angle measurement encoders are both located inside the automatic rod replacement front guard cover.

[0014] Beneficial effects of the present invention: The automatic rod-changing anchor drilling rig for side anchoring of coal mine tunnels of the present invention abandons the traditional manual method of replacing anchor rods, realizes fully automatic replacement of anchor rods, and solves the problems of high labor intensity, low work efficiency, and safety hazards in manual replacement of anchor rods; it has the ability of lateral translation adjustment, horizontal rotation adjustment and pitch adjustment, can adapt to different anchoring operation positions, and effectively expands the application scope of the anchor drilling rig; adds an anchor rod double-speed propulsion function to improve the propulsion efficiency of the anchor rod; adopts a grouting valve block with a double grouting port design, and can realize flexible adjustment of grouting operations through the alternating operation of the double grouting ports; meets the needs of fully automated continuous operation of the drilling, grouting and rod-changing processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural schematic diagram of an automatic rod-changing anchor drilling rig for side wall anchoring of a coal mine roadway according to the present invention; Figure 2 Schematic diagram of the structure of the lateral translation posture adjustment component of the present invention; Figure 3 Schematic diagram of the structure of the horizontal rotation posture adjustment component of the present invention; Figure 4 Schematic diagram of the structure of the combination of the pitch adjustment assembly, basic support assembly, anchor rod linear feed assembly, anchor rod double-speed propulsion assembly, anchor rod clamping and stabilization assembly, and anchor rod rotary drive and grouting combined assembly of the present invention (viewpoint one); Figure 5Schematic diagram of the structure of the combination of the pitch adjustment assembly, basic support assembly, anchor linear feed assembly, anchor double-speed propulsion assembly, anchor clamping and stabilization assembly, and anchor rotary drive and grouting combined assembly of the present invention (viewpoint 2); Figure 6 Schematic diagram of the structure of the combination of the pitch adjustment assembly, basic support assembly, anchor linear feed assembly, anchor double-speed propulsion assembly, anchor clamping and stabilization assembly, and anchor rotary drive and grouting combined assembly of the present invention (viewpoint three); Figure 7 It is a structural schematic diagram of the basic support assembly of the present invention; Figure 8 This is a structural schematic diagram of the combined structure of the anchor rod linear feed assembly (anchor rod linear feed cylinder not shown) and the anchor rod double-speed advancing guide slide rod of the present invention; Figure 9 This is a schematic structural diagram of the combined structure of the anchor rod double-speed propulsion cylinder, chain, first sprocket, second sprocket and chain plate adapter frame in the anchor rod double-speed propulsion assembly of the present invention; Figure 10 A structural schematic diagram of the anchor rod clamping and stabilizing assembly of the present invention (the push-pull cylinder of the anchor rod clamping and stabilizing assembly is not shown) (viewpoint 1); Figure 11 A schematic structural diagram of the anchor rod clamping and stabilizing assembly of the present invention (the push-pull cylinder of the anchor rod clamping and stabilizing assembly is not shown) (viewpoint 2); Figure 12 This is a schematic structural diagram of the combined structure of the anchor rod rotary drive and grouting assembly, the anchor rod double-speed advancing slide plate, and the anchor rod double-speed advancing guide slider of the present invention; Figure 13 Schematic diagram of the structure of the automatic rod changing assembly of the present invention (viewing angle 1); Figure 14 Schematic diagram of the structure of the automatic rod changing assembly of the present invention (viewpoint 2); Figure 15 A schematic structural diagram of the automatic rod-changing assembly of the present invention (the automatic rod-changing front protective cover is not shown) (viewing angle 3); Figure 16 A schematic structural diagram of the automatic rod-changing assembly of the present invention (the protective plate behind the automatic rod-changing is not shown) (viewing angle 4); In the figure, 1 is a lateral translation attitude adjustment component, 2 is a horizontal rotation attitude adjustment component, 3 is a pitching attitude adjustment component, 4 is a basic support component, 5 is an anchor rod linear feed component, 6 is an anchor rod double speed propulsion component, 7 is an anchor rod clamping and stabilizing component, 8 is an anchor rod rotation drive and grouting combined component, 9 is an automatic rod changing component, 10 is a lateral translation attitude adjustment support, 11 is a lateral translation attitude adjustment oil cylinder, 12 is a lateral translation attitude adjustment slide plate, 13 is a lateral translation attitude adjustment slider, 14 is a lateral translation attitude adjustment guide slide, 15 is a horizontal rotation attitude adjustment hydraulic motor, 16 is a worm gear turntable mechanism, 17 is a pitching attitude adjustment support, 18 is a pitching attitude adjustment oil cylinder, 19 is a pitching attitude adjustment bearing seat, 20 is Basic support frame, 21—articulated ear seat plate, 22—articulated ear seat block, 23—pitch support shaft, 24—first basic support guide sleeve, 25—second basic support guide sleeve, 26—anchor rod linear feed cylinder, 27—anchor rod linear feed front support plate, 28—anchor rod linear feed rear support plate, 29—anchor rod linear feed guide slide, 30—anchor rod double-speed propulsion cylinder, 31—anchor rod double-speed propulsion guide slide, 32—anchor rod double-speed propulsion guide slide, 33—anchor rod double-speed propulsion guide slider, 34—anchor rod double-speed propulsion slide plate, 35—chain, 36—first sprocket, 37—second sprocket, 38—chain plate adapter, 39—after the anchor rod is firmly clamped Support plate, 40—anchor clamping and stabilizing front support plate, 41—anchor clamping and stabilizing guide slide rod, 42—scissor-type anchor clamp, 43—transmission double link, 44—transmission block, 45—clamp driving cylinder, 46—clamp outer guard plate, 47—anchor clamping and stabilizing component push-pull cylinder, 48—anchor rotation drive hydraulic motor, 49—reduction gear box, 50—anchor adapter solenoid, 51—grouting valve block, 52—valve block pushing sleeve, 53—valve block pushing slide rod, 54—valve block pushing cylinder, 55—valve block pushing force transmission frame, 56—anchor, 57—grouting port, 58—automatic rod changing front support frame, 59—automatic rod changing rear support frame, 60—automatic rod changing front support plate , 61—automatic rod changing rear support plate, 62—automatic rod changing hydraulic motor, 63—worm gear reducer, 64—anchor rod changing drive shaft, 65—front C-shaped ring retaining sleeve, 66—front anchor rod clamping plate, 67—rear C-shaped ring retaining sleeve, 68—rear anchor rod clamping plate, 69—rigid reinforced support column, 70—anchor rod replacement swing shaft, 71—anchor rod replacement execution cylinder, 72—anchor rod replacement transmission swing arm, 73—anchor rod replacement manipulator, 74—anchor rod replacement limit frame, 75—anchor rod replacement limit pressure plate, 76—first rotation angle measurement encoder, 77—second rotation angle measurement encoder, 78—automatic rod changing rear protective plate, 79—automatic rod changing front protective cover, 80—transfer pillar. DETAILED DESCRIPTION

[0016] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] like Figures 1 to 16 As shown, an automatic rod-changing anchor drilling rig for side anchoring of coal mine tunnels includes a lateral translation attitude adjustment component 1, a horizontal rotation attitude adjustment component 2, a pitching attitude adjustment component 3, a basic support component 4, an anchor linear feed component 5, an anchor double-speed propulsion component 6, an anchor clamping and stabilizing component 7, an anchor rotary drive and grouting combined component 8 and an automatic rod-changing component 9; the horizontal rotation attitude adjustment component 2 is arranged on the lateral translation attitude adjustment component 1; the pitching attitude adjustment component 3 is arranged on the horizontal rotation attitude adjustment component 2; the basic support component 4 is arranged on the pitching attitude adjustment component 3; the anchor linear feed component 5 and the anchor clamping and stabilizing component 7 are arranged in parallel on the basic support component 4; the anchor double-speed propulsion component 6 is arranged on the anchor linear feed component 5; the anchor rotary drive and grouting combined component 8 is arranged on the anchor double-speed propulsion component 6; the automatic rod-changing component 9 is arranged on the basic support component 4 and is located obliquely above the anchor rotary drive and grouting combined component 8.

[0018] The lateral translation posture adjustment component 1 includes a lateral translation posture adjustment support 10, a lateral translation posture adjustment cylinder 11, a lateral translation posture adjustment slide plate 12, a lateral translation posture adjustment slider 13 and a lateral translation posture adjustment guide slide 14; the lateral translation posture adjustment guide slide 14 adopts a parallel double-rod structure, and the lateral translation posture adjustment guide slide 14 is fixedly installed on the lateral translation posture adjustment support 10; the lateral translation posture adjustment slider 13 is arranged on the lateral translation posture adjustment guide slide 14, and the lateral translation posture adjustment slider 13 is relative to the lateral translation posture adjustment guide slide The rod 14 has a linear sliding degree of freedom; the lateral translation attitude adjustment slide plate 12 is fixedly installed on the lateral translation attitude adjustment slider 13; the lateral translation attitude adjustment cylinder 11 is located between the lateral translation attitude adjustment slide plate 12 and the lateral translation attitude adjustment support 10, and the lateral translation attitude adjustment cylinder 11 is distributed parallel to the lateral translation attitude adjustment guide slide rod 14, and the rear end of the cylinder barrel of the lateral translation attitude adjustment cylinder 11 is hinged to the lateral translation attitude adjustment support 10, and the front end of the piston rod of the lateral translation attitude adjustment cylinder 11 is hinged to the lower surface of the lateral translation attitude adjustment slide plate 12.

[0019] The horizontal rotation attitude adjustment component 2 includes a horizontal rotation attitude adjustment hydraulic motor 15 and a worm gear turntable mechanism 16; the horizontal rotation attitude adjustment hydraulic motor 15 is fixedly installed on the upper surface of the transverse translation attitude adjustment slide 12; the worm gear turntable mechanism 16 is fixedly installed on the upper surface of the transverse translation attitude adjustment slide 12; the power output shaft of the horizontal rotation attitude adjustment hydraulic motor 15 is coaxially fixedly connected with the power input worm of the worm gear turntable mechanism 16.

[0020] The pitch adjustment assembly 3 includes a pitch adjustment support 17, a pitch adjustment cylinder 18 and a pitch adjustment bearing seat 19; the pitch adjustment support 17 is fixedly mounted on the power output worm gear turntable of the worm gear turntable mechanism 16; the pitch adjustment bearing seat 19 is fixedly mounted on the pitch adjustment support 17, and there are two pitch adjustment bearing seats 19 and they are mirror-symmetrically distributed relative to the center of the pitch adjustment support 17; the rear end of the cylinder barrel of the pitch adjustment cylinder 18 is hinged to the pitch adjustment support 17, and there are two pitch adjustment cylinders 18 and they are mirror-symmetrically distributed relative to the center of the pitch adjustment support 17.

[0021] The basic support assembly 4 includes a basic support frame 20, an articulated ear seat plate 21, an articulated ear seat block 22, a pitch support shaft 23, a first basic support guide sleeve 24 and a second basic support guide sleeve 25; the articulated ear seat plate 21 is fixedly arranged at the rear end of the basic support frame 20; the pitch support shaft 23 is fixedly arranged on the outer middle part of the basic support frame 20, and there are two pitch support shafts 23, which are mirror-symmetrically distributed on the left and right sides; the pitch support shaft 23 is rotatably connected to the pitch adjustment bearing seat 19; the articulated ear seat block 22 is located between the pitch support shaft 23 and the articulated ear seat plate 21, There are two articulated ear seat blocks 22, and the two articulated ear seat blocks 22 are distributed in a mirror-symmetrical manner on the left and right; the first basic support guide sleeve 24 is fixedly set above the front end of the basic support frame 20, and there are two first basic support guide sleeves 24, and the two first basic support guide sleeves 24 are distributed in a mirror-symmetrical manner on the left and right; the second basic support guide sleeve 25 is fixedly set below the front end of the basic support frame 20, and there are two second basic support guide sleeves 25, and the two second basic support guide sleeves 25 are distributed in a mirror-symmetrical manner on the left and right; the front end of the piston rod of the pitch adjustment cylinder 18 is hinged to the articulated ear seat block 22.

[0022] The anchor rod linear feed assembly 5 includes an anchor rod linear feed oil cylinder 26, an anchor rod linear feed front support plate 27, an anchor rod linear feed rear support plate 28 and an anchor rod linear feed guide slide 29; the anchor rod linear feed guide slide 29 adopts a parallel double-rod structure, the first basic support guide sleeve 24 is sleeved on the anchor rod linear feed guide slide 29, and the anchor rod linear feed guide slide 29 has a linear sliding freedom relative to the first basic support guide sleeve 24; the anchor rod linear feed front support plate 27 is vertically fixed It is fixedly installed at the front end of the anchor rod linear feed guide slide 29; the anchor rod linear feed rear support plate 28 is vertically fixedly installed at the rear end of the anchor rod linear feed guide slide 29; the tail end of the cylinder barrel of the anchor rod linear feed oil cylinder 26 is fixedly connected to the anchor rod linear feed front support plate 27, and the top end of the piston rod of the anchor rod linear feed oil cylinder 26 passes through the notch on the anchor rod linear feed rear support plate 28 and is hinged to the upper surface of the hinged ear seat plate 21; the anchor rod linear feed guide slide 29 is distributed parallel to the anchor rod linear feed oil cylinder 26.

[0023] The anchor rod double-speed advancing component 6 includes an anchor rod double-speed advancing oil cylinder 30, an anchor rod double-speed advancing guide slide 31, an anchor rod double-speed advancing guide slide 32, an anchor rod double-speed advancing guide slider 33, an anchor rod double-speed advancing slide plate 34, a chain 35, a first sprocket 36, a second sprocket 37, a chain plate adapter 38, a first gear, a second gear and a rack; the anchor rod double-speed advancing guide slide 31 is located above the anchor rod linear feed guide slide 29 and the two are distributed in parallel, the anchor rod double-speed advancing guide slide 31 adopts a parallel double-rod structure, the front end of the anchor rod double-speed advancing guide slide 31 is fixedly connected to the anchor rod linear feed front support plate 27, and the rear end of the anchor rod double-speed advancing guide slide 31 is fixedly connected to the anchor rod linear feed rear support plate 28; the anchor rod double-speed advancing guide slide 31 is located above ...9, and the anchor rod double-speed advancing guide slide 31 is located above the anchor rod linear feed front support plate 27, and the anchor rod double-speed advancing guide slide 31 is fixedly connected to the anchor rod linear feed rear support plate 28; the anchor rod double-speed advancing guide slide 31 is located above the anchor rod linear feed front support plate The speed advancing guide slider 33 is arranged on the anchor rod speed advancing guide slider 31, and the anchor rod speed advancing guide slider 33 has a linear sliding freedom relative to the anchor rod speed advancing guide slider 31; the anchor rod speed advancing slide plate 34 is fixedly installed on the anchor rod speed advancing guide slider 33; the anchor rod speed advancing guide slide 32 is located between the anchor rod speed advancing guide slider 33 and the anchor rod linear feed front support plate 27, and the anchor rod speed advancing guide slide 32 is slidably connected to the anchor rod speed advancing guide slider 31, and the anchor rod speed advancing guide slide 32 has a linear sliding freedom relative to the anchor rod speed advancing guide slider 31; the tail end of the cylinder barrel of the anchor rod speed advancing cylinder 30 is fixedly connected to the anchor rod speed advancing guide slide 32, The top end of the piston rod of the anchor rod speed-propelling cylinder 30 is fixedly connected to the anchor rod linear feed rear support plate 28, and the anchor rod speed-propelling cylinder 30 is distributed parallel to the anchor rod speed-propelling guide slide 31; the first sprocket 36 is rotatably connected to the side of the cylinder tail end of the anchor rod speed-propelling cylinder 30, and the number of the first sprockets 36 is two, and the two first sprockets 36 are distributed in a mirror-symmetrical manner on the left and right; the second sprocket 37 is rotatably connected to the side of the cylinder top end of the anchor rod speed-propelling cylinder 30, and the number of the second sprockets 37 is two, and the two second sprockets 37 are distributed in a mirror-symmetrical manner on the left and right; the chain 35 is transmission-connected between the first sprocket 36 and the second sprocket 37, and the chain 35 is fixedly connected to the lower surface of the anchor rod speed-propelling slide plate 34 through the chain plate adapter frame 38; The first gear is coaxially fixed on the outside of the first sprocket 36, and the first gear rotates synchronously with the first sprocket 36; the second gear is coaxially fixed on the outside of the second sprocket 37, and the second gear rotates synchronously with the second sprocket 37; the rack is distributed parallel to the anchor rod speed advancing guide slide 31, the front end of the rack is fixedly connected to the anchor rod linear feed front support plate 27, and the rear end of the rack is fixedly connected to the anchor rod linear feed rear support plate 28; the first gear and the second gear are both meshed with the rack for transmission; when the anchor rod speed advancing cylinder 30 is in a fully retracted state, the anchor rod speed advancing guide slide 32 is located in the middle of the anchor rod speed advancing guide slide 31, and the anchor rod speed advancing slide plate 34 is adjacent to the anchor rod linear feed rear support plate 28;When the anchor rod double-speed advancing oil cylinder 30 is in a fully extended state, the anchor rod double-speed advancing guide slide 32 is located at the front end of the anchor rod double-speed advancing guide slide 31, and the anchor rod double-speed advancing slide plate 34 is adjacent to the anchor rod linear feed front support plate 27.

[0024] The anchor rod clamping and stabilizing component 7 includes an anchor rod clamping and stabilizing rear support plate 39, an anchor rod clamping and stabilizing front support plate 40, an anchor rod clamping and stabilizing guide slide 41, a scissor-type anchor rod clamp 42, a transmission double link 43, a transmission block 44, a clamp driving cylinder 45, a clamp outer guard plate 46 and an anchor rod clamping and stabilizing component push-pull cylinder 47; the anchor rod clamping and stabilizing guide slide 41 adopts a parallel double-rod structure, and the second basic support guide sleeve 25 is sleeved on the anchor rod clamping and stabilizing guide slide 41. The rod clamping and stabilizing guide slide rod 41 has a linear sliding freedom relative to the second basic support guide sleeve 25; the anchor rod clamping and stabilizing rear support plate 39 is vertically fixedly installed on the rear end of the anchor rod clamping and stabilizing guide slide rod 41; the anchor rod clamping and stabilizing front support plate 40 is vertically fixedly installed on the front end of the anchor rod clamping and stabilizing guide slide rod 41; the clamp outer guard plate 46 is fixedly installed in front of the anchor rod clamping and stabilizing front support plate 40; the scissor-type anchor rod clamp 42 is set at the clamp outer guard plate 46 and the anchor rod clamp In the gap between the front support plate 40, the cross-hinged axis of the scissor-type anchor clamp 42 is fixedly connected to the clamp outer guard plate 46; the clamp driving cylinder 45 is vertically fixedly installed on the clamp outer guard plate 46 and the bottom of the anchor clamping and stabilizing front support plate 40, and the piston rod of the clamp driving cylinder 45 is facing upward; the transmission block 44 is fixedly connected to the top of the piston rod of the clamp driving cylinder 45; the lower end of the transmission double connecting rod 43 is coaxially hinged on the transmission block 44, and the upper end of the transmission double connecting rod 43 is coaxially hinged to the transmission block 44. They are respectively hinged to the lower ends of the two clamp handles of the scissor-type anchor rod clamp 42; the rear end of the cylinder barrel of the anchor rod clamping and stabilizing component push-pull cylinder 47 is hinged to the lower surface of the hinged ear seat plate 21, and the cylinder barrel of the anchor rod clamping and stabilizing component push-pull cylinder 47 passes through the notch of the anchor rod clamping and stabilizing rear support plate 39, and the front end of the piston rod of the anchor rod clamping and stabilizing component push-pull cylinder 47 is fixedly connected to the anchor rod clamping and stabilizing front support plate 40, and the anchor rod clamping and stabilizing component push-pull cylinder 47 is distributed parallel to the anchor rod clamping and stabilizing guide slide rod 41.

[0025] The anchor rod rotary drive and grouting combined assembly 8 includes an anchor rod rotary drive hydraulic motor 48, a reduction gear box 49, an anchor rod adapter solenoid 50, a grouting valve block 51, a valve block push sleeve 52, a valve block push rod 53, a valve block push rod support, a valve block push cylinder 54 and a valve block push force transmission frame 55; the reduction gear box 49 is fixedly mounted on the anchor rod double speed push slide plate 34, and the power output shaft of the reduction gear box 49 is a hollow shaft; the anchor rod rotary drive hydraulic motor 48 is fixedly mounted on the reduction gear box 4 9, the power output shaft of the anchor rod rotation driving hydraulic motor 48 is coaxially fixedly connected with the power input shaft of the reduction gear box 49; the power output shaft of the reduction gear box 49 is coaxially fixedly sleeved on the outside of the anchor rod adapter solenoid 50, the anchor rod adapter solenoid 50 rotates synchronously with the power output shaft of the reduction gear box 49, and the anchor rod 56 is coaxially screwed with the anchor rod adapter solenoid 50; the valve block push slide 53 adopts a parallel double-rod structure, and the valve block push slide 53 is fixedly installed on the anchor rod speed advancing slide plate through the valve block push slide support 34, the valve block push slide 53 is distributed in parallel with the power output shaft of the reduction gear box 49; the valve block push slide sleeve 52 is sleeved on the valve block push slide rod 53, and the valve block push slide sleeve 52 has a linear sliding freedom relative to the valve block push slide rod 53; the grouting valve block 51 is fixedly mounted on the valve block push slide sleeve 52, and the grouting valve block 51 and the valve block push slide sleeve 52 move synchronously; two grouting ports 57 are arranged in parallel on the grouting valve block 51, and a friction sealing sleeve is installed at the slurry outlet of the grouting valve block 51. The slurry outlet of the grouting valve block 51 is sealed with the rear end pipe mouth of the anchor rod adapter spiral tube 50 through a friction sealing sleeve; the valve block pushing cylinder 54 is located below the grouting valve block 51 and is fixedly installed on the anchor rod double-speed pushing slide plate 34, the valve block pushing cylinder 54 is distributed parallel to the valve block pushing slide rod 53, and the piston rod of the valve block pushing cylinder 54 faces backward; one end of the valve block pushing force transmission frame 55 is fixedly connected to the top end of the piston rod of the valve block pushing cylinder 54, and the other end of the valve block pushing force transmission frame 55 is fixedly connected to the grouting valve block 51.

[0026] The automatic rod-changing assembly 9 includes an automatic rod-changing front support frame 58, an automatic rod-changing rear support frame 59, an automatic rod-changing front support plate 60, an automatic rod-changing rear support plate 61, an automatic rod-changing hydraulic motor 62, a worm gear reducer 63, an anchor rod replacement drive shaft 64, a front C-shaped ring retaining sleeve 65, a front anchor rod clamping plate 66, a rear C-shaped ring retaining sleeve 67, a rear anchor rod clamping plate 68, a rigid reinforcement support column 69, an anchor rod replacement swing shaft 70, an anchor rod replacement execution cylinder 71, an anchor rod replacement transmission swing arm 72, an anchor rod replacement manipulator 73, an anchor rod replacement limit frame 74, an anchor rod replacement limit pressure plate 75, a first rotation angle measurement encoder 76, a second rotation angle measurement encoder 77, an automatic rod-changing rear guard plate 78 and an automatic rod-changing front guard cover 79; the automatic rod-changing assembly 9 includes an automatic rod-changing front support frame 58, an automatic rod-changing rear support frame 59, an automatic rod-changing rear support plate 60, an automatic rod-changing rear support plate 61, an automatic rod-changing rear support plate 62, an automatic rod-changing rear support plate 63, an automatic rod-changing rear support plate 64, an automatic rod-changing rear support plate 65, an automatic rod-changing rear support plate 66, a rear C-shaped ring retaining sleeve 67, a rear anchor rod clamping plate 68, a rigid reinforcement support column 69, an anchor rod replacement swing shaft 70, an anchor rod replacement execution cylinder 71, an anchor rod replacement transmission swing arm 72, an anchor rod replacement manipulator 73, an anchor rod replacement limit frame 74, an anchor rod replacement limit pressure plate 75, a first rotation angle measurement encoder 76, a second rotation angle measurement encoder 77, an automatic rod-changing rear guard plate 78 and an automatic rod-changing front guard cover 79; The lower end of the rod-changing front support frame 58 is fixedly connected to the front end side of the basic support frame 20; the lower end of the automatic rod-changing rear support frame 59 is fixedly connected to the rear end side of the basic support frame 20; the automatic rod-changing front support plate 60 is fixedly mounted on the top of the automatic rod-changing front support frame 58; the automatic rod-changing rear support plate 61 is fixedly mounted on the top of the automatic rod-changing rear support frame 59; the rigid reinforcement support column 69 is vertically fixedly connected between the automatic rod-changing front support plate 60 and the automatic rod-changing rear support plate 61; the front end of the anchor rod transposition drive shaft 64 is rotatably connected to the center of the automatic rod-changing front support plate 60 through a bearing, and the rear end of the anchor rod transposition drive shaft 64 is rotatably connected to the center of the automatic rod-changing rear support plate 61 through a bearing; the worm gear reducer 63 is fixed The worm gear output shaft of the worm gear reducer 63 is coaxially fixedly connected to the rear end of the anchor rod transposition drive shaft 64; the automatic rod shifting hydraulic motor 62 is fixedly mounted on the outer side of the automatic rod shifting rear support plate 61, and the power output shaft of the automatic rod shifting hydraulic motor 62 is coaxially fixedly connected to the worm input shaft of the worm gear reducer 63; the front C-shaped ring retaining sleeve 65 is fixedly mounted on the inner side of the automatic rod shifting front support plate 60, and the front C-shaped ring retaining sleeve 65 is coaxially distributed with the anchor rod transposition drive shaft 64; the front anchor rod clamping disk 66 is located inside the front C-shaped ring retaining sleeve 65, and the front anchor rod clamping disk 66 is coaxially fixed on the anchor rod transposition drive shaft 64, and a number of anchor rod clamping grooves are evenly distributed along the circumferential direction of the front anchor rod clamping disk 66; the rear C-shaped ring retaining sleeve 65 is fixedly mounted on the inner side of the automatic rod shifting front support plate 60, and the front C-shaped ring retaining sleeve 65 is coaxially distributed with the anchor rod transposition drive shaft 64 The stop sleeve 67 is fixedly mounted on the inner side of the automatic rod-changing rear support plate 61, and the rear C-shaped ring stop sleeve 67 is coaxially distributed with the anchor rod transposition drive shaft 64; the rear anchor rod clamping plate 68 is located inside the rear C-shaped ring stop sleeve 67, and the rear anchor rod clamping plate 68 is coaxially fixed on the anchor rod transposition drive shaft 64, and a plurality of anchor rod clamping grooves are evenly distributed along the circumferential direction of the rear anchor rod clamping plate 68; the two ends of the anchor rod 56 are respectively located in the anchor rod clamping grooves of the front anchor rod clamping plate 66 and the rear anchor rod clamping plate 68; the anchor rod replacement swing shaft 70 is distributed parallel to the anchor rod transposition drive shaft 64, and the front end of the anchor rod replacement swing shaft 70 is rotatably connected to the eccentric position of the automatic rod-changing front support plate 60 through a bearing, and the rear end of the anchor rod replacement swing shaft 70 is rotatably connected to the eccentric position of the automatic rod-changing rear support plate 61 through a bearing;The anchor rod replacement execution cylinder 71 is located on the outside of the automatic rod replacement rear support frame 59, and the cylinder end of the anchor rod replacement execution cylinder 71 is hinged to the automatic rod replacement rear support frame 59, and the top of the piston rod of the anchor rod replacement execution cylinder 71 is hinged to one end of the anchor rod replacement transmission rocker arm 72, and the other end of the anchor rod replacement transmission rocker arm 72 is fixedly connected to the rear end of the anchor rod replacement swing shaft 70; one end of the anchor rod replacement limit frame 74 is fixedly connected to the anchor rod replacement swing shaft 70, and the other end of the anchor rod replacement limit frame 74 is a degree of freedom. The swing path of the free end of the anchor rod replacement limit frame 74 intersects with the rotation path of the anchor rod 56 around the center line of the anchor rod replacement drive shaft 64, and the swing path of the free end of the anchor rod replacement limit frame 74 passes through the center line of the anchor rod adapter screw 50; the anchor rod replacement manipulator 73 is installed on the anchor rod replacement limit frame 74; The anchor rod replacement limit pressure plate 75 is mounted on the anchor rod replacement manipulator 73; the first rotation angle measurement encoder 76 is disposed at the front end of the anchor rod replacement drive shaft 64; the second rotation angle measurement encoder 77 is disposed at the front end of the anchor rod replacement swing shaft 70; the automatic rod replacement rear guard plate 78 is fixedly connected to the outside of the automatic rod replacement rear support plate 61 via a connecting support 80; the automatic rod replacement hydraulic motor 62, worm gear reducer 63, anchor rod replacement execution cylinder 71, and anchor rod replacement transmission swing arm 72 are all located in the gap between the automatic rod replacement rear guard plate 78 and the automatic rod replacement rear support plate 61; the automatic rod replacement front guard cover 79 is fixedly mounted on the outside of the automatic rod replacement front support plate 60, and the first rotation angle measurement encoder 76 and the second rotation angle measurement encoder 77 are both located inside the automatic rod replacement front guard cover 79.

[0027] The following describes a one-time use process of the present invention in conjunction with the accompanying drawings: When lateral translation adjustment is required, it is only necessary to start the lateral translation adjustment cylinder 11. Through the extension and retraction action of the piston rod of the lateral translation adjustment cylinder 11, the lateral translation adjustment slide plate 12 and the lateral translation adjustment slider 13 can be driven to slide linearly along the lateral translation adjustment guide slide rod 14, thereby making all components on the lateral translation adjustment slide plate 12 move synchronously, and finally realizing lateral translation adjustment.

[0028] When horizontal rotation and attitude adjustment is required, it is only necessary to start the horizontal rotation and attitude adjustment hydraulic motor 15. The power output shaft of the horizontal rotation and attitude adjustment hydraulic motor 15 will drive the power input worm of the worm gear turntable mechanism 16 to rotate, and then drive the power output worm gear turntable of the worm gear turntable mechanism 16 to rotate, and then make all the components on the power output worm gear turntable of the worm gear turntable mechanism 16 move synchronously, and finally realize horizontal rotation and attitude adjustment.

[0029] When pitch adjustment is required, the pitch adjustment cylinder 18 is simply activated. The piston rod of the pitch adjustment cylinder 18 is retracted and retracted, driving the base support frame 20 to perform a pitch and swing motion about the centerline of the pitch support axis 23. This, in turn, causes all components on the base support frame 20 to move synchronously, ultimately achieving pitch adjustment. At this point, after lateral translation adjustment, horizontal rotation adjustment, and pitch adjustment, the drilling position is completely determined.

[0030] Before drilling, if the anchor rod 56 is a general anchor rod and there is no need for grouting, the grouting valve block 51 is not activated, the piston rod of the valve block push cylinder 54 is extended, and the grouting valve block 51 and the valve block push sliding sleeve 52 are driven to move backward along the valve block push sliding rod 53 through the valve block push force transmission frame 55, so that the friction sealing sleeve at the slurry outlet of the grouting valve block 51 is out of contact with the rear end pipe mouth of the anchor rod adapter spiral tube 50. If the anchor rod 56 is a grouting anchor rod and there is a need for grouting, the grouting valve block 51 is activated, the piston rod of the valve block push cylinder 54 retracts, and the grouting valve block 51 and the valve block push sliding sleeve 52 are driven to move forward along the valve block push sliding rod 53 through the valve block push force transmission frame 55, so that the friction sealing sleeve at the slurry outlet of the grouting valve block 51 is in sealing contact with the rear end pipe mouth of the anchor rod adapter spiral tube 50. The two grouting ports 57 on the grouting valve block 51 can be connected to different grouting materials respectively, or one grouting port 57 can be connected to grouting material and the other grouting port 57 can be connected to clean water, etc. The two grouting ports 57 can work alternately to meet different grouting needs.

[0031] When drilling is required, the anchor rod rotary drive hydraulic motor 48 is first started, and the rotational driving force is input into the reduction gearbox 49. The reduction gearbox 49 then transmits the rotational driving force to the anchor rod 56 through the anchor rod adapter solenoid 50, causing the anchor rod 56 to rotate at the set speed. If grouting is required, grouting material or clean water can be injected into the grouting valve block 51 through the grouting port 57, and then flow into the central grouting channel of the anchor rod 56 through the grouting valve block 51 outlet, the friction seal sleeve, and the anchor rod adapter solenoid 50.

[0032] When the anchor rod 56 obtains the set rotation speed, the anchor rod double-speed advancing cylinder 30 is started, so that the piston rod of the anchor rod double-speed advancing cylinder 30 is extended, driving the cylinder barrel of the anchor rod double-speed advancing cylinder 30 and the anchor rod double-speed advancing guide slide 32 to move forward along the anchor rod double-speed advancing guide slide 31 until the anchor rod double-speed advancing guide slide 32 moves to the front end of the anchor rod double-speed advancing guide slide 31 and close to the front support plate 27. At this time, the distance moved by the cylinder barrel of the anchor rod double-speed advancing cylinder 30 and the anchor rod double-speed advancing guide slide 32 is half of the anchor rod double-speed advancing guide slide 31.

[0033] On this basis, due to the meshing transmission of the first gear and the second gear with the rack, the linear motion of the cylinder barrel of the anchor rod speed-propelling cylinder 30 will be synchronously transmitted to the first sprocket 36, the second sprocket 37, the first gear and the second gear. The first gear and the second gear can be automatically converted into the forward rolling motion of the gear itself under the meshing transmission with the rack. Since the first gear is coaxially arranged with the first sprocket 36 and the second gear is coaxially arranged with the second sprocket 37, the first sprocket 36 and the second sprocket 37 can be synchronously driven to rotate, thereby further driving the chain 35 to move. At this time, the chain 35 will drive the anchor rod speed-propelling slide plate 34 to move synchronously through the chain plate adapter frame 38, thereby moving the anchor rod speed-propelling slide plate 34 from the top end of the cylinder barrel of the anchor rod speed-propelling cylinder 30 to the tail end of the cylinder barrel.

[0034] When the movement of the anchor rod double-speed advancing cylinder 30 and the movement of the anchor rod double-speed advancing slide 34 are superimposed, in the process of the anchor rod double-speed advancing slide 34 moving from the rear end to the front end of the anchor rod double-speed advancing guide slide 31, the movement speed of the anchor rod double-speed advancing slide 34 reaches twice the movement speed of the anchor rod double-speed advancing cylinder 30. Since the anchor rod 56 moves synchronously with the anchor rod double-speed advancing slide 34, the movement speed of the anchor rod 56 is also twice the movement speed of the anchor rod double-speed advancing cylinder 30, thereby realizing the double-speed advancement of the anchor rod 56, so that the anchor rod 56 can quickly extend out of the anchor rod linear feed front support plate 27 and contact the rock wall.

[0035] When the anchor rod 56 has completed the double-speed advancement, the scissor-type anchor rod clamp 42 is activated. The telescopic action of the piston rod of the clamp driving cylinder 45 can be transmitted to the scissor-type anchor rod clamp 42 in sequence through the transmission block 44 and the transmission double link 43, so that the scissor-type anchor rod clamp 42 can be opened and closed. The scissor-type anchor rod clamp 42 clamps the anchor rod 56 to prevent the anchor rod 56 from drifting, bending or shaking during the drilling process, ensuring the accuracy of the drilling direction. At the same time, the telescopic action of the piston rod of the anchor rod clamping and stabilizing assembly push-pull cylinder 47 can adjust the position of the anchor rod clamping and stabilizing assembly 7, including the scissor-type anchor rod clamp 42, to achieve precise adjustment of the clamping position of the scissor-type anchor rod clamp 42 on the anchor rod 56.

[0036] When the anchor rod 56 completes stable clamping, the anchor rod linear feed cylinder 26 is started, driving the anchor rod linear feed front support plate 27, the anchor rod linear feed rear support plate 28, the anchor rod linear feed guide slide 29 and the anchor rod double-speed advancement guide slide 31 to move forward as a whole, driving all components on the anchor rod double-speed advancement guide slide 31 and the anchor rod 56 to move forward as a whole, and finally realizing the linear feeding of the anchor rod 56, so that the rotating anchor rod 56 is drilled into the rock wall until the anchor rod 56 reaches the set drilling depth.

[0037] When the anchor rod 56 reaches the set drilling depth, the anchor rod rotation drive hydraulic motor 48 is started in reverse, and the anchor rod adapter screw 50 is driven to rotate in the opposite direction through the reduction gear box 49, so that the anchor rod adapter screw 50 is disconnected from the anchor rod 56 in the borehole, and then the anchor rod linear feed assembly 5 and the anchor rod double-speed propulsion assembly 6 are adjusted back to the initial position.

[0038] When the anchor rod linear feed assembly 5 and the anchor rod double-speed propulsion assembly 6 return to their initial positions, the anchor rod replacement execution cylinder 71 is first started, and the anchor rod replacement transmission rocker arm 72 is driven to move by the extension and contraction of the piston rod of the anchor rod replacement execution cylinder 71, and then the anchor rod replacement swing shaft 70 is driven to swing by the anchor rod replacement transmission rocker arm 72 until the free end of the anchor rod replacement limit frame 74 is driven to rotate to the gap between the front C-shaped ring stop sleeve 65 and the rear C-shaped ring stop sleeve 67, and the swing angle of the anchor rod replacement swing shaft 70 is precisely controlled by the data feedback of the second angle measurement encoder 77.

[0039] When the free end of the anchor rod replacement limit frame 74 is adjusted into place, the automatic rod replacement hydraulic motor 62 is started, and the anchor rod replacement drive shaft 64 is driven to rotate through the worm gear reducer 63, and then the front anchor rod clamping plate 66 and the rear anchor rod clamping plate 68 are driven to rotate synchronously until an anchor rod 56 moves to the gap between the front C-shaped ring stop sleeve 65 and the rear C-shaped ring stop sleeve 67 and comes into contact with the free end of the anchor rod replacement limit frame 74. The rotation angle of the anchor rod replacement drive shaft 64 is precisely controlled by the data feedback of the first rotation angle measurement encoder 76.

[0040] When the anchor rod 56 comes into contact with the free end of the anchor rod replacement limit frame 74, the anchor rod replacement manipulator 73 is started to move the anchor rod replacement limit pressure plate 75 until the anchor rod 56 is firmly clamped between the anchor rod replacement limit pressure plate 75 and the free end of the anchor rod replacement limit frame 74, and then the anchor rod replacement execution cylinder 71 is started again to make the anchor rod replacement swing shaft 70 swing in the opposite direction until the anchor rod 56 is transferred from the front anchor rod clamping plate 66 and the rear anchor rod clamping plate 68 to the coaxial position in front of the anchor rod adapter screw 50, so that the rear end of the anchor rod 56 is pressed against the front end pipe mouth of the anchor rod adapter screw 50, and then the anchor rod rotation drive hydraulic motor 48 is started to drive the anchor rod adapter screw 50 to rotate until the anchor rod adapter screw 50 is screwed and fixed to the anchor rod 56, and the automatic replacement of the anchor rod 56 is completed.

[0041] After the automatic replacement of the anchor rod 56 on the anchor rod adapter screw 50 is completed, the automatic rod changing assembly 9 is first adjusted back to the initial position, and then the anchor rod speed advancing assembly 6 is reactivated until the front end of the anchor rod 56 on the anchor rod adapter screw 50 is pressed against the rear end of the anchor rod 56 in the borehole, and then the anchor rod rotation drive hydraulic motor 48 is started again to drive the anchor rod adapter screw 50 to rotate until the front end of the anchor rod 56 on the anchor rod adapter screw 50 is screwed and fixed to the rear end of the anchor rod 56 in the borehole.

[0042] After the front and rear anchor rods 56 are screwed together, the anchor rod linear feed assembly 5, anchor rod clamping and securing assembly 7, and anchor rod rotary drive and grouting assembly 8 are reactivated, and the drilling operation is continued using the extended anchor rod 56 until the set drilling depth is reached again. Repeating this process achieves fully automated connection between drilling and automatic rod changing.

[0043] The solutions in the embodiments are not intended to limit the scope of protection of the present invention. All equivalent implementations or modifications that do not depart from the scope of protection of the present invention are included in the scope of protection of the present invention.

Claims

1. An automatic rod-changing anchor drilling rig for side wall anchoring in coal mine tunnels, characterized by: It includes a lateral translation attitude adjustment component, a horizontal rotation attitude adjustment component, a pitching attitude adjustment component, a basic support component, an anchor rod linear feed component, an anchor rod double-speed propulsion component, an anchor rod clamping and stabilizing component, an anchor rod rotary drive and grouting combined component and an automatic rod changing component; the horizontal rotation attitude adjustment component is arranged on the lateral translation attitude adjustment component; the pitching attitude adjustment component is arranged on the horizontal rotation attitude adjustment component; the basic support component is arranged on the pitching attitude adjustment component; the anchor rod linear feed component and the anchor rod clamping and stabilizing component are arranged in parallel on the basic support component; the anchor rod double-speed propulsion component is arranged on the anchor rod linear feed component; the anchor rod rotary drive and grouting combined component is arranged on the anchor rod double-speed propulsion component; the automatic rod changing component is arranged on the basic support component and is located obliquely above the anchor rod rotary drive and grouting combined component.

2. The automatic bolt-changing anchor drilling rig for side wall anchoring of coal mine tunnels according to claim 1, characterized in that: The lateral translation and posture adjustment component includes a lateral translation and posture adjustment support, a lateral translation and posture adjustment cylinder, a lateral translation and posture adjustment slide plate, a lateral translation and posture adjustment slider and a lateral translation and posture adjustment guide slide rod; the lateral translation and posture adjustment guide slide rod adopts a parallel double-rod structure, and the lateral translation and posture adjustment guide slide rod is fixedly installed on the lateral translation and posture adjustment support; the lateral translation and posture adjustment slider is arranged on the lateral translation and posture adjustment guide slide rod, and the lateral translation and posture adjustment slider has a linear sliding degree of freedom relative to the lateral translation and posture adjustment guide slide rod; the lateral translation and posture adjustment slide plate is fixedly installed on the lateral translation and posture adjustment slider; the lateral translation and posture adjustment cylinder is located between the lateral translation and posture adjustment slide plate and the lateral translation and posture adjustment support, the lateral translation and posture adjustment cylinder and the lateral translation and posture adjustment guide slide rod are distributed parallel to each other, the rear end of the cylinder barrel of the lateral translation and posture adjustment cylinder is hinged to the lateral translation and posture adjustment support, and the front end of the piston rod of the lateral translation and posture adjustment cylinder is hinged to the lower surface of the lateral translation and posture adjustment slide plate.

3. The automatic bolt-changing anchor drilling rig for sidewall anchoring of coal mine tunnels according to claim 2, characterized in that: The horizontal rotation attitude adjustment component includes a horizontal rotation attitude adjustment hydraulic motor and a worm gear turntable mechanism; the horizontal rotation attitude adjustment hydraulic motor is fixedly mounted on the upper surface of the transverse translation attitude adjustment slide; the worm gear turntable mechanism is fixedly mounted on the upper surface of the transverse translation attitude adjustment slide; the power output shaft of the horizontal rotation attitude adjustment hydraulic motor is coaxially fixedly connected with the power input worm of the worm gear turntable mechanism.

4. The automatic bolt-changing anchor drilling rig for sidewall anchoring of coal mine tunnels according to claim 3, characterized in that: The pitch adjustment assembly includes a pitch adjustment support, a pitch adjustment cylinder and a pitch adjustment bearing seat; the pitch adjustment support is fixedly mounted on the power output worm gear turntable of the worm gear turntable mechanism; the pitch adjustment bearing seat is fixedly mounted on the pitch adjustment support, there are two pitch adjustment bearing seats and they are mirror-symmetrically distributed relative to the center of the pitch adjustment support; the rear end of the cylinder barrel of the pitch adjustment cylinder is hinged to the pitch adjustment support, there are two pitch adjustment cylinders and they are mirror-symmetrically distributed relative to the center of the pitch adjustment support.

5. The automatic bolt-changing anchor drilling rig for side wall anchoring of coal mine tunnels according to claim 4, characterized in that: The basic support assembly includes a basic support frame, an articulated ear seat plate, an articulated ear seat block, a pitch support shaft, a first basic support guide sleeve and a second basic support guide sleeve; the articulated ear seat plate is fixedly arranged at the rear end of the basic support frame; the pitch support shaft is fixedly arranged on the outer middle part of the basic support frame, and there are two pitch support shafts, which are mirror-symmetrically distributed on the left and right sides; the pitch support shaft is rotatably connected in the pitch adjustment bearing seat; the articulated ear seat block is located between the pitch support shaft and the articulated ear seat plate, and there are two articulated ear seat blocks, which are mirror-symmetrically distributed on the left and right sides; the first basic support guide sleeve is fixedly arranged above the front end of the basic support frame, and there are two first basic support guide sleeves, which are mirror-symmetrically distributed on the left and right sides; the second basic support guide sleeve is fixedly arranged below the front end of the basic support frame, and there are two second basic support guide sleeves, which are mirror-symmetrically distributed on the left and right sides; the front end of the piston rod of the pitch adjustment cylinder is hinged to the articulated ear seat block.

6. The automatic bolt-changing anchor drilling rig for sidewall anchoring of coal mine tunnels according to claim 5, characterized in that: The anchor rod linear feed assembly includes an anchor rod linear feed oil cylinder, an anchor rod linear feed front support plate, an anchor rod linear feed rear support plate and an anchor rod linear feed guide slide; the anchor rod linear feed guide slide adopts a parallel double-rod structure, the first basic support guide sleeve is mounted on the anchor rod linear feed guide slide, and the anchor rod linear feed guide slide has a linear sliding freedom relative to the first basic support guide sleeve; the anchor rod linear feed front support plate is vertically fixedly installed at the front end of the anchor rod linear feed guide slide; the anchor rod linear feed rear support plate is vertically fixedly installed at the rear end of the anchor rod linear feed guide slide; the tail end of the cylinder barrel of the anchor rod linear feed oil cylinder is fixedly connected to the anchor rod linear feed front support plate, and the top end of the piston rod of the anchor rod linear feed oil cylinder passes through the notch on the anchor rod linear feed rear support plate and is hinged to the upper surface of the hinged ear seat plate; the anchor rod linear feed guide slide is distributed parallel to the anchor rod linear feed oil cylinder.

7. The automatic bolt-changing anchor drilling rig for sidewall anchoring of coal mine tunnels according to claim 6, characterized in that: The anchor rod double-speed advancing component includes an anchor rod double-speed advancing oil cylinder, an anchor rod double-speed advancing guide slide, an anchor rod double-speed advancing guide slide, an anchor rod double-speed advancing guide slider, an anchor rod double-speed advancing slide plate, a chain, a first sprocket, a second sprocket, a chain plate adapter, a first gear, a second gear and a rack; the anchor rod double-speed advancing guide slide is located above the anchor rod linear feed guide slide and the two are distributed in parallel. The anchor rod double-speed advancing guide slide adopts a parallel double-rod structure, the front end of the anchor rod double-speed advancing guide slide is fixedly connected to the anchor rod linear feed front support plate, and the rear end of the anchor rod double-speed advancing guide slide is fixedly connected to the anchor rod linear feed rear support plate; the anchor rod double-speed advancing guide slider is arranged on the anchor rod double-speed advancing guide slide The anchor rod double-speed advancing guide slider has a linear sliding freedom relative to the anchor rod double-speed advancing guide slider; the anchor rod double-speed advancing slide plate is fixedly installed on the anchor rod double-speed advancing guide slider; the anchor rod double-speed advancing guide slider is located between the anchor rod double-speed advancing guide slider and the anchor rod linear feed front support plate, the anchor rod double-speed advancing guide slider is slidably connected to the anchor rod double-speed advancing guide slider, and the anchor rod double-speed advancing guide slider has a linear sliding freedom relative to the anchor rod double-speed advancing guide slider; the tail end of the cylinder barrel of the anchor rod double-speed advancing oil cylinder is fixedly connected to the anchor rod double-speed advancing guide slider, and the top end of the piston rod of the anchor rod double-speed advancing oil cylinder is fixedly connected to the anchor rod linear feed rear support plate, and the anchor rod double-speed advancing oil cylinder The first sprocket is connected to the side of the tail end of the cylinder barrel of the anchor rod double-speed advancing oil cylinder, and there are two first sprockets, and the two first sprockets are symmetrically distributed in a left-right mirror image; the second sprocket is connected to the side of the top end of the cylinder barrel of the anchor rod double-speed advancing oil cylinder, and there are two second sprockets, and the two second sprockets are symmetrically distributed in a left-right mirror image; the chain transmission is connected between the first sprocket and the second sprocket, and the chain is fixedly connected to the lower surface of the anchor rod double-speed advancing slide plate through the chain plate adapter; the first gear is coaxially fixed on the outside of the first sprocket, and the first gear rotates synchronously with the first sprocket; the second gear is coaxially fixed on the outside of the second sprocket, and the second gear rotates synchronously with the second sprocket Rotation; the rack is distributed parallel to the anchor rod speed advancing guide slide, the front end of the rack is fixedly connected to the front support plate of the anchor rod linear feed, and the rear end of the rack is fixedly connected to the rear support plate of the anchor rod linear feed; the first gear and the second gear are both engaged with the rack for transmission; when the anchor rod speed advancing cylinder is in a fully retracted state, the anchor rod speed advancing guide slide is located in the middle of the anchor rod speed advancing guide slide, and the anchor rod speed advancing slide plate is adjacent to the rear support plate of the anchor rod linear feed; when the anchor rod speed advancing cylinder is in a fully extended state, the anchor rod speed advancing guide slide is located at the front end of the anchor rod speed advancing guide slide, and the anchor rod speed advancing slide plate is adjacent to the front support plate of the anchor rod linear feed.

8. The automatic bolt-changing anchor drilling rig for sidewall anchoring of coal mine tunnels according to claim 7, characterized in that: The anchor rod clamping and stabilizing assembly includes an anchor rod clamping and stabilizing rear support plate, an anchor rod clamping and stabilizing front support plate, an anchor rod clamping and stabilizing guide slide rod, a scissor-type anchor rod clamp, a transmission double-link rod, a transmission block, a clamp driving oil cylinder, a clamp outer guard plate and an anchor rod clamping and stabilizing assembly push-pull cylinder; the anchor rod clamping and stabilizing guide slide rod adopts a parallel double-rod structure, the second base support guide sleeve is mounted on the anchor rod clamping and stabilizing guide slide rod, and the anchor rod clamping and stabilizing guide slide rod has a linear sliding freedom relative to the second base support guide sleeve; the anchor rod clamping and stabilizing rear support plate is vertically fixedly installed at the rear end of the anchor rod clamping and stabilizing guide slide rod; the anchor rod clamping and stabilizing front support plate is vertically fixedly installed at the front end of the anchor rod clamping and stabilizing guide slide rod; the clamp outer guard plate is fixedly installed in front of the anchor rod clamping and stabilizing front support plate; the scissor-type anchor rod clamp is arranged on the clamp outer guard plate and the anchor rod clamping and stabilizing The top end of the driving member is hinged on the upper end of the driving member, and the upper end of the driving member is hinged on the upper end of the driving member, and the upper end of the driving member is hinged on the two lower ends of the driving member.

9. The automatic bolt-changing anchor drilling rig for side wall anchoring of coal mine tunnels according to claim 8, characterized in that: The anchor rod rotation drive and grouting combined assembly includes an anchor rod rotation drive hydraulic motor, a reduction gear box, an anchor rod adapter solenoid, a grouting valve block, a valve block pushing sleeve, a valve block pushing slide rod, a valve block pushing slide rod support, a valve block pushing oil cylinder and a valve block pushing force transmission frame; the reduction gear box is fixedly mounted on the anchor rod speed advancing slide plate, and the power output shaft of the reduction gear box is a hollow shaft; the anchor rod rotation drive hydraulic motor is fixedly mounted on the reduction gear box, and the power output shaft of the anchor rod rotation drive hydraulic motor is coaxially fixedly connected with the power input shaft of the reduction gear box; the power output shaft of the reduction gear box is coaxially fixedly sleeved on the outside of the anchor rod adapter solenoid, the anchor rod adapter solenoid rotates synchronously with the power output shaft of the reduction gear box, and the anchor rod and the anchor rod adapter solenoid are coaxially screwed together; the valve block pushing slide rod adopts a parallel double-rod structure, and the valve block pushing slide rod is fixedly mounted on the anchor rod speed advancing slide plate through the valve block pushing slide rod support Described retaining mechanism outer cover is positioned at the steaming tray upper end, and retaining mechanism outer cover end is provided with a hole, and a push-rod hole is provided on the bottom of retaining mechanism outer cover end.

10. The automatic bolt-changing anchor drilling rig for side wall anchoring of coal mine tunnels according to claim 9, characterized in that: The automatic rod-changing assembly includes an automatic rod-changing front support frame, an automatic rod-changing rear support frame, an automatic rod-changing front support plate, an automatic rod-changing rear support plate, an automatic rod-changing hydraulic motor, a worm gear reducer, an anchor rod replacement drive shaft, a front C-shaped ring retaining sleeve, a front anchor rod clamping plate, a rear C-shaped ring retaining sleeve, a rear anchor rod clamping plate, a rigid reinforcement support column, an anchor rod replacement swing shaft, an anchor rod replacement execution cylinder, an anchor rod replacement transmission swing arm, an anchor rod replacement manipulator, an anchor rod replacement limit frame, an anchor rod replacement limit pressure plate, a first rotation angle measurement encoder, a second rotation angle measurement encoder, an automatic rod-changing rear protective plate and an automatic rod-changing front protective cover; the lower end of the automatic rod-changing front support frame is fixedly connected to the front end side of the basic support frame; the automatic rod-changing rear support frame The lower end is fixedly connected to the rear end side of the base support frame; the automatic rod changing front support plate is fixedly installed on the top of the automatic rod changing front support frame; the automatic rod changing rear support plate is fixedly installed on the top of the automatic rod changing rear support frame; the rigid reinforced support column is vertically fixedly connected between the automatic rod changing front support plate and the automatic rod changing rear support plate; the front end of the anchor rod transposition drive shaft is rotatably connected to the center of the automatic rod changing front support plate through a bearing, and the rear end of the anchor rod transposition drive shaft is rotatably connected to the center of the automatic rod changing rear support plate through a bearing; the worm gear reducer is fixedly installed on the outer side of the automatic rod changing rear support plate, and the worm gear output shaft of the worm gear reducer is coaxially fixedly connected to the rear end of the anchor rod transposition drive shaft; the automatic rod changing hydraulic motor is fixedly installed The front C-ring stopper sleeve is fixedly mounted on the inner side of the front support plate of the automatic rod change, and the front C-ring stopper sleeve is coaxially distributed with the anchor rod transposition drive shaft; the front anchor rod clamping disk is located inside the front C-ring stopper sleeve, and the front anchor rod clamping disk is coaxially fixed on the anchor rod transposition drive shaft, and a plurality of anchor rod clamping grooves are evenly distributed along the circumferential direction of the front anchor rod clamping disk; the rear C-ring stopper sleeve is fixedly mounted on the inner side of the rear support plate of the automatic rod change, and the rear C-ring stopper sleeve is coaxially distributed with the anchor rod transposition drive shaft; the rear anchor rod clamping disk is located inside the rear C-ring stopper sleeve, and the rear anchor rod clamping disk is coaxially fixed on the anchor rod transposition drive shaft, and along the rear A plurality of anchor rod clamping grooves are evenly distributed in the circumferential direction of the anchor rod clamping disk; the two ends of the anchor rod are respectively located in the anchor rod clamping grooves of the front anchor rod clamping disk and the rear anchor rod clamping disk; the anchor rod replacement swing shaft is distributed parallel to the anchor rod replacement drive shaft, the front end of the anchor rod replacement swing shaft is rotatably connected to the eccentric point of the automatic rod changing front support plate through a bearing, and the rear end of the anchor rod replacement swing shaft is rotatably connected to the eccentric point of the automatic rod changing rear support plate through a bearing; the anchor rod replacement execution cylinder is located outside the automatic rod changing rear support frame, the cylinder end of the anchor rod replacement execution cylinder is hinged to the automatic rod changing rear support frame, the top end of the piston rod of the anchor rod replacement execution cylinder is hinged to one end of the anchor rod replacement transmission swing arm, and the other end of the anchor rod replacement transmission swing arm is fixedly connected to the rear end of the anchor rod replacement swing shaft;One end of the anchor rod replacement limit frame is fixedly connected to the anchor rod replacement swing shaft, and the other end of the anchor rod replacement limit frame is a degree of freedom. The swing path of the free end of the anchor rod replacement limit frame intersects with the rotation path of the anchor rod around the center line of the anchor rod transposition drive shaft, and the swing path of the free end of the anchor rod replacement limit frame passes through the center line of the anchor rod adapter screw; the anchor rod replacement manipulator is installed on the anchor rod replacement limit frame; the anchor rod replacement limit pressure plate is installed on the anchor rod replacement manipulator; the first rotation angle measurement encoder is arranged at the front end of the anchor rod transposition drive shaft; the second The rotation angle measurement encoder is located at the front end of the anchor rod replacement swing shaft; the automatic rod replacement rear guard plate is fixedly connected to the outside of the automatic rod replacement rear support plate via a connecting strut; the automatic rod replacement hydraulic motor, worm gear reducer, anchor rod replacement execution cylinder, and anchor rod replacement transmission swing arm are all located in the gap between the automatic rod replacement rear guard plate and the automatic rod replacement rear support plate; the automatic rod replacement front guard cover is fixedly mounted on the outside of the automatic rod replacement front support plate, and the first and second rotation angle measurement encoders are both located inside the automatic rod replacement front guard cover.

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