A semi-coal rock excavation and anchoring integrated machine

Abstract

The application discloses a semi-coal rock drilling and anchoring integrated machine and relates to the technical field of mining devices.The machine comprises a pair of rear drilling arm parts arranged on a machine body part, wherein the rear drilling arm parts comprise swing oil cylinders III and rear machine-mounted anchor rod drills; a recoil force grading detection mechanism is arranged between the swing oil cylinders III and the rear machine-mounted anchor rod drills; the recoil force grading detection mechanism comprises a recoil force sensor, a first micro switch, a buffer mechanism and a connecting mechanism.The recoil force grading detection mechanism is arranged, and the recoil force is transmitted to a mounting plate during work; the mounting plate drives the swing oil cylinder plate to move through the connecting mechanism; the connecting plate of the buffer mechanism triggers the first micro switch first and then abuts against the recoil force sensor, so that the grading detection of the recoil force is realized; the mechanism solves the problem that the rear machine-mounted anchor rod drills are deflected in angles due to the recoil force but lack effective grading detection, avoids the compensation failure risk caused by the failure of single detection elements and improves the recoil force detection reliability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mining devices, in particular to a semi-coal rock tunneling and anchoring integrated machine. BACKGROUND

[0002] In recent years, with the increase of coal mining depth, the geological conditions are increasingly complex: the increase of geological structure leads to poor stability of the roadway, the coal seam is thinning and faults occur frequently, coal and rock coexist in the roadway, and the hard characteristics of rock significantly increase the tunneling difficulty, at the same time, the pressure of the surrounding rock of the roadway increases, further improving the complexity and safety requirements of the roadway support; under this background, the ordinary tunneling machine is difficult to adapt to such working conditions, not only the tunneling efficiency is low, but also it is easy to cause tension of mining and tunneling replacement. In order to improve this situation, the semi-coal rock tunneling and anchoring integrated machine integrating tunneling and supporting functions gradually replaces the split operation mode of traditional tunneling machine and rear supporting anchor drill vehicle, but the existing semi-coal rock tunneling and anchoring integrated machine still has the following defects in use:

[0003] Firstly, affected by the increase of geological structure activities, the semi-coal rock roadway conditions are increasingly complex, not only the coal seam is thinning and faults occur frequently, but also the coal and rock are mixedly distributed in the cross section of the roadway, the existence of rock directly increases the tunneling difficulty, combined with the significant increase of the pressure of the surrounding rock of the roadway, further improving the difficulty of roadway support; affected by these complex conditions, the ordinary tunneling machine is difficult to adapt, resulting in a significant reduction of the tunneling speed, and further causing tension of mining and tunneling replacement; although the current semi-coal rock roadway adopts the process mode of combination of tunneling machine and rear supporting anchor drill vehicle, through the tunneling machine first cutting coal in the working face, retreating back to the rear of the anchor drill vehicle and stopping by the wall after one cycle, and then the anchor drill vehicle moves to the working face for anchor rod and anchor cable support operation to realize tunneling and anchoring cross tunneling, but this operation mode still has obvious problems, not only the machine set needs to frequently advance and retreat, and misalign, which greatly increases the auxiliary operation time, but also there is a great safety hazard due to long empty top operation time when the machine advances, at the same time, the machine set has weak rock breaking capacity and is easy to appear cutting immobility, resulting in low cutting efficiency, and the anchor protection efficiency of the existing tunneling and anchoring mode also cannot meet the demand;

[0004] Secondly, the rear drilling arm part of the half coal rock tunneling and anchoring integrated machine is a key mechanism of low-set anchor rod support, and the rear machine-mounted anchor rod drill is driven by the swing cylinder III to rotate around the rotation shaft left and right, which can adapt to different inclination angles of low-set, and provides a basis for drilling angle adjustment. However, the low-set coal rock alternates with high hardness rock, and the recoil force is easily generated when drilling at the coal rock junction, which makes the drill rotate around the rotation shaft of the swing cylinder III slightly deviated, resulting in that the actual drilling angle deviates from the preset value. The existing tunneling and anchoring integrated machine cannot dynamically detect the recoil force in real time, or there is no special detection device, which relies on the subjective judgment of the recoil force by the operator through vibration and sound, or the detection element can only measure the force statically and cannot capture the instantaneous fluctuation of the recoil force. The lack of detection makes the swing cylinder III lose the basis for accurate action. Without real-time recoil force data, the cylinder can only be driven at a preset fixed angle, which cannot prevent deviation by slightly compensating in advance, nor can it adjust and offset the deviation when the recoil force increases suddenly. The final angle deviation continues to accumulate. This not only leads to poor fit of the anchor rod and the surrounding rock and a decrease in anchoring force, making it difficult to form a stable support structure, but also causes the recoil force to act on the swing cylinder III in the form of instantaneous impact force, which exacerbates the eccentric wear of the sealing element, shortens the service life of the cylinder, and increases equipment maintenance costs and downtime. SUMMARY

[0005] The purpose of the present application is to provide a half coal rock tunneling and anchoring integrated machine, which can effectively solve the problems raised in the background art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solution: a half coal rock tunneling and anchoring integrated machine, comprising a pair of rear drilling arm parts arranged on the machine body part, wherein the rear drilling arm part comprises a swing cylinder III and a rear machine-mounted anchor rod drill; the swing cylinder III is arranged on the machine body part, and the output end of the swing cylinder III is connected with the rear machine-mounted anchor rod drill; a recoil force grading detection mechanism is arranged between the swing cylinder III and the rear machine-mounted anchor rod drill; the recoil force grading detection mechanism comprises a recoil force sensor, a first micro switch, a buffer mechanism and a connecting mechanism; wherein the recoil force sensor is mounted on the bottom of the rear machine-mounted anchor rod drill through a mounting plate; the first micro switch is arranged on one side of the recoil force sensor; the output end of the swing cylinder III is fixedly provided with a swing cylinder plate, the buffer mechanism is arranged on the swing cylinder plate, the output end of the buffer mechanism is provided with a connecting plate, and the connecting plate is arranged opposite the recoil force sensor and the first micro switch; when the connecting plate approaches the recoil force sensor and the first micro switch, the connecting plate first triggers the first micro switch, and then the connecting plate continues to move and touches the recoil force sensor; the swing cylinder plate and the mounting plate are connected through the connecting mechanism.

[0007] Preferably, the buffering mechanism comprises a buffering oil cylinder, an oil absorption sponge, a disc spring and a connecting shaft; the buffering oil cylinder is fixed to the swing oil cylinder plate; the buffering oil cylinder is provided with a piston cavity and a buffering cavity; the buffering cavity is arranged around the piston cavity; the piston cavity and the buffering cavity are communicated through a through hole; the oil absorption sponge is arranged in the buffering cavity; the disc spring is coaxially arranged in the piston cavity; the connecting shaft is coaxially inserted into the buffering oil cylinder through a reserved hole; one end of the connecting shaft is slidably connected to the piston cavity through a piston; the other end of the connecting shaft is connected to the connecting plate; the top of the connecting shaft abuts against the top of the buffering oil cylinder; the bottom of the connecting shaft abuts against the disc spring, and the disc spring is in a compressed state.

[0008] Preferably, the mounting plate is provided with a first dustproof shell; one end of the connecting shaft is inserted into the first dustproof shell; the backflush force sensor and the first micro switch are arranged in the first dustproof shell; the connecting shaft is provided with a spiral protruding rib on the side surface, and the spiral protruding rib is arranged in the reserved hole of the buffering oil cylinder.

[0009] Preferably, an elastic mud scraping ring is sleeved on the connecting shaft, and the outer ring of the elastic mud scraping ring abuts against the reserved hole; the elastic mud scraping ring is arranged below the spiral protruding rib, and the cross section of the elastic mud scraping ring is in a U-shaped structure, which is used for storing dust.

[0010] Preferably, the connecting mechanism comprises a plurality of sliding shafts, sliding sleeves and linear springs; the plurality of sliding shafts are fixed to the mounting plate; the plurality of sliding sleeves are fixed to the swing oil cylinder plate; the sliding shafts are coaxially inserted into the sliding sleeves; the linear springs are sleeved on the sliding shafts; one end of the linear spring abuts against the sliding shaft, and the other end of the sliding sleeve abuts against the sliding sleeve.

[0011] Preferably, the sidewall of the rear-mounted anchor rod drilling machine is provided with an angle deviation monitoring mechanism; the angle deviation monitoring mechanism is used for detecting the angle deviation generated when the rear-mounted anchor rod drilling machine works.

[0012] Preferably, the angle deviation monitoring mechanism comprises a second dustproof shell, an L-shaped mounting block, a dual-axis inclination sensor, a limiting rod and a second micro switch; the second dustproof shell is fixed to the sidewall of the rear-mounted anchor rod drilling machine; the dual-axis inclination sensor is mounted to the inner wall of the second dustproof shell through the L-shaped mounting block; a rubber pad is arranged between the dual-axis inclination sensor and the L-shaped mounting block; the limiting rod is fixed to the dual-axis inclination sensor; the second micro switch is mounted to the inner wall of the second dustproof shell; one end of the limiting rod is opposite to the trigger rod of the second micro switch; a buzzer is arranged in the second dustproof shell; the second micro switch and the buzzer are electrically connected.

[0013] Preferably, the machine body further comprises a shovel plate, a cutting part, a front drilling arm, a control part, a guard plate, a conveying part, a rear support part, and a pair of middle drilling arms; the shovel plate is installed below the front end of the machine body, the cutting part is installed above the front end of the machine body, the front drilling arm is installed above the cutting part, the arm has two parts, the pair of middle drilling arms are symmetrically arranged on the left and right sides of the machine body, the control part is installed at the middle of the top of the machine body, and the conveying part is arranged in the middle of the machine body.

[0014] Preferably, the rear drilling arm further comprises a rear drilling arm fixing seat, a rear drilling arm rotating seat, a rear drilling arm rotating oil cylinder, a rear drilling arm adjusting oil cylinder, a rear drilling arm outer sleeve, a rear drilling arm middle sleeve, a rear drilling arm inner sleeve, a rear drilling arm telescopic oil cylinder, a rear drilling arm supporting oil cylinder, and a swing oil cylinder fixing seat; the rear drilling arm fixing seat is installed on the machine body through a sliding mechanism, the rear drilling arm rotating seat is coaxially installed on the rear drilling arm fixing seat, the cylinder body of the rear drilling arm rotating oil cylinder is hinged to the tail end connecting lug of the drilling arm device of the middle drilling arm, the telescopic rod of the rear drilling arm rotating oil cylinder is hinged to the left connecting lug of the rear drilling arm rotating seat, the rear drilling arm outer sleeve is hinged to the top connecting lug of the rear drilling arm rotating seat, the cylinder body of the rear drilling arm adjusting oil cylinder is hinged to the rear drilling arm rotating seat, and the telescopic rod of the rear drilling arm adjusting oil cylinder is hinged to the rear drilling arm outer sleeve; the rear drilling arm middle sleeve is nested in the rear drilling arm outer sleeve, the rear drilling arm inner sleeve is nested in the rear drilling arm middle sleeve, the rear drilling arm telescopic oil cylinder is arranged in the rear drilling arm inner sleeve, the cylinder body of the rear drilling arm telescopic oil cylinder is hinged to the rear drilling arm middle sleeve, the telescopic rod of the rear drilling arm telescopic oil cylinder is hinged to the rear drilling arm inner sleeve, the cylinder body of the rear drilling arm supporting oil cylinder is hinged to the connecting lug of the rear drilling arm outer sleeve, and the telescopic rod of the rear drilling arm supporting oil cylinder is hinged to the rear drilling arm middle sleeve; the swing oil cylinder fixing seat is fixedly arranged on the rear drilling arm inner sleeve, and the swing oil cylinder III is installed on the swing oil cylinder fixing seat; the rear drilling arm supporting oil cylinder can drive the rear drilling arm middle sleeve to telescopically extend forward and backward with the rear drilling arm outer sleeve as a guide, and the rear drilling arm telescopic oil cylinder can drive the rear drilling arm inner sleeve to telescopically extend forward and backward with the rear drilling arm middle sleeve as a guide.

[0015] Preferably, the rear drilling arm further comprises an oil cylinder compensation control mechanism; the oil cylinder compensation control mechanism is arranged on the side surface of the rear drilling arm fixing seat, and comprises a protective shell, a controller, an electro-hydraulic proportional valve, and a signal isolation module; the protective shell is installed on the side surface of the rear drilling arm fixing seat; the controller, the electro-hydraulic proportional valve, and the signal isolation module are all arranged in the protective shell, the hydraulic interface of the oil cylinder compensation control mechanism is connected with the rodless cavity and the rod cavity of the swing oil cylinder III through a high-pressure hose, and the electrical interface of the oil cylinder compensation control mechanism is connected with the back-impact force grading detection mechanism and the angle deviation monitoring mechanism through a mine intrinsic safety cable.

[0016] In summary, the present application has the following technical effects and advantages:

[0017] 1. The invention sets up a backflush force grading detection mechanism, during work, the backflush force is transmitted to the mounting plate, the mounting plate drives the swing cylinder plate to act through the connecting mechanism, the connecting plate of the buffer mechanism triggers the first micro switch first and then touches the backflush force sensor, realizing the grading detection of the backflush force; the mechanism solves the problem that the backflush force causes the angle deflection of the rear-mounted anchor rod drill but lacks effective grading detection, avoids the compensation failure risk caused by the failure of single detection element, improves the backflush force detection reliability, at the same time, the connecting mechanism ensures the smooth force transmission between the swing cylinder plate and the mounting plate, reduces the interference of drill vibration on the detection accuracy, provides accurate backflush force signal for the cylinder compensation control mechanism, can start different compensation modes according to the backflush force size, avoids the angle control problem caused by the random change of the backflush force, and can also preliminarily reduce the direct impact of the backflush force on the swing cylinder III, reducing the eccentric wear risk of the sealing element of the swing cylinder III.

[0018] 2. The invention sets up a buffer mechanism, when the backflush force pushes the connecting shaft to slide in the piston cavity, the connecting shaft compresses the disc spring to produce elastic deformation to absorb part of the backflush force, at the same time, the hydraulic oil in the piston cavity enters the buffer cavity through the through hole and is adsorbed by the oil absorption sponge, further buffering the hydraulic oil flow impact; realizing efficient absorption of the random change of the large backflush force in the semi-coal rock roadway, greatly reducing the direct action of the backflush force on the swing cylinder III, reducing the radial torque of the cylinder, avoiding the eccentric wear of the sealing element due to uneven force, effectively prolonging the service life of the swing cylinder III, solving the problem that the backflush force directly acts on the cylinder to cause the equipment to wear out quickly, at the same time, it can also reduce the impact of the backflush force on the backflush force sensor and the first micro switch, ensuring the accuracy of the detection signal, laying a foundation for the accurate control of the subsequent angle compensation.

[0019] 3. The invention sets up an angle deviation monitoring mechanism, the dual-axis inclination sensor monitors the drill pitch angle and horizontal deviation angle in real time, outputs an electrical signal when the deviation is small, triggers the second micro switch and starts the buzzer when the deviation is large, and sends an emergency compensation signal at the same time; the mechanism makes up for the defect of lacking real-time angle monitoring, can accurately capture the small angle deviation of the drill, provides real-time and accurate angle feedback for the cylinder compensation control mechanism, avoids the problems of anchor rod anchoring force decline and unstable support structure caused by the angle deviation not being found in time, cooperates with the backflush force grading detection mechanism to form double signal input of backflush force and angle deviation, improves the compensation accuracy, the local buzzer alarm can also provide timely warning for the operator, reduces the risk caused by the delay of the remote control signal, and further improves the safety and stability of the roadway support.

[0020] 4、 The present application sets up the oil cylinder compensation control mechanism, receives the signals of the backflush force grading detection mechanism and the angle deviation monitoring mechanism through the controller, adjusts the hydraulic oil flow through the electro-hydraulic proportional valve according to the backflush force and the angle deviation, starts the normal or fast compensation mode, and realizes the closed loop control by receiving the angle feedback in real time; the mechanism solves the problems that the swing oil cylinder III can only drive according to the preset instruction, the compensation lags and cannot be dynamically adjusted, ensures that the compensation is gentle when the backflush force is small and the compensation is fast when the backflush force is large, makes the angle deviation always controlled in the minimum range, avoids the angle out-of-tolerance caused by the compensation lag, improves the hydraulic driving accuracy through the grading flow control of the electro-hydraulic proportional valve, realizes the dynamic and accurate correction of the angle deviation of the rear-mounted anchor rod drill, reduces the equipment loss such as the bending of the drill rod and the wear of the oil cylinder sealing element, prolongs the service life of the equipment, improves the overall operation efficiency of the half-coal rock drilling and anchoring integrated machine, and meets the rapid drilling demand of the complex half-coal rock roadway.

[0021] 5、 By arranging the positions of a pair of front, middle and rear drill arm parts, the spatial separation of the drill arm system and the cutting part is realized, the cutting construction space is not occupied, and the mutual interference of the drill arm operation and the cutting operation is effectively avoided; at the same time, the front, middle and rear drill arm parts can be independently constructed and do not interfere with each other, the operation tasks of each drill arm can be flexibly distributed according to the roadway operation demand, and the operation scene adaptability is greatly improved.

[0022] 6、 Relying on the unique layout of the front, middle and rear drill arm parts and the independent operation ability of each drill arm, each drill arm can be driven to cover the roadway roof, side and rear area without moving the equipment body, and the whole section of the roadway is supported; the roof can be quickly closed, the exposure time of the roof is effectively shortened, the construction safety risk of the half-coal rock roadway is reduced, the support efficiency and safety demand under the complex working condition of the half-coal rock roadway are met, the drilling and support cooperation efficiency is improved, the operation range is expanded and the construction quality is ensured; through the cooperative operation design of the front and middle drill arm parts, multiple drills can be adjusted to be in a one-line arrangement state perpendicular to the tunneling direction, and the drilling and anchoring operation is carried out on the top of the roadway; on the one hand, the arrangement mode ensures that the drilling is arranged regularly, avoids the hole deviation problem caused by the traditional dispersed drilling, and improves the drilling quality; on the other hand, the one-line drilling mode covers a wider section range, and the drilling efficiency is greatly improved; and after the row drilling, the support process can directly and quickly follow up, effectively reducing the interval between the drilling and support processes, and significantly improving the cooperation efficiency of the tunneling and support. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 The first perspective view of the whole structure of the present application;

[0025] Figure 2 The second perspective view of the whole structure of the present application;

[0026] Figure 3 The first perspective view of the rear drill arm of the present application;

[0027] Figure 4 The second perspective view of the rear drill arm of the present application;

[0028] Figure 5 The partial cutaway perspective view of the recoil force grading detection mechanism of the present application;

[0029] Figure 6 The partial cutaway perspective view of the buffer mechanism and the first dustproof shell of the present application;

[0030] Figure 7 The partial cutaway perspective view of the buffer mechanism of the present application;

[0031] Figure 8 The enlarged structure schematic view of the A area in the present application; Figure 7

[0032] Figure 9 The partial cutaway perspective view of the angle deviation monitoring mechanism of the present application;

[0033] Figure 10 The perspective view of the dual-axis inclination sensor of the present application;

[0034] Figure 11 The perspective view of the front drill arm and the middle drill arm arranged in a line of the present application;

[0035] Figure 12 The perspective view of the front drill arm in an unfolded state.

[0036] ​In the figure: 1, machine body part; 2, blade part; 3, cutting part; 4, front drilling arm part; 41, fixed frame; 42, front support; 421, support outer sleeve; 422, support inner sleeve; 423, support oil cylinder; 424, top beam connecting seat; 425, swing oil cylinder II; 426, support frame; 427, support telescopic sleeve; 428, support telescopic oil cylinder; 43, standing platform; 44, slide rail base; 45, slide rail inner sleeve; 46, slide oil cylinder; 47, lifting oil cylinder; 48, support adjustment oil cylinder; 49, front drilling arm inner sleeve; 410, front drilling arm telescopic oil cylinder; 411, swing oil cylinder I; 412, top drilling device; 5, middle drilling arm part; 6, rear drilling arm part; 61, swing oil cylinder III; 62, rear on-board anchor rod drill; 63, back force grading detection mechanism; 631, swing oil cylinder plate; 632, mounting plate; 633, first dustproof shell; 634, back force sensor; 635, first micro switch; 636, buffer mechanism; 6361, buffer oil cylinder; 6362, piston cavity; 6363, buffer cavity; 6364, oil absorption sponge; 6365, disc spring; 6366, connecting shaft; 6367, connecting plate; 6368, helical protruding rib; 6369, elastic mud scraping ring; 637, connecting mechanism; 6371, sliding shaft; 6372, sliding sleeve; 6373, linear spring; 64, angle deviation monitoring mechanism; 641, second dustproof shell; 642, L-shaped mounting block; 643, rubber pad; 644, dual-axis inclination sensor; 645, limiting rod; 646, second micro switch; 65, rear drilling arm fixing seat; 66, rear drilling arm rotating seat; 67, rear drilling arm rotating oil cylinder; 68, rear drilling arm adjustment oil cylinder; 69, rear drilling arm outer sleeve; 610, rear drilling arm middle sleeve; 611, rear drilling arm inner sleeve; 612, rear drilling arm telescopic oil cylinder; 613, rear drilling arm support oil cylinder; 614, swing oil cylinder fixing seat; 7, operating part; 8, guard plate part; 9, conveying part; 10, rear support part. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0038] Embodiment 1: Please refer to Figures 1-5The illustrated half-coal rock drilling and anchoring integrated machine comprises a pair of rear drilling arm portions 6 arranged on the machine body portion 1, the rear drilling arm portion 6 comprising a swing oil cylinder III 61 and a rear-mounted anchor rod drill 62; the swing oil cylinder III 61 is arranged on the machine body portion 1, and the output end of the swing oil cylinder III 61 is connected with the rear-mounted anchor rod drill 62; a recoil force grading detection mechanism 63 is arranged between the swing oil cylinder III 61 and the rear-mounted anchor rod drill 62; the recoil force grading detection mechanism 63 comprises a recoil force sensor 634, a first micro switch 635, a buffer mechanism 636 and a connecting mechanism 637; wherein the recoil force sensor 634 is mounted on the bottom of the rear-mounted anchor rod drill 62 through a mounting plate 632; the first micro switch 635 is arranged on one side of the recoil force sensor 634; the output end of the swing oil cylinder III 61 is fixedly provided with a swing oil cylinder plate 631, the buffer mechanism 636 is arranged on the swing oil cylinder plate 631, the output end of the buffer mechanism 636 is provided with a connecting plate 6367, and the connecting plate 6367 is arranged opposite to the recoil force sensor 634 and the first micro switch 635; when the connecting plate 6367 approaches the recoil force sensor 634 and the first micro switch 635, the connecting plate 6367 first triggers the first micro switch 635, and then the connecting plate 6367 continues to move and abuts against the recoil force sensor 634; the swing oil cylinder plate 631 and the mounting plate 632 are connected through the connecting mechanism 637; it can be understood that the recoil force sensor 634 and the first micro switch 635 are both prior art and will not be described in detail.

[0039] It should be noted that when the rear-mounted anchor rod drill 62 drills a hole in a low-shoulder half-coal rock roadway, the rock at the coal-rock boundary position generates a recoil force, which is transmitted to the mounting plate 632 at the bottom of the rear-mounted anchor rod drill 62, the mounting plate 632 acts on the swing oil cylinder plate 631 through the connecting mechanism 637, the buffer mechanism 636 on the swing oil cylinder plate 631 responds accordingly, the connecting plate 6367 of the buffer mechanism 636 approaches the recoil force sensor 634 and the first micro switch 635, the connecting plate 6367 first triggers the first micro switch 635, and then continues to move and abuts against the recoil force sensor 634; the recoil force sensor 634 is mounted on the bottom of the rear-mounted anchor rod drill 62 through the mounting plate 632, and can detect the size of the recoil force in real time, the first micro switch 635 is arranged on one side of the recoil force sensor 634, and the two cooperate to realize grading detection of the recoil force and provide a signal basis for subsequent angle compensation.

[0040] By setting the backflush force grading detection mechanism 63, the problem of lack of effective grading detection of the angle deflection of the rear-mounted anchor rod drill 62 caused by the backflush force is solved; the grading trigger design of the backflush force sensor 634 and the first micro switch 635 avoids the risk of compensation failure caused by the failure of a single detection element, and improves the reliability of backflush force detection; the connecting mechanism 637 ensures the stable connection between the swing oil cylinder plate 631 and the mounting plate 632, reducing the interference of drill vibration on detection accuracy; in combination with the function of backflush force grading detection, the accurate backflush force signal is provided for the subsequent oil cylinder compensation control mechanism, different compensation modes can be started according to the size of the backflush force, the problem of difficulty in angle control caused by random changes of the backflush force is avoided, and the action of the buffer mechanism 636 is provided with a trigger basis, the direct impact of the backflush force on the swing oil cylinder III 61 is preliminarily reduced, and the eccentric wear risk of the sealing element of the swing oil cylinder III 61 is reduced.

[0041] Please refer to Figures 5-7 The buffer mechanism 636 includes a buffer oil cylinder 6361, an oil absorption sponge 6364, a disc spring 6365, and a connecting shaft 6366; the buffer oil cylinder 6361 is fixedly arranged on the swing oil cylinder plate 631, the buffer oil cylinder 6361 is provided with a piston cavity 6362 and a buffer cavity 6363, the buffer cavity 6363 is arranged around the piston cavity 6362, and the piston cavity 6362 and the buffer cavity 6363 are communicated through a through hole; the oil absorption sponge 6364 is arranged in the buffer cavity 6363; the disc spring 6365 is coaxially arranged in the piston cavity 6362; the connecting shaft 6366 is coaxially inserted into the buffer oil cylinder 6361 through a reserved hole, one end of the connecting shaft 6366 is slidably connected to the piston cavity 6362, and the other end of the connecting shaft 6366 is connected to the connecting plate 6367; the top of the connecting shaft 6366 abuts against the top of the buffer oil cylinder 6361, the bottom of the connecting shaft 6366 abuts against the disc spring 6365, and the disc spring 6365 is in a compressed state.

[0042] It should be noted that when the backflush force pushes the mounting plate 632 to approach the swing oil cylinder plate 631, the connecting plate 6367 abuts against the backflush force sensor 634, and as the backflush force increases, the connecting plate 6367 drives the connecting shaft 6366 to slide into the piston cavity 6362, the bottom of the connecting shaft 6366 compresses the disc spring 6365, and the disc spring 6365 elastically deforms to absorb part of the backflush force; at the same time, the hydraulic oil in the piston cavity 6362 enters the buffer cavity 6363 through the through hole and is adsorbed by the oil absorption sponge 6364, further buffering the impact generated by the flow of hydraulic oil.

[0043] The buffer structure of the disc spring 6365, the oil absorption sponge 6364 and the hydraulic oil flow cooperation can realize efficient absorption of the recoil force, greatly reduce the direct impact of the recoil force on the swing oil cylinder III 61, reduce the radial torque of the swing oil cylinder III 61, avoid uneven force on the sealing element to cause eccentric wear, and prolong the service life of the swing oil cylinder III 61; the surrounding design of the piston cavity 6362 and the buffer cavity 6363 and the flow buffer of the hydraulic oil further improve the stability of the buffer, avoid structural vibration caused by sudden change of the recoil force; at the same time, the pre-buffering effect of the buffer mechanism 636 can reduce the impact of the recoil force on the recoil force sensor 634 and the first micro switch 635, improve the service life of the detection element, provide a more stable stress environment for the recoil force grading detection, ensure the accuracy of the detection signal, and lay a foundation for accurate control of subsequent angle compensation.

[0044] Please refer to Figures 5-8 , the first dustproof shell 633 is arranged on the mounting plate 632; one end of the connecting shaft 6366 is inserted into the first dustproof shell 633; the recoil force sensor 634 and the first micro switch 635 are arranged in the first dustproof shell 633; the connecting shaft 6366 is provided with a spiral rib 6368 on the side, and the spiral rib 6368 is arranged in the reserved hole of the buffer oil cylinder 6361.

[0045] It should be noted that in the semi-coal rock roadway drilling operation, coal dust is easy to accumulate and invade the detection element, and the first dustproof shell 633 can effectively block the contact of coal dust with the recoil force sensor 634 and the first micro switch 635, avoiding the influence of coal dust on the detection accuracy or causing element failure; at the same time, the connecting shaft 6366 is provided with a spiral rib 6368 on the side, and the spiral rib 6368 is located in the reserved hole of the buffer oil cylinder 6361, when the connecting shaft 6366 slides in the reserved hole, the spiral rib 6368 scrapes off the attached coal slurry on the inner wall of the reserved hole with the movement of the connecting shaft 6366, realizing the self-scraping function of the connecting shaft 6366 when sliding, preventing the accumulation of coal slurry from causing the connecting shaft 6366 to be stuck, ensuring the smooth action of the connecting plate 6367 driven by the connecting shaft 6366, and further ensuring that the recoil force grading detection mechanism 63 can respond to the change of the recoil force in time; reducing the number of downtime cleaning of coal slurry, and improving the continuous operation ability of the equipment.

[0046] Please refer to Figures 7-8 , the connecting shaft 6366 is provided with an elastic mud scraping ring 6369, and the outer circle of the elastic mud scraping ring 6369 is in contact with the reserved hole; the elastic mud scraping ring 6369 is arranged below the spiral rib 6368, and the cross section of the elastic mud scraping ring 6369 is a U-shaped structure, and the U-shaped structure is used for storing dust.

[0047] It should be noted that when the connecting shaft 6366 slides in the reserved hole, the elastic mud scraping ring 6369 moves synchronously with the connecting shaft 6366, and the contact of the outer ring of the elastic mud scraping ring 6369 with the inner wall of the reserved hole can scrape off the coal mud adhered to the surface of the inner wall of the reserved hole, avoiding the coal mud from entering the first dustproof shell 633 or the buffer oil cylinder 6361 inside along with the sliding of the connecting shaft 6366; the U-shaped structure of the cross section can store the scraped coal mud, preventing the coal mud from falling again into the reserved hole to cause secondary accumulation; at the same time, the elastic mud scraping ring 6369 is located below the spiral protruding rib 6368, which can form a double mud scraping effect with the spiral protruding rib 6368, ensuring the cleanliness of the connecting shaft 6366 and the reserved hole, and avoiding the influence of the coal mud on the sliding accuracy of the connecting shaft 6366; and the spiral gap of the spiral protruding rib 6368 can temporarily store the coal mud, and the coal mud can be automatically discharged in the gravity or breeze environment, and part of the coal mud will slide into the U-shaped structure of the elastic mud scraping ring 6369 for temporary storage, so that the coal mud can be discharged in the environment with varying impact forces.

[0048] The elastic mud scraping ring 6369 cooperates with the spiral protruding rib 6368 to form a double coal mud prevention structure for the connecting shaft 6366 and the reserved hole, and compared with a single mud scraping structure, the coal mud is more completely removed, effectively solving the problem of the connecting shaft 6366 being stuck due to the easy adhesion of coal mud in the semi-coal rock roadway; the dust storage function of the U-shaped structure avoids the scraped coal mud from entering the moving gap again, further reducing the influence of the coal mud on the action of the buffer mechanism 636; the elastic property of the elastic mud scraping ring 6369 enables it to closely fit the inner wall of the reserved hole, ensuring the mud scraping effect even if there is a slight size deviation of the reserved hole, and avoiding the wear of the reserved hole caused by rigid mud scraping; and further enabling the backflush force grading detection mechanism 63 and the buffer mechanism 636 to work stably for a long time in the semi-coal rock roadway with high dust and high humidity, reducing equipment failures caused by coal mud problems, and improving the continuous operation time and overall reliability of the equipment.

[0049] Please refer to Figure 5 The connecting mechanism 637 includes a plurality of sliding shafts 6371, sliding sleeves 6372, and linear springs 6373; the plurality of sliding shafts 6371 are fixedly arranged on the mounting plate 632; the plurality of sliding sleeves 6372 are fixedly arranged on the swing oil cylinder plate 631, and the sliding shafts 6371 are coaxially inserted into the sliding sleeves 6372; the linear springs 6373 are sleeved on the sliding shafts 6371, and one end of the linear springs 6373 is in contact with the sliding shafts 6371, and the other end of the sliding sleeves 6372 is in contact with the sliding sleeves 6372.

[0050] It should be noted that when the rear-mounted anchor rod drill 62 is subjected to the backflush force, the mounting plate 632 moves slightly relative to the swing oil cylinder plate 631, the sliding shafts 6371 slide in the sliding sleeves 6372 in the axial direction, providing guidance for the relative movement of the two, avoiding the lateral deviation of the mounting plate 632; at the same time, the sleeved linear springs 6373 are compressed or stretched.

[0051] The relative movement between the mounting plate 632 and the swing cylinder plate 631 is stable through the guide cooperation of the sliding shaft 6371 and the sliding sleeve 6372, and the detection error of the recoil force caused by the lateral deviation is avoided; the stable foundation is provided for the force transmission of the whole rear drill arm part 6 through the connecting mechanism 637, the transmission of the recoil force from the rear-mounted anchor rod drill 62 to the swing cylinder III 61 is more stable, the additional loss of the equipment caused by vibration is reduced, and the stable installation environment is provided for the accurate monitoring of the angle deviation monitoring mechanism 64, and the angle deviation detection precision is improved; specifically, when the recoil force is extremely slight, the reverse force is provided through the compression of the linear spring 6373 to offset the recoil force, at this time, the connecting plate 6367 does not touch the recoil force sensor 634 and the first micro switch 635, and the recoil force detection is not triggered; when the recoil force is relatively slight, the linear spring 6373 is further compressed, so that the connecting plate 6367 moves to trigger the first micro switch 635; when the recoil force is relatively large, the connecting plate 6367 touches the recoil force sensor 634 after triggering the first micro switch 635, and with the increase of the recoil force, the buffer mechanism 636 is used to offset and prevent excessive impact.

[0052] Please refer to Figures 1-4 The rear-mounted anchor rod drill 62 is provided with an angle deviation monitoring mechanism 64 on the side wall.

[0053] It should be noted that when the rear-mounted anchor rod drill 62 is drilling in a low-shoulder semi-mechanized roadway, a slight deflection occurs around the rotation axis of the swing cylinder III 61 due to the rock recoil force, the angle deviation monitoring mechanism 64 can capture this angle change in real time, and convert the angle deviation signal into an electrical signal and transmit it to the subsequent cylinder compensation control mechanism; the angle deviation monitoring mechanism 64 and the recoil force grading detection mechanism 63 work together, the recoil force grading detection mechanism 63 provides a recoil force signal, the angle deviation monitoring mechanism 64 provides an angle deviation signal, and the two provide a basis for the cylinder compensation control mechanism to determine whether to start compensation and which compensation mode to start.

[0054] The angle deviation monitoring mechanism 64 makes up for the defect of lacking real-time monitoring of the angle, solves the problem that the angle deviation cannot be found in time, and causes the drilling angle to exceed the tolerance. The angle deviation monitoring mechanism 64 can accurately capture the small angle deviation, provides real-time and accurate angle feedback for the oil cylinder compensation control mechanism, avoids the problems of the anchor rod anchoring force being reduced and the supporting structure being unstable due to the angle deviation not being found in time, cooperates with the recoil force grading detection mechanism 63 to form double signal inputs of the recoil force and the angle deviation, enables the subsequent oil cylinder compensation control mechanism to more comprehensively judge the working condition, avoids the compensation misjudgment caused by a single signal, and improves the accuracy of the compensation. The setting of the angle deviation monitoring mechanism 64 also provides a triggering condition for the subsequent emergency compensation. When the angle deviation exceeds a safety threshold, the emergency compensation can be quickly started, the influence of the angle deviation on the supporting quality is reduced, and the safety and stability of the roadway supporting are improved in combination with the overall supporting demand of the half-coal-and-rock drilling and anchoring integrated machine.

[0055] Please refer to Figures 1-4 and Figures 9-10 The angle deviation monitoring mechanism 64 includes a second dustproof shell 641, an L-shaped mounting block 642, a dual-axis tilt sensor 644, a limiting rod 645, and a second micro switch 646. It can be understood that the dual-axis tilt sensor 644 and the second micro switch 646 are prior art and will not be described in detail. The second dustproof shell 641 is fixed to the side wall of the rear-mounted anchor rod drill 62, and the dual-axis tilt sensor 644 is mounted to the inner wall of the second dustproof shell 641 through the L-shaped mounting block 642. A rubber pad 643 is arranged between the dual-axis tilt sensor 644 and the L-shaped mounting block 642. The limiting rod 645 is fixed to the dual-axis tilt sensor 644. The second micro switch 646 is mounted to the inner wall of the second dustproof shell 641, and one end of the limiting rod 645 is opposite to the trigger rod of the second micro switch 646. A buzzer is arranged in the second dustproof shell 641, and the second micro switch 646 and the buzzer are electrically connected. It can be understood that the buzzer is prior art and is not shown in the figure and will not be described in detail.

[0056] It should be noted that during operation, the second dustproof shell 641 blocks the invasion of coal dust and debris to protect the internal components. The rubber pad 643 reduces the interference of drill vibration on the dual-axis tilt sensor 644, and improves the angle detection accuracy. The dual-axis tilt sensor 644 monitors the pitch angle and horizontal deviation angle of the rear-mounted anchor rod drill 62 in real time. When the angle deviation is small, only an electrical signal is output to the oil cylinder compensation control mechanism. When the angle deviation is large, the dual-axis tilt sensor 644 drives the limiting rod 645 to tightly press the trigger rod of the second micro switch 646 with the drill deflection, triggers the buzzer to alarm, and sends an emergency compensation signal to the oil cylinder compensation control mechanism, reminding the operator to pay attention and start the rapid compensation.

[0057] The high-precision monitoring of the dual-axis tilt sensor 644 ensures the accuracy of the angle deviation detection, and the setting of the rubber pad 643 further reduces the vibration interference, so that the detection accuracy is not affected by the working vibration of the drilling machine; the mechanical warning function of the second micro switch 646 and the buzzer can timely issue an alarm when the dual-axis tilt sensor 644 fails or the angle deviation exceeds the limit, so as to avoid the continuous expansion of the angle deviation caused by the failure of the electrical signal, provide local warning for the operator, and reduce the risk caused by the delay of the remote control signal; the protection effect of the second dustproof shell 641 ensures that the angle deviation monitoring mechanism 64 continuously works in the harsh environment underground, and reduces the damage of coal dust and debris to the elements; the angle deviation monitoring mechanism 64 provides more reliable angle signals and emergency triggering conditions for the oil cylinder compensation control mechanism, so that the response of angle compensation is more timely and accurate, further reduces the angle deviation rate of drilling, improves the quality of anchor rod support, ensures the stability of the roadway support structure, and reduces the risk of support failure caused by angle deviation.

[0058] Please refer to Figures 1-4 The machine body part 1 is further provided with a shovel plate part 2, a cutting part 3, a control part 7, a guard plate part 8, a conveying part 9, a rear support part 10, a pair of front drilling arm parts 4 and a middle drilling arm part 5. It can be understood that the specific structure and mounting mode of the shovel plate part 2, the cutting part 3, the control part 7, the guard plate part 8, the conveying part 9, the rear support part 10, the pair of front drilling arm parts 4 and the middle drilling arm part 5 are not limited, and only one feasible technical solution is provided below. The shovel plate part 2 is installed below the front end of the machine body part 1, the cutting part 3 is installed above the front end of the machine body part 1, the front drilling arm part 4 is installed above the cutting part 3, the pair of middle drilling arm parts 5 are symmetrically arranged on the left and right sides of the machine body part 1, the control part 7 is installed at the middle position of the top of the machine body part 1, and the conveying part 9 is arranged in the middle of the machine body part 1.

[0059] It should be noted that during operation, the machine body part 1 provides a mounting base and support for each component, the cutting part 3 drives the cutting head to rotate through a high-power cutting motor, and cooperates with the walking assembly to realize rock breaking and tunneling in semi-coal rock roadway; the shovel plate body of the shovel plate part 2 swings up and down under the drive of the shovel plate oil cylinder, the star wheel motor drives the star wheel to rotate, loads the coal and rock generated by cutting to the conveying part 9, and the conveying part 9 conveys the coal and rock to subsequent equipment; the front drilling arm part 4, the middle drilling arm part 5 and the rear drilling arm part 6 cooperate to work, the front drilling arm part 4 and the middle drilling arm part 5 realize the anchor rod and anchor cable support of the roadway roof and side, and the rear drilling arm part 6 realizes the accurate support of the low side anchor rod, and the three work independently and do not interfere with each other, and can realize full-face support of the roadway without moving the machine set; the control part 7 controls the action of each component, and the rear support leg of the rear support part 10 falls to the roadway floor under the drive of the oil cylinder, stabilizes the machine body and ensures the safety of operation.

[0060] The function integration of cutting, loading, conveying and anchoring of the half-coal rock tunneling and anchoring integrated machine is realized, the problems of frequent advance and retreat of the traditional split type operation unit and long auxiliary time are solved, the tunnel can be once cut and formed when the unit is in the tunnel center line, the tunneling efficiency is greatly improved; the symmetrical arrangement and independent operation design of the front drilling arm part 4, the middle drilling arm part 5 and the rear drilling arm part 6 do not occupy the cutting construction space, and zero empty roof support can be realized, and the safety hidden danger of long empty roof operation time of the tunneling machine is avoided; the rear drilling arm part 6 cooperates with the front drilling arm part 4 and the middle drilling arm part 5 to realize full-face support, and all can be independently constructed without interference, full-face and zero empty roof rapid support operation of the tunnel is realized without moving the machine; the integrated design of each part also reduces the equipment occupied space, adapts to the complex space conditions of the half-coal rock tunnel, at the same time, reduces the labor intensity of workers, improves the working environment, further improves the operation safety and efficiency, and meets the needs of rapid tunneling in complex half-coal rock tunnels.

[0061] See Figures 1-4 and Figures 11-12, the front drilling arm part 4 is installed above the cutting part 3, a pair of middle drilling arm parts 5 are symmetrically arranged on the left and right sides of the machine body part 1, and a pair of rear drilling arm parts 6 are symmetrically installed on the machine body part 1 at the rear ends of the middle drilling arm parts 5; the front drilling arm part 4 comprises a fixing frame 41, a front support 42, a standing platform 43, a pair of slide rail bases 44, slide rail inner sleeves 45, slide oil cylinders 46, lifting oil cylinders 47, support adjusting oil cylinders 48, front drilling arm inner sleeves 49, front drilling arm telescopic oil cylinders 410, swing oil cylinders I 411 and roof bolting devices 412; the pair of slide rail bases 44 are symmetrically installed on the cutting part 3, each slide rail inner sleeve 45 is nested in one slide rail base 44, and each slide oil cylinder 46 is arranged in one slide rail inner sleeve 45; one end of the cylinder body of the slide oil cylinder 46 is hinged to the connecting ears at the tail ends inside the slide rail base 44, one end of the telescopic rod of the slide oil cylinder 46 is hinged to the connecting ears at the front ends inside the slide rail inner sleeve 45, and the slide oil cylinder 46 is driven to slide forward and backward along the slide rail grooves on the two sides of the slide rail base 44; the tail end of the fixing frame 41 is hinged to the two slide rail inner sleeves 45 through the connecting ears on the left and right sides thereof, one end of the cylinder body of the lifting oil cylinder 47 is hinged to the connecting ears above the tail ends of the slide rail inner sleeves 45, and one end of the telescopic rod of the lifting oil cylinder 47 is hinged to the connecting ears in the middle of the fixing frame 41; the lifting oil cylinder 47 is driven to lift up or drop down the front drilling arm part 4; the front support 42 is installed at the top end of the fixing frame 41, and the standing platform 43 is hinged to the fixing frame 41; the cylinder body of the support adjusting oil cylinder 48 is hinged to the standing platform 43, and the telescopic rod of the support adjusting oil cylinder 48 is hinged to the front support 42; the support adjusting oil cylinder 48 is driven to lift up or drop down the standing platform 43, facilitating the replacement of drill rods and the installation of anchoring agents and the like by the operator, and the standing platform 43 is provided with outwardly rotatable side plates, thereby increasing the standing area of the operator; one end of the front drilling arm inner sleeve 49 is nested in the fixing frame 41; a pair of front drilling arm telescopic oil cylinders 410 are respectively arranged in a pair of front drilling arm inner sleeves 49, one end of the cylinder body of the front drilling arm telescopic oil cylinder 410 is hinged to the connecting block in the square tube of the fixing frame 41, and one end of the telescopic rod of the front drilling arm telescopic oil cylinder 410 is hinged to the connecting block in the front drilling arm inner sleeve 49; a pair of swing oil cylinders I 411 are respectively installed at the top ends of a pair of front drilling arm inner sleeves 49; a pair of roof bolting devices 412 are respectively installed above a pair of swing oil cylinders I 411; the swing oil cylinder I 411 can drive the roof bolting device 412 to rotate left and right, the front drilling arm telescopic oil cylinder 410 is driven to move the roof bolting device 412 left and right, and the swing oil cylinder I 411 is driven to rotate left and right in cooperation with the front drilling arm telescopic oil cylinder 410, thereby realizing the roof bolting and anchor cable hole operation in different width ranges;

[0062] The front support 42 comprises a support outer sleeve 421, a support inner sleeve 422, a support oil cylinder 423, a roof beam connecting seat 424, a swing oil cylinder II 425, a support frame 426, a pair of support telescopic sleeves 427, and a support telescopic oil cylinder 428. The support outer sleeve 421 is installed at the top end of the fixed frame 41. The support inner sleeve 422 is nested in the support outer sleeve 421. The support oil cylinder 423 is installed in the support inner sleeve 422. One end of the support oil cylinder 423 is hinged to a connecting block inside the support outer sleeve 421. The other end of the support oil cylinder 423 is hinged to a connecting block inside the support inner sleeve 422. The roof beam connecting seat 424 is hinged to a connecting lug at the top end of the support inner sleeve 422. The swing oil cylinder II 425 is installed above the roof beam connecting seat 424. The support frame 426 is installed at the bottom of the swing oil cylinder II 425. One end of each of the pair of support telescopic sleeves 427 is placed in a square tube on the side of the support frame 426. The support telescopic oil cylinder 428 is installed in the support telescopic sleeve 427. One end of the cylinder body of the support telescopic oil cylinder 428 is hinged to a connecting block in the square tube of the support frame 426. One end of the telescopic rod of the support telescopic oil cylinder 428 is hinged to a connecting block in the support telescopic sleeve 427. When the support operation is performed, the support adjusting oil cylinder 48 is extended to push the front support 42 upward. The support oil cylinder 423 is extended to push the support inner sleeve 422 upward. The support frame 426 can be adjusted to a reasonable support position, facilitating the fixation of the steel beam and the anchor net. Meanwhile, the rotation of the swing oil cylinder II 425 drives the front and back rotation of the support frame 426, so that the support frame 426 can better fit the roof of the roadway. The support telescopic oil cylinder 428 is extended to push the support telescopic sleeve 427 outward, thereby increasing the support area and ensuring the safety of the operator.

[0063] It should be noted that the pair of front drill arms 4 are symmetrically arranged above the cutting part 3. The pair of middle drill arms 5 and the rear drill arm 6 are symmetrically arranged on the two sides of the rear body of the cutting part 3, without occupying the cutting construction space, and can be independently constructed without interference. The full-face and zero-empty-roof rapid support operation of the roadway can be realized without moving the machine, thereby meeting the construction requirements of the complex working conditions of the half-coal rock roadway. The front drill arm 4 and the middle drill arm 5 can be combined to adjust a plurality of drills to be arranged in a line perpendicular to the tunneling direction. The roadway top can be simultaneously anchored by drilling. The arrangement of the drills can be regular, the drilling operation in a wider range can be realized, the drilling efficiency can be greatly improved, and the support process after the row drilling can be quickly followed up, thereby greatly improving the cooperation efficiency of the tunneling and the support.

[0064] Embodiment 2: The technical scheme of the embodiment is different from that of embodiment 1, please refer to Figures 3-4, the rear drill arm part 6 further comprises a rear drill arm fixing base 65, a rear drill arm rotating base 66, a rear drill arm rotating oil cylinder 67, a rear drill arm adjusting oil cylinder 68, a rear drill arm outer sleeve 69, a rear drill arm middle sleeve 610, a rear drill arm inner sleeve 611, a rear drill arm telescopic oil cylinder 612, a rear drill arm supporting oil cylinder 613 and a swing oil cylinder fixing base 614; the rear drill arm fixing base 65 is installed on the machine body part 1 through a sliding mechanism, the rear drill arm rotating base 66 is coaxially installed on the rear drill arm fixing base 65, the cylinder body of the rear drill arm rotating oil cylinder 67 is hinged with the tail end connecting lug of the drill arm device of the middle drill arm part 5, the telescopic rod of the rear drill arm rotating oil cylinder 67 is hinged with the left connecting lug of the rear drill arm rotating base 66, the rear drill arm outer sleeve 69 is hinged at the top connecting lug of the rear drill arm rotating base 66, the cylinder body of the rear drill arm adjusting oil cylinder 68 is hinged with the rear drill arm rotating base 66, and the telescopic rod of the rear drill arm adjusting oil cylinder 68 is hinged with the rear drill arm outer sleeve 69; the rear drill arm middle sleeve 610 is nested in the rear drill arm outer sleeve 69, the rear drill arm inner sleeve 611 is nested in the rear drill arm middle sleeve 610, the rear drill arm telescopic oil cylinder 612 is arranged in the rear drill arm inner sleeve 611, the cylinder body of the rear drill arm telescopic oil cylinder 612 is hinged with the rear drill arm middle sleeve 610, the telescopic rod of the rear drill arm telescopic oil cylinder 612 is hinged with the rear drill arm inner sleeve 611, the cylinder body of the rear drill arm supporting oil cylinder 613 is hinged with the connecting lug of the rear drill arm outer sleeve 69, and the telescopic rod of the rear drill arm supporting oil cylinder 613 is hinged with the rear drill arm middle sleeve 610; the swing oil cylinder fixing base 614 is fixedly arranged on the rear drill arm inner sleeve 611, and the swing oil cylinder III 61 is installed on the swing oil cylinder fixing base 614; the rear drill arm supporting oil cylinder 613 can drive the rear drill arm middle sleeve 610 to telescopically move forward and backward with the rear drill arm outer sleeve 69 as a guide, and the rear drill arm telescopic oil cylinder 612 can drive the rear drill arm inner sleeve 611 to telescopically move forward and backward with the rear drill arm middle sleeve 610 as a guide.

[0065] It should be noted that, during work, the rear drill arm rotating oil cylinder 67 is telescopically driven to swing the rear drill arm rotating base 66 left and right, thereby adjusting the horizontal position of the rear drill arm part 6; the rear drill arm adjusting oil cylinder 68 is telescopically driven to swing the rear drill arm outer sleeve 69 up and down, thereby adjusting the height of the rear drill arm part 6; the rear drill arm supporting oil cylinder 613 is telescopically driven to drive the rear drill arm middle sleeve 610 to telescopically move forward and backward with the rear drill arm outer sleeve 69 as a guide, and the rear drill arm telescopic oil cylinder 612 is telescopically driven to drive the rear drill arm inner sleeve 611 to telescopically move forward and backward with the rear drill arm middle sleeve 610 as a guide, thereby realizing large-stroke forward and backward movement of the rear-mounted anchor rod drill 62; the swing oil cylinder III 61 is used to swing the rear-mounted anchor rod drill 62 left and right, thereby adjusting the drilling angle, and further realizing accurate drilling at different positions and angles of low help.

[0066] The rear drill arm part 6 realizes multi-dimensional adjustment of the rear-mounted anchor rod drill 62 through multi-oil cylinder cooperative driving and multi-sleeve nesting structure, realizes large-range adjustment of the rear drill arm, and adapts to low-shoulder complex working conditions of a half-coal rock roadway; cooperation of the rear drill arm rotary oil cylinder 67 and the rear drill arm adjustment oil cylinder 68 enables the rear drill arm part 6 to adapt to low-shoulder roadways of different widths and heights; the large-stroke telescopic structure driven by the rear drill arm support oil cylinder 613 and the rear drill arm telescopic oil cylinder 612 reduces the number of times of moving the unit, improves the supporting efficiency, can realize lagging hole drilling of low-shoulder anchor rods, and meets the full-face supporting demand of the unit under the condition that the unit does not move; the swing oil cylinder fixing seat 614 provides a stable installation basis for the swing oil cylinder III 61, and ensures the accuracy of the rotation adjustment angle of the swing oil cylinder III 61 driving the rear-mounted anchor rod drill 62; the recoil force detection, buffering, angle monitoring, and overall structure enable the multi-dimensional adjustment capability of the rear drill arm part 6 to be combined with the precise supporting function, so that the half-coal rock tunneling and anchoring integrated machine can efficiently cope with the complex working conditions of alternating distribution of low-shoulder coal and rock in a half-coal rock roadway, improve the efficiency and quality of low-shoulder anchor rod supporting, reduce the supporting delay caused by inconvenient adjustment, further reduce the problem of tight mining and excavation replacement, and ensure that independent control of the multiple oil cylinders does not interfere with each other, thereby improving the operation flexibility.

[0067] Please refer to Figures 1-4 The rear drill arm part 6 further comprises an oil cylinder compensation control mechanism; the oil cylinder compensation control mechanism is arranged on the side surface of the rear drill arm fixing seat 65 of the rear drill arm part 6, and comprises a protective shell, a controller, an electro-hydraulic proportional valve, and a signal isolation module; it can be understood that the controller, the electro-hydraulic proportional valve, and the signal isolation module are prior art and are not shown in the figure, and will not be described in detail; the protective shell is installed on the side surface of the rear drill arm fixing seat 65; the controller, the electro-hydraulic proportional valve, and the signal isolation module are all arranged in the protective shell, the hydraulic interface of the oil cylinder compensation control mechanism is connected with the rodless cavity and the rod cavity of the swing oil cylinder III 61 through a high-pressure hose, and the electrical interface of the oil cylinder compensation control mechanism is connected with the recoil force grading detection mechanism 63 and the angle deviation monitoring mechanism 64 through a mine intrinsic safety cable; specifically, the controller is connected with the recoil force sensor 634 in the recoil force grading detection mechanism 63, the first micro switch 635, the dual-axis inclination sensor 644 in the angle deviation monitoring mechanism 64, and a buzzer through the mine intrinsic safety cable.

[0068] It should be noted that in operation, the protective shell protects the internal components from coal dust, debris and vibration; the signal isolation module ensures that the signals transmitted by the backforce grading detection mechanism 63 and the angle deviation monitoring mechanism 64 are stable, avoiding electromagnetic interference; the controller receives two signals and processes them, when the backforce and angle deviation are small, the controller starts the normal compensation mode, and outputs the current to control the electro-hydraulic proportional valve to adjust the hydraulic oil flow according to the normal flow, driving the swing oil cylinder III 61 to slowly extend and retract, correcting the angle deviation; when the backforce increases and the angle deviation is large, the controller switches to the fast compensation mode, increases the output current to expand the valve core opening of the electro-hydraulic proportional valve, increases the hydraulic oil flow, and drives the swing oil cylinder III 61 to quickly extend and retract, quickly correcting the angle deviation; during the compensation process, the controller receives the feedback signal of the angle deviation monitoring mechanism 64 in real time, and when the angle deviation is corrected to the set range, the compensation is stopped, realizing closed-loop control.

[0069] The oil cylinder compensation control mechanism solves the problem that the swing oil cylinder III 61 can only achieve preset angle driving, compensation lag and cannot be dynamically adjusted; by receiving the coordinated signals of the backforce grading detection mechanism 63 and the angle deviation monitoring mechanism 64, the controller can start the normal or fast compensation mode according to the working conditions, ensuring that the compensation is gentle when the backforce is small and fast when the backforce is large, and the angle deviation is always controlled within the minimum range, avoiding angle overruns caused by compensation lag; the graded flow control of the electro-hydraulic proportional valve improves the accuracy of hydraulic drive, reduces hydraulic oil waste, and at the same time avoids structural impact during fast compensation; the protective shell and the mine intrinsically safe connection meet the safety requirements of underground, ensuring that the oil cylinder compensation control mechanism works safely in flammable and explosive, high dust environments; the signal isolation module improves the stability of signal transmission, avoiding compensation misjudgment caused by electromagnetic interference; through the oil cylinder compensation control mechanism, closed-loop control of detection, buffering, monitoring and compensation is formed, dynamic and accurate correction of the angle deviation of the rear-mounted anchor rod drill 62 is realized, equipment wear and tear caused by angle deviation is reduced, equipment life is prolonged, overall operation efficiency and safety of the half-coal rock drilling and anchoring integrated machine is improved, meeting the needs of rapid and accurate excavation in complex half-coal rock roadways.

[0070] Finally, it should be noted that the above-described only for the preferred embodiments of the present application, and not for limiting the present application, although the foregoing embodiments of the present application have been described in detail, for those skilled in the art, it still can be modified, or part of the technical features of the equivalent replacement, within the spirit and principles of the present application, any modification, equivalent replacement, improvement, etc., should be included within the scope of the present application.

Claims

1. A half rock and coal drilling and anchoring integrated machine, comprising a pair of rear drilling arm portions (6) provided on a machine body portion (1), characterized in that: The rear drill arm part (6) comprises a swing oil cylinder III (61) and a rear-mounted anchor rod drill (62); the swing oil cylinder III (61) is arranged on the machine body part (1), and an output end of the swing oil cylinder III (61) is connected with the rear-mounted anchor rod drill (62); a recoil force grading detection mechanism (63) is arranged between the swing oil cylinder III (61) and the rear-mounted anchor rod drill (62); the recoil force grading detection mechanism (63) comprises: a recoil force sensor (634) arranged at the bottom of the rear-mounted anchor rod drill (62) through a mounting plate (632); a first micro switch (635) arranged on one side of the recoil force sensor (634); a buffer mechanism (636) arranged on a swing oil cylinder plate (631) fixed to the output end of the swing oil cylinder III (61), wherein an output end of the buffer mechanism (636) is provided with a connecting plate (6367) arranged opposite to the recoil force sensor (634) and the first micro switch (635); when the connecting plate (6367) moves close to the recoil force sensor (634) and the first micro switch (635), the connecting plate (6367) first triggers the first micro switch (635), and then the connecting plate (6367) continues to move and abuts against the recoil force sensor (634); and a connecting mechanism (637) connecting the swing oil cylinder plate (631) and the mounting plate (632); an angle deviation monitoring mechanism (64) arranged on the side wall of the rear-mounted anchor rod drill (62); the angle deviation monitoring mechanism (64) is used for detecting the angle deviation generated when the rear-mounted anchor rod drill (62) works; the rear drill arm part (6) further comprises an oil cylinder compensation control mechanism; the oil cylinder compensation control mechanism is arranged on the side of a rear drill arm fixing seat (65), and comprises a protective shell, a controller, an electro-hydraulic proportional valve and a signal isolation module; the protective shell is arranged on the side of the rear drill arm fixing seat (65); the controller, the electro-hydraulic proportional valve and the signal isolation module are arranged in the protective shell; a hydraulic interface of the oil cylinder compensation control mechanism is connected with a rodless cavity and a rod cavity of the swing oil cylinder III (61) through a high-pressure hose; an electrical interface of the oil cylinder compensation control mechanism is connected with the recoil force grading detection mechanism (63) and the angle deviation monitoring mechanism (64) through a mine intrinsic safety cable.

2. The machine according to claim 1, characterized in that: The buffering mechanism (636) comprises a buffering oil cylinder (6361), an oil absorption sponge (6364), a disc spring (6365) and a connecting shaft (6366); the buffering oil cylinder (6361) is fixed to the swing oil cylinder plate (631), the buffering oil cylinder (6361) is provided with a piston cavity (6362) and a buffering cavity (6363), the buffering cavity (6363) is arranged around the piston cavity (6362), and the piston cavity (6362) and the buffering cavity (6363) are communicated through a through hole; the oil absorption sponge (6364) is arranged in the buffering cavity (6363); the disc spring (6365) is coaxially arranged in the piston cavity (6362); the connecting shaft (6366) is coaxially inserted into the buffering oil cylinder (6361) through a reserved hole, one end of the connecting shaft (6366) is slidably connected to the piston cavity (6362), and the other end of the connecting shaft (6366) is connected to the connecting plate (6367); the top of the connecting shaft (6366) abuts against the top of the buffering oil cylinder (6361), the bottom of the connecting shaft (6366) abuts against the disc spring (6365), and the disc spring (6365) is in a compressed state.

3. The machine according to claim 2, characterized in that: The mounting plate (632) is provided with a first dustproof shell (633); one end of the connecting shaft (6366) is inserted into the first dustproof shell (633); the backflush force sensor (634) and the first micro switch (635) are arranged in the first dustproof shell (633); the connecting shaft (6366) is provided with a spiral protruding rib (6368) on the side, and the spiral protruding rib (6368) is arranged in the reserved hole of the buffering oil cylinder (6361).

4. The machine according to claim 3, characterized in that: The connecting shaft (6366) is provided with an elastic mud scraping ring (6369), and the outer ring of the elastic mud scraping ring (6369) abuts against the reserved hole; the elastic mud scraping ring (6369) is arranged below the spiral protruding rib (6368), and the cross section of the elastic mud scraping ring (6369) is a U-shaped structure, and the U-shaped structure is used for storing dust.

5. The machine according to claim 1, characterized in that: The connecting mechanism (637) comprises a plurality of sliding shafts (6371), sliding sleeves (6372) and linear springs (6373); the plurality of sliding shafts (6371) are fixed to the mounting plate (632); the plurality of sliding sleeves (6372) are fixed to the swing oil cylinder plate (631), and the sliding shafts (6371) are coaxially inserted into the sliding sleeves (6372); the linear springs (6373) are sleeved on the sliding shafts (6371), one end of the linear springs (6373) abuts against the sliding shafts (6371), and the other end of the sliding sleeves (6372) abuts against the sliding sleeves (6372).

6. The machine according to claim 1, characterized in that: The angle deviation monitoring mechanism (64) comprises a second dustproof shell (641), an L-shaped mounting block (642), a double-axis tilt sensor (644), a limiting rod (645) and a second micro switch (646); the second dustproof shell (641) is fixed to the side wall of the rear-mounted anchor rod drill (62), and the double-axis tilt sensor (644) is mounted to the inner wall of the second dustproof shell (641) through the L-shaped mounting block (642); a rubber pad (643) is arranged between the double-axis tilt sensor (644) and the L-shaped mounting block (642); the limiting rod (645) is fixed to the double-axis tilt sensor (644); the second micro switch (646) is mounted to the inner wall of the second dustproof shell (641), and one end of the limiting rod (645) is opposite to the trigger rod of the second micro switch (646); a buzzer is arranged in the second dustproof shell (641), and the second micro switch (646) and the buzzer are connected through electrical control.

7. The machine according to claim 1, characterized in that: The machine body part (1) is further provided with a shovel plate part (2), a cutting part (3), a front drill arm part (4), a control part (7), a guard plate part (8), a conveying part (9), a rear support part (10) and a pair of middle drill arm parts (5); the shovel plate part (2) is installed below the front end of the machine body part (1), the cutting part (3) is installed above the front end of the machine body part (1), the front drill arm part (4) is installed above the cutting part (3), there are two arm parts in total, and the pair of middle drill arm parts (5) are symmetrically arranged on the left and right sides of the machine body part (1); the control part (7) is installed at the middle position of the top of the machine body part (1), and the conveying part (9) is arranged in the middle of the machine body part (1).

8. The machine according to claim 7, characterized in that: The rear drill arm part (6) further comprises a rear drill arm fixing base (65), a rear drill arm rotating base (66), a rear drill arm rotating oil cylinder (67), a rear drill arm adjusting oil cylinder (68), a rear drill arm outer sleeve (69), a rear drill arm middle sleeve (610), a rear drill arm inner sleeve (611), a rear drill arm telescopic oil cylinder (612), a rear drill arm supporting oil cylinder (613), and a swing oil cylinder fixing base (614); the rear drill arm fixing base (65) is installed on the machine body part (1) through a sliding mechanism, the rear drill arm rotating base (66) is coaxially installed on the rear drill arm fixing base (65), the cylinder body of the rear drill arm rotating oil cylinder (67) is hinged to the tail end connecting lug of the middle drill arm part (5), the telescopic rod of the rear drill arm rotating oil cylinder (67) is hinged to the left connecting lug of the rear drill arm rotating base (66), the rear drill arm outer sleeve (69) is hinged to the top connecting lug of the rear drill arm rotating base (66), the cylinder body of the rear drill arm adjusting oil cylinder (68) is hinged to the rear drill arm rotating base (66), and the telescopic rod of the rear drill arm adjusting oil cylinder (68) is hinged to the rear drill arm outer sleeve (69); the rear drill arm middle sleeve (610) is nested in the rear drill arm outer sleeve (69), the rear drill arm inner sleeve (611) is nested in the rear drill arm middle sleeve (610), the rear drill arm telescopic oil cylinder (612) is arranged in the rear drill arm inner sleeve (611), the cylinder body of the rear drill arm telescopic oil cylinder (612) is hinged to the rear drill arm middle sleeve (610), the telescopic rod of the rear drill arm telescopic oil cylinder (612) is hinged to the rear drill arm inner sleeve (611), the cylinder body of the rear drill arm supporting oil cylinder (613) is hinged to the connecting lug of the rear drill arm outer sleeve (69), and the telescopic rod of the rear drill arm supporting oil cylinder (613) is hinged to the rear drill arm middle sleeve (610); the swing oil cylinder fixing base (614) is fixedly arranged in the rear drill arm inner sleeve (611), and the swing oil cylinder III (61) is installed on the swing oil cylinder fixing base (614); the rear drill arm supporting oil cylinder (613) can drive the rear drill arm middle sleeve (610) to telescopically move forward and backward with the rear drill arm outer sleeve (69) as a guide, and the rear drill arm telescopic oil cylinder (612) can drive the rear drill arm inner sleeve (611) to telescopically move forward and backward with the rear drill arm middle sleeve (610) as a guide.

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