Automatic grabbing and transferring device for driving anchor machine

Abstract

The invention relates to the technical field of coal mine underground automatic tunneling and supporting equipment, and discloses an automatic grabbing and transferring device for a tunneling and bolting machine, which comprises a storage bin fixed on a tunneling and bolting machine body and used for storing various supporting materials in a partitioned manner, the conveying assembly is used for conveying the materials to a to-be-delivered area, and the delivery assembly is used for jacking the materials from the to-be-delivered area to a delivery position. Through cooperative work of the storage bin, the multi-degree-of-freedom mechanical arm and the intelligent control system, full-automatic and sequential grabbing and transferring of materials needed in the whole anchoring process of drilling of a drill rod, filling of an anchoring agent, installation of an anchor rod and locking of a locking sleeve are achieved, operators are liberated from dangerous and heavy supporting operation, and the working efficiency is improved. Therefore, the driving face does not need to enter a dangerous area where the top plate is not supported, direct life threats caused by accidents such as roof caving and wall caving to people are fundamentally eradicated, and the goal of'few people 'or'unmanned people' of the driving face is achieved.

Description

Technical Field

[0001] This invention relates to the field of automated underground tunneling and support equipment technology in coal mines, and in particular to a device integrated on a roadheader for automatically grabbing and transferring support materials such as anchor bolts and drill rods. Background Technology

[0002] Rapid tunneling and efficient support of coal mine roadways are key to ensuring safe and efficient coal production. As a core piece of equipment, the roadheader integrates tunneling and anchor bolt support functions. However, the problem of "tunneling-support imbalance" has long been unresolved during the support operation phase, meaning that the tunneling speed is fast while the support operation speed is slow, which seriously restricts the overall work efficiency.

[0003] Currently, when using a roadheader's onboard anchor drilling rig for support operations, the transfer and installation of various materials, such as drill rods, anchor rods, anchoring agents (or anchoring agents), and locking sleeves, are mainly done manually. The specific process is usually as follows: operators need to run back and forth between the material storage point and the onboard drilling rig, manually retrieve materials, and then deliver and install the materials one by one onto the drilling rig in the confined space and hazardous environment of the tunneling face. This operating mode has the following drawbacks: 1. Low work efficiency: The complete support process for a single anchor bolt (including drilling, cleaning the hole, installing anchoring agent, inserting the anchor bolt, mixing, and locking) requires 2-4 workers to work together, taking up to 20-30 minutes. Among them, the multiple manual transfers of materials take up a lot of time, becoming a bottleneck restricting the support efficiency. 2. Significant safety risks: Support operations are usually carried out under an unsupported roof area, exposing operators to direct life threats such as roof falls and side collapses. In addition, the handling of heavy materials can also easily lead to personal injury. 3. High labor intensity: Workers need to repeatedly move heavy materials such as drill rods and anchor rods, and perform delicate mating operations in an environment with great vibration and noise, which puts a heavy burden on their physical and mental health. 4. Insufficient automation: The design of existing roadheaders and anchorers focuses on cutting and drilling itself. Automation of the material supply link has always been a technical weakness. Although some automation solutions have been proposed, they often have problems such as single function (e.g., only one type of material can be transferred), poor spatial adaptability, complex explosion-proof design or high cost, making it difficult to promote and apply them in the complex and harsh underground environment of coal mines. 5. Disorganized material management: Various materials of different shapes and sizes (slender drill rods, short and thick anchoring agents, threaded anchor rods) are mixed together, making them inconvenient to access and prone to errors, further reducing the standardization and efficiency of operations.

[0004] Therefore, there is an urgent need in this field for an integrated device specifically designed for tunneling and anchoring machines that can replace manual labor in completing the entire process and automatically grab and transfer multiple materials, so as to fundamentally solve the above problems and realize the reduction or even unmanned operation of support work. Summary of the Invention

[0005] To address the technical problems existing in the background art, the present invention proposes an automatic gripping and conveying device for a tunneling and anchoring machine.

[0006] The present invention discloses an automatic gripping and transferring device for a tunneling and anchoring machine, comprising: The storage bin is fixed on the rotary table of the tunneling and anchoring machine body. It is used to store various support materials in different areas and is equipped with a conveying component for transporting materials to the waiting-to-leave area and a chuting component for lifting materials from the waiting-to-leave area to the chuting position. A robotic arm, mounted on the cutting section of the anchor drilling machine body, is used to grab materials from the discharge position and transfer them to the onboard anchor drilling rig. The robotic arm has at least six rotary joints and one locating joint, and its end effector is a gripper assembly. The control system is connected to the storage bin and the robotic arm via signals, and is used to control the release of materials from the bin and the movement and gripping of the robotic arm.

[0007] Addressing the issues of low efficiency and high safety risks associated with manual material handling in roadheader support systems, this device achieves fully automated material handling through a collaborative system of storage bin, robotic arm, and control system. The storage bin is divided into zones for storing various materials such as drill rods, anchor rods, and anchoring agents. The conveying component delivers the materials to the unloading area, while the unloading component lifts them to the gripping position. The robotic arm, with its flexible multi-joint movement (six rotations + one traverse), covers the narrow underground space, and the gripper component precisely grasps the materials. The control system coordinates the material unloading and robotic arm movement, achieving "on-demand material retrieval, precise delivery, and automatic docking" without any manual intervention. This liberates personnel from the dangerous environment of the overhead area, solves the pain point of "roadheader-support imbalance," improves support efficiency and safety, and is suitable for the automated roadheader requirements in coal mines.

[0008] As a further optimized solution of the present invention, the storage compartment includes a compartment body, the compartment body is provided with a fixing plate for holding the drill rod, an anchoring agent pre-storage frame for storing the anchoring agent, and a material cavity for storing the anchor rod, and the fixing plate is provided with an arc-shaped groove for positioning the drill rod. The storage compartment is designed to accommodate different material characteristics: the fixed plate with arc-shaped grooves positions the drill rods to prevent rolling; the pre-storage frames for anchoring agent are stacked to store the anchoring agent, enabling automatic gravity replenishment; the material chamber stores the anchor rods in an orderly arrangement to avoid confusion caused by mixed materials. The partitioned structure ensures that each material has its own dedicated storage space, which, combined with the subsequent conveying components, ensures precise delivery and stable material position when the robotic arm grasps the material, reducing grasping deviation. This adapts to the differentiated storage needs of various support materials and improves the standardization of material management.

[0009] Furthermore, the conveying assembly includes a first conveying assembly and a second conveying assembly located at different heights. The first conveying assembly is used to transfer the anchoring agent from the anchoring agent pre-storage frame to the waiting-to-be-out area, and the second conveying assembly is used to transfer the anchor rod from the material cavity to the waiting-to-be-out area. The dual conveyor components are set at different heights to avoid interference in material conveying: the first conveyor component corresponds to the anchoring agent pre-storage frame at a higher position, and the second conveyor component corresponds to the material cavity at a lower position. The anchoring agent and anchor rod are independently conveyed to the waiting area for delivery, which adapts to the storage height difference of the two materials. Independent conveying ensures orderly material transfer without competing paths. In conjunction with the control system, it can be started as needed to realize the sequential delivery of different materials according to the support process, avoid process confusion, and improve the continuity of the support process.

[0010] Furthermore, both the first conveying assembly and the second conveying assembly are chain plate conveyors, and their chain plates are provided with circumferentially distributed baffles on the outer ring, forming a material transfer trough between adjacent baffles; Chain conveyors are suitable for harsh underground environments, are wear-resistant and vibration-resistant. The material transfer trough formed by the baffles ensures stable delivery of anchoring agents and anchor bolts without slippage. The chain drive is smooth and allows for precise control of conveying speed and start / stop. Combined with the storage bin's partitioned design, it enables quantitative and timed material delivery, avoiding robotic arm failures due to unstable conveying. It is suitable for automated continuous support requirements.

[0011] As a further optimization of the present invention, the outbound component is an outbound hydraulic cylinder, the top of which is provided with a tray for supporting materials. The tray has a U-shaped structure, and its opening side is inclined towards the interior of the storage compartment. The hydraulic cylinder drives the pallet to lift and lower, raising the material in the area to be picked up by the robotic arm. It is adapted to the working range of the robotic arm. The U-shaped pallet opening is tilted to guide the material to fall accurately and avoid deviation. At the same time, the U-shaped structure provides lateral restraint for the material to prevent it from slipping during lifting and lowering. It is suitable for supporting materials of different shapes such as anchor rods and anchoring agents, ensuring the stability of the picking process and improving the success rate of the robotic arm's picking.

[0012] As a further optimization of the present invention, the rotating joint of the robotic arm is driven by multiple swing cylinders, and the moving joint is driven by a telescopic arm. The telescopic arm is configured to extend when gripping materials to expand the working range and retract when placing materials to enhance operational stability. The swing cylinder drives the rotating joint, enabling the robotic arm to rotate flexibly in multiple directions to avoid obstacles downhole. The telescopic arm realizes the function of the moving joint. When grabbing, it extends to expand the range and cover the storage compartment's exit position. When placing, it retracts to enhance rigidity and ensures precise docking with the drilling rig. Two configurations are available to adapt to different operational needs, balancing workspace and operational stability. The hydraulic drive is compatible with the power of the roadheader body, and the explosion-proof characteristics are suitable for the downhole environment. No additional power source is required, simplifying equipment integration.

[0013] As a further optimization of the present invention, the gripper assembly includes a base plate, a fixed frame, two clamping plates, and two independent micro hydraulic cylinders; the clamping plates are rotatably connected to the fixed frame by pins, and the two ends of the micro hydraulic cylinders are respectively hinged to the base plate and the clamping plates to drive the clamping plates to open and close independently; The gripper assembly features dual hydraulic cylinders that drive independently, enabling asymmetrical gripping and allowing for fine-tuning of material posture. For example, when gripping a misaligned anchor rod, a single-sided cylinder can fine-tune the angle of the clamping plate to ensure the material is aligned with the drilling rig. Independent drive enhances gripping adaptability, allowing for stable gripping of materials of different shapes, such as drill rods (long and slender) and anchoring agents (short and thick), avoiding the instability caused by traditional synchronous gripping. It adapts to the differentiated gripping needs of various support materials, improving transmission accuracy.

[0014] Furthermore, the clamping surfaces of the two clamping plates are wedge-shaped, and the widths of the two clamping plates are different; at least one of the clamping plates has a widened slot on its clamping surface. The wedge-shaped clamping surface increases the contact area with the material, enhances friction, and prevents slippage. Different width clamping plates are suitable for materials with different diameters, such as anchor rods and anchoring agents. The widened groove further enhances the clamping stability for specific materials such as smooth anchor rods, avoiding rotational deviation during transfer. This design takes into account both the versatility and specificity of clamping, ensuring that a variety of materials can be stably gripped, and adapting to the needs of frequent material switching in the support process.

[0015] As a further optimization of the present invention, the control system is configured to be able to identify the working status and position of the airborne anchor drilling rig, identify the type of material to be transferred in the storage bin, and control the robotic arm to move along a preset trajectory. The control system achieves a closed loop of "perception-decision-execution": it identifies the status of the drilling rig (such as the need for anchoring agent after drilling is completed) and its location (determines the target point for transmission), identifies the type of material (calls the corresponding conveying and grabbing program as needed), plans the collision-free trajectory of the robotic arm (avoids underground obstacles), and automates decision-making to replace manual judgment, ensuring the orderly connection of support procedures (such as transmitting anchoring agent first and then transmitting anchor bolts), avoiding human error, adapting to the needs of less-manned and unmanned operations in coal mines, and improving the automation level of the support process.

[0016] As a further optimization of the present invention, the robotic arm also includes a base, which is installed on the upper end of the cutting section of the anchor excavator body; The base is installed on the upper part of the cutting section, allowing the robotic arm to obtain a reasonable working height and field of vision (covering the storage bin and drilling rig), avoiding interference with other components of the roadheader (such as the tunneling mechanism). The installation position is close to the drilling rig, shortening the material transfer path and improving efficiency. At the same time, the base is firmly fixed, resists underground vibration, and ensures stable movement of the robotic arm. It is compatible with the compact underground installation space of the roadheader, realizing the integrated design of the equipment without occupying additional roadway space.

[0017] The automatic gripping and transferring device for anchor boring machines proposed in this invention has the following beneficial effects: (i) This invention achieves fully automated and sequential material handling and transfer for the entire anchoring process, from drilling holes in the drill rod to filling the anchoring agent, installing the anchor rod, and locking the locking sleeve, through the collaborative work of the storage bin, multi-degree-of-freedom robotic arm, and intelligent control system. This frees operators from dangerous and arduous support work, eliminating the need for them to enter the dangerous area of ​​the unsupported roof. It fundamentally eliminates the direct threat to personnel's lives caused by accidents such as roof falls and sidewall collapses, and achieves the goal of "less manned" or even "unmanned" tunneling face. (ii) This device achieves continuous, rapid and precise material transfer, which greatly shortens the support time of a single anchor bolt compared to the traditional manual mode. Moreover, through automated assembly line operation, it eliminates the time delay of manual back-and-forth material collection and centering delivery, so that the support operation efficiency can match the rapid tunneling, effectively breaking the bottleneck of "tunneling-support imbalance" that has long restricted the tunneling speed and improving the overall tunneling efficiency. (iii) The storage bin adopts a partitioned design, which can simultaneously and orderly store various support materials of different shapes and sizes, such as drill rods, anchor rods, and anchoring agents. Moreover, through the combination of gravity self-supplying material chamber and chain plate conveyor, automatic material supply and accurate warehousing are realized, avoiding the chaos and errors caused by manual management. Furthermore, the control system intelligently identifies the required material type and automatically calls it, ensuring the accuracy and timeliness of material transfer in the complex support process sequence. (iv) The robotic arm adopts a seven-degree-of-freedom configuration of "six rotary joints + one locating joint", which gives the robotic arm extremely high mobility and can effectively avoid obstacles on the body of the drilling and anchoring machine. It can achieve a wide range of operations in narrow underground spaces. Through the unique "variable configuration" working mode (the telescopic arm extends to expand the range when picking up materials and retracts to enhance rigidity when placing materials), it perfectly balances the dual requirements of working space and operational stability, ensuring the accuracy and stability of the end effector when docking with the drilling rig. (v) The gripper assembly is driven by two independent hydraulic cylinders, which can realize asymmetrical gripping and fine-tuning of different materials, greatly improving the adaptability and success rate of gripping. Moreover, the use of wedge-shaped gripping surface, different width design and widened slot increases the contact area and friction with the material. Especially for smooth anchor rods and short and thick anchoring agents, it can provide stable and reliable gripping force to prevent slippage or deviation during the transfer process. (vi) The entire system is mainly driven by hydraulics (swing cylinder, telescopic cylinder, micro cylinder), and the power source is the same as the roadheader body. The system has good compatibility and the hydraulic system has explosion-proof characteristics, making it particularly suitable for the harsh environment of underground coal mines. The device is directly integrated into the existing roadheader, without the need for a radical modification of the roadheader. The modification cost is controllable, and it is easy to promote and apply in the existing mining equipment system, providing practical and feasible key technical equipment for the intelligent construction of coal mines.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure for gripping materials in the working state of the present invention; Figure 3 This is a three-dimensional structural diagram of the storage compartment of the present invention; Figure 4 This is a side sectional view of the storage compartment of the present invention; Figure 5 This is a schematic diagram of the overall structure of the robotic arm of the present invention; Figure 6 This is a three-dimensional structural schematic diagram of the gripper assembly of the present invention; Figure 7 This is a front structural diagram of the gripper assembly of the present invention.

[0020] Figure Descriptions: 1. Storage compartment; 11. Compartment body; 12. Partition frame; 13. Fixing plate; 131. Arc-shaped groove; 14. First conveying assembly; 15. Second conveying assembly; 16. Outbound assembly; 161. Pallet; 17. Anchor bolt; 18. Drill rod; 19. Anchoring agent; 2. Mechanical arm; 21. Base; 22. First swing cylinder; 23. Telescopic arm; 24. Second swing cylinder; 25. Third swing cylinder; 26. Fourth swing cylinder; 27. Gripper assembly; 271. Base plate; 272. Fixing frame; 273. Clamping plate; 274. Miniature cylinder; 275. Widened groove; 3. Control system; 4. Tunneling and anchoring machine body; 5. Anchoring agent pre-storage frame; 6. Baffle. Detailed Implementation

[0021] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar symbols denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0022] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0023] Please see Figures 1-7 The automatic grabbing and transferring device for the tunneling and anchoring machine proposed in this invention includes a storage bin 1, a robotic arm 2, and a control system 3 installed on the tunneling and anchoring machine body 4. The robotic arm 2 is located at the upper end of the cutting section of the tunneling and anchoring machine body 4 and is spaced apart from the storage bin 1. Anchor rods 17, drill rods 18, and anchoring agents 19 are stored in the storage bin 1 and the materials are transferred through the conveying components in the storage bin 1. Then, the robotic arm 2 grabs the anchor rods 17, drill rods 18, and anchoring agents 19 and transfers them to the on-board anchor drilling machine at the front end of the cutting section. Specifically, storage bin 1 can store materials in different areas and can hold a certain amount of materials. At the same time, storage bin 1 has multiple conveying components of different heights, which can transfer materials to the waiting area for delivery. The waiting area for delivery has delivery components, which push the materials to the delivery area. Specifically, the robotic arm 2 consists of seven motion joints: six rotary joints and one traverse joint. The six rotary joints are composed of six swing cylinders, and the traverse joint is composed of a linear hydraulic cylinder. The robotic arm 2 has two configurations: the first configuration is for the material picking stage, in which the robotic arm 2 is far from the storage bin 1, and the linear hydraulic cylinder needs to be fully extended to expand the working range of the robotic arm; the second configuration is for the material placing stage, in which the robotic arm 2 is closer to the onboard anchor drilling rig, but the robotic arm 2 needs to have a certain degree of stability, so the linear hydraulic cylinder needs to be fully retracted to ensure the robustness of the robotic arm. Furthermore, the end of the robotic arm 2 has a gripper, which is controlled by two independent hydraulic linear cylinders. The gripper has wedge-shaped grooves with different lengths, which can increase the contact area with the material. Since the linear cylinders are independently controlled, the gripper can fine-tune the final shape of the material to meet the requirements of adaptability. Specifically, the control system 3 includes a host computer, a programmable logic controller, sensors, etc., and has the functions of being able to identify the specific location of the airborne anchor drilling machine, identify the current working status of the airborne anchor drilling machine, identify the material currently being transferred in the storage bin 1, identify the current configuration of the robotic arm 2, control the robotic arm 2 to transfer the material from the storage bin 1 to the intermediate waiting position, and move the robotic arm 2 from the intermediate waiting position to the target point.

[0024] The present invention provides a specific embodiment as follows: like Figure 3 and Figure 4 As shown, the storage compartment 1 includes a compartment body 11 installed on the main body 4 of the excavator. The upper section of the compartment body 11 is trapezoidal and open. A partition frame 12 is fixedly installed inside the upper end of the compartment body 11. The partition frame 12 is a plate frame structure with an L-shaped longitudinal section and the inner right angle is facing upward. Two fixed plates 13 are installed on the upper end of the partition frame 12 and are arranged opposite to each other along its length. The upper end of the fixed plate 13 has an inclined surface facing the robotic arm 2, and multiple arc-shaped grooves 131 are evenly distributed along its length on the inclined surface for placing drill rods 18. The two ends of the drill rods 18 rest on the two opposite arc-shaped grooves 131 respectively, which facilitates the material gripping of the robotic arm 2. The upper end of the partition frame 12 and the lower end of the inner cavity of the silo 11 are respectively equipped with a first conveying assembly 14 and a second conveying assembly 15 via a bracket. The first conveying assembly 14 and the second conveying assembly 15 are respectively used to transfer the anchoring agent 19 and the anchor rod 17 to the waiting area. The first conveying assembly 14 and the second conveying assembly 15 are both chain plate micro conveyors driven by hydraulic motors, and the outer ring of the chain plate is equipped with circumferentially distributed baffles. A material transfer trough is formed between two adjacent baffles to facilitate the stable transfer of the anchor rod 17 and the anchoring agent 19. Furthermore, such as Figure 3As shown, an anchoring agent pre-storage frame 5 is installed on the upper inner side of the partition frame 12 between two fixed plates 13 for pre-storing anchoring agent 19. The width of the anchoring agent pre-storage frame 5 is adapted to the diameter of the anchoring agent 19, so that multiple anchoring agents 19 can be stacked individually along their height in the anchoring agent pre-storage frame 5. Under the action of gravity, the anchoring agent 19 will fall downward into the material transfer trough of the first conveying component 14. When the first conveying component 14 starts to operate, the next empty material transfer trough moves to the lower end of the opening of the anchoring agent pre-storage frame 5 to receive the next anchoring agent 19, thereby realizing the automatic circulation of anchoring agent 19 and facilitating the automatic replenishment of anchoring agent 19 by the robotic arm 2. Two baffles 6 are installed on the inner side of the silo 11, which are opposite to the vertical side of the partition frame 12. The baffles 6 are symmetrically distributed on both sides of the partition frame 12, thus forming a material cavity for storing anchor rods 17 on both sides of the rear of the partition frame 12. The width of the material cavity is adapted to the diameter of the anchor rod 17, so that multiple anchor rods 17 can be stacked individually along their height in the material cavity. Under the action of gravity, the anchor rods 17 will fall down into the material transfer trough of the second conveying component 15. When the second conveying component 15 starts to operate, the next empty material transfer trough moves to the lower end of the opening of the material cavity to receive the next anchor rod 17, thereby realizing the automatic circulation of anchor rods 17 and facilitating the automatic replenishment of anchor rods 17 by the robotic arm 2. It should be noted that both the anchoring agent pre-storage frame 5 and the lower opening of the material cavity have elbows. The two elbows are respectively directed toward the material transfer groove at the upper feeding position of the first conveying component 14 and the second conveying component 15, which facilitates the precise feeding of the anchoring agent 19 and the anchor rod 17.

[0025] There is a gap between the horizontal edge of the partition frame 12 and the front inner wall of the warehouse body 11, thus forming a waiting area for outbound. The lower end of the warehouse body 11 is equipped with an outbound assembly 16 located below the waiting area for outbound. The upper end of the outbound assembly 16 is equipped with a support plate 161 for supporting the anchor rod 17 or the anchoring agent 19. By moving the support plate 161 upward through the outbound assembly 16, the anchor rod 17 transferred by the second conveying assembly 15 or the anchoring agent 19 transferred by the first conveying assembly 14 can be pushed upward to the outbound area above the warehouse body 11, thus facilitating the gripping of the robotic arm 2. It should be noted that the pallet 161 is U-shaped, with the U-shaped opening facing upwards and the side closest to the partition frame 12 inclined towards the inside of the hopper 11, thereby expanding the opening and forming a slope to guide the anchor rod 17 or anchoring agent 19 to fall in. Furthermore, the pallet 161 does not contact the partition frame 12, the first conveying assembly 14, or the second conveying assembly 15, thus avoiding motion interference.

[0026] like Figure 5As shown, the robotic arm 2 includes a base 21, a first swing cylinder 22, a telescopic arm 23, a second swing cylinder 24, a third swing cylinder 25, a fourth swing cylinder 26, and a gripper assembly 27. The base 21 is installed on the upper end of the cutting section of the excavator body 4. The fixed end of the telescopic arm 23 is rotatably mounted on the base 21 through the first swing cylinder 22. The fixed end of the third swing cylinder 25 is installed on the movable end of the telescopic arm 23 through the second swing cylinder 24. The fourth swing cylinder 26 is installed on the movable end of the third swing cylinder 25. The gripper assembly 27 is installed on the movable end of the fourth swing cylinder 26, thereby realizing automatic gripping driven by seven degrees of freedom hydraulically. Furthermore, such as Figure 6 and Figure 7 As shown, the gripper assembly 27 includes a base plate 271 mounted on the movable end of the fourth swing cylinder 26. A fixing frame 272 is mounted on the other side of the base plate 271. Two symmetrically distributed clamping plates 273 are rotatably connected to the fixing frame 272 via pins. Miniature cylinders 274 symmetrically distributed on both sides of the fixing frame 272 are also mounted on the other side of the base plate 271. The two ends of the miniature cylinders 274 are respectively hinged to the outer side of the free end of the base plate 271 and the adjacent clamping plate 273, realizing a hydraulic dual-drive independent design, improving reliability and adaptability. The gripper jaws formed by the two clamping plates 273 adopt a wedge-shaped clamping surface and a lever force-increasing structure to improve gripping stability. At the same time, the width directions of the two clamping plates 273 are not the same, which can effectively increase the contact area between the clamping plates 273 and the material. Especially when clamping the anchor rod 17, it can increase the contact area with the anchor rod 17 and improve the stability of the anchor rod. Driven by two independent micro hydraulic cylinders 274, asymmetric clamping force adjustment can be realized so as to dynamically adjust the offset of the anchor rod. Furthermore, the wedge-shaped clamping surface on the inner side of one of the clamping plates 273 has a widened slot 275, which can improve clamping stability.

[0027] The working principle of this invention is a complete automated closed loop of "perception-decision-execution", and its workflow is as follows: After the airborne anchor drilling rig completes the previous process, such as drilling, it sends a demand signal to the control system 3. The control system 3 determines the materials required for the next step according to the preset support process sequence. For example, if anchoring agent needs to be installed next, it sends an instruction to the storage bin 1 to start the corresponding first conveying component 14 to convey one anchoring agent 19 to the waiting area for delivery. Then, it starts the delivery component 16 to lift the anchoring agent to the delivery position. At the same time, the control system 3 plans the movement path of the robotic arm 2. The telescopic arm 23 of the robotic arm 2 is fully extended, greatly expanding the working radius with a "long arm" configuration, and moves to the outgoing position of the storage compartment 1. The gripper assembly 27, driven by the independently controlled micro hydraulic cylinder 274, firmly clamps the anchoring agent 19 in an asymmetrical manner. The robotic arm 2 carries the material and moves from the outbound position to the intermediate waiting position near the onboard drilling rig according to the smooth, collision-free trajectory generated by the control system 3 through a polynomial interpolation algorithm. This process flexibly bypasses obstacles on the body of the tunneling and anchoring machine through the combined motion of multiple swing cylinders. When approaching the onboard drilling rig, the robotic arm 2 switches to the "stable" configuration, and the telescopic arm 23 retracts, significantly increasing the end-effector rigidity. Subsequently, the robotic arm performs fine movements to precisely align the end of the anchoring agent 19 with the drilling rig's gripper. During this period, the two independent hydraulic cylinders of the gripper can make micro-movements to adjust the attitude of the anchoring agent to assist in docking. Finally, the drilling rig gripper clamps the material, the gripper releases, and the delivery of the material is completed. After delivery, robotic arm 2 returns to the waiting position, ready for the next grab. Control system 3 then commands the storage bin to prepare the next material, such as anchor rods, and repeats the above process. This cycle continues until the entire anchoring process of "drilling the drill rod → filling the anchoring agent → installing the anchor rod → locking the locking sleeve" is completed, without any human intervention.

[0028] In summary, this invention, through the deep integration and collaborative innovation of three core modules—storage bin, multi-degree-of-freedom variable configuration robotic arm, and intelligent control system—successfully transforms the original manual, discrete, and high-risk material transfer operation for support into a continuous, automatic, and safe "material assembly line," fundamentally solving the automation problem of underground anchor bolt support operations in coal mines.

[0029] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An automatic gripping and conveying device for a tunneling and anchoring machine, characterized in that, include: The storage compartment (1) is fixed on the body of the anchor excavator (4) and is used to store various support materials in different areas. It is equipped with a conveying component for conveying materials to the waiting area and an outgoing component (16) for lifting materials from the waiting area to the outgoing position. The robotic arm (2) is mounted on the anchor drilling machine body (4) and is used to grab materials from the warehouse position and transfer them to the on-board anchor drilling machine. The robotic arm (2) has at least six rotating joints and one moving joint, and its end effector is a gripper assembly (27). The control system (3) is connected to the storage bin (1) and the robotic arm (2) by signal, and is used to control the release of materials and the movement and gripping of the robotic arm (2).

2. The automatic gripping and conveying device for a tunneling and anchoring machine according to claim 1, characterized in that, The storage compartment (1) includes a compartment body (11), which is provided with a fixing plate (13) for holding the drill rod (18), an anchoring agent pre-storage frame (5) for storing the anchoring agent (19), and a material cavity for storing the anchor rod (17). The fixing plate (13) is provided with an arc-shaped groove (131) for positioning the drill rod.

3. The automatic gripping and conveying device for a tunneling and anchoring machine according to claim 2, characterized in that, The conveying assembly includes a first conveying assembly (14) and a second conveying assembly (15) located at different heights. The first conveying assembly (14) is used to transfer the anchoring agent (19) from the anchoring agent pre-storage frame (5) to the waiting-to-be-out area, and the second conveying assembly (15) is used to transfer the anchor rod (17) from the material cavity to the waiting-to-be-out area.

4. The automatic gripping and conveying device for a tunneling and anchoring machine according to claim 3, characterized in that, Both the first conveying assembly (14) and the second conveying assembly (15) are chain plate conveyors, with circumferentially distributed baffles on the outer ring of the chain plate, forming a material transfer trough between adjacent baffles.

5. The automatic gripping and transferring device for a tunneling and anchoring machine according to claim 1, characterized in that, The outbound component (16) is an outbound hydraulic cylinder, and its top is provided with a pallet (161) for supporting materials. The pallet (161) has a U-shaped structure and its opening side is inclined towards the inside of the storage compartment (1).

6. The automatic gripping and conveying device for a tunneling and anchoring machine according to claim 1, characterized in that, The rotating joint of the robotic arm (2) is driven by multiple swing cylinders, and the moving joint is driven by a telescopic arm (23), which is configured to extend when gripping materials to expand the working range and retract when placing materials to enhance operational stability.

7. The automatic gripping and conveying device for a tunneling and anchoring machine according to claim 1, characterized in that, The gripper assembly (27) includes a base plate (271), a fixing frame (272), two clamping plates (273) and two independent micro cylinders (274). The clamping plate (273) is rotatably connected to the fixed frame (272) by a pin. The two ends of the micro cylinder (274) are respectively hinged to the base plate (271) and the clamping plate (273) to drive the clamping plate (273) to open and close independently.

8. The automatic gripping and conveying device for a tunneling and anchoring machine according to claim 7, characterized in that, The clamping surfaces of the two clamping plates (273) are wedge-shaped, and the widths of the two clamping plates (273) are different. At least one of the clamping plates (273) has a widened slot (275) on its clamping surface.

9. An automatic gripping and conveying device for a tunneling and anchoring machine according to claim 1, characterized in that, The control system (3) is configured to identify the working status and position of the airborne anchor drilling machine, identify the type of material to be transferred in the storage bin (1), and control the robotic arm (2) to move along a preset trajectory.

10. An automatic gripping and conveying device for a tunneling and anchoring machine according to claim 1, characterized in that, The robotic arm (2) also includes a base (21), which is installed on the upper end of the cutting section of the anchor excavator body (4).

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