Mechanical arm auxiliary operation digging and anchoring all-in-one machine for single drilling rig and control method thereof

Abstract

The invention provides a mechanical arm auxiliary operation digging and anchoring all-in-one machine for a single drilling rig and a control method of the mechanical arm auxiliary operation digging and anchoring all-in-one machine. The digging and anchoring all-in-one machine comprises a digging and anchoring machine body, and the digging and anchoring machine body is provided with a chassis, a walking mechanism, a cutting part, a discharging part, a loading part and a temporary supporting part; the first automatic anchoring and protecting system and the second automatic anchoring and protecting system are both arranged on the chassis, and the first automatic anchoring and protecting system is used for carrying out anchor rod supporting operation on a roadway top plate when the driving and anchoring machine body enters an anchoring and protecting state; the second automatic anchor protection system is used for carrying out anchor rod supporting operation on the side part of the roadway when the driving and anchoring machine body enters the anchor protection state, and the second automatic anchor protection system is located behind the first automatic anchor protection system. According to the digging and anchoring all-in-one machine, the first automatic anchoring and protecting system and the second automatic anchoring and protecting system, full-process automation of an anchor rod supporting process can be implemented in a roadway, workers do not need to operate beside, the workers are prevented from working in the environment with serious dust, the safety of the workers is improved, and the labor intensity of the workers is relieved.

Description

Technical Field

[0001] This invention relates to the field of coal mining technology, and in particular to a robotic arm-assisted tunneling and anchoring machine for single drill frames and its control method. Background Technology

[0002] The tunneling and anchoring machine, also known as a tunneling and anchoring machine, is a high-end mining equipment that integrates functions such as cutting and breaking rock, loading and transportation, temporary support, dust removal and ventilation, and intelligent control. It is mainly used for rapid tunneling and synchronous support operations in coal roadways, semi-coal-rock roadways, or soft rock tunnels.

[0003] In the process of realizing this invention, the inventors discovered that the prior art has at least the following problems: At present, the tunneling and anchoring machine still uses the manual operation of the machine-mounted drilling frame for anchor support. The tunneling and anchoring machine adopts parallel tunneling and anchoring operations, which can reduce the impact of support on the efficiency of cutting and tunneling, but at the same time, it also worsens the working environment of anchor support workers. During cutting, a large amount of dust not only affects the workers' working vision, but also increases the probability of occupational diseases. When performing support, a large number of operators are required, the working space is small, and the risk factor is high. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, the purpose of this invention is to propose a robotic arm-assisted drilling and anchoring machine and its control method for single drill frames, so as to automate the anchor bolt support process, reduce the number of support workers, and improve the comfort and safety of workers.

[0006] To achieve the above objectives, the first aspect of the present invention proposes a robotic arm-assisted tunneling and anchoring integrated machine for single drill frames, comprising: The roadheader body includes a chassis, a traveling mechanism, a cutting section, an unloading section, a loading section, and a temporary support section. The traveling mechanism is located below the chassis and is used to drive the roadheader body to move. The cutting section is located in front of the chassis and is used to cut coal and rock. The loading section is located below the cutting section and is used to collect the cut coal and rock. The unloading section is located behind the chassis and is used to transfer coal and rock to subsequent equipment. The temporary support section is located above the chassis and is used to support the roadway roof. The first automatic anchoring system and the second automatic anchoring system are both installed on the chassis. The first automatic anchoring system is used to perform anchor bolt support operations on the roadway roof when the roadway anchoring machine body enters the anchoring state. The second automatic anchoring system is used to perform anchor bolt support operations on the roadway side when the roadway anchoring machine body enters the anchoring state. The second automatic anchoring system is located behind the first automatic anchoring system.

[0007] According to one embodiment of the present invention, the cutting part includes a cutting drum, a cutting arm, a slide assembly, and a lifting cylinder. The cutting arm is slidably mounted on the tunneling and anchoring machine body via the slide assembly. One end of the lifting cylinder is hinged to the cutting arm, and the other end is hinged to the chassis.

[0008] According to one embodiment of the present invention, the roadheader body is further equipped with a working platform, which is located above the chassis. The first automatic anchoring system includes four anchor drilling rigs arranged in a left-right direction and four corresponding robotic arms. The anchor drilling rigs and the robotic arms are mounted on the working platform, with the robotic arms located behind the corresponding anchor drilling rigs. The anchor drilling rigs of the first automatic anchoring system are used to support the roadway roof. The second automatic anchoring system includes two anchor drilling rigs and two corresponding robotic arms. The anchor drilling rigs of the second automatic anchoring system are used to support the roadway sides.

[0009] According to one embodiment of the present invention, the first automatic anchoring system further includes two sets of first material storage units symmetrically arranged on the left and right, each set of first material storage units being used to provide anchoring materials for two anchor drilling rigs and two robotic arms located on the same side of the first automatic anchoring system; the second automatic anchoring system further includes two sets of second material storage units symmetrically arranged on the left and right, each set of second material storage units being used to provide anchoring materials for one anchor drilling rig and one robotic arm located on the same side of the second automatic anchoring system.

[0010] According to one embodiment of the present invention, the first material storage unit includes a drill pipe bin, a cartridge bin, an anchor bolt bin, and a mixer frame; the second material storage unit includes a drill pipe bin, a cartridge bin, an anchor bolt bin, a mixer frame, and hooks; the drill pipe bin, cartridge bin, anchor bolt bin, and mixer frame of the first material storage unit are arranged around two robotic arms on the same side; the drill pipe bin, cartridge bin, anchor bolt bin, and mixer frame of the second material storage unit are arranged around the robotic arms on the same side; the hooks are provided on the left and right sides of the tunneling and anchoring machine body for suspending metal mesh; the ends of the robotic arms are provided with grippers.

[0011] According to one embodiment of the present invention, both the anchor bolt chamber and the drill rod chamber are provided with clamping parts. The clamping parts include an upper plate, a lower plate and a plurality of rubber wheels. The rubber wheels are rotatably installed between the upper plate and the lower plate. Two adjacent rubber wheels form a rubber wheel pair. A first groove is provided on the upper plate and the lower plate between adjacent rubber wheel pairs. The first groove is used to clamp the anchor bolt and the drill rod.

[0012] According to one embodiment of the present invention, the stirrer rack includes two vertically opposite side plates, and the top of the side plates is provided with a second groove for placing the stirrer.

[0013] According to one embodiment of the present invention, the first automatic anchoring system further includes a robotic arm base, a first vision camera, and a second vision camera. The robotic arm base is disposed on the working platform, the robotic arm of the first automatic anchoring system is disposed on the robotic arm base, and the first vision camera is disposed inside the robotic arm base for detecting the length and curvature of the anchor rod or drill rod held by the grippers. The second vision camera is disposed at the end of the robotic arm for identifying the positions of the cartridge chamber, the drill rod chamber, the agitator frame, and the tunnel borehole to achieve automatic positioning. The end of the robotic arm of the second automatic anchoring system is also provided with a second vision camera.

[0014] According to one embodiment of the present invention, the anchor drilling rig includes a drill frame and a drill box, the drill box being movably mounted on the drill frame, the anchor drilling rig body is also equipped with a central control system, the drill box is provided with a pressure sensor for detecting the output torque of the main shaft, and the first vision camera, the second vision camera and the pressure sensor are all connected to the central control system.

[0015] A second aspect of this invention provides a control method for a robotic arm-assisted tunneling and anchoring machine as described in the first aspect, comprising: The second vision camera on the robotic arm of the second automatic anchoring system acquires the pose information of the metal mesh. The central control system generates the motion trajectory of the robotic arm of the second automatic anchoring system based on the pose information obtained from the second vision camera. The grippers grab the metal mesh, and the robotic arm of the second automatic anchoring system moves the metal mesh above the temporary support. The roof support plate of the temporary support section and the anchor drilling rig of the first automatic anchoring system is raised, bringing the metal mesh into contact with the roadway roof; The second vision camera on the robotic arm of the first automatic anchoring system acquires the position and orientation information of the drill box's feed hole, the drill rod in the drill rod chamber, and the tunnel borehole. The central control system generates the motion trajectory of the robotic arm based on the pose information obtained from the second vision camera; The gripper picks up the drill rod, and the robotic arm inserts the drill rod into the feed hole of the drill box after visual inspection by the first vision camera. The drill box then performs the drilling operation.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The robotic arm-assisted tunneling and anchoring machine proposed in this invention, by setting a first automatic anchoring system and a second automatic anchoring system on the chassis, can automate the entire process of anchor bolt support in the roadway without the need for workers to operate it, avoid workers working in a dusty environment, improve the safety of workers, and reduce the labor intensity of workers.

[0017] 2. The control method for a robotic arm-assisted tunneling and anchoring machine for single drill frames proposed in this invention achieves fully automatic continuous operation of drill rod grabbing, clamping, and drilling through closed-loop control of vision camera guidance, central control system planning, and robotic arm execution.

[0018] 3. The control method proposed in this invention uses dual vision cameras. The drill rods are visually inspected before being installed, which can identify abnormal states such as bending and damage, ensuring the reliability of the support and reducing the failure risk of the automatic anchoring system.

[0019] 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

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. Wherein: Figure 1 This is a schematic diagram of the structure of a robotic arm-assisted tunneling and anchoring machine proposed in one embodiment of the present invention.

[0021] Figure 2 This is a schematic diagram of the cutting portion in one embodiment of the present invention.

[0022] Figure 3 This is a schematic diagram of the structure of the first automatic anchoring system in one embodiment of the present invention.

[0023] Figure 4 yes Figure 3 A structural schematic diagram of the first automatic anchoring system from another angle.

[0024] Figure 5 This is a flowchart illustrating the control method of a robotic arm-assisted tunneling and anchoring integrated machine for single drill frames according to an embodiment of the present invention.

[0025] Explanation of reference numerals in the attached figures: 1-Anchor bolt drilling machine body, 2-Traveling mechanism, 3-Chassis, 4-Cutting section, 5-Unloading section, 6-Rake claw mechanism, 7-Loading section, 8-Temporary support section, 9-Working platform, 10-Mechanical arm, 11-Anchor bolt drilling machine, 13-Hydraulic system, 14-Electrical system, 15-Central control system, 17-Slide assembly, 18-Lifting cylinder, 20-Metal mesh, 21-Gripper, 22-Drill box, 23-Drill rod chamber, 24-Mould cartridge chamber, 25-First vision camera, 26-Anchor bolt chamber, 27-Agitator frame, 28-Agitator, 29-Anchor bolt, 30-Drill rod. Detailed Implementation

[0026] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals 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 invention, and should not be construed as limiting the invention. Rather, embodiments of the invention include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0027] The following is for reference. Figure 1 and Figure 2 This describes a robotic arm-assisted tunneling and anchoring machine for single drill frames according to an embodiment of the present invention.

[0028] According to an embodiment of the present invention, a robotic arm-assisted tunneling and anchoring machine for single-drill-frame operation includes a tunneling and anchoring machine body 1, a first automatic anchoring system, and a second automatic anchoring system. The tunneling and anchoring machine is a high-end mining equipment integrating functions such as rock cutting and breaking, loading and transportation, temporary support, dust removal and ventilation, and intelligent control. It is mainly used for rapid tunneling and synchronous support operations in coal roadways, semi-coal-rock roadways, or soft rock tunnels.

[0029] The roadheader body 1 is equipped with a chassis 3, a traveling mechanism 2, a cutting section 4, an unloading section 5, a loading section 7, and a temporary support section 8. The traveling mechanism 2 is located below the chassis 3 and is used to drive the roadheader body 1 to move. The cutting section 4 is located in front of the chassis 3 and is used to cut coal and rock. The loading section 7 is located below the cutting section 4 and is used to collect the cut coal and rock. The unloading section 5 is located behind the chassis 3 and is used to transfer coal and rock to subsequent equipment. The temporary support section 8 is located above the chassis 3 and is used to support the roadway roof. The chassis 3 has high torsional strength and is used to install various functional modules. The traveling mechanism 2 can be composed of tracks or wheels, enabling the roadheader body 1 to move under complex geological conditions.

[0030] Both the first and second automatic anchoring systems are mounted on the chassis 3. The first automatic anchoring system is used to perform anchor bolt support operations on the roadway roof when the tunneling and anchoring machine body 1 is in the anchoring state. The second automatic anchoring system is used to perform anchor bolt support operations on the roadway sidewalls when the tunneling and anchoring machine body 1 is in the anchoring state, and the second automatic anchoring system is located behind the first automatic anchoring system. Each of the first and second automatic anchoring systems includes a robotic arm 10 and an anchor bolt drill 11. The robotic arm 10 and the anchor bolt drill 11 cooperate to achieve automatic anchor bolt support. The anchor bolt support operation mainly includes four key processes: drilling, applying chemicals, mixing, and anchoring, each of which is unmanned. The anchor bolt drill 11 has a drill frame, which is the supporting structure of the anchor bolt drill 11. In this embodiment of the single-drill-frame robotic arm-assisted tunneling and anchoring machine, a single drill frame means that one drill frame is paired with one robotic arm 10, and the two are used in conjunction. By adopting a collaborative mode of "one drill rig and one robotic arm," operational efficiency is ensured while also taking into account structural compactness and roadway adaptability. In other words, the number of anchor drilling rig 11 and robotic arm 10 remains the same.

[0031] The working states of the roadheader body 1 are divided into three modes: traveling, cutting, and anchoring. In the traveling state, the cutting section 4, unloading section 5, loading section 7, and the first and second automatic anchoring systems are all in a stopped state, while the robotic arm 10 and drill frame remain in their initial positions. In the cutting state, the traveling mechanism 2 stops operating, the temporary support section 8 supports the roof, and the cutting section 4 extends and retracts and swings up and down at the working face to cut the coal face. Simultaneously, the loading section 7 transports the cut coal to the unloading section 5 via a conveyor chain, and the unloading section 5 then transfers the coal to subsequent equipment. In the anchoring state, the first and second automatic anchoring systems complete the automatic anchoring work.

[0032] According to an embodiment of the present invention, the robotic arm-assisted tunneling and anchoring machine for single drill frames, by setting a first automatic anchoring system and a second automatic anchoring system on the chassis, enables the full-process automation of the anchor bolt support process in the roadway, eliminating the need for workers to operate it, avoiding workers working in dusty environments, improving the safety of workers, and reducing the labor intensity of workers.

[0033] In some embodiments, combined with Figure 1 and Figure 2As shown, the cutting section 4 includes a cutting drum, a cutting arm, a slide assembly 17, and a lifting cylinder 18. The cutting arm is slidably mounted on the roadheader body 1 via the slide assembly 17. One end of the lifting cylinder 18 is hinged to the cutting arm, and the other end is hinged to the chassis 3. Under the action of the slide assembly 17 and the lifting cylinder 18, the cutting drum can extend and retract back and forth and swing up and down on the working face to achieve a large-scale cutting operation. In one example, the loading section 7 is provided with rotatable rake claw mechanisms 6 on the left and right sides. The rake claw mechanisms 6 can be driven by a drive motor or a hydraulic motor to gather the cut coal and rock towards the center of the loading section 7 and transport it to the subsequent transport chain.

[0034] The roadheader body 1 is also equipped with a working platform 9, which is located above the chassis 3. The first automatic anchoring system includes four anchor drilling machines 11 arranged in the left-right direction and four robotic arms 10. The anchor drilling machines 11 and robotic arms 10 are located on the working platform 9, with the robotic arms 10 located behind the anchor drilling machines 11. The anchor drilling machines 11 of the first automatic anchoring system are used to support the roof of the roadway. The second automatic anchoring system includes two anchor drilling machines 11 and two robotic arms 10. The anchor drilling machines 11 of the second automatic anchoring system are used to support the sidewalls of the roadway.

[0035] like Figure 1 As shown, the tunneling and anchoring machine body 1 is also equipped with a hydraulic system 13 and an electrical system 14. The hydraulic system 13 is used to provide hydraulic power to the whole machine, such as driving the various cylinders. The electrical system 14 provides power distribution and protection for the whole machine, such as driving the forward, backward and steering movements of the traveling mechanism 2.

[0036] Combination Figure 1 , Figure 3 and Figure 4 As shown, in some embodiments, the first automatic anchoring system further includes two sets of first material storage units symmetrically arranged on the left and right. Each set of first material storage units is used to provide anchoring materials for two anchor drilling rigs 11 and two robotic arms 10 located on the same side of the first automatic anchoring system. In other words, the two anchor drilling rigs 11 and two robotic arms 10 on the same side share one set of material storage units, achieving a compact layout. The anchor drilling rigs 11 and robotic arms 10 on both sides can perform parallel anchoring operations, thereby improving work efficiency. The second automatic anchoring system also includes two sets of second material storage units symmetrically arranged on the left and right. Each set of second material storage units is used to provide anchoring materials for one anchor drilling rig 11 and one robotic arm 10 located on the same side of the second automatic anchoring system. Anchoring materials include anchor bolts, drill rods, mixers, etc. The anchor drilling rig 11 of the first automatic anchoring system is used to support the roadway roof, and the anchor drilling rig 11 of the second automatic anchoring system is used to support the roadway sides.

[0037] Combination Figure 3and Figure 4 As shown, the first material storage unit includes a drill rod bin 23, a cartridge bin 24, an anchor bolt bin 26, and a mixer frame 27. The second material storage unit includes a drill rod bin 23, a cartridge bin 24, an anchor bolt bin 26, a mixer frame 27, and hooks. That is, the second material storage unit has hooks added compared to the first material storage unit. The drill rod bin 23, cartridge bin 24, anchor bolt bin 26, and mixer frame 27 of the first material storage unit are arranged around two robotic arms 10 on the same side. The drill rod bin 23, cartridge bin 24, anchor bolt bin 26, and mixer frame 27 of the second material storage unit are arranged around the robotic arms 10 on the same side. Hooks are located on the left and right sides of the tunneling and anchoring machine body 1 for suspending metal mesh 20. The end of the robotic arm 10 is equipped with grippers 21. The grippers 21 are actuators at the end of the robotic arm 10, enabling the gripping of various materials; specifically, finger cylinders can be used.

[0038] In some embodiments, such as Figure 3 As shown, both the anchor bolt chamber 26 and the drill rod chamber 23 are provided with clamping parts. The clamping parts include an upper plate, a lower plate and multiple rubber wheels. The rubber wheels are rotatably installed between the upper plate and the lower plate. Two adjacent rubber wheels form a rubber wheel pair. The upper plate and the lower plate between adjacent rubber wheel pairs are provided with a first groove. The first groove is used to clamp the anchor bolt 29 and the drill rod 30. Figure 3 The clamping part of the anchor bolt magazine 26 is not shown. Both the anchor bolt 29 and the drill rod 30 are placed vertically. The mixer frame 27 includes two vertically opposing side plates, each with a second groove at its top for holding the mixer 28. Figure 3 As can be seen, the two stirrers are placed horizontally. Stirrers are usually conical in shape, and placing them horizontally can improve stability.

[0039] The first automatic anchoring system also includes a robotic arm base, a first vision camera 25, and a second vision camera (not shown in the figure). The robotic arm base is mounted on the work platform 9, and the robotic arm 10 of the first automatic anchoring system is mounted on the robotic arm base. The first vision camera 25 is located inside the robotic arm base and is used to detect the length and curvature of the anchor rod 29 or drill rod 30 held by the grippers. The second vision camera is located at the end of the robotic arm 10 and is used to identify the positions of the cartridge chamber 24, drill rod chamber 23, mixer frame 27, and tunnel boreholes to achieve automatic positioning. The end of the robotic arm 10 of the second automatic anchoring system is also equipped with a second vision camera (not shown in the figure).

[0040] The anchor drilling rig 11 includes a drill frame and a drill box 22, which is movably mounted on the drill frame. The main body of the anchor drilling rig 1 is also equipped with a central control system 15. A pressure sensor is installed on the drill box 22 to detect the output torque of the main shaft. The first vision camera 25, the second vision camera, and the pressure sensor are all connected to the central control system 15. The first vision camera 25 and the second vision camera transmit image data to the central control system 15 via wired or wireless means, and the material state and drilling position are identified by image processing algorithms.

[0041] In addition, the drill frame is equipped with an angle sensor and a displacement sensor, both of which are connected to the central control system 15. The angle sensor is used to detect the swing angle of the drill frame relative to the chassis 3, and the displacement sensor is used to detect the vertical displacement of the drill box 22 and calculate the drilling depth.

[0042] Combination Figures 1 to 5 As shown in the embodiments of the present invention, a control method for a robotic arm-assisted tunneling and anchoring integrated machine as described above for a single drill frame is also proposed. The control flow of this method includes: In step S102, the second vision camera on the robotic arm 10 of the second automatic anchoring system acquires the pose information of the metal mesh 20.

[0043] In step S104, the central control system 15 generates the motion trajectory of the robotic arm 10 of the second automatic anchoring system based on the pose information obtained by the second vision camera.

[0044] In step S106, the gripper 21 grabs the metal mesh 20, and the robotic arm 10 of the second automatic anchoring system moves the metal mesh 20 above the temporary support 8.

[0045] In step S108, the roof support plate of the temporary support section 8 and the anchor drilling machine 11 of the first automatic anchoring system is raised, bringing the metal mesh 20 into contact with the roadway roof.

[0046] In step S110, the second vision camera on the robotic arm 10 of the first automatic anchoring system acquires the positional information of the drill hole in the drill box 22, the drill rod 30 in the drill rod chamber 23, and the tunnel borehole.

[0047] In this embodiment, the anchor drilling machine body 1 determines the drilling position according to the preset row spacing, so that each row of anchor rods is evenly distributed and meets the design requirements.

[0048] In step S112, the central control system 15 generates the motion trajectory of the robotic arm 10 based on the pose information obtained from the second vision camera.

[0049] In step S114, the gripper 21 picks up the drill rod 30, and the robotic arm 10 inserts the drill rod 30 into the feed hole of the drill box 22 after visual inspection by the first vision camera 25. The drill box 22 then performs the drilling operation.

[0050] In this embodiment, if the currently gripped drill rod 30 is found to be excessively bent, the gripper returns the defective drill rod 30 to the drill rod chamber 23 and grips another drill rod 30 for visual inspection. The central control system 15 determines whether the drilling depth meets the standard based on feedback from the displacement sensor. If it does not meet the standard, the drilling rate is adjusted. The pressure sensor monitors the load to prevent overload damage to the drill rod 30. It should be noted that the drill rod 30 can be an integrated drill-anchor drill rod. Under this premise, the anchor bolt 29, agitator 28, and explosive cartridge do not need to be used during the anchoring process.

[0051] In some embodiments, the implementation process of the control method further includes the following steps: In step S116, after drilling is completed, the gripper 21 grabs the drill rod 30 again, and the robotic arm 10 puts the drill rod 30 back into the drill rod chamber 23.

[0052] In this embodiment, drill rod 30 is a conventional drill rod, therefore the anchoring process requires anchor rod 29, agitator 28 and explosive cartridge.

[0053] In step S118, the first vision camera 25 of the first automatic anchoring system identifies the positions of the cartridge 24, the anchor bolt 26, the mixer frame 27, and the top plate borehole, respectively, and transmits the position information to the central control system 15. The central control system 15 controls the robotic arm 10 to grab the cartridge and insert a part of the cartridge into the borehole. The robotic arm 10 grabs the mixer 28 and the anchor bolt 29 and places them on the drill box 22. The drill box 22 then performs the anchoring operation.

[0054] In this embodiment, the robotic arms 10 of the first automatic anchoring system on the same side cannot move synchronously to avoid interference. The support of the roadway roof is completed through steps S102 to S118. Next, the second automatic anchoring system is used to support the roadway sides. The second automatic anchoring system performs a similar process to steps S102 to S118; the specific process can be referred to the above steps and will not be repeated here.

[0055] It should be noted that in the description of this invention, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0056] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0057] 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.

[0058] In the description of this invention, the terms "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0059] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0060] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0061] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A robotic arm-assisted tunneling and anchoring integrated machine for single drill frames, characterized in that, include: The roadheader body (1) is equipped with a chassis (3), a traveling mechanism (2), a cutting section (4), an unloading section (5), a loading section (7), and a temporary support section (8). The traveling mechanism (2) is located below the chassis (3) and is used to drive the roadheader body (1) to move. The cutting section (4) is located in front of the chassis (3) and is used to cut coal and rock. The loading section (7) is located below the cutting section (4) and is used to collect the cut coal and rock. The unloading section (5) is located behind the chassis (3) and is used to transfer coal and rock to subsequent equipment. The temporary support section (8) is located above the chassis (3) and is used to support the roof of the roadway. The first automatic anchoring system and the second automatic anchoring system are both installed on the chassis (3). The first automatic anchoring system is used to perform anchor bolt support operation on the roadway roof when the tunneling and anchoring machine body (1) enters the anchoring state. The second automatic anchoring system is used to perform anchor bolt support operation on the roadway side when the tunneling and anchoring machine body (1) enters the anchoring state. The second automatic anchoring system is located behind the first automatic anchoring system.

2. The robotic arm-assisted tunneling and anchoring integrated machine for single drill frames according to claim 1, characterized in that, The cutting section (4) includes a cutting drum, a cutting arm, a slide assembly (17) and a lifting cylinder (18). The cutting arm is slidably mounted on the tunneling and anchoring machine body (1) via the slide assembly (17). One end of the lifting cylinder (18) is hinged to the cutting arm and the other end is hinged to the chassis (3).

3. The robotic arm-assisted tunneling and anchoring integrated machine for single drill frames according to claim 1, characterized in that, The main body (1) of the tunneling and anchoring machine is also equipped with a working platform (9), which is located above the chassis (3). The first automatic anchoring system includes four anchor drilling machines (11) arranged in the left-right direction and four mechanical arms (10) that are matched with them. The anchor drilling machines (11) and the mechanical arms (10) are located on the working platform (9). The mechanical arms (10) are located behind the anchor drilling machines (11) that are matched with them. The anchor drilling machines (11) of the first automatic anchoring system are used to support the roof of the roadway. The second automatic anchoring system includes two anchor drilling machines (11) and two mechanical arms (10) that are matched with them. The anchor drilling machines (11) of the second automatic anchoring system are used to support the sidewalls of the roadway.

4. The robotic arm-assisted tunneling and anchoring integrated machine for single drill frames according to claim 3, characterized in that, The first automatic anchoring system also includes two sets of first material storage units arranged symmetrically on the left and right. Each set of first material storage units is used to provide anchoring materials for two anchor drilling machines (11) and two robotic arms (10) located on the same side in the first automatic anchoring system. The second automatic anchoring system also includes two sets of second material storage units arranged symmetrically on the left and right. Each set of second material storage units is used to provide anchoring materials for one anchor drilling machine (11) and one robotic arm (10) located on the same side in the second automatic anchoring system.

5. The robotic arm-assisted tunneling and anchoring integrated machine for single drill frames according to claim 4, characterized in that, The first material storage unit includes a drill pipe bin (23), a cartridge bin (24), an anchor bolt bin (26), and a mixer frame (27); the second material storage unit includes a drill pipe bin (23), a cartridge bin (24), an anchor bolt bin (26), a mixer frame (27), and hooks; the drill pipe bin (23), cartridge bin (24), anchor bolt bin (26), and mixer frame (27) of the first material storage unit are arranged around two robotic arms (10) on the same side; the drill pipe bin (23), cartridge bin (24), anchor bolt bin (26), and mixer frame (27) of the second material storage unit are arranged around the robotic arms (10) on the same side; the hooks are located on the left and right sides of the tunneling and anchoring machine body (1) and are used to hang metal mesh (20); the end of the robotic arm (10) is provided with a gripper (21).

6. The robotic arm-assisted tunneling and anchoring integrated machine for single drill frames according to claim 5, characterized in that, Both the anchor bolt chamber (26) and the drill rod chamber (23) are provided with clamping parts. The clamping parts include an upper plate, a lower plate and a plurality of rubber wheels. The rubber wheels are rotatably installed between the upper plate and the lower plate. Two adjacent rubber wheels form a rubber wheel pair. The upper plate and the lower plate between adjacent rubber wheel pairs are provided with a first groove. The first groove is used to clamp the anchor bolt (29) and the drill rod (30).

7. The robotic arm-assisted tunneling and anchoring integrated machine for single drill frames according to claim 5, characterized in that, The stirrer rack (27) includes two vertically opposite side plates, and the top of the side plates is provided with a second groove for placing the stirrer (28).

8. The robotic arm-assisted tunneling and anchoring integrated machine for single drill frames according to claim 6, characterized in that, The first automatic anchoring system also includes a robotic arm base, a first vision camera (25), and a second vision camera. The robotic arm base is located on the working platform (9). The robotic arm (10) of the first automatic anchoring system is located on the robotic arm base. The first vision camera (25) is located inside the robotic arm base and is used to detect the length and curvature of the anchor rod (29) or drill rod (30) held by the gripper (21). The second vision camera is located at the end of the robotic arm (10) and is used to identify the positions of the cartridge chamber (24), the drill rod chamber (23), the mixer frame (27), and the tunnel borehole to achieve automatic positioning. The end of the robotic arm (10) of the second automatic anchoring system is also equipped with a second vision camera.

9. The robotic arm-assisted tunneling and anchoring integrated machine for single drill frames according to claim 8, characterized in that, The anchor drilling rig (11) includes a drill frame and a drill box (22). The drill box (22) is movably mounted on the drill frame. The anchor drilling rig body (1) is also equipped with a central control system (15). The drill box (22) is equipped with a pressure sensor for detecting the output torque of the main shaft. The first vision camera (25), the second vision camera and the pressure sensor are all connected to the central control system (15).

10. A control method for a robotic arm-assisted tunneling and anchoring integrated machine for single drill frames as described in any one of claims 1 to 9, characterized in that, include: The second vision camera on the robotic arm (10) of the second automatic anchoring system acquires the pose information of the metal mesh (20); The central control system (15) generates the motion trajectory of the robotic arm (10) of the second automatic anchoring system based on the pose information obtained by the second vision camera; The gripper (21) grabs the metal mesh (20), and the robotic arm (10) of the second automatic anchoring system moves the metal mesh (20) above the temporary support (8); The roof support plate of the temporary support section (8) and the anchor drilling rig (11) of the first automatic anchoring system is raised, bringing the metal mesh (20) into contact with the roadway roof. The second vision camera on the robotic arm (10) of the first automatic anchoring system acquires the position information of the drill hole in the drill box (22), the drill rod (30) in the drill rod chamber (23), and the tunnel borehole; The central control system (15) generates the motion trajectory of the robotic arm (10) based on the pose information obtained by the second vision camera; The gripper (21) grabs the drill rod (30), and the robotic arm (10) inserts the drill rod (30) into the feed hole of the drill box (22) after the appearance is checked by the first vision camera (25). The drill box (22) then performs the drilling operation.

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