Mechanical arm auxiliary operation anchor rod reversed loader for single drilling rig and control method of mechanical arm auxiliary operation anchor rod reversed loader

Abstract

The invention provides a mechanical arm auxiliary operation anchor rod reversed loader for a single drilling rig and a control method of the mechanical arm auxiliary operation anchor rod reversed loader. The anchor rod reversed loader comprises an anchor rod reversed loader body, and the anchor rod reversed loader body is provided with a walking mechanism, a chassis, a material receiving part, a crushing part and a discharging part; and the automatic anchor protection system is arranged on the anchor rod reversed loader body and used for carrying out anchor rod supporting operation on the roadway roof when the anchor rod reversed loader body enters the anchor protection state. According to the mechanical arm auxiliary operation anchor rod reversed loader for the single drilling rig, the walking mechanism, the crushing part and the automatic anchor protection system are arranged on the anchor rod reversed loader body, the integrated operation of walking, transporting, crushing and anchor protection is achieved, the automatic anchor protection system can implement full-process automation of an anchor rod supporting technology in a roadway, and the working efficiency is improved. Workers do not need to operate beside, so that the workers are prevented from working in an environment with serious dust, the safety of the workers is improved, and the labor intensity of the workers is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mining, and in particular to a single-drill-frame-oriented mechanical arm assisted working anchor rod transloading machine and a control method thereof. BACKGROUND

[0002] The anchor rod transloading machine, also known as an anchor conveying machine, is an important coal mine anchor protection device, and is usually used for transporting supporting materials such as anchor rods and anchor nets and anchor rod supporting in the underground.

[0003] In the process of implementing the present application, the inventors found that at least the following problems exist in the prior art: In the existing anchor rod supporting, manual operation is still required, a large number of operators are needed, the working space is small, and the danger coefficient is high. SUMMARY

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

[0005] To this end, the present application aims to provide a single-drill-frame-oriented mechanical arm assisted working anchor rod transloading machine and a control method thereof, to realize anchor rod supporting process automation and improve worker operation comfort and safety.

[0006] To achieve the above-mentioned purpose, the present application provides, in a first aspect, a single-drill-frame-oriented mechanical arm assisted working anchor rod transloading machine, comprising: An anchor rod transloading machine body, which is provided with a traveling mechanism, a chassis, a material receiving part, a crushing part and a material unloading part, the traveling mechanism is located below the chassis and is used to drive the anchor rod transloading machine body to move; the material receiving part is located at the front end of the chassis and is used to receive coal and rock from the front device; the crushing part is connected above the chassis and is used to crush and transport coal and rock backward; the material unloading part is located at the rear end of the chassis and is used to transport the crushed coal and rock to the rear device; An automatic anchor protection system, which is provided on the anchor rod transloading machine body and is used to implement anchor rod supporting work on the roadway roof when the anchor rod transloading machine body enters the anchor protection state.

[0007] According to an embodiment of the present application, the anchor rod transloading machine body is further provided with a working platform, which is located above the chassis; the automatic anchor protection system comprises four roof anchor drills arranged in the left-right direction and four mechanical arms corresponding thereto, the roof anchor drills and the mechanical arms are provided on the working platform, and the mechanical arms are located behind the corresponding roof anchor drills.

[0008] According to one embodiment of the present application, the anchor rod transfer machine body is further provided with a slide rail assembly connected with the roof bolter, for moving the roof bolter in the left-right direction to expand the working range.

[0009] According to one embodiment of the present application, the slide rail assembly comprises a support beam, two slide sleeves and four oil cylinders, the support beam is installed on the chassis; the two slide sleeves are slidably connected with the support beam in the left-right direction, the slide sleeves are driven by two of the oil cylinders; the remaining two oil cylinders are oppositely arranged in the left-right direction, the outer ends of the slide sleeves and the piston rods of the oil cylinders are provided with connecting seats; the connecting seats are used for connecting the roof bolter.

[0010] According to one embodiment of the present application, the automatic anchor protection system further comprises two sets of material storage units symmetrically arranged left and right, each set of the material storage unit is used for supplying anchor protection materials for two roof bolters and two mechanical arms located on the same side.

[0011] According to one embodiment of the present application, the end of the mechanical arm is provided with a gripper, the material storage unit comprises a drill rod bin, a cartridge bin, an anchor rod bin and a stirrer rack, the drill rod bin is arranged on the left and right sides of the anchor rod transfer machine body, the cartridge bin, the anchor rod bin and the stirrer rack are arranged on the working platform and arranged around two mechanical arms on the same side; the drill rod bin is used for storing drill rods; the cartridge bin is used for storing and supplying cartridges; the anchor rod bin is used for storing anchor rods; the stirrer rack is used for storing stirrers; the gripper is used for grabbing drill rods, cartridges, stirrers and anchor rods respectively.

[0012] According to one embodiment of the present application, the anchor rod bin and the drill rod bin are each provided with a clamping part, the clamping part comprises 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, adjacent two rubber wheels constitute a rubber wheel pair, the upper plate and the lower plate between adjacent rubber wheel pairs are provided with first grooves, the first grooves are used for clamping the anchor rods and the drill rods.

[0013] According to one embodiment of the present application, the automatic anchor protection system further comprises a mechanical arm base, a first visual camera and a second visual camera, the mechanical arm base is arranged on the working platform, the mechanical arm is arranged on the mechanical arm base, the first visual camera is arranged in the mechanical arm base and used for detecting the length and bending degree of the anchor rod or the drill rod clamped by the gripper; the second visual camera is arranged at the end of the mechanical arm and used for identifying the positions of the anchor rod bin, the cartridge bin, the drill rod bin, the stirrer rack and the roadway drilling, so as to realize automatic positioning.

[0014] According to one embodiment of the present application, the top anchor drilling machine comprises a drilling frame and a drilling box, the drilling box is movably arranged on the drilling frame, the anchor rod transfer machine body is further configured with a central control system, the drilling box is provided with a pressure sensor for detecting the output torque of the main shaft, and the first visual camera, the second visual camera and the pressure sensor are all connected with the central control system.

[0015] The second aspect of the present application provides a control method of the single-drilling-frame-oriented anchor rod transfer machine assisted by the mechanical arm, which is the same as the first aspect, and the control method comprises: The second visual camera on the outer mechanical arm acquires the pose information of the drilling rod in the rod feeding hole of the drilling box and the drilling rod warehouse; The central control system generates the motion trajectory of the outer mechanical arm according to the pose information obtained by the second visual camera; The gripper grabs the drilling rod, the mechanical arm loads the drilling rod into the rod feeding hole of the drilling box after appearance verification by the first visual camera, and the drilling box performs the drilling operation.

[0016] Compared with the prior art, the present application has the following beneficial effects: 1. The single-drilling-frame-oriented anchor rod transfer machine assisted by the mechanical arm provided by the present application realizes the integrated operation of walking, transportation, crushing and anchor protection by arranging the walking mechanism, the crushing part and the automatic anchor protection system on the anchor rod transfer machine body, the automatic anchor protection system can realize the full-process automation of the anchor rod support process in the roadway, without the need for workers to operate nearby, avoiding the workers to work in the environment with serious dust, improving the safety of the workers and reducing the labor intensity of the workers.

[0017] 2. The control method of the single-drilling-frame-oriented anchor rod transfer machine assisted by the mechanical arm provided by the present application realizes the full-automatic continuous operation of the processes such as drilling rod grabbing, clamping and drilling by the closed-loop control of the visual camera guidance, the central control system planning and the mechanical arm execution.

[0018] 3. The control method provided by the present application adopts double visual cameras, the drilling rod is subjected to appearance verification before being loaded, the abnormal states such as bending and damage can be identified, the reliability of the support is ensured, and the failure risk of the automatic anchor protection system is reduced.

[0019] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0020] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are intended to further aid the full understanding of the preferred embodiments and are, therefore, included herewith. Throughout the drawings, like referenced numerals will be used to designate like parts. Figure 1 is a structural schematic diagram of a single-drill-stand-oriented mechanical arm assisted working anchor rod transloader according to an embodiment of the present application.

[0021] Figure 2 is a structural schematic diagram of a slide rail assembly according to an embodiment of the present application.

[0022] Figure 3 is a structural schematic diagram of an automatic anchor protection system according to an embodiment of the present application.

[0023] Figure 4 is a flowchart of a control method of a single-drill-stand-oriented mechanical arm assisted working anchor rod transloader according to an embodiment of the present application.

[0024] BRIEF DESCRIPTION OF DRAWINGS 1-anchor rod transloader body, 2-traveling mechanism, 3-chassis, 4-receiving part, 5-crushing part, 6-discharging part, 7-working platform, 8-slide rail assembly, 10-mechanical arm, 11-first visual camera, 12-drill stand, 13-anchor rod bin, 14-cartridge bin, 15-drill rod bin, 16-agitator rack, 17-hydraulic system, 18-electrical system, 19-central control system, 20-anchor rod, 21-drill rod, 22-clamping part, 23-agitator, 24-top anchor drill rig, 25-side anchor drill rig, 81-supporting beam, 82-sliding sleeve, 83-oil cylinder, 84-connection seat. DETAILED DESCRIPTION

[0025] Embodiments of the present application are described in detail below with reference to the accompanying drawings, examples of which are shown in the drawings, wherein the same or similar notations represent 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 application, and cannot be understood as a limitation of the present application. On the contrary, the embodiments of the present application include all changes, modifications and equivalents falling within the spirit and scope of the appended claims.

[0026] The single-drill-stand-oriented mechanical arm assisted working anchor rod transloader according to embodiments of the present application is described below with reference to Figures 1 to 3 .

[0027] As shown in Figure 1 , the single-drill-stand-oriented mechanical arm assisted working anchor rod transloader according to embodiments of the present application comprises an anchor rod transloader body 1 and an automatic anchor protection system.

[0028] The anchor rod transfer machine body 1 is provided with a walking mechanism 2, a chassis 3, a receiving part 4, a crushing part 5 and a discharging part 6. The chassis 3 has high torsional strength and is used for mounting various functional modules. The walking mechanism 2 is located below the chassis 3 and is used for driving the anchor rod transfer machine body 1 to move. The walking mechanism 2 can be composed of a track or a wheel, so that the anchor rod transfer machine body 1 can move under complex geological conditions. In an example, the walking mechanism 2 is composed of left and right track frames, track chains, stabilizing oil cylinders, walking reducers, hydraulic motors and the like, is driven by hydraulic pressure, improves the power of walking of the whole machine, is connected to the chassis 3 through bolts and keys, and the stabilizing oil cylinders are used for extending and supporting the roadway floor in the working state of the whole machine. The receiving part 4, the crushing part 5 and the discharging part 6 are internally provided with a conveying chain channel. The receiving part 4 is located at the front end of the chassis 3 and is used for receiving coal and rock from the front equipment. In an example, the receiving part 4 is provided with a receiving oil cylinder, and the receiving part 4 is hinged to the chassis 3 through a pin shaft and can swing up and down under the action of the receiving oil cylinder. The crushing part 5 is connected above the chassis 3 and is used for crushing coal and rock and transporting the crushed coal and rock rearward. In an example, the crushing part 5 includes a crushing reducer, a crushing motor and a crushing roller, the crushing motor drives the crushing reducer to transmit power to the crushing roller to rotate, and the material on the conveying chain channel is crushed by the cutting teeth on the crushing roller. The discharging part 6 is located at the rear end of the chassis 3 and is used for transferring the crushed coal and rock to the rear equipment. In an example, the discharging part 6 is provided with a discharging part oil cylinder, and the discharging part 6 is hinged to the chassis 3 through a pin shaft and can swing up and down under the action of the discharging part oil cylinder.

[0029] The automatic anchor protection system is arranged on the anchor rod transfer machine body 1 and is used for implementing anchor rod support work on the roadway roof when the anchor rod transfer machine body 1 enters the anchor protection state. The automatic anchor protection system mainly includes a mechanical arm 10 and a roof anchor drilling machine 24, and the mechanical arm 10 and the roof anchor drilling machine 24 cooperate with each other to realize automatic anchor rod support. The working process of the anchor rod support mainly includes four key procedures: drilling, medicine application, stirring and anchoring, and each procedure is realized without human operation. The roof anchor drilling machine 24 includes a drilling frame 12, and the drilling frame 12 is a support structure of the roof anchor drilling machine 24. In the anchor rod transfer machine of the embodiment, the single-drilling-frame mechanical arm auxiliary operation means that one drilling frame is matched with one mechanical arm 10 and the two are used in cooperation. Through the cooperative mode of “one drilling frame and one mechanical arm”, the working efficiency is ensured, and the compactness of the structure and the adaptability to the roadway are considered. That is, the number of the roof anchor drilling machine 24 and the mechanical arm 10 is consistent.

[0030] As shown in the anchor rod transfer machine of the embodiment of the present application, Figure 1 As shown in the anchor rod transfer machine of the embodiment of the present application,

[0031] The single-drill-frame-oriented mechanical arm assisted working anchor rod transloader is in the state of receiving material 4 and unloading material 6, and the automatic anchor protection system is in the state of stopping working, wherein the mechanical arm 10 and the drill frame 12 are kept in the initial state. The walking mechanism 2 is powered by a hydraulic motor to run to the set anchor protection position. When the whole machine travels to the specified position, the walking mechanism 2 stops working, the stabilizing oil cylinder supports the roadway floor, and the whole machine is stabilized. When the cut material needs to be transported, the crushing motor is turned on, the receiving material oil cylinder is extended and retracted to swing the receiving material 4 to the appropriate angle to receive the equipment in front, such as the coal transported by the anchor excavator, and the material is transported to the crushing part 5 through the transportation chain channel, and the large coal is crushed, and then the transportation chain channel transfers the crushed coal to the subsequent matching equipment such as the second transportation belt transloader through the unloading material 6.

[0032] According to the single-drill-frame-oriented mechanical arm assisted working anchor rod transloader provided by the embodiment of the present application, the automatic anchor protection system is arranged on the anchor rod transloader body, the automatic anchor protection system can realize the full-process automation of the anchor rod support process in the roadway, the workers do not need to operate nearby, 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 reduced.

[0033] In some embodiments, the anchor rod transloader body 1 is further provided with a working platform 7 located above the chassis 3. The working platform 7 is the main working area of the workers in the whole machine, and is used to carry materials and personnel. The working platform 7 is connected to the chassis 3 by bolts. The automatic anchor protection system includes four top anchor drills 24 arranged in the left-right direction and four corresponding mechanical arms 10. The top anchor drills 24 and the mechanical arms 10 are arranged on the working platform 7, and the mechanical arms 10 are located behind the corresponding top anchor drills 24. The four top anchor drills 24 only support the roof of the roadway. The four mechanical arms 10 are divided into two groups in the left-right direction. Each mechanical arm 10 should avoid interference with each other when working.

[0034] The anchor rod transloader body 1 is further provided with a hydraulic system 17 and an electrical system 18. The hydraulic system 17 is used to provide hydraulic power for the whole machine, such as the driving of each oil cylinder. In one example, the hydraulic system 17 is composed of a pump station, a pump station motor, a multi-way valve, and various control valves, which are fixed on the working platform 7 at different positions by bolts. The pump station provides power for the movement of each component of the whole machine and controls the action of each actuator through various hydraulic valves. The electrical system 18 provides power distribution and protection for the whole machine, such as driving the forward, backward and turning of the walking mechanism 2. In one example, the electrical system 18 is mainly composed of a main electric control box, which provides power for the electrical elements and motors of the whole machine.

[0035] In combination with Figure 1 and Figure 2As shown, in some embodiments, the anchor rod jumbo body 1 is further configured with a slide rail assembly 8 connected with the roof bolting machines 24 for moving the roof bolting machines 24 along the left-right direction, expanding the coverage of the roof bolting operation.

[0036] In one example, as shown in Figure 3 The slide rail assembly 8 includes a support beam 81 mounted on the chassis 3, two slide sleeves 82 and four oil cylinders 83. The two slide sleeves 82 are slidably connected with the support beam 81 along the left-right direction. The slide sleeves 82 are driven by two of the oil cylinders 83. The remaining two oil cylinders 83 are oppositely arranged along the left-right direction. The piston rods of the oil cylinders 83 and the outer ends of the slide sleeves 82 are both provided with connecting seats 84 for connecting the roof bolting machines 24. One connecting seat 84 is connected with one roof bolting machine 24. Through the slide rail assembly, the four roof bolting machines 24 can be moved along the left-right direction by a certain distance, expanding the operation range while improving the drilling precision.

[0037] In combination with Figure 1 and Figure 3 As shown, in some embodiments, the automatic bolting system further includes two sets of material storage units symmetrically arranged left and right, each set of material storage units being used for supplying anchor and protection materials for two roof bolting machines 24 and two mechanical arms 10 located on the same side. The anchor and protection materials include drill rods 21, cartridges, mixers 23 and anchor rods 20, etc. In other words, the two roof bolting machines 24 and the two mechanical arms 10 on the same side share one set of material storage units, realizing compact layout. The roof bolting machines 24 and the mechanical arms 10 on both sides can implement parallel anchor and protection operation, thereby improving the operation efficiency.

[0038] The end of the mechanical arm 10 is provided with a gripper, the material storage unit includes a drill rod bin 15, a cartridge bin 14, an anchor rod bin 13, and a stirrer rack 16. The drill rod bin 15 is arranged on the left and right sides of the anchor rod rehandler body 1, the cartridge bin 14, the anchor rod bin 13 and the stirrer rack 16 are arranged on the working platform 7 and arranged around the two mechanical arms 10 on the same side, the layout is compact and convenient to maintain. The drill rod bin 15 is used for storing drill rods 21. The cartridge bin 14 is used for storing and supplying cartridges. The anchor rod bin 13 is used for storing anchor rods 20. The stirrer rack 16 is used for storing stirrers 23. The gripper is used to grab the drill rod 21, the cartridge, the stirrer 23 and the anchor rod 20 respectively. In one example, the mechanical arm 10, the cartridge bin 14, the drill rod bin 15 and the stirrer rack 16 are connected to the working platform 7 by bolts. The gripper is an actuator at the end of the mechanical arm 10, which realizes the grabbing function of each material, specifically, a finger air cylinder can be used. The anchor rod 20 is the main material for anchor support, the drill rod 21 is a tool for drilling when the anchor support is drilled, and the cartridge is an anchoring agent between the anchor rod 20 and the supported surrounding rock during anchor support. The stirrer 23 is a kind of transition connector for adapting the anchor rod 20 to the top anchor drill 24, that is, the top anchor drill 24 can be adapted to install the drill rod 21 without installing the stirrer, and the top anchor drill 24 can be adapted to install the anchor rod 20 by installing the stirrer 23. It should be noted that the drill rod 21 can also use a drill-anchor integrated drill rod, under this premise, the anchor rod 20, the stirrer 23 and the cartridge do not need to be used in the anchor support process.

[0039] As shown in Figure 3 , the anchor rod bin 13 and the drill rod bin 15 are each provided with a clamping part 22, the clamping part 22 includes 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, adjacent two rubber wheels form a rubber wheel pair, the upper plate and the lower plate between the adjacent rubber wheel pairs are provided with a first groove, and the first groove is used for clamping the anchor rod 20 and the drill rod 21. Figure 3 It can be seen that the anchor rod 20 and the drill rod 21 are in a vertical placement state. The stirrer rack 16 includes two vertically opposite side plates, the top end of the side plate is provided with a second groove, and the second groove is used for placing the stirrer 23. Figure 3 It can be seen that the two stirrers 23 are in a horizontal placement state, and the stirrer is usually a conical structure, which can improve the stability when placed horizontally.

[0040] The automatic anchor protection system further comprises a mechanical arm base, a first vision camera 11 and a second vision camera. The mechanical arm base is arranged on the working platform 7, the mechanical arm 10 is arranged on the mechanical arm base, and the first vision camera 11 is arranged in the mechanical arm base and used for detecting the length and bending degree of the anchor rod 20 or the drill rod 21 clamped by the gripper. The second vision camera is arranged at the tail end of the mechanical arm 10 and used for identifying the positions of the anchor rod bin 13, the cartridge bin 14, the drill rod bin 15, the stirrer rack 16 and the roadway drilling, so as to realize automatic positioning. Optionally, the mechanical arm base is fixed on the working platform 7 by bolts, thereby providing a stable mounting base for the mechanical arm. The first vision camera 11 is mounted in the mechanical arm base, and the lens thereof faces the operation space of the gripper. After the gripper grabs the anchor rod 20 or the drill rod 21, the first vision camera 11 automatically captures images to detect whether the material is skewed, missing or of incorrect length, thereby ensuring the filling quality. The second vision camera is integrated on the tail end shell of the mechanical arm 10 and can collect environmental images in real time during the movement of the mechanical arm, identify the feeding positions of the cartridge bin 14, the anchor rod bin 13 and the like, scan the roadway surface after the drilling operation, and accurately position the drilling point.

[0041] The top anchor drill 24 comprises a drill stand 12 and a drill box movably arranged on the drill stand 12. The anchor rod transfer machine body 1 is further provided with a central control system 19. A pressure sensor is arranged on the drill box and used for detecting the output torque of the main shaft. The first vision camera 11, the second vision camera and the pressure sensor are all connected with the central control system 19. In an example, the first vision camera 11 and the second vision camera transmit image data to the central control system 19 in a wired or wireless manner, and the image data is subjected to image processing algorithm to identify the material state and the drilling position. In addition, the drill stand is provided with an angle sensor and a displacement sensor both connected with the central control system 19. The angle sensor is used for detecting the swing angle of the drill stand relative to the chassis 3, and the displacement sensor is used for detecting the vertical displacement of the drill box to calculate the drilling depth.

[0042] In combination with Figures 1 to 4 As shown in the drawings, the embodiment of the present application also proposes a control method of the single-drill-stand mechanical arm assisted working anchor rod transfer machine. The implementation process of the method is as follows: In step S102, the second vision camera on the outer mechanical arm 10 acquires the pose information of the drill rod 21 in the rod feeding hole of the drill box and the drill rod bin 15.

[0043] In the embodiment, the anchor rod transfer machine body 1 determines the drilling position according to the preset row spacing, so that the anchor rods in each row are uniformly distributed and meet the design requirements.

[0044] In step S104, the central control system 19 generates the motion trajectory of the outer mechanical arm 10 according to the pose information acquired by the second vision camera.

[0045] Step S106, the gripper grabs the drill pipe 21, and the mechanical arm 10 loads the drill pipe 21 into the drill box after appearance verification by the first visual camera 11, and the drill box performs a drilling operation.

[0046] In the embodiment, the two mechanical arms 10 on the outer side can simultaneously act without interfering with each other. Only one of the two mechanical arms 10 on the same side acts at the same time. The sequence of the front and rear actions of the two mechanical arms 10 is selected according to actual needs, and is not limited. In the embodiment, if the currently grabbed drill pipe 21 is detected to be excessively bent, the gripper returns the defective drill pipe 21 to the drill pipe bin 15, and the gripper grabs another drill pipe 21 for appearance verification. The central control system 19 judges whether the drilling depth meets the standard according to the feedback of the displacement sensor, adjusts the drilling amount if the standard is not met, and the pressure sensor monitors the load to prevent overload damage to the drill pipe 21. It should be noted that the drill pipe 21 can be a drill-anchor integrated drill pipe, and under this premise, the anchor rod 20, the stirrer 23 and the cartridge do not need to be used in the anchor protection process.

[0047] In some embodiments, the implementation process of the control method further includes the following steps: Step S112, after the drilling is completed, the gripper again grabs the drill pipe 21, and the mechanical arm returns the drill pipe 21 to the drill pipe bin 15.

[0048] In the embodiment, the drill pipe 21 is a conventional drill pipe, so the anchor rod 20, the stirrer 23 and the cartridge are needed in the anchor protection process.

[0049] Step S114, the second visual camera sequentially acquires the pose information of the cartridge bin 14, the stirrer rack 16 and the anchor rod bin 13.

[0050] Step S116, the gripper grabs the cartridge, and the mechanical arm 10 sends the cartridge into the drill hole.

[0051] Step S118, the gripper grabs the stirrer 23, and the mechanical arm 10 installs the stirrer 23 on the drill box.

[0052] Step S120, the gripper grabs the anchor rod 20, and after appearance verification by the first visual camera 11, connects one end of the anchor rod 20 with the stirrer 23.

[0053] Step S122, the drill box drives the stirrer 23 to rotate, the anchor rod breaks the cartridge, the coagulant in the cartridge flows out, and the anchor rod 20 is anchored in the surrounding rock.

[0054] Step S124, the mechanical arm returns the stirrer 23 to the stirrer rack 16 and resets to the initial pose.

[0055] In the embodiment, in steps S112 to S124, the mechanical arm 10 can be the mechanical arm 10 on the outer side or the mechanical arm 10 on the inner side, but the two cannot move simultaneously to avoid interference.

[0056] Step S126, the anchor drill rig 25 is used to support the roadway side with anchor rods.

[0057] It should be noted that in the description of the present application, the terms "first", "second" and the like are used only for descriptive purposes, and should not be construed as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0058] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0059] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0060] In the description of the present application, the terms "left", "right", "front", "back" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0061] Any process or method descriptions in flow charts or otherwise described herein, represent embodiments of examples that can be implemented as code means of instructions for execution by a processor, and the scope of the preferred embodiments of the present application includes carrying out additional or different steps, in another order, including using an ordered means to effect portions of one or more processes described herein, carrying out additional processes not presented (e.g., additional processes performing a clinical analysis of a sample), or omitting an existing process, and those functions described can be implemented by different arrangements of functions or materials without departing from the scope of the present application as described herein.

[0062] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0063] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary, and cannot be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A robotic arm-assisted anchor bolt transfer machine for single drill frames, characterized in that, include: The anchor bolt transfer machine body (1) is equipped with a walking mechanism (2), a chassis (3), a receiving part (4), a crushing part (5), and a discharging part (6). The walking mechanism (2) is located below the chassis (3) and is used to drive the anchor bolt transfer machine body (1) to move. The receiving part (4) is located at the front end of the chassis (3) and is used to receive coal and rock from the equipment in front. The crushing part (5) is connected above the chassis (3) and is used to crush the coal and rock and transport it backward. The discharging part (6) is located at the rear end of the chassis (3) and is used to transfer the crushed coal and rock to the equipment behind. An automatic anchoring system is installed on the main body (1) of the anchor transfer machine and is used to carry out anchor support operation on the roadway roof when the main body (1) of the anchor transfer machine enters the anchoring state.

2. The robotic arm-assisted anchor bolt transfer machine for single drill frames according to claim 1, characterized in that, The anchor bolt transfer machine body (1) is also equipped with a working platform (7), which is located above the chassis (3); the automatic anchor protection system includes four top anchor drilling machines (24) arranged in the left and right direction and four corresponding mechanical arms (10). The top anchor drilling machines (24) and the mechanical arms (10) are located on the working platform (7), and the mechanical arms (10) are located behind the corresponding top anchor drilling machines (24).

3. The robotic arm-assisted anchor bolt transfer machine for single drill frames according to claim 2, characterized in that, The anchor bolt transfer machine body (1) is also equipped with a slide rail assembly (8), which is connected to the top anchor drilling machine (24) to enable the top anchor drilling machine (24) to move in the left and right directions and expand the working range.

4. The robotic arm-assisted anchor bolt transfer machine for single drill frames according to claim 3, characterized in that, The slide rail assembly (8) includes a support beam (81), two sliding sleeves (82) and four hydraulic cylinders (83). The support beam (81) is mounted on the chassis (3). The two sliding sleeves (82) are slidably connected to the support beam (81) in the left-right direction. The sliding sleeves (82) are driven by two of the hydraulic cylinders (83). The remaining two hydraulic cylinders (83) are arranged opposite each other in the left-right direction. Connecting seats (84) are installed on the outer ends of the sliding sleeves (82) and the piston rods of the hydraulic cylinders (83). The connecting seats (84) are used to connect the top anchor drilling machine (24).

5. The robotic arm-assisted anchor bolt transfer machine for single drill frames according to claim 2, characterized in that, The automatic anchoring system also includes two sets of material storage units arranged symmetrically on the left and right sides. Each set of material storage units is used to supply anchoring materials to the two top anchor drilling machines (24) and the two robotic arms (10) located on the same side.

6. The robotic arm-assisted anchor bolt transfer machine for single drill frames according to claim 5, characterized in that, The end of the robotic arm (10) is provided with grippers. The material storage unit includes a drill rod bin (15), a cartridge bin (14), an anchor rod bin (13), and a mixer frame (16). The drill rod bin (15) is located on the left and right sides of the anchor rod transfer machine body (1). The cartridge bin (14), the anchor rod bin (13), and the mixer frame (16) are located on the working platform (7) and arranged around the two robotic arms (10) on the same side. The drill rod bin (15) is used to store drill rods (21). The cartridge bin (14) is used to store and supply cartridges. The anchor rod bin (13) is used to store anchor rods (20). The mixer frame (16) is used to store mixers (23). The grippers are used to grab the drill rods (21), cartridges, mixers (23), and anchor rods (20) respectively.

7. The robotic arm-assisted anchor bolt transfer machine for single drill frames according to claim 6, characterized in that, Both the anchor bolt chamber (13) and the drill rod chamber (15) are provided with clamping parts (22). The clamping parts (22) 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 (20) and the drill rod (21).

8. The robotic arm-assisted anchor bolt transfer machine for single drill frames according to claim 6, characterized in that, The automatic anchoring system also includes a robotic arm base, a first vision camera (11), and a second vision camera. The robotic arm base is located on the working platform (7), and the robotic arm (10) is located on the robotic arm base. The first vision camera (11) is located inside the robotic arm base and is used to detect the length and curvature of the anchor rod (20) or drill rod (21) held by the gripper. The second vision camera is located at the end of the robotic arm (10) and is used to identify the positions of the anchor rod chamber (13), the cartridge chamber (14), the drill rod chamber (15), the mixer frame (16), and the tunnel borehole to achieve automatic positioning.

9. The robotic arm-assisted anchor bolt transfer machine for single drill frames according to claim 8, characterized in that, The top anchor drilling machine (24) includes a drilling frame (12) and a drilling box. The drilling box is movably mounted on the drilling frame (12). The anchor bolt transfer machine body (1) is also equipped with a central control system (19). The drilling box is equipped with a pressure sensor for detecting the output torque of the main shaft. The first vision camera (11), the second vision camera and the pressure sensor are all connected to the central control system (19).

10. A control method for a robotic arm-assisted anchor bolt transfer 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 outer robotic arm (10) acquires the position information of the drill box's feed hole and the drill rod (21) in the drill rod chamber (15); The central control system (19) generates the motion trajectory of the outer robotic arm (10) based on the pose information obtained by the second vision camera; The gripper picks up the drill rod (21), and the robotic arm (10) inserts the drill rod (21) into the drill box after visual inspection by the first vision camera (11). The drill box then performs the drilling operation.

Images