Large-section multifunctional hydraulic anchor rod drill carriage

Abstract

The invention discloses a large-section multifunctional hydraulic anchor rod drill carriage which comprises a crawler, and a rotating base plate is arranged at the top of the crawler. Through cooperative use of the clamping and pushing mechanism and the auxiliary mechanism, extension rods with the matched number are selected for installation according to the drilling depth, disassembly is convenient, the whole process is automatically carried out, manual operation of workers is not needed, the requirements of the workers are met, and in addition, under the cooperative action of the installation mechanism, the net cutting mechanism and the storage mechanism, the work efficiency is improved. The steel mesh roller is firstly driven to move to a mesh placing starting point in the roadway, the discharging end of the supporting steel mesh is controlled to automatically droop, the supporting steel mesh is fixed to the left side wall in the roadway through the anchor rod, and then the supporting steel mesh is jointly used in cooperation with the first mechanical arm and the second mechanical arm, so that the supporting steel mesh is installed on the top and the right side wall in the roadway, and convenience and rapidness are achieved; the hydraulic anchor rod drill carriage is diversified in function, can be widely popularized and used during construction in a roadway, and is substantially improved.

Description

Technical Field

[0001] This invention relates to the field of underground coal mine development equipment technology, specifically to a large-section, multi-functional hydraulic anchor drilling rig. Background Technology

[0002] Currently, secondary reinforcement of the roof and side bolts in fully mechanized mining faces with goaf-side entry is a major task in coal mine construction and maintenance. However, there are many practical problems in carrying out support operations in narrow roadways.

[0003] If the roadway along the goaf is narrow and large machinery cannot enter, the current operation requires operators to use a hand-held hydraulic single anchor drilling rig / pneumatic anchor head to complete the work. This is not only inefficient and labor-intensive, but also has poor safety. In addition, most drilling rigs do not have the function of automatically loading and unloading drill rods. For workers working in the dark and damp underground, adding and removing drill rods is a time-consuming and laborious task. Improper operation can also cause accidents, which is difficult to meet the needs of the workers. Summary of the Invention

[0004] To solve the above-mentioned technical problems, a large-section multi-functional hydraulic anchor bolt drilling rig is provided. This technical solution solves the problems mentioned in the background technology.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A large-section multi-functional hydraulic anchor bolt drilling rig includes a tracked vehicle. A rotating base plate is mounted on the top of the tracked vehicle. A first robotic arm and a second robotic arm are fixedly connected to the top two sides of the rotating base plate, respectively. A clamping and pushing mechanism is installed at the end of the first robotic arm. This mechanism is used to fix a drill rod, extension rod, or anchor bolt and drive it forward. An auxiliary mechanism is connected to the clamping and pushing mechanism. The clamping and pushing mechanism and the auxiliary mechanism cooperate to drill holes of different depths. An installation mechanism is provided at the end of the second robotic arm for installing a steel mesh roller. The drill rod, steel mesh roller, and anchor bolt are stored in a storage mechanism located on top of the rotating base plate on the tracked vehicle. A support steel mesh is wound around the steel mesh roller.

[0006] Preferably, the clamping and pushing mechanism includes a first fixed frame, a first stepper motor, and a movable plate. The first fixed frame is welded to the end of the first robotic arm. The first stepper motor is disposed on the inner wall of the first fixed frame. The output end of the first stepper motor is fixedly connected to a first lead screw. The movable plate is threadedly connected to the outer wall of the first lead screw. The movable plate is also slidably connected to the outer surface of the first guide rod. The first guide rod is fixedly installed inside the first fixed frame. A first dual-axis electric actuator is fixedly connected to the bottom of the first fixed frame. Limit plates are fixedly installed on both output ends of the first dual-axis electric actuator.

[0007] Preferably, the clamping and pushing mechanism further includes a first driven gear rotatably connected inside the movable plate. Both sides of the first driven gear are fixedly connected to a first electric push rod. The output ends of the two sets of first electric push rods are fixedly installed with a first clamping block. A first drive motor is provided at the bottom of the movable plate. The output end of the first drive motor is fixedly connected to a first drive gear. The first driven gear meshes with the first drive gear.

[0008] Preferably, the auxiliary mechanism includes a rotating disk, a second lead screw, and a second guide rod. The rotating disk is rotatably connected to the top of the first fixed frame. Several sets of strip-shaped grooves are evenly distributed on the rotating disk. The second lead screw is rotatably connected to the inside of the strip-shaped grooves. The second guide rod is fixedly connected to the inside of the strip-shaped grooves. A movable block is slidably connected to the outer wall of the second guide rod. The movable block is threadedly connected to the second lead screw. A second dual-axis electric actuator is fixedly installed at the bottom of the movable block. Two clamping blocks are fixedly installed at the two output ends of the second dual-axis electric actuator. The two sets of second clamping blocks are used to fix the extension rod. One end of several sets of second lead screws extends to the outside of the strip-shaped grooves and is fixedly connected to a transmission gear. An end face gear is rotatably connected to the outer wall of the rotating disk. The end face gear meshes with several sets of transmission gears. The outer end of one set of second lead screws is fixedly installed at the output end of a second drive motor. The second drive motor is fixedly installed on the inner wall of one set of the strip-shaped grooves.

[0009] Preferably, a second driven gear is fixedly installed at the bottom of the rotating disk, the second driven gear and the rotating disk are concentric, a third drive motor is fixedly connected to the top of the outer wall of the first fixed frame, the output end of the third drive motor is fixedly connected to the second drive gear, and the second drive gear meshes with the second driven gear.

[0010] Preferably, the installation mechanism includes a threaded rod and a movable plate. A second fixed frame is fixedly connected to the end of the second robotic arm. The threaded rod is rotatably connected inside the second fixed frame. The threads at both ends of the threaded rod have opposite directions. Two movable plates are provided and are respectively threaded to both ends of the outer wall of the threaded rod. A fixed rod is also welded inside the second fixed frame. The movable plate is slidably connected to the fixed rod. A servo motor for driving the threaded rod to rotate is installed on the outer wall of the second fixed frame. Rotary shafts are rotatably connected inside the two sets of movable plates. Electromagnets are fixedly installed at the ends of the two sets of rotating shafts that are close to each other. A fourth drive motor for driving one set of rotating shafts to rotate is provided on the outer side of one set of movable plates.

[0011] Preferably, slots are provided on both ends of the steel mesh roller, and the shape and size of the slots are adapted to the shape and size of the electromagnet. Through holes are provided on both ends of the steel mesh roller, and magnets are installed in the through holes. The two ends of the steel mesh roller are made of iron material, and iron blocks are fixedly connected to the outer ends of the magnets. When the electromagnet is energized, the magnetism on the iron blocks is greater than the magnetism on the steel mesh roller discs.

[0012] Preferably, the mesh cutting mechanism includes an L-shaped plate and a second electric push rod. The L-shaped plate is fixedly mounted on a second fixed frame, and the second electric push rod is fixedly connected to the outer wall of the L-shaped plate. The output end of the second electric push rod is fixedly connected to a vacuum adsorption plate. Mounting blocks are welded to both ends of the outer side of the vacuum adsorption plate. A third lead screw is rotatably connected between the two sets of mounting blocks. A moving block is threaded onto the third lead screw. The outer end of the third lead screw is fixedly connected to the output end of a second stepper motor. The second stepper motor is disposed on the outer wall of one set of mounting blocks, and the moving block is slidably connected to a third guide rod. Both ends of the third guide rod are fixedly connected to the inner walls of the two sets of mounting blocks, respectively. A third electric push rod is disposed at the bottom of the moving block, and a laser cutting head is fixedly mounted on the output end of the third electric push rod.

[0013] Preferably, the storage mechanism includes a fixed plate, which has two sets of fixed plates welded to the top of the rotating base plate on the tracked vehicle. Each of the two sets of fixed plates has a sliding groove on the side that is close to each other. Several sets of steel mesh rollers are slidably connected in each of the two sets of sliding grooves. A placement frame is provided on the rear side of the fixed plate, and several sets of anchor rods are stored inside the placement frame.

[0014] Preferably, the storage mechanism further includes a fourth lead screw, a fourth guide rod, and a movable component. A third fixed frame is welded to the top of the rotating base plate on the tracked vehicle. The fourth lead screw is rotatably connected inside the third fixed frame. The fourth guide rod is fixedly installed inside the third fixed frame. The movable component is threadedly connected to the outer wall of the fourth lead screw. The movable component is slidably connected to the fourth guide rod. A third stepper motor for driving the fourth lead screw to rotate is provided on the outer side of the third fixed frame. Two sets of fourth electric push rods are fixedly installed on the outer side of the movable component. The output ends of the two sets of fourth electric push rods are fixedly connected to the top plate.

[0015] Compared with the prior art, the present invention provides a large-section multi-functional hydraulic anchor bolt drilling rig, which has the following beneficial effects: This invention utilizes a combination of clamping and propulsion mechanisms and auxiliary mechanisms to install an appropriate number of extension rods based on the drilling depth. The process is easy to disassemble and fully automated, requiring no manual operation and meeting the needs of workers. Furthermore, the installation, cutting, and storage mechanisms work together to first move the steel mesh roller to the starting point of the mesh placement within the tunnel. The output end of the support steel mesh is then automatically lowered and fixed to the left wall of the tunnel using anchor bolts. This, combined with the first and second robotic arms, enables the installation of support steel mesh on the top and right wall of the tunnel quickly and conveniently. The hydraulic anchor bolt drilling rig in this invention offers diverse functions and can be widely used in tunnel construction, representing a substantial improvement. Attached Figure Description

[0016] 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 of the first robotic arm in this invention; Figure 3 This is a schematic diagram of the clamping and propulsion mechanism in this invention; Figure 4 This is a schematic diagram of the internal structure of the first driven gear in this invention; Figure 5 This is a schematic diagram of the auxiliary mechanism in this invention; Figure 6 This is a schematic diagram showing the installation position of the second drive motor in this invention; Figure 7 This is a schematic diagram of the structure of the second robotic arm in this invention; Figure 8 This is a schematic diagram of the installation mechanism in this invention; Figure 9 This is a schematic diagram of the wire cutting mechanism in this invention; Figure 10 This is a schematic diagram of the storage mechanism in this invention; Figure 11 This is a schematic diagram of the steel mesh roller in this invention; Figure 12 In this invention Figure 10 A schematic diagram of the enlarged structure at point A; Figure 13 This is a schematic diagram illustrating the principle of construction within a tunnel according to the present invention.

[0017] The numbers on the map are: 1. Tracked vehicle; 101. First robotic arm; 102. Second robotic arm; 103. Drill rod; 104. Steel mesh roller; 105. Anchor bolt; 106. Groove; 107. Magnet; 108. Iron block; 2. Clamping and pushing mechanism; 201. First fixed frame; 202. First stepper motor; 203. First lead screw; 204. First guide rod; 205. Movable plate; 206. First driven gear; 207. First electric push rod; 208. First clamping block; 209. First drive motor; 210. First drive gear; 211. First dual-axis electric push rod; 212. Limiting plate; 3. Auxiliary mechanism; 301. Rotary disk; 302. Second lead screw; 303. Second guide rod; 304. Movable block; 305. Second dual-axis electric actuator; 306. Second clamping block; 307. Transmission gear; 308. End face gear; 309. Second drive motor; 310. Third drive motor; 311. Second drive gear; 312. Second driven gear; 4. Mounting mechanism; 401. Second fixing frame; 402. Threaded rod; 403. Fixing rod; 404. Servo motor; 405. Moving plate; 406. Electromagnet; 407. Fourth drive motor; 5. Mesh cutting mechanism; 501. L-shaped plate; 502. Second electric push rod; 503. Vacuum adsorption plate; 504. Mounting block; 505. Third lead screw; 506. Third guide rod; 507. Second stepper motor; 508. Moving block; 509. Third electric push rod; 510. Laser cutting head; 6. Storage mechanism; 601. Fixing plate; 602. Slide groove; 603. Third fixing frame; 604. Fourth lead screw; 605. Fourth guide rod; 606. Third stepper motor; 607. Moving part; 608. Fourth electric push rod; 609. Top plate. Detailed Implementation

[0018] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0019] Example 1 Please refer to Figures 1-13As shown, a large-section multi-functional hydraulic anchor bolt drilling rig includes a tracked vehicle 1. A rotating base plate is provided on the top of the tracked vehicle 1. A first robotic arm 101 and a second robotic arm 102 are fixedly connected to the top two sides of the rotating base plate on the tracked vehicle 1, respectively. A clamping and pushing mechanism 2 is installed at the end of the first robotic arm 101. The clamping and pushing mechanism 2 is used to fix the drill rod 103 or the extension rod or the anchor bolt 105 and drive it to advance. An auxiliary mechanism 3 is connected to the clamping and pushing mechanism 2. The clamping and pushing mechanism 2 and the auxiliary mechanism 3 cooperate to drill holes of different depths. An installation mechanism 4 is provided at the end of the second robotic arm 102. The installation mechanism 4 is used to install a steel mesh roller 104. The drill rod 103, the steel mesh roller 104 and the anchor bolt 105 are stored in a storage mechanism 6. The storage mechanism 6 is located on the top of the rotating base plate on the tracked vehicle 1. A support steel mesh is wound on the steel mesh roller 104.

[0020] Example 2 Please refer to Figure 3 and Figure 4 As shown, the clamping and pushing mechanism 2 includes a first fixed frame 201, a first stepper motor 202, and a movable plate 205. The first fixed frame 201 is welded to the end of the first robotic arm 101. The first stepper motor 202 is disposed on the inner wall of the first fixed frame 201. The output end of the first stepper motor 202 is fixedly connected to the first lead screw 203. The movable plate 205 is threadedly connected to the outer wall of the first lead screw 203. The movable plate 205 is also slidably connected to the outer surface of the first guide rod 204. The first guide rod 204 is fixedly installed inside the first fixed frame 201. A first dual-axis electric push rod 211 is fixedly connected to the bottom of the first fixed frame 201. Limit plates 212 are fixedly installed on both output ends of the first dual-axis electric push rod 211.

[0021] Please refer to Figure 3 and Figure 4 As shown, the clamping and pushing mechanism 2 also includes a first driven gear 206 rotatably connected inside the movable plate 205. Both sides of the first driven gear 206 are fixedly connected to a first electric push rod 207. The output ends of the two sets of first electric push rods 207 are fixedly installed with a first clamping block 208. A first drive motor 209 is provided at the bottom of the movable plate 205. The output end of the first drive motor 209 is fixedly connected to a first drive gear 210. The first driven gear 206 meshes with the first drive gear 210.

[0022] Those skilled in the art will understand that by controlling the extension or retraction of the output ends of the two sets of first electric push rods 207, the two sets of first clamping blocks 208 are driven to move closer or further apart, thereby achieving rapid installation of the drill rod 103, extension rod, or anchor rod 105; the output end of the first drive motor 209 drives the first drive gear 210 to rotate, causing the first driven gear 206 to rotate, which in turn drives the installed drill rod 103, extension rod, or anchor rod 105 to rotate; and the output end of the first stepper motor 202 drives the first lead screw 203 to rotate, causing the movable plate 205 to move toward or away from the output end of the first stepper motor 202.

[0023] Example 3 Please refer to Figure 5 and Figure 6 As shown, the auxiliary mechanism 3 includes a rotating disk 301, a second lead screw 302, and a second guide rod 303. The rotating disk 301 is rotatably connected to the top of the first fixed frame 201. Several sets of strip-shaped grooves are evenly distributed on the rotating disk 301. The second lead screw 302 is rotatably connected inside the strip-shaped grooves, and the second guide rod 303 is fixedly connected inside the strip-shaped grooves. A movable block 304 is slidably connected to the outer wall of the second guide rod 303. The movable block 304 is threaded onto the second lead screw 302, and a second dual-axis electric actuator 305 is fixedly installed at the bottom of the movable block 304. The two output ends of the electric actuator 305 are fixedly equipped with second clamping blocks 306. The two sets of second clamping blocks 306 are used to fix the extension rod. One end of several sets of second lead screws 302 extends to the outside of the strip groove and is fixedly connected to the transmission gear 307. The outer wall of the rotating disk 301 is rotatably connected to the end face gear 308. The end face gear 308 meshes with several sets of transmission gears 307. The outer end of one set of second lead screws 302 is fixedly installed on the output end of the second drive motor 309. The second drive motor 309 is fixedly installed on the inner wall of one set of strip grooves.

[0024] Please refer to Figure 4 and Figure 5 As shown, a second driven gear 312 is fixedly installed at the bottom of the rotating disk 301. The second driven gear 312 and the rotating disk 301 are concentric. A third drive motor 310 is fixedly connected to the top of the outer wall of the first fixed frame 201. The output end of the third drive motor 310 is fixedly connected to the second drive gear 311, and the second drive gear 311 meshes with the second driven gear 312.

[0025] Those skilled in the art will understand that the output of the second drive motor 309 drives one set of second lead screws 302 and one set of transmission gears 307 to rotate as a whole. Under the action of the end face gear 308, all the second lead screws 302 and transmission gears 307 rotate synchronously, causing all the movable blocks 304 to move closer to or away from the center of the rotating disk 301, thereby driving all the clamped extension rods to move closer to or away from the center of the rotating disk 301. Furthermore, the output of the third drive motor 310 drives the second drive gear 311 to rotate, causing the second driven gear 312 to rotate, which in turn drives the rotating disk 301 to rotate around the top of the first fixed frame 201. In summary, this allows each set of clamped extension rods to move sequentially to directly above the first driven gear 206 and to be on the same plane as the center of the first driven gear 206.

[0026] Example 4 Please refer to Figure 7 and Figure 8 As shown, the installation mechanism 4 includes a threaded rod 402 and a movable plate 405. A second fixed frame 401 is fixedly connected to the end of the second robotic arm 102. The threaded rod 402 is rotatably connected inside the second fixed frame 401. The threads at both ends of the threaded rod 402 have opposite directions. Two sets of movable plates 405 are provided and are respectively threaded to both ends of the outer wall of the threaded rod 402. A fixed rod 403 is also welded inside the second fixed frame 401. The movable plate 405 is slidably connected to the fixed rod 403. A servo motor 404 for driving the threaded rod 402 to rotate is installed on the outer wall of the second fixed frame 401. Rotating shafts are rotatably connected inside the two sets of movable plates 405. Electromagnets 406 are fixedly installed at the ends of the two sets of rotating shafts that are close to each other. A fourth drive motor 407 for driving one set of rotating shafts to rotate is provided on the outer side of one set of movable plates 405.

[0027] Please refer to Figure 11 As shown, slots 106 are provided on both ends of the steel mesh roller 104. The shape and size of the slots 106 are adapted to the shape and size of the electromagnet 406. Through holes are provided on both ends of the steel mesh roller 104. Magnets 107 are installed in the through holes. The two ends of the steel mesh roller 104 are made of iron. Iron blocks 108 are fixedly connected to the outer ends of the magnets 107. When the electromagnet 406 is energized, the magnetism of the electromagnet 406 on the iron blocks 108 is greater than the magnetism of the magnet 107 on the steel mesh roller 104 discs.

[0028] As those skilled in the art will understand, we know that a support steel mesh is wound on the steel mesh roller 104. When the steel mesh roller 104 is not in normal use, the discharge end of the support steel mesh is pressed down by two sets of magnets 107, thus ensuring that the support steel mesh roll on the steel mesh roller 104 does not become loose. The output of the servo motor 404 drives the threaded rod 402 to rotate, causing the two sets of moving plates 405 to move closer or further apart. This, in turn, causes the two sets of electromagnets 406 to move closer or further apart. When the two sets of electromagnets 406 move closer together, they are inserted into the slots 106 at both ends of the steel mesh roller 104, and the electromagnets 406 are activated. Since the magnetism of the electromagnets 406 on the iron blocks 108 is greater than the magnetism of the magnets 107 on the disc of the steel mesh roller 104, the two sets of iron blocks 108 on the steel mesh roller 104 move further apart, and the two sets of magnets 107 disengage from the through holes on both sides. This releases the pressure of the two sets of magnets 107 on the discharge end of the support steel mesh. Combined with the rotation of the output of the fourth drive motor 407, the discharge end of the support steel mesh automatically drops.

[0029] Example 5 Please refer to Figure 5 and Figure 9 As shown, the wire cutting mechanism 5 includes an L-shaped plate 501 and a second electric push rod 502. The L-shaped plate 501 is fixedly installed on the second fixed frame 401. The second electric push rod 502 is fixedly connected to the outer wall of the L-shaped plate 501. The output end of the second electric push rod 502 is fixedly connected to the vacuum adsorption plate 503. Mounting blocks 504 are welded to both ends of the outer side of the vacuum adsorption plate 503. A third lead screw 505 is rotatably connected between the two sets of mounting blocks 504. A moving block 508 is threaded onto the third lead screw 505. The outer end of the third lead screw 505 is fixedly connected to the output end of the second stepper motor 507. The second stepper motor 507 is set on the outer wall of one set of mounting blocks 504. The moving block 508 is slidably connected to the third guide rod 506. The two ends of the third guide rod 506 are fixedly connected to the inner walls of the two sets of mounting blocks 504 respectively. A third electric push rod 509 is set at the bottom of the moving block 508. A laser cutting head 510 is fixedly installed at the output end of the third electric push rod 509.

[0030] Those skilled in the art will understand that by controlling the extension or retraction of the output end of the second electric push rod 502, the vacuum adsorption plate 503 is driven to advance or retract; and by controlling the output end of the second stepper motor 507, the third lead screw 505 is driven to rotate, causing the moving block 508 to reciprocate along the outer wall of the third guide rod 506, thereby driving the laser cutting head 510 to reciprocate along the outer wall of the third guide rod 506; in addition, by controlling the extension or retraction of the output end of the third electric push rod 509, the laser cutting head 510 is driven to advance or retract.

[0031] Example 6 Please refer to Figure 10As shown, the storage mechanism 6 includes a fixed plate 601. The fixed plate 601 is provided with two sets of rotating base plates welded to the top of the tracked vehicle 1. The two sets of fixed plates 601 are provided with a sliding groove 602 on the side that is close to each other. Several sets of steel mesh rollers 104 are slidably connected in the two sets of sliding grooves 602. A placement rack is provided on the rear side of the fixed plate 601. Several sets of anchor rods 105 are stored inside the placement rack.

[0032] Please refer to Figure 12 As shown, the storage mechanism 6 also includes a fourth lead screw 604, a fourth guide rod 605, and a movable part 607. A third fixed frame 603 is welded to the top of the rotating base plate on the tracked vehicle 1. The fourth lead screw 604 is rotatably connected inside the third fixed frame 603. The fourth guide rod 605 is fixedly installed inside the third fixed frame 603. The movable part 607 is threadedly connected to the outer wall of the fourth lead screw 604. The movable part 607 is slidably connected to the fourth guide rod 605. A third stepper motor 606 for driving the fourth lead screw 604 to rotate is provided on the outer side of the third fixed frame 603. Two sets of fourth electric push rods 608 are fixedly installed on the outer side of the movable part 607. The output ends of the two sets of fourth electric push rods 608 are fixedly connected to the top plate 609.

[0033] Those skilled in the art will understand that the output of the third stepper motor 606 drives the fourth lead screw 604 to rotate, causing the movable part 607 to reciprocate along the outer wall of the fourth guide rod 605, thereby driving the top plate 609 to reciprocate; and by controlling the output of the fourth electric push rod 608 to extend or retract, the top plate 609 is driven to move upward or downward.

[0034] In real-world applications, when installing support mesh on the walls of a tunnel, the process typically involves first drilling holes in the wall, then laying the support mesh, and finally inserting anchor bolts through the mesh and into the drilled holes. The specific workflow is as follows: S1. Under the action of the first robotic arm 101, the first fixed frame 201 moves to the storage mechanism 6 and finds the position of the drill rod 103 in the placement frame behind the fixed plate 601. The output end of the first stepper motor 202 drives the first lead screw 203 to rotate, causing the movable plate 205 to move downward. The top of the drill rod 103 is located between the two sets of first clamping blocks 208. By controlling the output ends of the two sets of first electric push rods 207 to extend, the two sets of first clamping blocks 208 move closer to each other, thereby clamping and fixing the drill rod 103. After that, the output end of the first stepper motor 202 rotates in the opposite direction, and the movable plate 205 moves upward to the reset state. S2. Continuing under the action of the first robotic arm 101, the drilling point is located. With the combined action of the output ends of the first stepper motor 202 and the first drive motor 209, the drill rod 103, which is in a clamping state, rotates and advances simultaneously, thus opening a hole at the drilling point. If the drilling depth is insufficient, an extension rod is needed to extend the hole. First, by controlling the two output ends of the first dual-axis electric actuator 211 to extend synchronously, the two sets of limiting plates 212 clamp the end of the drill rod 103 exposed outside the hole, while the two sets of first clamping blocks 208 release the drill... The clamping of rod 103, and then, through the output end of the second drive motor 309, driving one set of second lead screws 302 and one set of transmission gears 307 to rotate as a whole. Under the action of the end face gear 308, all the second lead screws 302 and transmission gears 307 rotate synchronously, driving all the extension rods to move towards the center of the rotating disk 301. When the center of one set of extension rods is on the same plane as the center of the first driven gear 206, the output end of the second drive motor 309 immediately stops rotating. Under the action of the output end 202, the movable plate 205 and the first driven gear 206 move upward as a whole, so that the two sets of first clamping blocks 208 are also located at the top of the extension rod, and drive the two sets of first clamping blocks 208 to move closer to each other, fixing the extension rod. Then, through the cooperation of the output end of the first stepper motor 202 and the output end of the first drive motor 209, the extension rod moves downward while being screwed in, screwing the bottom of the extension rod into the top of the drill rod 103, realizing the threaded connection between the extension rod and the drill rod 103. The rod 103 is held in place by two sets of limiting plates 212, so it will not shift in position, thus improving the drilling accuracy. In addition, the drill rod 103 will not fall off due to accidents, which meets the needs of the workers. After the extension rod is driven into the drilled hole, if the drilling depth is still insufficient, the above operation is repeated. The two sets of limiting plates 212 then hold the part of the extension rod that is exposed outside the drilled hole. The bottom of the other set of extension rods is threaded to the inner top of the first set of extension rods, and drilling can continue until the repeated depth is reached. S3. After drilling is completed in the tunnel, the drill rod 103 is returned to the placement frame behind the fixed plate 601. With the cooperation of the output end of the third stepper motor 606 and the output end of the fourth electric push rod 608, the top plate 609 moves upward, pushing the steel mesh roller 104 upward. Under the action of the second robotic arm 102, the two sets of moving plates 405 are respectively located on both sides of the pushed-out steel mesh roller 104. Then, the output end of the servo motor 404 drives the threaded rod 402 to rotate, causing the two sets of moving plates 405 to move closer together, thereby driving the two sets of electromagnets 406 to move closer together and insert them into the slots 106 of the rods at both ends of the steel mesh roller 104. Continuing under the action of the second robotic arm 102, the clamped steel mesh roller 104 moves to the starting point of the mesh placement in the tunnel (e.g., ...). Figure 13 As shown), the electromagnet 406 is activated. Since the magnetism of the electromagnet 406 on the iron block 108 is greater than the magnetism of the magnet 107 on the disc of the steel mesh roller 104, the two sets of iron blocks 108 on the steel mesh roller 104 move away from each other, and the two sets of magnets 107 disengage from the through holes on both sides, thereby releasing the pressure of the two sets of magnets 107 on the discharge end of the support steel mesh. With the rotation of the output end of the fourth drive motor 407, the discharge end of the support steel mesh automatically drops. During this process, the steel mesh roller 104 remains at the starting point of mesh placement. Then, under the action of the first robotic arm 101, the two sets of first clamping blocks 208 move closer to each other to clamp and install the anchor rod 105. Using the first robotic arm 101, the anchor rod 105 is inserted into the steel mesh and inserted into the previously drilled hole, thereby realizing the installation of the support steel mesh on the left wall of the tunnel. Afterwards, the second robotic arm 102 drags the steel mesh roller 104 along the top of the tunnel. During the dragging process, the first robotic arm 101 inserts the fixed anchor rods 105 into the drill holes one by one until the support steel mesh is installed at the top of the tunnel. Then, the second robotic arm 102 drags the steel mesh roller 104 along the right side wall of the tunnel until it reaches the bottom right position. At this point, the output end of the second electric push rod 502 is extended to drive the vacuum adsorption plate 503 to advance and adhere to the steel mesh. The vacuum adsorption plate 503 is activated to adsorb the steel mesh. With the cooperation of the output end of the second stepper motor 507 and the output end of the third electric push rod 509, the laser cutting head 510 is driven to cut the steel mesh. After cutting, the output end of the steel mesh is still adsorbed on the vacuum adsorption plate 503, which is convenient for the next installation of the support steel mesh in the tunnel. Then, the first robotic arm 101 continues to insert the fixed anchor rods 105 into the drill holes one by one until the support steel mesh is installed on the right side of the tunnel. The whole process is automated.

[0035] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A large-section multi-functional hydraulic anchor bolt drilling rig, comprising a tracked vehicle (1), characterized in that, The tracked vehicle (1) is provided with a rotating base plate on its top. The top two sides of the rotating base plate on the tracked vehicle (1) are respectively fixedly connected to a first mechanical arm (101) and a second mechanical arm (102). The end of the first mechanical arm (101) is equipped with a clamping and pushing mechanism (2). The clamping and pushing mechanism (2) is used to fix the drill rod (103) or extension rod or anchor rod (105) and drive it to move forward. An auxiliary mechanism (3) is connected to the clamping and pushing mechanism (2). The clamping and pushing mechanism (2) and the auxiliary mechanism (3) cooperate to drill holes of different depths. The end of the second mechanical arm (102) is provided with an installation mechanism (4). The installation mechanism (4) is used to install a steel mesh roller (104). The drill rod (103), steel mesh roller (104) and anchor rod (105) are stored in a storage mechanism (6). The storage mechanism (6) is located on the top of the rotating base plate on the tracked vehicle (1). A support steel mesh is wound on the steel mesh roller (104).

2. The large-section multi-functional hydraulic anchor bolt drilling rig according to claim 1, characterized in that, The clamping and pushing mechanism (2) includes a first fixed frame (201), a first stepper motor (202), and a movable plate (205). The first fixed frame (201) is welded to the end of the first robotic arm (101). The first stepper motor (202) is disposed on the inner wall of the first fixed frame (201). The output end of the first stepper motor (202) is fixedly connected to the first lead screw (203). The movable plate (205) is threadedly connected to the outer wall of the first lead screw (203). The movable plate (205) is also slidably connected to the outer surface of the first guide rod (204). The first guide rod (204) is fixedly installed inside the first fixed frame (201). A first dual-axis electric push rod (211) is fixedly connected to the bottom of the first fixed frame (201). Limit plates (212) are fixedly installed on both output ends of the first dual-axis electric push rod (211).

3. The large-section multi-functional hydraulic anchor bolt drilling rig according to claim 2, characterized in that, The clamping and pushing mechanism (2) further includes a first driven gear (206) rotatably connected inside the movable plate (205). The first driven gear (206) has a first electric push rod (207) fixedly connected to both sides inside. The output ends of the two sets of first electric push rods (207) are fixedly installed with first clamping blocks (208). The bottom of the movable plate (205) is provided with a first drive motor (209). The output end of the first drive motor (209) is fixedly connected to a first drive gear (210). The first driven gear (206) meshes with the first drive gear (210).

4. The large-section multi-functional hydraulic anchor bolt drilling rig according to claim 2, characterized in that, The auxiliary mechanism (3) includes a rotating disk (301), a second lead screw (302), and a second guide rod (303). The rotating disk (301) is rotatably connected to the top of the first fixed frame (201). Several sets of strip grooves are evenly opened on the rotating disk (301). The second lead screw (302) is rotatably connected inside the strip grooves. The second guide rod (303) is fixedly connected inside the strip grooves. A movable block (304) is slidably connected to the outer wall of the second guide rod (303). The movable block (304) is threadedly connected to the second lead screw (302), and a second dual-axis electric actuator (305) is fixedly installed at the bottom of the movable block (304). The two output ends of the two dual-axis electric actuators (305) are fixedly equipped with second clamping blocks (306). The two sets of second clamping blocks (306) are used to fix the extension rod. One end of several sets of second lead screws (302) extends to the outside of the strip groove and is fixedly connected to a transmission gear (307). An end face gear (308) is rotatably connected to the outer wall of the rotating disk (301). The end face gear (308) meshes with several sets of transmission gears (307). The outer end of one set of second lead screws (302) is fixedly installed at the output end of the second drive motor (309). The second drive motor (309) is fixedly installed on the inner wall of one set of the strip grooves.

5. The large-section multi-functional hydraulic anchor bolt drilling rig according to claim 4, characterized in that, A second driven gear (312) is fixedly installed at the bottom of the rotating disk (301). The second driven gear (312) and the rotating disk (301) are concentric. A third drive motor (310) is fixedly connected to the top of the outer wall of the first fixed frame (201). The output end of the third drive motor (310) is fixedly connected to the second drive gear (311), and the second drive gear (311) meshes with the second driven gear (312).

6. The large-section multi-functional hydraulic anchor bolt drilling rig according to claim 1, characterized in that, The installation mechanism (4) includes a threaded rod (402) and a movable plate (405). A second fixed frame (401) is fixedly connected to the end of the second robotic arm (102). The threaded rod (402) is rotatably connected inside the second fixed frame (401). The threads at both ends of the threaded rod (402) are opposite in direction. The movable plate (405) is provided in two sets and is threadedly connected to both ends of the outer wall of the threaded rod (402). A fixed rod (403) is also welded inside the second fixed frame (401). The movable plate (405) is slidably connected to the fixed rod (403). A servo motor (404) for driving the threaded rod (402) to rotate is installed on the outer wall of the second fixed frame (401). A rotating shaft is rotatably connected inside the two sets of movable plates (405). An electromagnet (406) is fixedly installed at one end of each set of rotating shafts that are close to each other. A fourth drive motor (407) for driving one set of rotating shafts to rotate is provided on the outer side of one set of movable plates (405).

7. The large-section multi-functional hydraulic anchor bolt drilling rig according to claim 6, characterized in that, The steel mesh roller (104) has slots (106) on both ends of the rod. The shape and size of the slots (106) are adapted to the shape and size of the electromagnet (406). The two end discs of the steel mesh roller (104) have through holes. Magnets (107) are installed in the through holes. The two end discs of the steel mesh roller (104) are made of iron material. An iron block (108) is fixedly connected to the outer end of the magnet (107). The magnetism of the electromagnet (406) on the iron block (108) when energized is greater than the magnetism of the magnet (107) on the disc of the steel mesh roller (104).

8. The large-section multi-functional hydraulic anchor bolt drilling rig according to claim 6, characterized in that, The cutting mechanism (5) includes an L-shaped plate (501) and a second electric push rod (502). The L-shaped plate (501) is fixedly installed on the second fixed frame (401), and the second electric push rod (502) is fixedly connected to the outer wall of the L-shaped plate (501). The output end of the second electric push rod (502) is fixedly connected to the vacuum adsorption plate (503). Mounting blocks (504) are welded to both ends of the outer side of the vacuum adsorption plate (503). A third lead screw (505) is rotatably connected between the two sets of mounting blocks (504). A movable [device] is threaded onto the third lead screw (505). The outer end of the third lead screw (505) is fixedly connected to the output end of the second stepper motor (507). The second stepper motor (507) is set on the outer wall of one of the mounting blocks (504), and the moving block (508) is slidably connected to the third guide rod (506). The two ends of the third guide rod (506) are respectively fixedly connected to the inner walls of the two sets of mounting blocks (504). The bottom of the moving block (508) is provided with a third electric push rod (509), and the output end of the third electric push rod (509) is fixedly installed with a laser cutting head (510).

9. The large-section multi-functional hydraulic anchor bolt drilling rig according to claim 1, characterized in that, The storage mechanism (6) includes a fixed plate (601), which is provided with two sets of rotating base plates welded to the top of the tracked vehicle (1). The two sets of fixed plates (601) are provided with a sliding groove (602) on the side that is close to each other. Several sets of steel mesh rollers (104) are slidably connected in the two sets of sliding grooves (602). A placement frame is provided on the rear side of the fixed plate (601), and several sets of anchor rods (105) are stored inside the placement frame.

10. A large-section multi-functional hydraulic anchor bolt drilling rig according to claim 1, characterized in that, The storage mechanism (6) further includes a fourth lead screw (604), a fourth guide rod (605), and a movable part (607). A third fixed frame (603) is welded to the top of the rotating base plate on the tracked vehicle (1). The fourth lead screw (604) is rotatably connected to the inside of the third fixed frame (603). The fourth guide rod (605) is fixedly installed inside the third fixed frame (603). The movable part (607) is threadedly connected to the outer wall of the fourth lead screw (604). The movable part (607) is slidably connected to the fourth guide rod (605). A third stepper motor (606) for driving the fourth lead screw (604) to rotate is provided on the outside of the third fixed frame (603). Two sets of fourth electric push rods (608) are fixedly installed on the outside of the movable part (607). The output ends of the two sets of fourth electric push rods (608) are fixedly connected to the top plate (609).

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