Narrow-body anchor rod and anchor cable drill carriage

Abstract

The narrow-machine-body anchor rod and anchor cable drill carriage comprises a drill carriage body, and a first mechanical arm and a second mechanical arm are fixedly connected to the two sides of the top of the drill carriage body correspondingly. According to the device, through cooperative use of a first mechanical arm, a second mechanical arm, an anchor rod drilling mechanism, a telescopic assembly and an anchor cable mechanism, the distance between two sets of drill bits can be adjusted, holes of different sizes can be drilled at different drilling point positions according to requirements, and anchor rods are automatically arranged in the drilled holes; 179 anchor rods can be stored for use at a time, and workers do not need to feed the anchor rods repeatedly; secondly, according to the size of a drilled hole, different modes are selected to convey the anchor cable into the hole, convenience and rapidness are achieved, a plurality of workers do not need to move the anchor cable to plug the anchor cable into the hole, the requirements of the workers are met, and the device has substantial improvement and can be widely used and popularized in real life.

Description

Technical Field

[0001] This invention relates to the field of anchor bolt and anchor cable drilling rig technology, specifically to a narrow-body anchor bolt and anchor cable drilling rig. Background Technology

[0002] At present, the level of mechanization equipment in my country's coal mining has been greatly improved, and a large number of advanced new products and technologies have been widely promoted and used. About 70% of the roadways in coal mining are small cross-section roadways, and the overall level of mechanization equipment for fully mechanized tunneling in small cross-section roadways is far behind that of fully mechanized mining, especially in the case of bolt support operations.

[0003] Currently, the support equipment for roadways widely uses manual rock drills, which affects the quality of rock bolt support, including the accuracy of the orientation, depth, and diameter of the rock bolt holes, as well as the quality of the rock bolt installation. It also involves the personal safety, labor intensity and working conditions of the operators, and support efficiency. In addition, in the construction of rock bolt support in coal mines, traditional pneumatic rock drills and coal electric drills are still widely used. Although a few coal mines use rock bolt trolleys with a relatively high degree of mechanization for support, the existing equipment is large in size, which is not convenient for operation in confined spaces and cannot meet the needs of the workers. Summary of the Invention

[0004] To solve the above-mentioned technical problems, a narrow-body anchor bolt and cable drilling rig is provided. This technical solution solves the problems mentioned in the background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A narrow-body anchor bolt and anchor cable drilling rig includes a drilling rig body. A first mechanical arm and a second mechanical arm are fixedly connected to the top two sides of the drilling rig body, respectively. An anchor bolt drilling mechanism is provided at the end of the first mechanical arm. A first connecting member is fixedly installed at the end of the second mechanical arm. A second connecting member, a third connecting member, and a fourth connecting member are slidably connected inside the first connecting member. The first connecting member, the second connecting member, the third connecting member, and the fourth connecting member are connected by a telescopic component. An anchor cable mechanism is provided on the first connecting member and the fourth connecting member.

[0006] Preferably, the anchor drilling mechanism includes an electromagnet fixedly installed at the end of the first robotic arm. The electromagnet has a first placement slot and several second placement slots. The first placement slot is used to place the drill rod, and the several second placement slots are all used to place the anchor rod. A dual-axis electric actuator is fixedly connected inside the drill rod, and both output ends of the dual-axis electric actuator are fixedly connected to the drill bit.

[0007] Preferably, the anchor drilling mechanism further includes a first stepper motor, a first lead screw, and a first guide rod. The first stepper motor is fixedly installed at the center of the outer side of the electromagnet. The outer side of the electromagnet is also fixedly connected to a fixing member through two sets of first guide rods. The middle part of the fixing member is rotatably connected to the first lead screw. The other end of the first lead screw is fixedly connected to the output end of the first stepper motor, and the outer wall of the first lead screw is threadedly connected to a movable disk. The movable disk is slidably connected to the outer wall of the first guide rod.

[0008] Preferably, an electric push rod is fixedly installed on the outer side of the movable disk, the output end of the electric push rod is fixedly connected to the mounting plate, a drive motor is provided on the outer side of the mounting plate, a drive gear is fixedly connected to the output end of the drive motor, a driven gear ring is rotatably connected inside the mounting plate and meshes with the drive gear, a first limiting slide member is fixedly connected to the driven gear ring, and a first limiting slide groove adapted to the first limiting slide member is provided on the mounting plate, the first limiting slide member is slidably connected inside the first limiting slide groove.

[0009] Preferably, a frame is fixedly connected to the outer wall of the driven gear ring, and a threaded rod is rotatably connected inside the frame. The outer end of the threaded rod is fixedly connected to the output end of the servo motor. The servo motor is disposed on the inner wall of the frame. A fixing rod is also welded inside the frame. Two sets of clamping members are slidably connected to the outer wall of the fixing rod. The threads at both ends of the threaded rod have opposite directions, and the two sets of clamping members are respectively threaded to the two ends of the outer wall of the threaded rod.

[0010] Preferably, the telescopic assembly includes a movable plate, which is threadedly connected to the outer wall of the second lead screw. The first connector has an internal mounting groove, and the second lead screw is rotatably connected in the mounting groove. The outer end of the second lead screw is fixedly connected to the output end of the second stepper motor, and the second stepper motor is mounted on the inner wall of the mounting groove. The movable plate is slidably connected to the second guide rod, and the second guide rod is fixedly installed in the mounting groove.

[0011] Preferably, the telescopic assembly further includes a scissor-type telescopic member, one end of which is rotatably connected to the interior of the first connecting member, and the other end of which is rotatably connected to the interior of the fourth connecting member. The scissor-type telescopic member is provided with a second limiting slide member, which is slidably connected to the interior of a second limiting slide groove. The second limiting slide groove is formed inside the second connecting member, the third connecting member, and the fourth connecting member, and the scissor-type telescopic member is rotatably connected to the movable plate.

[0012] Preferably, the anchor cable mechanism includes a connecting block and a movable component. The connecting block has two sets, both welded to the outer wall of the first connecting component. A third lead screw is rotatably connected between the two sets of connecting blocks. A third guide rod is also fixedly installed between the two sets of connecting blocks. A third stepper motor for driving the third lead screw to rotate is provided on the outer wall of one set of connecting blocks.

[0013] Preferably, the movable component is provided in two sets. One set of the movable component is threadedly connected to the third lead screw and also slidably connected to the third guide rod. The other set of the movable component is fixedly installed on the outer end of the fourth connector. A disc body is fixedly connected inside the movable component, and several sets of frames are rotatably connected inside the disc body.

[0014] Preferably, a fourth lead screw is rotatably connected inside the frame, one end of the fourth lead screw extends out of the frame and is fixedly connected to a transmission gear, a movable part is threaded onto the fourth lead screw, a fourth guide rod is also fixedly connected inside the frame, the movable part is slidably connected to the fourth guide rod, a set of end face gears is rotatably connected inside the disc, several sets of transmission gears mesh with the end face gears, an installation part is fixedly connected to the outer end of the movable part, a roller is rotatably connected inside the installation part, and a fourth stepper motor is provided on the inner wall of one set of the frame, and the outer end of one set of the fourth lead screws is fixedly connected to the output end of the fourth stepper motor.

[0015] Compared with the prior art, the present invention provides a narrow-body anchor bolt and cable drilling rig, which has the following advantages: This invention utilizes the coordinated use of a first robotic arm, a second robotic arm, an anchor drilling mechanism, a telescopic component, and an anchor cable mechanism. The distance between the two sets of drill bits is adjustable, allowing for the drilling of holes of different sizes at different drilling points as needed. Anchor bolts are then automatically placed within the drilled holes. This invention features 179 second placement slots, capable of storing 179 anchor bolts at a time, eliminating the need for repeated loading of anchor bolts by workers. Furthermore, depending on the size of the drilled hole, different methods are selected to deliver the anchor cable into the hole, which is convenient and quick, eliminating the need for multiple workers to move the anchor cable and insert it into the hole, thus meeting the needs of workers. This invention represents a substantial improvement and can be widely promoted and used in real-world applications. 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 end effector structure of the first robotic arm in this invention; Figure 3 This is a schematic diagram of the structure of the magnetic disk in this invention; Figure 4 This is a schematic diagram of the anchor drilling mechanism in this invention; Figure 5 This is a schematic diagram of the structure of the movable disk in this invention; Figure 6 This is a schematic diagram of the mounting plate in this invention; Figure 7 In this invention Figure 6 A schematic diagram of the enlarged structure at point A; Figure 8 This is a schematic diagram of the drill pipe structure in this invention; Figure 9 This is a schematic diagram of the end effector structure of the second robotic arm in this invention; Figure 10 This is a schematic diagram of the internal structure of the first connector, the second connector, the third connector, and the fourth connector in this invention; Figure 11 This is a schematic diagram of the telescopic component in this invention; Figure 12 This is a schematic diagram of the internal structure of the disk body in this invention; Figure 13 In this invention Figure 9 A schematic diagram of the enlarged structure at point B.

[0017] The numbers on the map are: 1. Drilling rig body; 101. First robotic arm; 102. Second robotic arm; 103. First connecting piece; 104. Second connecting piece; 105. Third connecting piece; 106. Fourth connecting piece; 2. Anchor bolt drilling mechanism; 201. Electromagnetic disk; 202. First placement slot; 203. Second placement slot; 204. First stepper motor; 205. First lead screw; 206. Moving disk; 207. Electric push rod; 208. Mounting plate; 209. Drive motor; 210. Drive gear; 211. Driven gear ring; 212. First limiting slide groove; 213. First limiting slide; 214. Frame; 215. Servo motor; 216. Threaded rod; 217. Fixing rod; 218. Clamping component; 219. Drill rod; 220. Dual-axis electric push rod; 221. Drill bit; 222. First guide rod; 223. Fixing component; 3. Telescopic assembly; 301. Second stepper motor; 302. Second lead screw; 303. Second guide rod; 304. Moving plate; 305. Scissor telescopic component; 306. Second limiting slide groove; 307. Second limiting slide component; 4. Anchor cable mechanism; 401. Connecting block; 402. Third lead screw; 403. Third guide rod; 404. Third stepper motor; 405. Moving part; 406. Disc; 407. Frame; 408. Fourth lead screw; 409. Fourth guide rod; 410. Transmission gear; 411. End face gear; 412. Fourth stepper motor; 413. Moving part; 414. Mounting part; 415. Roller. 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 1-12 As shown, a narrow-body anchor bolt and anchor cable drilling rig includes a drilling rig body 1. A first mechanical arm 101 and a second mechanical arm 102 are fixedly connected to the top two sides of the drilling rig body 1, respectively. An anchor bolt drilling mechanism 2 is provided at the end of the first mechanical arm 101. A first connecting member 103 is fixedly installed at the end of the second mechanical arm 102. A second connecting member 104, a third connecting member 105 and a fourth connecting member 106 are slidably connected inside the first connecting member 103. The first connecting member 103, the second connecting member 104, the third connecting member 105 and the fourth connecting member 106 are connected by a telescopic component 3. An anchor cable mechanism 4 is provided on the first connecting member 103 and the fourth connecting member 106.

[0020] Example 2 Please refer to Figure 2 , Figure 3 and Figure 8 As shown, the anchor drilling mechanism 2 includes an electric disk 201 fixedly installed at the end of the first robotic arm 101. The electric disk 201 has a set of first placement slots 202 and several sets of second placement slots 203. The first placement slots 202 are used to place the drill rod 219, and the several sets of second placement slots 203 are all used to place the anchor rod. A dual-axis electric actuator 220 is fixedly connected inside the drill rod 219. Both output ends of the dual-axis electric actuator 220 are fixedly connected to the drill bit 221.

[0021] Those skilled in the art will understand that the first robotic arm 101 can accurately reach the drilling point and place the anchor rod inside the drilled hole by driving the drill rod 219. The first robotic arm 101 has a large adjustment range, and by controlling the two output ends of the dual-axis electric actuator 220 to extend or retract synchronously, the distance between the two sets of drill bits 221 can be changed. The ends of the drill bits 221 are sharp, thereby drilling holes of different sizes. The present invention is equipped with an electric disk 201. When the electric disk 201 is powered on, the drill rod 219 and the anchor rod are fixed on the electric disk 201. The present invention is equipped with 179 second placement slots 203, which can store 179 anchor rods at a time for use, eliminating the need for workers to repeatedly load the anchor rods.

[0022] Please refer to Figure 4As shown, the anchor drilling mechanism 2 also includes a first stepper motor 204, a first lead screw 205, and a first guide rod 222. The first stepper motor 204 is fixedly installed at the outer center of the electric disk 201. The outer side of the electric disk 201 is also fixedly connected to the fixing member 223 through two sets of first guide rods 222. The first lead screw 205 is rotatably connected to the middle of the fixing member 223. The other end of the first lead screw 205 is fixedly connected to the output end of the first stepper motor 204. The outer wall of the first lead screw 205 is threadedly connected to a movable disk 206, which is slidably connected to the outer wall of the first guide rod 222.

[0023] Please refer to Figure 5 and Figure 6 As shown, an electric push rod 207 is fixedly installed on the outer side of the movable disk 206. The output end of the electric push rod 207 is fixedly connected to the mounting plate 208. A drive motor 209 is provided on the outer side of the mounting plate 208. A drive gear 210 is fixedly connected to the output end of the drive motor 209. A driven gear ring 211 that meshes with the drive gear 210 is rotatably connected inside the mounting plate 208. A first limiting slide member 213 is fixedly connected to the driven gear ring 211. A first limiting slide groove 212 that matches the first limiting slide member 213 is opened on the mounting plate 208. The first limiting slide member 213 is slidably connected inside the first limiting slide groove 212.

[0024] Please refer to Figure 7 As shown, a frame 214 is fixedly connected to the outer wall of the driven gear ring 211. A threaded rod 216 is rotatably connected inside the frame 214. The outer end of the threaded rod 216 is fixedly connected to the output end of the servo motor 215. The servo motor 215 is set on the inner wall of the frame 214. A fixing rod 217 is also welded inside the frame 214. Two sets of clamping members 218 are slidably connected to the outer wall of the fixing rod 217. The threads at both ends of the threaded rod 216 have opposite directions, and the two sets of clamping members 218 are respectively threaded to both ends of the outer wall of the threaded rod 216.

[0025] Those skilled in the art will understand that the several sets of second placement slots 203 in this invention are evenly arrayed, and therefore, the several sets of anchor rods are also evenly stored. By controlling the output end of the electric push rod 207 to extend or retract, the driven gear ring 211 can reach any position of the second placement slot 203 on the electric disk 201. The output end of the servo motor 215 drives the threaded rod 216 to rotate, causing the two sets of clamping members 218 to move closer to each other, thereby clamping and fixing the anchor rod inside the second placement slot 203 at that position. In addition, the output end of the first step motor 204 drives the first lead screw 205 to rotate, causing the moving disk 206 to move downward along the outer wall of the first guide rod 222, thereby driving the anchor rod downward and inserting the anchor rod into the drilled hole. Two sets of clamping parts 218 can also clamp and fix the drill rod 219. Under the action of the output end of the first stepper motor 204, the drill rod 219 is driven to move downward. At the same time, the output end of the drive motor 209 is rotated, which drives the drive gear 210 to rotate, so that the driven gear ring 211 rotates. This causes the drill rod 219 to rotate while moving downward, thereby realizing drilling at the drilling point. It is worth noting here that in this invention, the disk 201 has one set of first placement slots 202 and five sets of second placement slots 203 along one radial direction, and six sets of second placement slots 203 along multiple other radial directions. Using the center of the disk 201 as a reference, the center of the first placement slot 202 is denoted as point A, and the centers of the first second placement slot 203 closest to the center of the disk 201 in multiple radial directions are all denoted as points B1. Connecting point A and all points B1 together forms a circle, denoted as the "inner circle". Circle 1”, and the centers of the second second placement slots 203 near the center of the disk 201 in multiple radial directions are all marked as points B2. Connecting all the points B2 together can also form a circle, marked as “inner circle 2”. By analogy, “inner circle 3”, “inner circle 4”, “inner circle 5” and “inner circle 6” can be formed in sequence. Therefore, the order of use of the anchor rods stored in this invention is: first use up all the anchor rods in “inner circle 1”, then use up all the anchor rods in “inner circle 2”, and so on, and finally use all the anchor rods in “inner circle 6”.

[0026] Example 3 Please refer to Figure 10 and Figure 11 As shown, the telescopic assembly 3 includes a movable plate 304, which is threadedly connected to the outer wall of the second lead screw 302. The first connecting member 103 has an internal mounting groove. The second lead screw 302 is rotatably connected in the mounting groove. The outer end of the second lead screw 302 is fixedly connected to the output end of the second stepper motor 301, and the second stepper motor 301 is disposed on the inner wall of the mounting groove. The movable plate 304 is slidably connected to the second guide rod 303, and the second guide rod 303 is fixedly installed in the mounting groove.

[0027] Please refer to Figure 10 and Figure 11As shown, the telescopic assembly 3 also includes a scissor telescopic member 305. One end of the scissor telescopic member 305 is rotatably connected to the inside of the first connector 103, and the other end of the scissor telescopic member 305 is rotatably connected to the inside of the fourth connector 106. A second limiting slide member 307 is provided on the scissor telescopic member 305. The second limiting slide member 307 is slidably connected to the inside of the second limiting slide groove 306. The second limiting slide groove 306 is opened inside the second connector 104, the third connector 105 and the fourth connector 106, and the scissor telescopic member 305 is rotatably connected to the moving plate 304.

[0028] Those skilled in the art will understand that by driving the second lead screw 302 to rotate through the output end of the second stepper motor 301, the moving plate 304 moves toward or away from the second stepper motor 301, thereby putting the scissor telescopic member 305 into a retracted or extended state. This achieves the goal of driving the second connecting member 104, the third connecting member 105, and the fourth connecting member 106 to retract into the first connecting member 103 or to extend the second connecting member 104, the third connecting member 105, and the fourth connecting member 106 to extend out of the first connecting member 103.

[0029] Example 4 Please refer to Figure 9 As shown, the anchor cable mechanism 4 includes a connecting block 401 and a movable part 405. The connecting block 401 is provided with two sets of components welded to the outer wall of the first connecting part 103. A third lead screw 402 is rotatably connected between the two sets of connecting blocks 401. A third guide rod 403 is also fixedly installed between the two sets of connecting blocks 401. A third stepper motor 404 for driving the third lead screw 402 to rotate is provided on the outer wall of one set of connecting blocks 401.

[0030] Please refer to Figure 9 and Figure 12 As shown, there are two sets of movable parts 405. One set of movable parts 405 is threadedly connected to the third lead screw 402 and also slidably connected to the third guide rod 403. The other set of movable parts 405 is fixedly installed on the outer end of the fourth connector 106. The inside of the movable part 405 is fixedly connected to the disc body 406, and the inside of the disc body 406 is rotatably connected to several sets of frame bodies 407.

[0031] Please refer to Figure 12 and Figure 13As shown, a fourth lead screw 408 is rotatably connected inside the frame 407. One end of the fourth lead screw 408 extends outside the frame 407 and is fixedly connected to the transmission gear 410. A moving part 413 is threadedly connected to the fourth lead screw 408. A fourth guide rod 409 is also fixedly connected inside the frame 407. The moving part 413 is slidably connected to the fourth guide rod 409. A set of end face gears 411 is rotatably connected inside the disc 406. Several sets of transmission gears 410 mesh with the end face gears 411. An installation part 414 is fixedly connected to the outer end of the moving part 413. A roller 415 is rotatably connected inside the installation part 414. A fourth stepper motor 412 is provided on the inner wall of one set of the frame 407. The outer end of one set of the fourth lead screw 408 is fixedly connected to the output end of the fourth stepper motor 412.

[0032] Those skilled in the art will understand that, after drilling a hole, if the hole is large, the worker will place the ends of multiple ring-connected anchor cables inside the disc 406 on the outer end of the fourth connector 106. The output of the fourth stepper motor 412 will drive one set of fourth lead screws 408 and transmission gears 410 to rotate as a whole, causing the end face gear 411 to rotate, which will drive all the fourth lead screws 408 and transmission gears 410 to rotate synchronously, causing all the moving parts 413 to move towards the center of the disc 406, and then all the rollers 415 to move towards the center of the disc 406, thereby clamping and fixing the ends of the ring-connected anchor cables. Under the action of the second robotic arm 102, the clamped ends of the ring-connected anchor cables will be aligned with the larger hole, and with the cooperation of the telescopic component 3, the ring-connected anchor cables will be placed directly into the larger hole. If the hole size is small, the worker will pass the end of the ring-connected anchor cable through the two sets of discs 406 in sequence, and clamp and fix the anchor cable through all the rollers 415 in the two sets of discs 406. The anchor cable has two clamping positions, denoted as S1 and S2. Under the action of the second robotic arm 102, the clamped end of the ring-connected anchor cable is aligned with the smaller hole. The output end of the third stepper motor 404 drives the third lead screw 402 to rotate, driving the anchor cable to move towards the hole. At the same time, the clamping of the anchor cable at S1 is released. This process is repeated, and with the rotation of the rollers 415, the anchor cable is gradually conveyed into the smaller hole.

[0033] Working principle of the invention: The drilling rig body 1 of this invention is relatively narrow. With the help of the first robotic arm 101 and the second robotic arm 102, it can achieve multi-angle adjustment and is suitable for anchor bolt and anchor cable operations in roadways of different sizes. Under the action of the first robotic arm 101, this invention can accurately reach different drilling points in the roadway. The drill rod 219 can also be clamped and fixed by two sets of clamping parts 218. Under the action of the output end of the first stepper motor 204, the drill rod 219 is driven to move downward. At the same time, the output end of the drive motor 209 is rotated, which drives the drive gear 210 to rotate, so that the driven gear ring 211 rotates. This causes the drill rod 219 to rotate while moving downward, thereby realizing drilling at the drilling point. In addition, by controlling the two output ends of the dual-axis electric push rod 220 to extend or retract synchronously, the distance between the two sets of drill bits 221 can be changed. The ends of the drill bits 221 are sharp, so that holes of different sizes can be drilled at different drilling points according to the requirements. When placing anchor bolts in the drilled holes, the output end of the electric push rod 207 is extended or retracted, allowing the driven gear ring 211 to reach any position of the second placement slot 203 on the electromagnet 201. Two sets of clamping members 218 clamp the anchor bolts at different positions. The electromagnet 201 has one set of first placement slots 202 and five sets of second placement slots 203 along one radial direction, and six sets of second placement slots 203 along multiple other radial directions. Using the center of the electromagnet 201 as a reference, the center of the first placement slot 202 is denoted as point A, and the centers of the first second placement slot 203 closest to the center of the electromagnet 201 in multiple radial directions are all denoted as points B1. Connecting point A and all points B1 together forms a circle, denoted as "". Inner circle 1”, and the centers of the second second placement slots 203 near the center of the disk 201 in multiple radial directions are all marked as points B2. Connecting all points B2 together can also form a circle, marked as “inner circle 2”. By analogy, “inner circle 3”, “inner circle 4”, “inner circle 5” and “inner circle 6” can be formed in sequence. Therefore, the order of use of the anchor rods stored in this invention is: first use up all the anchor rods in “inner circle 1”, then use up all the anchor rods in “inner circle 2”, and so on. Finally, all the anchor rods in “inner circle 6” are used. When replacing the anchor rods, the first robotic arm 101 is used to adjust the disk 201 to a horizontal state, and all the anchor rods are facing upwards. The disk 201 is de-energized, and under the constraint of the second placement slots 203, the anchor rods will not fall off. When placing anchor cables in the drilled hole, if the hole size is large, the workers place the ends of multiple ring-connected anchor cables inside the upper plate 406 of the fourth connector 106. The output of the fourth stepper motor 412 drives one set of fourth lead screws 408 and transmission gears 410 to rotate as a whole, causing the end face gear 411 to rotate. This causes all the fourth lead screws 408 and transmission gears 410 to rotate synchronously, making all the moving parts 413 move towards the center of the plate 406. Consequently, all the rollers 415 move towards the center of the plate 406, thus clamping and fixing the ends of the ring-connected anchor cables. Under the action of the second robotic arm 102, the clamped ends of the ring-connected anchor cables are aligned with the larger hole, and with the cooperation of the telescopic component 3, the ring-connected anchor cables are directly placed into the larger hole. If the hole size is small, the worker will pass the end of the ring-connected anchor cable through the two sets of discs 406 in sequence, and clamp and fix the anchor cable through all the rollers 415 in the two sets of discs 406. The anchor cable has two clamping positions, denoted as S1 and S2. Under the action of the second robotic arm 102, the clamped end of the ring-connected anchor cable is aligned with the smaller hole. The output end of the third stepper motor 404 drives the third lead screw 402 to rotate, driving the anchor cable to move towards the hole. At the same time, the clamping of the anchor cable at S1 is released. This process is repeated, and with the rotation of the rollers 415, the anchor cable is gradually conveyed into the smaller hole.

[0034] 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 narrow-body anchor bolt and cable drilling rig, comprising a drilling rig body (1), characterized in that, The top two sides of the drilling rig body (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 provided with an anchor drilling mechanism (2). The end of the second mechanical arm (102) is fixedly installed with a first connector (103). The first connector (103) is internally connected with a second connector (104), a third connector (105) and a fourth connector (106). The first connector (103), the second connector (104), the third connector (105) and the fourth connector (106) are connected by a telescopic component (3). The first connector (103) and the fourth connector (106) are provided with an anchor cable mechanism (4).

2. The narrow-body anchor bolt and cable drilling rig according to claim 1, characterized in that, The anchor drilling mechanism (2) includes an electric disk (201) fixedly installed at the end of the first robotic arm (101). The electric disk (201) has a first placement slot (202) and several second placement slots (203). The first placement slot (202) is used to place the drill rod (219), and the several second placement slots (203) are all used to place the anchor rod. The drill rod (219) is internally connected to a dual-axis electric actuator (220), and the two output ends of the dual-axis electric actuator (220) are fixedly connected to the drill bit (221).

3. The narrow-body anchor bolt and cable drilling rig according to claim 2, characterized in that, The anchor drilling mechanism (2) further includes a first stepper motor (204), a first lead screw (205) and a first guide rod (222). The first stepper motor (204) is fixedly installed at the outer center of the electric disk (201). The outer side of the electric disk (201) is also fixedly connected to the fixing member (223) through two sets of first guide rods (222). The middle part of the fixing member (223) is rotatably connected to the first lead screw (205). The other end of the first lead screw (205) is fixedly connected to the output end of the first stepper motor (204). The outer wall of the first lead screw (205) is threadedly connected to a movable disk (206). The movable disk (206) is slidably connected to the outer wall of the first guide rod (222).

4. The narrow-body anchor bolt and cable drilling rig according to claim 3, characterized in that, An electric push rod (207) is fixedly installed on the outer side of the movable disk (206). The output end of the electric push rod (207) is fixedly connected to the mounting plate (208). A drive motor (209) is provided on the outer side of the mounting plate (208). A drive gear (210) is fixedly connected to the output end of the drive motor (209). A driven gear ring (211) that meshes with the drive gear (210) is rotatably connected inside the mounting plate (208). A first limiting slide (213) is fixedly connected to the driven gear ring (211). A first limiting slide groove (212) that matches the first limiting slide (213) is opened on the mounting plate (208). The first limiting slide (213) is slidably connected inside the first limiting slide groove (212).

5. A narrow-body anchor bolt and cable drilling rig according to claim 4, characterized in that, A frame (214) is fixedly connected to the outer wall of the driven gear ring (211). A threaded rod (216) is rotatably connected inside the frame (214). The outer end of the threaded rod (216) is fixedly connected to the output end of the servo motor (215). The servo motor (215) is set on the inner wall of the frame (214). A fixing rod (217) is also welded inside the frame (214). Two sets of clamping members (218) are slidably connected to the outer wall of the fixing rod (217). The threads at both ends of the threaded rod (216) are opposite in direction, and the two sets of clamping members (218) are respectively threaded to both ends of the outer wall of the threaded rod (216).

6. The narrow-body anchor bolt and cable drilling rig according to claim 1, characterized in that, The telescopic component (3) includes a movable plate (304), which is threadedly connected to the outer wall of the second lead screw (302). The first connector (103) has an installation groove inside. The second lead screw (302) is rotatably connected in the installation groove. The outer end of the second lead screw (302) is fixedly connected to the output end of the second stepper motor (301), and the second stepper motor (301) is set on the inner wall of the installation groove. The movable plate (304) is slidably connected to the second guide rod (303), and the second guide rod (303) is fixedly installed in the installation groove.

7. A narrow-body anchor bolt and cable drilling rig according to claim 6, characterized in that, The telescopic assembly (3) further includes a scissor telescopic member (305). One end of the scissor telescopic member (305) is rotatably connected to the inside of the first connector (103), and the other end of the scissor telescopic member (305) is rotatably connected to the inside of the fourth connector (106). A second limiting slide (307) is provided on the scissor telescopic member (305). The second limiting slide (307) is slidably connected to the inside of the second limiting slide groove (306). The second limiting slide groove (306) is opened inside the second connector (104), the third connector (105), and the fourth connector (106). The scissor telescopic member (305) is rotatably connected to the moving plate (304).

8. A narrow-body anchor bolt and cable drilling rig according to claim 1, characterized in that, The anchor cable mechanism (4) includes a connecting block (401) and a movable part (405). The connecting block (401) is provided with two sets of components welded to the outer wall of the first connecting part (103). A third lead screw (402) is rotatably connected between the two sets of connecting blocks (401). A third guide rod (403) is also fixedly installed between the two sets of connecting blocks (401). A third stepper motor (404) for driving the third lead screw (402) to rotate is provided on the outer wall of one set of connecting blocks (401).

9. A narrow-body anchor bolt and cable drilling rig according to claim 8, characterized in that, The movable part (405) is also provided in two sets. One set of the movable part (405) is threadedly connected to the third lead screw (402) and also slidably connected to the third guide rod (403). The other set of the movable part (405) is fixedly installed on the outer end of the fourth connector (106). The inside of the movable part (405) is fixedly connected to the disc body (406), and the inside of the disc body (406) is rotatably connected to several sets of frames (407).

10. A narrow-body anchor bolt and cable drilling rig according to claim 9, characterized in that, A fourth lead screw (408) is rotatably connected inside the frame (407). One end of the fourth lead screw (408) extends outside the frame (407) and is fixedly connected to the transmission gear (410). A moving part (413) is threaded onto the fourth lead screw (408). A fourth guide rod (409) is also fixedly connected inside the frame (407). The moving part (413) is slidably connected to the fourth guide rod (409). The disc (406) is rotatably connected inside. There is a set of end face gears (411), and several sets of transmission gears (410) mesh with the end face gears (411). The outer end of the moving part (413) is fixedly connected to the mounting part (414), and the inner side of the mounting part (414) is rotatably connected to the roller body (415). A fourth stepper motor (412) is provided on the inner wall of one set of the frame (407), and the outer end of one set of the fourth lead screw (408) is fixedly connected to the output end of the fourth stepper motor (412).

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