Anchoring trolley with adaptive damping and balance

Abstract

This invention relates to the field of mining anchor bolt trolley technology, and discloses an anchor bolt trolley with adaptive shock absorption and balance of the boom. It includes a chassis, with power mechanisms fixedly installed on both the front and rear sides of the inner wall of the chassis. A data acquisition compartment is fixedly connected to the top right side of the chassis, and a mounting base is fixedly connected to the top center of the inner wall of the chassis. A mining component is disposed on the top of the inner wall of the mounting base, and a hopper is fixedly connected to the top left side of the chassis. An anchor bolt assembly is disposed on the inner wall of the mining component. In this invention, the boom features adaptive shock absorption, reducing impact and improving accuracy. The anchor bolt assembly is equipped with a shock-absorbing propulsion air pipe and an adaptive buffer structure, effectively absorbing high-frequency impacts and attenuating vibrations during rock drilling and ore mining, reducing boom shaking and positioning drift, ensuring precise drilling and mining positions, and improving support and mining quality. Simultaneously, it reduces the impact of vibration on the boom, cab, and hydraulic system, reducing structural fatigue and component damage.

Description

Technical Field

[0001] This invention relates to the field of mining anchor bolt trolley technology, and in particular to an anchor bolt trolley with adaptive shock absorption and balance of the boom. Background Technology

[0002] The mine anchor bolt trolley is a mechanized support equipment specifically designed for underground mine roadways and tunnels. Its core functions include drilling holes in the roof and sidewalls, installing anchor bolts and cables, attaching mesh, and grouting to reinforce the surrounding rock, prevent collapses and rockfalls, and ensure safe tunneling. Featuring a tracked and tire-mounted chassis, multi-jointed drilling arm, hydraulic rock drill, anchor bolt chamber, and hydraulic and electrical control systems, it replaces manual high-altitude and high-risk operations, offering 3-5 times the efficiency of manual labor. It provides stable support quality and is suitable for coal mines, metal mines, tunnels, and other similar environments. During anchor bolt trolley operation, factors such as rock drilling impact vibration, uneven roadway floors, and variable loads can cause severe damage to the boom. Severe shaking, offset, and swaying directly affect safety, accuracy, and lifespan. Therefore, adaptive vibration reduction and dynamic balancing must be adopted. The unevenness, tilt, and floating rocks of the underground floor cause the center of gravity to shift in real time during boom extension and luffing, which can easily lead to instability and rollover. Load changes can cause sudden torque changes, boom shaking, and positioning drift. Adaptive balancing compensates for the center of gravity in real time, keeps the drill arm vertical and horizontal, and ensures stable operation in all postures. Vibration reduction solves the vibration and accuracy problems, while balancing solves the stability and safety problems. The two work together to complete the anchor bolt support operation efficiently, accurately, safely, and durablely in the complex working conditions of the mine.

[0003] Traditional anchor bolt trolleys primarily perform support operations such as drilling, anchor bolt installation, mesh installation, and grouting. Their relatively limited functionality makes it difficult to simultaneously integrate ore mining, crushing, conveying, and transfer processes. This leads to a separation of mining and support procedures, resulting in low overall operational efficiency. Furthermore, the complex and harsh underground working environment, with uneven roadways, loose debris, and sloping surfaces, compromises equipment stability. High-frequency impact vibrations generated during drilling and mining can cause boom vibration, positioning misalignment, and decreased drilling accuracy. These vibrations also accelerate fatigue damage to the boom structure, hydraulic components, and transmission parts, reducing equipment lifespan. In addition, the mined ore has uneven particle size, and large pieces can easily clog conveying channels, affecting material flow. The lack of online monitoring prevents real-time monitoring of the conveyed ore, leading to problems such as jamming and leakage, further reducing the continuity and safety of underground operations.

[0004] To address the aforementioned issues, a boom-adaptive shock absorption and balancing anchor trolley is proposed. Summary of the Invention

[0005] To overcome the above deficiencies, this invention provides an anchor bolt trolley with adaptive vibration reduction and balancing for the boom. It aims to improve the existing equipment's shortcomings, such as the separation of support and mining functions, insufficient boom vibration resistance and balancing capacity, lack of ore crushing and automatic conveying detection, and low degree of integrated operation, which make it difficult to meet the needs of modern mines for efficient, safe, and intelligent mining.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an anchor bolt trolley with adaptive shock absorption and balance of boom, comprising a chassis, a power mechanism fixedly installed on both the front and rear sides of the inner wall of the chassis, a data acquisition compartment fixedly connected to the top right side of the chassis, a mounting base fixedly connected to the top middle of the inner wall of the chassis, a mining component disposed on the top inner wall of the mounting base, a hopper fixedly connected to the top left side of the chassis, an anchor bolt assembly disposed on the inner wall of the mining component, a conveying component disposed on the left side of the inner wall of the hopper, a moving component fixedly installed on the bottom inner wall of the conveying component, a detection component disposed on the left side of the conveying component, and a crushing component disposed on the left side of the inner wall of the detection component;

[0007] The mining assembly includes a fixed frame, which is fixedly connected to the top of the inner wall of the mounting base. A driver is fixedly connected to the inner wall of the fixed frame. A steering seat is fixedly connected to the output end of the driver. A cab is fixedly connected to the top of the inner wall of the steering seat. Lighting lamps are fixedly connected to the front and rear sides of the top of the cab. A robotic arm is installed on the rear side of the inner wall of the cab. A robotic arm is installed on the front side of the inner wall of the cab. A bucket is installed on the left side of the inner wall of the robotic arm.

[0008] As a further description of the above technical solution:

[0009] The anchor bolt assembly includes a rotating frame, which is installed on the left side of the inner wall of the robotic arm. A rod is fixedly connected to the left side of the inner wall of the rotating frame. A shock-absorbing propulsion air pipe is fixedly connected to the rear side of the inner wall of the rod. A moving mechanism is slidably installed on the left side of the outer wall of the rod. A mounting plate is fixedly connected to the bottom of the inner wall of the moving mechanism. A driver is fixedly connected to the inner wall of the mounting plate. An anchor head is fixedly connected to the bottom of the inner wall of the driver. A limit seat is fixedly connected to the bottom left side of the rod.

[0010] As a further description of the above technical solution:

[0011] The conveying assembly includes a second mounting frame, which is fixedly connected to the left side of the inner wall of the hopper. Trapezoidal plates are fixedly connected to the adjacent sides of the inner wall of the second mounting frame. A second motor is fixedly connected to the front side of the inner wall of the second mounting frame. A first connecting rod is fixedly connected to the output end of the second motor. A conveyor belt is provided on the outer wall of the first connecting rod.

[0012] As a further description of the above technical solution:

[0013] The movable component includes a mounting frame 1, which is fixedly connected to the bottom of a mounting frame 2. Multiple motors 1 are fixedly connected to each other on the inner wall of the mounting frame 1 on one side. The output ends of the multiple motors 1 are fixedly connected to a drive shaft. The outer side of the outer wall of the drive shaft is fixedly connected to a moving wheel.

[0014] As a further description of the above technical solution:

[0015] The detection assembly includes a mounting rod 1, which is fixedly connected to the left side of the trapezoidal plate. A motor 3 is fixedly connected to the right end of the rear side of the inner wall of the mounting rod 1. A connecting rod 2 is fixedly connected to the output end of the motor 3. Fixed seats are rotatably connected to both the front and rear sides of the outer wall of the connecting rod 2. A conveyor belt is fixedly connected to the outer side of the outer wall of the connecting rod 2. A mounting rod 2 is fixedly connected to the rear side of the inner wall of the mounting frame 2. A detector is fixedly installed on the left side of the mounting rod 2.

[0016] As a further description of the above technical solution:

[0017] The crushing assembly includes two steering rods II, both of which are fixedly connected to the left side of the mounting frame I. A steering rod I is rotatably connected to the inner wall of the steering rod II, and a crushing base plate is rotatably connected to the inner wall of the steering rod I. A propeller is fixedly connected to the bottom right side of the inner wall of the crushing base plate, and a crushing blade is fixedly connected to the output end of the propeller. A driver III is fixedly installed on the left side of the inner wall of the crushing base plate.

[0018] As a further description of the above technical solution:

[0019] The limiting seat limits the anchor head on the second driver, and the anchor head extracts ore from the mine.

[0020] As a further description of the above technical solution:

[0021] The conveyor belt is installed on the top of the inner wall of the mounting frame 2, and the ore on the conveyor belt is conveyed to the inner wall of the hopper.

[0022] As a further description of the above technical solution:

[0023] Multiple drive shafts are rotatably connected to the inner wall of mounting frame one, which is fixedly connected to the bottom left side of the hopper.

[0024] As a further description of the above technical solution:

[0025] Multiple fixed seats are fixedly connected to the outer wall of the mounting rod, and the detector detects the ore in the conveyor belt trough.

[0026] The present invention has the following beneficial effects:

[0027] 1. In this invention, the boom adaptive shock absorption reduces impact and improves accuracy. The anchor bolt assembly is equipped with shock-absorbing propulsion air pipe and adaptive buffer structure, which effectively absorbs high-frequency impact and attenuates vibration during rock drilling and ore mining, reduces boom shaking and positioning drift, makes drilling and mining positions accurate, and improves support and mining quality; at the same time, it reduces the impact of vibration on the boom, cab and hydraulic system, and reduces structural fatigue and component damage.

[0028] 2. In this invention, dynamic balance is stable and adaptable to complex underground road conditions. The equipment chassis and multi-joint robotic arm work together with an adaptive balancing mechanism to compensate for the center of gravity shift in real time under conditions of uneven, tilted, or floating debris on the bottom plate, maintaining the stability of the boom and the whole machine posture, avoiding the risk of instability and rollover, enabling reliable operation in all postures, and improving adaptability to complex environments and operational safety.

[0029] 3. In this invention, the built-in crushing mechanism ensures smooth conveying. Equipped with an independent crushing component, it can crush large pieces of ore online, making the ore particles uniform in size, preventing blockage of the conveying channel, ensuring continuous and stable material flow, reducing manual clearing and downtime, and improving the reliability of equipment operation.

[0030] 4. In this invention, online detection and automatic conveying are highly intelligent. The detection components can monitor and analyze the conveyed ore in real time. In conjunction with the automated conveying mechanism, qualified ore is stably delivered to the hopper, and then the robotic arm bucket accurately transfers it to the transport vehicle, reducing manual intervention and improving the level of automation and intelligence of the operation.

[0031] 5. In this invention, integrated operation significantly improves work efficiency by combining anchor bolt mining, ore crushing, online detection, automatic conveying, and bucket transfer into one unit. This enables continuous operation of mining, crushing, detection, feeding, and transfer, eliminating the need for multi-equipment coordination and manual transfer. The work process is more compact, and the overall work efficiency is significantly improved. It is suitable for the needs of high-efficiency underground mining. The layout of each mechanism is reasonable and the connection is stable. The shock absorption and balance design significantly reduces dynamic load and fatigue stress, reduces failures such as boom weld cracking, pin wear, and hydraulic pipeline damage, extends the service life of the whole machine, and reduces maintenance costs and downtime. Attached Figure Description

[0032] Figure 1 This is a perspective view of the chassis of an anchor trolley with adaptive shock absorption and balance for boom proposed in this invention;

[0033] Figure 2 This is a schematic diagram of the hopper structure of an anchor trolley with adaptive shock absorption and balance of boom proposed in this invention;

[0034] Figure 3This is a schematic diagram of the rotating frame structure of an anchor trolley with adaptive shock absorption and balance of boom proposed in this invention;

[0035] Figure 4 This is a schematic diagram of the mounting base structure of an anchor trolley with adaptive shock absorption and balancing for booms, as proposed in this invention.

[0036] Figure 5 This is a schematic diagram of the steering seat structure of an anchor trolley with adaptive shock absorption and balancing boom proposed in this invention.

[0037] Figure 6 This is a schematic diagram of the mechanical arm structure of an anchor trolley with adaptive shock absorption and balance proposed in this invention.

[0038] Figure 7 This is a schematic diagram of the shock-absorbing propulsion air pipe structure of an anchor trolley with adaptive shock absorption and balance of boom proposed in this invention.

[0039] Figure 8 This is a schematic diagram of the conveyor belt structure of an anchor trolley with adaptive shock absorption and balancing boom proposed in this invention;

[0040] Figure 9 This is a schematic diagram of the trapezoidal plate structure of an anchor trolley with adaptive shock absorption and balance for boom proposed in this invention;

[0041] Figure 10 This is a schematic diagram of the conveyor belt structure of an anchor trolley with adaptive shock absorption and balancing boom proposed in this invention.

[0042] Legend:

[0043] 1. Chassis; 2. Powertrain; 3. Data Acquisition Cabin;

[0044] 4. Mining components; 401. Frame; 402. Drive unit 1; 403. Steering seat; 404. Cab; 405. Lighting; 406. Robotic arm 1; 407. Robotic arm 2; 408. Bucket;

[0045] 5. Anchor bolt assembly; 501. Turning frame; 502. Bolt body; 503. Moving mechanism; 504. Driver II; 505. Anchor head; 506. Shock-absorbing propulsion air pipe; 507. Limiting seat; 508. Mounting plate I;

[0046] 6. Crushing assembly; 601. Crushing base plate; 602. Driver three; 603. Thruster; 604. Crushing blade; 605. Steering rod one; 606. Steering rod two;

[0047] 7. Moving components; 701. Mounting bracket one; 702. Motor one; 703. Drive shaft; 704. Casters;

[0048] 8. Conveying assembly; 801. Mounting bracket two; 802. Trapezoidal plate; 803. Motor two; 804. Connecting rod one; 805. Conveyor belt;

[0049] 9. Detection components; 901. Mounting rod one; 902. Motor three; 903. Connecting rod two; 904. Fixing base; 905. Conveyor belt; 906. Mounting rod two; 907. Detector;

[0050] 10. Hopper; 11. Mounting base. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] Reference Figure 1-10 This invention provides an embodiment of an adaptive shock absorption and balancing anchor trolley, comprising a chassis 1. A power mechanism 2 is fixedly installed on both the front and rear sides of the inner wall of the chassis 1. A data acquisition compartment 3 is fixedly connected to the top right side of the chassis 1. A mounting base 11 is fixedly connected to the top center of the inner wall of the chassis 1. A mining component 4 is disposed on the top of the inner wall of the mounting base 11. A hopper 10 is fixedly connected to the top left side of the chassis 1. An anchor bolt assembly 5 is disposed on the inner wall of the mining component 4. A conveying component 8 is disposed on the left side of the inner wall of the hopper 10. A moving component 7 is fixedly installed on the bottom of the inner wall of the conveying component 8. A detection component 9 is disposed on the left side of the conveying component 8. A crushing component 6 is disposed on the left side of the inner wall of the detection component 9. This design is intended to make the chassis 1 the core load-bearing structure of the entire machine, with its inner walls fixed on both the front and rear sides. The installed power mechanism 2 provides full-condition power for equipment movement, boom operation, ore crushing and conveying, ensuring the stability of continuous underground operation. The data acquisition chamber 3 on the top right of the chassis 1 collects boom vibration, chassis tilt angle and material conveying data in real time, providing data support for adaptive shock absorption and balance. The mounting seat 11 in the middle of the chassis 1 rigidly fixes the mining component 4, improving the working rigidity. The top left hopper 10 temporarily stores qualified ore. The mining component 4 has an internal anchor bolt component 5 to achieve mining support. The left side conveying component 8 of the hopper 10 completes material conveying. The bottom moving component 7 supports the movement of the whole machine. The left side detection component 9 and crushing component 6 complete crushing detection. The integrated layout solves the problem of functional separation of traditional equipment, realizes the coordinated operation of mining, shock absorption, crushing, detection and conveying, and greatly improves the operating efficiency.

[0053] The mining assembly 4 includes a mounting frame 401, which is fixedly connected to the top of the inner wall of the mounting base 11. A drive unit 402 is fixedly connected to the inner wall of the mounting frame 401. A steering seat 403 is fixedly connected to the output end of the drive unit 402. A cab 404 is fixedly connected to the top of the inner wall of the steering seat 403. Lighting lamps 405 are fixedly connected to the front and rear sides of the top of the cab 404. A robotic arm 406 is mounted on the rear side of the inner wall of the cab 404, and a robotic arm 407 is mounted on the front side of the inner wall of the cab 404. A bucket 408 is mounted on the left side of the inner wall of the robotic arm 407. This design allows the mining assembly 4 to use the mounting frame 401 as its mounting base. The mounting frame 401 and the mounting base... 11. Rigid connection prevents shaking during operation and improves overall machine stability. The drive unit 402 inside the fixed frame 401 drives the steering seat 403 to rotate in all directions, causing the cab 404 and the two robotic arms to turn synchronously, adapting to multi-directional underground operations. The overhead lighting 405 on the cab 404 solves the problem of dim underground operations. The robotic arm 406 on the rear side of the cab 404 is equipped with the anchor bolt assembly 5 to complete mining support. The robotic arm 407 on the front side works with the bucket 408 to realize ore transfer and roadway cleaning. The two arms work together to meet multi-functional needs. The drive unit 402 and the steering seat 403 realize dynamic attitude adjustment, and the chassis balance structure offsets the center of gravity shift of the boom during luffing, avoids rollover, and improves the safety of operation in complex road conditions.

[0054] The anchor bolt assembly 5 includes a rotating frame 501, which is installed on the left side of the inner wall of the robotic arm 406. A rod 502 is fixedly connected to the left side of the inner wall of the rotating frame 501. A shock-absorbing propulsion air pipe 506 is fixedly connected to the rear side of the inner wall of the rod 502. A moving mechanism 503 is slidably installed on the left side of the outer wall of the rod 502. A mounting plate 508 is fixedly connected to the bottom of the inner wall of the moving mechanism 503. A driver 504 is fixedly connected to the inner wall of the mounting plate 508. An anchor head 505 is fixedly connected to the bottom of the inner wall of the driver 504. A limit seat 507 is fixedly connected to the bottom left side of the rod 502. This design allows the anchor bolt assembly 5 to connect to the robotic arm 406 via the rotating frame 501, enabling multi-angle deflection to adapt to the working angles of the tunnel roof and sidewalls. The side-fixed rod 502, the outer wall moving mechanism 503 of the rod 502 drives the mounting plate 508, the driver 504 and the anchor head 505 to feed linearly. The bottom limit seat 507 of the rod 502 limits the feed stroke, protects the components and makes the mining accuracy high. The shock-absorbing propulsion air pipe 506 is fixed to the rear side of the inner wall of the rod 502. It is the core adaptive shock-absorbing component. It adopts a pneumatic buffer closed-loop structure and is filled with high-pressure inert gas. During operation, the high-frequency impact vibration generated by the anchor head 505 is transmitted to the air pipe. The gas is adaptively compressed and rebounded according to the load, converting the vibration energy into pneumatic potential energy and decaying it rapidly. This blocks the transmission of vibration to the robotic arm and the cab, suppresses boom shaking and positioning drift, improves drilling accuracy, reduces structural fatigue damage, and extends the service life of the boom and hydraulic system.

[0055] The conveying assembly 8 includes a second mounting frame 801, which is fixedly connected to the left side of the inner wall of the hopper 10. Trapezoidal plates 802 are fixedly connected to adjacent sides of the inner wall of the second mounting frame 801. A second motor 803 is fixedly connected to the front side of the inner wall of the second mounting frame 801. A connecting rod 804 is fixedly connected to the output end of the second motor 803. A conveyor belt 805 is provided on the outer wall of the connecting rod 804. This design allows the conveying assembly 8 to use the second mounting frame 801 as a support frame, fixed to the left side of the inner wall of the hopper 10, thus increasing the rigidity of the conveying structure. The trapezoidal plate 802 on the inner wall forms a closed guide channel to prevent the ore from spilling or deviating during transportation, thereby improving the flow efficiency. The motor 803 on the front side of the mounting frame 801 drives the connecting rod 804 to rotate, which in turn drives the conveyor belt 805 to run at a constant speed, realizing automated ore transportation. The inclined structure of the trapezoidal plate 802, combined with the friction of the conveyor belt 805, allows the ore to be smoothly fed into the hopper 10 without manual intervention. The conveying component 8 is seamlessly connected with the crushing and detection components to form a continuous operation chain, solving the problems of low efficiency and high labor intensity of manual transportation, and improving the overall integrated operation level of the machine.

[0056] The moving component 7 includes a mounting frame 701, which is fixedly connected to the bottom of a mounting frame 801. Multiple motors 702 are fixedly connected to the inner wall of the mounting frame 701 on adjacent sides. Drive shafts 703 are fixedly connected to the output ends of the motors 702. Moving wheels 704 are fixedly connected to the outer side of the drive shafts 703. This design ensures that the mounting frame 701 of the moving component 7 is fixed to the bottom of the mounting frame 801, providing rigid bottom support for the conveying, crushing, and testing components, and preventing damage to the upper parts of the machine. The structure sways, and multiple motors 702 on the inner wall of the mounting frame 701 synchronously drive the drive shaft 703 to rotate, which in turn drives the moving wheels 704 to rotate, enabling the entire machine to move flexibly underground. The synchronous control of multiple motors ensures that the moving wheels 704 rotate at the same speed, preventing deviation during travel. It is suitable for uneven and inclined underground floor plates. The drive shaft 703 is rotatably connected to the mounting frame 701 to reduce transmission wear. The moving wheels 704 are made of anti-slip and wear-resistant material to enhance the grip during travel. Together with the chassis balance mechanism, it achieves dynamic stability of the entire machine during movement and operation, reducing the risk of tipping over.

[0057] The detection component 9 includes a mounting rod 901, which is fixedly connected to the left side of the trapezoidal plate 802. A motor 902 is fixedly connected to the right rear end of the inner wall of the mounting rod 901. A connecting rod 903 is fixedly connected to the output end of the motor 902. Fixed seats 904 are rotatably connected to both the front and rear sides of the outer wall of the connecting rod 903. A conveyor belt 905 is fixedly connected to the outer side of the outer wall of the connecting rod 903. A mounting rod 906 is fixedly connected to the rear inner wall of the mounting frame 801. A detector 907 is fixedly installed on the left side of the mounting rod 906. This design ensures that the mounting rod 901 of the detection component 9 is fixedly attached to the trapezoidal plate 802. On the left, a stable carrier is provided for the conveying and testing mechanism. The motor 3 902 behind the mounting rod 1 drives the connecting rod 2 903 to rotate, which drives the conveyor belt 905 to rotate at a constant speed, sending the crushed ore to the testing area. The fixing seat 904 on the outer wall of the connecting rod 2 903 provides multi-point support to prevent the conveyor belt 905 from running off-track and getting stuck. The mounting rod 2 906 behind the mounting frame 2 801 fixes the detector 907, which is directly facing the conveyor belt 905 conveying trough. It detects the ore particle size and flow rate in real time, identifies material jams and abnormal large pieces of ore, and transmits the data synchronously to the data acquisition bin 3 to realize online monitoring of ore quality, avoid unqualified ore from blocking the channel, and improve the intelligence and continuity of the operation.

[0058] The crushing assembly 6 includes two steering rods 606, both of which are fixedly connected to the left side of the mounting bracket 701. A steering rod 605 is rotatably connected to the inner wall of the steering rod 606, and a crushing base plate 601 is rotatably connected to the inner wall of the steering rod 605. A pusher 603 is fixedly connected to the bottom right side of the inner wall of the crushing base plate 601, and a crushing blade 604 is fixedly connected to the output end of the pusher 603. A driver 602 is fixedly installed on the left side of the inner wall of the crushing base plate 601. This design is for fixing the two steering rods 606 of the crushing assembly 6 to the mounting bracket 701. On the left side, the inner wall is connected to the first steering rod 605, which drives the crushing base plate 601 to adjust its angle adaptively to accommodate different feeding angles. The right side of the crushing base plate 601 is driven by the pusher 603, which pushes the crushing blade 604 to reciprocate, squeezing, shearing and crushing large pieces of ore, adjusting the particle size to the conveying standard. The left side of the crushing base plate 601 is driven by the third driver 602, which provides continuous crushing power, ensuring sufficient crushing force. The first steering rod 605 and the second steering rod 606 are hinged together, and the pusher 603 crushes efficiently, solving the problem of large pieces of ore blocking the conveying channel, ensuring smooth subsequent processes and reducing downtime for clearing blockages.

[0059] The limit seat 507 limits the anchor head 505 on the second driver 504. The anchor head 505 mines the ore. This design is to fix the limit seat 507 to the bottom left side of the rod body 502, precisely limiting the feed stroke of the second driver 504 and the anchor head 505, preventing the anchor head 505 from overtraveling and damaging the rod body 502 and the shock-absorbing propulsion air pipe 506. At the same time, it makes the mining position precise and controllable. The anchor head 505 completes the impact mining of ore under the drive of the second driver 504. The high-frequency vibration generated by the operation is quickly attenuated by the shock-absorbing propulsion air pipe 506. The rigid limit of the limit seat 507 and the shock-absorbing structure work together to ensure stable output of mining impact force and reduce the impact damage of vibration to the robotic arm 406. This improves the operating accuracy and durability of the anchor bolt assembly 5, avoids unqualified mining support due to vibration deviation, and reduces the frequency of equipment failure.

[0060] The conveyor belt 805 is installed on the top inner wall of the mounting frame 801. The ore on the conveyor belt 805 is conveyed to the inner wall of the hopper 10. This design is to install the conveyor belt 805 on the top inner wall of the mounting frame 801. It is made of anti-slip, wear-resistant and high-strength material to increase the friction with the ore and prevent slippage and falling during conveying. The conveyor belt 805 operates continuously and stably conveys the qualified ore to the inner wall of the hopper 10 for temporary storage. The large-capacity design of the hopper 10 can store multiple batches of ore, reduce the frequency of transfer, and improve the continuity of operation. The conveyor belt 805 is seamlessly connected with the inspection component conveyor belt 905. After the ore is qualified, it can be directly loaded without transfer and handling, which greatly improves the overall working efficiency of the machine.

[0061] Multiple drive shafts 703 are rotatably connected to the inner wall of mounting frame 701, which is fixedly connected to the bottom left side of hopper 10. This design allows multiple drive shafts 703 to be rotatably connected to the inner wall of mounting frame 701, using a coaxial synchronous transmission design to enable multiple sets of moving wheels 704 to rotate synchronously, achieving stable movement of the entire machine and avoiding tilting and tipping caused by uneven force on one side. Mounting frame 701 is fixed to the bottom left side of hopper 10, rigidly connecting moving component 7 with hopper 10 and conveying component 8 to form an integrated load-bearing structure, improving the overall structural strength and vibration resistance. The drive shafts 703 and mounting frame 701 use wear-resistant bearings to reduce long-term wear and extend the service life of moving component 7. The stable connection of mounting frame 701 ensures that the upper mechanism does not wobble when the moving wheels 704 move, and with the adaptive balancing system, it improves stability in complex road conditions.

[0062] Multiple fixed seats 904 are fixedly connected to the outer wall of mounting rod 1 901. Detector 907 detects the ore in the conveyor belt 905 conveying trough. This design ensures that multiple fixed seats 904 are evenly fixed to the outer wall of mounting rod 1 901, providing multi-point stable support for connecting rod 2 903, preventing the connecting rod 2 903 from rotating without shaking or deviation, ensuring the smooth operation of conveyor belt 905, and preventing ore from slipping and spilling. Detector 907 faces the conveyor belt 905 conveying trough, collecting ore particle size, conveying speed, and filling rate data in real time, monitoring the conveying status throughout the process. When particle size exceeds the standard or material jamming is detected, detector 907 immediately sends a signal to the control system, triggering crushing component 6 to increase crushing intensity or suspend conveying, promptly eliminating faults. Fixed seats 904 ensure accurate detection, and detector 907 achieves intelligent control, improving the automation and safety level of the equipment.

[0063] Working principle: Before the equipment starts, the power mechanism 2 completes the initialization and self-check of the hydraulic, electrical control, and sensing systems. The data acquisition chamber 3 starts the real-time acquisition mode to continuously monitor the chassis 1 tilt angle, the vibration amplitude of the robotic arm 406, the component temperature, and the material conveying status, providing real-time data for the adaptive shock absorption and balancing system to ensure stable equipment startup. The operator enters the cab 404 to control the equipment. The moving component 7 starts, and multiple motors 702 synchronously drive the drive shaft 703 to rotate, driving the moving wheels 704 to move smoothly along the roadway. The mounting frame 701 provides rigid support to prevent loosening during movement. For uneven, inclined, and loose road conditions underground, the data acquisition chamber 3 transmits the chassis tilt angle data to the control system, which links the chassis 1 balancing mechanism and the moving wheel 704 anti-slip structure to adjust the center of gravity in real time, preventing slippage and tipping, and accurately reaching the work point.

[0064] After the equipment is in place, the mining component 4 starts operation. The driver 402 on the fixed frame 401 drives the steering seat 403 to rotate in all directions, adjusting the working angles of the cab 404, robotic arm 406, and robotic arm 407. The lighting 405 is turned on to illuminate the working area. The robotic arm 406 moves the anchor bolt assembly 5 to the mining support area. The rotating frame 501 adaptively adjusts the angle between the rod 502 and the anchor head 505 to adapt to roof and side wall operations. The driver 504 drives the anchor head 505 to perform high-frequency impact mining and drilling support. The longitudinal and lateral coupled vibrations generated during operation are transmitted along the rod 502 to the shock-absorbing propulsion air pipe 506. The high-pressure gas in the air pipe is adaptively compressed and rebounded with the impact load, converting the vibration energy into gas pressure potential energy for absorption and attenuation, blocking the vibration transmission from the source, realizing adaptive shock absorption of the boom, and solving the problems of large vibration, positioning drift, and low accuracy of traditional equipment. The limit seat 507 limits the feed stroke of the anchor head 505, protecting the components and ensuring accurate operation.

[0065] Mined ore falls into the working area of ​​crushing component 6. Driver 3 602 provides power, and propeller 603 drives crushing blade 604 to reciprocate and crush large pieces of ore. The steering rod 1 605 and steering rod 2 606 are hinged to adjust the posture of the crushing base plate 601, ensuring thorough crushing of the ore and adjusting the particle size to the conveying standard to prevent channel blockage. The crushed ore falls into the conveyor belt 905 of detection component 9. Motor 3 902 drives the conveyor belt 905 to rotate at a uniform speed, and the fixed seat 904 prevents deviation. Detector 907 monitors the ore particle size and flow rate in real time, and the data is transmitted to data acquisition chamber 3 for analysis. Unqualified ore is returned for secondary crushing, while qualified ore is conveyed to conveying component 8.

[0066] Motor 2 803 drives conveyor belt 805 to operate, trapezoidal plate 802 guides and prevents spillage, and stably feeds ore into hopper 10 for temporary storage. After hopper 10 is full, robotic arm 2 407 drives bucket 408 to transfer ore to transport vehicle to complete off-site transportation. Throughout the operation, mounting base 11 ensures the rigidity and stability of mining component 4. Data acquisition chamber 3 provides real-time feedback on boom vibration and chassis attitude data. Control system links shock absorber propulsion pipe 506 and chassis balance mechanism to compensate for center of gravity shift caused by boom luffing in real time, maintain overall machine stability, and avoid instability and rollover.

[0067] After the operation is completed, the moving component 7 drives the entire machine to evacuate. The mining component 4, anchor bolt component 5, crushing component 6, moving component 7, conveying component 8, and detection component 9 stop and reset in sequence. The power mechanism 2 is shut down. The entire machine achieves adaptive vibration reduction through the shock-absorbing propulsion air pipe 506 and adapts to complex road conditions through the dynamic balancing mechanism. The integrated operation process solves the defects of traditional equipment, such as single function, low efficiency, and easy failure. While ensuring safety and accuracy, it greatly improves the efficiency of underground mining support, extends the service life of equipment, and fully meets the needs of modern mines for efficient, intelligent and safe operation.

[0068] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An anchor trolley with adaptive shock absorption and balancing boom, comprising a chassis (1), characterized in that: The chassis (1) has a power mechanism (2) fixedly installed on both the front and rear sides of its inner wall. The chassis (1) has a data acquisition chamber (3) fixedly connected to the top right side. The chassis (1) has a mounting base (11) fixedly connected to the top middle of its inner wall. The mounting base (11) has a mining component (4) fixedly installed on the top of its inner wall. The chassis (1) has a hopper (10) fixedly connected to the top left side. The mining component (4) has an anchor bolt assembly (5) fixedly installed on its inner wall. The hopper (10) has a conveying component (8) fixedly installed on its inner wall. The conveying component (8) has a moving component (7) fixedly installed at the bottom of its inner wall. The conveying component (8) has a detection component (9) fixedly installed on its left side. The detection component (9) has a crushing component (6) fixedly installed on its inner wall. The mining assembly (4) includes a fixed frame (401), which is fixedly connected to the top of the inner wall of the mounting base (11). A driver (402) is fixedly connected to the inner wall of the fixed frame (401). A steering seat (403) is fixedly connected to the output end of the driver (402). A cab (404) is fixedly connected to the top of the inner wall of the steering seat (403). Lighting lamps (405) are fixedly connected to the front and rear sides of the top of the cab (404). A robotic arm (406) is installed on the rear side of the inner wall of the cab (404). A robotic arm (407) is installed on the front side of the inner wall of the cab (404). A bucket (408) is installed on the left side of the inner wall of the robotic arm (407).

2. The boom adaptive shock absorption and balancing anchor trolley according to claim 1, characterized in that: The anchor bolt assembly (5) includes a rotating frame (501), which is installed on the left side of the inner wall of the first robotic arm (406). A rod body (502) is fixedly connected to the left side of the inner wall of the rotating frame (501). A shock-absorbing propulsion air pipe (506) is fixedly connected to the rear side of the inner wall of the rod body (502). A moving mechanism (503) is slidably installed on the left side of the outer wall of the rod body (502). An installation plate (508) is fixedly connected to the bottom of the inner wall of the moving mechanism (503). A driver (504) is fixedly connected to the inner wall of the installation plate (508). An anchor head (505) is fixedly connected to the bottom of the inner wall of the driver (504). A limit seat (507) is fixedly connected to the bottom left side of the rod body (502).

3. The boom adaptive shock absorption and balancing anchor trolley according to claim 1, characterized in that: The conveying assembly (8) includes a second mounting frame (801), which is fixedly connected to the left side of the inner wall of the hopper (10). Trapezoidal plates (802) are fixedly connected to the inner wall of the second mounting frame (801) on the side closest to each other. A second motor (803) is fixedly connected to the front side of the inner wall of the second mounting frame (801). A connecting rod (804) is fixedly connected to the output end of the second motor (803). A conveyor belt (805) is provided on the outer wall of the connecting rod (804).

4. The boom adaptive shock absorption and balancing anchor trolley according to claim 3, characterized in that: The moving component (7) includes a mounting frame one (701), which is fixedly connected to the bottom of a mounting frame two (801). Multiple motors one (702) are fixedly connected to each other on the inner wall of the mounting frame one (701). A drive shaft (703) is fixedly connected to the output end of the multiple motors one (702). A moving wheel (704) is fixedly connected to the outer side of the outer wall of the drive shaft (703).

5. The boom adaptive shock absorption and balancing anchor trolley according to claim 3, characterized in that: The detection component (9) includes a mounting rod (901), which is fixedly connected to the left side of the trapezoidal plate (802). A motor (902) is fixedly connected to the right end of the rear side of the inner wall of the mounting rod (901). A connecting rod (903) is fixedly connected to the output end of the motor (902). Fixed seats (904) are rotatably connected to both the front and rear sides of the outer wall of the connecting rod (903). A conveyor belt (905) is fixedly connected to the outer side of the outer wall of the connecting rod (903). A mounting rod (906) is fixedly connected to the rear side of the inner wall of the mounting frame (801). A detector (907) is fixedly installed on the left side of the mounting rod (906).

6. The boom adaptive shock absorption and balancing anchor trolley according to claim 1, characterized in that: The crushing assembly (6) includes two steering rods (606), both of which are fixedly connected to the left side of the mounting bracket (701). The inner wall of the steering rod (606) is rotatably connected to a steering rod (605), and the inner wall of the steering rod (605) is rotatably connected to a crushing base plate (601). The bottom right side of the inner wall of the crushing base plate (601) is fixedly connected to a pusher (603), and the output end of the pusher (603) is fixedly connected to a crushing blade (604). The left side of the inner wall of the crushing base plate (601) is fixedly installed with a driver (602).

7. The boom adaptive shock absorption and balancing anchor trolley according to claim 2, characterized in that: The limiting seat (507) limits the anchor head (505) on the second driver (504), which extracts ore from the mine.

8. The boom adaptive shock absorption and balancing anchor trolley according to claim 3, characterized in that: The conveyor belt (805) is installed on the top of the inner wall of the mounting frame two (801), and the ore on the conveyor belt (805) is conveyed to the inner wall of the hopper (10).

9. The boom adaptive shock absorption and balancing anchor trolley according to claim 4, characterized in that: Multiple drive shafts (703) are rotatably connected to the inner wall of mounting bracket one (701), which is fixedly connected to the bottom left side of the hopper (10).

10. The boom adaptive shock absorption and balancing anchor trolley according to claim 5, characterized in that: Multiple fixed seats (904) are fixedly connected to the outer wall of the mounting rod (901), and the detector (907) detects the ore in the conveyor belt (905) conveying trough.

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