A robotic arm assisted drilling rig automated anchor protection system

Abstract

The present application belongs to the technical field of coal mine roadway tunneling and supporting equipment, and particularly relates to a mechanical arm assisted drilling machine automatic anchoring and protecting system, comprising: a bearing platform; the bearing platform is provided with a first drilling frame group and a second drilling frame group in a position symmetrical to the anchoring and protecting work area; a side of the bearing platform provided with the first drilling frame group is connected with the first drilling frame group, a first mechanical arm system and a first material warehouse are sequentially arranged, a side of the bearing platform provided with the second drilling frame group is connected with the second drilling frame group, a second mechanical arm system and a second material warehouse are sequentially arranged. The system can replace manual work to automatically grab, transport and accurately place materials; solves the problem of automatic material placement under the condition of three degrees of freedom movement of the drilling frame; realizes collaborative parallel work of multiple drilling frames, maximizes the efficiency advantage of the drilling and anchoring integrated machine; the present application adopts a technical scheme with high reliability and convenient maintenance, and is suitable for harsh underground working conditions.

Description

Technical Field

[0001] This invention belongs to the technical field of coal mine roadway excavation and support equipment, specifically relating to an automated anchoring system for a robotic arm-assisted drilling rig. Background Technology

[0002] The tunneling and anchoring machine is a large-scale, integrated piece of equipment that combines tunneling and anchor bolting functions on a single device. It enables parallel or rapid switching between tunneling and anchor bolting operations, significantly improving tunneling efficiency, reducing roof support time and distance, and ensuring underground operational safety. This type of equipment is typically equipped with a cutting head for tunneling operations, and multiple independent anchor bolting frames (usually 4-6) at the rear for roof and sidewall anchor bolting.

[0003] The anchor drilling rig of the tunneling and anchoring machine generally has three degrees of freedom for position adjustment (forward and backward swing, left and right swing, and lateral sliding), enabling the drill box to accurately align with anchor holes at different locations for drilling and anchoring operations. Each drill frame can work independently, theoretically achieving multi-point synchronous support and significantly improving support efficiency.

[0004] Although the tunneling and anchoring machine has a significant advantage in tunneling efficiency, its anchor bolt support process still requires a large amount of manual labor, specifically manifested in the following ways: 1. Traditional support procedures are highly dependent on manual labor. The traditional anchor bolt support process is as follows: the drill rod is inserted manually into the drill box; after the drilling is completed, the drill rod is removed manually; the anchoring agent (chemical cartridge) is manually inserted into the drill hole; the mixer and anchor bolt are placed into the drill box manually; the drilling machine pushes the anchor bolt into the hole to complete the anchoring; and the mixer and other auxiliary tools are retrieved manually.

[0005] Throughout the entire process, apart from the drilling and anchoring stages which are automatically completed by the drilling rig, the handling, transportation, and placement of materials such as drill rods, anchoring agents, anchor rods, and mixers all require manual operation, resulting in high labor intensity and low work efficiency.

[0006] 2. Manual medication administration presents significant safety hazards and operational difficulties. The installation of anchoring agent (cartridge) is the most difficult and dangerous part of the support process: when anchoring from the top, workers need to climb to the top of the slab and manually insert the cartridge into the borehole, which poses a risk of falling from a height; the cartridge is in soft packaging and is easily damaged when inserted into deep holes, resulting in a decrease in anchoring quality; the working environment in the open roof area is harsh, and workers have to work with their heads up for a long time, resulting in high fatigue and an increased risk of accidents.

[0007] 3. The three-degree-of-freedom motion of the drill rig makes automated placement difficult. The drill frame of the tunneling and anchoring machine has three degrees of freedom: forward and backward swinging, left and right swinging, and lateral sliding. The spatial position and posture of the drill box will change at different support points. To achieve automated material placement, it is necessary to accurately identify the three-dimensional spatial coordinates and posture of the drill box and guide the robotic arm or other automated devices to complete precise docking, which is technically challenging. Traditional fixed-position conveying solutions cannot adapt to the multi-degree-of-freedom movement of the drill frame.

[0008] 4. Existing automation solutions have limitations. The automatic feeding devices equipped with some anchor bolt trolleys on the market mostly use fixed pipelines to transport materials directly from the storage bin to the drill box. This method is only suitable for fixed drill frames or single-degree-of-freedom drill frames and cannot be adapted to three-degree-of-freedom drill frames. Some automated support systems that use robotic arms typically only have a single robotic arm serving a single drill frame, while tunneling and anchoring machines are usually equipped with four top anchor drill frames. If a robotic arm is configured for each drill frame, the cost will be high, the space occupied will be large, and the system complexity will be high. While dual vision systems can improve recognition efficiency, they also increase system cost and complexity. In the harsh underground environment of the tunneling and anchoring machine, the system reliability and maintenance difficulty also increase accordingly.

[0009] 5. The efficiency of multi-drill-rig collaborative operation was not fully utilized. While multiple drill rigs in a roadheader-anchor machine can theoretically operate simultaneously, the sequential nature of manual operation often prevents them from achieving true parallel support, limiting the improvement in support efficiency. The key to improving overall machine efficiency lies in fully leveraging the collaborative capabilities of multiple drill rigs during automation upgrades. Summary of the Invention

[0010] In order to solve at least one of the above-mentioned technical problems in the prior art, the present invention provides an automated anchoring system for drilling rigs assisted by a robotic arm.

[0011] This invention is achieved using the following technical solution: an automated anchoring system for a robotic arm-assisted drilling rig, comprising: The support platform is symmetrically set up with the first and second drilling rig groups in the anchoring operation area. The first drilling rig group is connected to the support platform on one side, and the first robotic arm system and the first material bin are set up in sequence. The second drilling rig group is connected to the support platform on the other side, and the second robotic arm system and the second material bin are set up in sequence. A control system is also installed on the support platform to coordinate and control the anchoring process, achieving automated anchoring. The control system includes: The main controller is used to control the movements of the drill frame assembly and the robotic arm, as well as the anchoring process. The vision processing module is used for image acquisition, processing, target detection, coordinate calculation, and pose estimation. The sensor neural network module is used to collect and process sensor data to provide comprehensive status awareness of the automated anchoring system. The decision fusion module is used to determine the location coordinates of the material placement point based on image processing results and sensor data analysis results. The trajectory planning module is used to plan the motion trajectory of the robotic arm based on position coordinate information; The process scheduling module is used to coordinate the working order of the first drill frame group, the second drill frame group, the first robotic arm system and the second robotic arm system according to the motion trajectory, so as to realize parallel operation or alternating operation; The communication module is used to enable communication between the main controller and the drill frame assembly, the robotic arm system, and other modules of the control system.

[0012] Preferably, the first drill frame assembly includes a first inner drill frame and a first outer drill frame, and the second drill frame assembly includes a second inner drill frame and a second outer drill frame; The first inner drill frame, the first outer drill frame, the second inner drill frame, and the second outer drill frame are all three-degree-of-freedom adjustable drill frames; wherein, the first inner drill frame includes the first inner drill frame body, the first inner drill box, and the first inner double clamping mechanism; The first internal drilling frame is made of high-strength steel through processing or welding. It is connected to the drilling machine body of the first internal drilling frame through a pin shaft. A hydraulic swing cylinder is set to control the adjustment of the pitch and azimuth angles of the first internal drilling frame. The first internal drilling frame is installed on a transverse sliding guide rail, which allows the drilling frame to be adjusted laterally, thus forming the three-degree-of-freedom posture adjustment of the first internal drilling frame. The first inner drilling box is installed on the feed guide mechanism of the first inner drilling rig frame. The first inner drilling box is driven by a hydraulic cylinder or screw to move up and down, and is driven by a hydraulic motor or electric motor to rotate in both directions. It is used for drilling, mixing and anchoring operations. The top opening of the first inner drilling box is a drill sleeve. The robotic arm inserts the material into the first inner drilling box from above. The drill sleeve and the material are fixed together by a boss. The first inner double clamp mechanism includes: The lubrication top plate is located above the first inner drilling box and is installed on the top of the feed guide mechanism of the first inner drilling rig frame. The lubrication top plate integrates a clamping device for clamping the material inside the first inner drilling box. The lubrication top plate has a lubrication function for applying lubricant to the material to reduce friction. The support column is located above the first inner drilling frame and moves vertically along the first inner drilling frame to provide top support. The support column integrates a clamping device to clamp the material protruding from the first inner drilling box and to achieve the rod disassembly function in conjunction with the movement of the first inner drilling box. Meanwhile, a displacement sensor is installed on the first internal drilling frame to monitor the feed position of the first internal drilling box and the top contact height of the support column; A dual-axis tilt sensor is installed in the middle of the first internal drilling frame to collect the pitch and azimuth angles of the first internal drilling frame. A linear displacement sensor is installed in the transverse sliding cylinder of the first inner drilling frame to collect the sliding distance of the first inner drilling frame along the transverse sliding guide rail; The first outer drill frame, the second inner drill frame, and the second outer drill frame adopt the same structure as the first inner drill frame.

[0013] Preferably, the first robotic arm system is used to control the retrieval of materials from the first drill frame assembly, and the second robotic arm is used to control the retrieval of materials from the second drill frame assembly. The first robotic arm system includes: The six-degree-of-freedom robotic arm is a six-axis serial articulated industrial robot with six rotational degrees of freedom: base rotation, shoulder pitch, elbow pitch, wrist rotation, wrist pitch, and wrist swing. The internal joints of the six-degree-of-freedom robotic arm are driven by servo motors and position feedback is obtained through high-precision encoders. The end effector, installed at the end of the six-degree-of-freedom robotic arm, features a multi-functional gripper design to match materials of different shapes and sizes. A vision camera is mounted on the end effector and moves with the six-degree-of-freedom robotic arm. The light source module, integrated with the vision camera and mounted on the end effector, is used to provide illumination for the vision camera; A six-dimensional force sensor is fixedly installed between the end flange and the end effector of a six-degree-of-freedom robotic arm to sense and collect force data at the end of the material rod. The second robotic arm system adopts the same structure as the first robotic arm system.

[0014] Preferably, the first material bin is used to supply materials to the first drill rig assembly, and the second material bin is used to supply materials to the second drill rig assembly; The first material warehouse includes: The first warehouse frame is constructed by welding or assembling profiles and then fixed to the load-bearing platform with bolts. The first mounting plate, fixedly connected to the upper part of the first warehouse frame, is made of thick steel plate and has an array of threaded holes on its surface. Materials are installed and secured using U-shaped clips and spring clips. The U-shaped clamp is made of sheet metal or casting, with a "U" shaped cross section. Its inner contour matches the shape of the material and is used to support cylindrical materials. The U-shaped clamp is fixedly installed on the first mounting plate with screws, and a soft pad is attached to the inside. The spring clip is made of spring steel sheet or plate. One end of the spring clip is fixed to the first mounting plate, and the other end is a free end that is bent inward to form a clip structure. The first pallet rack is fixedly connected to the lower part of the first warehouse rack and is used to place pallets; The second material warehouse adopts the same structure as the first material warehouse.

[0015] Preferably, the types of materials stored in the first material silo include: drill pipes, anchor bolts, agitators, and anchoring agent storage and spraying devices; wherein, The anchoring agent storage and spraying device includes: The transition rod is a hollow tube structure with a hollow pipe in the middle and a square boss at the bottom. The hollow pipe is used to transport water or gas to drive the anchoring agent spraying. The shape of the square boss is consistent with the shape of the drill rod boss of the tunneling and anchoring machine. It can be inserted into the drill sleeve of the first inner drill box and clamped and fixed by the first inner drill box to realize a reliable connection between the spraying device and the first inner drill box. The sleeve is a hollow tube structure, with the hollow middle section serving as an anchoring agent storage area. One end of the sleeve is fixedly connected to the transition rod via threads, and the hollow tube communicates with the anchoring agent storage area. The diameter of the hollow tube is smaller than the diameter of the 6.721mm anchoring agent storage area, forming an enlarged storage space. The flange cover is fixedly connected to the other end of the sleeve by threads, sealing the anchoring agent storage area; a guide head is provided at the front end of the flange cover facing the drilling direction. The guide head is conical or hemispherical and is used to center the drill sleeve and guide the anchoring agent storage and injection device to be accurately inserted into the drill hole. Pressure relief holes are evenly distributed in the middle of the flange cover. The function of the pressure relief holes is: when the anchoring agent storage and injection device is inserted into the borehole, the guide head enters the hole, and the anchoring agent storage area and the borehole form a closed space; when the water valve or air valve is opened to pressurize the storage area, the air in the anchoring agent storage area and the borehole is discharged through the pressure relief holes, eliminating air resistance and allowing the anchoring agent to be injected into the borehole. A limiting block is installed at the tail end of the flange cover away from the drilling direction. It is in the shape of a flange and its diameter is larger than the diameter of the borehole. The function of the limiting block is: when the drill box is fed and the anchoring agent storage and injection device is sent into the borehole, the end face of the limiting block abuts against the surface of the roadway roof to prevent the anchoring agent storage and injection device from going deeper, ensuring that the pressure relief hole is exposed outside the borehole, and at the same time preventing the anchoring agent storage and injection device from being inserted too deeply. The piston has a cylindrical structure with an outer diameter equal to the inner diameter of the anchoring agent storage area. The two work together to seal and maintain pressure. The piston is fixedly connected to the push rod by threads. The piston is made of polytetrafluoroethylene, nylon, or rubber-sealed metal materials. The push rod is a solid round rod or a hollow tube with a diameter equal to that of the anchoring agent, used to push the anchoring agent deep into the borehole. The push rod and piston are fixedly connected by threads, and the two are placed as a whole at the bottom of the anchoring agent storage area; When using the anchoring agent storage and spraying device, the anchoring agent storage and spraying device is grabbed by the robotic arm and inserted into the first inner drilling box. The four-sided boss is fixedly connected to the drill sleeve of the first inner drilling box. The first inner drilling box is fed upward, and the guide head at the front end of the flange cover is sent into the drill hole until the limit block hits the top plate. At this time, the pressure relief hole is exposed outside the drill hole. Open the water or air valve of the first internal drilling box. Water or compressed air enters the anchoring agent storage area through the hollow pipe, pushing the piston upward. The piston moves upward under water or air pressure, and the push rod pushes the anchoring agent out of the sleeve under the piston's push, which then passes through the flange cover and enters the borehole. Since the diameter of the push rod is smaller than the inner diameter of the sleeve, the push rod extends out of the sleeve and delivers the anchoring agent deep into the borehole to achieve deep hole filling. When the piston reaches the upper end of the sleeve, the push rod is stopped from advancing, and the spraying is completed; After closing the water or air valve, the first internal drilling box retracts, and the first robotic arm removes the empty anchoring agent storage spraying device, placing it back into the material silo or sending it to the filling position to refill the anchoring agent.

[0016] Preferably, the vision processing module is used to process the images acquired by the vision camera and perform target recognition, providing position coordinate information for the planning of the robotic arm's motion trajectory; The vision processing module and the sensor neural network module work in parallel, providing dual-path coordinate support. Specifically, the module receives pose parameters synchronously transmitted from the sensor neural network module, identifies the position of the first inner drilling box through a target detection algorithm, calculates visual coordinate information by combining camera calibration parameters, and calculates confidence scores through image sharpness and matching degree, and outputs them synchronously to the decision fusion module. The functions of the vision processing module include: Image acquisition: Simultaneously acquire visual camera images from the left and right robotic arms; Image preprocessing: filtering and noise reduction, contrast enhancement, distortion correction; Target detection: Identifying the location of materials in the material warehouse, and the position and orientation of the drill box; Coordinate calculation: Convert the image coordinates into three-dimensional coordinates in the robot arm's base coordinate system; Attitude estimation: Identifying the spatial attitude of the target to guide the robotic arm in adjusting its grasping posture; Output: Send the recognition results to the main controller.

[0017] Preferably, the scheduling strategy of the process scheduling module includes: Alternating operation strategy: The first drilling rig group and the second drilling rig group work alternately. When one group is drilling, the other group is replaced by the corresponding robotic arm. Parallel operation strategy: The first and second drill rig groups work in parallel with their corresponding robotic arms; Priority scheduling strategy: Dynamically adjust the priority of processes based on the urgency of support and the availability of materials; Anomaly handling strategy: When a fault or anomaly occurs, adjust the process sequence, prioritize the completion of other executable processes, or enter a safe shutdown state.

[0018] Preferably, the sensor neural network module includes: Displacement sensor network: collects information on drill box feed displacement, support column top contact height, and drill frame lateral position; Pressure sensor network: Collects hydraulic system pressure and water / air circuit pressure information; Force sensor network: Collects six-dimensional force information at the end of a robotic arm for contact detection and flexible control; Proximity switch network: Detects whether materials are in place and whether the drill box is in place by switching signals; Tilt sensor network: detects the pitch and azimuth angles of the drill rig; Environmental sensors: detect environmental parameters such as temperature, humidity, and methane concentration.

[0019] The sensor neural network module filters, calibrates, and fuses the collected sensor data before providing it to the main controller; some sensor data is also used for auxiliary calibration of visual recognition or as input features of the neural network.

[0020] Compared with the prior art, the beneficial effects of the present invention are: This invention provides an automated anchoring system for a robotic arm-assisted drilling rig, comprising: a support platform; a first drill frame group and a second drill frame group symmetrically positioned on the support platform according to the anchoring operation area; the first drill frame group is connected to the support platform on one side, and a first robotic arm system and a first material bin are sequentially arranged thereon; the second drill frame group is connected to the support platform on the other side, and a second robotic arm system and a second material bin are sequentially arranged thereon. This system can replace manual labor in the automatic grabbing, transportation, and precise placement of materials; it solves the problem of automated material placement under three-degree-of-freedom motion conditions of the drill frame; it enables collaborative parallel operation of multiple drill frames, maximizing the efficiency advantages of the integrated drilling and anchoring machine; this invention adopts a highly reliable and easy-to-maintain technical solution, adapting to harsh downhole working conditions. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a first-view schematic diagram of the structure of an automated anchoring system for a robotic arm-assisted drilling rig provided by the present invention.

[0023] Figure 2 This is a second-view schematic diagram of the structure of an automated anchoring system for a robotic arm-assisted drilling rig provided by the present invention.

[0024] Figure 3 This is a schematic diagram of the structure of the first inner drilling frame in an automated anchoring system for a robotic arm-assisted drilling rig provided by the present invention.

[0025] Figure 4 This is a schematic diagram of the structure of the first robotic arm system in an automated anchoring system for a robotic arm-assisted drilling rig provided by the present invention.

[0026] Figure 5 This is a schematic diagram of the structure of the first material bin in an automated anchoring system for a robotic arm-assisted drilling rig provided by the present invention.

[0027] Figure 6 This is a schematic diagram of the structure of an anchoring agent storage and injection device in an automated anchoring system for a robotic arm-assisted drilling rig provided by the present invention.

[0028] Figure 7 This is a schematic diagram of the control logic of an automated anchoring system for a robotic arm-assisted drilling rig provided by the present invention. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described 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 implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0031] This invention provides an embodiment: such as Figure 1 and Figure 2 As shown, the present invention provides an automated anchoring system for a robotic arm-assisted drilling rig, comprising: Platform; Figure 1 In the system shown, the tunneling and anchoring machine body 1 serves as the platform supporting the entire system. In this embodiment of the invention, the front of the body is equipped with a tunneling cutter head (not described in detail here), and the rear is the anchoring operation area. The tunneling and anchoring machine body 1 has a walking function, employing a tracked or wheeled chassis, enabling it to move and position autonomously within the tunnel. The tunneling and anchoring machine body 1 is equipped with infrastructure such as a hydraulic system, electrical system, and control system, providing power and control support for tunneling and anchoring operations.

[0032] The anchoring operation area of ​​the tunneling and anchoring machine body 1 is symmetrically arranged, with the first drill frame group 2 configured on the left and the second drill frame group 3 configured on the right. The tunneling and anchoring machine body 1 is also equipped with a first side robotic arm system 4 and a second side robotic arm system 5, which serve the first drill frame group 2 and the second drill frame group 3, respectively. A first material bin 6 and a second material bin 7 are also fixedly installed on the tunneling and anchoring machine body 1, providing material storage space for the first side robotic arm system 4 and the second side robotic arm system 5, respectively.

[0033] The tunneling and anchoring machine body 1 has a longitudinal rectangular layout, with the front being the tunneling working area and the rear being the anchoring working area. The anchoring working area is arranged symmetrically from left to right. (1) Left side area: The first inner drill frame 2.1 and the first outer drill frame 2.2 are arranged sequentially from front to back. The two drill frames are installed on the transverse sliding guide rail 2.14 and can slide laterally respectively. The first robotic arm system 4 is installed in the middle and rear part of the left side area, and the mounting base 4.5 is fixed on the left side frame of the tunneling and anchoring machine body 1. The first material bin 6 is installed in the rear part or side rear of the left side area, close to the left rear corner of the tunneling and anchoring machine body 1.

[0034] (2) Right side area: completely symmetrical to the left side area, with the second inner drilling frame 3.1, the second outer drilling frame 3.2, the second robotic arm system 5, and the second material bin 7 arranged in sequence.

[0035] (3) The main controller 8.1, hydraulic station, electrical cabinet and other auxiliary equipment of the control system 8 are installed on the chassis at the rear of the machine body 1 of the tunneling and anchoring machine.

[0036] The first drill rig group 2 includes a first inner drill rig 2.1 and a first outer drill rig 2.2, and the second drill rig group 3 includes a second outer drill rig 3.1 and a second inner drill rig 3.2. The four drill rigs have basically the same structure, all possessing three-degree-of-freedom pose adjustment capability and a double-clamp mechanism, such as... Figure 3 As shown, the first internal drill frame 2.1 is used as an example for detailed explanation: First internal drilling rig frame 2.11: The first internal drilling rig frame 2.11 is the main frame structure of the anchor drill frame, made of high-strength steel through processing or welding. The first internal drilling rig frame 2.11 is connected to the machine body 1 of the integrated tunneling and anchoring machine via pins, allowing for forward and backward swinging (pitch angle adjustment); the first internal drilling rig frame 2.11 can also swing left and right (azimuth angle adjustment), with both swing degrees of freedom driven by hydraulic swing cylinders 2.13. The first internal drilling rig frame 2.11 is mounted on a transverse sliding guide rail 2.14, enabling transverse translation (transverse position adjustment), thus forming a complete three-degree-of-freedom posture adjustment mechanism.

[0037] First internal drilling box 2.12: The first internal drilling box 2.12 is the core component for material placement and drilling operations, and is installed on the feed guide mechanism 2.15 of the first internal drilling rig frame 2.11. The first internal drilling box 2.12 can realize up and down feed movement (driven by hydraulic cylinder or lead screw) and can rotate in both directions (driven by hydraulic motor or electric motor), and is used for drilling, mixing and anchoring operations.

[0038] The upper opening of the first inner drilling box 2.12 is a drill sleeve. The robotic arm inserts the material into the first inner drilling box from above, which can be fixed in place with the protrusions of materials such as drill rods and spraying devices. The first inner drilling box 2.12 is equipped with water or air channels to supply water cooling to the drill rods or to provide spraying power to the spraying device.

[0039] The first inner double clamping mechanism is an improvement on the traditional drill frame structure, designed with a double clamping mechanism, including: Lubricating Top Plate 2.16: Located above the first inner drilling box 2.12, it is installed on top of the feed guide mechanism 2.15 of the first inner drilling rig frame 2.11. The lubricating top plate 2.16 integrates a clamping device that can close when needed to clamp the material (drill rod, spraying device, anchor bolt, etc.) inside the first inner drilling box 2.12, serving as a rod protector and fixation mechanism. The lubricating top plate 2.16 also has a lubrication function; lubricant can be applied to the material to reduce friction.

[0040] Support column (second clamp) 2.17: Located at the top of the first inner drilling rig frame 2.11, the support column 2.17 can move vertically along the first inner drilling rig frame 2.11 for top support. The support column 2.17 also integrates a clamping device, which can close when needed to clamp the material protruding from the first inner drilling box 2.12, and cooperate with the movement of the drilling box to achieve functions such as rod removal.

[0041] The design of the first inner double clamp mechanism makes the first inner drill frame more reliable when disassembling drill rods (especially square drill rods), and at the same time provides additional rod protection during the feeding process of the first inner drill box to prevent rod ejection and safety accidents.

[0042] Displacement sensor 2.18: Displacement sensor 2.18 is installed on the first internal drilling rig frame 2.11 and is used to detect key position parameters such as the feed position of the first internal drilling box 2.12 and the contact height of the support column 2.17. Displacement sensor 2.18 adopts a draw-wire encoder, magnetostrictive displacement sensor or laser rangefinder, etc., to measure and feed back position information to the control system in real time for automation control and safety protection.

[0043] Dual-axis tilt sensor 2.19: The dual-axis tilt sensor 2.19 is fixedly installed in the middle of the first inner drilling rig frame 2.11 by high-strength bolts, and is rigidly connected to the frame (to prevent vibration interference). The sensor synchronously collects the forward and backward swing angle α and the left and right swing angle β of the drilling rig, and transmits the angle signals to the sensor neural network module 8.6 in real time to provide basic angle data for the three-dimensional pose calculation of the first inner drilling box.

[0044] Linear displacement sensor 2.20: The linear displacement sensor 2.20 is built into the transverse sliding cylinder and moves synchronously with the cylinder piston rod. It collects the sliding distance L of the drill frame along the transverse sliding guide rail 2.14 in real time and transmits the data to the sensor neural network module 8.6. Together with the dual-axis tilt sensor 2.19, it realizes the complete acquisition of the drill frame's position and posture parameters.

[0045] The three-degree-of-freedom pose adjustment mechanism is driven by a hydraulic swing cylinder 2.13, and the first inner drilling rig frame 2.11 can achieve the following: (1) Back-and-forth swing: Adjust the elevation angle of the borehole to adapt to support points at different heights; (2) Left and right swing: Adjust the azimuth angle of the borehole to achieve the angle requirements of the side anchor and the top anchor; (3) Lateral sliding: Move along the lateral sliding guide rail 2.14 to cover the support range in the width direction of the roadway.

[0046] The combination of three degrees of freedom allows the first internal drilling box 2.12 to reach any support point within the anchoring operation area and adjust to a suitable drilling angle.

[0047] The bottom of the first internal drilling rig frame 2.11 is equipped with a slider or roller, which cooperates with the lateral sliding guide rail 2.14 to achieve lateral translation. The lateral sliding is driven by a hydraulic cylinder, the piston rod of which is connected to the first internal drilling rig frame 2.11, and the cylinder body is connected to the machine body 1 of the integrated tunneling and anchoring machine. The control system 8 drives the first internal drilling rig frame 2.11 to slide along the guide rail to the designated position by controlling the opening and closing of the hydraulic valve.

[0048] The first internal drilling rig frame 2.11 is connected to the tunneling and anchoring machine body 1 (or the transverse sliding base) via a pin. The pin serves as the rotation center, allowing the first internal drilling rig frame 2.11 to swing back and forth around the pin (pitch angle adjustment). One end of the hydraulic swing cylinder 2.13 is hinged to the tunneling and anchoring machine body 1, and the other end is hinged to the first internal drilling rig frame 2.11. The cylinder's extension and retraction drive the first internal drilling rig frame 2.11 to swing.

[0049] The first internal drilling rig frame 2.11 can also swing left and right (azimuth angle adjustment), driven by another set of hydraulic swing cylinders 2.13. The rotation center of the left and right swing can be another pin on the first internal drilling rig frame 2.11, or a universal joint structure can be used to achieve both forward and backward and left and right swing. The specific structure is determined according to the design scheme of the drilling frame.

[0050] The first internal drilling box 2.12 is connected to the first internal drilling rig frame 2.11 via a feed guide mechanism 2.15. The feed guide mechanism 2.15 can adopt the following schemes: (1) Screw and nut mechanism: The first inner drill box 2.12 is fixedly connected to the nut. The servo motor or hydraulic motor drives the screw to rotate, so as to realize the up and down feed of the drill box; (2) Chain drive mechanism: The first inner drill box 2.12 is fixedly connected to the chain, and the motor or hydraulic motor drives the sprocket to drive the chain and the drill box to move; (3) Hydraulic cylinder direct drive: The hydraulic cylinder directly drives the first internal drilling box 2.12 to move up and down, which is simple and reliable.

[0051] The feed guiding mechanism 2.15 includes a guide rod or guide rail to ensure that the first internal drill box 2.12 does not deflect or shake during the feeding process.

[0052] The rotation of the first internal drill box 2.12 is driven by a hydraulic motor or an electric motor. The output shaft of the hydraulic motor is connected to the first internal drill box 2.12 via a spline or keyway, driving the drill box to rotate. The first internal drill box 2.12 can rotate in both directions for drilling, mixing, and anchoring.

[0053] The lubrication top plate 2.16 is fixed to the top of the feed guide mechanism 2.15, located above the first inner drilling box 2.12. The clamping device inside the lubrication top plate 2.16 is hydraulically or pneumatically driven to close and clamp the material inside the first inner drilling box 2.12.

[0054] The support column 2.17 is connected to the first internal drilling rig frame 2.11 via a guide mechanism and can extend and retract vertically. The extension and retraction of the support column 2.17 is driven by a hydraulic cylinder for top support. The clamping device inside the support column 2.17 is also driven by hydraulic or pneumatic means to close and clamp materials.

[0055] The measuring rod or pull rope of displacement sensor 2.18 is connected to the first internal drilling box 2.12 (or support column 2.17), and the sensor body is fixed on the first internal drilling rig frame 2.11. The signal line of displacement sensor 2.18 is connected to sensor neural network module 8.6 to provide real-time feedback of position information.

[0056] The first internal drilling box 2.12 is internally designed with water or air passages, which are connected to fixed pipelines on the first internal drilling rig frame 2.11 via a rotary joint. The fixed pipelines are then connected to the water or air source on the machine body 1 of the integrated tunneling and anchoring machine via flexible hoses. The rotary joint allows the first internal drilling box 2.12 to maintain the continuity of the water or air passages during rotation.

[0057] The second inner drill frame 3.1 and the second outer drill frame 3.2 of the second drill frame group 3 have a structure that corresponds completely to that of the first drill frame group 2, except that their installation positions are symmetrical.

[0058] The first robotic arm system 4 and the second robotic arm system 5 serve two sets of drill frames, respectively. The two robotic arm systems have identical structures. The first robotic arm system 4 will be described in detail as an example. Figure 4 As shown, the first robotic arm system 4 includes: The six-DOF robotic arm 4.1 is a six-axis serial articulated industrial robot with six rotational degrees of freedom (base rotation, shoulder pitch, elbow pitch, wrist rotation, wrist pitch, and wrist swing). Each joint of the robotic arm 4.1 is driven by a servo motor and equipped with a high-precision encoder for position feedback, achieving a repeatability accuracy of ±0.05mm.

[0059] The working radius of the six-degree-of-freedom robotic arm 4.1 is generally 1-2 meters, based on the layout design of the tunneling and anchoring machine. Its working space can cover the entire storage area of ​​the first material bin 6, as well as the drill box positions of the first inner drill frame 2.1 and the first outer drill frame 2.2. The load capacity of the six-degree-of-freedom robotic arm 4.1 is determined according to the weight of the material, generally 20-50 kg, and it can grasp all materials such as drill rods, anchor bolts, spraying devices, and mixers.

[0060] The end effector 4.2 is the actuator of the robotic arm. It adopts a multi-functional gripper design and can adapt to materials of different shapes and sizes.

[0061] The end effector 4.2 is connected to the six-dimensional force sensor 4.7 via a flange. The six-dimensional force sensor 4.7 is connected to the sixth axis (end-efficiency) flange of the six-degree-of-freedom robotic arm 4.1, forming a connection relationship between the end effector, the six-dimensional force sensor, and the six-degree-of-freedom robotic arm. The connecting bolts are made of high-strength materials (such as grade 12.9 bolts) and a specified preload torque is applied to ensure the rigidity and reliability of the connection. If a quick-change interface 4.6 is used, the end effector 4.2 is connected to the end of the robotic arm via the quick-change interface. The quick-change interface employs a mechanical locking mechanism (such as spring pins, chucks, etc.) and an automatic electrical / pneumatic docking mechanism.

[0062] The following options can be selected for the end effector 4.2: (1) Pneumatic parallel gripper: Two gripping fingers open and close in parallel via a cylinder to grip cylindrical materials (drill rods, anchor rods, spraying devices, etc.). Flexible pads are provided on the inside of the gripping fingers to avoid damaging the material surface. The gripping force is adjustable and controlled by a pneumatic pressure regulating valve.

[0063] (2) Electric servo gripper: The gripper fingers are driven by a servo motor, and the gripping force and opening can be precisely controlled. The gripping force information can be fed back in real time to achieve flexible gripping and avoid material damage caused by excessive gripping force.

[0064] (3) Quick-change multi-jaw solution: The end effector 4.2 is designed with a quick-change interface 4.6, which can quickly change different types of special jaws as needed. For example, a three-jaw chuck jaw is designed for drill pipe, a V-groove jaw is designed for anchor bolt, and a magnetic jaw is designed for agitator, etc.

[0065] (4) Hydraulic gripper: The gripper opens and closes by driving the linkage mechanism through the oil cylinder. It has the advantages of small size, large output and high power density.

[0066] The present invention preferably adopts a hydraulic gripper with a quick-change interface, which takes into account versatility, reliability and cost.

[0067] The vision camera 4.3 is the "eye" of the robotic arm system, mounted near the end effector 4.2, and moves with the robotic arm. The vision camera 4.3 uses an industrial-grade camera, and the following types are available: (1) Monocular color camera: The target image is captured by a single camera, and the target position and pose are identified by image processing algorithms. It is low in cost and the algorithm is mature, but the depth information needs to be calculated by calibration or known target size.

[0068] (2) Binocular depth camera: By using two cameras to capture images of the target from different angles and calculating the parallax, depth information can be obtained, and the three-dimensional coordinates of the target can be directly acquired. It has high accuracy, but requires a large amount of computation and has a high cost.

[0069] (3) RGB-D depth camera: Combining color and depth images, it can simultaneously obtain the color, texture and three-dimensional coordinate information of the target. It has a fast recognition speed, but it has certain requirements for lighting conditions.

[0070] (4) Structured light 3D camera: By projecting specific structured light onto the target surface, the deformed grating pattern is captured and the 3D shape of the target is reconstructed. It has high accuracy, but poor adaptability to reflective surfaces.

[0071] The present invention preferably uses a binocular depth camera, which can meet the requirements of recognition accuracy and high reliability.

[0072] The field of view of the vision camera 4.3 needs to cover: the material grabbing area in the material warehouse, the material loading area in the drill box, and the posture monitoring area of ​​the material during transportation.

[0073] The vision camera 4.3 is mounted near the end effector 4.2 using a dedicated bracket. The bracket is positioned so that the optical axis of the vision camera 4.3 is approximately parallel to or at an angle (e.g., 30°-45°) to the central axis of the end effector 4.2, and the field of view covers the area in front of and below the end effector 4.2.

[0074] The relative positional relationship (i.e., hand-eye calibration parameters) between the vision camera 4.3 and the end effector 4.2 needs to be accurately determined through a calibration program and stored in the vision processing module 8.2 of the control system 8.

[0075] The light source module 4.4 provides stable and uniform illumination for the vision camera 4.3, eliminating the impact of insufficient or uneven lighting in the downhole environment on visual recognition. The light source module 4.4 can be an LED ring light source, a strip light source, or a coaxial light source, and is integrated with the vision camera 4.3 and installed near the end effector 4.2. The brightness and exposure of the light source module 4.4 are adjustable, allowing for adjustments to the illumination intensity according to different recognition scenarios.

[0076] The light source module 4.4 is integrated with the vision camera 4.3 and fixed on the same bracket or directly mounted around the camera lens (ring light source). The power cable of the light source module 4.4 is routed together with the robotic arm's cables and connected to the electrical interface of the robotic arm base.

[0077] The mounting base 4.5 provides a stable mounting foundation for the robotic arm 4.1 and is fixed to the body 1 of the tunneling and anchoring machine with high-strength bolts. The position of the mounting base 4.5 is carefully designed and has the function of sliding left and right under the drive of the hydraulic cylinder, so that the working space of the six-degree-of-freedom robotic arm 4.1 can simultaneously cover the drilling box positions of the first material bin 6, the first inner drilling frame 2.1, and the first outer drilling frame 2.2.

[0078] The mounting base 4.5 is fixed to the left frame of the tunneling and anchoring machine body 1 with high-strength bolts (M16 or M20). The position of the mounting base 4.5 is carefully designed and has a horizontal sliding mechanism, so that the working space of the six-degree-of-freedom robotic arm 4.1 can cover the transportation space between the following three areas: the entire storage area of ​​the first material bin 6 (for grabbing materials), the area above the first inner drill box 2.12 of the first inner drill frame 2.1 (for placing materials), and the area above the first outer drill box of the first outer drill frame 2.2 (for placing materials).

[0079] The mounting base is typically 4.5 meters high and aligned with the middle or upper layer of the first material bin 6.

[0080] The base flange of the six-DOF robotic arm 4.1 is connected to the top flange of the mounting base 4.5 via high-strength bolts. Precise position calibration and leveling are required before connection to ensure accurate correspondence between the robotic arm's base coordinate system and the overall coordinate system of the tunneling and anchoring machine.

[0081] The quick-change interface 4.6 is designed on the end effector 4.2, allowing for quick changes of different types of grippers or tools.

[0082] The six-dimensional force sensor 4.7 is installed between the end flange of the six-degree-of-freedom robotic arm 4.1 and the end effector 4.2. The connection sequence is: end flange of robotic arm → six-dimensional force sensor 4.7 → end effector 4.2. The sensor transmits the end force data (X / Y / Z three-dimensional force and X / Y / Z three-dimensional torque) to the trajectory planning module 8.3 in real time for secondary correction of force feedback during material placement.

[0083] The drive air source or power supply for the end effector 4.2 is led out through cables / air pipes inside the robotic arm and connected to an external air source or power supply at the base of the robotic arm. The data and power cables of the vision camera 4.3 and the light source module 4.4 are also routed through the inside of the robotic arm and connected to the vision processing unit 8.2 and power system of the control system 8 at the base.

[0084] The power cables and encoder signal lines of the servo motors of each joint of the robotic arm are led out through a dedicated robotic arm cable and connected to the robotic arm motion controller at mounting base 4.5. The robotic arm motion controller is connected to the main controller 8.1 of the control system 8 via Ethernet or fieldbus.

[0085] The structure of the second robotic arm system 5 is completely corresponding to that of the first robotic arm system 4, except that the installation positions are symmetrical from left to right, and it serves the second drill frame group 3.

[0086] The first material storage bin 6 and the second material storage bin 7 provide material storage functions for the robotic arm systems on the left and right sides, respectively. The two material storage bins have identical structures. Taking the first material storage bin 6 as an example, the details are as follows: Figure 5 As shown, the first material storage silo 6 includes: The first storage frame 6.1 is the main frame structure of the material storage silo, constructed by welding or assembling profiles and bolted to the body 1 of the integrated tunneling and anchoring machine. The height, width, and depth of the first storage frame 6.1 are designed according to the type and quantity of materials and the working space of the robotic arm.

[0087] The structural design of the first rack 6.1 takes into account the convenience of the robotic arm's gripping. The materials are arranged vertically, making it easy for the robotic arm to grasp them from above or the side. The first rack 6.1 also has a certain degree of impact and vibration resistance, making it suitable for harsh underground working conditions.

[0088] The first frame 6.1 is bolted to the left rear frame of the tunneling and anchoring machine body 1. The bottom of the first frame 6.1 is connected to the chassis or support platform of the tunneling and anchoring machine body 1, and the sides and back of the first frame 6.1 are connected to the columns or side plates of the tunneling and anchoring machine body 1, forming a stable triangular support. Anti-loosening measures (such as spring washers, lock nuts, anti-loosening adhesive, etc.) are used on the connecting bolts to prevent them from loosening due to downhole vibration.

[0089] The first mounting plate 6.2 is fixedly connected to the upper half of the first storage rack 6.1 and serves as the base plane for material fixing and installation. The first mounting plate 6.2 is made of thick steel plate and has an array of threaded holes on its surface. The hole spacing is a standard module (such as 50mm or 100mm) to facilitate the flexible installation and adjustment of the U-shaped clips 6.3 and spring clips 6.4.

[0090] The first mounting plate 6.2 is designed with three mounting surfaces (upper, middle, and lower), and materials are arranged in layers on the first mounting plate 6.2 at intervals. This layered design allows for: (1) Increased storage capacity, allowing more materials to be stored in a limited space; (2) Materials on different layers do not interfere with each other, making it easy for the robotic arm to grasp them separately; (3) Storage locations can be arranged according to the frequency of material use, with frequently used materials placed on easily accessible levels.

[0091] The U-shaped clamp 6.3 is a lateral support and positioning component for materials. It is made of sheet metal or casting and has a "U"-shaped cross-section. The inner contour of the U-shaped clamp 6.3 matches the shape of the material and can stably support cylindrical materials such as drill rods, anchor rods, and spraying devices.

[0092] The U-shaped clamp 6.3 is designed in various specifications to accommodate materials of different diameters: (1) Small U-shaped clamp: suitable for materials with a diameter of 20-40mm (such as drill rods and agitators); (2) Medium-sized U-shaped clamp: suitable for materials with a diameter of 40-70mm (such as anchor bolts and spraying devices); (3) Large U-shaped clamp: suitable for materials with a diameter of 70-100mm (such as large diameter anchor cable drill rod).

[0093] The U-shaped clamp 6.3 is fixedly mounted on the first mounting plate 6.2 with screws, and the installation position can be flexibly adjusted according to the material arrangement requirements. A soft pad (such as rubber or polyurethane) can be attached to the inside of the U-shaped clamp 6.3 to prevent scratches on the material surface and increase friction.

[0094] 4. The spring clip 6.4 is a top clamping and quick-release component for materials, made of spring steel sheet or plate, and has elastic deformation capability. One end of the spring clip 6.4 is fixed to the first mounting plate 6.2 (paired with the U-shaped clip 6.3), and the other end is a free end that bends inward to form a clip structure.

[0095] The working principle of the spring clip 6.4: (1) When placing the material, insert the material into the U-shaped clip 6.3 from below and press open the free end of the spring clip 6.4 from the top; (2) After the material is in place, the free end of the spring clip 6.4 springs back and presses against the top of the material to secure it reliably; (2) When the robotic arm grabs, it pulls the material upward to overcome the clamping force of the spring clip 6.4 and removes the material.

[0096] The Spring Clip 6.4 is also designed in various sizes to match materials of different dimensions. The spring force of the Spring Clip 6.4 is adjustable by adjusting the material, thickness, or bending angle of the spring plate. For heavy materials (such as long anchor rods), a high-force clip can be used; for light materials (such as mixers), a low-force clip can be used.

[0097] Depending on the elasticity of the spring clips of different specifications, the U-shaped clip 6.3 can also be removed, and the spring clip 6.4 can be directly fixed to the mounting plate 6.2 with screws to fix certain special-shaped materials.

[0098] The pallet rack 6.5 is fixedly connected to the lower end of the first compartment rack 6.1 and is used to place auxiliary tools such as flat pallets and butterfly pallets. The pallet rack 6.5 is designed with a U-shaped groove structure, allowing pallets to slide into the groove from the side for stable placement. The pallet rack 6.5 can hold multiple pallets, arranged in a layered or compartmentalized manner.

[0099] The pallet 6.6 is located at the bottom of the pallet frame 6.5 and serves as the load-bearing surface for the pallet. The pallet 6.6 can be fixed in place or designed to be removable for easy cleaning and maintenance.

[0100] Example of material configuration in a material warehouse: Upper mounting surface: Stores 4-6 drill pipes (depending on drill pipe length and bin height); Intermediate installation surface: 4-8 sets of storage spraying device (anchoring agent storage spraying device), 4-8 anchor bolts; Lower mounting surface: Stores 4-8 agitators; Pallet rack: Stores 2-4 flat pallets and 2-4 butterfly pallets.

[0101] The actual configuration can be flexibly adjusted according to the support process requirements (such as how many drill rods, anchor bolts, and spraying devices are needed for one cycle) and the space of the material silo.

[0102] Materials (drill rods, anchor bolts, spraying devices, agitators, etc.) are installed into the material silo according to the following steps: Insert the material into the U-shaped card block 6.3 from below, with the cylindrical surface of the material fitting against the inner contour of the U-shaped card block 6.3; Continue pushing the material upwards until the top of the material pushes open the free end of the spring clip 6.4; Once the material is in place, the free end of the spring clip 6.4 springs back and snaps onto the top of the material, reliably securing it. Check that the materials are stable and confirm that there is no risk of shaking or falling off.

[0103] The pallet (flat pallet, butterfly pallet) slides into the U-shaped groove of the pallet rack 6.5 from the side and is pushed to the bottom. The pallet's own weight makes it sit stably on the pallet plate 6.6.

[0104] The materials stored in the material bin mainly include drill pipe, anchor bolt, agitator, and explosive rod (anchoring agent storage and spraying device). Among them, drill pipe, anchor bolt, and agitator are common materials for downhole anchor bolt support. The anchoring agent storage and spraying device 6.7 is an automatic spraying device invented to solve the difficulty of manual plugging.

[0105] The anchoring agent storage and spraying device (hereinafter referred to as the spraying device) is one of the key components used in this invention. It is used to replace the traditional manual application of the anchoring agent, realizing the automated delivery and spraying of the anchoring agent. Figure 6 As shown, its specific structure is as follows: The transition rod 6.71 is a hollow tube structure, with a hollow pipe 6.711 in the middle and a square boss 6.712 at the bottom. The hollow pipe 6.711 is used to transport water or air to propel the anchoring agent spraying. The shape of the square boss 6.712 is consistent with the shape of the drill rod boss used in the tunneling and anchoring machine. It can be inserted into the drill sleeve of the first inner drill box 2.12 and clamped and fixed by the drill box, realizing a reliable connection between the spraying device and the drill box.

[0106] Sleeve 6.72 is also a hollow tube structure, with the hollow middle section serving as the anchoring agent storage area 6.721, used to store the anchoring agent (cartridge). One end of sleeve 6.72 is fixedly connected to transition rod 6.71 via threads, and the hollow tube 6.711 communicates with the anchoring agent storage area 6.721. The hollow tube 6.711 has a smaller diameter (approximately 20-30 mm), while the anchoring agent storage area 6.721 has a larger diameter (approximately 50-80 mm, depending on the anchoring agent specifications), forming an expanded storage space.

[0107] The flange cover 6.73 is fixedly connected to the other end of the sleeve 6.72 by threads, sealing the anchoring agent storage area 6.721. The front end of the flange cover 6.73 (facing the drilling direction) is designed with a guide head 6.731, which is conical or hemispherical, for centering the drilling and guiding the spraying device to accurately insert into the drill hole.

[0108] The flange cover 6.73 has 4-8 pressure relief holes 6.732 evenly distributed in the middle section, each approximately 5-10 mm in diameter. The function of the pressure relief holes 6.732 is as follows: when the spraying device is inserted into the borehole, the guide head 6.731 enters the hole, and the anchoring agent storage area 6.721 and the borehole form a closed space. Without the pressure relief holes 6.732, when the water or air valve is opened to pressurize the storage area, the air cannot be expelled, and under pressure and reaction force, the anchoring agent cannot be smoothly delivered to the borehole. The pressure relief holes 6.732 can expel air from the storage area and the borehole, eliminating air resistance and ensuring smooth injection of the anchoring agent.

[0109] The tail end of the flange cover 6.73 (away from the drilling direction) is designed with a limiting block 6.733, which is flange-shaped and has a diameter larger than the borehole diameter. The function of the limiting block 6.733 is: when the first inner drill box 2.12 feeds and sends the spraying device into the borehole, the end face of the limiting block 6.733 will press against the surface of the roadway roof to prevent the spraying device from going deeper, ensuring that the pressure relief hole 6.732 is exposed outside the borehole (not blocked by the roof), and at the same time preventing the spraying device from being inserted too deeply.

[0110] Piston 6.74 is a cylindrical structure with an outer diameter equal to the inner diameter of the anchoring agent storage area 6.721. The two are precisely fitted (with a gap of 0.1-0.5mm) to provide a sealing and pressure-maintaining function. Piston 6.74 is fixedly connected to push rod 6.75 via threads and is located on the upper part of push rod 6.75. Piston 6.74 is made of wear-resistant, high-sealing engineering plastics (such as polytetrafluoroethylene or nylon) or rubber-sealed metal materials.

[0111] The 6.75mm push rod is a solid round rod or a hollow tube with a diameter approximately equal to (slightly smaller than) the diameter of the anchoring compound (e.g., if the anchoring compound is 50mm in diameter, the push rod diameter is 48mm). It is used to push the anchoring compound deep into the borehole. The length of the 6.75mm push rod is determined based on the amount of anchoring compound and the borehole depth, and is generally 1-2 meters.

[0112] The push rod 6.75 and piston 6.74 are connected by threads and are placed as a whole at the bottom of the anchoring agent storage area 6.721 (near the end of the transition rod 6.71). The installation sequence is: push rod 6.75 at the bottom, piston 6.74 above push rod 6.75.

[0113] Working principle of the spraying device: (1) The first robotic arm 4 grabs the spraying device loaded with anchoring agent and inserts it into the first inner drilling box 2.12. The square boss 6.712 is fixedly connected to the drill sleeve of the first inner drilling box 2.12. (2) The first inner drill box 2.12 feeds upward, sending the guide head 6.731 at the front end of the flange cover 6.73 into the drill hole until the limit block 6.733 presses against the top plate. At this time, the pressure relief hole 6.732 is exposed outside the drill hole. Open the water or air valve of the drill box, and water or compressed air enters the anchoring agent storage area 6.721 through the hollow pipe 6.711, pushing the piston 6.74 to move upward; Piston 6.74 moves upward under water or air pressure, and push rod 6.75 pushes the anchoring agent out of sleeve 6.72 under the push of piston 6.74, and enters the borehole through flange cover 6.73; Since the diameter of the push rod 6.75 is smaller than the inner diameter of the sleeve 6.72, the push rod 6.75 can extend out of the sleeve 6.72 to deliver the anchoring agent into the depth of the borehole, thereby achieving deep hole filling. When the piston 6.74 reaches the upper end of the sleeve 6.72, the push rod 6.75 is stopped from advancing because the diameter of the piston 6.74 is larger than the space behind the sleeve 6.72 (or the piston hits the limiting structure), and the spraying is completed. After closing the water or air valve, the first internal drilling box 2.12 retracts, the robotic arm removes the empty spraying device, and places it back into the material bin or sends it to the filling position to refill the anchoring agent.

[0114] Advantages of spraying devices: (1) The structure is simple, consisting of only 5 parts, and is easy to process and assemble; (2) Multi-section threaded connection, easy to disassemble and install, convenient for transportation and component replacement; (3) No special power system is required; it can work using the existing water or air channels in the drilling box. (4) The piston seal maintains pressure and the push rod pushes, which not only ensures the injection pressure, but also delivers the anchoring agent into the deep hole; (5) The boss is fixedly connected to the drill box and drill sleeve, which is highly versatile and can be adapted to different models of drill boxes; (6) The design of the guide head, pressure relief hole and limit block of the flange cover solves the technical problems of centering, pressure relief and preventing deep penetration.

[0115] Variants of the spraying device: (1) The length of the anchoring agent storage area 6.721 can be adjusted as needed to accommodate 1, 2 or more anchoring agents; (2) The sleeve 6.72 can be designed as a modular structure, and the storage capacity can be adjusted by adding or removing sleeve sections; (3) The spraying device can be changed from a dry drilling box to a wet drilling box, or vice versa, only the corresponding interface and seals need to be replaced; (4) The piston 6.74 and the push rod 6.75 can be designed as a reusable, durable type or as a disposable, simple type.

[0116] Control system 8 is the "brain" of the entire tunneling and anchoring integrated machine automated anchoring system. It is responsible for coordinating the work of subsystems such as the drilling frame, robotic arm, vision system, and spraying device to achieve fully automated operation. Figure 7 The diagram shows the specific control flow of control system 8. Control system 8 consists of the following modules: The main controller 8.1 is the core computing and decision-making unit of the control system, employing an industrial-grade control computer (IPC) or a high-performance programmable logic controller (PLC). The main controller 8.1 runs the process control program, sending control commands to each subsystem based on the preset support process flow and sensor feedback information.

[0117] The software of the main controller 8.1 adopts a modular design, including: Process control module: manages the state machine of the support process and coordinates the execution sequence of each process; Drill rig control module: controls the drill rig's position adjustment, drill box feed, rotation and other actions; the main controller 8.1 connects to the drill rig hydraulic control unit via CAN bus, Profinet and other fieldbuses, sends drill rig action commands (position adjustment, drill box feed, rotation, clamping action, etc.), and receives hydraulic system status information (pressure, flow, valve position, sensor data, etc.).

[0118] Robotic arm control module: controls the movement trajectory and gripper actions of the robotic arm; when controlling the robotic arm's movements, the main controller 8.1 connects to the robotic arm motion controller via Ethernet (TCP / IP, Modbus TCP, etc.), sends motion commands (target position, speed, acceleration, etc.), and receives robotic arm status information (current pose, joint angle, running status, alarm information, etc.).

[0119] The vision processing interface module receives the recognition results from the vision processing unit and converts them into target coordinates for the robotic arm. The main controller 8.1 is connected via high-speed Ethernet (GigE, 10GigE) to receive the vision recognition results (target coordinates, posture, confidence level, etc.) and send recognition task instructions (shooting, recognition, calibration, etc.).

[0120] Security monitoring module: Monitors system status in real time, detects abnormal situations and triggers security protection; Human-computer interaction module: Provides a touch screen or remote operation interface to facilitate monitoring and intervention by operators.

[0121] The vision processing module 8.2 is specifically responsible for processing images acquired by the vision camera 4.3 and for target recognition, providing the robotic arm with accurate target coordinates. Working in parallel with the sensor neural network module 8.6, it provides dual-path coordinate support for the robotic arm. It receives pose parameters synchronously transmitted from the sensor neural network unit 8.6, identifies the position of the first internal drilling box 2.12 using a target detection algorithm (YOLO + template matching fusion), calculates the visual coordinates based on camera calibration parameters, and calculates a confidence score based on image sharpness and matching degree. The visual coordinates and confidence score are then synchronously output to the decision fusion module 8.7.

[0122] The functions of the vision processing module 8.2 include: (1) Image acquisition: Simultaneously acquire visual camera images of the left and right robotic arms; (2) Image preprocessing: filtering and noise reduction, contrast enhancement, distortion correction, etc.; (3) Target detection: Identify the location of materials in the material warehouse, and the position and orientation of the drill box; (4) Coordinate calculation: Convert the image coordinates into three-dimensional coordinates in the robot arm's base coordinate system; (5) Attitude estimation: Identify the spatial attitude (rotation angle) of the target to guide the robotic arm to adjust the grasping attitude; (6) Output results: Send the recognition results (target coordinates, attitude, confidence level, etc.) to the main controller 8.1.

[0123] The recognition algorithm used by the vision processing module 8.2 may include: (1) Traditional image processing algorithms: edge detection, template matching, feature point matching, Hough transform, etc.; (2) Deep learning algorithms: Target detection algorithms based on convolutional neural networks (CNN), such as YOLO, SSD, Faster R-CNN, etc., can achieve fast and accurate multi-target recognition; (3) Sensor fusion algorithm: Combine information from multiple sensors such as visual camera, depth camera, and laser scanner to improve recognition robustness.

[0124] The trajectory planning module 8.3 plans the motion trajectory of the robotic arm based on the target coordinates and the current pose of the robotic arm provided by the vision processing module 8.2. The goal of trajectory planning is to generate the optimal motion path from the starting point to the ending point while satisfying obstacle avoidance, velocity, and acceleration constraints.

[0125] The trajectory planning module 8.3 employs the following algorithms: (1) Joint space planning: Planning trajectories in joint angle space, suitable for point-to-point motion; (2) Cartesian spatial planning: planning the straight or curved trajectory of the end effector in three-dimensional space, suitable for motions that require a specific path (such as inserting a drill box). (3) Obstacle avoidance planning: Using environmental models and sensor information, plan a trajectory to avoid obstacles; (4) Multi-objective optimization: comprehensively consider multiple optimization objectives such as motion time, energy consumption, and smoothness.

[0126] The trajectory generated by the trajectory planning module 8.3 is sent to the robotic arm motion controller in the form of a joint angle sequence or a Cartesian coordinate sequence, and the robotic arm performs motion according to the trajectory.

[0127] The process scheduling module 8.4 is responsible for coordinating the working sequence of the left and right robotic arms and the four drilling rigs to achieve efficient parallel or alternating operations. The core of the process scheduling module 8.4 is a rule-based or optimization algorithm-based scheduler that makes scheduling decisions based on the following information: (1) Current status of each drilling rig (idle, drilling, anchoring, etc.); (2) Current status of each robotic arm (idle, grasping, transporting, placing, etc.); (3) Inventory status of materials in the material warehouse; (4) Pre-set support process flow and support point location.

[0128] The scheduling strategies of the process scheduling module 8.4 include: (1) Alternating operation strategy: The two drill frames on the left and right sides work alternately. When one drill frame is drilling, the other drill frame is replaced by a robotic arm to maximize the utilization rate of the drill frame and the robotic arm and reduce idle waiting time; (2) Parallel operation strategy: In certain stages (such as drilling with two drill frames at the same time), the drill frames and robotic arms on the left and right sides can work in parallel to further improve efficiency; (3) Priority scheduling strategy: Dynamically adjust the priority of the process based on factors such as the urgency of the support and the availability of materials; (4) Abnormal handling strategy: When a subsystem fails or becomes abnormal, the scheduler can adjust the sequence of operations, prioritize the completion of other executable operations, or enter a safe shutdown state.

[0129] The communication interface module 8.5 enables data interaction between the main controller 8.1 and various subsystems, supporting multiple industrial communication protocols. (1) Robotic arm communication: communicates with the robotic arm motion controller through protocols such as Ethernet, TCP / IP, and Modbus TCP, sends motion commands, and receives pose feedback and status information; (2) Drill frame hydraulic system communication: communicates with the hydraulic control unit via fieldbus such as CAN and Profinet to control the drill frame position, drill box feed and rotation, and receive sensor information such as pressure and displacement; (3) Vision system communication: communicate with the vision camera through protocols such as GigE Vision and USB3 Vision to acquire images and receive recognition results; (4) Safety system communication: communicate with safety PLC, emergency stop button, safety light curtain, etc. via safety bus (such as Safety over EtherCAT) to realize safety interlock and emergency stop; (5) Human-machine interface communication: Communicate with the touch screen or host computer via Ethernet to display system status and receive operation instructions.

[0130] The communication interface module 8.5 is also responsible for data format conversion, protocol adaptation, communication fault detection, and redundant communication, ensuring the reliability and real-time performance of communication.

[0131] The Sensor Neural Network Module 8.6 is responsible for collecting and processing information from various sensors, providing comprehensive state awareness for the control system. The Sensor Neural Network Module 8.6 includes: (1) Displacement sensor network: collects information such as drill box feed displacement, support column top contact height, and drill frame lateral position; (2) Pressure sensor network: collects information such as hydraulic system pressure and water / air circuit pressure; (3) Force sensor network: Collects six-dimensional force information at the end of the robotic arm for contact detection and flexible control; (4) Proximity switch network: detects switch quantity information such as whether the material is in place and whether the drill box is in place; (5) Tilt sensor network: detects the swing angle of the drill frame; (6) Environmental sensors: detect environmental parameters such as temperature, humidity, and methane concentration.

[0132] The sensor neural network module 8.6 filters, calibrates, and fuses the collected sensor data before providing it to the main controller 8.1 and the safety monitoring module. Some sensor data is also used for auxiliary calibration of visual recognition or as input features for neural networks.

[0133] Decision Fusion Module 8.7: The decision fusion module 8.7 is the core decision module of the dual-redundant system. It is integrated into the main controller 8.1 and receives two input data through a high-speed bus: ① the predicted coordinates output by the sensor neural network module 8.6; ② the visual coordinates and confidence score output by the vision processing module 8.2.

[0134] (1) Visual status judgment: Based on the confidence score, image sharpness index, and target detection success mark, the working status (normal / abnormal) of the vision system is judged. (2) Coordinate selection decision: If the vision is normal (confidence score ≥ 0.8): calculate the dual-path coordinate deviation ΔP. If ΔP ≤ 0.5mm (deviation threshold), use the visual coordinates; if ΔP > 0.5mm, use the visual coordinates and trigger the online learning module 8.8; If the vision is abnormal (confidence score < 0.8): directly use the predicted coordinates to achieve degraded system operation; (3) Target coordinate output: Transmit the final target coordinates to the trajectory planning module 8.3.

[0135] Online Learning Module 8.8: The online learning module 8.8 is integrated into the main controller 8.1 and is used for continuous optimization of the neural network model. The input data includes: ① Pose parameters transmitted by the decision fusion module 8.7; ② Final coordinates after visual coordinates or force feedback correction; ③ Cumulative correction amount transmitted by the six-dimensional force sensor 4.7.

[0136] The online learning module 8.8 also has the following features: (1) Sample selection: Only the operation data that meet the criteria of "deviation ΔP>0.5mm" or "cumulative correction amount>0.3mm" are used as valid training samples; (2) Incremental learning: The mini-batch gradient descent algorithm is used to fine-tune the model weights in the sensor neural network unit 8.6 online, with an update frequency of ≤1 time / anchor cycle; (3) Model storage: The optimized model parameters are backed up to the local storage of the main controller in real time to prevent loss during power failure and ensure that the model adapts to equipment wear and environmental changes over a long period of time.

[0137] In addition, the machine body 1 of the integrated tunneling and anchoring machine is equipped with a power supply system to provide power to each subsystem: (1) High voltage power supply: 380V three-phase AC power or 660V / 1140V mine explosion-proof power supply to power high-power equipment such as drill frame hydraulic system and mechanical arm drive system; (2) Low-voltage power supply: Converted to 24V DC, 12V DC and other low-voltage power supplies through transformers or switching power supplies to power control system 8, sensors, vision cameras, light sources and other equipment; (3) Uninterruptible power supply (UPS): Provides power outage protection for key equipment such as the main controller 8.1, ensuring that the system can be safely shut down or continue to operate in the event of a sudden power outage.

[0138] The machine is also equipped with a comprehensive protection system: (1) Overload protection: Each motor and cylinder is equipped with an overload protection device to prevent overload operation; (3) Emergency stop system: An emergency stop button is provided at the operating position. When pressed, the system immediately stops all actions; (3) Safety light curtain: A safety light curtain or safety laser scanner is installed around the working area of ​​the robotic arm to detect personnel intrusion and trigger a safety shutdown; (4) Limit protection: Each motion axis is equipped with hardware limit switches and software limits to prevent overtravel; (5) Collision protection: The robot arm is detected to collide with the surrounding environment through visual detection, force sensor or collision detection algorithm, and the protection shutdown is triggered.

[0139] The following is a specific embodiment of the present invention, which describes in detail the complete workflow of a single robotic arm serving two drill frames, as well as the overall workflow of dual robotic arms working together.

[0140] The first robotic arm system 4 serves the first inner drill rig 2.1 and the first outer drill rig 2.2, maximizing the utilization of the drill rig and robotic arm through an alternating operation strategy. A complete anchoring cycle workflow is described below: Phase 1: Preparation Phase Step 1: Manual netting laying and initial positioning Before drilling begins, metal mesh (or steel mesh) needs to be laid manually on the roof of the tunnel as an auxiliary structure for anchor bolt support. Operators operate the tunneling and anchoring machine via touch screen or remote control, positioning the machine body 1 in a suitable position so that the first inner drilling frame 2.1 and the first outer drilling frame 2.2 can cover the area to be supported; the first robotic arm system 4 and the first material bin 6 are in standby mode.

[0141] Step 2: Drill frame positioning and automatic drill pipe placement The control system 8 adjusts the position (forward and backward swing α, left and right swing β, lateral sliding L) of the first inner drill frame 2.1 according to the preset support scheme (support point position, drilling angle, etc.) so that the first inner drill box 2.12 is aligned with the first support point; the dual-axis tilt sensor 2.19 collects α and β, and the linear displacement sensor 2.20 collects L. After Kalman filtering by the data acquisition module (integrated in 8.6), [α_filtered, β_filtered, L_filtered] are obtained.

[0142] The six-degree-of-freedom robotic arm 4.1 moves to the drill rod storage position of the first material bin 6, and the vision camera 4.3 captures the drill rod storage area; the vision processing module 8.2 identifies the position and posture of the drill rod to be grasped (the drill rod is placed vertically, and its center coordinates and top height need to be identified). The trajectory planning module 8.3 plans the grasping trajectory of the robotic arm; the six-degree-of-freedom robotic arm 4.1 moves above the drill pipe, and the end effector 4.2 opens the gripper; The six-degree-of-freedom robotic arm 4.1 moves downwards, the gripper closes, and it grips the drill rod (the gripping position is generally in the upper middle part of the drill rod, avoiding the head and tail). The six-degree-of-freedom robotic arm 4.1 lifts the drill rod and exits the material bin; Dual redundancy strategy begins---------- Dual-path parallel coordinate calculation: a. Sensor neural network unit 8.6 inputs [α_filtered, β_filtered, L_filtered], and outputs predicted coordinates P_nn through pre-trained neural network; b. Vision camera 4.3 captures the area of ​​drill box 2.12, and vision processing unit 8.2 solves the visual coordinates P_vision and confidence S_confidence; Decision Fusion Module 8.7 Judgment: a. If S_confidence≥0.8 and ΔP≤0.5mm, use P_vision as the target coordinate P_target; b. If S_confidence≥0.8 and ΔP>0.5mm, use P_vision and record the sample [α,β,L,P_vision]; c. If S_confidence < 0.8, use P_nn as P_target; ----------End of dual redundancy strategy The trajectory planning module 8.3 plans the transport trajectory of the robotic arm from its current position to above the drill box. The six-degree-of-freedom robotic arm 4.1 carries the drill rod and moves it above the first inner drill box 2.12. When the six-DOF robotic arm approaches the drill box, the vision camera 4.3 takes close-up pictures of the drill box and performs fine position correction (visual servoing). The six-degree-of-freedom robotic arm 4.1 vertically aligns the drill rod with the opening of the first inner drill box 2.12 and inserts it downward into the first inner drill box until the boss of the drill rod is inserted into the drill sleeve; Force feedback secondary correction: During insertion, the six-dimensional force sensor 4.7 monitors the radial contact force in real time. If ΔF>50N, the trajectory planning module 8.3 adjusts the end pose through a virtual stiffness compensation algorithm until the contact force is ≤20N. The six-DOF robotic arm 4.1 releases the gripper, retracts, and the drill pipe is placed.

[0143] Step 3: Connecting the drill frame to the top and drilling. The support column 2.17 extends automatically and moves upward to connect with the roof of the roadway, providing support for the drill frame; Displacement sensor 2.18 records the top contact height H_top of support column 2.17; Based on the top contact height H_top, the control system 8 calculates the required feed distance of the first inner drill box 2.12 so that the top of the drill rod just contacts the top plate (or leaves a small gap). The first internal drill box 2.12 is automatically fed to the top contact position, and at the same time the lubricated top plate 2.16 closes, clamps the drill rod, and acts as a rod protector to prevent the rod from being thrown. The first internal drill box 2.12 rotates in the forward direction while continuing to feed upward, and the drilling operation begins. During drilling, the water circuit of the first inner drill box 2.12 is opened to supply water to the drill rod for cooling and dust removal; Once the drilling reaches the set depth (detected by displacement sensor 2.18, or determined by drilling time and drilling load), the first inner drill box 2.12 stops feeding and rotating, and drilling is complete.

[0144] In Phase 1, the drill frame positioning and drill pipe automatic placement in Step 2 can be achieved automatically or manually, depending on the different downhole support processes.

[0145] Phase Two: Drill Pipe Removal and Chemical Delivery Step 4: Automatic Drill Rod Removal After drilling is completed, the first inner drill box 2.12 automatically retracts and rotates in the opposite direction (using centrifugal force to play a certain role in dismantling the rod, especially for square drill rods). When the drill box 2.12 retracts to a certain height (e.g., below the lubrication top plate 2.16), the clamps of the support column 2.17 close, clamping the drill rod; The first inner drill box 2.12 continues to rotate slowly in the opposite direction and retract. Since the drill rod is fixed by the clamp of the support column 2.17, the first inner drill box 2.12 separates from the drill rod (the square boss exits from the drill sleeve), realizing the function of disassembling the drill rod. The first internal drill box 2.12 retracts to the bottom (initial position), and the drill rod removal is complete; The clamps on support column 2.17 are released, and support column 2.17 remains in contact with the top (or slightly lowers, but does not fully retract).

[0146] Step 5: The robotic arm retrieves the drill rod. The six-DOF robotic arm 4.1 moves above the first internal drilling box 2.12, and the vision camera 4.3 captures images of the drilling box area to identify the position of the drill rod (the drill rod is currently standing vertically inside or near the drilling box, and may have shifted slightly after being released by the support column clamp); (the dual redundancy strategy in step 2 is also used here, which will not be elaborated further). The six-degree-of-freedom robotic arm 4.1 descends, and the end effector 4.2 clamps the drill rod; The six-degree-of-freedom robotic arm 4.1 lifts the drill rod and exits the drill box area; The six-degree-of-freedom robotic arm 4.1 transports the drill rod back to the drill rod compartment position in the first material compartment 6. Guided by the vision camera 4.3 and the U-shaped locking block and spring clip, it places the drill rod back into the fixed position in the material compartment (insert the U-shaped locking block, press open the spring clip, and after it is in place, the spring clip springs back to fix the drill rod). The six-degree-of-freedom robotic arm 4.1 releases the gripper and exits the material bin.

[0147] Step 6: The robotic arm grasps the spraying device. The six-degree-of-freedom robotic arm 4.1 moves to the storage position of the spraying device (anchoring agent storage and spraying device) in the first material bin 6; The vision camera 4.3 captures images of the spraying device storage area, the vision processing module 8.2 identifies the position and orientation of the spraying device to be grasped, and the six-degree-of-freedom robotic arm 4.1 grasps the spraying device under visual guidance (the grasping position is generally in the upper middle part of the sleeve 6.72). The six-degree-of-freedom robotic arm 4.1 lifts the spraying device and exits the material bin.

[0148] Step 7: The robotic arm places the spraying device. The six-degree-of-freedom robotic arm 4.1 moves above the first internal drilling box 2.12, carrying the spraying device; The vision camera 4.3 captures images of the first internal drilling box 2.12 and identifies the center coordinates of the drilling box; The six-degree-of-freedom robotic arm 4.1 adjusts its posture according to the recognition result, and vertically aligns the transition rod 9 of the spraying device with the opening of the first inner drilling box 2.12; The six-degree-of-freedom robotic arm 4.1 is inserted downwards, and the square boss 9.2 of the transition rod 9 is inserted into the drill sleeve of the first inner drill box 2.12. The spraying device is fixedly connected to the first inner drill box 2.12. The six-degree-of-freedom robotic arm 4.1 releases the gripper, while the clamps on the lubricated top plate 2.16 close, clamping the spraying device to prevent the device from shaking or falling off during spraying. The six-DOF robotic arm 4.1 exits the drill box area.

[0149] Step 8: Spraying chemicals at the top of the drill frame The first internal drilling box 2.12 feeds upward, sending the guide head 6.731 at the front end of the flange cover 6.73 of the spraying device into the borehole; The first internal drilling box 2.12 continues to feed until the end face of the limit block 6.733 abuts against the roadway roof. At this time, the pressure relief hole 6.732 is exposed outside the borehole, and the roof connection is completed. Open the water valve (or air valve) of the first internal drilling box 2.12, and water (or compressed air) enters the anchoring agent storage area 6.721 through the hollow pipe 6.711; Water pressure (or air pressure) pushes piston 6.74 upward, piston 6.74 pushes push rod 6.75, push rod 6.75 pushes anchoring agent (cartridge) out of sleeve 6.72, through flange cover 6.73 and into the borehole; The pressure relief hole 6.732 removes air from the storage area and borehole, ensuring smooth injection of the anchoring agent; The push rod 6.75 extends out of the sleeve 6.72 to deliver the anchoring agent into the depth of the borehole (the head of the cartridge prevents the cartridge from falling off for a short time after entering the hole through the head flap). When the piston 6.74 reaches the upper end of the sleeve 6.72 (or a sudden drop in water / air pressure is detected, indicating that all the anchoring agent has been sprayed out), the spraying is complete; Turn off the water valve (or gas valve).

[0150] Step 9: Drill frame retraction and robotic arm retrieval of spraying device The first internal drill box 2.12 retracts to the bottom (initial position), and the clamps of the lubrication top plate 2.16 are released; The six-degree-of-freedom robotic arm 4.1 moves above the first inner drilling box 2.12, and the vision camera 4.3 takes pictures of the drilling box to identify the position of the spraying device; The six-degree-of-freedom robotic arm 4.1 descends, and the end effector 4.2 clamps the spraying device (grabbing the upper middle part of the sleeve 10). The six-degree-of-freedom robotic arm 4.1 lifts upwards to remove the spraying device from the first inner drill box 2.12 (the square boss 9.2 exits from the drill sleeve). The six-degree-of-freedom robotic arm 4.1 transports the empty spraying device back to the spraying device recycling area or waste area of ​​the first material bin 6 (or it can be transported to a special filling location, refilled with anchoring agent, and then returned to the material bin). The six-degree-of-freedom robotic arm 4.1 releases the gripper and exits the first material bin 6.

[0151] Phase 3: Anchoring Step 10: The robotic arm grasps the anchor bolt. The six-degree-of-freedom robotic arm 4.1 moves to the anchor bolt compartment position of the first material bin 6; The vision camera 4.3 captures images of the anchor storage area, and the vision processing module 8.2 identifies the position and orientation of the anchor to be grabbed (this step can also be omitted; if the grab point is a fixed point, the coordinates can be transmitted through robotic arm teaching). The six-DOF robotic arm 4.1 grasps the anchor rod under vision guidance; The six-degree-of-freedom robotic arm 4.1 lifts the anchor rod and exits the material bin.

[0152] Step 11: The robotic arm places the anchor bolt. The six-DOF robotic arm 4.1 carries the anchor rod and moves it above the first internal drilling box 2.12; The vision camera 4.3 captures images of the first internal drilling box 2.12 and identifies the center coordinates of the drilling box; The six-degree-of-freedom robotic arm 4.1 adjusts its posture according to the recognition results, and aligns the anchor rod vertically with the opening of the first inner drilling box 2.12; The six-degree-of-freedom robotic arm 4.1 is inserted downwards to place the anchor rod into the first internal drilling box 2.12; The clamps of the lubricating top plate 2.16 close, clamping the anchor bolt; The six-DOF robotic arm 4.1 releases the gripper and exits the drill box area.

[0153] Step 12: Drill box feed anchor bolt entry hole The first internal drilling box 2.12 feeds upward to push the anchor rod into the borehole (the head of the anchor rod enters the borehole and comes into contact with the anchoring agent in the hole). When the anchor rod enters the borehole to a certain depth (e.g., 200-500mm into the hole), the clamps of the support column 2.17 close and clamp the anchor rod (at this time, the anchor rod has partially entered the hole, and the support column clamps clamp the exposed part of the anchor rod). The first internal drill box 2.12 continues to feed.

[0154] Step 13: The robotic arm picks up the mixer During the anchor bolt drilling process, the six-degree-of-freedom robotic arm 4.1 can simultaneously perform the task of grabbing the agitator (in parallel with the drill box feed). The six-degree-of-freedom robotic arm 4.1 moves to the position of the agitator chamber in the first material bin 6; The vision camera 4.3 captures images of the stirrer storage area, and the vision processing module 8.2 identifies the position and orientation of the stirrer to be grasped. A six-DOF robotic arm 4.1 grasps a mixer under visual guidance; The six-degree-of-freedom robotic arm 4.1 lifts the agitator and exits the material hopper.

[0155] Step 14: The robotic arm places the mixer. The six-degree-of-freedom robotic arm 4.1 moves the stirrer to the top of the first internal drilling box 2.12 (waiting for the anchor bolt to enter the hole). When the anchor bolt enters the hole to a certain depth, the first inner drill box 2.12 stops feeding (or slows down the feeding) to make room for the installation of the agitator; The vision camera 4.3 captures images of the first internal drilling box 2.12 and the anchor bolt, identifying the position of the anchor bolt's tail. The six-degree-of-freedom robotic arm 4.1 adjusts its posture according to the recognition results and aligns the mixer with the tail of the anchor bolt; The six-degree-of-freedom robotic arm 4.1 moves upward to connect the mixer with the tail of the anchor rod, so that the connecting end of the mixer is engaged with the thread or groove of the tail of the anchor rod. The first internal drill box 2.12 is fed slowly and stopped when it is close to the tail of the agitator. The six-degree-of-freedom robotic arm 4.1 releases its gripper and exits the drill box area. At this point, the drill box, mixer, and anchor bolt are connected in sequence.

[0156] Step 15: Drill box mixing and anchoring Both clamps (the clamps on the lubricated top plate 2.16 and the clamps on the support column 2.17) are fully opened, releasing the clamps on the anchor bolts; The first inner drilling box 2.12 rotates in the forward direction, driving the agitator to rotate. The agitator stirs the anchoring agent in the drill hole (the cartridge breaks, and the resin and curing agent mix). The first internal drill box 2.12 feeds upwards simultaneously, pushing the anchor rod further into the depth of the borehole; The first internal drilling box 2.12 is fed to the top, so that the anchor rod is fully inserted into the borehole. The anchor rod tray is also pressed onto the top plate by two clamps, and the mixing and anchoring are completed. The first internal drilling box 2.12 stops rotating and feeding, remains in a tight state, and waits for the anchoring agent to cure. The waiting time depends on the type of anchoring agent and is generally 30 seconds to 1 minute.

[0157] Step 16: Secure and retrieve the mixer After the anchoring agent has cured, the first inner drilling box 2.12 slowly rotates or vibrates to reach the set torque and complete the fastening of the anchor rod; The first internal drill box 2.12 rotates in the opposite direction and retracts downwards simultaneously; Separate the agitator from the tail of the anchor bolt and remove the agitator from the connection end of the anchor bolt tail. The first inner drill box 2.12 retracts to the bottom initial position, and the agitator exits the drill box; The six-degree-of-freedom robotic arm 4.1 moves above the first inner drill box 2.12, and the vision camera 4.3 takes pictures of the drill box and the agitator to identify the position of the agitator, which may be suspended above the drill box or fall inside the drill box. The six-degree-of-freedom robotic arm 4.1 descends, and the end effector 4.2 clamps the mixer; The six-degree-of-freedom robotic arm 4.1 lifts the agitator and transports it back to the agitator compartment or waste area of ​​the first material bin 6; The six-degree-of-freedom robotic arm 4.1 releases the gripper and exits the material bin.

[0158] At this point, one anchoring cycle of the first internal drilling frame 2.1 is completed, and the support of one anchor bolt on the roadway roof is completed.

[0159] Phase 4: Switch to the first external drilling rig Step 17: The robotic arm picks up the drill rod from the material bin, preparing for the next cycle. While the first inner drill frame 2.1 is anchoring and waiting for curing or tightening, the six-degree-of-freedom robotic arm 4.1 can use this time to prepare for the next cycle. The six-degree-of-freedom robotic arm 4.1 moves to the drill rod bin position of the first material bin 6 and grabs a new drill rod; The six-degree-of-freedom robotic arm 4.1 transports the drill rod to the standby position (or moves it directly above the drill box of the first outer drill frame 2.2) to await the next drill rod release command.

[0160] Procedure 18: Positioning the left inner drill frame and placing the drill rod The position of the first external drill frame 2.2 is adjusted manually through the control system 8 so that the drill box is aligned with the next support point (the position of the second anchor hole). The six-degree-of-freedom robotic arm 4.1 (already carrying a drill rod) moves above the drill box of the first outer drill frame 2.2 and, under visual guidance, puts the drill rod into the drill box; The first external drilling frame 2.2 repeats the process of steps 3-16 (connecting to the top, drilling, removing the drill rod, delivering the medicine, spraying the medicine, anchoring, etc.) to complete the support of the second anchor hole.

[0161] Step 19: The first inner drill frame and the first outer drill frame operate alternately. When the first outer drill frame 2.2 is performing drilling operations (processes 3-4), the six-degree-of-freedom robotic arm 4.1 can simultaneously prepare the materials required for the next cycle for the first inner drill frame 2.1 (gripping drill rods, spraying devices, etc.). While the first outer drill frame 2.2 is anchoring and solidifying (processes 15-16), the six-degree-of-freedom robotic arm 4.1 can place materials for the first inner drill frame 2.1; Through reasonable process scheduling, the first inner drilling frame 2.1 and the first outer drilling frame 2.2 work alternately, and the six-degree-of-freedom robotic arm 4.1 shuttles between the two drilling frames to maximize equipment utilization and reduce idle waiting time.

[0162] Step 20: Continue the cycle Repeat the above process, with the first inner drilling frame 2.1 and the first outer drilling frame 2.2 alternately completing the anchoring operation at their respective support points; Once a row of support points (such as a row of anchor holes on the top plate) is completed, the drill frame position is manually adjusted via the control system 8 and moved to the next row of support points to continue the cycle. Until the support work for the entire anchoring operation area is completed.

[0163] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An automated anchoring system for a robotic arm-assisted drilling rig, characterized in that, include: Platform; The bearing platform is symmetrically arranged with the first and second drilling rig groups at the locations of the targeted anchoring and protection operation areas. The first drill frame assembly is connected to a support platform on one side, and a first robotic arm system and a first material bin are set up in sequence. The second drill frame assembly is connected to a support platform on one side, and a second robotic arm system and a second material bin are set up in sequence. The support platform is also equipped with a control system, which is used for coordinated control to achieve automated anchoring; the control system includes: The main controller is used to control the movements of the drill frame assembly and the robotic arm, as well as the anchoring process. The vision processing module is used for image acquisition, processing, target detection, coordinate calculation, and pose estimation. The sensor neural network module is used to collect and process sensor data to provide comprehensive status awareness of the automated anchoring system. The decision fusion module is used to determine the location coordinates of the material placement point based on image processing results and sensor data analysis results. The trajectory planning module is used to plan the motion trajectory of the robotic arm based on the position coordinate information; The process scheduling module is used to coordinate the working order of the first drill frame group, the second drill frame group, the first robotic arm system and the second robotic arm system according to the motion trajectory, so as to realize parallel operation or alternating operation; The communication module is used to enable communication between the main controller and the drill frame assembly, the robotic arm system, and other modules of the control system.

2. The automated anchoring system for a robotic arm-assisted drilling rig according to claim 1, characterized in that, The first drill frame assembly includes a first inner drill frame and a first outer drill frame, and the second drill frame assembly includes a second inner drill frame and a second outer drill frame; The first inner drill frame, the first outer drill frame, the second inner drill frame, and the second outer drill frame are all three-degree-of-freedom adjustable drill frames; wherein, the first inner drill frame includes a first inner drill frame body, a first inner drill box, and a first inner double clamping mechanism; The first internal drilling frame is made of high-strength steel through processing or welding. It is connected to the drilling machine body of the first internal drilling frame through a pin shaft. A hydraulic swing cylinder is set to control the adjustment of the pitch angle and azimuth angle of the first internal drilling frame. The first internal drilling frame is installed on a transverse sliding guide rail, so that the drilling frame can be adjusted laterally, thus constituting the three-degree-of-freedom posture adjustment of the first internal drilling frame. The first inner drilling box is installed on the feed guide mechanism of the first inner drilling rig frame. The first inner drilling box is driven by a hydraulic cylinder or screw to move up and down, and is driven by a hydraulic motor or electric motor to rotate in both directions. It is used for drilling, mixing and anchoring operations. The top opening of the first inner drilling box is a drill sleeve. The robotic arm inserts the material into the first inner drilling box from above. The drill sleeve and the material are fixed together by a boss. The first inner double clamp mechanism includes: The lubrication top plate is located above the first inner drilling box and is installed on the top of the feed guide mechanism of the first inner drilling rig frame. The lubrication top plate integrates a clamping device for clamping the material inside the first inner drilling box. The lubrication top plate has a lubrication function for applying lubricant to the material to reduce friction. The support column is located above the first inner drilling frame and moves vertically along the first inner drilling frame to provide top support. The support column integrates a clamping device to clamp the material protruding from the first inner drilling box and to achieve the rod disassembly function in conjunction with the movement of the first inner drilling box. Meanwhile, a displacement sensor is installed on the first internal drilling frame to monitor the feed position of the first internal drilling box and the top contact height of the support column; A dual-axis tilt sensor is installed in the middle of the first internal drilling frame to collect the pitch angle and azimuth angle of the first internal drilling frame. A linear displacement sensor is installed in the transverse sliding cylinder of the first inner drilling frame to collect the sliding distance of the first inner drilling frame along the transverse sliding guide rail; The first outer drill frame, the second inner drill frame, and the second outer drill frame adopt the same structure as the first inner drill frame.

3. The automated anchoring system for a robotic arm-assisted drilling rig according to claim 1, characterized in that, The first robotic arm system is used to control the retrieval of materials from the first drill frame assembly, and the second robotic arm is used to control the retrieval of materials from the second drill frame assembly; The first robotic arm system includes: The six-degree-of-freedom robotic arm is a six-axis serial articulated industrial robot with six rotational degrees of freedom: base rotation, shoulder pitch, elbow pitch, wrist rotation, wrist pitch, and wrist swing. The internal joints of the six-degree-of-freedom robotic arm are driven by servo motors and position feedback is obtained through high-precision encoders. The end effector, installed at the end of the six-degree-of-freedom robotic arm, features a multi-functional gripper design to match materials of different shapes and sizes. A vision camera is mounted on the end effector and moves with the six-degree-of-freedom robotic arm. The light source module, integrated with the vision camera and mounted on the end effector, is used to provide illumination for the vision camera; A six-dimensional force sensor is fixedly installed between the end flange and the end effector of a six-degree-of-freedom robotic arm to sense and collect force data at the end of the material rod. The second robotic arm system adopts the same structure as the first robotic arm system.

4. The automated anchoring system for a robotic arm-assisted drilling rig according to claim 1, characterized in that, The first material bin is used to supply materials to the first drill frame assembly, and the second material bin is used to supply materials to the second drill frame assembly; The first material warehouse includes: The first warehouse frame is constructed by welding or assembling profiles and then fixed to the load-bearing platform with bolts. The first mounting plate, fixedly connected to the upper part of the first warehouse frame, is made of thick steel plate and has an array of threaded holes on its surface. Materials are installed and secured using U-shaped clips and spring clips. The U-shaped clamp is made of sheet metal or casting, with a "U" shaped cross section. Its inner contour matches the shape of the material and is used to support cylindrical materials. The U-shaped clamp is fixedly installed on the first mounting plate with screws, and a soft pad is attached to the inside. The spring clip is made of spring steel sheet or plate. One end of the spring clip is fixed to the first mounting plate, and the other end is a free end that is bent inward to form a clip structure. The first pallet rack is fixedly connected to the lower part of the first warehouse rack and is used to place pallets; The second material warehouse adopts the same structure as the first material warehouse.

5. The automated anchoring system for a robotic arm-assisted drilling rig according to claim 4, characterized in that, The materials stored in the first material silo include: drill rods, anchor rods, agitators, and anchoring agent storage and spraying devices; wherein, The anchoring agent storage and spraying device includes: The transition rod is a hollow tube structure with a hollow pipe in the middle and a square boss at the bottom. The hollow pipe is used to transport water or gas to drive the anchoring agent spraying. The shape of the square boss is consistent with the shape of the drill rod boss of the tunneling and anchoring machine. It can be inserted into the drill sleeve of the first inner drill box and clamped and fixed by the first inner drill box to realize a reliable connection between the spraying device and the first inner drill box. The sleeve is a hollow tube structure with the hollow middle part serving as an anchoring agent storage area for storing the anchoring agent. One end of the sleeve is fixedly connected to the transition rod via threads. The hollow tube and the anchoring agent storage area are connected. The diameter of the hollow tube is smaller than the diameter of the anchoring agent storage area (6.721), forming an enlarged diameter storage space. The flange cover is fixedly connected to the other end of the sleeve by threads to seal the anchoring agent storage area; a guide head is provided at the front end of the flange cover facing the drilling direction. The guide head is conical or hemispherical and is used to center the drill sleeve and guide the anchoring agent storage and injection device to be accurately inserted into the drill hole. Pressure relief holes are evenly distributed in the middle of the flange cover. The function of the pressure relief holes is: when the anchoring agent storage and injection device is inserted into the borehole, the guide head enters the hole, and the anchoring agent storage area and the borehole form a closed space; when the water valve or air valve is opened to pressurize the storage area, the air in the anchoring agent storage area and the borehole is discharged through the pressure relief holes, eliminating air resistance and allowing the anchoring agent to be injected into the borehole. A limiting block is installed at the tail end of the flange cover away from the drilling direction. It is in the shape of a flange and its diameter is larger than the diameter of the borehole. The function of the limiting block is: when the drill box is fed and the anchoring agent storage and injection device is sent into the borehole, the end face of the limiting block abuts against the surface of the roadway roof to prevent the anchoring agent storage and injection device from going deeper, ensuring that the pressure relief hole is exposed outside the borehole, and at the same time preventing the anchoring agent storage and injection device from being inserted too deeply. The piston has a cylindrical structure with an outer diameter equal to the inner diameter of the anchoring agent storage area. The two work together to seal and maintain pressure. The piston is fixedly connected to the push rod by threads. The piston is made of polytetrafluoroethylene, nylon, or rubber-sealed metal materials. The push rod is a solid round rod or a hollow tube with a diameter equal to that of the anchoring agent, used to push the anchoring agent deep into the borehole. The push rod and piston are fixedly connected by threads, and the two are placed as a whole at the bottom of the anchoring agent storage area; When using the anchoring agent storage and spraying device, the anchoring agent storage and spraying device is grabbed by the robotic arm and inserted into the first inner drilling box. The four-sided boss is fixedly connected to the drill sleeve of the first inner drilling box. The first inner drilling box is fed upward, and the guide head at the front end of the flange cover is sent into the drill hole until the limit block hits the top plate. At this time, the pressure relief hole is exposed outside the drill hole. Open the water or air valve of the first internal drilling box. Water or compressed air enters the anchoring agent storage area through the hollow pipe, pushing the piston upward. The piston moves upward under water or air pressure, and the push rod pushes the anchoring agent out of the sleeve under the piston's push, which then passes through the flange cover and enters the borehole. Since the diameter of the push rod is smaller than the inner diameter of the sleeve, the push rod extends out of the sleeve and delivers the anchoring agent deep into the borehole to achieve deep hole filling. When the piston reaches the upper end of the sleeve, the push rod is stopped from advancing, and the spraying is completed; After closing the water or air valve, the first internal drilling box retracts, and the first robotic arm removes the empty anchoring agent storage spraying device, placing it back into the material silo or sending it to the filling position to refill the anchoring agent.

6. The automated anchoring system for a robotic arm-assisted drilling rig according to claim 1, characterized in that, The vision processing module is used to process images acquired by the vision camera and perform target recognition, providing position coordinate information for the planning of the robotic arm's motion trajectory; The vision processing module and the sensor neural network module work in parallel, providing dual-path coordinate support. Specifically, the module receives pose parameters synchronously transmitted from the sensor neural network module, identifies the position of the first inner drilling box through a target detection algorithm, calculates visual coordinate information by combining camera calibration parameters, and calculates confidence scores through image sharpness and matching degree, and outputs them synchronously to the decision fusion module. The functions of the vision processing module include: Image acquisition: Simultaneously acquire visual camera images from the left and right robotic arms; Image preprocessing: filtering and noise reduction, contrast enhancement, distortion correction; Target detection: Identifying the location of materials in the material warehouse, and the position and orientation of the drill box; Coordinate calculation: Convert the image coordinates into three-dimensional coordinates in the robot arm's base coordinate system; Attitude estimation: Identifying the spatial attitude of the target to guide the robotic arm in adjusting its grasping posture; Output: Send the recognition results to the main controller.

7. The automated anchoring system for a robotic arm-assisted drilling rig according to claim 1, characterized in that, The scheduling strategies of the process scheduling module include: Alternating operation strategy: The first drilling rig group and the second drilling rig group work alternately. When one group is drilling, the other group is replaced by the corresponding robotic arm. Parallel operation strategy: The first and second drill rig groups work in parallel with their corresponding robotic arms; Priority scheduling strategy: Dynamically adjust the priority of processes based on the urgency of support and the availability of materials; Anomaly handling strategy: When a fault or anomaly occurs, adjust the process sequence, prioritize the completion of other executable processes, or enter a safe shutdown state.

8. The automated anchoring system for a robotic arm-assisted drilling rig according to claim 1, characterized in that, The sensor neural network module includes: Displacement sensor network: collects information on drill box feed displacement, support column top contact height, and drill frame lateral position; Pressure sensor network: Collects hydraulic system pressure and water / air circuit pressure information; Force sensor network: Collects six-dimensional force information at the end of a robotic arm for contact detection and flexible control; Proximity switch network: Detects whether materials are in place and whether the drill box is in place by switching signals; Tilt sensor network: detects the pitch and azimuth angles of the drill rig; Environmental sensors: detect environmental parameters such as temperature, humidity, and methane concentration; The sensor neural network module filters, calibrates, and fuses the collected sensor data before providing it to the main controller; some sensor data is also used for auxiliary calibration of visual recognition or as input features of the neural network.

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