Drilling and anchoring robot capable of drilling and anchoring in multiple directions for complex geology

Abstract

The utility model discloses a drilling and anchoring robot used for complex geology and capable of drilling and anchoring in multiple directions, which comprises a left fixing frame body, a right fixing frame body, a top grid frame body, two first drilling and anchoring units, two second drilling and anchoring units and two third drilling and anchoring units which are respectively fixed on the rear sides of the left fixing frame body and the right fixing frame body, the anchor rod driving unit is used for vertically moving along the left fixing frame body and the right fixing frame body so as to drive anchor rods on a side part and a top plate close to the side part in a roadway while the anchor rods are driven by the first drilling and anchoring unit and the second drilling and anchoring unit, and is used for driving anchor rods on positions which are not driven by the first drilling and anchoring unit and the second drilling and anchoring unit; according to the utility model, the anchor rod can be complementarily driven at a position which is missed to be driven under the condition that the drilling and anchoring equipment is not moved, the working efficiency is improved, and the anchor rod can be driven in multiple directions, so that the side part and the top plate can be fixed in all directions, and the potential safety hazard is reduced.

Description

Technical Field

[0001] The utility model belongs to the field of drilling and anchoring, and in particular relates to a drilling and anchoring robot which can perform drilling and anchoring in multiple directions and is used for complex geology. Background Art

[0002] The coal industry is an important national basic industry, supporting the sustained, rapid and healthy development of my country's economy. At present, compared with other countries, my country's coal resources are relatively abundant, but there are few open-pit coal mines that can be mined directly. Most coal mining is mainly done by digging mines. Therefore, the speed of coal mine tunnel excavation plays a vital role in its mining efficiency.

[0003] Since the beginning of the 21st century, with the rapid development of coal mining technology, the mining capacity of major mining areas across the country has been continuously improved. However, since the development of complete sets of tunneling equipment for coal mines generally lags behind comprehensive mining technology, most mining areas have always had problems of imbalance between mining and excavation and slow tunneling speed in coal mines. At the same time, due to the limited space of coal mine tunnels, complex conditions of comprehensive mining working faces, and relatively poor environment, the operation of existing tunneling equipment is limited and cannot show good performance, thus affecting the speed and quality of tunneling. Therefore, in response to the digging and anchoring needs of coal tunnels, the rapid tunneling system is developed to improve the level of automation, which is of great significance to the realization of safe, efficient and intelligent production in coal mine tunnels.

[0004] The drilling and anchoring devices currently used in coal mines are single-body anchor drills, anchor drill rig trolleys, and integrated digging and anchoring machines. Single-body anchor drills are suitable for anchor and cable support operations in a single tunnel. They are small in size and easy to operate manually, but the safety of construction workers working in the empty top area cannot be guaranteed. The anchor drill trolley works in conjunction with the continuous miner for cross-operation. It is suitable for large-section double or multi-tunnel support operations. It has strong adaptability to tunnels, but the back-and-forth mobilization wastes a lot of time, affecting excavation efficiency. The integrated digging and anchoring machine has poor adaptability to tunnels and lacks the necessary temporary support devices, which poses great risks to construction workers. Utility Model Content

[0005] The utility model aims to provide a drilling and anchoring robot which can be used for drilling and anchoring in multiple directions in complex geology, so as to solve the problems in the prior art of low safety caused by construction personnel working in an empty top area, low excavation efficiency caused by back and forth movement, and poor adaptability of the drilling and anchoring integrated machine to the tunnel.

[0006] The utility model adopts the following technical scheme: a drilling and anchoring robot for use in complex geology and capable of drilling and anchoring in multiple directions, comprising:

[0007] The left fixed frame and the right fixed frame are both arranged vertically, close to the left and right sides of the tunnel respectively; the lower ends thereof are against the tunnel ground;

[0008] The top grid frame is horizontally arranged, and its two sides are respectively fixedly connected to the left fixed frame and the right fixed frame, and is arranged close to the tunnel roof; the side close to the working surface is the front side, and the side away from the working surface is the rear side;

[0009] Two first drilling and anchoring units are installed on the front side of the top grid frame and are symmetrically arranged, and are used to move back and forth along the top grid frame to the left and right directions, and then to anchor the entire roof and side of the tunnel;

[0010] Two second drilling and anchoring units are fixed to the front sides of the left fixed frame and the right fixed frame respectively, and are used to move vertically along the left fixed frame and the right fixed frame, and then drive anchors to the side and the top plate near the side in the tunnel while the first drilling and anchoring unit drives the anchors; and are used to drive anchors to the positions missed by the first drilling and anchoring unit;

[0011] The two third drilling and anchoring units are respectively fixed on the rear sides of the left fixed frame and the right fixed frame, and are used to move vertically along the left fixed frame and the right fixed frame, so as to drive anchor rods to the side and the top plate near the side in the tunnel while the first drilling and anchoring unit and the second drilling and anchoring unit are driving anchor rods, and are used to drive anchor rods to the positions missed by the first drilling and anchoring unit and the second drilling and anchoring unit.

[0012] Further, the first drilling and anchoring unit, the second drilling and anchoring unit, and the third drilling and anchoring unit respectively include a first speed mechanism and a first drilling and anchoring machine, a second speed mechanism and a second drilling and anchoring machine, and a third speed mechanism and a third drilling and anchoring machine, the first speed mechanism is fixed on the top grid frame, the second speed mechanism and the third speed mechanism are both fixed on the left fixed frame and the right fixed frame, the first drilling and anchoring machine, the second drilling and anchoring machine, and the third drilling and anchoring machine are respectively installed on the first speed mechanism, the second speed mechanism, and the third speed mechanism, and the first speed mechanism, the second speed mechanism, and the third speed mechanism are respectively used to drive the first drilling and anchoring machine, the second drilling and anchoring machine, and the third drilling and anchoring machine to move;

[0013] The first speed mechanism is used to drive the first anchor drill to move back and forth along the top grid frame;

[0014] The second speed mechanism is used to drive the second anchor drilling machine to move vertically along the left fixed frame and the right fixed frame;

[0015] The third speed mechanism is used to drive the third anchor drilling machine to move vertically along the left fixed frame and the right fixed frame.

[0016] Furthermore, the first drilling and anchoring unit, the second drilling and anchoring unit, and the third drilling and anchoring unit all further include:

[0017] The mounting plate is "L"-shaped, one section of which is fixed on the sliders of the corresponding first, second and third speed mechanisms through a rotating shaft; the other section is fixedly connected to the corresponding first, second and third drilling and anchor machines, thereby fixing the first, second and third drilling and anchor machines on the first, second and third speed mechanisms, and the mounting plate can rotate with the rotating shaft as the center, thereby changing the directions of the first, second and third drilling and anchor machines, and setting anchor rods at corresponding positions.

[0018] Furthermore, the two first anchor drilling machines are used to drive anchor rods toward the side of the tunnel and the top plate near the side of the tunnel in the range of 9 o'clock to 12 o'clock and 12 o'clock to 3 o'clock respectively with the corresponding mounting plate as the center; the two first anchor drilling machines are also used to move left and right to drive anchor rods vertically upward to the top plate of the tunnel.

[0019] Furthermore, the two second anchor drilling machines are used to drive anchor rods with the corresponding mounting plate as the center, in the range from 7 o'clock to 12 o'clock and from 12 o'clock to 5 o'clock respectively.

[0020] Furthermore, the two third anchor drilling machines are used to drive anchor rods with the corresponding mounting plate as the center, in the range from 7 o'clock to 12 o'clock and from 12 o'clock to 5 o'clock respectively.

[0021] Furthermore, hydraulic cylinders are provided on the sliders of the first speed mechanism, the second speed mechanism and the third speed mechanism. The fixed end of the hydraulic cylinder is fixedly connected to the slider, and the movable end is fixedly connected to the edge of the mounting plate. The hydraulic cylinder is used to push the mounting plate to rotate around the rotation axis when extended, and is also used to pull the mounting plate to reset around the rotation axis when retracted, thereby realizing large-scale anchoring.

[0022] The beneficial effects of the utility model are:

[0023] The utility model drives anchor rods on the roof of the middle part of the tunnel by arranging a first anchor drill that moves left and right, and drives anchor rods on the side of the tunnel and the roof near the side of the tunnel respectively by using the rotating first anchor drill, the second anchor drill and the third anchor drill, so as to improve the efficiency of driving anchor rods.

[0024] The utility model can supplement the anchor rods at the missed positions without moving the drilling and anchoring equipment, thereby improving the work efficiency, and can install anchor rods in multiple directions to achieve all-round fixation of the side parts and the top plate, thereby reducing safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of the utility model;

[0026] Figure 2 It is a structural schematic diagram of the first drilling and anchoring unit of the utility model;

[0027] Figure 3 It is a schematic structural diagram of the second drilling and anchoring unit and the third drilling and anchoring unit of the utility model.

[0028] Among them: 10, left fixed frame; 11, right fixed frame; 12, top grid frame; 13, first drilling and anchoring unit; 14, second drilling and anchoring unit; 15, third drilling and anchoring unit; 16, mounting plate; 17, hydraulic cylinder; 18, slider; 19, rotating shaft; 20, first speed mechanism; 21, second speed mechanism; 22, third speed mechanism. DETAILED DESCRIPTION

[0029] The utility model is described in detail below with reference to the accompanying drawings and specific implementation modes.

[0030] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more. The "direction" in the present utility model is based on the position of the present utility model in the Figure 1 Description of the trend in the state.

[0031] The utility model discloses a drilling and anchoring robot which can be used for drilling and anchoring in multiple directions in complex geology, such as Figure 1-3 As shown, it includes a left fixed frame body 10 and a right fixed frame body 11, a top grid frame body 12, two first drilling and anchoring units 13, two second drilling and anchoring units 14, and two third drilling and anchoring units 15.

[0032] The left fixed frame 10 and the right fixed frame 11 are both arranged vertically, and the left fixed frame 10 and the right fixed frame 11 are arranged close to the left and right sides of the tunnel respectively; the lower ends of the left fixed frame 10 and the right fixed frame 11 are against the tunnel ground.

[0033] The top grid frame 12 is horizontally arranged, and the two sides of the top grid frame 12 are respectively fixedly connected to the left fixed frame 10 and the right fixed frame 11, and the top grid frame 12 is arranged close to the tunnel roof; the side of the top grid frame 12 close to the working surface is the front side, and the side of the top grid frame 12 away from the working surface is the rear side.

[0034] The two first drilling and anchoring units 13 are installed on the front side of the top grid frame 12 and are symmetrically arranged. The two first drilling and anchoring units 13 are used to move back and forth along the top grid frame 12 to anchor the entire roof and side of the tunnel.

[0035] The two second drilling and anchoring units 14 are respectively fixed on the front sides of the left fixed frame 10 and the right fixed frame 11, and the two second drilling and anchoring units 14 are used to move vertically along the left fixed frame 10 and the right fixed frame 11, and then drive anchor rods to the side and the top plate near the side in the tunnel while the first drilling and anchoring units 13 drive anchor rods; and the two second drilling and anchoring units 14 are used to drive anchor rods to the positions missed by the first drilling and anchoring units 13.

[0036] The two third drilling and anchoring units 15 are respectively fixed on the rear sides of the left fixed frame 10 and the right fixed frame 11, and the two third drilling and anchoring units 15 are used to move vertically along the left fixed frame 10 and the right fixed frame 11, so as to drive anchor rods to the side and the top plate near the side in the tunnel while the first drilling and anchoring units 13 and the second drilling and anchoring units 14 are driving anchor rods, and the two third drilling and anchoring units 15 are used to drive anchor rods to the positions missed by the first drilling and anchoring units 13 and the second drilling and anchoring units 14.

[0037] The first drilling and anchoring unit 13, the second drilling and anchoring unit 14, and the third drilling and anchoring unit 15 respectively include a first speed mechanism 20 and a first drilling and anchoring machine, a second speed mechanism 21 and a second drilling and anchoring machine, and a third speed mechanism 22 and a third drilling and anchoring machine. The first speed mechanism 20 is fixed on the top grid frame 12, and the second speed mechanism 21 and the third speed mechanism 22 are both fixed on the left fixed frame 10 and the right fixed frame 11. The first drilling and anchoring machine, the second drilling and anchoring machine, and the third drilling and anchoring machine are respectively installed on the first speed mechanism 20, the second speed mechanism 21, and the third speed mechanism 22. The first speed mechanism 20, the second speed mechanism 21, and the third speed mechanism 22 are respectively used to drive the first drilling and anchoring machine, the second drilling and anchoring machine, and the third drilling and anchoring machine to move.

[0038] Among them, the first speed mechanism 20 is used to drive the first anchor drill to move back and forth along the top grid frame 12; the second speed mechanism 21 is used to drive the second anchor drill to move vertically along the left fixed frame 10 and the right fixed frame 11; the third speed mechanism 22 is used to drive the third anchor drill to move vertically along the left fixed frame 10 and the right fixed frame 11.

[0039] The first drilling and anchoring unit 13, the second drilling and anchoring unit 14, and the third drilling and anchoring unit 15 all further include: a mounting plate 16, which is "L"-shaped, and one section of the mounting plate 16, namely the horizontal section of the mounting plate 16, is fixed on the slider 18 of the corresponding first speed mechanism 20, the second speed mechanism 21, and the third speed mechanism 22 through a rotating shaft 19; another section of the mounting plate 16, namely the vertical section of the mounting plate 16, is fixedly connected with the corresponding first drilling and anchoring machine, the second drilling and anchoring machine, and the third drilling and anchoring machine, thereby fixing the first drilling and anchoring machine, the second drilling and anchoring machine, and the third drilling and anchoring machine on the first speed mechanism 20, the second speed mechanism 21, and the third speed mechanism 22, and the mounting plate 16 can rotate with the rotating shaft 19 as the center, thereby changing the direction of the first drilling and anchoring machine, the second drilling and anchoring machine, and the third drilling and anchoring machine, and setting anchor rods at corresponding positions.

[0040] The two first anchor drilling machines are used to drive anchor rods to the side of the tunnel and the top plate near the side of the tunnel in the range of 9 o'clock to 12 o'clock and 12 o'clock to 3 o'clock with the corresponding mounting plate 16 as the center; the two first anchor drilling machines are also used to move left and right to drive anchor rods vertically upward to the top plate of the tunnel.

[0041] The two second anchor drills are used to drive anchors with the corresponding mounting plate 16 as the center, in the range of 7 o'clock to 12 o'clock and in the range of 12 o'clock to 5 o'clock. The two third anchor drills are used to drive anchors with the corresponding mounting plate 16 as the center, in the range of 7 o'clock to 12 o'clock and in the range of 12 o'clock to 5 o'clock.

[0042] A hydraulic cylinder 17 is provided on the slider 18 of the first speed mechanism 20, the second speed mechanism 21 and the third speed mechanism 22. The fixed end of the hydraulic cylinder 17 is fixedly connected to the slider 18, and the movable end of the hydraulic cylinder 17 is fixedly connected to the edge of the mounting plate 16. The hydraulic cylinder 17 is used to push the mounting plate 16 to rotate around the rotating axis 19 when extended, and is also used to pull the mounting plate 16 to reset around the rotating axis 19 when retracted, thereby realizing large-scale anchoring.

[0043] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A drilling and anchoring robot capable of drilling and anchoring in multiple directions for use in complex geology, characterized in that: include: The left fixed frame (10) and the right fixed frame (11) are both arranged vertically, close to the left and right sides of the tunnel respectively; their lower ends are against the tunnel ground; The top grid frame (12) is horizontally arranged, and its two sides are respectively fixedly connected to the left fixed frame (10) and the right fixed frame (11), and is arranged close to the tunnel roof; the side close to the working surface is the front side, and the side away from the working surface is the rear side; Two first drilling and anchoring units (13) are installed on the front side of the top grid frame (12) and are symmetrically arranged, and are used to move back and forth along the top grid frame (12) to drive anchor rods to the entire roof and side of the tunnel; Two second drilling and anchoring units (14) are respectively fixed to the front sides of the left fixed frame (10) and the right fixed frame (11), and are used to move vertically along the left fixed frame (10) and the right fixed frame (11), thereby driving anchors to the sidewalls and the top plate near the sidewalls in the tunnel while the first drilling and anchoring unit (13) drives anchors; and are used to drive anchors to positions that are missed by the first drilling and anchoring unit (13); Two third drilling and anchoring units (15) are respectively fixed to the rear sides of the left fixed frame (10) and the right fixed frame (11), and are used to move vertically along the left fixed frame (10) and the right fixed frame (11), thereby driving anchor rods to the sidewall and the top plate near the sidewall in the tunnel while the first drilling and anchoring unit (13) and the second drilling and anchoring unit (14) drive anchor rods, and are used to drive anchor rods to positions that are missed by the first drilling and anchoring unit (13) and the second drilling and anchoring unit (14).

2. The drilling and anchoring robot capable of drilling and anchoring in multiple directions for use in complex geology according to claim 1, characterized in that: The first anchor drilling unit (13), the second anchor drilling unit (14), and the third anchor drilling unit (15) respectively comprise a first speed mechanism (20) and a first anchor drilling machine, a second speed mechanism (21) and a second anchor drilling machine, a third speed mechanism (22), and a third anchor drilling machine; the first speed mechanism (20) is fixed on the top grid frame (12); the second speed mechanism (21) and the third speed mechanism (22) are both fixed on the left fixed frame (10) and the right fixed frame (11); the first anchor drilling machine, the second anchor drilling machine, and the third anchor drilling machine are respectively mounted on the first speed mechanism (20), the second speed mechanism (21), and the third speed mechanism (22); the first speed mechanism (20), the second speed mechanism (21), and the third speed mechanism (22) are respectively used to drive the first anchor drilling machine, the second anchor drilling machine, and the third anchor drilling machine to move; The first speed-multiplying mechanism (20) is used to drive the first anchor drilling machine to move back and forth along the top grid frame (12); The second speed-multiplying mechanism (21) is used to drive the second anchor drilling machine to move vertically along the left fixed frame (10) and the right fixed frame (11); The third speed-multiplying mechanism (22) is used to drive the third anchor drilling machine to move vertically along the left fixed frame (10) and the right fixed frame (11).

3. The drilling and anchoring robot capable of drilling and anchoring in multiple directions for use in complex geology according to claim 2, characterized in that: The first drilling and anchoring unit (13), the second drilling and anchoring unit (14), and the third drilling and anchoring unit (15) all further include: The mounting plate (16) is L-shaped, one section of which is fixed to the sliders (18) of the corresponding first speed mechanism (20), second speed mechanism (21) and third speed mechanism (22) via a rotating shaft (19); the other section of which is fixedly connected to the corresponding first anchor driller, second anchor driller and third anchor driller, thereby fixing the first anchor driller, second anchor driller and third anchor driller to the first speed mechanism (20), second speed mechanism (21) and third speed mechanism (22); the mounting plate (16) can rotate around the rotating shaft (19) to change the directions of the first anchor driller, second anchor driller and third anchor driller, and install anchor rods at corresponding positions.

4. The drilling and anchoring robot capable of drilling and anchoring in multiple directions for use in complex geology according to claim 3, characterized in that: The two first anchor drilling machines are used to drive anchor rods toward the side of the tunnel and the top plate near the side of the tunnel, with the corresponding mounting plate (16) as the center, in the direction from 9 o'clock to 12 o'clock and in the direction from 12 o'clock to 3 o'clock respectively; the two first anchor drilling machines are also used to move left and right to drive anchor rods vertically upwards toward the top plate of the tunnel.

5. The drilling and anchoring robot capable of drilling and anchoring in multiple directions for use in complex geology according to claim 3, characterized in that: The two second anchor drilling machines are used to drive anchor rods with the corresponding mounting plate (16) as the center, in the range from 7 o'clock to 12 o'clock and from 12 o'clock to 5 o'clock respectively.

6. The drilling and anchoring robot capable of drilling and anchoring in multiple directions for use in complex geology according to claim 3, characterized in that: The two third anchor drilling machines are used to drive anchor rods with the corresponding mounting plate (16) as the center and in the range from 7 o'clock to 12 o'clock and from 12 o'clock to 5 o'clock respectively.

7. A drilling and anchoring robot capable of drilling and anchoring in multiple directions for use in complex geology according to any one of claims 4 to 6, characterized in that: A hydraulic cylinder (17) is provided on the sliders (18) of the first speed-up mechanism (20), the second speed-up mechanism (21) and the third speed-up mechanism (22); the fixed end of the hydraulic cylinder (17) is fixedly connected to the slider (18), and the movable end is fixedly connected to the edge of the mounting plate (16); the hydraulic cylinder (17) is used to push the mounting plate (16) to rotate around the rotating shaft (19) when extended, and is also used to pull the mounting plate (16) to reset around the rotating shaft (19) when retracted, thereby realizing large-scale anchoring.

Images