Tunneling and anchoring all-in-one machine

Abstract

The utility model relates to the technical field of engineering machinery, and provides a digging and anchoring all-in-one machine. The cutting mechanism is arranged at the front end of the rack; the anchor rod mechanism is arranged on the rack; the first visual mechanism is arranged at the front end of the rack and is used for acquiring the front visual field in the tunneling direction; the second visual angle mechanism is arranged on the side face and the rear end of the rack. According to the digging and anchoring all-in-one machine, basic function modules such as the cutting mechanism and the anchor rod mechanism are integrated, the first visual mechanism is arranged at the front end of the machine frame of the digging and anchoring all-in-one machine, the visual field in front of the digging direction can be visually obtained, and direct visual reference is provided for operators; meanwhile, the second visual mechanisms are additionally arranged on the side face and the rear end of the machine frame, the monitoring range is further expanded, blind areas on the side face and the rear portion of the tunneling device are covered, and safety accidents caused by sight blocking or negligence are effectively avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of construction machinery, in particular to a tunneling and bolting machine. Background Art

[0002] In coal mines and similar underground mineral extraction operations, large tunneling equipment such as roadheaders and tunneling and bolting machines are key production tools, and their safety and operation efficiency directly affect the production safety and economic benefits of the mine. However, although existing safety management measures have played a certain role in reducing accident risks, during actual operation, casualty accidents still frequently occur due to improper operation and insufficient environmental perception.

[0003] Particularly, there are limitations in the complex and changeable tunneling operation environment. Currently, it is difficult for tunneling equipment to confirm whether the operating personnel are safe in the operation environment or ensure that the personnel have safely evacuated. At this time, starting or operating the tunneling equipment without authorization is extremely likely to cause serious consequences. Summary of the Utility Model

[0004] The utility model provides a tunneling and bolting machine to solve the problem that current tunneling equipment is difficult to confirm whether the operating personnel are safe in the operation environment or ensure that the personnel have safely evacuated, which is extremely likely to lead to safety accidents.

[0005] The utility model provides a tunneling and bolting machine, including:

[0006] A frame;

[0007] A cutting mechanism, arranged at the front end of the frame, for cutting or crushing rocks or media to facilitate tunneling operations;

[0008] An anchor rod mechanism, arranged on the frame, for driving anchor rods into the side walls of the roadway or tunnel formed during tunneling;

[0009] A first vision mechanism, arranged at the front end of the frame, for obtaining the field of view in front of the tunneling direction;

[0010] A second vision mechanism, arranged on the side and rear end of the frame, for detecting the conditions on the side and rear of the tunneling device.

[0011] According to the tunneling and bolting machine provided by the utility model, the first vision mechanism includes:

[0012] A camera and an adjustment frame, and the camera is movably arranged at the front end of the frame through the adjustment frame.

[0013] According to the tunneling and bolting machine provided by the utility model, the first vision mechanism further includes: a lighting device, arranged at the front end of the frame.

[0014] According to the integrated anchoring and digging machine provided by the utility model, the second viewing angle mechanism includes:

[0015] Multiple millimeter-wave radars are respectively installed at different positions on the side and rear end of the frame to realize obstacle detection and distance measurement in a non-line-of-sight environment.

[0016] According to the integrated digging and anchoring machine provided by the utility model, the plurality of millimeter wave radars are respectively a first millimeter wave radar, a second millimeter wave radar, a third millimeter wave radar, a fourth millimeter wave radar, a fifth millimeter wave radar, and a sixth millimeter wave radar;

[0017] The first millimeter-wave radar and the second millimeter-wave radar are arranged on the left side of the rack, the third millimeter-wave radar and the fourth millimeter-wave radar are arranged on the right side of the rack, and the fifth millimeter-wave radar and the sixth millimeter-wave radar are arranged on the rear side of the rack.

[0018] According to an integrated anchoring and digging machine provided by the utility model, the first millimeter-wave radar and the third millimeter-wave radar are symmetrically arranged on both sides of the frame, and the second millimeter-wave radar and the fourth millimeter-wave radar are symmetrically arranged on both sides of the frame.

[0019] According to an integrated drilling and anchoring machine provided by the utility model, the first millimeter-wave radar and the second millimeter-wave radar are arranged at different heights on the left side of the frame, the third millimeter-wave radar and the fourth millimeter-wave radar are arranged at different heights on the right side of the frame, and the fifth millimeter-wave radar and the sixth millimeter-wave radar are arranged at different heights on the rear side of the frame.

[0020] According to the integrated anchoring and digging machine provided by the utility model, the cutting mechanism comprises: a cutting head, a driving motor and a transmission device;

[0021] The driving motor is transmission-connected to the cutting head through the transmission device, and a plurality of cutting teeth are formed on the cutting head.

[0022] According to the utility model, a digging and anchoring integrated machine is provided, wherein the anchor mechanism comprises:

[0023] A first anchor bolter is arranged on both sides of the front end of the frame, each of the first anchor bolters comprises a first workbench and a first anchor bolt installation device, the first workbench is rigidly connected to the frame, and the first anchor bolt installation device is arranged on the first workbench;

[0024] The second anchor bolters are arranged on both sides of the rear end of the frame. Each of the second anchor bolters includes a second workbench and a second anchor bolt installation device. The second workbench is rigidly connected to the frame, and the second anchor bolt installation device is arranged on the second workbench.

[0025] According to a roadheader-anchor rig provided by the present utility model, the roadheader-anchor rig further comprises:

[0026] A collecting tray and a conveying mechanism, the collecting tray is arranged at the front side of the frame, one end of the conveying mechanism is connected to the collecting tray, and the other end of the conveying mechanism extends to the rear end of the frame.

[0027] The roadheader-anchor rig provided by the present utility model integrates basic functional modules such as a cutting mechanism and an anchor rod mechanism. By arranging a first vision mechanism at the front end of the frame of the roadheader-anchor rig, the vision in front of the tunneling direction can be directly obtained, providing a direct visual reference for the operator; meanwhile, a second vision mechanism is additionally arranged on the side and rear ends of the frame, further expanding the monitoring range, covering the side and rear blind areas of the tunneling device, and effectively avoiding safety accidents caused by line-of-sight obstruction or negligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0029] Figure 1 is one of the schematic diagrams of the roadheader-anchor rig provided by the present utility model.

[0030] Figure 2 is another schematic diagram of the roadheader-anchor rig provided by the present utility model.

[0031] Figure 3 is the structural schematic diagram of the first vision mechanism provided by the present utility model.

[0032] Reference Signs:

[0033] 100, frame; 200, cutting mechanism; 210, cutting head; 220, cutting teeth; 300, anchor rod mechanism; 310, first anchor rod machine; 320, second anchor rod machine; 400, first vision mechanism; 410, camera; 420, sleeve; 430, support rod; 500, second vision mechanism; 510, first millimeter-wave radar; 520, second millimeter-wave radar; 530, third millimeter-wave radar; 540, fourth millimeter-wave radar; 550, fifth millimeter-wave radar; 560, sixth millimeter-wave radar; 600, collecting tray; 700, conveying mechanism. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] To make the objectives, technical solutions, and advantages of the present utility model clearer, the following will clearly and completely describe the technical solutions in the present utility model in conjunction with the accompanying drawings in the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present utility model without making creative efforts belong to the scope of protection of the present utility model.

[0035] The following will be combined with Figures 1 to 3 Describe that the roadheader-anchor rig provided by the present utility model is a tunnel excavation and support device, which combines the functions of a roadheader and an anchor rig, realizes the parallel operation of excavation and support, and significantly improves the efficiency and quality of tunnel construction.

[0036] In some embodiments, such as Figure 1 and Figure 2 shown, the roadheader-anchor rig includes a frame 100, a cutting mechanism 200, an anchor mechanism 300, a first vision mechanism 400, and a second vision mechanism 500. The cutting mechanism 200 is arranged at the front end of the frame 100 and is used for cutting or breaking rocks or media to facilitate the excavation operation; the anchor mechanism 300 is arranged on the frame 100 and is used for driving bolts into the side walls of the roadway or tunnel formed during excavation; the first vision mechanism 400 is arranged at the front end of the frame 100 and is used for obtaining the field of view in front of the excavation direction; the second vision mechanism 500 is arranged on the side and rear end of the frame 100 and is used for detecting the conditions on the side and rear of the excavation device.

[0037] In this embodiment, the frame 100 serves as the support structure of the entire roadheader-anchor rig. The frame 100 is made of high-strength materials and has sufficient rigidity and stability to withstand various forces and vibrations generated during the excavation operation. The cutting mechanism 200 is arranged at the front end of the frame 100. The cutting mechanism 200 adopts cutting or breaking technology and can efficiently cut or break rocks or media to provide the necessary space for the excavation operation. At the same time, the cutting mechanism 200 is also equipped with an intelligent control system, which can automatically adjust the cutting parameters according to the operation requirements to ensure the smooth progress of the excavation operation.

[0038] In order to enhance the stability of the roadway or tunnel formed during excavation, the anchor mechanism 300 is arranged on the frame 100. During the excavation process, the anchor mechanism 300 can automatically or manually drive bolts into the side walls of the roadway or tunnel to form an effective support structure.

[0039] The first vision mechanism 400 is provided at the front end of the frame 100 in order to provide a view in front of the tunneling direction. This mechanism uses a high-definition camera 410 or other vision sensors and can capture and transmit image information in front of the tunneling direction in real time. Through the image information obtained by the first vision mechanism 400, the operator can intuitively understand the situation at the forefront of the tunneling operation, providing strong support for decision-making and operation.

[0040] The second vision mechanism 500 is provided on the side and rear end of the frame 100 in order to make up for the visual blind areas on the side and rear of the first vision mechanism 400. It can detect the situation on the side and rear of the tunneling device in all directions. Through the image information obtained by the second vision mechanism 500, the operator can comprehensively understand the environmental conditions around the tunneling device and discover and handle potential safety hazards in a timely manner.

[0041] The roadheader-anchor rig provided by the present utility model integrates basic functional modules such as a cutting mechanism 200 and an anchor mechanism 300. By arranging the first vision mechanism 400 at the front end of the frame 100 of the roadheader-anchor rig, a view in front of the tunneling direction can be intuitively obtained, providing a direct visual reference for the operator. At the same time, a second vision mechanism is added to the side and rear end of the frame 100, further expanding the monitoring range to cover the side and rear blind areas of the tunneling device, effectively avoiding safety accidents caused by line-of-sight obstruction or negligence.

[0042] In some embodiments, as Figures 1 to 3 shown, the first vision mechanism includes: a camera 410 and an adjustment frame. The camera 410 is movably arranged at the front end of the frame 100 through the adjustment frame. The adjustment frame includes a sleeve 420 and a support rod 430. The support rod 430 is connected to the frame 100. The sleeve 420 is connected to the camera 410. The sleeve 420 is slidably arranged on the support rod 430. A roller abutting against the support rod 430 is provided in the sleeve 420. By controlling the rotation of the roller, the movement of the sleeve 420 can be controlled, so as to adjust the position of the camera 410.

[0043] In this embodiment, the camera 410 uses a high-precision, high-definition camera 410, which can capture the details in front of the excavation direction in real time. The installation position and angle of the camera 410 are crucial to the acquisition of the field of view. Therefore, the present application uses an adjustment frame to achieve flexible adjustment of the camera 410. The adjustment frame is a bridge connecting the camera 410 and the frame 100, which allows the camera 410 to be adjusted in multiple dimensions to adapt to different excavation operation requirements. The adjustment frame is mainly composed of a sleeve 420 and a support rod 430. The support rod 430 is a fixed part of the adjustment frame and is firmly connected to the frame 100. The sleeve 420 is the active part of the adjustment frame and is directly connected to the camera 410. The sleeve 420 is slidably arranged on the support rod 430, and it can move along the length direction of the support rod 430. In order to reduce friction and resistance during sliding, rollers that abut against the support rod 430 are provided in the sleeve 420. These rollers are made of wear-resistant materials, which can reduce wear and noise while ensuring smooth sliding.

[0044] In order to achieve precise control over the movement of the sleeve 420, the design of the roller includes a control mechanism. Through an external control signal (such as an electric, hydraulic or pneumatic signal), the rotation direction and speed of the roller can be controlled, thereby pushing the sleeve 420 to slide on the support rod 430. This control method allows the operator to easily adjust the position of the camera 410, and the direction in which the support rod 430 extends can be adjusted according to actual needs, and fine-tuning can be achieved up and down or left and right.

[0045] At the same time, the first viewing angle mechanism also includes: lighting equipment. The lighting equipment is arranged at the front end of the frame 100. The lighting equipment is located adjacent to the camera 410. Such a layout ensures that the lighting source can directly illuminate the area captured by the camera 410, reducing image blur or shadow problems caused by insufficient light. The connection between the lighting equipment and the frame 100 is made of high-strength, corrosion-resistant materials, and is precisely designed and processed to ensure its stability and reliability during the excavation process. The lighting equipment can use high-brightness LED lights or other advanced lighting technologies to provide sufficient light during excavation operations, ensuring that the operator can clearly observe the situation ahead in the excavation direction.

[0046] In this embodiment, during the excavation operation, the camera 410 is responsible for capturing image information, while the lighting equipment provides necessary lighting support. The two cooperate with each other, so that the operator can clearly see the situation ahead in the excavation direction, and promptly discover and deal with potential safety hazards. At the same time, this synergy also improves the overall intelligence level of the excavator and anchor machine, providing a strong guarantee for the smooth progress of the excavation operation.

[0047] In some embodiments, Figure 1 and Figure 2As shown, the second perspective mechanism 500 includes: a plurality of millimeter-wave radars, which are respectively installed at different positions on the side and rear end of the frame 100, and are used to detect obstacles and measure distances in a non-line-of-sight environment.

[0048] Specifically, in a non-line-of-sight environment, such as an area with smoke, dust, or blocked line of sight, traditional vision sensors may not work effectively. Therefore, in this embodiment, the second perspective mechanism 500 is introduced. This mechanism mainly consists of a plurality of millimeter-wave radars, which are respectively installed at different positions on the side and rear end of the frame 100 to achieve an all-round perception of the surrounding environment.

[0049] Millimeter-wave radars can penetrate obstacles such as smoke and dust to detect obstacles in a non-line-of-sight environment. This feature enables the roadheader to accurately perceive the surrounding environment under complex geological conditions and improve operation safety. Millimeter-wave radars use electromagnetic waves for ranging and have the characteristics of high precision and high stability. It can measure the distance between the roadheader and surrounding obstacles in real time and provide accurate distance information for the operator.

[0050] Installing millimeter-wave radars on the side of the frame 100 can detect obstacles on the side and obliquely in front of the roadheader. This is of great significance for avoiding side collisions and protecting the flank equipment of the roadheader. Installing millimeter-wave radars at the rear end of the frame 100 is mainly used to monitor the safety distance and obstacle conditions behind the roadheader. This helps to ensure a safe distance between the roadheader and rear obstacles when reversing or adjusting the heading direction.

[0051] In this embodiment, a plurality of millimeter-wave radars are respectively installed at different positions on the frame 100, and they integrate and share information through data communication and collaborative algorithms. This way of multi-radar collaborative work can achieve an all-round and multi-angle perception of the surrounding environment of the roadheader and improve the accuracy and reliability of obstacle detection.

[0052] In addition, when the equipment is powered on, abnormal feedback data (equipment, facilities, or personnel) in the dangerous area around the equipment is autonomously identified by a plurality of millimeter-wave radars, so that when there are personnel or equipment operating in the restricted area, the power supply of the equipment walking module can be quickly cut off, thereby preventing personal injuries caused by personnel entering the restricted area during equipment operation. Or during the movement of the equipment, the phenomenon of squeezing personnel, equipment, and facilities.

[0053] In some embodiments, such as Figure 1 and Figure 2As shown, the multiple millimeter-wave radars are respectively the first millimeter-wave radar 510, the second millimeter-wave radar 520, the third millimeter-wave radar 530, the fourth millimeter-wave radar 540, the fifth millimeter-wave radar 550, and the sixth millimeter-wave radar 560. The first millimeter-wave radar 510 and the second millimeter-wave radar 520 are arranged on the left side of the rack 100. The third millimeter-wave radar 530 and the fourth millimeter-wave radar 540 are arranged on the right side of the rack 100. The fifth millimeter-wave radar 550 and the sixth millimeter-wave radar 560 are arranged on the rear side of the rack 100. The first millimeter-wave radar 510 and the third millimeter-wave radar 530 are symmetrically arranged on both sides of the rack 100. The second millimeter-wave radar 520 and the fourth millimeter-wave radar 540 are symmetrically arranged on both sides of the rack 100.

[0054] In this embodiment, the first millimeter-wave radar 510 and the second millimeter-wave radar 520 are installed on the left side of the rack 100. The first millimeter-wave radar 510 and the second millimeter-wave radar 520 are used to ensure that the blind area on the left side of the roadheader can be fully covered and the obstacles in the left direction can be accurately detected. Correspondingly, the third millimeter-wave radar 530 and the fourth millimeter-wave radar 540 are installed on the right side of the rack 100. The symmetrical layout not only maintains the balance on both sides of the roadheader but also ensures the same obstacle detection ability on both the left and right sides. The fifth millimeter-wave radar 550 and the sixth millimeter-wave radar 560 are arranged on the rear side of the rack 100. The fifth millimeter-wave radar 550 and the sixth millimeter-wave radar 560 are responsible for monitoring the safety distance and obstacle conditions behind the roadheader, providing necessary support for the reverse and turning of the roadheader.

[0055] The first millimeter-wave radar 510 and the third millimeter-wave radar 530 are symmetrically arranged on both sides, which helps to achieve the balance of environmental perception on both the left and right sides of the roadheader. No matter which direction the roadheader moves or adjusts its posture, similar environmental information can be obtained through these two symmetric radars, so as to make more accurate decisions. Similarly, the second millimeter-wave radar 520 and the fourth millimeter-wave radar 540 are also symmetrically arranged on both sides of the rack 100. This layout further enhances the environmental perception ability on both sides of the roadheader and improves the accuracy and reliability of obstacle detection.

[0056] Through the above detailed layout design, multiple millimeter-wave radars form an all-round perception network at different positions of the roadheader. This layout not only covers all the key directions (left, right, and rear) of the roadheader but also improves the balance and accuracy of environmental perception through symmetric arrangement. Such a design enables the roadheader to more intelligently perceive the surrounding environment, avoid obstacles autonomously, and ensure the safety and efficiency of the operation during the tunneling operation.

[0057] In another embodiment, the first millimeter-wave radar 510 and the second millimeter-wave radar 520 are set at different heights on the left side of the frame 100, the third millimeter-wave radar 530 and the fourth millimeter-wave radar 540 are set at different heights on the right side of the frame 100, and the fifth millimeter-wave radar 550 and the sixth millimeter-wave radar 560 are set at different heights on the rear side of the frame 100.

[0058] Among them, on the left side of the frame 100, the first millimeter-wave radar 510 is installed at a relatively low position. Such a design enables it to better detect obstacles near the ground, providing strong protection for the bottom safety of the roadheader.

[0059] In contrast, the second millimeter-wave radar 520 is installed at a higher position. This height setting enables it to detect obstacles at higher altitudes, thus ensuring that the roadheader does not collide with these high-altitude obstacles during travel. The setting on the right side of the frame 100 is similar to that on the left side, but they are independent of each other. The third millimeter-wave radar 530 is located at a lower position, focusing on detecting obstacles near the ground; while the fourth millimeter-wave radar 540 is located at a higher position, responsible for detecting high-altitude obstacles. This symmetric and height-differentiated configuration on the left and right enables the roadheader to have comprehensive obstacle detection capabilities on both sides. The setting of the fifth millimeter-wave radar 550 and the sixth millimeter-wave radar 560 on the rear side of the frame 100 also follows the principle of height differentiation. The fifth millimeter-wave radar 550 may be located at a relatively low position to detect obstacles near the ground behind the roadheader, such as humans, other equipment, accumulations, etc. The sixth millimeter-wave radar 560 is located at a higher position to detect high-altitude obstacles behind, such as lines, etc. Such a configuration helps the roadheader to comprehensively sense the safety status behind when reversing or adjusting the direction.

[0060] In some embodiments, as Figure 1 and Figure 2 shown, the cutting mechanism 200 includes: a cutting head 210, a driving motor and a transmission device; the driving motor is in transmission connection with the cutting head 210 through the transmission device, and a plurality of cutting teeth 220 are formed on the cutting head 210.

[0061] In this embodiment, the cutting head 210 is directly responsible for crushing and tunneling materials (such as rocks, soil, etc.). A plurality of cutting teeth 220 are arranged on the cutting head 210. These cutting teeth 220 are usually made of wear-resistant and high-strength materials to ensure stable cutting performance in harsh tunneling environments. The distribution and arrangement of the cutting teeth 220 are optimized to improve cutting efficiency, reduce energy consumption, and at the same time reduce the wear of the cutting head 210. The drive motor is the power source of the cutting mechanism 200, providing the torque and speed required for the cutting head 210 to perform crushing operations. The transmission device is located between the drive motor and the cutting head 210 and is responsible for transmitting the power of the drive motor to the cutting head 210. Through the transmission device, the speed and torque of the drive motor can be appropriately adjusted to adapt to different tunneling conditions and material characteristics.

[0062] The cutting mechanism 200 is usually installed at the front end of the tunneling machine so as to directly face the materials to be tunneled. The drive motor is located at a suitable position of the cutting mechanism 200 so as to effectively transmit the power to the cutting head 210 through the transmission device. During the tunneling operation, the control system will adjust the output parameters (such as speed, torque, etc.) of the drive motor in real time according to the position and attitude information of the tunneling machine to ensure that the cutting head 210 can perform crushing operations along a predetermined trajectory and speed.

[0063] In some embodiments, such as Figure 1 and Figure 2 shown, the bolt mechanism 300 includes: a first bolt machine 310 and a second bolt machine 320. The first bolt machines 310 are arranged on both sides of the front end of the frame 100. Each first bolt machine 310 includes a first workbench and a first bolt installation device. The first workbench is rigidly connected to the frame 100, and the first bolt installation device is arranged on the first workbench; the second bolt machines 320 are arranged on both sides of the rear end of the frame 100. Each second bolt machine 320 includes a second workbench and a second bolt installation device. The second workbench is rigidly connected to the frame 100, and the second bolt installation device is arranged on the second workbench.

[0064] In this embodiment, the first bolt machine 310 is arranged on both sides of the front end of the frame 100 and is used to carry out initial support for the tunneling face at the initial stage or in real time of the tunneling operation to ensure the safe progress of the tunneling operation. The second bolt machine 320 is arranged on both sides of the rear end of the frame 100 and is mainly used for installing bolts in the area that has completed tunneling and needs further reinforcement to enhance the stability of the roadway. The first workbench is rigidly connected to the frame 100 to provide a stable working platform and ensure that the first bolt installation device can accurately and stably carry out bolt installation operations. The first bolt installation device is arranged on the first workbench and includes components such as a bolt driver, a bolt gripper, and a rotating mechanism, which are used to send the bolt into the predetermined hole position and apply prestress to fix the tunneling face. It can quickly respond to the tunneling progress, provide support in real time, and reduce the risk of surrounding rock deformation and collapse caused by tunneling. The second workbench is also rigidly connected to the frame 100 to provide a stable working environment for the second bolt installation device. The structure of the second bolt installation device is similar to that of the first bolt installation device, but may be appropriately adjusted according to specific requirements, such as increasing the bolt length, adjusting the prestress application method, etc. Its main function is to install bolts in the area that has completed tunneling and needs additional reinforcement to further improve the overall stability of the roadway.

[0065] In some embodiments, such as Figure 1 and Figure 2 shown, the roadheader-bolter also includes: a collecting tray 600 and a conveying mechanism 700. The collecting tray 600 is arranged on the front side of the frame 100, and one end of the conveying mechanism 700 is connected to the collecting tray 600, and the other end of the conveying mechanism 700 extends to the rear end of the frame 100.

[0066] Among them, the collecting tray 600 is adjacent to the tunneling mechanism (such as the cutting head 210). Its main function is to collect materials such as coal and rock generated during the tunneling process. The collecting tray 600 is usually designed with a large area and a suitable shape so as to be able to efficiently capture and concentrate the materials falling from the tunneling face and reduce material scattering and waste. One end of the conveying mechanism 700 is tightly connected to the collecting tray 600 to ensure that the collected materials can smoothly enter the conveying system. The other end extends to the rear end of the frame 100 or a designated material storage area to convey the materials to subsequent processing or transportation links.

[0067] The conveying mechanism 700 usually consists of a series of conveyor belts, rollers, drive devices and other components. Under the action of the drive device, the conveyor belt can run continuously and smoothly to gradually convey the materials in the collecting tray 600 to the designated position. During the working process, the conveying mechanism 700 will automatically adjust the conveying speed and direction according to the tunneling progress and the material generation amount to ensure the continuity and efficiency of material transportation.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A drilling and anchoring machine, characterized in that: include: frame; A cutting mechanism, disposed at the front end of the frame, for cutting or crushing the rock or media to facilitate the excavation operation; An anchor mechanism, arranged on the frame, is used to drive an anchor into the side wall of the tunnel or tunnel formed by excavation during the excavation process; A first visual mechanism, arranged at the front end of the frame, for obtaining a forward field of view in the excavation direction; The second viewing angle mechanism is arranged on the side and rear end of the frame and is used to detect the situation on the side and rear of the excavation device.

2. The integrated anchoring and digging machine according to claim 1, characterized in that: The first visual mechanism comprises: A camera and an adjustment frame, wherein the camera is movably arranged at the front end of the frame through the adjustment frame.

3. The integrated anchoring and digging machine according to claim 2, characterized in that: The first visual mechanism also includes: a lighting device, which is arranged at the front end of the frame.

4. The integrated anchoring and digging machine according to claim 1, characterized in that: The second viewing angle mechanism comprises: Multiple millimeter-wave radars are respectively installed at different positions on the side and rear end of the frame to realize obstacle detection and distance measurement in a non-line-of-sight environment.

5. The integrated anchoring and digging machine according to claim 4, characterized in that: The plurality of millimeter-wave radars are respectively a first millimeter-wave radar, a second millimeter-wave radar, a third millimeter-wave radar, a fourth millimeter-wave radar, a fifth millimeter-wave radar, and a sixth millimeter-wave radar; The first millimeter-wave radar and the second millimeter-wave radar are arranged on the left side of the rack, the third millimeter-wave radar and the fourth millimeter-wave radar are arranged on the right side of the rack, and the fifth millimeter-wave radar and the sixth millimeter-wave radar are arranged on the rear side of the rack.

6. The integrated anchoring and digging machine according to claim 5, characterized in that: The first millimeter-wave radar and the third millimeter-wave radar are symmetrically arranged on both sides of the rack, and the second millimeter-wave radar and the fourth millimeter-wave radar are symmetrically arranged on both sides of the rack.

7. The integrated anchoring and digging machine according to claim 5, characterized in that: The first millimeter-wave radar and the second millimeter-wave radar are arranged at different heights on the left side of the rack, the third millimeter-wave radar and the fourth millimeter-wave radar are arranged at different heights on the right side of the rack, and the fifth millimeter-wave radar and the sixth millimeter-wave radar are arranged at different heights on the rear side of the rack.

8. The integrated anchoring and digging machine according to claim 1, characterized in that: The cutting mechanism comprises: a cutting head, a driving motor and a transmission device; The driving motor is transmission-connected to the cutting head through the transmission device, and a plurality of cutting teeth are formed on the cutting head.

9. The integrated anchoring and digging machine according to claim 1, characterized in that: The anchor mechanism comprises: A first anchor bolter is arranged on both sides of the front end of the frame, each of the first anchor bolters comprises a first workbench and a first anchor bolt installation device, the first workbench is rigidly connected to the frame, and the first anchor bolt installation device is arranged on the first workbench; The second anchor bolters are arranged on both sides of the rear end of the frame. Each of the second anchor bolters includes a second workbench and a second anchor bolt installation device. The second workbench is rigidly connected to the frame, and the second anchor bolt installation device is arranged on the second workbench.

10. The integrated anchoring and digging machine according to any one of claims 1 to 9, characterized in that: The anchor digging machine also includes: A collecting tray and a conveying mechanism, wherein the collecting tray is arranged at the front side of the frame, one end of the conveying mechanism is connected to the collecting tray, and the other end of the conveying mechanism extends to the rear end of the frame.

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