Anchor rod driving device for self-moving tail

Abstract

The utility model provides an anchor rod driving device for a self-moving tail, which comprises a self-moving bracket movably arranged in a roadway and extending along the extending direction of the roadway, and an anchor rod driving device arranged at the tail of the self-moving bracket, the conveying belt assembly is arranged on the self-moving support, circularly moves in the extending direction of the self-moving support and is used for conveying materials; the mechanical arm assembly is movably arranged at one end, far away from the mining surface of the roadway, of the self-moving bracket; the anchor rod mounting assembly is arranged on the mechanical arm assembly so as to move along with the mechanical arm assembly; and the mechanical arm assembly has a storage state, and in the storage state, the mechanical arm assembly and the anchor rod mounting assembly avoid the side parts on the two sides of the roadway. According to the utility model, the operation mode of manually driving the anchor rod is effectively replaced, the manpower is saved, the labor intensity of workers is reduced, the efficiency of driving the anchor rod is improved, the anchor rod supporting work required by the mining work can be carried out in time, and the potential safety hazard is further effectively reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of mine bolt installation equipment, and in particular to a bolt drilling device for a self-advancing tail. Background Art

[0002] During underground coal mining, a belt conveyor is usually used to transport the mined coal. The belt conveyor includes a conveyor belt, a self-advancing tail device and a transfer machine. The self-advancing tail device relies on the transfer machine as a fixed support point, and uses the push cylinders on the self-advancing tail device to push the self-advancing tail device and the conveyor belt to move, so that the conveyor belt on the self-advancing tail device can be quickly advanced according to the transportation requirements, and then move along with the mining face.

[0003] At present, when the self-advancing tail device is working, since the self-advancing tail occupies a relatively large part of the space in the coal mine roadway, the space between the self-advancing tail device and the roadway side is limited and not enough to accommodate other special equipment. When it is necessary to drill bolts and carry out safety support and other professional special construction on the side and roof of the roadway on both sides of the self-advancing tail device, various bolt drilling devices in the prior art cannot be used, and usually only manual methods can be used to drill bolts (for example, manually transporting bolt drilling equipment and bolt materials to the designated position and then relying on manual labor to drill bolts), resulting in high labor intensity; moreover, as the mining depth increases, the workload of manual bolt drilling in the roadway will increase exponentially, resulting in a large number of required workers, low overall work efficiency and great potential safety hazards; at the same time, if the bolt drilling is carried out after the self-advancing tail device leaves, it may lead to a delay in the bolt support time, resulting in untimely fixation of the roadway roof and side, which not only seriously reduces the overall bolt drilling efficiency and cannot meet the production needs of rapid tunneling and material transportation, but also easily causes safety accidents (for example: safety accidents such as falling rocks and collapses may occur due to the inability to reinforce the roadway roof and side in time). Summary of the Utility Model

[0004] The utility model provides a bolt drilling device for a self-advancing tail to solve the problem that the bolt drilling devices in the prior art cannot efficiently install bolts on the roadway roof and both sidewalls when the self-advancing tail device is working.

[0005] To solve the above problems, according to the present utility model, a bolt drilling device for a self - moving shearer tail is provided, including: a self - moving support movably arranged in a roadway, and the self - moving support extends along the extension direction of the roadway; a conveyor belt assembly arranged on the self - moving support and circulatingly moving along the extension direction of the self - moving support for transporting materials; a robotic arm assembly movably arranged at one end of the self - moving support away from the mining face of the roadway; a bolt installation assembly arranged on the robotic arm assembly to move along with the robotic arm assembly; wherein, the robotic arm assembly is used to drive the bolt installation assembly to move, and the bolt installation assembly is used to drill bolts into the roof of the roadway and / or the rib portions on both sides of the roadway; the robotic arm assembly has a retracted state, and in the retracted state, the robotic arm assembly and the bolt installation assembly avoid the rib portions on both sides of the roadway.

[0006] Further, the robotic arm assembly includes a first hinge frame, a first arm, a first telescopic cylinder, a second hinge frame, a second arm and a second telescopic cylinder. The first hinge frame is arranged at one end of the self - moving support away from the mining face of the roadway; one end of the first arm is rotatably connected to the first hinge frame, and the other end is rotatably connected to the second arm; the second hinge frame is fixedly arranged on the first arm; one end of the first telescopic cylinder is rotatably connected to the first hinge frame, and the other end is rotatably connected to the second hinge frame for driving the first arm to swing relative to the first hinge frame; both ends of the second telescopic cylinder are respectively rotatably connected to the second hinge frame and the second arm for driving the second arm to swing; the bolt installation assembly is movably arranged at one end of the second arm away from the first arm.

[0007] Further, the robotic arm assembly further includes a rotating base, a swinging base and a swinging oil cylinder. The rotating base is rotatably arranged at one end of the second arm away from the first arm, the swinging base is rotatably arranged on the rotating base, and the rotation axis of the swinging base is perpendicular to the rotation axis of the rotating base. The swinging oil cylinder is arranged on the rotating base and connected to the swinging base for driving the swinging base to rotate relative to the rotating base; the bolt installation assembly is arranged on the swinging base.

[0008] Further, the bolt installation assembly includes a bolt drill and an operation controller. The bolt drill is arranged on the swinging base for drilling bolts to a set depth; the operation controller is electrically connected to the bolt drill for controlling the operation of the bolt drill; wherein, the operation controller is arranged on the top of the second arm or the first arm.

[0009] Further, the length of the first arm and / or the second arm is telescopic; the bolt drilling device for the self - moving shearer tail further includes a rotating platform. The first hinge frame is arranged on the rotating platform, and the rotating platform is rotatably arranged at one end of the self - moving support away from the mining face of the roadway for driving the robotic arm assembly to rotate along a vertically arranged axis.

[0010] Further, the bolt installation assembly includes a bolt drilling rig, a sliding frame, and a chain oil cylinder. The bolt drilling rig is slidably disposed on the sliding frame and is drivingly connected to the chain oil cylinder. The chain oil cylinder adjusts the depth of bolt driving by controlling the position of the bolt drilling rig on the sliding frame.

[0011] Further, the bolt driving device for the self-advancing tail of the shearer further includes a rotating platform. The robotic arm assembly is disposed on the rotating platform. The rotating platform is rotatably disposed at one end of the self-advancing support away from the mining face of the roadway for driving the robotic arm assembly to rotate.

[0012] Further, the bolt driving device for the self-advancing tail of the shearer further includes a bearing and fixing frame and an operating platform. The operating platform is disposed on the bearing and fixing frame. The operating platform is electrically connected to at least one of the robotic arm assembly, the bolt installation assembly, the self-advancing support, and the conveyor belt assembly to control its operation. The bearing and fixing frame is disposed on the self-advancing support and is located above the conveyor belt assembly.

[0013] Further, the robotic arm assembly is movably disposed on the bearing and fixing frame. The position of the bearing and fixing frame and / or the operating platform avoids the movement trajectories of the robotic arm assembly and the bolt installation assembly so that the robotic arm assembly and the bolt installation assembly do not collide with the bearing and fixing frame and / or the operating platform.

[0014] Further, the conveyor belt assembly includes a conveyor belt that circulates and rotates. The conveyor belt is disposed in the middle of the self-advancing support and moves in a circulating manner along the extending direction of the self-advancing support.

[0015] Applying the technical solution of the present utility model, the present utility model provides a bolt driving device for the self-advancing tail of a shearer, including: a self-advancing support movably disposed in a roadway and extending along the extending direction of the roadway; a conveyor belt assembly disposed on the self-advancing support and circulatingly moving along the extending direction of the self-advancing support for transporting materials; a robotic arm assembly movably disposed at one end of the self-advancing support away from the mining face of the roadway; a bolt installation assembly disposed on the robotic arm assembly to move along with the robotic arm assembly; wherein the robotic arm assembly is used to drive the bolt installation assembly to move, and the bolt installation assembly is used to drill bolts into the roof of the roadway and / or the rib portions on both sides of the roadway; the robotic arm assembly has a retracted state, and in the retracted state, the robotic arm assembly and the bolt installation assembly avoid the rib portions on both sides of the roadway.

[0016] The utility model realizes automatic bolt installation by setting the robotic arm assembly to cooperate with the bolt installation assembly. When the self-advancing tail device is working properly, automatic bolt driving is achieved at the roadway sidewall position on the side of the self-advancing support, effectively replacing the manual bolt driving operation method, saving manpower, reducing the labor intensity of the staff, and improving the bolt driving efficiency, enabling the bolt support work required for mining to be carried out in a timely manner, thereby effectively reducing potential safety hazards; by setting the conveyor belt assembly, efficient transportation of the materials excavated and cleaned in the roadway is realized, avoiding the accumulation of materials on the roadway sidewall, and thus avoiding the delay of subsequent other operations in the roadway, significantly improving the overall construction efficiency in the roadway, and effectively meeting the production needs of rapid tunneling and transporting materials; by setting the robotic arm assembly to have a storage state, the robotic arm assembly and the bolt installation assembly are enabled to avoid the roadway sidewall, thereby avoiding blocking the roadway sidewall and ensuring smooth passage of personnel; the self-advancing tail bolt driving device proposed by the utility model can be flexibly applied to various roadways in coal mines, and can realize the roadway reinforcement process of driving bolts while working; the structure of the utility model is simple and the work is reliable, suitable for large-scale popularization and use, and can be used in combination with equipment such as underground mine cars and belt conveyors in the future, with the characteristics of comprehensive functions and flexible use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings forming a part of this application are used to provide a further understanding of the utility model. The schematic embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an improper limitation of the utility model. In the drawings:

[0018] Figure 1 FIG. shows a partial structural schematic diagram of the self-advancing tail bolt driving device provided by the embodiment of the utility model when driving bolts on the sidewall of the roadway;

[0019] Figure 2 FIG. shows a partial structural schematic diagram of the self-advancing tail bolt driving device provided by the embodiment of the utility model in the state where the swing base rotates;

[0020] Figure 3 FIG. shows a partial structural schematic diagram of the self-advancing tail bolt driving device provided by the embodiment of the utility model from a side view angle.

[0021] Among them, the above-mentioned drawings include the following reference numerals:

[0022] 10, self-advancing support;

[0023] 20, conveyor belt assembly;

[0024] 30. Robotic arm assembly; 31. First articulated frame; 32. First arm; 33. First telescopic cylinder; 34. Second articulated frame; 35. Second arm; 36. Second telescopic cylinder; 37. Rotating base; 38. Oscillating base; 39. Oscillating oil cylinder;

[0025] 40. Bolt installation assembly; 41. Bolt drill; 42. Operation controller; 43. Sliding frame; 44. Chain oil cylinder;

[0026] 50. Rotating platform;

[0027] 60. Bearing and fixing frame;

[0028] 70. Operating platform. Detailed implementation

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way constitutes a limitation to the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0030] As Figures 1 to 3 shown, an embodiment of the present invention provides a bolt drilling device for a self - moving tail of a shearer, including: a self - moving support 10, movably arranged in a roadway, and the self - moving support 10 extends along the extension direction of the roadway; a conveyor belt assembly 20, arranged on the self - moving support 10 and circulating along the extension direction of the self - moving support 10 for transporting materials; a robotic arm assembly 30, movably arranged at one end of the self - moving support 10 away from the mining face of the roadway; a bolt installation assembly 40, arranged on the robotic arm assembly 30 to move along with the robotic arm assembly 30; wherein, the robotic arm assembly 30 is used to drive the bolt installation assembly 40 to move, and the bolt installation assembly 40 is used to drill bolts into the roof of the roadway and / or the rib parts on both sides of the roadway; the robotic arm assembly 30 has a retracted state, and in the retracted state, the robotic arm assembly 30 and the bolt installation assembly 40 avoid the rib parts on both sides of the roadway.

[0031] The utility model realizes automatic bolt installation at the roadway sidewall position on the side of the self-advancing support 10 by setting the robotic arm assembly 30 to cooperate with the bolt installation assembly 40. When the self-advancing tail device is working properly, it effectively replaces the manual bolt installation operation method, saves manpower, reduces the labor intensity of the staff, improves the bolt installation efficiency, enables the bolt support work required for mining to be carried out in a timely manner, and thus effectively reduces potential safety hazards. By setting the conveyor belt assembly 20, efficient transportation of the materials excavated and cleaned in the roadway is realized, avoiding the accumulation of materials on the roadway sidewall, and further avoiding the delay of subsequent other operations in the roadway, significantly improving the overall construction efficiency in the roadway, and effectively meeting the production needs of rapid tunneling and transporting materials. By setting the robotic arm assembly 30 to have a retracted state, the robotic arm assembly 30 and the bolt installation assembly 40 are enabled to avoid the roadway sidewall, thus avoiding blocking the roadway sidewall and ensuring smooth passage of personnel. The bolt installation device for the self-advancing tail proposed by the utility model can be flexibly applied to various roadways in coal mines, and can realize the roadway reinforcement process of installing bolts while working. The structure of the utility model is simple and the work is reliable, suitable for large-scale popularization and use, and can be used in combination with equipment such as underground mine cars and belt conveyors in the future, with the characteristics of comprehensive functions and flexible use.

[0032] As Figure 1 and Figure 2 shown, the robotic arm assembly 30 includes a first hinge frame 31, a first arm 32, a first telescopic cylinder 33, a second hinge frame 34, a second arm 35 and a second telescopic cylinder 36. The first hinge frame 31 is arranged at one end of the self-advancing support 10 away from the mining face of the roadway; one end of the first arm 32 is rotatably connected to the first hinge frame 31, and the other end is rotatably connected to the second arm 35; the second hinge frame 34 is fixedly arranged on the first arm 32; one end of the first telescopic cylinder 33 is rotatably connected to the first hinge frame 31, and the other end is rotatably connected to the second hinge frame 34, for driving the first arm 32 to swing relative to the first hinge frame 31; both ends of the second telescopic cylinder 36 are respectively rotatably connected to the second hinge frame 34 and the second arm 35, for driving the second arm 35 to swing; the bolt installation assembly 40 is movably arranged at one end of the second arm 35 away from the first arm 32.

[0033] By setting the specific structure of the robotic arm assembly 30, both the reliable operation of the robotic arm assembly 30 is ensured and the structure of the robotic arm assembly 30 tends to be simplified; by setting the first hinge frame 31, the first telescopic cylinder 33, the second hinge frame 34 and the second telescopic cylinder 36, the robotic arm assembly 30 is ensured to have sufficient degrees of freedom of movement in terms of structure.

[0034] In a specific embodiment of the utility model, both the first telescopic cylinder 33 and the second telescopic cylinder 36 can adopt electric drive hydraulic cylinders to facilitate precise control of their operation.

[0035] As Figure 1 and Figure 2 shown, the robotic arm assembly 30 further includes a rotating base 37, a swinging base 38 and a swinging oil cylinder 39. The rotating base 37 is rotatably arranged at one end of the second arm 35 far from the first arm 32. The swinging base 38 is rotatably arranged on the rotating base 37, and the rotation axis of the swinging base 38 is perpendicular to the rotation axis of the rotating base 37. The swinging oil cylinder 39 is arranged on the rotating base 37 and connected to the swinging base 38 for driving the swinging base 38 to rotate relative to the rotating base 37. The bolt installation assembly 40 is arranged on the swinging base 38.

[0036] With such an arrangement, it not only ensures the working reliability of the robotic arm assembly 30 for driving bolts with multiple degrees of freedom, but also simplifies the structure of the robotic arm assembly 30. By setting the rotation axis of the swinging base 38 perpendicular to the rotation axis of the rotating base 37, the rotatable degrees of freedom of the bolt installation assembly 40 are further expanded, effectively improving the flexibility of driving bolts under the condition that the moving distance of the self-propelled support 10 is limited.

[0037] As Figure 1 and Figure 2 shown, the bolt installation assembly 40 includes a bolt drilling rig 41 and an operation controller 42. The bolt drilling rig 41 is arranged on the swinging base 38 for driving bolts to a set depth. The operation controller 42 is electrically connected to the bolt drilling rig 41 for controlling the operation of the bolt drilling rig 41. Among them, the operation controller 42 is arranged on the top of the second arm 35 or the first arm 32.

[0038] By setting the bolt drilling rig 41 and the operation controller 42 to work in cooperation, the controllability of the process of driving bolts is ensured. By setting the operation controller 42 on the top of the second arm 35 or the first arm 32, when the chain oil cylinder 44 drives the driving of bolts, the staff can closely observe the position and direction of driving bolts.

[0039] As Figure 1 , Figure 2 and Figure 3 shown, the lengths of the first arm 32 and / or the second arm 35 are telescopic. The self-propelled tail driving bolt device further includes a rotating platform 50. The first hinge frame 31 is arranged on the rotating platform 50. The rotating platform 50 is rotatably arranged at one end of the self-propelled support 10 far from the mining face of the roadway for driving the robotic arm assembly 30 to rotate along the vertically arranged axis.

[0040] By setting the lengths of the first arm 32 and / or the second arm 35 to be telescopic, under the condition that the moving distance of the self-propelled support 10 is limited, the coverage range of driving bolts is effectively improved.

[0041] As Figure 1 and Figure 2As shown in the figure, the bolt installation assembly 40 includes a bolt drilling rig 41, a sliding frame 43, and a chain cylinder 44. The bolt drilling rig 41 is slidably disposed on the sliding frame 43 and is drivingly connected to the chain cylinder 44. The chain cylinder 44 adjusts the depth of bolt driving by controlling the position of the bolt drilling rig 41 on the sliding frame 43.

[0042] By setting the chain cylinder 44 to control the position of the bolt drilling rig 41 on the sliding frame 43, reliable adjustment of the bolt driving depth is achieved.

[0043] It should be noted that in a specific embodiment of the present invention, the chain cylinder 44 is a hydraulic cylinder with one or more chains installed inside for transmitting force and motion; the chain cylinder 44 is used to drive the bolt drilling rig 41 to slide and fix on the sliding frame 43; the following is a specific description of the chain cylinder 44:

[0044] 1. Main structure: The chain cylinder 44 consists of a cylindrical cylinder body, a piston, a chain, and end caps; the cylinder body is internally equipped with a chain that connects the piston and the end caps. When hydraulic oil enters the cylinder body, the piston moves along the cylinder body under pressure, thereby driving the chain to move;

[0045] 2. Working principle: The working principle of the chain cylinder 44 is to utilize the pressure of hydraulic oil to drive the piston and the chain. When hydraulic oil enters the cylinder body, the piston is under pressure and pushes the chain to move along the cylinder body; this movement can be converted into linear motion to drive the bolt drilling rig 41 to move on the sliding frame 43 as required;

[0046] 3. Advantages: The chain cylinder 44 can bear large loads and is suitable for heavy-duty equipment; the chain cylinder 44 has high stability and can ensure the smooth operation of the equipment; it is convenient for maintenance, and the structure of the chain cylinder 44 is simple, easy to maintain and replace.

[0047] As Figure 1 、 Figure 2 and Figure 3 shown, the bolt driving device of the self-advancing tail also includes a rotating platform 50. The robotic arm assembly 30 is disposed on the rotating platform 50. The rotating platform 50 is rotatably disposed at one end of the self-advancing support 10 away from the mining face of the roadway for driving the robotic arm assembly 30 to rotate.

[0048] By setting the rotating platform 50, the rotational freedom of the robotic arm assembly 30 is ensured, and further, the robotic arm assembly 30 can be flexibly rotated to the roadway rib positions on both sides of the self-advancing support 10, facilitating the efficient subsequent bolt driving.

[0049] As Figure 1 、 Figure 2 and Figure 3As shown, the bolt - drilling device for the self - moving shearer tail further includes a bearing and fixing frame 60 and an operating platform 70. The operating platform 70 is arranged on the bearing and fixing frame 60. The operating platform 70 is electrically connected to at least one of the robotic arm assembly 30, the bolt - installing assembly 40, the self - moving support 10, and the conveyor belt assembly 20 to control its operation. The bearing and fixing frame 60 is arranged on the self - moving support 10 and is located above the conveyor belt assembly 20.

[0050] By arranging the bearing and fixing frame 60 above the conveyor belt assembly 20, it not only avoids the falling rocks on the roadway roof from directly falling on the conveyor belt assembly 20 but also effectively bears the operating platform 70. Furthermore, the staff can control the operation of at least one of the robotic arm assembly 30, the self - moving support 10, and the conveyor belt assembly 20 by operating the operating platform 70.

[0051] As Figure 1 、 Figure 2 and Figure 3 shown, the robotic arm assembly 30 is movably arranged on the bearing and fixing frame 60. The position of the bearing and fixing frame 60 and / or the operating platform 70 avoids the movement trajectories of the robotic arm assembly 30 and the bolt - installing assembly 40, so that the robotic arm assembly 30 and the bolt - installing assembly 40 do not collide with the bearing and fixing frame 60 and / or the operating platform 70.

[0052] By arranging the position of the bearing and fixing frame 60 and / or the operating platform 70 to avoid the movement trajectories of the robotic arm assembly 30 and the bolt - installing assembly 40, the robotic arm assembly 30 and the bolt - installing assembly 40 will not collide with the bearing and fixing frame 60 and / or the operating platform 70 during operation. Furthermore, it protects the operation safety and reduces the occurrence of safety accidents.

[0053] As Figure 1 、 Figure 2 and Figure 3 shown, the conveyor belt assembly 20 includes a conveyor belt that rotates cyclically. The conveyor belt is arranged in the middle of the self - moving support 10 and moves cyclically along the extending direction of the self - moving support 10.

[0054] By arranging the conveyor belt, the efficient transportation of the materials excavated and cleaned in the roadway is realized, avoiding the accumulation of materials on the roadway side, and further avoiding the delay of other subsequent operations in the roadway, significantly improving the overall construction efficiency in the roadway and effectively meeting the production needs of rapid tunneling and transporting materials.

[0055] Now, the specific working process and principle of the present utility model are described in detail as follows:

[0056] Refer to Figure 1 、 Figure 2 and Figure 3As shown, the front ends of the self - moving support 10 and the conveyor belt assembly 20 cooperate with the transfer unit in the roadway to continuously transport materials such as coal on the transfer unit; in order to timely install bolts on the sidewalls and the top of the roadway on both sides of the self - moving tail, a bolt installation assembly 40 is provided at the tail of the self - moving support 10 to install bolts on the sidewalls and the top of the roadway on both sides of the self - moving tail. While the conveyor belt assembly 20 is transporting materials such as coal, it does not affect the operation of the bolt drill 41 to install bolts on the sidewalls and the top of the roadway on both sides of the self - moving tail, so that the roadway can be timely supported to ensure safe production; the bolt drill 41 on the robotic arm assembly 30 has multiple degrees of freedom and can swing left and right using the rotating platform 50, so that the bolt - drilling range of the bolt drill 41 covers both sides of the self - moving support 10; specifically, with the cooperation of the first arm 32, the first telescopic cylinder 33, the second arm 35, the second telescopic cylinder 36, the rotating base 37, the swinging base 38 and the swinging oil cylinder 39, the bolt drill 41 can be in the state of installing bolts on the sidewall of the roadway as shown in Figure 1 and can also be in the state of preparing to install bolts on the roof of the roadway as shown in Figure 2 ; the swing angle of the swinging oil cylinder 39 is ±180°, which can change the bolt drill 41 from the horizontal side - wall - drilling state to the vertical roof - drilling state; in order to further increase the flexibility of the bolt drill 41, the second arm 35 is a telescopic arm to increase the operation depth and operation range of the bolt drill 41.

[0057] In summary, the present utility model provides a bolt - installing device for a self - moving tail. By setting the robotic arm assembly 30 to cooperate with the bolt installation assembly 40, when the self - moving tail device is working normally, automatic bolt installation is realized at the position of the sidewall of the roadway beside the self - moving support 10, effectively replacing the manual bolt - installing operation method, saving manpower and reducing the labor intensity of the staff, and improving the bolt - installing efficiency, so that the bolt - supporting work required for mining can be carried out in time, thereby effectively reducing potential safety hazards; by setting the conveyor belt assembly 20, efficient transportation of the materials excavated and cleaned in the roadway is realized, avoiding the accumulation of materials on the sidewalls of the roadway, and thus avoiding the delay of subsequent other operations in the roadway, significantly improving the overall construction efficiency in the roadway, and effectively meeting the production needs of rapid tunneling and material transportation; by setting the robotic arm assembly 30 to have a retracted state, the robotic arm assembly 30 and the bolt installation assembly 40 are avoided from blocking the sidewall of the roadway, thus ensuring smooth passage of personnel; the bolt - installing device for the self - moving tail proposed by the present utility model can be flexibly applied to various roadways in coal mines, and can realize the roadway reinforcement process of installing bolts while working; the structure of the present utility model is simple and the work is reliable, suitable for large - area popularization and use, and can be used in combination with equipment such as underground mine cars and belt conveyors in the future, with the characteristics of comprehensive functions and flexible use.

[0058] It should be noted that the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0059] Unless otherwise specifically stated, the relative arrangements of the components and steps set forth in these embodiments, numerical expressions, and numerical values do not limit the scope of the present invention. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the specification. In all the examples shown and discussed herein, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0060] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom", etc. are generally based on the orientation or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the protection scope of the present invention; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0061] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper", etc. may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as shown in the figures. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "over" other devices or structures will then be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations of the spatial relative descriptions used herein will be made.

[0062] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Without additional statements, the above terms have no special meanings and should not be construed as limiting the protection scope of the present utility model.

[0063] The above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. For those skilled in the art, various modifications and variations can be made to the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A self-shifting tailstock bolt drilling device, characterized in that, Including: A self - propelled support (10), movably arranged in a roadway, and the self - propelled support (10) extends along the extension direction of the roadway; A conveyor belt assembly (20), arranged on the self - propelled support (10) and circulating along the extension direction of the self - propelled support (10) for transporting materials; A robotic arm assembly (30), movably arranged at one end of the self - propelled support (10) away from the mining face of the roadway; An anchor rod installation assembly (40), arranged on the robotic arm assembly (30) to move along with the robotic arm assembly (30); Wherein, the robotic arm assembly (30) is used to drive the anchor rod installation assembly (40) to move, and the anchor rod installation assembly (40) is used to drill anchor rods into the roof of the roadway and / or the rib parts on both sides of the roadway; the robotic arm assembly (30) has a storage state, in which the robotic arm assembly (30) and the anchor rod installation assembly (40) avoid the rib parts on both sides of the roadway.

2. The roof bolting device for the self-shifting shearer tail according to claim 1, characterized in that The robotic arm assembly (30) includes a first articulated frame (31), a first arm (32), a first telescopic cylinder (33), a second articulated frame (34), a second arm (35) and a second telescopic cylinder (36). The first articulated frame (31) is arranged at one end of the self - propelled support (10) away from the mining face of the roadway; one end of the first arm (32) is rotatably connected to the first articulated frame (31), and the other end is rotatably connected to the second arm (35); the second articulated frame (34) is fixedly arranged on the first arm (32); one end of the first telescopic cylinder (33) is rotatably connected to the first articulated frame (31), and the other end is rotatably connected to the second articulated frame (34) for driving the first arm (32) to swing relative to the first articulated frame (31); both ends of the second telescopic cylinder (36) are respectively rotatably connected to the second articulated frame (34) and the second arm (35) for driving the second arm (35) to swing; the anchor rod installation assembly (40) is movably arranged at one end of the second arm (35) away from the first arm (32).

3. The roof bolting device for the self-advancing tail as claimed in claim 2, wherein, The robotic arm assembly (30) further includes a rotating base (37), a swinging base (38) and a swinging oil cylinder (39). The rotating base (37) is rotatably arranged at one end of the second arm (35) away from the first arm (32), the swinging base (38) is rotatably arranged on the rotating base (37), and the rotation axis of the swinging base (38) is perpendicular to the rotation axis of the rotating base (37). The swinging oil cylinder (39) is arranged on the rotating base (37) and connected to the swinging base (38) for driving the swinging base (38) to rotate relative to the rotating base (37); the anchor rod installation assembly (40) is arranged on the swinging base (38).

4. The roof bolting device of the self-advancing tail according to claim 3, characterized in that The bolt installation assembly (40) includes a bolt drill (41) and an operation controller (42). The bolt drill (41) is disposed on the swing base (38) and is used to drill bolts to a set depth. The operation controller (42) is electrically connected to the bolt drill (41) and is used to control the operation of the bolt drill (41). Among them, the operation controller (42) is disposed on the top of the second arm (35) or the first arm (32).

5. The tail self-shifting bolt drilling device according to claim 2, characterized in that, The length of the first arm (32) and / or the second arm (35) is telescopic. The bolt drilling device at the self-advancing tail end further includes a rotating platform (50). The first hinge frame (31) is disposed on the rotating platform (50). The rotating platform (50) is rotatably disposed at one end of the self-advancing support (10) away from the mining face of the roadway and is used to drive the robotic arm assembly (30) to rotate along a vertically disposed axis.

6. The roof-bolting device for the self-advancing tail as claimed in claim 1, wherein, The bolt installation assembly (40) includes a bolt drill (41), a sliding frame (43), and a chain oil cylinder (44). The bolt drill (41) is slidably disposed on the sliding frame (43) and is drivingly connected to the chain oil cylinder (44). The chain oil cylinder (44) adjusts the depth of bolt drilling by controlling the position of the bolt drill (41) on the sliding frame (43).

7. The roof bolting device for the self-advancing tail of a shearer according to claim 1, wherein, The bolt drilling device at the self-advancing tail end further includes a rotating platform (50). The robotic arm assembly (30) is disposed on the rotating platform (50). The rotating platform (50) is rotatably disposed at one end of the self-advancing support (10) away from the mining face of the roadway and is used to drive the robotic arm assembly (30) to rotate.

8. The roof bolting device of the self-advancing tail of a shearer according to claim 1, characterized in that, The bolt drilling device at the self-advancing tail end further includes a bearing and fixing frame (60) and an operation console (70). The operation console (70) is disposed on the bearing and fixing frame (60). The operation console (70) is electrically connected to at least one of the robotic arm assembly (30), the bolt installation assembly (40), the self-advancing support (10), and the conveyor belt assembly (20) to control its operation. The bearing and fixing frame (60) is disposed on the self-advancing support (10) and is located above the conveyor belt assembly (20).

9. The roof bolting device for the self-advancing tail of a shearer according to claim 8, characterized in that, The robotic arm assembly (30) is movably disposed on the bearing and fixing frame (60). The position of the bearing and fixing frame (60) and / or the operation console (70) avoids the movement trajectories of the robotic arm assembly (30) and the bolt installation assembly (40) so that the robotic arm assembly (30) and the bolt installation assembly (40) do not collide with the bearing and fixing frame (60) and / or the operation console (70).

10. The roof bolting device for the self-advancing tail of a shearer according to claim 1, characterized in that, The conveyor belt assembly (20) includes a conveyor belt that rotates in a cycle. The conveyor belt is disposed in the middle of the self-advancing support (10) and moves in a cycle along the extending direction of the self-advancing support (10).

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