Movement mechanism and digging and anchoring device

Abstract

The utility model discloses a movement mechanism and a digging and anchoring device and solves the technical problems that an existing mechanical arm is insufficient in space adaptability, not flexible and convenient in angle adjustment and small in adjustment range. The movement mechanism comprises an axial walking mechanism, a horizontal swing mechanism, a left-right swing mechanism, a front-back swing mechanism, a pitching swing mechanism and a radial telescopic mechanism which are connected in sequence. According to the six-degree-of-freedom robot, an axial walking mechanism serves as a base, a horizontal rotating mechanism, a left-right swinging mechanism, a front-back swinging mechanism and a pitching swinging mechanism serve as middle transmission joints, a radial telescopic mechanism serves as an action execution tail end, six-degree-of-freedom movement is achieved, and the flexibility, complexity and accuracy of tail end action are achieved through the six-degree-of-freedom movement. And meanwhile, the movement range of the tail end is expanded. The digging and anchoring device comprises the movement mechanism, the axial walking mechanism is connected with the walking chassis, and the radial telescopic mechanism is connected with the execution end of the digging and anchoring device.

Description

Technical Field

[0001] The utility model relates to the technical field of position adjusting mechanisms, in particular to a motion mechanism and a tunneling and bolting device. Background Art

[0002] Bolting support is a commonly used surrounding rock support method in the construction of full-face roadheaders. Drilling is mainly carried out by a bolter, and then bolts are used for anchoring. To obtain the optimal anchoring effect, the drilling direction needs to be along the normal direction of the anchoring point on the tunnel wall as much as possible. At present, the construction of bolters often faces the limitation of the tunnel space. Limited by the installation and layout of the bolter and the structure and size of related connecting parts, the bolter needs to have sufficient flexibility to ensure the accuracy and efficiency of drilling.

[0003] In recent years, with the continuous development and improvement of the tunnel excavation industry, bolter mechanisms for use under certain specific or ideal conditions have gradually emerged to obtain the best anchoring effect, but there are various deficiencies.

[0004] For example, a normal-direction bolter mechanism of a roadheader with the patent publication number CN 110173287B has a low degree of freedom. The bolting drilling angle cannot be adjusted in the tunnel axial direction. The drilling and anchoring range in the same axial section is small. At least two sets of normal-direction bolter mechanisms are required during the anchoring operation. At the same time, limited by its own structure, the two sets of normal-direction bolter mechanisms cannot operate in the same axial section at the same time, resulting in its inability to complete the drilling and anchoring operation of the same axial section at one time.

[0005] Another example is a hydraulic bolter trolley with the patent publication number CN109441443B, which cannot work in the space of a tunnel boring machine. If only its robotic arm is transplanted onto the roadheader, it has too many control nodes, high operation difficulty, and its main robotic arm can only be folded unidirectionally, resulting in a small anchoring range. A single set of this robotic arm structure cannot meet the requirements of the anchoring operation of a single axial section, resulting in high manufacturing and construction costs.

[0006] Another example is a side-position change mechanism and a four-arm bolter jumbo with the patent publication number CN113719234B. Its four-arm bolter mechanism is driven by two horizontal slewing mechanisms and two power cylinders. When the excavation diameter is large and the required bolt length is long, due to the long force arm and large load, the horizontal slewing mechanism needs to provide extremely large slewing torque and holding torque for it, which will cause the whole mechanism to be too heavy. At the same time, this mechanism can only be adjusted at a small angle in a single axial direction of the tunnel, and the anchoring range is small, and its practicability is limited.

[0007] For another example, in a timely support device for a rock tunnel TBM anchor drill with a patent publication number of CN117449774A, its own structure causes the minimum included angle between the anchor hole drilling direction and the normal direction of the anchoring point to be too large, making it impossible to further flexibly adjust and unable to ensure the anchoring effect. At the same time, the structure of this patent is complex and large in size, has high requirements for the installation space, and the manufacturing cost is too high.

[0008] Therefore, it is very necessary to design a motion mechanism with a simple structure, strong space adaptability, large anchoring range, and flexible adjustment of the anchoring angle.

[0009] It should be particularly noted that the above technical information is only intended to deepen the understanding of the overall background technology of the present utility model, and should not be regarded as an admission or any form of implication that the above technical information constitutes the prior art known to those skilled in the art. Content of the Utility Model

[0010] In view of the deficiencies in the above background technology, the present utility model proposes a motion mechanism and a tunneling and anchoring device, which solve the technical problems of insufficient space adaptability, inflexible and inconvenient angle adjustment, and small adjustment range of existing robotic arms.

[0011] The technical solution of this application is as follows:

[0012] A motion mechanism includes an axially traveling mechanism, a horizontally rotating mechanism, a left - right swinging mechanism, a front - rear swinging mechanism, a pitching swinging mechanism, and a radial telescoping mechanism connected in sequence. That is, taking the axially traveling mechanism as the base, the horizontally rotating mechanism, the left - right swinging mechanism, the front - rear swinging mechanism, and the pitching swinging mechanism as the intermediate transmission joints, and the radial telescoping mechanism as the end for action execution, six - degree - of - freedom motion is achieved, and through the six - degree - of - freedom motion, the flexibility, complexity, and precision of the end action are realized, and at the same time, the range of the end motion is expanded.

[0013] On the basis of the above technical solution, as a preferred technical solution, the rotation axis of the horizontally rotating mechanism is perpendicular to the motion direction of the axially traveling mechanism. The axially traveling mechanism can perform translational motion in the transverse direction, and the horizontally rotating mechanism can rotate around the vertical axis, so that it can rotate to different angles at different horizontal positions.

[0014] On the basis of the above technical solution, as a preferred technical solution, the swinging axis of the left - right swinging mechanism is parallel to the motion direction of the axially traveling mechanism. The left - right swinging mechanism can perform a faster position adjustment relative to the horizontally rotating mechanism, can directly drive the components behind for station conversion, and thus realizes high - efficiency operation in a large range of a single station.

[0015] On the basis of the above technical solution, as a preferred technical solution, the swing axis of the front-back swing mechanism is perpendicular to the swing axis of the left-right swing mechanism, which can not only achieve complex and precise spatial position adjustment, but also make the spatial coordinate conversion simpler and more convenient.

[0016] On the basis of the above technical solution, as a preferred technical solution, the swing axis of the pitch swing mechanism is perpendicular to the swing axis of the front-back swing mechanism, which can not only achieve complex and precise spatial position adjustment, but also make the spatial coordinate conversion simpler and more convenient.

[0017] On the basis of the above technical solution, as a preferred technical solution, the telescopic direction of the radial telescopic mechanism is perpendicular to the swing axis of the pitch swing mechanism, which can not only achieve complex and precise spatial position adjustment, but also make the spatial coordinate conversion simpler and more convenient.

[0018] On the basis of the above technical solution, as a preferred technical solution, the axial traveling mechanism and / or the horizontal slewing mechanism and / or the left-right swing mechanism and / or the front-back swing mechanism and / or the pitch swing mechanism and / or the radial telescopic mechanism are driven by a hydraulic cylinder or a gear assembly or a chain assembly or a belt assembly or a lead screw assembly or a worm and worm gear assembly.

[0019] On the basis of the above technical solution, as a preferred technical solution, the axial traveling mechanism and / or the radial telescopic mechanism are driven by a hydraulic cylinder to support the traveling by rollers or V-shaped guide rails or dovetail groove guide rails or ball linear guide rails.

[0020] An excavation and bolting device includes the motion mechanism according to any one of the technical solutions. The axial traveling mechanism is connected to a traveling chassis, and the radial telescopic mechanism is connected to the execution end of the excavation and bolting device.

[0021] On the basis of the above technical solution, as a preferred technical solution, the execution end is a bolter and / or a rock drill, and the traveling chassis is a roadheader trailer.

[0022] Compared with the prior art, the technical solution provided by the present utility model not only solves the technical problems of small anchoring range in the tunnel space of a roadheader, inflexible adjustment of the drilling and anchoring angle, and poor anchoring effect, but also improves the applicability to the complex space environment of the roadheader tunnel, expands the working space range of a single bolter, effectively reduces the manufacturing cost, and greatly improves the construction efficiency and the anchoring effect. At the same time, the motion mechanism provided by the present utility model is not only applicable to the construction requirements of a bolter, but also applicable to other drilling devices such as rock drills, and also applicable to other rock breaking devices. In addition, it can also be used as a multi-purpose multi-degree-of-freedom robotic arm for other operations, such as assembling various grabs, grippers, drill bits, spray heads, detection heads, work platforms, etc. at the end. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] To more clearly illustrate the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only 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.

[0024] Figure 1 Front view of the tunneling and bolting device;

[0025] Figure 2 is Figure 1 top view of

[0026] Figure 3 Enlarged view of the cross rotary arm;

[0027] Figure 4 is Figure 1 vertical attitude diagram of

[0028] Explanation of the reference numerals in the drawings:

[0029] Axial traveling mechanism 1, horizontal slewing mechanism 2, left - right swing mechanism 3, front - rear swing mechanism 4, pitching swing mechanism 5, radial telescoping mechanism 6, roof bolter 7, boom 8, cross rotary arm 9, traveling chassis 10;

[0030] First rotating shaft 11, second rotating shaft 12, third rotating shaft 13. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only some of the embodiments of the present utility model, rather than all of them. Based on the core concept of the present utility model and the following embodiments, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present utility model.

[0032] These embodiments are provided in this application to make this application thorough and complete, and to fully convey the scope of this application to those skilled in the art. It should be noted that: unless otherwise specifically stated, the relative arrangements of components and steps, the compositions of materials, numerical expressions, and numerical values described in these embodiments should be construed as merely exemplary, rather than as limitations.

[0033] It should be noted that in the description of this application, unless otherwise specified, the meaning of "several" is greater than or equal to two; the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "inner", "outer", "axial", "radial", etc. is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of this application. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0034] In addition, the "first", "second" and similar terms used in this application do not denote any order, quantity or importance, but are only used to distinguish different parts. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range. Terms such as "comprising" or "including" mean that the elements before this term cover the elements listed after this term, and do not exclude the possibility of also covering other elements.

[0035] It should also be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "mounted", "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances. When it is described that a specific device is located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device.

[0036] All terms used in this application have the same meaning as understood by those of ordinary skill in the art to which this application belongs, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as those, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and should not be interpreted in an idealized or overly formal sense, unless specifically defined as such here.

[0037] Technologies, methods and devices known to those of ordinary skill in the relevant field may not be discussed in detail, but where appropriate, the technologies, methods and devices should be regarded as part of the specification.

[0038] A motion mechanism, such as Figure 1 and Figure 2As shown, it includes an axial running mechanism 1, a horizontal rotating mechanism 2, a left-right swing mechanism 3, a front-back swing mechanism 4, a pitch swing mechanism 5, and a radial telescopic mechanism 6 connected in sequence. That is, the axial running mechanism 1 is used as a base, the horizontal rotating mechanism 2, the left-right swing mechanism 3, the front-back swing mechanism 4, and the pitch swing mechanism 5 are used as intermediate transmission joints, and the radial telescopic mechanism 6 is used as the end of the action execution, so that six-degree-of-freedom motion is realized, and the flexibility, complexity and accuracy of the end action are realized through the six-degree-of-freedom motion, and the range of the end motion is expanded at the same time.

[0039] Specifically, if Figure 2 As shown, the axial running mechanism 1 includes a driving component and a supporting component, wherein the driving component provides the power for axial running, and the supporting component provides support and guidance. The fixed component of the horizontal slewing mechanism 2 is connected to the running component of the axial running mechanism 1, and the slewing component of the horizontal slewing mechanism 2 is hinged to the left-right swing mechanism 3, and the left-right swing mechanism 3 is hinged to the front-back swing mechanism 4 at one end away from the horizontal slewing mechanism 2, and the front-back swing mechanism 4 is connected to the radial telescopic mechanism 6 through the pitch swing mechanism 5.

[0040] Preferably, the arm 8 of the left-right swing mechanism 3 is hinged to the rotating part of the horizontal swing mechanism 2 through a first rotating shaft 11, and the driving part of the left-right swing mechanism 3 is hinged between the arm 8 and the rotating part of the horizontal swing mechanism 2. The fixed part of the front-back swing mechanism 4 is a second rotating shaft 12, and the second rotating shaft 12 is connected to the arm 8. The rotating part of the front-back swing mechanism 4 is sleeved with the second rotating shaft 12, and the rotating part of the front-back swing mechanism 4 is connected to the fixed part of the pitch swing mechanism 5. The fixed part of the pitch swing mechanism 5 is connected to the fixed part of the radial telescopic mechanism 6 through a third rotating shaft 13.

[0041] Based on the above embodiment, as a preferred embodiment, the rotation axis of the horizontal rotation mechanism 2 is perpendicular to the movement direction of the axial running mechanism 1. The axial running mechanism 1 can perform translational movement in the lateral direction, while the horizontal rotation mechanism 2 can perform rotational movement around the vertical axis, and can rotate to different angles at different horizontal positions.

[0042] On the basis of the above embodiments, as a preferred embodiment, the swing axis of the left-right swing mechanism 3 is parallel to the movement direction of the axial walking mechanism 1, and the left-right swing mechanism 3 can perform more rapid position adjustment relative to the horizontal rotating mechanism 2, and can directly drive the rear components to perform workstation conversion, thereby realizing a large range of efficient operations at a single workstation.

[0043] On the basis of the above-mentioned embodiments, as a preferred embodiment, the swing axis of the front-back swing mechanism 4 is perpendicular to the swing axis of the left-right swing mechanism 3, which can not only achieve complex and precise spatial position adjustment, but also make the spatial coordinate conversion simpler and more convenient.

[0044] On the basis of the above-mentioned embodiments, as a preferred embodiment, the swing axis of the pitch swing mechanism 5 is perpendicular to the swing axis of the front-back swing mechanism 4, which can not only achieve complex and precise spatial position adjustment, but also make the spatial coordinate conversion simpler and more convenient.

[0045] On the basis of the above-mentioned embodiments, as a preferred embodiment, the telescopic direction of the radial telescopic mechanism 6 is perpendicular to the swing axis of the pitch swing mechanism 5, which can not only achieve complex and precise spatial position adjustment, but also make the spatial coordinate conversion simpler and more convenient.

[0046] Preferably, as Figure 2 and Figure 3 shown, the front-back swing mechanism 4 and the pitch swing mechanism 5 are coupled by a cross rotary arm 9, and the second rotary shaft 12 and the third rotary shaft 13 are vertically arranged in the cross rotary arm 9. The driving component of the front-back swing mechanism 4 is hinged between the boom 8 and the fixed component of the pitch swing mechanism 5, and the driving component of the pitch swing mechanism 5 is hinged between the fixed component of the pitch swing mechanism 5 and the fixed component of the radial telescopic mechanism 6. It should be particularly noted that in the above-mentioned embodiments, the driving components of the axial traveling mechanism 1, the horizontal slewing mechanism 2, the left-right swing mechanism 3, the front-back swing mechanism 4, the pitch swing mechanism 5, and the radial telescopic mechanism 6 are all hydraulic cylinders. Among them, the driving component of the boom 8 includes two groups of hydraulic cylinders symmetrically arranged on both sides thereof, and the driving components of the left-right swing mechanism 3 and the front-back swing mechanism 4 form a triangular structure with the adjacent structures.

[0047] On the basis of the above-mentioned embodiments, as a preferred embodiment, the axial traveling mechanism 1 and / or the horizontal slewing mechanism 2 and / or the left-right swing mechanism 3 and / or the front-back swing mechanism 4 and / or the pitch swing mechanism 5 and / or the radial telescopic mechanism 6 are driven by a hydraulic cylinder or a gear assembly or a chain assembly or a belt assembly or a lead screw assembly or a worm and worm gear assembly. That is, this embodiment provides a variety of alternative solutions. At least one of the axial traveling mechanism 1, the horizontal slewing mechanism 2, the left-right swing mechanism 3, the front-back swing mechanism 4, the pitch swing mechanism 5, and the radial telescopic mechanism 6 can be driven by a gear assembly, a chain assembly, a belt assembly, a lead screw assembly, or a worm and worm gear assembly in addition to being driven by an oil cylinder. As for the specific assembly method, those skilled in the art can select according to the actual working conditions.

[0048] Based on the above embodiments, as a preferred embodiment, the axial traveling mechanism 1 and / or the radial telescopic mechanism 6 are driven by a hydraulic cylinder to support traveling through rollers or V-shaped guide rails or dovetail guide rails or ball linear guide rails. That is, this embodiment provides multiple alternative solutions. One is the structural form of a hydraulic cylinder driving rollers, which is a structural form of coupling driving and guiding; the other several are structural forms of decoupling driving and guiding, where the V-shaped guide rail, dovetail guide rail, and ball linear guide rail are only used as guide rails for traveling support, and other driving components such as oil cylinders or lead screws or chains parallel to them are arranged separately.

[0049] An excavation and bolting device includes the motion mechanism described in any of the above embodiments. The axial traveling mechanism 1 is connected to the traveling chassis 10, and the radial telescopic mechanism 6 is connected to the execution end of the excavation and bolting device.

[0050] Based on the above embodiments, as a preferred embodiment, the execution end is a bolter 7 and / or a rock drill, and the traveling chassis 10 is a roadheader trailer. That is, the motion mechanism is not only applicable to the construction requirements of a bolter, but also applicable to other drilling devices such as rock drills. The motion mechanism is also applicable to other rock-breaking devices. In addition, it can also be used as a multi-purpose multi-degree-of-freedom robotic arm for other operations, such as assembling various grabs, grippers, drill bits, spray nozzles, detection heads, work platforms, etc. at the end.

[0051] As a preferred embodiment, the aim is to design an excavation and bolting device, such as a roadheader bolting mechanism, to solve the problems of small anchoring range, inflexible adjustment of drilling and anchoring angles, and poor anchoring effect in the tunnel space of a roadheader.

[0052] To achieve the above purpose, the roadheader bolting mechanism includes: an axial traveling mechanism: driving the bolting mechanism to move along the tunnel axis; a horizontal slewing mechanism 2: driving the bolting robotic arm to rotate around the slewing center; a robotic arm: the robotic arm assembly has a total of three rotating shafts and is driven by a hydraulic mechanism to adjust the position and drilling angle of the bolter; a radial telescopic mechanism: extending or retracting the bolter; a bolter: drilling for wall anchoring.

[0053] In the bolting mechanism of the present invention, as described above, during conventional anchoring drilling operations, the robotic arm can flexibly avoid obstacles in a limited space through the coordinated cooperation of three rotating shafts and minimize the angle between the drilling of the anchoring point and its normal direction to achieve the best anchoring effect. In the present invention, the robotic arm is folded on one side. After drilling on one side is completed, the robotic arm is rotated 180° through the slewing drive to realize the reverse drilling operation of the robotic arm. At the same time, by adjusting the rotation angle of the slewing drive, the drilling operation requirements for special positions, such as axial drilling, can also be realized.

[0054] Therefore, according to the present utility model, it is possible to achieve large-range, high-degree-of-freedom, efficient anchor hole drilling and special requirement hole drilling operations within the tunneling operation space of the roadheader.

[0055] Specifically, as Figure 1 shown, the axial traveling mechanism 1 is fixed on the roadheader trailer, that is, fixed on the traveling chassis 10, and the horizontal slewing mechanism 2 is connected to the axial traveling mechanism 1 by bolts. As Figure 2 shown, the horizontal slewing mechanism 2 and the anchor mechanism mounted thereon rotate around its rotation center, and the axial movement is driven by a traveling oil cylinder fixed on the roadheader trailer. The boom 8 rotates around the first rotating shaft 11 by using a driving oil cylinder. The cross slewing arm 9 is hinged to the boom 8 through the second rotating shaft 12. The radial telescoping mechanism 6 is hinged to the cross slewing arm 9 through the third rotating shaft 13. The cross slewing arm 9 can be driven by an oil cylinder to rotate around the second rotating shaft 12 and the third rotating shaft 13. The radial telescoping mechanism 6 is connected to the anchor drill 7 through the guide rail and the telescoping oil cylinder thereon, driving the anchor drill to extend or retract.

[0056] Among them, the axial traveling mechanism 1 is provided with a telescoping oil cylinder. One end of the oil cylinder is fixed on the roadheader trailer, and the other end is connected to the base of the horizontal slewing mechanism. The axial stroke of the anchor mechanism is controlled by the telescoping of the oil cylinder. The boom 8 is connected to the horizontal slewing mechanism 2 by using an oil cylinder to drive it to rotate around the rotating shaft 3. The boom 8 is used to control the large-scale adjustment of the anchor mechanism. The cross slewing arm 9 is driven by two oil cylinders, so as to realize the small-scale adjustment of the anchor drill 7 around the rotating shaft 4 and the rotating shaft 5.

[0057] The oil cylinder is used to adjust the anchor drill 7 around three rotating shafts, and then the anchor drill 7 can be adjusted to the required drilling position and the optimal drilling angle. As Figure 4 shown, when the drilling operation on one side is completed, the entire anchor is retracted to the vertical posture, and the horizontal slewing mechanism 2 is used to slewing the anchor mechanism by 180°. At this time, the same operation can be carried out for the drilling operation on the other side.

[0058] The details not described in the present utility model are all well-known conventional technical means in the art.

[0059] The above content shows and describes the basic principle, main features and beneficial effects of the present utility model. The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A motion mechanism, characterized in that: It includes an axially traveling mechanism (1), a horizontal slewing mechanism (2), a left-right swinging mechanism (3), a front-back swinging mechanism (4), a pitching swinging mechanism (5), and a radial telescoping mechanism (6) that are connected in sequence.

2. The moving mechanism according to claim 1, characterized in that: The slewing axis of the horizontal slewing mechanism (2) is perpendicular to the movement direction of the axially traveling mechanism (1).

3. The motion mechanism according to claim 1 or 2, characterized in that: The swinging axis of the left-right swinging mechanism (3) is parallel to the movement direction of the axially traveling mechanism (1).

4. The motion mechanism according to claim 3, characterized in that: The swinging axis of the front-back swinging mechanism (4) is perpendicular to the swinging axis of the left-right swinging mechanism (3).

5. The motion mechanism according to any one of claims 1, 2, and 4, characterized in that: The swinging axis of the pitching swinging mechanism (5) is perpendicular to the swinging axis of the front-back swinging mechanism (4).

6. The motion mechanism according to claim 5, characterized in that: The telescoping direction of the radial telescoping mechanism (6) is perpendicular to the swinging axis of the pitching swinging mechanism (5).

7. The motion mechanism according to any one of claims 1, 2, 4, and 6, characterized in that: The axially traveling mechanism (1) and / or the horizontal slewing mechanism (2) and / or the left-right swinging mechanism (3) and / or the front-back swinging mechanism (4) and / or the pitching swinging mechanism (5) and / or the radial telescoping mechanism (6) are driven by a hydraulic cylinder or a gear assembly or a chain assembly or a belt assembly or a lead screw assembly or a worm and worm gear assembly.

8. The motion mechanism according to claim 7, characterized in that: The axially traveling mechanism (1) and / or the radial telescoping mechanism (6) are driven by a hydraulic cylinder to support the traveling by rollers or V-shaped guide rails or dovetail groove guide rails or ball linear guide rails.

9. An excavation and bolting device, characterized in that: It includes the motion mechanism according to any one of claims 1-8, wherein the axially traveling mechanism (1) is connected to a traveling chassis (10), and the radial telescoping mechanism (6) is connected to the execution end of a tunneling and bolting device.

10. The tunneling and bolting device according to claim 9, characterized in that: The execution end is a roof bolter (7) and / or a rock drill, and the traveling chassis (10) is a roadheader trailer.

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