Fully automatic roof bolting device

Abstract

The application provides a full-automatic anchor rod supporting device, and relates to the technical field of anchor rod supporting. The full-automatic anchor rod supporting device comprises an anchor rod warehouse, a drilling machine and a mechanical arm. The anchor rod warehouse is provided with anchor rods, anchoring agents and drill bits. The drilling machine is used for cooperating with the drill bits to form installation holes, and is used for loading the anchoring agents and the anchor rods into the installation holes. The anchor rod warehouse is provided with a rotating shaft. The rotation of the rotating shaft can make the anchor rods, the anchoring agents and the drill bits approach the drilling machine respectively. The mechanical arm is used for moving the drill bits between the anchor rod warehouse and the drilling machine, and is used for moving the anchoring agents and the anchor rods from the anchor rod warehouse to the drilling machine. The full-automatic anchor rod supporting device can realize the quick switching of anchor rod supporting actions, can realize full-automatic anchor rod supporting, and can improve the operation efficiency.

Description

Technical Field

[0001] This utility model relates to the field of anchor bolt support technology, and in particular to a fully automatic anchor bolt support device. Background Technology

[0002] In recent years, with the significant growth of the global economy, the demand for coal has also increased dramatically. As the world's largest coal producer, my country has long since achieved mechanized construction in coal mine roadway excavation, with extensive use of mechanized equipment such as roadheaders, continuous miners, and tunneling machines. Before coal mining operations, a coal seam roadway needs to be excavated to delineate the planned coal mining area. However, during the excavation of the coal seam, the complex geology of the mine leads to poor overall stability of the coal seam, making it prone to accidents such as roof falls and coal spills, endangering the safety of operators. Therefore, compared to the excavation of the coal seam roadway, anchoring operations are even more crucial.

[0003] Currently, coal roadway excavation equipment is equipped not only with a roadway excavation system but also with a roadway support system. During phased excavation operations, the cutting system at the front end of the integrated tunneling and anchoring machine performs excavation work while the support system at the rear end simultaneously performs anchoring work. However, for coal roadways that have not yet completed anchoring work, the overall safety factor of the roadway is relatively low due to the unstable geological structure in the area near the working face. Therefore, equipment capable of simultaneous excavation and anchoring is widely used in the field of coal roadway excavation. However, during anchoring work, the complete anchoring process—including anchor bolt positioning, drilling, installation of anchoring agent, insertion of anchor bolts, and pre-tightening of nuts—varies depending on the coal roadway, resulting in different construction difficulties and working conditions. This makes it difficult to maintain a consistent standard of support efficiency for the coal roadway, and coal roadways that have not completed anchoring pose a safety risk to operators. Therefore, implementing unmanned operation and remote control equipment is crucial for coal roadway excavation.

[0004] Existing integrated tunneling and anchoring machines are equipped with anchor bolting machines on both sides of the middle or rear of the machine body. These devices typically drill holes in the side walls of the coal seam roadway and insert anchor bolts into the walls to improve the overall stability of the roadway. Anchoring operations refer to fixing anchor bolts to the coal seam rock walls to strengthen the overall structural strength of the rock walls and improve the overall stability of the coal seam. Anchoring operations can be specifically divided into five steps: anchor bolt positioning, drilling, installing anchoring agent, inserting the anchor bolt, and pre-tightening the nut. Each step is indispensable and requires manual labor using different tools; both disassembly and installation of tools consume considerable time.

[0005] From the perspective of current technology, the anchor bolting machine on the integrated tunneling and anchoring machine has a relatively limited function. It lacks the ability to quickly switch between a series of anchoring operations, including anchor bolt positioning, drilling, installation of anchoring agent, insertion of anchor bolts, and pre-tightening of nuts. This results in reduced anchoring efficiency, increased labor intensity for workers, and difficulty in achieving rapid tunnel excavation. Therefore, for coal roadways with complex geological conditions, existing equipment is no longer able to quickly perform anchoring work. Utility Model Content

[0006] The purpose of this invention is to provide a fully automatic anchor bolt support device, which is beneficial to improving the efficiency of anchor bolt support work, reducing the labor intensity of workers, and realizing rapid tunnel excavation.

[0007] This utility model provides a fully automatic anchor bolt support device, comprising: An anchor bolt storage facility, which stores anchor bolts, anchoring agents, and drill bits; A drilling rig, which is used to cooperate with the drill bit to form an installation hole, the drilling rig is used to fill the installation hole with the anchoring agent, and the drilling rig is used to install the anchor rod into the installation hole; The anchor bolt magazine is equipped with a rotating shaft, which, when rotated, allows the anchor bolt, the anchoring agent, and the drill bit to move closer to the drilling rig. A robotic arm for moving the drill bit between the bolt magazine and the drilling rig, and for moving the anchoring agent and the bolt from the bolt magazine to the drilling rig.

[0008] In an optional embodiment, the anchor bolt magazine includes a first drive and a clamp; the first drive is connected to the rotating shaft, the clamp is connected to the rotating shaft, and the anchor bolt, the anchoring agent, and the drill bit are detachably mounted on the clamp.

[0009] In an optional embodiment, the clamp includes a first base plate and a second base plate, which are respectively fixed on the rotating shaft and spaced apart along the axial direction of the rotating shaft; the first base plate and the second base plate are respectively provided with positioning grooves for storing the anchor rod, the anchoring agent and the drill bit.

[0010] In an optional embodiment, the bolt magazine further includes a turntable connected to the first drive member, and the rotating shaft is connected to the turntable.

[0011] In an optional implementation, the first driving element is a rotary motor.

[0012] In an optional embodiment, the robotic arm includes a base, a pickup unit, a lifting unit, and a rotating unit. The lifting unit and the rotating unit are connected together, with one of the lifting unit and the rotating unit connected to the base and the other connected to the pickup unit.

[0013] In an optional embodiment, the picking unit includes a connected scissor frame and a clamping unit, the scissor frame being connected to the lifting unit or the rotating unit, and the clamping unit being used to pick up the anchor rod, the anchoring agent, and the drill bit.

[0014] In an optional embodiment, a protective cover is also included, the protective cover being connected to the pickup unit, and the lifting unit being movably disposed within the protective cover.

[0015] In an optional embodiment, the lifting unit is a lifting cylinder, and the rotating unit is a rotary motor.

[0016] In an optional embodiment, the anchor bolt magazine is mounted on the base.

[0017] The fully automatic anchor bolt support device provided in this embodiment of the utility model has the following beneficial effects: This fully automated bolt support device can simultaneously store drill bits, anchoring agent, and bolts in its bolt magazine during bolt support operations. The rotating shaft on the bolt magazine allows for positional changes of the bolt support tools relative to the drilling rig, facilitating rapid switching between different bolt support actions. The robotic arm can move freely and flexibly, accurately moving bolt support tools such as drill bits from the bolt magazine to the drilling rig. This enables multiple functions during bolt support operations, including bolt positioning, drilling, anchoring agent installation, bolt insertion, and nut pre-tightening, achieving fully automated bolt support operations, improving bolt support efficiency, reducing worker labor intensity, and facilitating rapid tunnel excavation. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the overall structure of the fully automatic anchor bolt support device provided in this embodiment of the utility model; Figure 2 A schematic diagram of the structure of the anchor magazine of the fully automatic anchor support device provided in this embodiment of the utility model; Figure 3 A schematic diagram of the structure of the robotic arm of the fully automatic anchor bolt support device provided in this embodiment of the utility model.

[0020] Icons: 1-Anchor bolt library; 11-Rotating shaft; 12-Anchor bolt; 13-Anchoring agent; 14-Drill bit; 15-First drive unit; 161-First base plate; 162-Second base plate; 17-Turntable; 2-Robotic arm; 21-Base; 22-Pick-up unit; 221-Scissors frame; 222-Clamping unit; 23-Lifting unit; 24-Rotating unit; 25-Protective cover; 3-Drilling rig. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0024] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or 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 limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0026] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0027] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0028] This utility model provides a fully automatic anchor bolt support device that can be applied to a tunneling and anchoring machine. Tunneling and anchoring machines are currently widely used equipment in coal mine roadway excavation. Modern tunneling and anchoring machines can now achieve one-time roadway formation and simultaneous excavation and anchoring, greatly improving roadway excavation efficiency. The fully automatic anchor bolt support device provided in this embodiment can complete the operations of anchor bolt 12 positioning, drilling, installation of anchoring agent 13, insertion of anchor bolt 12, and pre-tightening of nuts, achieving fully automatic anchoring operations.

[0029] Please combine Figure 1 and Figure 2 This fully automatic anchor bolt support device includes an anchor bolt magazine 1, a drilling rig 3, and a robotic arm 2. The anchor bolt magazine 1 stores anchor bolts 12, anchoring agent 13, and drill bits 14. The drilling rig 3 works in conjunction with the drill bits 14 to form installation holes in the rock face, and is used to insert the anchoring agent 13 and anchor bolts 12 into these holes. The anchor bolt magazine 1 is equipped with a rotating shaft 11, which allows the anchor bolts 12, anchoring agent 13, and drill bits 14 to move closer to the drilling rig 3. The robotic arm 2 moves the drill bits 14 between the anchor bolt magazine 1 and the drilling rig 3, and moves the anchoring agent 13 and anchor bolts 12 from the anchor bolt magazine 1 to the drilling rig 3. During anchoring operations, the anchor bolt magazine 1 can simultaneously store the drill bits 14, anchoring agent 13, and anchor bolts 12. The rotating shaft 11 on the anchor bolt magazine 1 allows for changes in the position of the anchoring tools relative to the drilling rig 3, facilitating rapid switching between different anchoring actions. The robotic arm 2 can move freely and flexibly, accurately moving anchoring tools such as drill bit 14 from anchor bolt magazine 1 to drilling rig 3, thereby realizing fully automatic anchoring operation, improving the support efficiency of anchor bolt 12, reducing the labor intensity of workers, and realizing rapid tunnel excavation.

[0030] Optionally, the anchor bolt magazine 1 includes a first drive component 15 and a clamp. The first drive component 15 is connected to a rotating shaft 11, and the clamp is connected to the rotating shaft 11. The clamp is used to store the anchor bolt 12, the anchoring agent 13, and the drill bit 14. It is understood that the anchor bolt 12, the anchoring agent 13, and the drill bit 14 are detachably mounted on the clamp.

[0031] Optionally, the clamp includes a first base plate 161 and a second base plate 162, which are respectively fixed on the rotating shaft 11 and spaced apart along the axial direction of the rotating shaft 11. The first base plate 161 and the second base plate 162 are respectively provided with positioning grooves for storing the anchor rod 12, the anchoring agent 13, and the drill bit 14. It should be noted that the anchoring tools in this embodiment, such as the anchor rod 12, the anchoring agent 13, and the drill bit 14, are all relatively long rod-shaped components. One end of the rod-shaped component is fixed to the first base plate 161, and the other end is fixed to the second base plate 162, thus maintaining the stability of the rod-shaped component. In this embodiment, the rod-shaped component is placed vertically, that is, parallel to the axis of the rotating shaft 11, which helps to save space and makes the structure more compact.

[0032] Optionally, the anchor bolt magazine 1 also includes a turntable 17, which is connected to the first drive member 15, and the rotating shaft 11 is connected to the turntable 17. In this embodiment, the first drive member 15 is a rotary motor. In some other embodiments, the first drive member 15 may also be a rotary cylinder or a motor, etc., which is not specifically limited here.

[0033] It is understood that the anchor bolt 12, anchoring agent 13, and drill bit 14 are circumferentially spaced around the rotating shaft 11. Rotation of the shaft 11 changes the positions of the anchor bolt 12, anchoring agent 13, and drill bit 14. For example, when the robotic arm 2 needs to pick up the anchor bolt 12, the rotating shaft 11 is rotated until the anchor bolt 12 is close to the drilling rig 3. This facilitates the robotic arm 2 in removing the anchor bolt 12 and transferring it to the drilling rig 3. The rotation of the shaft 11 allows for rapid switching of work positions, facilitating the robotic arm 2's pickup, shortening the transfer path, and improving transfer efficiency.

[0034] Similarly, when robotic arm 2 needs to pick up drill bit 14, it rotates shaft 11 until drill bit 14 is close to the drilling rig 3, facilitating the removal and transfer of drill bit 14 onto the drilling rig 3. When robotic arm 2 needs to return drill bit 14 from the drilling rig 3, it rotates shaft 11 until drill bit 14 is positioned close to the drilling rig 3, facilitating the return of drill bit 14 to the anchor bolt magazine 1. When robotic arm 2 needs to pick up anchoring agent 13, it rotates shaft 11 until anchoring agent 13 is close to the drilling rig 3, facilitating the removal and transfer of anchoring agent 13 onto the drilling rig 3.

[0035] Please combine Figure 3Optionally, the robotic arm 2 includes a base 21, a pickup unit 22, a lifting unit 23, and a rotating unit 24. The lifting unit 23 and the rotating unit 24 are connected, with one of them connected to the base 21 and the other connected to the pickup unit 22. In this embodiment, the rotating unit 24 is connected to the base 21, the lifting unit 23 is connected to the rotating unit 24, and the pickup unit 22 is connected to the lifting unit 23. This allows for the rotation and lifting of the pickup unit 22, enabling multi-degree-of-freedom movement that is flexible and efficient.

[0036] Optionally, the picking unit 22 includes a connected scissor frame 221 and a clamping unit 222. The scissor frame 221 is connected to the lifting unit 23 or the rotating unit 24, and the clamping unit 222 is used to pick up the anchor rod 12, the anchoring agent 13, and the drill bit 14. In this embodiment, the scissor frame 221 is connected to the lifting unit 23. The scissor frame 221 enables the opening and closing of the clamping unit 222, facilitating the picking up and releasing of the anchoring tool by the clamping unit 222.

[0037] Optionally, the robotic arm 2 also includes a protective cover 25, which is connected to the pickup unit 22, and the lifting unit 23 is movably disposed inside the protective cover 25. The protective cover 25 is used to protect the lifting unit 23 and the like, preventing foreign objects from falling into the interior and affecting the reliability of the movement of the robotic arm 2.

[0038] Optionally, the lifting unit 23 can be a lifting cylinder, and the rotating unit 24 can be a rotary motor. Of course, in other embodiments, the lifting unit 23 can use a linear motor, rack and pinion, or other transmission methods. The rotating unit 24 can use a rotary cylinder or a rotary motor, etc., without specific limitations.

[0039] Optionally, the anchor bolt magazine 1 is mounted on the base 21. In this embodiment, to achieve a more compact structure, shorten the transfer path of the anchoring tools, and improve transfer efficiency, the first drive component 15 of the anchor bolt magazine 1 is mounted on the base 21.

[0040] The fully automatic anchor bolt support device provided in this embodiment of the invention works on the following principle: When anchoring operations are required, firstly, the drilling rig 3 extends its top support plate to the required support surface of the roadway to position the anchor bolt 12. Secondly, the drill bit 14 from the anchor bolt magazine 1 is installed onto the drilling rig 3 via the robotic arm 2, and the drilling rig 3 completes automatic drilling. Then, the drill bit 14 is removed from the drilling rig 3 via the robotic arm 2 and transferred to the anchor bolt magazine 1. At this time, the anchor bolt magazine 1 rotates via the shaft 11, allowing the robotic arm 2 to transfer the anchoring agent 13 and the anchor bolt 12 to the drilling rig 3 respectively. Finally, the drilling rig 3 sequentially completes the automatic injection of the anchoring agent 13, the automatic insertion of the anchor bolt 12, and the automatic pre-tightening of the nut, thus completing the anchoring operation.

[0041] In summary, the fully automatic anchor bolt support device provided by this utility model embodiment has the following beneficial effects, including: This fully automatic anchor bolt support device allows for the simultaneous storage of drill bits 14, anchoring agent 13, and anchor bolts 12 in the anchor bolt magazine 1 during anchor bolt operations. The rotating shaft 11 on the magazine 1 enables the relative position of the anchor bolt tools to the drilling rig 3, facilitating rapid switching between different anchoring actions. The robotic arm 2 can move freely and flexibly, accurately moving the drill bits 14 and other anchor bolt tools from the magazine 1 to the drilling rig 3. This allows for multiple functions during anchor bolt support, including anchor bolt positioning, drilling, installation of anchoring agent 13, insertion of anchor bolts 12, and pre-tightening of nuts, achieving fully automatic anchor bolt support operations. This improves anchor bolt support efficiency, reduces worker labor intensity, and enables rapid tunnel excavation. It also increases tunnel stability, ensuring production progress. Furthermore, when maintenance and adjustments are required, the high overall stability of the coal roadway and the high safety factor of the working environment facilitate maintenance work.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Any modifications, equivalent substitutions, improvements, etc., should be included within the protection scope of this utility model.

Claims

1. A fully automatic anchor bolt support device, characterized in that, include: An anchor storage (1) contains anchor bolts (12), anchoring agent (13) and drill bits (14). Drilling rig (3), the drilling rig (3) is used to cooperate with the drill bit (14) to form an installation hole, the drilling rig (3) is used to fill the installation hole with the anchoring agent (13), and the drilling rig (3) is used to install the anchor rod (12) to the installation hole; The anchor bolt magazine (1) is equipped with a rotating shaft (11), which rotates to allow the anchor bolt (12), the anchoring agent (13) and the drill bit (14) to move closer to the drilling rig (3) respectively. The robotic arm (2) is used to move the drill bit (14) between the bolt magazine (1) and the drilling rig (3) and to move the anchoring agent (13) and the bolt (12) from the bolt magazine (1) to the drilling rig (3).

2. The fully automatic anchor bolt support device according to claim 1, characterized in that, The anchor bolt magazine (1) includes a first drive (15) and a clamp; the first drive (15) is connected to the rotating shaft (11), the clamp is connected to the rotating shaft (11), and the anchor bolt (12), the anchoring agent (13) and the drill bit (14) are detachably mounted on the clamp.

3. The fully automatic anchor bolt support device according to claim 2, characterized in that, The clamp includes a first base plate (161) and a second base plate (162), the first base plate (161) and the second base plate (162) are respectively fixed on the rotating shaft (11) and are spaced apart along the axial direction of the rotating shaft (11); the first base plate (161) and the second base plate (162) are respectively provided with positioning grooves for storing the anchor rod (12), the anchoring agent (13) and the drill bit (14).

4. The fully automatic anchor bolt support device according to claim 2, characterized in that, The anchor bolt library (1) also includes a turntable (17), which is connected to the first drive member (15), and the rotating shaft (11) is connected to the turntable (17).

5. The fully automatic anchor bolt support device according to claim 2, characterized in that, The first driving element (15) is a rotary motor.

6. The fully automatic anchor bolt support device according to any one of claims 1 to 5, characterized in that, The robotic arm (2) includes a base (21), a pickup unit (22), a lifting unit (23), and a rotating unit (24). The lifting unit (23) and the rotating unit (24) are connected. One of the lifting unit (23) and the rotating unit (24) is connected to the base (21), and the other is connected to the pickup unit (22).

7. The fully automatic anchor bolt support device according to claim 6, characterized in that, The picking unit (22) includes a connected scissor frame (221) and a clamping unit (222). The scissor frame (221) is connected to the lifting unit (23) or the rotating unit (24). The clamping unit (222) is used to pick up the anchor rod (12), the anchoring agent (13), and the drill bit (14).

8. The fully automatic anchor bolt support device according to claim 6, characterized in that, It also includes a protective cover (25), which is connected to the pickup unit (22), and the lifting unit (23) is movably disposed inside the protective cover (25).

9. The fully automatic anchor bolt support device according to claim 6, characterized in that, The lifting unit (23) is a lifting cylinder, and the rotating unit (24) is a rotary motor.

10. The fully automatic anchor bolt support device according to claim 6, characterized in that, The anchor bolt storage (1) is located on the base (21).

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