Multi-station anchor rod pushing device and anchor rod trolley

Abstract

The application provides a multi-station anchor rod pushing device and an anchor rod trolley, and relates to the technical field of anchor rod support construction. The multi-station anchor rod pushing device comprises a tray bottom plate, a first mechanical hand and a folding pushing mechanism. The tray bottom plate is used for movable connection with a pushing beam, and the first mechanical hand and the folding pushing mechanism are arranged on the tray bottom plate respectively. The first mechanical hand is used for clamping an anchor rod. The folding pushing mechanism comprises a moving unit and a pushing rod, and the moving unit and the pushing rod are connected and can drive the pushing rod to move relative to the tray bottom plate. The pushing rod is in a retracted state, the first mechanical hand clamps and pushes the anchor rod; the pushing rod is in an extended state, and the pushing rod is used for pushing the anchor rod. The long anchor rod clamping and gradual pushing mode can be realized, the anchor rod pushing operation of a relatively long length can be realized without increasing the length of the pushing beam, the equipment occupying space can be greatly compressed, and the equipment weight is reduced.

Description

Technical Field

[0001] This utility model relates to the field of anchor bolt support construction technology, and in particular to a multi-station anchor bolt pushing device and an anchor bolt trolley. Background Technology

[0002] Existing anchor bolt installation methods are limited by the length of the push beam, preventing the equipment from installing anchor bolts longer than 6 meters. To push longer anchor bolts, the length of the push beam needs to be increased, resulting in a larger overall size, length, and weight of the equipment, and a larger space requirement. Utility Model Content

[0003] The purpose of this invention is to provide a multi-station anchor bolt pushing device and anchor bolt trolley, which can realize the pushing operation of long anchor bolts without increasing the length of the push beam, and can greatly reduce the space occupied by the equipment and reduce the weight of the equipment.

[0004] In a first aspect, this utility model provides a multi-station anchor bolt pushing device, comprising: The pallet base is used for movable connection with the propulsion beam; A first robotic arm is mounted on the bottom plate of the tray; the first robotic arm is used to hold the anchor rod. A folding and pushing mechanism is provided on the bottom plate of the pallet; the folding and pushing mechanism includes a moving unit and a push rod, the moving unit and the push rod are connected, and the push rod can drive the push rod to move relative to the bottom plate of the pallet; when the push rod is in the retracted state, the first robotic arm grips and pushes the anchor rod; when the push rod is in the extended state, the push rod is used to push the anchor rod.

[0005] In an optional embodiment, the moving unit includes a first link, a second link, a third link, and a first hydraulic cylinder; both ends of the second link are hinged to the first link and the second link respectively, the end of the first link away from the second link is hinged to the tray bottom plate, the end of the third link away from the second link is hinged to the tray bottom plate, and the push rod is connected to the second link; One end of the first hydraulic cylinder is hinged to the first connecting rod or the third connecting rod, and the other end is hinged to the tray bottom plate.

[0006] In an optional embodiment, the tray base plate is provided with a limiting member, which is used to limit the rotation angle of the first link or the third link.

[0007] In an optional embodiment, a mounting base is also included, which is connected to the tray base, and the moving unit is disposed on the mounting base.

[0008] In an optional embodiment, the first manipulator includes a drive member, a first clamping arm, and a second clamping arm, at least one of the first clamping arm and the second clamping arm being throttledly connected to the drive member, the drive member being used to move the first clamping arm and the second clamping arm relatively away from or close to each other; the first clamping arm and the second clamping arm are used to clamp the anchor rod.

[0009] In an optional embodiment, the driving component includes a second hydraulic cylinder, the two ends of which are respectively connected to the first clamping arm and the second clamping arm.

[0010] In an optional embodiment, the first robotic arm includes a main support, and the first clamping arm and the second clamping arm are rotatably connected to the main support; the main support is connected to the bottom plate of the pallet.

[0011] In an optional embodiment, the first clamping arm and the second clamping arm are respectively provided with clamping grooves on the side that is close to each other.

[0012] In an optional embodiment, a slider is further included, which is connected to the tray base plate and is used for sliding connection with the push beam.

[0013] Secondly, this utility model provides an anchor bolt trolley, including a second manipulator, a push beam, and a multi-station anchor bolt pushing device as described in any of the foregoing embodiments, wherein the tray bottom plate is slidably connected to the push beam, and the second manipulator is connected to the push beam.

[0014] The multi-station anchor bolt pushing device and anchor bolt trolley provided in this embodiment of the utility model have the following advantages: In this multi-station anchor bolt pushing device, the tray bottom plate can move relative to the push beam, allowing for progressive, multi-stage pushing. This enables the pushing of longer anchor bolts without increasing the length of the push beam, significantly reducing equipment space and weight. Furthermore, the push rod can move relative to the tray bottom plate, allowing for at least two states: retracted and extended. In the retracted state, it avoids interference with the operation of the first robotic arm. In the extended state, the push rod applies a thrust to the end of the anchor bolt, pushing it fully into the target hole. Attached Figure Description

[0015] 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.

[0016] Figure 1 A schematic diagram of the overall structure of the multi-station anchor bolt pushing device provided in this embodiment of the utility model; Figure 2 A schematic diagram of the folding propulsion mechanism of the multi-station anchor bolt pushing device provided in this embodiment of the utility model; Figure 3 A schematic diagram of the structure of the first manipulator of the multi-station anchor bolt pushing device provided in this embodiment of the utility model; Figure 4 A schematic diagram of the structure of the second manipulator of the multi-station anchor bolt pushing device provided in this embodiment of the utility model; Figure 5 A schematic diagram of the construction scenario of the multi-station anchor bolt pushing device provided in this embodiment of the utility model on the anchor bolt trolley; Figure 6 A schematic diagram of the construction scenario where the push rod of the multi-station anchor pusher device provided in this embodiment of the utility model pushes the end of the anchor rod.

[0017] Icons: 1-First robotic arm; 104-Driver; 103-Main support; 102-First clamping arm; 105-Second clamping arm; 101-Bearing bush; 1011-Clamping groove; 2-Folding propulsion mechanism; 201-Push rod; 202-First connecting rod; 203-Second connecting rod; 204-Third connecting rod; 205-First hydraulic cylinder; 206-Limiting component; 207-Mounting seat; 3-Pallet base plate; 4-Slider; 6-Propulsion beam; 7-Second robotic arm; 8-Anchor bolt; 81-Pad plate. Detailed Implementation

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] Rock bolt support is an active support method widely used in geotechnical engineering, mine roadways, tunnels, slope stabilization, and other applications. It improves structural stability and bearing capacity by placing rock bolts within the surrounding rock or soil, thus integrating the surrounding rock with the stable rock mass. Rock bolt support is highly safe, efficient, and cost-effective, and its application in the international geotechnical engineering field is becoming increasingly widespread. Railway tunnel rock bolt support projects utilize solid rock bolts (also called mortar rock bolts), hollow rock bolts, and combined rock bolts. Solid rock bolts offer advantages such as high strength, wide applicability, good durability, and high economic efficiency, making them very common in tunnels, mines, slopes, and other projects requiring long-term stable support.

[0026] Currently, most solid anchor bolts are made of hot-rolled ribbed steel bars (threaded steel), which have poor deformation adaptability. When relative sliding occurs between the rock / soil and the anchor bolt, its anchoring capacity decreases, ultimately affecting project safety. Most anchor bolts generate pull-out resistance through the compressive force between the anchoring device and the rock / soil. A small number enhance pull-out resistance through friction between the bolt body and the rock / soil, and a very few increase pull-out resistance by embedding part of the anchor bolt structure into the rock / soil. When the external tensile force reaches a certain level, the anchor bolt may be pulled out of the rock / soil. Manually pushing solid anchor bolts often results in problems such as not being able to push them out or not pushing them into place. The construction of solid anchor bolts is developing towards mechanized construction.

[0027] This utility model provides a multi-station anchor bolt pushing device for anchor bolt support construction in underground tunnels such as tunnel engineering and water conservancy projects. It can solve the problem that existing mechanized equipment cannot achieve the pushing function due to excessively long anchor bolts.

[0028] Please combine Figure 1 The multi-station anchor bolt pushing device includes a tray base plate 3, a first robotic arm 1, and a folding propulsion mechanism 2. The tray base plate 3 is movably connected to the propulsion beam 6, and the first robotic arm 1 and the folding propulsion mechanism 2 are respectively located on the tray base plate 3. The first robotic arm 1 is used to clamp the anchor bolt 8. The folding propulsion mechanism 2 includes a moving unit and a push rod 201. The moving unit and the push rod 201 are connected and can drive the push rod 201 to move relative to the tray base plate 3. When the push rod 201 is in the retracted state, the first robotic arm 1 clamps and pushes the anchor bolt 8; when the push rod 201 is in the extended state, the push rod 201 is used to push the anchor bolt 8. This multi-station anchor bolt pushing device can realize a gradual pushing method for clamping long anchor bolts 8, and can realize the pushing operation of long anchor bolts 8 without increasing the length of the propulsion beam 6, which can greatly reduce the space occupied by the equipment and reduce the weight of the equipment. Furthermore, the push rod 201 can move relative to the tray bottom plate 3, thus having at least two states: retracted and extended. In the retracted state, it can avoid the operation of the first robotic arm 1 without interfering with its movement. In the extended state, the push rod 201 can apply a pushing force to the end of the anchor rod 8, completing the pushing of the end of the anchor rod 8 and completely inserting the anchor rod 8 into the target hole.

[0029] It is understood that the moving unit can enable the push rod 201 to move in the horizontal, vertical, or both directions, thereby avoiding collision or interference with the first manipulator 1 or the anchor rod 8 during the clamping and pushing process of the first manipulator 1. The moving unit can move in any form, such as linear movement, rotation, swinging, or other movements. The implementation methods include, but are not limited to, lead screw and nut, gear transmission, worm gear transmission, linkage mechanism, crank-slider 4, gear rack, and other transmission structures.

[0030] Please combine Figure 2Optionally, the moving unit includes a first connecting rod 202, a second connecting rod 203, a third connecting rod 204, and a first hydraulic cylinder 205. Both ends of the second connecting rod 203 are hinged to the first connecting rod 202 and the second connecting rod 203 respectively. The end of the first connecting rod 202 away from the second connecting rod 203 is hinged to the tray bottom plate 3. The end of the third connecting rod 204 away from the second connecting rod 203 is hinged to the tray bottom plate 3. A push rod 201 is connected to the second connecting rod 203. One end of the first hydraulic cylinder 205 is hinged to either the first connecting rod 202 or the third connecting rod 204, and the other end is hinged to the tray bottom plate 3. In this embodiment, the first connecting rod 202 and the first hydraulic cylinder 205 are hinged. The push rod 201 is connected to the end of the second connecting rod 203 away from the third connecting rod 204.

[0031] Optionally, a limiting member 206 is provided on the tray base plate 3. The limiting member 206 is used to limit the rotation angle of the first connecting rod 202 or the third connecting rod 204. In this embodiment, the limiting member is used to limit the rotation angle of the first connecting rod 202. It can be understood that, taking the state shown in the figure as an example, the push rod 201 is in the retracted state (lowered position), the first cylinder 205 retracts, driving the first connecting rod 202 to rotate clockwise, so that the second connecting rod 203 and the push rod 201 move to the right and upward. Until the push rod 201 rises to the preset position, the first connecting rod 202 and the limiting member 206 abut, and the first connecting rod 202 can no longer rotate clockwise. At this time, the push rod 201 is in the extended state (raised position).

[0032] Correspondingly, if the push rod 201 is in the extended state and the first hydraulic cylinder 205 is extended, the first hydraulic cylinder 205 drives the first connecting rod 202 to rotate counterclockwise, causing the second connecting rod 203 and the push rod 201 to move to the left and downward. Until the push rod 201 descends to the preset position, at which point the push rod 201 is in the retracted state, which can avoid the first robotic arm 1 pushing the anchor rod 8.

[0033] Optionally, the multi-station anchor bolt pushing device also includes a mounting base 207, which is connected to the pallet base plate 3, and the moving unit is mounted on the mounting base 207. In this embodiment, the mounting base 207 and the pallet base plate 3 are connected by bolts. Optionally, the pallet base plate 3 is provided with a limiting stop (not shown in the figure) to fix the position of the mounting base 207. In some embodiments, the mounting base 207 and the pallet base plate 3 may also be connected by snap-fit, riveting, welding or other methods, which are not specifically limited here.

[0034] Please combine Figure 3Optionally, the first robotic arm 1 includes a drive unit 104, a main support 103, a first clamping arm 102, and a second clamping arm 105. At least one of the first clamping arm 102 and the second clamping arm 105 is throttle-connected to the drive unit 104, which is used to move the first clamping arm 102 and the second clamping arm 105 relatively away from or close to each other; the first clamping arm 102 and the second clamping arm 105 are used to clamp the anchor rod 8.

[0035] Optionally, the driving component 104 includes a second hydraulic cylinder, the two ends of which are respectively connected to the first clamping arm 102 and the second clamping arm 105, enabling the first clamping arm 102 and the second clamping arm 105 to move closer to or further away from each other. In this embodiment, the first clamping arm 102 and the second clamping arm 105 are rotatably connected to the main support 103. By rotating the first clamping arm 102 and the second clamping arm 105 relative to the main support 103, the first clamping arm 102 and the second clamping arm 105 can move closer to or further away from each other. The main support 103 is connected to the pallet base plate 3. Optionally, the main support 103 and the pallet base plate 3 are bolted together. In some embodiments, the main support 103 and the pallet base plate 3 can also be connected by snap-fitting, riveting, welding, or other connection methods, which are not specifically limited here.

[0036] Optionally, clamping grooves 1011 are provided on the sides of the first clamping arm 102 and the second clamping arm 105 that are close to each other. The design of the clamping grooves 1011 is beneficial for the stable clamping of the anchor rod 8. The clamping grooves 1011 can adopt an arc-shaped clamping surface, which can better fit the outer surface of the anchor rod 8, increase the contact area and friction, and protect the anchor rod 8. A buffer pad can be designed inside the clamping grooves 1011 to avoid damage to the surface of the anchor rod 8 through the soft contact between the buffer pad and the anchor rod 8. In this embodiment, bearing bushes 101 are provided on the sides of the first clamping arm 102 and the second clamping arm 105 that are close to each other, and clamping grooves 1011 are provided on the bearing bushes 101. The clamping grooves 1011 on the first clamping arm 102 and the clamping grooves 1011 on the second clamping arm 105 can together form a waist-shaped hole, which can be adjusted to accommodate anchor rods 8 of different specifications between R25mm and R32mm, with good flexibility and high adaptability.

[0037] It should be noted that each anchor rod 8 has a pad 81 at its end, and the cross-section of the pad 81 is larger than that of the anchor rod 8. When the first clamping arm 102 and the second clamping arm 105 are in the open state, the pad 81 can pass between them. For example, in this embodiment, when the first clamping arm 102 and the second clamping arm 105 are in the open state, a 150mm × 150mm pad 81 can pass through.

[0038] Optionally, the multi-station anchor pusher also includes a slider 4, which is connected to the pallet base plate 3 and is used for sliding connection with the push beam 6. The slider 4 is located on the side of the pallet base plate 3 away from the first robot arm 1. The sliding connection between the slider 4 and the push beam 6 helps to improve the smoothness and efficiency of the movement of the pallet base plate 3.

[0039] This embodiment of the invention also provides an anchor bolt trolley, including a second robotic arm 7, a propulsion beam 6, and a multi-station anchor bolt pushing device as described in any of the foregoing embodiments. The tray bottom plate 3 is slidably connected to the propulsion beam 6, and the second robotic arm 7 is connected to the propulsion beam 6. The working principle of this multi-station anchor bolt pushing device is as follows: like Figure 4 As shown, this multi-station anchor bolt pushing device is typically used in conjunction with the second robotic arm 7. For longer anchor bolts 8, the second robotic arm 7 provides better guidance and support. The number of second robotic arms 7 can be one or more, and is not specifically limited here.

[0040] like Figure 5 As shown, in step S1, when the anchor rod 8 needs to be installed, the folding and pushing mechanism 2 descends, and the first robotic arm 1 and the second robotic arm 7 clamp the anchor rod 8 respectively. The clamping force of the first robotic arm 1 must be greater than the clamping force of the second robotic arm 7 to ensure effective pushing of the anchor rod 8. It should be noted that when the clamping force of the first robotic arm 1 is greater than the clamping force of the second robotic arm 7, there is no relative movement between the first robotic arm 1 and the anchor rod 8, but there is relative movement between the second robotic arm 7 and the anchor rod 8, that is, the anchor rod 8 can be moved and pushed in the second robotic arm 7. The second robotic arm 7 plays a supporting and guiding role. The tray bottom plate 3 moves forward along the pushing beam 6, pushing one end of the anchor rod 8 into the target hole. Here, along the axial direction of the pushing beam 6, the position of the second robotic arm 7 is in front, and the position of the first robotic arm 1 is behind.

[0041] like Figure 6 As shown, in step S2, the output parameters are adjusted so that the clamping force of the second robotic arm 7 is greater than that of the first robotic arm 1. At this time, there is no relative movement between the second robotic arm 7 and the anchor rod 8, but there is relative movement between the first robotic arm 1 and the anchor rod 8. The pallet bottom plate 3 moves backward along the push beam 6. Since the clamping force of the second robotic arm 7 is greater than that of the first robotic arm 1, when the pallet bottom plate 3 moves the first robotic arm 1 backward, the anchor rod 8 will not move backward with it. The first robotic arm 1 re-clamps the anchor rod 8 at the rear position.

[0042] Repeat steps S1 and S2. The anchor rod 8 is repeatedly advanced; the number of advances is unlimited and depends on actual needs. When the distance between the tail of the anchor rod 8 and the target hole is approximately 500mm, the second robotic arm 7 swings out, and the first robotic arm 1 is in the open state. The first robotic arm 1 retracts to behind the tail of the anchor rod 8. At this time, the folding advancement mechanism 2 is raised, and the push rod 201 extends. Then, the tray bottom plate 3 drives the push rod 201 forward, pushing the end of the anchor rod 8. Finally, the front end of the push rod 201 will exceed the advancement beam 6, completely inserting the anchor rod 8 into the target hole, completing the pushing of the anchor rod 8.

[0043] It should be noted that in this embodiment, by using a gradual and repeated pushing motion, it is possible to push a relatively long anchor rod 8, such as an anchor rod 8 with a length of 6m to 12m. Of course, it is also possible to push an anchor rod 8 with a length of less than 6m.

[0044] In summary, the multi-station anchor bolt pushing device and anchor bolt trolley provided in this embodiment of the invention have the following beneficial effects, including: In this multi-station anchor bolt pushing device, the tray base plate 3 can move relative to the push beam 6, allowing for progressive, multi-stage pushing. This enables the pushing of relatively long anchor bolts 8 without increasing the length of the push beam 6, significantly reducing the space occupied and weight of the equipment. It can push anchor bolts 8 from 6m to 12m in length, and also supports lengths up to 6m, making it widely applicable and flexible in various scenarios.

[0045] 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 multi-station anchor bolt pushing device, characterized in that, include: The pallet bottom plate (3) is used for movable connection with the push beam (6); The first robotic arm (1) is located on the bottom plate (3) of the pallet; the first robotic arm (1) is used to clamp the anchor rod (8). A folding and pushing mechanism (2) is provided on the bottom plate of the pallet (3); the folding and pushing mechanism (2) includes a moving unit and a push rod (201), the moving unit and the push rod (201) are connected, and the push rod (201) can drive the push rod (201) to move relative to the bottom plate of the pallet (3); the push rod (201) is in the retracted state, and the first manipulator (1) clamps and pushes the anchor rod (8); the push rod (201) is in the extended state, and the push rod (201) is used to push the anchor rod (8).

2. The multi-station anchor bolt pushing device according to claim 1, characterized in that, The moving unit includes a first connecting rod (202), a second connecting rod (203), a third connecting rod (204), and a first hydraulic cylinder (205); the two ends of the second connecting rod (203) are respectively hinged to the first connecting rod (202) and the second connecting rod (203), the end of the first connecting rod (202) away from the second connecting rod (203) is hinged to the pallet bottom plate (3), the end of the third connecting rod (204) away from the second connecting rod (203) is hinged to the pallet bottom plate (3), and the push rod (201) is connected to the second connecting rod (203); One end of the first hydraulic cylinder (205) is hinged to the first connecting rod (202) or the third connecting rod (204), and the other end is hinged to the tray bottom plate (3).

3. The multi-station anchor bolt pushing device according to claim 2, characterized in that, The pallet bottom plate (3) is provided with a limiting member (206), which is used to limit the rotation angle of the first link (202) or the third link (204).

4. The multi-station anchor bolt pushing device according to claim 2, characterized in that, It also includes a mounting base (207), which is connected to the tray base plate (3), and the moving unit is disposed on the mounting base (207).

5. The multi-station anchor bolt pushing device according to claim 1, characterized in that, The first manipulator (1) includes a drive member (104), a first clamping arm (102), and a second clamping arm (105). At least one of the first clamping arm (102) and the second clamping arm (105) is connected to the drive member (104) for driving. The drive member (104) is used to move the first clamping arm (102) and the second clamping arm (105) away from or close to each other. The first clamping arm (102) and the second clamping arm (105) are used to clamp the anchor rod (8).

6. The multi-station anchor bolt pushing device according to claim 5, characterized in that, The drive unit (104) includes a second hydraulic cylinder, the two ends of which are connected to the first clamping arm (102) and the second clamping arm (105) respectively.

7. The multi-station anchor bolt pushing device according to claim 5, characterized in that, The first robotic arm (1) includes a main support (103), and the first clamping arm (102) and the second clamping arm (105) are rotatably connected to the main support (103); the main support (103) is connected to the bottom plate of the pallet (3).

8. The multi-station anchor bolt pushing device according to claim 5, characterized in that, The first clamping arm (102) and the second clamping arm (105) are respectively provided with bearings (101) on the side close to each other, and the bearings (101) are provided with clamping grooves (1011).

9. The multi-station anchor bolt pushing device according to any one of claims 1 to 8, characterized in that, It also includes a slider (4), which is connected to the tray bottom plate (3) and is used to slide with the push beam (6).

10. An anchor bolt trolley, characterized in that, It includes a second robotic arm (7), a propulsion beam (6), and a multi-station anchor pusher device according to any one of claims 1 to 9, wherein the pallet bottom plate (3) is slidably connected to the propulsion beam (6), and the second robotic arm (7) is connected to the propulsion beam (6).

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