Automatic anchor protection platform having combined support of anchor rods and anchor cables

Abstract

The present invention belongs to the technical field of anchor protection apparatuses. Provided is an automatic anchor protection platform having combined support of anchor rods and anchor cables. The automatic anchor protection platform comprises a movable chassis, a multi-cycle anchor rod drilling rig, an anchor rod drilling rig posture positioning control device, an anchor cable support device, a temporary support device, an electrical system and a hydraulic system. Said automatic anchor protection platform integrates the multi-circle anchor rod drilling rig, the anchor cable support device and the temporary support device, and therefore meets the anchoring and support requirements of roadways under different geological conditions, allows anchor rod and anchor cable parallel support operations to be conducted at the same time, and achieves efficient coordinating matching linkage integrated design, thus further promoting efficient operation processes in limited spaces such as coal mines and tunnels.

Description

An automated anchoring platform with combined support of anchor rods and anchor cables Technical Field

[0001] The invention belongs to the technical field of anchoring equipment, and specifically discloses an automated anchoring platform for joint support of anchor rods and anchor cables. Background Art

[0002] As the primary support method for coal mine roadways and traffic tunnels after excavation, anchor rods and cable anchors represent the current advanced support technology and represent the main development direction of coal and rock roadway support technology. Over the years, domestic and international practical experience has proven that anchor rods and cable anchors are the most economical and effective support technology for coal roadways. Compared with shed-type support, anchor rods and cable anchors significantly improve roadway support effects, reduce roadway support costs, and reduce worker labor intensity. More importantly, anchor rods and cable anchors greatly simplify the end support and advance support processes of the coal mining face, improve the working environment, ensure production safety, and create favorable conditions for the rapid advancement of the coal mining face.

[0003] Currently, bolting technology has been rapidly promoted in many mining areas and has achieved good results in some mines, especially in special coal seam geological conditions such as three-soft coal seams, deep mining, high ground pressure mining, and severe tunnel expansion and severe floor heave. However, the theory and methods of bolt and cable support are still imperfect, theoretical research lags behind production practice, and there are a large number of uncertain factors and information in bolting support projects. Based on this, the randomness and uncertainty in manual anchoring operations based on experience can easily affect the reliability and safety of tunnel support. Summary of the Invention

[0004] The present invention provides an automated anchoring and supporting platform for combined support of anchor rods and anchor cables, which can be used in conjunction with anchor boring machines, continuous mining machines, and roadheaders to achieve fully automatic support of anchor rods and anchor cables on the roof and side walls of a roadway. It can also be used for supplementary anchor rod driving in a rapid excavation system. It has a wide range of applications and strong adaptability to working conditions. It replaces manual subjective experience with sensor data, significantly improving the reliability of support and enhancing the support efficiency of the roadway.

[0005] The above-mentioned automated anchoring platform for combined anchor bolt and anchor cable support includes a movable chassis, a multi-cycle anchor drilling rig, an anchor drilling rig attitude positioning control device, and an anchor cable support device;

[0006] The multi-cycle anchor drilling rig includes a frame I, a feeding mechanism, a drilling mechanism I, an anchoring mechanism, a drilling and anchor box switching mechanism, an anchor conveying mechanism and a medicine roll conveying mechanism; the frame I includes a supporting top plate, a supporting bottom plate and a supporting vertical plate and a limit rod vertically connected to the supporting top plate and the supporting bottom plate; the feeding mechanism includes a feeding drive, an upper guide wheel, a lower guide wheel, a connecting suspension and a feeding guide seat; the feeding drive includes a fixed rod and a sliding cylinder slidably connected to the fixed rod, the fixed rod is parallel to the limit rod, and the fixed rod is fixed in the frame I, the two upper guide wheels are symmetrically mounted on both sides of the sliding cylinder, and the two lower guide wheels are symmetrically mounted on both sides of the sliding cylinder, and the upper guide wheel and the lower guide wheel on the same side are connected by a connecting suspension; the feeding guide seat is fixed on the two connecting suspensions, A limit hole is set, and the limit rod passes through the limit hole; the drilling mechanism I includes a drill box I and a drill rod I; the anchoring mechanism includes an anchor box and an anchor rod; the drill-anchor box switching mechanism includes a drill-anchor box switching guide plate and a drill-anchor box switching drive; multiple drill-anchor box switching guide plates are set side by side, all connected to the feed guide seat, parallel to the support vertical plate, and slidingly connected to the drill box I and the anchor box; the drill-anchor box switching drive drives the drill box I and the anchor box to slide along the drill-anchor box switching guide plate; the anchor rod conveying mechanism includes an upper guard arm, a lower guard arm, an anchor rod mounting seat, an anchor rod mounting seat drive, an anchor rod limiting roller, an anchor rod manipulator and a manipulator mounting frame; both ends of the upper guard arm are connected to the frame I; both ends of the lower guard arm are connected to the frame I; two sets of anchor rod mounting seats are slidably mounted on the upper guard arm and the lower guard arm respectively, and the two The plane where the anchor rod mounting seat is located is parallel to the drilling and anchor box switching guide plate and is located on both sides of the drilling box I and the anchor box; each group of anchor rod mounting seats is equipped with multiple groups of anchor rod limiting rollers, and each group of anchor rod mounting seats is driven by the corresponding anchor rod mounting seat driving member to slide along the guard arm, and the sliding direction is the same as the sliding direction of the drilling box I and the anchor box; the two ends of the manipulator mounting frame are respectively connected to the upper guard arm and the lower guard arm; the anchor rod manipulator is installed on the manipulator mounting frame, and is used to extend toward the direction of the anchor rod mounting seat and grab the anchor rod clamped by the anchor rod limiting roller; the medicine roll conveying mechanism includes a centering frame, a centering frame driving member, a guide tube, a guide groove, a charging tube rack, a clamping groove, a charging tube rack driving member, a charging tube, a lifting block, a lifting block driving member, and a medicine roll filling assembly; the centering frame slides with the upper guard arm The guide tube is mounted on the centering frame and is parallel to the anchor rod; the guide groove is provided on the centering frame, perpendicular to the anchor rod mounting seat, and is located below the guide tube, and a notch is provided at a position corresponding to the guide tube; the charge tube rack comprises a fixed frame and a sliding frame, the fixed frame is mounted on the centering frame, the sliding frame is slidably connected to the fixed frame, and the sliding frame is driven by the charge tube rack driving member to slide along the guide groove direction; a plurality of clamping grooves are provided on the sliding frame, arranged along the guide groove direction, a charge tube is clamped in each clamping groove, and the bottom end of the charge tube is located in the guide groove; the lifting block is driven by the lifting block driving member to move between the notch in the guide groove and the guide tube, and is provided with a drug delivery hole I;The drug coil filling assembly is connected to the lifting block and is used to load the anchor rod solidifying drug into the drill hole along the drug charging tube and the guide tube;

[0007] The anchor drilling rig attitude positioning control device is connected to the movable chassis and the multi-cycle anchor drilling rig, and is used to adjust the attitude of the multi-cycle anchor drilling rig; the anchor cable support device includes the anchor cable drilling rig and the anchor cable single-unit operating track;

[0008] The anchor cable single-unit operating track includes a fixed plate, a flip plate, a flip mechanism, a sliding plate and a traction mechanism; the fixed plate is fixed on the movable chassis, and both ends are respectively connected to the flip plate for rotation, and the upper surface is connected to the sliding plate for sliding; the flip plate is driven by the flip mechanism to be unfolded to be flush with the fixed plate or folded back to the fixed plate; the sliding plate is pulled by the traction mechanism to slide along the fixed plate, and the sliding direction is perpendicular to the driving direction of the movable chassis; the anchor cable drilling rig is installed on the sliding plate.

[0009] In the above-mentioned automated anchoring platform with combined support of anchor rods and anchor cables, a top cone is provided on the upper surface of the supporting top plate;

[0010] The feeding mechanism also includes a swing assembly, a suspension tensioning assembly, a feed displacement sensor and a magnetic sheet; the swing assembly includes a swing ear seat, a swing beam, a swing pin and a fixed plate; the swing ear seat is provided with mutually perpendicular connecting holes I and connecting holes II; the swing beam is located between the connecting suspensions on both sides, and a pin hole is provided in the middle position, and both ends are inserted into the connecting hole I of the swing ear seats on both sides; the swing pin passes through the pin hole of the swing beam, and fixed plates are installed at both ends. The fixed plates on both sides are connected as a whole by connecting parts and fixed on the frame I; the connecting suspension passes through the connecting hole II of the corresponding swing ear seat; the suspension tensioning assembly cooperates with the upper guide wheel or the lower guide wheel, and includes a tensioning sleeve, ... Fork rod, tensioning spring, tensioning nut; the tensioning sleeve is fixed on the sliding cylinder of the feed drive member; the tensioning fork rod passes through the tensioning sleeve, and a wheel seat is provided at the top end to connect with the upper guide wheel or a wheel seat is provided at the bottom end to connect with the lower guide wheel, and an external thread is provided on the surface; the tensioning spring is sleeved on the tensioning fork rod, and the two ends are respectively connected with the tensioning sleeve and the wheel seat; the tensioning nut is sleeved on the tensioning fork rod, and the tensioning nut and the tensioning spring are located on both sides of the tensioning sleeve; the feed displacement sensor is parallel to the feed drive member, and the top end is connected to the support top plate; the magnetic sheet is installed on the feed guide seat; the magnetic sheet and the feed displacement sensor sense each other to measure the displacement and speed of the drilling mechanism I and the anchoring mechanism.

[0011] In the above-mentioned automated anchoring platform for combined support of anchor rods and anchor cables, the drilling and anchor box switching mechanism also includes a drilling and anchor box switching track, a drilling box shifting block, an anchor box shifting block and a switching displacement sensor; three drilling and anchor box switching guide plates are arranged side by side, the middle drilling and anchor box switching guide plate is a working position, the drilling and anchor box switching guide plates on both sides are waiting positions, and the middle drilling and anchor box switching guide plate is provided with a locking member for locking the drill box I or the anchor box; a drilling box switching slot is provided on the drill box I; an anchor box switching slot is provided on the anchor box; the drilling and anchor box switching drive member includes a fixed rod and a fixed rod slidably connected to the fixed rod The sliding cylinder and the two ends of the fixed rod are fixed on the lower guard arm, the sliding cylinder is slidably connected to the fixed rod, and the sliding cylinder is fixed with a drill box shift block and an anchor box shift block; the drill anchor box switching track is parallel to the drill anchor box switching drive member, and both ends are fixed on the lower guard arm; the drill box shift block is provided with grooves and protrusions, the grooves slide in conjunction with the drill anchor box switching track, and the protrusions are used to be inserted in the drill box switching groove; the anchor box shift block is provided with grooves and protrusions, the grooves slide in conjunction with the drill anchor box switching track, and the protrusions are used to be inserted in the anchor box switching groove; the switching displacement sensor is used to measure the displacement of the drill box I and the anchor box.

[0012] In the above-mentioned automated anchoring platform for joint support of anchor rods and anchor cables, the anchor rod conveying mechanism also includes an anchor rod mounting seat sliding track and a manipulator driving component; the upper guard arm and the lower guard arm are both provided with anchor rod mounting seat sliding tracks; the anchor rod mounting seat is slidably connected to the anchor rod mounting seat sliding track; an anchor rod limit block is installed on the anchor rod manipulator; the manipulator driving component is used to drive the anchor rod manipulator to extend toward the direction of the anchor rod mounting seat and to drive the anchor rod manipulator to reset.

[0013] In the above-mentioned automated anchoring platform for combined support of anchor rods and anchor cables, the drug roll conveying mechanism also includes a guide cylinder and a drill rod limiting roller; the guide cylinder includes a guide outer cylinder, a guide inner cylinder, a centering displacement sensor and a magnetic ring; the guide outer cylinder is fixed on the upper guard arm, the guide inner cylinder is connected to the centering frame, and the guide inner cylinder is driven by the centering frame drive to extend and retract along the guide outer cylinder; the magnetic ring is installed in the guide inner cylinder; the centering displacement sensor is installed in the guide outer cylinder and is provided with a probe, which passes through the magnetic ring; the centering displacement sensor and the magnetic ring cooperate to measure the displacement of the centering frame, and the measuring range is greater than the stroke of the guide inner cylinder; the drill rod limiting roller is installed on the guide tube, which is used to center and limit the drill rod I when drilling; the lifting block drive is equipped with a drug delivery displacement sensor for measuring the displacement of the anchor rod solidifying drug.

[0014] In the above-mentioned automated anchoring platform for combined support of anchor rods and anchor cables, the medicine roll filling assembly includes a fixed seat, a clamping seat, a connecting screw, a clamping spring, a clamping nut, a flexible cable conveying wheel, a flexible cable conveying wheel driving member, and a flexible cable; a medicine delivery hole II is provided on the fixed seat, the fixed seat is connected to the lifting block, and the medicine delivery hole II is aligned with the medicine delivery hole I; the connecting screw passes through the clamping seat, and the end is connected to the fixed seat; the clamping spring and the clamping nut are sleeved on the connecting screw, and the compression spring is located between the clamping seat and the clamping nut; flexible cable conveying wheels are installed on both the fixed seat and the clamping seat, and the two groups of flexible cable conveying wheels are arranged opposite to each other and are driven to rotate by the flexible cable conveying wheel driving member; the flexible cable passes through the gap between the two groups of flexible cable conveying wheels, the medicine delivery hole II, and the medicine delivery hole I, and is clamped by the flexible cable conveying wheel.

[0015] In the above-mentioned automated anchoring platform for combined support of anchor rods and anchor cables, the anchor cable drilling rig includes a frame II, a drill rod magazine, a drill rod magazine drive, a drilling mechanism II, a drill box drive and a drill rod manipulator; the frame II is connected to the sliding plate; the drill rod magazine is rotatably mounted on the frame II and is driven to rotate by the drill rod magazine drive; the drill rod magazine includes a rotatably arranged drill rod clamping plate and a drill rod clamping plate drive for driving the drill rod clamping plate to rotate, and the rotation center line of the drill rod clamping plate is staggered with the rotation center line of the drill rod magazine; the drilling mechanism II includes a drill box II and a drill rod II; the drill box II is slidably mounted on the frame II and is driven to rise and fall by the drill box drive; the drill rod manipulator includes a wrist arm and a clamping member mounted on the wrist arm; the wrist arm is rotatably mounted on the frame II, and the clamping member is extended toward the direction of the drill rod magazine by rotation and grabs the drill rod II clamped by the drill rod clamping plate.

[0016] In the above-mentioned automated anchoring platform with combined support of anchor rods and anchor cables, the flipping mechanism is a flipping cylinder, the two ends of which are respectively connected to the fixed plate and the flipping plate; the traction mechanism includes a motor, a sprocket and a traction chain; motors are respectively installed on the flipping plates on both sides, sprockets are installed on the output shafts of the motors, and the traction chains are engaged with the sprockets; the motors are equipped with angle encoders; the anchor cable single-unit operating track also includes a track pressure plate; two sets of track pressure plates are fixed on the fixed plate to form the sliding space of the sliding plate; the sliding plate is fixedly connected to the traction chain, and both sides are embedded in the sliding space.

[0017] In the above-mentioned automated anchoring platform for combined support of anchor rods and anchor cables, the anchor drilling rig attitude positioning control device includes a connecting seat, a connecting seat rotating member, an attitude positioning telescopic arm, an attitude positioning telescopic arm driving member, a leveling seat, a leveling seat driving member, a swing seat driving member I, a swing seat I, a swing seat driving member II, a swing seat II, a lifting frame, a lifting guide mechanism and a lifting driving member; the connecting seat is connected to the movable chassis through the connecting seat rotating member; the two ends of the attitude positioning telescopic arm are respectively rotatably connected to the connecting seat and the leveling seat; the attitude positioning telescopic arm is driven by the attitude positioning telescopic arm driving member to swing up and down relative to the connecting seat; the leveling seat is driven by the leveling seat driving member to swing up and down relative to the attitude positioning telescopic arm; the fixed cylinder of the swing seat driving member I is fixed on the leveling seat, and the rotating shaft is connected to the swing seat I; the swing seat driving member II is perpendicular to the swing seat driving member I, the fixed cylinder is fixed on the swing seat I, and the rotating shaft is connected to the swing seat II; the lifting frame is slidably connected to the swing seat II through the lifting guide mechanism, and is driven to rise and fall by the lifting driving member; the frame I is fixed on the lifting frame.

[0018] The above-mentioned automated anchoring platform with combined support of anchor rods and anchor cables also includes a temporary support device; the temporary support device includes a temporary support lifting arm, a telescopic arm rotating part, a temporary support telescopic arm, a temporary support support plate and a support plate driving part; the bottom end of the temporary support lifting arm is connected to the movable chassis; the temporary support telescopic arm is connected to the temporary support lifting arm through the telescopic arm rotating part; the temporary support support plate is rotatably connected to the temporary support telescopic arm, and is driven by the support plate driving part to swing up and down relative to the temporary support telescopic arm.

[0019] Compared with the prior art, the present invention has the following beneficial effects.

[0020] (1) It can shorten the time of support construction: the traditional anchor support time accounts for 2 / 3 of the tunnel excavation time. After the construction of the automated anchor support platform with the above-mentioned anchor rod and anchor cable combined support, the support time of a single anchor rod and anchor cable can be greatly shortened. Compared with the traditional manual anchor operation, the construction time can be reduced by 40%. In addition, the double-arm anchor rod and anchor cable can perform support operations at the same time, realizing the full-section support of a row of anchor rods and anchor cables at one time, which greatly improves the anchor support efficiency.

[0021] (2) It can reduce the labor intensity of workers: Traditional anchor rods and anchor cable supports require manual drilling rigs to locate, fix, drill, and other steps, which consume a lot of physical strength of anchoring workers. After the tunnel support construction is carried out using the above-mentioned automated anchoring platform for combined anchor rod and anchor cable support, the entire process of anchor rod support can be automatically anchored. The single-person manual anchoring of anchor cables reduces the manual drilling, charging, anchor rod installation, tightening and other processes, greatly reducing the labor intensity of the excavation working face support personnel.

[0022] (3) It can improve the safety of construction and greatly reduce the incidence of occupational diseases: The unsupported area of ​​the tunneling support working face is the main working area of ​​the anchoring operators. The empty top area has great safety hazards. At the same time, the operators work in a space with high dust concentration for a long time, which is easy to induce occupational diseases. There are hundreds of roof collapse accidents in anchor support tunnels every year, and about 400,000 people in the anchoring industry suffer from selenium lung disease. After adopting the above-mentioned automated anchoring platform with combined support of anchor rods and anchor cables, there is no need for manual close-range installation operations, which can avoid staying in dangerous construction areas for a long time, and to a large extent ensure the safety and health of the operators.

[0023] (4) It can reduce the number of operators and improve production efficiency: A traditional single anchor drilling rig requires 3-4 people to cooperate, while the automated anchoring platform with the above-mentioned anchor rod and anchor cable joint support only requires 1-2 people to operate, reducing the number of people on the working surface and reducing personnel costs, thus realizing the reduction of manpower in harsh environmental areas and dangerous prevention areas.

[0024] (5) Due to the harsh and dangerous working environment in underground coal mines and tunnel construction, coupled with the long-term high attention of the media, there are general opinions on the coal industry. The younger generation has a low willingness to work in the coal mining and tunnel construction industries, which makes it difficult for companies to recruit personnel, the labor cost increases year by year, and the problem of aging employees gradually becomes prominent. Therefore, the automation of coal mining and tunnel excavation is the general trend. Construction units have proposed automation and intelligent plans for mining working faces. Among them, automatic anchor support technology is the most urgent and difficult. The automated anchor support platform with combined support of anchor rods and anchor cables provided by the present invention is of great significance for accelerating the anchor support speed, improving safety, reducing the work intensity of workers, and realizing the automation and intelligence of the entire anchor support process. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 is a schematic structural diagram of an automated anchoring platform for combined anchor rod and anchor cable support;

[0027] Figure 2 is a schematic structural diagram of a multi-cycle anchor drilling rig;

[0028] Figure 3 is a schematic structural diagram of rack I;

[0029] Figure 4 is a schematic structural diagram of the feeding mechanism;

[0030] Figure 5 is a schematic diagram of the installation of the swing assembly;

[0031] Figure 6 is a schematic diagram of the installation of the suspension tensioning assembly;

[0032] Figure 7 is a schematic diagram of the installation of the drilling mechanism I, the anchoring mechanism and the drilling-anchor box switching mechanism;

[0033] FIG8 is a schematic structural diagram of the anchor rod conveying mechanism;

[0034] Figure 9 is a schematic diagram of the structure of the medicine roll conveying mechanism (excluding the medicine roll filling assembly);

[0035] FIG10 is a partial schematic diagram of FIG9 from another direction;

[0036] Figure 11 is a schematic structural diagram of the guide cylinder;

[0037] FIG12 is a schematic structural diagram of a medicine roll filling assembly;

[0038] FIG13 is a schematic structural diagram of a posture positioning control device for a rock bolter;

[0039] FIG14 is a partial enlarged view of FIG13;

[0040] Figure 15 is a schematic structural diagram of the anchor cable support device;

[0041] Figure 16 is a schematic structural diagram of an anchor cable single operating track;

[0042] Figure 17 is a schematic structural diagram of the temporary support device.

[0043] In the figure: 1- movable chassis;

[0044] 2-Multi-cycle anchor drilling rig;

[0045] 2.1-Frame I; 2.1.1-Supporting top plate; 2.1.2-Supporting bottom plate; 2.1.3-Supporting vertical plate; 2.1.4-Limiting rod; 2.1.5-Connecting top cone;

[0046] 2.2 - Feed mechanism; 2.2.1 - Upper guide wheel; 2.2.2 - Lower guide wheel; 2.2.3 - Connecting suspension; 2.2.4 - Feed guide seat; 2.2.5 - Swing assembly; 2.2.5.1 - Swing lug seat; 2.2.5.2 - Swing beam; 2.2.5.3 - Swing pin; 2.2.5.4 - Fixing plate; 2.2.6.1 - Tensioning sleeve; 2.2.6.2 - Tensioning fork rod; 2.2.6.3 - Tensioning spring; 2.2.6.4 - Tensioning nut; 2.2.7 - Feed displacement sensor; 2.2.8 - Magnetic plate; 2.2.9 - Feed cylinder;

[0047] 2.3.1-Drill box I; 2.3.2-Drill rod I; 2.3.3-Drill box switching slot;

[0048] 2.4.1-Anchor box; 2.4.2-Anchor rod; 2.4.3-Anchor box switching slot;

[0049] 2.5 - Drilling and anchoring box switching mechanism; 2.5.1 - Drilling and anchoring box switching guide plate; 2.5.1.1 - Locking member; 2.5.2 - Drilling and anchoring box switching track; 2.5.3 - Drilling box shift block; 2.5.4 - Anchor box shift block; 2.5.5 - Drilling and anchoring box switching cylinder; 2.5.6 - Drilling and anchoring box switching cylinder lug;

[0050] 2.6 - Anchor rod conveying mechanism; 2.6.1 - Upper guard arm; 2.6.2 - Lower guard arm; 2.6.3 - Anchor rod mounting base; 2.6.4 - Anchor rod limiting roller; 2.6.5 - Anchor rod manipulator; 2.6.6 - Manipulator mounting frame; 2.6.7 - Anchor rod mounting base push cylinder; 2.6.8 - Manipulator propulsion cylinder; 2.6.9 - Anchor rod limiting block;

[0051] 2.7 - Drug roll conveying mechanism; 2.7.1 - Centering frame; 2.7.2 - Guide tube; 2.7.3 - Guide groove; 2.7.4 - Charge tube rack; 2.7.5 - Clamping groove; 2.7.6 - Charge tube; 2.7.7 - Lifting block; 2.7.8 - Guide cylinder; 2.7.8.1 - Guide outer cylinder; 2.7.8.2 - Guide inner cylinder; 2.7.8.3 - Centering displacement sensor; 2.7.8.4 - Centering displacement sensor mounting base; 2.7.8.5 - Magnetic ring; 2.7.8.6 - Magnetic ring mounting base; 2.7.8.7 - Guide key ;2.7.9-Drill pipe limiting roller;2.7.10.1-Fixed seat;2.7.10.2-Compression seat;2.7.10.3-Connecting screw;2.7.10.4-Compression spring;2.7.10.5-Compression nut;2.7.10.6-Flexible cable conveyor wheel;2.7.10.7-Flexible cable conveyor wheel drive element;2.7.10.8-Flexible cable;2.7.11-Centering frame push cylinder;2.7.12-Charging pipe rack telescopic cylinder;2.7.13-Lifting block telescopic cylinder;2.7.14-Lifting block telescopic cylinder seat;

[0052] 3- Anchor drilling rig attitude positioning control device; 3.1- Connecting seat; 3.2- Leveling seat; 3.3- Swing seat I; 3.4- Swing seat II; 3.5- Lifting frame; 3.6- Lifting guide mechanism; 3.7- Attitude positioning telescopic arm outer cylinder; 3.8- Attitude positioning telescopic arm inner cylinder; 3.9- Attitude positioning telescopic arm swing cylinder; 3.10- Leveling cylinder; 3.11- Swing seat rotation cylinder I; 3.12- Swing seat rotation cylinder II; 3.13- Lifting cylinder;

[0053] 4 - Anchor cable support device; 4.1 - Anchor cable single working track; 4.1.1 - Fixed plate; 4.1.2 - Turning plate; 4.1.3 - Sliding plate; 4.1.4 - Turning cylinder; 4.1.5 - Motor; 4.1.6 - Sprocket; 4.1.7 - Traction chain; 4.1.8 - Track pressure plate; 4.1.9 - Turning cylinder seat; 4.2.1 - Frame II; 4.2.2 - Drill rod magazine; 4.2.3 - Drill rod manipulator; 4.2.4 - Drill box II; 4.2.5 - Drill rod II;

[0054] 5- Temporary support device; 5.1- Temporary support support plate; 5.2- Temporary support lifting arm outer cylinder; 5.3- Temporary support lifting arm inner cylinder; 5.4- Telescopic arm rotation reducer; 5.5- Temporary support telescopic arm outer cylinder; 5.6- Temporary support telescopic arm inner cylinder; 5.7- Support plate rotation cylinder;

[0055] 100-Anchor solidifying agent. DETAILED DESCRIPTION

[0056] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0057] This embodiment provides an automated anchoring platform for combined anchor rod and anchor cable support, including a movable chassis 1, a multi-cycle anchor drilling rig 2, an anchor drilling rig attitude positioning control device 3, an anchor cable support device 4, a temporary support device 5, an electrical system, and a hydraulic system.

[0058] The above-mentioned automated anchoring platform for combined anchor rod and anchor cable support integrates the multi-cycle anchor drilling rig 2, anchor cable support device 4, and temporary support device 5 into an integrated design, which meets the anchoring and support requirements of tunnels with different geological conditions, and can carry out anchor rod and anchor cable support operations at the same time. The efficient coordinated and integrated design further promotes the efficient operation process in limited spaces such as coal mines and tunnels.

[0059] The multi-cycle anchor drilling rig 2 comprises a frame I 2.1, a feeding mechanism 2.2, a drilling mechanism I, an anchoring mechanism, a drilling and anchor box switching mechanism 2.5, an anchor conveying mechanism 2.6, and a drug coil conveying mechanism 2.7.

[0060] Frame I 2.1 comprises a top support plate 2.1.1, a bottom support plate 2.1.2, vertical support plates 2.1.3 connected perpendicularly to the top and bottom support plates 2.1.1 and 2.1.2, and a stopper rod 2.1.4. Frame I 2.1 is constructed of metal, preferably high-strength alloy steel, although carbon fiber is also acceptable. A connecting cone 2.1.5 is provided on the upper surface of the top support plate 2.1.1.

[0061] The feeding mechanism 2.2 includes a feeding drive, an upper guide wheel 2.2.1, a lower guide wheel 2.2.2, a connecting suspension 2.2.3 and a feeding guide seat 2.2.4; the feeding drive includes a fixed rod and a sliding cylinder slidably connected to the fixed rod, the fixed rod is parallel to the limit rod 2.1.4, the fixed rod is fixed in the frame I 2.1, the two upper guide wheels 2.2.1 are symmetrically installed on both sides of the sliding cylinder, and the two lower guide wheels 2.2.2 are symmetrically installed on both sides of the sliding cylinder. The upper guide wheel 2.2.1 and the lower guide wheel 2.2.2 on the same side are connected by the connecting suspension 2.2.3; the feeding guide seat 2.2.4 is fixed on the two connecting suspensions and is provided with a limiting hole, through which the limiting rod 2.1.4 passes; the feeding guide seat 2.2.4 is installed with a drilling mechanism I and an anchoring mechanism, which realizes feeding as the sliding cylinder in the feeding drive moves upward and realizes resetting as the sliding cylinder in the feeding drive descends.

[0062] The above-mentioned feeding mechanism 2.2 also includes a swing assembly 2.2.5, which includes a swing ear seat 2.2.5.1, a swing beam 2.2.5.2, a swing pin 2.2.5.3, and a fixed plate 2.2.5.4; the swing ear seat 2.2.5.1 is provided with mutually perpendicular connecting holes I and II; the swing beam 2.2.5.2 is located between the connecting suspensions 2.2.3 on both sides, and a pin hole is provided in the middle position, and the two ends are inserted into the connecting hole I of the swing ear seats 2.2.5.1 on both sides to realize the connection between the swing beam 2.2.5.2 and the swing ear seat 2.2.5.1. The swing pin 2.2.5.2 passes through the pin hole of the swing beam 2.2.5.2, and fixed plates 2.2.5.4 are installed at both ends. The fixed plates 2.2.5.4 on both sides are connected as a whole by connecting parts (such as bolts) and fixed to the frame I 2.1 to achieve relative swing between the swing beam 2.2.5.2 and the frame I 2.1. The fixed plate 2.2.5.4 can prevent the swing beam 2.2.5.2 from falling out; the connecting suspension 2.2.3 passes through the connecting hole II corresponding to the swing ear seat 2.2.5.1 to achieve uniform force on both sides and improve the service life of the connecting suspension 2.2.3.

[0063] In order to prevent the connection suspension 2.2.3 from becoming loose during use and failing to function properly, the feed mechanism 2.2 also includes a suspension tensioning assembly; the suspension tensioning assembly cooperates with the upper guide wheel 2.2.1 or the lower guide wheel 2.2.2, and includes a tensioning sleeve 2.2.6.1, a tensioning fork rod 2.2.6.2, a tensioning spring 2.2.6.3, and a tensioning nut 2.2.6.4; the tensioning sleeve 2.2.6.1 is fixed to the sliding cylinder of the feed drive member; the tensioning fork rod 2.2.6.2 passes through the tensioning sleeve 2.2.6.1. .2.6.1, a wheel seat is provided at the top end to connect with the upper guide wheel 2.2.1 or a wheel seat is provided at the bottom end to connect with the lower guide wheel 2.2.2, and an external thread is provided on the surface; the tensioning spring 2.2.6.3 is sleeved on the tensioning fork rod 2.2.6.2, and the two ends are respectively connected with the tensioning sleeve 2.2.6.1 and the wheel seat; the tensioning nut 2.2.6.4 is sleeved on the tensioning fork rod 2.2.6.2, and the tensioning nut 2.2.6.4 and the tensioning spring 2.2.6.3 are located on both sides of the tensioning sleeve 2.2.6.1. The tensioning nut 2.2.6.4 can adjust the tensioning force at different positions on the tensioning fork rod 2.2.6.2. The guide wheel is wrapped around the connecting suspension 2.2.3, which can achieve elastic tensioning of the connecting suspension 2.2.3. At the same time, the tensioning spring 2.2.6.3 can absorb impact energy, thereby improving the service life of the connecting suspension 2.2.3 and the reliability of the multi-cycle anchor drilling rig 2.

[0064] The feed mechanism 2.2 also includes a feed displacement sensor 2.2.7 and a magnetic plate 2.2.8. Feed displacement sensor 2.2.7 is parallel to the feed drive, with its top end connected to the support top plate 2.1.1. Magnetic plate 2.2.8 is mounted on the feed guide seat 2.2.4. Magnetic plate 2.2.8 and feed displacement sensor 2.2.7 interact to measure the displacement and speed of drilling mechanism I and anchoring mechanism in real time. In this embodiment, the feed drive is a feed cylinder 2.2.9, which adopts a single-head structure. The bottom end of the fixed rod is connected to the support bottom plate 2.1.2, saving cost and space while ensuring reliability.

[0065] The drilling mechanism I includes a drill box I 2.3.1 and a drill rod I 2.3.2.

[0066] The anchoring mechanism includes an anchor box 2.4.1 and an anchor rod 2.4.2.

[0067] The drilling and anchor box switching mechanism 2.5 includes a drilling and anchor box switching guide plate 2.5.1 and a drilling and anchor box switching drive member; multiple drilling and anchor box switching guide plates 2.5.1 are arranged side by side, all connected to the feed guide seat 2.2.4, parallel to the support vertical plate 2.1.3, and slidingly connected to the drilling box I 2.3.1 and the anchor box 2.4.1; the drilling and anchor box switching drive member drives the drilling box I 2.3.1 and the anchor box 2.4.1 to slide along the drilling and anchor box switching guide plate 2.5.1.

[0068] The above-mentioned drilling and anchor box switching mechanism 2.5 also includes a drilling and anchor box switching track 2.5.2, a drilling box shifting block 2.5.3, an anchor box shifting block 2.5.4 and a switching displacement sensor; three drilling and anchor box switching guide plates 2.5.1 are arranged side by side, the middle drilling and anchor box switching guide plate 2.5.1 is a working position, and the drilling and anchor box switching guide plates 2.5.1 on both sides are waiting positions. The middle drilling and anchor box switching guide plate 2.5.1 is provided with a locking mechanism for locking the drilling box I 2.3.1 or the anchor box 2. The locking piece 2.5.1.1 of 4.1 is used for positioning; the middle drill-anchor box switching guide plate 2.5.1 and the feed guide seat 2.2.4 can adopt an integrated design or a split design, and the figure shows an integrated design; the drill box I 2.3.1 is provided with a drill box switching groove 2.3.3; the anchor box 2.4.1 is provided with an anchor box switching groove 2.4.3; the drill-anchor box switching drive member includes a fixed rod and a sliding cylinder slidably connected to the fixed rod, and both ends of the fixed rod are fixed to On the lower guard arm 2.6.1 of the anchor conveying mechanism 2.6, the sliding cylinder is slidably connected to the fixed rod, and the sliding cylinder is fixed with the drill box shift block 2.5.3 and the anchor box shift block 2.5.4; in this embodiment, the drilling and anchor box switching drive member is the drilling and anchor box switching cylinder 2.5.5, and the two ends of the fixed rod are fixed on the drilling and anchor box switching cylinder ear seat 2.5.6 of the lower guard arm 2.6.1; the drilling and anchor box switching track 2.5.2 is parallel to the drilling and anchor box switching cylinder 2.5.5, and both ends are fixed on the lower guard arm 2.6.1. On the guard arm 2.6.1; the drill box shift block 2.5.3 is provided with a groove and a protrusion, the groove is slidably matched with the drill-anchor box switching track 2.5.2, and the protrusion is used to be inserted into the drill box switching groove 2.3.3; the anchor box shift block 2.5.4 is provided with a groove and a protrusion, the groove is slidably matched with the drill-anchor box switching track 2.5.2, and the protrusion is used to be inserted into the anchor box switching groove 2.4.3; the switching displacement sensor is used to measure the displacement of the drill box I 2.3.1 and the anchor box 2.4.1.

[0069] The anchor rod conveying mechanism 2.6 includes an upper guard arm 2.6.1, a lower guard arm 2.6.2, an anchor rod mounting seat 2.6.3, an anchor rod mounting seat driving member, an anchor rod limiting roller 2.6.4, an anchor rod manipulator 2.6.5 and a manipulator mounting frame 2.6.6; both ends of the upper guard arm 2.6.1 are connected to the frame I 2.1; both ends of the lower guard arm 2.6.2 are connected to the frame I 2.1; two sets of anchor rod mounting seats 2.6.3 are slidably mounted on the upper guard arm 2.6.1 and the lower guard arm 2.6.2 respectively, and the planes where the two sets of anchor rod mounting seats 2.6.3 are located are parallel to the drilling and anchor box switching guide plate 2.5.1 and are located on both sides of the drilling box I 2.3.1 and the anchor box 2.4.1; each set of anchor rod mounting seats 2.6.3 is installed with Multiple groups of anchor rod limiting rollers 2.6.4, the number of anchor rod limiting rollers 2.6.4 is the number of anchor rods 2.4.2 that can be loaded at one time. The figure shows 3 anchor rods 2.4.2, which can also be expanded to 4 to 8; each group of anchor rod mounting seats 2.6.3 is driven by the corresponding anchor rod mounting seat driving member to slide along the guard arm, and the sliding direction is the same as the sliding direction of the drill box I 2.3.1 and the anchor box 2.4.1; the two ends of the manipulator mounting frame 2.6.6 are respectively connected to the upper guard arm 2.6.1 and the lower guard arm 2.6.2; the anchor rod manipulator 2.6.5 is installed on the manipulator mounting frame 2.6.6, and is used to extend toward the direction of the anchor rod mounting seat 2.6.3 and grab the anchor rod 2.4.2 clamped by the anchor rod limiting rollers 2.6.4.

[0070] The above-mentioned anchor rod conveying mechanism 2.6 also includes an anchor rod mounting seat sliding track and a manipulator driving component; the upper guard arm 2.6.1 and the lower guard arm 2.6.2 are both provided with anchor rod mounting seat sliding tracks; the anchor rod mounting seat 2.6.3 is slidingly connected to the anchor rod mounting seat sliding track; the manipulator driving component is used to drive the anchor rod manipulator 2.6.5 to extend in the direction of the anchor rod mounting seat 2.6.3 and drive the anchor rod manipulator 2.6.5 to reset.

[0071] In the above-mentioned anchor rod conveying mechanism 2.6, the anchor rod mounting seat driving component is the anchor rod mounting seat pushing cylinder 2.6.7; the cylinder body of the anchor rod mounting seat pushing cylinder 2.6.7 is connected to the anchor rod mounting seat pushing cylinder ear seat on the guard arm, and the rod body is connected to the anchor rod mounting seat 2.6.3; the manipulator driving component is the manipulator thrust cylinder 2.6.8, and its two ends are respectively connected to the anchor rod manipulator 2.6.5 and the manipulator mounting frame 2.6.6; the anchor rod manipulator 2.6.5 is installed with an anchor rod limit block 2.6.9 to ensure that the anchor rod manipulator 2.6.5 can take the anchor rod 2.4.2 every time it clamps.

[0072] When the above-mentioned anchor rod conveying mechanism 2.6 is working, the manipulator propulsion cylinder 2.6.8 pushes out the anchor rod manipulator 2.6.5, grabs the first anchor rod and places it in the anchor box 2.4.1. After completing the anchoring of the first anchor rod, the anchor rod mounting seat pushing cylinder 2.6.7 extends to push the anchor rod mounting seat 2.6.3 along the anchor rod mounting seat sliding track until the second anchor rod reaches the working position. The anchor rod manipulator 2.6.5 repeats the grabbing process to complete the automatic conveying action of the anchor rod 2.4.2.

[0073] The anchor rod conveying mechanism 2.6 adopts the transportation mode of directly pushing the anchor rod 2.4.2 by the oil cylinder, which improves the reliability. The use of the extending manipulator reduces the front and rear dimensions of the drilling rig, reduces the empty top distance, and expands the scope of application.

[0074] The medicine roll conveying mechanism 2.7 includes a centering frame 2.7.1, a centering frame drive, a guide tube 2.7.2, a guide groove 2.7.3, a charging tube rack 2.7.4, a clamping groove 2.7.5, a charging tube rack drive, a charging tube 2.7.6, a lifting block 2.7.7, a lifting block drive, and a medicine roll filling assembly; the centering frame 2.7.1 is slidably connected to the upper guard arm 2.6.1 and is driven by the centering frame drive to slide along the upper guard arm 2.6.1. The guide tube 2.7.2 is installed on the centering frame 2.7.1 and is parallel to the anchor rod 2.4.2. The guide groove 2.7.3 is set on the centering frame 2.7.1, perpendicular to the anchor rod mounting seat 2.6.3, and is located below the guide tube 2.7.2. A notch is set at the position corresponding to the guide tube 2.7.2. The charge tube rack 2.7.4 includes a fixed frame and a sliding frame. The fixed frame is installed on the centering frame 2.7.1. .7.1, the sliding frame is slidably connected to the fixed frame, and the sliding frame is driven by the charging tube rack driving member to slide along the guide groove 2.7.3; multiple clamping grooves 2.7.5 are set on the sliding frame, arranged along the guide groove 2.7.3, and each clamping groove 2.7.5 clamps a charging tube 2.7.6, and the bottom end of the charging tube 2.7.6 is located in the guide groove 2.7.3; in this embodiment, the charging tube rack 2.7.4 is equipped with three charging tubes 2 .7.6, can complete the automatic transportation of 3 medicine rolls in sequence, arrange multiple medicine rolls for storage and loading in a limited space, and improve space utilization; the lifting block 2.7.7 is driven by the lifting block driving member to move between the gap of the guide groove 2.7.3 and the guide tube 2.7.2, and is provided with a medicine delivery hole I; the medicine roll filling assembly is connected to the lifting block 2.7.7, and is used to load the anchor rod solidifying medicine 100 into the drill hole along the charging tube 2.7.6 and the guide tube 2.7.2.

[0075] The above-mentioned medicine roll conveying mechanism 2.7 also includes a guide cylinder 2.7.8 and a drill rod limiting roller 2.7.9; the guide cylinder 2.7.8 includes a guide outer cylinder 2.7.8.1, a guide inner cylinder 2.7.8.2, a centering displacement sensor 2.7.8.3, a centering displacement sensor mounting seat 2.7.8.4, a magnetic ring 2.7.8.5 and a magnetic ring mounting seat 2.7.8.6; the guide outer cylinder 2.7.8.1 and the guide inner cylinder 2.7.8.2 are axially arranged to The guide key 2.7.8.7 is provided to limit circumferential rotation; the guide outer tube 2.7.8.1 is fixed to the upper guard arm 2.6.1, the guide inner tube 2.7.8.2 is connected to the centering frame 2.7.1, and the guide inner tube 2.7.8.2 is driven by the centering frame drive member to extend and retract along the guide outer tube 2.7.8.1; the magnetic ring 2.7.8.5 is installed in the guide inner tube 2.7.8.2; the magnetic ring mounting seat 2.7.8.6 is installed from the end of the guide inner tube 2.7.8.2 Extends into the guide inner cylinder 2.7.8.2 and is connected to the magnetic ring 2.7.8.5; the centering displacement sensor 2.7.8.3 is installed in the guide outer cylinder 2.7.8.1 and is provided with a probe; the centering displacement sensor mounting seat 2.7.8.4 extends from the end of the guide outer cylinder 2.7.8.1 into the guide outer cylinder 2.7.8.1 and is connected to the centering displacement sensor 2.7.8.3; the probe of the centering displacement sensor 2.7.8.3 passes through the magnetic ring 2 .7.8.5 and the hollow part of the magnetic ring mounting base 2.7.8.6; the centering displacement sensor 2.7.8.3 and the magnetic ring 2.7.8.5 cooperate to measure the displacement of the centering frame 2.7.1. The measuring range is greater than the stroke of the guide inner tube 2.7.8.2, which can achieve millimeter-level positioning accuracy and ensure accurate positioning under program control; the drill rod limit roller 2.7.9 is installed on the guide tube 2.7.2 and is used to center and limit the drill rod I 2.3.2 when drilling.

[0076] Installing the centering displacement sensor 2.7.8.3 and the magnetic ring 2.7.8.5 in the guide outer cylinder 2.7.8.1 and the guide inner cylinder 2.7.8.2 can prevent the centering displacement sensor 2.7.8.3 and the magnetic ring 2.7.8.5 from being hit by external heavy objects, saving space and improving reliability.

[0077] In the above-mentioned medicine roll conveying mechanism 2.7, the medicine roll filling assembly adopts a mechanical medicine delivery method to ensure the reliability of medicine delivery, including a fixed seat 2.7.10.1, a clamping seat 2.7.10.2, a connecting screw 2.7.10.3, a clamping spring 2.7.10.4, a clamping nut 2.7.10.5, a flexible cable conveying wheel 2.7.10.6, a flexible cable conveying wheel driving member 2.7.10.7, and a flexible cable 2.7.10.8; a medicine delivery hole II is provided on the fixed seat 2.7.10.1, the fixed seat 2.7.10.1 is connected to the lifting block 2.7.7, and the medicine delivery hole II is aligned with the medicine delivery hole I; the connecting screw 2.7.10.3 passes through the clamping seat 2.7.10.2, and the end is connected to the fixed seat 2.7.10.1; the clamping spring 2.7.10.4 and the clamping nut 2 .7.10.5 is sleeved on the connecting screw 2.7.10.3, and the compression spring 2.7.10.4 is located between the compression seat 2.7.10.2 and the compression nut 2.7.10.5; the fixed seat 2.7.10.1 and the compression seat 2.7.10.2 are both equipped with soft rope conveying wheels 2.7.10.6, and the two sets of soft rope conveying wheels 2.7.10.6 are arranged opposite to each other and driven to rotate by the soft rope conveying wheel driving member 2.7.10.7; the soft rope 2.7.10.8 passes through the gap between the two sets of soft rope conveying wheels 2.7.10.6, the medicine delivery hole II and the medicine delivery hole I, and is tightened by the soft rope conveying wheel 2.7.10.6. The pressure of the soft rope conveying wheel 2.7.10.6 on the soft rope 2.7.10.8 is adjusted by adjusting the position of the compression nut 2.7.10.5. After the anchor bolt solidifying agent 100 is loaded into the charging tube 2.7.6, the flexible cable conveying wheel driving member 2.7.10.7 drives the flexible cable conveying wheel 2.7.10.6 to rotate, which can drive the flexible cable 2.7.10.8 to rise and fall, and the anchor bolt solidifying agent 100 can be loaded into the drill hole when it rises.

[0078] In the above-mentioned medicine roll conveying mechanism 2.7, the centering frame driving component is the centering frame pushing cylinder 2.7.11, and its two ends are respectively connected to the guide outer cylinder 2.7.8.1 and the guide inner cylinder 2.7.8.2; the charging tube rack driving component is the charging tube rack telescopic cylinder 2.7.12, and its two ends are respectively connected to the fixed frame and the sliding frame; the lifting block driving component is the lifting block telescopic cylinder 2.7.13, and the cylinder body is installed on the guide tube 2.7.2 through the lifting block telescopic cylinder seat 2.7.14, and the rod body is connected to the lifting block 2.7.7; a medicine delivery displacement sensor is installed in the lifting block telescopic cylinder 2.7.13, which is used to measure the displacement of the anchor rod solidifying medicine 100.

[0079] The multi-cycle anchor drilling rig 2 realizes fully automatic operation of anchor support operations such as drilling, loading of explosive rolls, installation of anchor rods, and tightening of anchor rods, and has the ability to complete the support of multiple anchor rods at one time, further improving the efficiency of anchor anchoring work.

[0080] The anchor drilling rig attitude positioning control device 3 is connected to the movable chassis 1 and the multi-cycle anchor drilling rig 2, and is used to adjust the rotation, swing, and leveling attitudes of the multi-cycle anchor drilling rig 2 to meet the requirements of multi-area and multi-point anchoring of the tunnel anchor, including a connecting seat 3.1, a connecting seat rotating member, an attitude positioning telescopic arm, an attitude positioning telescopic arm driving member, a leveling seat 3.2, a leveling seat driving member, a swing seat driving member I, a swing seat I 3.3, a swing seat driving member II, a swing seat II 3.4, a lifting frame 3.5, a lifting guide mechanism 3.6 and a lifting driving member; the connecting seat 3.1 is connected to the movable chassis 1 through the connecting seat rotating member; the two ends of the attitude positioning telescopic arm are rotationally connected to the connecting seat 3.1 and the leveling seat 3.2 respectively; the attitude positioning telescopic arm is driven by the attitude positioning telescopic arm driving member The connecting seat 3.1 is swung up and down to realize the coarse adjustment of the position of the multi-cycle anchor drilling rig 2; the leveling seat 3.2 is driven by the leveling seat driving member to swing the relative attitude positioning telescopic arm up and down; the fixed cylinder of the swing seat driving member I is fixed on the leveling seat 3.2, and the rotating shaft is connected to the swing seat I3.3; the swing seat driving member II is perpendicular to the swing seat driving member I, the fixed cylinder is fixed on the swing seat I3.3, and the rotating shaft is connected to the swing seat II3.4; the lifting frame 3.5 is slidably connected to the swing seat II through the lifting guide mechanism, and is driven to rise and fall by the lifting driving member; the leveling seat driving member, the swing seat driving member I, and the swing seat driving member II realize the fine adjustment of the position of the multi-cycle anchor drilling rig 2; the frame I2.1 is fixed on the lifting frame 3.5, and the stable top connection of the frame I2.1 is achieved by the lifting driving member.

[0081] In the above-mentioned anchor drilling rig attitude positioning control device 3, the connecting seat rotating part is a connecting seat rotating reducer; the attitude positioning telescopic arm includes a slidingly connected attitude positioning telescopic arm outer cylinder 3.7 and an attitude positioning telescopic arm inner cylinder 3.8, and a posture positioning telescopic arm telescopic oil cylinder for driving the attitude positioning telescopic arm inner cylinder 3.8 to extend and retract; the attitude positioning telescopic arm driving part is a posture positioning telescopic arm swing oil cylinder 3.9, the two ends of which are respectively hinged to the connecting seat 3.1 and the attitude positioning telescopic arm; the leveling seat driving part is a leveling oil cylinder 3.10, the two ends of which are respectively hinged to the attitude positioning telescopic arm and the leveling seat 3.2; the swing seat driving part I is a swing seat rotating oil cylinder I 3.11, the swing seat driving part II is a swing seat rotating oil cylinder II 3.12, and the lifting driving part is a lifting oil cylinder 3.13.

[0082] The anchor cable support device 4 includes an anchor cable drill and an anchor cable single-unit operating track 4.1; the anchor cable single-unit operating track 4.1 includes a fixed plate 4.1.1, a flip plate 4.1.2, a flip mechanism, a sliding plate 4.1.3 and a traction mechanism; the fixed plate 4.1.1 is fixed on the movable chassis 1, and its two ends are respectively rotatably connected to the flip plate 4.1.2, and the upper surface is slidably connected to the sliding plate 4.1.3; the flip plate 4.1.2 is driven by the flip mechanism to unfold to be flush with the fixed plate 4.1.1 or fold back to the fixed plate 4.1.1; the sliding plate 4.1.3 is pulled by the traction mechanism to slide along the fixed plate 4.1.3, and the sliding direction is perpendicular to the driving direction of the movable chassis 1; the anchor cable drill is installed on the sliding plate 4.1.3 to realize automatic control of the position of the anchor cable drill to complete the row anchoring operation of the anchor cables. The anchor cable support device 4 adopts a track automatic drive design, which realizes the function of automatic anchoring of the anchor cable, expands the automatic support range of the anchor cable, and improves the efficiency of anchor cable anchoring.

[0083] In the above-mentioned anchor cable support device 4, the flipping mechanism is a flipping cylinder 4.1.4, and its two ends are respectively connected to the flipping cylinder seat 4.1.9 on the fixed plate 4.1.1 and the flipping plate 4.1.2; the traction mechanism includes a motor 4.1.5, a sprocket 4.1.6 and a traction chain 4.1.7; the flip plates 4.1.2 on both sides are respectively installed with motors 4.1.5, and the output shaft of the motor 4.1.5 is installed with a sprocket 4.1.6, and the traction chain 4.1.7 is engaged with the sprocket 4.1.6; the motor 4.1.5 is equipped with an angle encoder to measure the position of the anchor cable drilling rig within the range of the anchor cable single operating track 4.1; the anchor cable single operating track 4.1 also includes a track pressure plate 4.1.8; two sets of track pressure plates 4.1.8 are fixed on the fixed plate 4.1.1 to form the sliding space of the sliding plate 4.1.3; the sliding plate 4.1.3 is fixedly connected to the traction chain 4.1.7, and both sides are embedded in the sliding space.

[0084] In the above-mentioned anchor cable support device 4, the anchor cable drilling rig includes a frame II 4.2.1, a drill rod magazine 4.2.2, a drill rod magazine drive, a drilling mechanism II, a drill box drive and a drill rod manipulator 4.2.3; the frame II 4.2.1 is connected to the sliding plate 4.1.3; the drill rod magazine 4.2.2 is rotatably mounted on the frame II 4.2.1 and is driven to rotate by the drill rod magazine drive, and the drill rod magazine 4.2.2 is switched between the waiting position and the working position through the rotational movement; the drill rod magazine 4.2.2 is a rotating tower structure, including a rotatably arranged drill rod clamping plate and a drill rod clamping plate drive for driving the drill rod clamping plate to rotate. When in the working position, the drill rod clamping plate can continuously supply multiple drill rods II 4.2.5 through its own rotation; the rotation centerline of the drill rod clamping plate is offset from the rotation centerline of the drill rod magazine 4.2.2; the drilling mechanism II includes a drill box II 4.2.4 and a drill rod II 4.2.5; the drill box II 4.2.4 is slidably mounted on the frame II 4.2.1 and driven up and down by the drill box drive unit; the drill rod manipulator 4.2.3 includes a wrist arm and a clamping member mounted on the wrist arm; the wrist arm is rotatably mounted on the frame II 4.2.1, and through rotation, the clamping member extends toward the drill rod magazine 4.2.2 and grabs the drill rod II 4.2.5 clamped by the drill rod clamping plate.

[0085] Anchor cables in roadways and tunnels are generally long. Therefore, to achieve automatic anchoring, drilling prior to cable delivery typically requires connecting drill rod II 4.2.5 to meet the required drilling depth for anchoring. Furthermore, after anchoring is complete, the connected drill rod II 4.2.5 must be disconnected and reassembled for subsequent reuse. The clamping device tightens and loosens the drill rod II 4.2.5, and the rotation of the wrist arm allows delivery and removal of the drill rod II 4.2.5. The drill rod manipulator 4.2.3 delivers and removes the drill rod to the drill box II 4.2.4. The anchor cable support device 4 enables automatic delivery and connection of the drill rod before anchoring operations, as well as automatic removal of the drill rod after anchoring is complete. It also features the automatic translational movement of the anchor drill rig required for row anchoring, significantly improving the efficiency of anchoring.

[0086] The temporary support device 5 is located in the middle of the anchor drilling rig attitude positioning control device 3, which can complete the temporary support for the forward exploration of the unsupported area and improve the safety of the operators. It includes a temporary support lifting arm, a telescopic arm rotating part, a temporary support telescopic arm, a temporary support support plate 5.1 and a support plate driving part; the bottom end of the temporary support lifting arm is connected to the movable chassis 1, and the required height for the temporary support of the tunnel is met by lifting; the temporary support telescopic arm is connected to the temporary support lifting arm through the telescopic arm rotating part; the temporary support telescopic arm meets the required distance for temporary forward exploration and temporary support by telescoping, and expands the maximum support range without moving the machine; the angle of the temporary support telescopic arm can be adjusted by the telescopic arm rotating part to make a rough adjustment according to the angle of the tunnel roof; the temporary support support plate 5.1 is rotatably connected to the temporary support telescopic arm, and is driven by the support plate driving part to swing up and down relative to the temporary support telescopic arm to fine-tune the angle of the temporary support support plate 5.1 to solve the problem that the tunnel roof is uneven and difficult to temporarily support. The temporary support device 5 can also be modified to carry a mesh laying machine steel belt, and can complete the automatic mesh laying and steel belt laying functions according to needs.

[0087] In the above-mentioned temporary support device 5, the temporary support lifting arm includes a temporary support lifting arm outer cylinder 5.2 and a temporary support lifting arm inner cylinder 5.3 that are slidably connected, and a temporary support lifting arm lifting cylinder that drives the temporary support lifting arm inner cylinder 5.3 to extend and retract; the telescopic arm rotating part is a telescopic arm rotation reducer 5.4; the temporary support telescopic arm includes a temporary support telescopic arm outer cylinder 5.5 and a temporary support telescopic arm inner cylinder 5.6 that are slidably connected, and a temporary support telescopic arm telescopic cylinder that drives the temporary support telescopic arm inner cylinder 5.6 to extend and retract; the support plate driving part is the support plate rotating cylinder 5.7.

[0088] The electrical system includes key electrical equipment, including the oil pump motor, electrical control box, control system, sensors, and remote control signal transmitters and receivers. The oil pump motor is responsible for the overall platform's motor power load, enabling the hydraulic system's functions. The electrical control box is equipped with a transformer, programmable controller, signal acquisition, conditioning, and conversion module, protection module, power conversion module, and drive module. The control system, consisting of a CPU and input / output modules, is the core of the automated anchor support platform, responsible for collecting, analyzing, and processing all signals. Sensors include level sensors, temperature transmitters, pressure sensors, speed sensors, and displacement sensors. They collect key parameters such as the platform's hydraulic oil level in the tank, oil temperature, pressure values ​​at various points in the hydraulic system, travel speed, and displacement of components within the anchor drilling rig's attitude and positioning control unit. These parameters are then converted and transmitted to the control system, which is then displayed by the host computer. The remote control signal transmitter and receiver connect to a wireless remote control system, enabling full-process anchor support automation. This allows the operator to visually set anchor drilling process parameters, improving work efficiency. Furthermore, the system not only executes operator commands but also provides real-time dynamic feedback on system status, providing data logging, querying, analysis, fault diagnosis, and early warning capabilities.

[0089] The hydraulic system primarily provides functions such as travel, drilling rig positioning, anchor bolt and cable anchoring, and temporary support. The hydraulic system is an open variable system, consisting of a pump station, motor, cylinder, multi-way valve, and control valve to perform these hydraulic functions. The movement of each platform is controlled by a CAN bus solenoid valve group.

[0090] The working process of the above-mentioned automated anchoring platform with combined support of anchor rods and anchor cables is described as follows.

[0091] After the overall platform is moved to the support working area through the movable chassis 1, the electrical system starts the temporary support program, and the temporary support device 5 starts to work. According to the predetermined tunnel height parameters, the temporary support lifting arm is adjusted to the required support height, and the temporary support telescopic arm is adjusted to the required support distance. The telescopic arm rotary reducer 5.4 drives the temporary support telescopic arm to swing, and the angle is roughly adjusted according to the inclination of the tunnel roof. After the rough adjustment is made until the temporary support support plate 5.1 contacts the tunnel roof, the support plate rotating cylinder 5.7 rotates to drive the temporary support support plate 5.1 to continue to fine-tune the angle until the temporary support support plate 5.1 is in close contact with the tunnel roof, so as to achieve the desired temporary support effect.

[0092] The electrical system adjusts the posture of the multi-cycle anchor drill rig 2 before anchoring through the anchor drill rig posture positioning control device 3. According to the required support position, the connecting seat 3.1 rotates to drive the multi-cycle anchor drill rig 2 to swing outward to achieve adjustment in the width direction of the tunnel. The posture positioning telescopic arm swing cylinder 3.8 is telescoped to drive the multi-cycle anchor drill rig 2 to rise and fall to achieve adjustment in the height direction of the tunnel. The posture positioning telescopic arm is telescoped to achieve adjustment of the multi-cycle anchor drill rig 2 in the depth direction of the tunnel, so as to position and adjust the multi-cycle anchor drill rig 2 in three dimensions to meet the anchoring requirements of random points in the tunnel.

[0093] After the multi-cycle anchor drilling rig 2 is positioned, the operating frame I 2.1 is connected to the top or the side to ensure that the top cone 2.1.5 is inserted securely. The status of all mechanisms of the multi-cycle anchor drilling rig 2 is in the initial position, the drill box I 2.3.1 is in the middle working position, the anchor limit roller 2.6.4 is filled with anchor rods 2.4.2, and the charging tube 2.7.6 is filled with anchor solidifying agent 100.

[0094] The electrical system starts the automatic drilling program. After the drill box I 2.3.1 drives the drill rod I 2.3.2 to rotate, the sliding tube of the feed cylinder 2.2.9 rises, the drill box switching slot 2.3.3 disengages the drill box shift block 2.5.3, and drives the feed guide seat 2.2.4 to rise through the connecting suspension 2.2.3, thereby driving the drill box I 2.3.1 and the drill rod I 2.3.2 to rise. At the same time, under the push of the centering frame pushing cylinder 2.7.11, the drill rod I 2.3.2 is stuck in the drill rod limiting roller 2.7.9, completing the centering operation of the drill rod I 2.3.2. The drill box I 2.3.1 continues to feed and rise under the drive of the feed cylinder 2.2.9. During the drilling process, the suspension tensioning assembly and the swing assembly 2.2.5 cooperate to reduce the connection suspension 2.2.3. Under the force, when feeding to the preset position, the drill rod limit roller 2.7.9 retracts under the push of the centering frame pushing cylinder 2.7.11 to avoid affecting the continued feeding movement of the drilling. The feed displacement sensor 2.2.7 monitors the displacement of the feed cylinder 2.2.9. When the drill bit of drill rod I 2.3.2 drills the hole to the theoretical depth at the theoretical position, the feed cylinder 2.2.9 drives the drill box I 2.3.1 and drill rod I 2.3.2 to descend. The feed displacement sensor 2.2.7 monitors the displacement of the feed cylinder 2.2.9. When feeding to the preset position, the centering frame pushing cylinder 2.7.11 pushes the drill rod limit roller 2.7.9 to clamp the drill rod I 2.3.2 therein. The drill rod continues to descend until the drill box I 2.3.1 is reset, and the automatic drilling program is completed.

[0095] The electrical system activates the automatic charging process. Centering frame push cylinder 2.7.11 pushes centering frame 2.7.1 along upper guard arm 2.6.1. Centering frame 2.7.1's displacement is monitored by centering displacement sensor 2.7.8.3 and magnetic ring 2.7.8.5 in the inner and outer guide tubes. When a charge tube 2.7.6 on charge tube rack 2.7.4 is directly below guide tube 2.7.2, centering frame 2.7.1 stops sliding. Lifting block telescopic cylinder 2.7.13 retracts, driving lifting block 2.7.7 to guide charge tube 2.7.6 into guide tube 2.7.2. The cable conveyor wheel drive element 2.7.10.7 then drives cable conveyor wheel 2.7.10. 6 rotates forward, and the flexible rope conveying wheels 2.7.10.6 on both sides drive the flexible ropes 2.7.10.8 upward through friction, pushing the anchor rod solidifying charge 100 into the borehole along the charging tube 2.7.6 and the guide tube 2.7.2; the lifting block telescopic cylinder 2.7.13 extends, and the charging tube 2.7.6 is reset. The flexible rope conveying wheel driving member 2.7.10.7 drives the flexible rope conveying wheel 2.7.10.6 to rotate in the opposite direction, driving the flexible rope 2.7.10.8 to reset. Under the push of the charging tube rack telescopic cylinder 2.7.12, the next charging tube 2.7.6 is pushed to the bottom of the guide tube 2.7.2, and the above automatic drug delivery cycle is repeated to complete the automatic charging program.

[0096] The electrical system starts the automatic switching program. At this time, the drill box I 2.3.1 is in the middle working position, and the shift block is inserted in the switching slot. Preparation work is required for the next step of automatic anchoring. The anchor box 2.4.1 is switched to the middle working position to carry out the anchor rod 2.4.2 hole anchoring process. The drill-anchor box switching cylinder 2.5.5 starts to drive the drill box I 2.3.1 and anchor box 2.4.1 to move, switching the drill box I 2.3.1 to the waiting position, and the anchor box 2.4.1 is moved to the middle working position and locked.

[0097] The electrical system starts the automatic anchor delivery and tightening program. The anchor mounting seat push cylinder 2.6.7 pushes the anchor mounting seat 2.6.3 to move. After the first anchor on the anchor mounting seat 2.6.3 reaches the position of the anchor limit block 2.6.9, the anchor manipulator 2.6.5 extends in the direction of the anchor mounting seat 2.6.3 and grabs the first anchor. The manipulator propulsion cylinder 2.6.8 extends to push the anchor manipulator 2.6.5 and the first anchor out. When the axis of the first anchor is aligned with the axis of the anchor box 2.4.1, the anchor box 2.4.1 rises and installs the first anchor into the anchor seat hole of the anchor box 2.4.1. Then the anchor manipulator 2.6.5 opens and retracts, and the feed cylinder 2.2 .9's sliding cylinder rises, and drives the feed guide seat 2.2.4 to rise through the connection suspension 2.2.3, thereby driving the anchor box 2.4.1 and the anchor rod 2.4.2 to rise. The pressure sensor senses that the tray on the anchor rod 2.4.2 reaches the top and the feeding stops. Then the anchor box 2.4.1 drives the anchor rod 2.4.2 to rotate at high speed to stir the anchor solidifying agent 100 in the medicine roll, and waits for the anchor solidifying agent 100 to completely bond the anchor rod 2.4.2 to the drill hole and then tighten it. The sliding cylinder of the feed oil cylinder 2.2.9 drops and resets, and the anchor rod mounting seat push cylinder 2.6.7 continues to move to push the second anchor rod to the middle position for anchor rod supplementation. The above automatic tightening process is repeated until the automatic anchor rod feeding and tightening procedures are completed.

[0098] The electrical system starts the anchor cable support program, the anchor cable single operation track 4.1 is unfolded and enters the working state, the flip cylinder 4.1.4 drives the flip plate 4.1.2 to unfold, the motor 4.1.5 rotates forward and reverse according to the anchor cable anchoring position, and the sliding plate 4.1.3 is dragged to slide in the predetermined track by the traction chain 4.1.7, driving the anchor cable drill rig into the working range, the drill rod magazine 4.2.2 rotates to enter the working position, the wrist arm of the drill rod manipulator 4.2.3 rotates to rotate the clamping part into the working position, and the first drill rod II in the drill rod magazine 4.2.2 is clamped by the clamping part and sent into the drill box II 4.2.4. The drill box II 4.2.4 is driven to rise by the drill box drive part, and at the same time drives the first drill rod II to perform the anchor cable anchoring drilling operation on the tunnel roof. When the first drill rod II is completely drilled into the borehole, the drill box Drill rod holder II 4.2.4 descends to the waiting position, and drill rod magazine 4.2.2 rotates, allowing the second drill rod II to rotate into the working position of drill rod manipulator 4.2.3. The clamping member transfers the second drill rod II into drill box II 4.2.4. Under the grip of the clamping member and the rotation of drill box II 4.2.4, the rod connection operation begins, threadedly connecting the two drill rods. Drill box II 4.2.4, driven by the drill box driver, then rises again, using the second drill rod II for drilling. This cycle continues until the desired drilling depth is reached. After drilling is complete, the clamping member clamps the next drill rod II, and drill box II 4.2.4 rotates to separate it from the previous drill rod II. The clamping member removes the next drill rod II and places it into drill rod magazine 4.2.2. This cycle completes the rod connection process for drill rod II 4.2.5. This rotational motion is automatically controlled by angle feedback provided by an angle encoder. After drilling is complete, anchoring is performed manually or automatically, completing the anchor cable anchoring and support operation. Furthermore, the anchor cable drill rig must be moved across the width of the roadway when anchoring in rows. This embodiment incorporates a sliding plate 4.1.3 driven by a motor 4.1.5, with a traction chain 4.1.7 serving as a transmission mechanism to automatically control the sliding position of the anchor cable drill rig, completing the automated row anchoring process.

[0099] The electrical system starts the automatic reset procedure, and all mechanisms return to their initial positions, waiting for the next working cycle.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automated anchoring platform for combined support of anchor rods and anchor cables, characterized in that: It includes a movable chassis, a multi-cycle anchor drill, an anchor drill attitude positioning control device and an anchor cable support device; The multi-cycle anchor drilling rig includes a frame I, a feeding mechanism, a drilling mechanism I, an anchoring mechanism, a drilling and anchor box switching mechanism, an anchor conveying mechanism and a drug roll conveying mechanism; The frame I includes a supporting top plate, a supporting bottom plate, and supporting vertical plates and limiting rods vertically connected to the supporting top plate and the supporting bottom plate; The feeding mechanism includes a feeding drive, an upper guide wheel, a lower guide wheel, a connecting suspension and a feeding guide seat; The feed drive member includes a fixed rod and a sliding cylinder slidably connected to the fixed rod, the fixed rod is parallel to the limit rod, the fixed rod is fixed in the frame I, two upper guide wheels are symmetrically mounted on both sides of the sliding cylinder, and two lower guide wheels are symmetrically mounted on both sides of the sliding cylinder, and the upper guide wheels and lower guide wheels on the same side are connected by a connecting suspension; The feed guide seat is fixed on two connecting suspensions and is provided with a limit hole, through which the limit rod passes; The drilling mechanism I comprises a drill box I and a drill rod I; The anchoring mechanism includes an anchor box and an anchor rod; The drilling and anchor box switching mechanism includes a drilling and anchor box switching guide plate and a drilling and anchor box switching driving member; Multiple drill and anchor box switching guide plates are arranged side by side, all connected to the feed guide seat, parallel to the support vertical plate, and slidably connected to the drill box I and the anchor box; The drilling and anchor box switching driving member drives the drilling box I and the anchor box to slide along the drilling and anchor box switching guide plate; The anchor rod conveying mechanism includes an upper guard arm, a lower guard arm, an anchor rod mounting seat, an anchor rod mounting seat driving member, an anchor rod limiting roller, an anchor rod manipulator and a manipulator mounting frame; Both ends of the upper guard arm are connected to the frame I; Both ends of the lower guard arm are connected to the frame I; The two sets of anchor rod mounting seats are slidably mounted on the upper guard arm and the lower guard arm respectively. The planes where the two sets of anchor rod mounting seats are located are parallel to the drill-anchor box switching guide plate and are located on both sides of the drill box I and the anchor box. Each set of anchor rod mounting seats is equipped with multiple sets of anchor rod limiting rollers. Each set of anchor rod mounting seats is driven by the corresponding anchor rod mounting seat driving member to slide along the guard arm. The sliding direction is the same as that of the drill box I and the anchor box. The two ends of the manipulator mounting frame are respectively connected to the upper guard arm and the lower guard arm; The anchor rod manipulator is installed on the manipulator mounting frame and is used to extend toward the direction of the anchor rod mounting seat and grab the anchor rod clamped by the anchor rod limiting roller; The medicine roll conveying mechanism includes a centering frame, a centering frame driving member, a guide tube, a guide groove, a charging tube rack, a clamping groove, a charging tube rack driving member, a charging tube, a lifting block, a lifting block driving member, and a medicine roll filling assembly; The centering frame is slidably connected to the upper guard arm and is driven by the centering frame driving member to slide along the upper guard arm, and the sliding direction is the same as the sliding direction of the anchor rod mounting seat; The guide tube is installed on the centering frame and is parallel to the anchor rod; The guide groove is provided on the centering frame, perpendicular to the anchor rod mounting seat, and located below the guide tube, and a notch is provided at a position corresponding to the guide tube; The charge tube rack comprises a fixed frame and a sliding frame, the fixed frame is mounted on the centering frame, the sliding frame is slidably connected to the fixed frame, and the sliding frame is driven by the charge tube rack driving member to slide along the guide groove direction; A plurality of clamping grooves are provided on the sliding frame and arranged along the guide groove. A charge tube is clamped in each clamping groove, and the bottom end of the charge tube is located in the guide groove. The lifting block is driven by the lifting block driving member to move between the notch of the guide groove and the guide tube, and is provided with a medicine delivery hole I; The drug coil filling assembly is connected to the lifting block and is used to load the anchor rod solidifying drug into the drill hole along the drug charging tube and the guide tube; The anchor drilling rig attitude positioning control device is connected to the movable chassis and the multi-cycle anchor drilling rig, and is used to adjust the attitude of the multi-cycle anchor drilling rig; The anchor cable support device includes an anchor cable drilling rig and an anchor cable single-unit operating track; The anchor cable single-unit operating track includes a fixed plate, a flip plate, a flip mechanism, a sliding plate and a traction mechanism; The fixed plate is fixed on the movable chassis, with both ends being rotatably connected to the flip plate, and the upper surface being slidably connected to the sliding plate; The flip plate is driven by the flip mechanism to unfold until it is flush with the fixed plate or fold back toward the fixed plate; The sliding plate is pulled by the traction mechanism to slide along the fixed plate, and the sliding direction is perpendicular to the driving direction of the movable chassis; The cable anchor drill is mounted on a sliding plate.

2. The automated anchoring platform for combined support of anchor rods and anchor cables according to claim 1 is characterized in that: The upper surface of the supporting top plate is provided with a top cone; The feeding mechanism also includes a swing component, a suspension tensioning component, a feeding displacement sensor and a magnetic sheet; The swing assembly includes a swing ear seat, a swing beam, a swing pin, and a fixed plate; The swing ear seat is provided with a connecting hole I and a connecting hole II which are perpendicular to each other; The swing beam is located between the connecting suspensions on both sides, with a pin hole provided in the middle, and both ends inserted into the connecting holes I of the swing ear seats on both sides; The swing pin passes through the pin hole of the swing beam, and fixed plates are installed at both ends. The fixed plates on both sides are connected into one by a connecting piece and fixed to the frame I; The connecting suspension passes through the connecting hole II corresponding to the swing ear seat; The suspension tensioning assembly cooperates with the upper guide wheel or the lower guide wheel, and includes a tensioning sleeve, a tensioning fork rod, a tensioning spring, and a tensioning nut; The tensioning sleeve is fixed on the sliding cylinder of the feed drive member; The tensioning fork rod passes through the tensioning sleeve, and the top end is provided with a wheel seat connected to the upper guide wheel or the bottom end is provided with a wheel seat connected to the lower guide wheel, and the surface is provided with an external thread; The tensioning spring is sleeved on the tensioning fork rod, and its two ends are respectively connected to the tensioning sleeve and the wheel seat; The tensioning nut is sleeved on the tensioning fork rod, and the tensioning nut and the tensioning spring are located on both sides of the tensioning sleeve; The feed displacement sensor is parallel to the feed drive member, and the top end is connected to the supporting top plate; The magnetic sheet is mounted on the feed guide seat; The magnetic sheet and the feed displacement sensor sense each other to measure the displacement and speed of the drilling mechanism I and the anchoring mechanism.

3. The automated anchoring platform for combined support of anchor rods and anchor cables according to claim 1 is characterized in that: The drilling and anchoring box switching mechanism also includes a drilling and anchoring box switching track, a drilling box shifting block, an anchor box shifting block and a switching displacement sensor; Three drill and anchor box switching guide plates are arranged side by side. The middle drill and anchor box switching guide plate is the working position, and the drill and anchor box switching guide plates on both sides are waiting positions. The middle drill and anchor box switching guide plate is provided with a locking piece for locking the drill box I or the anchor box; Drill box I is provided with a drill box switching slot; An anchor box switching slot is provided on the anchor box; The drill and anchor box switching drive member includes a fixed rod and a sliding cylinder slidably connected to the fixed rod. Both ends of the fixed rod are fixed on the lower guard arm. The sliding cylinder is slidably connected to the fixed rod. The drill box shift block and the anchor box shift block are fixed on the sliding cylinder. The drilling and anchor box switching track is parallel to the drilling and anchor box switching driving member, and both ends are fixed on the lower guard arm; The drill box shift block is provided with a groove and a protrusion, the groove is slidably matched with the drill anchor box switching track, and the protrusion is used to be inserted into the drill box switching slot; The anchor box shift block is provided with a groove and a protrusion, the groove is slidably matched with the drilling anchor box switching track, and the protrusion is used to be inserted into the anchor box switching groove; The switching displacement sensor is used to measure the displacement of the drill box I and the anchor box.

4. The automated anchoring platform for combined support of anchor rods and anchor cables according to claim 1 is characterized in that: The anchor rod conveying mechanism also includes an anchor rod mounting seat sliding track and a manipulator driving member; Anchor rod mounting seat sliding tracks are provided on both the upper guard arm and the lower guard arm; The anchor rod mounting seat is slidably connected to the anchor rod mounting seat sliding track; The anchor rod manipulator is equipped with an anchor rod limiting block; The manipulator driving component is used to drive the anchor rod manipulator to extend toward the direction of the anchor rod mounting seat and to drive the anchor rod manipulator to reset.

5. The automated anchoring platform for combined support of anchor rods and anchor cables according to claim 1 is characterized in that: The medicine roll conveying mechanism also includes a guide cylinder and a drill rod limiting roller; The guide cylinder includes a guide outer cylinder, a guide inner cylinder, a centering displacement sensor and a magnetic ring; The guide outer cylinder is fixed on the upper guard arm, the guide inner cylinder is connected to the centering frame, and the guide inner cylinder is driven by the centering frame driving member to extend and retract along the guide outer cylinder; The magnetic ring is installed in the guide inner cylinder; The centering displacement sensor is installed in the guide outer cylinder and is provided with a probe, which passes through the magnetic ring; The centering displacement sensor and the magnetic ring cooperate to measure the displacement of the centering frame, and the measuring range is greater than the stroke of the guide inner cylinder; The drill rod limiting roller is installed on the guide tube and is used to center and limit the drill rod I during drilling; The lifting block driving member is equipped with a medicine delivery displacement sensor for measuring the displacement of the anchor rod solidifying medicine.

6. The automated anchoring platform for combined support of anchor rods and anchor cables according to claim 1 or 5, characterized in that: The medicine roll filling assembly includes a fixing seat, a pressing seat, a connecting screw, a pressing spring, a pressing nut, a flexible cable conveying wheel, a flexible cable conveying wheel driving member, and a flexible cable; The fixing seat is provided with a medicine feeding hole II, the fixing seat is connected to the lifting block, and the medicine feeding hole II is aligned with the medicine feeding hole I; The connecting screw passes through the pressing seat, and the end portion is connected to the fixing seat; The compression spring and the compression nut are sleeved on the connecting screw, and the compression spring is located between the compression seat and the compression nut; The fixing seat and the pressing seat are both equipped with flexible cable conveying wheels, and the two sets of flexible cable conveying wheels are arranged opposite to each other and driven to rotate by the flexible cable conveying wheel driving member; The flexible rope passes through the gap between the two groups of flexible rope conveying wheels, the medicine delivery hole II, and the medicine delivery hole I, and is pressed tightly by the flexible rope conveying wheels.

7. The automated anchoring platform for combined support of anchor rods and anchor cables according to claim 1 is characterized in that: The anchor drilling rig includes a frame II, a drill rod magazine, a drill rod magazine drive, a drilling mechanism II, a drill box drive and a drill rod manipulator; The frame II is connected to the sliding plate; The drill rod magazine is rotatably mounted on the frame II and is driven to rotate by the drill rod magazine drive member; The drill rod magazine includes a rotatable drill rod clamping disc and a drill rod clamping disc driving member for driving the drill rod clamping disc to rotate, and the rotation centerline of the drill rod clamping disc is staggered with the rotation centerline of the drill rod magazine; The drilling mechanism II includes a drill box II and a drill rod II; The drill box II is slidably mounted on the frame II and is driven up and down by the drill box driving member; The drill rod manipulator comprises a wrist arm and a clamping member mounted on the wrist arm; The arm is rotatably mounted on the frame II, and the rotation causes the clamping member to extend toward the direction of the drill rod bin and grab the drill rod II clamped by the drill rod clamping disc.

8. The automated anchoring platform for combined support of anchor rods and anchor cables according to claim 1 or 7, characterized in that: The turning mechanism is a turning cylinder, with both ends connected to the fixed plate and the turning plate respectively; The traction mechanism includes a motor, a sprocket and a traction chain; Motors are installed on the flip plates on both sides respectively, sprockets are installed on the output shafts of the motors, and the traction chains are engaged with the sprockets; The motor is equipped with an angle encoder; The anchor cable single-unit operating track further includes a track pressing plate; Two sets of track pressing plates are fixed on the fixed plate to form the sliding space of the sliding plate; The sliding plate is fixedly connected to the traction chain, and both sides are embedded in the sliding space.

9. The automated anchoring platform for combined support of anchor rods and anchor cables according to claim 1, characterized in that: The anchor drilling rig attitude positioning control device includes a connecting seat, a connecting seat rotating member, an attitude positioning telescopic arm, an attitude positioning telescopic arm driving member, a leveling seat, a leveling seat driving member, a swing seat driving member I, a swing seat I, a swing seat driving member II, a swing seat II, a lifting frame, a lifting guide mechanism and a lifting driving member; The connecting seat is connected to the movable chassis via a connecting seat rotating member; The two ends of the posture positioning telescopic arm are rotatably connected to the connecting seat and the leveling seat respectively; The posture positioning telescopic arm is driven by the posture positioning telescopic arm driving member to swing up and down relative to the connecting seat; The leveling seat is driven by a leveling seat driving member to swing the relative posture positioning telescopic arm up and down; The fixed cylinder of the swing seat driving member I is fixed on the leveling seat, and the rotating shaft is connected to the swing seat I; The swing seat driving member II is perpendicular to the swing seat driving member I, the fixed cylinder is fixed on the swing seat I, and the rotating shaft is connected to the swing seat II; The lifting frame is slidably connected to the swing seat II through a lifting guide mechanism and is driven to rise and fall by a lifting drive member; The frame I is fixed on the lifting frame.

10. The automated anchoring platform for combined support of anchor rods and anchor cables according to claim 1, characterized in that: It also includes temporary support devices; The temporary support device includes a temporary support lifting arm, a telescopic arm rotating member, a temporary support telescopic arm, a temporary support support plate and a support plate driving member; The bottom end of the temporary support lifting arm is connected to the movable chassis; The temporary support telescopic arm is connected to the temporary support lifting arm through a telescopic arm rotating member; The temporary support support plate is rotatably connected to the temporary support telescopic arm and is driven by the support plate driving member to swing up and down relative to the temporary support telescopic arm.

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