Single-arm wheeled bolt and anchor cable drilling jumbo for coal mine

Abstract

The present invention relates to the technical field of underground coal mine excavation supporting devices, and in particular to a single-arm wheeled bolt and anchor cable drilling jumbo for a coal mine. The drilling jumbo comprises a wheeled chassis, a multi-degree-of-freedom working arm, and an airborne automatic drilling rig; the wheeled chassis carries the whole drilling jumbo; a main structure is divided into a front frame and a rear frame; one end of the multi-degree-of-freedom working arm is fixedly connected to the tail of the rear frame, and the other end of the multi-degree-of-freedom working arm is connected to the airborne automatic drilling rig and has a plurality of motion degrees of freedom relative to the rear frame; the plurality of motion degrees of freedom constitute two-stage fine tuning acting on the airborne automatic drilling rig; the first-stage fine tuning positioning is achieved by lifting / lowering, left and right swinging, extension and retraction, and rotation of the working arm; the second-stage fine tuning positioning is achieved by left and right swinging, forward and backward folding, and vertical lifting / lowering of a leveling swing mechanism; large-range adjustment of the airborne automatic drilling rig is achieved by means of cooperation of the plurality of motion degrees of freedom, and the requirements of full-section roof, side, and floor bolting are met; and the present invention replaces a traditional mode in which a hand-held pneumatic bolt drilling rig and an existing bolt and anchor cable drilling jumbo are manually operated to perform supplemental bolt and anchor cable installation.

Description

A single-arm wheeled anchor rod and anchor cable drill carriage for coal mines TECHNICAL FIELD

[0001] The present application belongs to the technical field of coal mine underground mining and supporting equipment, and specifically relates to a single-arm wheeled anchor rod and anchor cable drill carriage for coal mines. BACKGROUND

[0002] In the technical field of coal mine underground roadway excavation and supporting equipment, under the conditions of coal mine site roadway, after the completion of roadway excavation, spalling and roof scale will occur within a certain period of time. In order to ensure the safety of coal mine construction, artificial periodic repair inspection and secondary support of the supported roadway are required. At present, the conventional pneumatic anchor rod machine is mainly used for roadway reinforcement support, the operation site is scattered, the movement is frequent, and the operation efficiency is low. Artificial long-distance transportation of pneumatic anchor rod machines is required, and water pipes and high-pressure air pipes need to be installed, disassembled and arranged before and after work. In addition, materials such as anchor cables, anchor rods, anchoring agents and drill rods for drilling and anchoring need to be prepared in advance, the operation site is messy, the labor intensity of workers is large, and there are great management risks and safety hazards.

[0003] The existing mainstream anchor rod drill carriage, such as the tracked single-arm anchor cable drill carriage represented by application numbers 201620946118.8 and 202110924615.3, has the problems of slow tracked walking speed, damage to hardened road surface, and only realizes artificial operation of the on-board drill machine construction, without solving the functions of full-automatic anchor rod construction and long-distance high-speed patrol support of the equipment in the roadway. The single-arm automatic anchor cable drill carriage represented by application number 201811478727.5 and authorization number 204677108U adopts a wheeled integral chassis and artificial operation of the on-board drill machine through a handle, but has the problem of large turning radius of the integral body. The single-arm anchor rod and anchor cable drill carriage represented by authorization number CN216665502U realizes hinged turning, reduces the turning radius, and improves the passability, but the whole machine only carries one person, which does not meet the scientific configuration of one person drilling and anchoring operation and one person driving and assisting operation. The drill carriage does not have a stabilizing mechanism, and the elastic vibration deformation of the tire has an impact on the hole forming accuracy. The scheme only realizes mechanized construction of the top and side walls, does not cover top anchor rod construction, side wall anchor rod construction and floor grounding hole construction at the same time, and does not realize full-automatic anchor rod operation. SUMMARY

[0004] The supported roadway in the coal mine needs to be periodically inspected and repaired for secondary support. The present application solves the problems of long-distance artificial transportation of pneumatic anchor rod machines, scattered operation sites, frequent movement, low operation efficiency, and great management risks and safety hazards in the current roadway reinforcement support.

[0005] The application provides the following technical scheme: a single-arm wheel type anchor rod and anchor cable drill rig for coal mines, comprising a wheeled chassis, a multi-degree-of-freedom working arm and an on-board automatic drill rig;

[0006] The wheeled chassis bears the whole drill rig and is a four-gum wheel type articulated structure vehicle body, the main structure of which is divided into a front frame and a rear frame; the front frame is provided with a front stabilizing mechanism, and the rear frame is provided with a rear stabilizing mechanism; the front and rear stabilizing mechanisms are retracted when the drill rig is running and are unfolded to lift the tires off the ground during anchor drilling operation;

[0007] The multi-degree-of-freedom working arm is fixed at one end to the tail of the rear frame and connected at the other end to the on-board automatic drill rig and has multiple degrees of freedom relative to the rear frame; the multiple degrees of freedom constitute two-stage fine adjustment of the on-board automatic drill rig; the first stage is realized by the working arm lifting, swinging left and right, stretching and rotating to achieve fine positioning, and the second stage is realized by the leveling swing mechanism swinging left and right, folding forward and backward and vertically lifting to achieve fine positioning; the multiple degrees of freedom cooperatively realize large-range adjustment of the on-board automatic drill rig, which can cover the needs of full-face top anchor, side anchor and ground anchor support.

[0008] Further, the multi-degree-of-freedom working arm comprises a working arm base, lifting cylinders, a working arm outer sleeve, a working arm inner sleeve, a rotary reducer, a leveling swing device and a telescopic cylinder;

[0009] The working arm base is fixed to the rear frame by a plurality of bolts; the working arm outer sleeve and one end of the two lifting cylinders are connected to the working arm base through a cross shaft assembly, the other end of the two lifting cylinders is hinged to the working arm outer sleeve, the lifting cylinders are at an angle to the working arm outer sleeve, and the two lifting cylinders are linked to realize up and down swinging and / or left and right swinging of the working arm outer sleeve;

[0010] The working arm inner sleeve is inserted into the working arm outer sleeve, and the telescopic cylinder built-in the working arm inner sleeve drives the working arm inner sleeve to stretch and retract along the working arm outer sleeve;

[0011] The rotary reducer is coaxially installed at the end of the working arm inner sleeve, can rotate 360° and realizes full-face drilling of the on-board automatic drill rig, and the leveling swing device is connected to the rotary reducer.

[0012] Further, the leveling swing device comprises a mounting plate, a swing seat, a pin shaft, a lifting mechanism, a leveling cylinder and a swing cylinder;

[0013] The mounting plate is fixed to the rotary reducer by screws, and the rotary reducer drives the swing seat to rotate 360°; the swing cylinder is installed on the mounting plate by bolts, and the swing seat is installed above the swing cylinder and can rotate within a plurality of angles about the axis of the swing cylinder; the bearing part of the lifting mechanism is connected to the swing seat through the pin shaft, the lifting part of the lifting mechanism is connected to the on-board automatic drill rig, one end of the leveling cylinder is connected to the swing seat, and the other end is connected to the bearing part of the lifting mechanism.

[0014] Further, the on-board automatic drilling machine comprises a frame, a roof plate assembly, an anchor agent installation system, a drilling box, an anchor box, a drilling-anchor box switching mechanism, a feeding assembly, a lifting mechanism connecting part and a guard rod mechanism;

[0015] The roof plate assembly is arranged on the frame;

[0016] The drilling box and the anchor box are slidably arranged on the frame through the drilling-anchor box switching mechanism, the drilling box has a first working position and a first standby position, at the first working position, the drilling box is opposite to the drill rod located at the second position and is used for drilling, at the first standby position, the drilling box is idle; the anchor box has a second working position and a second standby position, at the second working position, the anchor box is opposite to the anchor rod located at the second position and is used for anchor rod installation and fastening, at the second standby position, the anchor box is idle with the anchor rod;

[0017] The feeding assembly is adapted to drive the drilling box at the first working position to move along the axial direction of the frame to realize feeding of the drilling box, and is also adapted to drive the anchor box at the second working position to move along the axial direction of the frame to realize feeding of the anchor box;

[0018] The lifting mechanism connecting part is connected with the lifting part of the lifting mechanism;

[0019] The guard rod mechanism is arranged at the upper part of the lifting mechanism connecting part, and realizes limiting of the anchor rod at the second working position and the second standby position, so that the head of the anchor rod can smoothly enter the centering bearing bush of the roof plate assembly;

[0020] The anchor agent installation system is arranged at the side end of the frame.

[0021] Further, the guard rod mechanism comprises a sliding block, the sliding block is arranged on two sliding rods, the sliding rods are a stepped shaft, one end is provided with a limiting end face, and the other end is arranged on a rotating shaft; a telescopic spring is arranged on the sliding rod, the telescopic spring is divided into a working state and a non-working state, in the non-working state, the distance Lx is a maximum value L1, and in the working state, Lx < L1; the rotating shaft is arranged on a fixed lug seat, and an end portion is limited by a lock plate, a torsional spring is arranged on the rotating shaft, one end of the torsional spring is fixed by a torsional spring limiting block fixed on the rotating shaft, and the other end is limited by a limiting screw fixed on the fixed lug seat; the first state of the sliding rod is a horizontal position, and the second state is a rotating position, that is, the sliding block rotates by a certain angle around the rotating shaft 3, that is, the axis of the sliding rod and the horizontal plane form a certain angle, the angle is α, and 0 ≤ α ≤ 90°.

[0022] Further, the drilling box is arranged on a drilling box connecting plate, and relative sliding between the drilling box connecting plate and a guide connecting plate is realized through a switching guide column; the guide connecting plate is axially fed along the frame under the driving of the feeding assembly;

[0023] The drill anchor box switching mechanism comprises a left fixed seat, a right fixed seat, an anti-rotation plate and a switching oil cylinder, the left fixed seat and the right fixed seat are connected to the two sides of the guide connecting plate, the anti-rotation plate is overlapped on the left fixed seat and the right fixed seat, and the lower end of the anti-rotation plate is provided with an anti-rotation wear-resistant strip; the two ends of the switching oil cylinder are respectively installed on the left fixed seat and the right fixed seat, the anti-rotation wear-resistant strip is embedded in the groove of the cylinder barrel of the switching oil cylinder, so that the cylinder barrel of the switching oil cylinder cannot rotate in the circumferential direction at all times; a drill box poking block is installed on the drill box, an anchor box poking block is installed on the anchor box, and the cylinder barrel of the switching oil cylinder is connected with the drill box poking block and the anchor box poking block in a matched mode to push the drill box and the anchor box to switch positions.

[0024] Further, the anchoring agent installation system comprises a swing arm, a driving motor, a plug hole pipe, a cartridge storage hose, a driving rope mechanism, a driving rope motor, a steel wire rope displacement sensor and a steel wire rope storage pipe;

[0025] The anchoring agent installation system is divided into a centering mechanism and a driving rope mechanism from top to bottom, the centering mechanism adopts a driving motor to drive a swing arm to be positioned in the center, the plug hole pipe and the cartridge storage hose are concentrically connected at the upper part of the driving rope mechanism, and the cartridge storage hose can accommodate a plurality of cartridges in the middle; under the action of the driving rope motor, the cartridges in the cartridge storage hose are driven by the steel wire rope to enter the hole through the plug hole pipe; the steel wire rope displacement sensor monitors the extension amount of the steel wire rope and feeds back to the control system to judge the pushing amount of the cartridges.

[0026] Further, a radiator, a fuel tank, a waste gas treatment box, a front stabilizing mechanism, a water supplement tank, a front drive axle, a tire, an engine assembly, a torque converter, a cab, a gearbox, a hydraulic oil tank, a steering part hydraulic system and a pneumatic system for controlling gear shifting are installed on the front frame; a drill anchor water tank, a passenger room, a pipe winding machine, a rear stabilizing mechanism, a standing platform storage box, a rear drive axle, a material bin, a starting gas tank, steering oil and a multi-degree-of-freedom working arm are installed on the rear frame.

[0027] Further, a detachable standing platform is mounted on the leveling swing device, the detachable standing platform comprises a protective chain, a mounting side plate, a protective pipe, a stepping plate and a turnover short ladder; the mounting side plate, the protective pipe, the stepping plate and the protective chain enclose a riding area, and the turnover short ladder is connected with the stepping plate and used for entering the riding area from below.

[0028] Further, the working arm outer sleeve is fixedly connected with the horizontal shaft of the cross shaft assembly, the horizontal shaft is connected with a first encoder, the first encoder rotates synchronously with the horizontal shaft, and the first encoder is used for monitoring the lifting angle of the working arm outer sleeve.

[0029] The pin shaft is fixed with the bearing part of the lifting mechanism through a spring pin, the pin shaft is connected with a second encoder device, the second encoder device rotates synchronously with the pin shaft, and is used for monitoring the swing angle of the lifting mechanism.

[0030] Compared with the prior art, the advantages of the present application are that:

[0031] The coal mine single-arm wheel type anchor rod and anchor cable drill carriage provided by the application has strong scene conversion capability, realizes full automation of top and side anchor rod construction, and simultaneously considers floor grounding hole construction and manual anchor cable construction, replaces traditional manual pneumatic anchor rod drill and existing anchor rod and anchor cable platform to perform anchor rod and anchor cable operation, and solves problems of high labor intensity, low work efficiency and unsafe construction.

[0032] The single-arm wheel type anchor rod and anchor cable drill carriage has four stable vehicle support legs, and the tire is suspended from the ground during work, so that the working state is more stable.

[0033] The single-arm wheel type anchor rod and anchor cable drill carriage can simultaneously carry two persons, one person drives and one person is a safety officer during driving, one person operates drilling and one person assists operation after parking, and the requirement of equipment use scene is met.

[0034] The single-arm wheel type anchor rod and anchor cable drill carriage has a large-capacity water storage bin, and the on-board water source is used when the equipment is sporadically supplemented in the roadway, and an external water source is used when local large-area support is performed.

[0035] The single-arm wheel type anchor rod and anchor cable drill carriage is fully hydraulically controlled, the power part is an explosion-proof diesel engine driving a hydraulic oil pump to supply liquid to the system, the mechanical part is controlled by the hydraulic system control elements, and the operation is simple, the failure rate is low, and the maintenance is convenient.

[0036] The single-arm wheel type anchor rod and anchor cable drill carriage has seven movement degrees of freedom through the multi-degree-of-freedom working arm arranged on the rear frame, including three degrees of freedom at the rear end, which are lifting, swinging and telescoping of the telescopic sleeve, and four degrees of freedom at the front end, which are front and rear pitching, inner and outer swinging, left and right rotation and up and down lifting of the on-board automatic drill, and the positioning function of the on-board automatic drill for drilling top anchor rod, side anchor rod, bottom anchor rod and anchor cable is realized.

[0037] The single-arm wheel type anchor rod and anchor cable drill carriage has an on-board automatic drill, realizes full-process automation when drilling anchor rod, that is, full-process automation of automatic drilling, automatic rod retraction, automatic anchor fixing agent loading, automatic anchor rod loading and anchor rod mixing and fastening during anchor rod construction. BRIEF DESCRIPTION OF DRAWINGS

[0038] Fig. 1 is an axial side schematic view of the drill carriage in a walking state;

[0039] Fig. 2 is an axial side schematic view of the drill carriage in a top anchor rod construction state;

[0040] Fig. 3 is an axial side schematic view of the drill carriage in a side anchor rod construction state;

[0041] Fig. 4 is a structural schematic view of the whole drill carriage;

[0042] Fig. 5 is a structural schematic view of the multi-degree-of-freedom working arm;

[0043] Figure 6 is a partial view of the multi-degree-of-freedom working arm;

[0044] Figure 7 is a schematic diagram of the secondary positioning of the multi-degree-of-freedom working arm;

[0045] Figure 8 is a schematic diagram of the leveling swing device;

[0046] Figure 9 is a schematic diagram of the detachable man platform;

[0047] Figure 10 is a schematic diagram of the on-board automatic drilling machine;

[0048] Figure 11 is a schematic diagram of the anchoring agent installation system;

[0049] Figure 12 is a schematic diagram of the guard rod mechanism;

[0050] Figure 13 is a partial top view of the guard rod mechanism;

[0051] Figure 14 is a schematic diagram of the operation of the guard rod mechanism;

[0052] Figure 15 is a schematic diagram of the drill anchor box switching mechanism;

[0053] Figure 16 is a top view of the drill anchor box switching mechanism;

[0054] Figure 17 is a schematic diagram of the back of the guide connecting plate of the feed assembly.

[0055] In the drawings: 1 - wheeled chassis; 2 - multi-degree-of-freedom working arm; 3 - on-board automatic drilling machine; 4 - hydraulic system; 5 - electrical system;

[0056] 1.1 - radiator; 1.2 - fuel tank; 1.3 - exhaust treatment tank; 1.4 - front stabilizing mechanism; 1.5 - water replenishment tank; 1.6 - front drive axle; 1.7 - tire; 1.8 - engine assembly; 1.9 - torque converter; 1.10 - cab; 1.11 - transmission; 1.12 - hydraulic oil tank; 1.13 - drill anchor water tank; 1.14 - crew room; 1.15 - pipe winding machine; 1.16 - rear stabilizing mechanism; 1.17 - man platform storage tank; 1.18 - rear drive axle; 1.19 - material bin; 1.20 - starting gas tank; 1.21 - steering oil;

[0057] 2.1 - working arm base; 2.2 - lifting cylinder; 2.3 - working arm outer sleeve; 2.4 - working arm inner sleeve; 2.5 - swing reducer; 2.6 - leveling swing device; 2.7 - telescopic cylinder; 2.8 - first encoder; 2.9 - second encoder; 2.10 - detachable man platform;

[0058] 2.6.1 - mounting plate; 2.6.2 - swing seat; 2.6.3 - pin shaft; 2.6.4 - spring pin; 2.6.5 - copper bushing; 2.6.6 - lifting mechanism; 2.6.7 - leveling oil cylinder; 2.6.8 - swing oil cylinder;

[0059] guard chain 2.10.1 ; mounting side plate 2.10.2; guard pipe 2.10.3; step plate 2.10.4; turnover ladder 2.10.5;

[0060] 3.1 - frame; 3.2 - top plate assembly; 3.3 - anchor mounting system; 3.4 - drill box; 3.5 - anchor box; 3.6 - drill anchor box switching mechanism; 3.7 - feeding assembly; 3.8 - lifting mechanism; 3.9 - guard rod mechanism;

[0061] 3.3.1 - swing arm; 3.3.2 - drive motor; 3.3.3 - jack pipe; 3.3.4 - cartridge storage hose; 3.3.5 - drive rope mechanism; 3.3.6 - drive rope motor; 3.3.7 - steel wire rope displacement sensor; 3.3.8 - steel wire rope storage pipe;

[0062] 3.6.1 - left fixed seat; 3.6.2 - right fixed seat; 3.6.3 - anti-rotation plate; 3.6.4 - anchor box push block; 3.6.5 - anti-rotation wear-resistant strip; 3.6.6 - switching oil cylinder; 3.6.7 - drill box push block; 3.6.8 - screw rod adjusting mechanism; 3.6.9 - proximity sensor;

[0063] 3.7.1 - drill box connecting plate; 3.7.2 - switching guide column; 3.7.3 - positioning hole; 3.7.4 - guide connecting plate;

[0064] 3.9.1 - sliding block; 3.9.2 - sliding rod; 3.9.3 - rotating shaft; 3.9.4 - telescopic spring; 3.9.5 - locking nut; 3.9.6 - torsional spring limiting block; 3.9.7 - torsional spring; 3.9.8 - fixed ear seat; 3.9.9 - locking plate; 3.9.10 - limiting screw;

[0065] 7 - anchor rod; 8 - drill rod. DETAILED DESCRIPTION

[0066] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0067] As shown in Figures 1, 2, 3, 4: a single-arm wheeled anchor rod and cable drill rig for coal mine includes a wheeled chassis 1 and main components such as a multi-degree-of-freedom working arm 2, an on-board automatic drilling machine 3, a hydraulic system 4, an electric control system 5, and a pneumatic system 6 arranged thereon. The hydraulic system 4 controls the movement of all actuators including the steering mechanism, the front stabilizing mechanism 1.4, the rear stabilizing mechanism 1.16, the multi-degree-of-freedom working arm 2, and the on-board automatic drilling machine 3 through the pump station control device. The hydraulic pump station is driven by a diesel engine 1.8. The electric control system 5 controls the movement logic and automatic functions of the whole vehicle, including the whole machine state monitoring, the working arm / drilling and anchoring module posture detection, the working arm automatic unfolding and folding, the full-automatic anchor rod support operation, and the semi-automatic anchor cable operation, etc.

[0068] The wheeled chassis 1 is located at the bottom of the drill rig and is a four-gum wheel articulated structure vehicle body. The main structure is divided into a front frame and a rear frame. The radiator 1.1, fuel tank 1.2, exhaust treatment box 1.3, front stabilizing mechanism 1.4, water supplement tank 1.5, front drive axle 1.6, tire 1.7, engine assembly 1.8, torque converter 1.9, cab 1.10, transmission 1.11, hydraulic oil tank 1.12, steering part hydraulic system, and pneumatic system for controlling gear shifting are arranged on the front frame. The drill anchor water tank 1.13, passenger compartment 1.14, pipe winding machine 1.15, rear stabilizing mechanism 1.16, standing platform storage box 1.17, rear drive axle 1.18, material bin 1.19, starting gas tank 1.20, steering oil 1.21, and multi-degree-of-freedom working arm 2 are arranged on the rear frame. The chassis mechanism has double passenger compartments, the front frame is the cab, and the rear frame is the second passenger compartment. The drill anchor robot can carry two people when patrolling and walking. One person is the driver and the other is the safety officer when driving. One person operates drilling and the other assists after parking, which meets the requirements of the equipment usage scene. The chassis mechanism has a large-capacity drill anchor water tank 1.13. The water storage capacity of the drill anchor water tank can meet the requirements of 40 anchor rods or 6 anchor cables for wet drilling construction. The drill anchor water tank also has the ability to connect to an external water source. When the equipment is used for sporadic drilling in the tunnel, the on-board water source is used. When local large-area support is used, the external water source is used. The rear frame of the chassis mechanism has a material bin 1.19, which can carry dozens of anchor rods, resin anchoring agents, anchor cable trays, and other construction consumables with the vehicle. By arranging fixed rings on the front and rear frames, ten 6.5-meter anchor cables can be carried with the vehicle without affecting the driving and steering of the vehicle.

[0069] The articulated part of the chassis mechanism is provided with a safety protection connecting rod and an electronic detection alarm. The safety protection connecting rod rigidly connects the front and rear frames, and the electronic detection alarm detects the effectiveness or invalidity of the protection connecting rod. The detection signal is transmitted to the whole vehicle control system to realize anchor support operation without walking and walking without anchor support.

[0070] The chassis mechanism has front stabilizing mechanism 1.4 and rear stabilizing mechanism 1.16. The front stabilizing mechanism 1.4 is located in front of the front tire, and the front stabilizing mechanism 1.4 is two-stage, one-stage horizontally extending, and one-stage vertically extending. The rear stabilizing mechanism 1.16 is located in the rear of the rear tire, and has the same structure as the front stabilizing mechanism 1.4. During anchor drilling, the stabilizing mechanism support legs are extended, and the tire is lifted to be separated from the ground.

[0071] As shown in FIGS. 4, 5, 6, and 7, the multi-degree-of-freedom working arm 2 includes a working arm base 2.1, lifting oil cylinders 2.2, a working arm outer sleeve 2.3, a working arm inner sleeve 2.4, a rotary reducer 2.5, a leveling swing device 2.6, and telescopic oil cylinders 2.7.

[0072] The working arm base 2.1 is fixed on the rear frame by a plurality of bolts; the working arm outer sleeve 2.3 and one end of the two lifting oil cylinders 2.2 are connected to the working arm base 2.1 by a cross shaft assembly, the other end of the two lifting oil cylinders 2.2 is hinged to the working arm outer sleeve 2.3, the lifting oil cylinders 2.2 are at an angle with the working arm outer sleeve 2.3, the two lifting oil cylinders 2.2 are linked to realize up-down swing and left-right swing of the working arm outer sleeve 2.3. When one of the two lifting oil cylinders 2.2 is extended and the other is retracted, the working arm outer sleeve 2.3 swings left and right. The working arm outer sleeve 2.3 is fixedly connected to a horizontal shaft of the cross shaft assembly, the horizontal shaft is connected to a first encoder 2.8, the first encoder 2.8 rotates synchronously with the horizontal shaft, and the first encoder 2.8 is used to monitor the lifting angle of the working arm outer sleeve 2.3.

[0073] The working arm inner sleeve 2.4 is inserted into the working arm outer sleeve 2.3, and the working arm inner sleeve 2.4 is driven by the telescopic oil cylinders 2.7 to telescope along the working arm outer sleeve 2.3.

[0074] The rotary reducer 2.5 is coaxially installed at the end of the working arm inner sleeve 2.4, the rotary reducer 2.5 can rotate 360°, realizes full-face drilling of the onboard automatic drilling machine 3, and the leveling swing device 2.6 is connected to the rotary reducer 2.5. The multi-degree-of-freedom working arm mechanism has seven degrees of freedom, including three degrees of freedom at the rear end, which are lifting, swinging and telescoping of the telescopic sleeve, and four degrees of freedom at the front end, which are front-back pitching, inner-outer swinging, left-right rotating and up-down lifting of the onboard automatic drilling machine, realizing the positioning function of top anchor rod, side anchor rod, bottom anchor rod and anchor cable drilling of the onboard automatic drilling machine.

[0075] As shown in FIG. 8, the leveling swing device 2.6 includes a mounting plate 2.6.1, a swing seat 2.6.2, a pin shaft 2.6.3, a lifting mechanism 2.6.6, a leveling oil cylinder 2.6.7, and a swing oil cylinder 2.6.8.

[0076] The mounting plate 2.6.1 is fixed with the swing reducer 2.5 by screws, the swing reducer 2.5 drives the swing seat 2.6.2 to rotate 360°; the swing cylinder 2.6.8 is mounted on the mounting plate 2.6.1 by bolts, the swing seat 2.6.2 is mounted above the swing cylinder 2.6.8 and can rotate within a certain angle around the swing cylinder axis; the bearing part of the lifting mechanism 2.6.6 is connected with the swing seat 2.6.2 through the pin shaft 2.6.3, the lifting part of the lifting mechanism 2.6.6 is connected with the airborne automatic drilling machine 3, one end of the leveling cylinder 2.6.7 is connected with the swing seat 2.6.2, and the other end is connected with the bearing part of the lifting mechanism.

[0077] The pin shaft 2.6.3 is fixed with the bearing part of the lifting mechanism 2.6.6 through the spring pin 2.6.4, and the shaft hole of the pin shaft 2.6.3 is installed on the swing seat 2.6.2 and pressed into the copper sleeve 2.6.5; when the leveling cylinder works, the pin shaft 2.6.3 can rotate within a certain angle around the copper sleeve 2.6.5 to realize the folding of the airborne automatic drilling machine 3. The pin shaft 2.6.3 is connected with the second encoder device 2.9, the second encoder device 2.9 rotates synchronously with the pin shaft 2.6.3, and is used for monitoring the swing angle of the lifting mechanism 2.6.6.

[0078] The spatial pose of the airborne automatic drilling machine is mainly determined by the multi-degree-of-freedom working arm. The multi-degree-of-freedom working arm is composed of a working arm base, a working arm outer sleeve, a working arm inner sleeve, a leveling swing device, a detachable standing platform and the like. The working arm base is fixed on the rear frame by bolts, the working arm lifting cylinder has two ends, one end is hinged with the working arm base, and the other end is hinged with the working arm outer sleeve cylinder ear seat, and the multi-degree-of-freedom working arm is driven to complete lifting and left-right swing within a certain angle through the linkage of the double lifting cylinders; when the double lifting cylinders lift at the same time, the working arm swings up and down, and when the double lifting cylinders stretch and shrink at the same time, the multi-degree-of-freedom working arm swings left and right; the extension cylinder is arranged inside the working arm inner sleeve and the working arm outer sleeve, so that the inner sleeve can extend and retract along the outer sleeve. The swing reducer on the inner sleeve mounting seat can make the airborne automatic drilling machine rotate 360 degrees, realize the work switching between the top anchor, the side anchor and the ground anchor, and complete the anchor drilling operation. The hydraulic swing cylinder arranged in the leveling swing device can realize the left-right swing of the airborne automatic drilling machine within a certain angle, and the leveling cylinder can make the airborne automatic drilling machine swing up and down within a certain angle, so as to realize one-key folding and unfolding. During work, the pose of the airborne automatic drilling machine is adjusted by adjusting the up-down swing angle, the left-right swing angle, the forward-backward displacement of the extension sleeve, the rotation angle and the leveling angle.

[0079] As shown in FIG. 5 and FIG. 9: the end of the multi-DOF working arm 2 is provided with a detachable man-stand platform 2.10, which is installed on the leveling swing device 2.6. The detachable man-stand platform 2.10 includes a protective chain 2.10.1, an installation side plate 2.10.2, a protective pipe 2.10.3, a stepping plate 2.10.4, and a flip short ladder 2.10.5; the installation side plate 2.10.2, the protective pipe 2.10.3, the stepping plate 2.10.4, and the protective chain 2.10.1 form a riding area, and the flip short ladder 2.10.5 is connected with the stepping plate 2.10.4 for entering the riding area from below. The weight of each part of the detachable man-stand platform 2.10 is less than 15 kg, which is convenient for manual disassembly. The installation side plate 2.10.2 is provided with a plurality of hanging holes, which are hung on the side of the end of the multi-DOF working arm 2 by bolts, and the installation height is adjustable to adapt to the use of personnel of different heights. When the whole process of anchor rod operation automatic support and anchor cable operation drilling and installation of anchoring agent are needed, the man-stand platform does not need to be installed. When the anchor cable operation needs to be fastened by a tensioning device, the man-stand platform is temporarily installed and used, and after use, it is disassembled and stored in the man-stand platform storage box 1.17 of the wheeled chassis 1.

[0080] As shown in FIG. 10: the on-board automatic drilling machine 3 includes a frame 3.1, a top plate assembly 3.2, an anchoring agent installation system 3.3, a drilling box 3.4, an anchor box 3.5, a drilling-anchor box switching mechanism 3.6, a feeding assembly 3.7, a lifting mechanism connecting part 3.8, and a protective rod mechanism 3.9.

[0081] The top plate assembly 3.2 is arranged on the frame 3.1; the drilling box 3.4 and the anchor box 3.5 are slidably assembled on the frame 3.1 through the drilling-anchor box switching mechanism 3.6. The drilling box 3.4 has a first working position and a first standby position. In the first working position, the drilling box 3.4 is opposite to the drill rod located at the second position and is used for drilling. In the first standby position, the drilling box 3.4 is idle. The anchor box 3.5 has a second working position and a second standby position. In the second working position, the anchor box 3.5 is used for anchor rod installation and fastening with the anchor rod located at the second position. In the second standby position, the anchor box 3.5 is idle with the anchor rod. The feeding assembly 3.7 is suitable for driving the drilling box 3.4 at the first working position to move along the axial direction of the frame 3.1 to realize the feeding of the drilling box 2.4. The feeding assembly 3.7 is also suitable for driving the anchor box 3.5 at the second working position to move along the axial direction of the frame 3.1 to realize the feeding of the anchor box 3.5. The lifting mechanism connecting part 3.8 is connected with the lifting part of the lifting mechanism 2.6.6. The protective rod mechanism 3.9 is arranged at the upper part of the lifting mechanism connecting part 3.8, which limits the anchor rod in the second working position and the second standby position, so that the head of the anchor rod can smoothly enter the centering bearing bush of the top plate assembly 3.2. The anchoring agent installation system 3.3 is arranged at the side end of the frame 3.1.

[0082] As shown in Figure 11: anchor agent installation system 3.3 includes swing arm 3.3.1, drive motor 3.3.2, jack pipe 3.3.3, cartridge storage hose 3.3.4, drive rope mechanism 3.3.5, drive rope motor 3.3.6, steel wire rope displacement sensor 3.3.7, and steel wire rope storage tube 3.3.8.

[0083] Anchor agent installation system 3.3 is divided into a centering mechanism and a drive rope mechanism from top to bottom. The centering mechanism uses drive motor 3.3.2 to drive swing arm 3.3.1 for centering positioning. The drive rope mechanism has jack pipe 3.3.3 and cartridge storage hose 3.3.4 concentrically connected at the upper part, and cartridge storage hose 3.3.4 can accommodate multiple cartridges. Under the action of drive rope motor 3.3.6, the cartridges in cartridge storage hose 3.3.4 are driven by the steel wire rope to enter the hole through jack pipe 3.3.3. Steel wire rope displacement sensor 3.3.7 monitors the extension amount of the steel wire rope and feeds back to the control system to determine the cartridge push-out amount.

[0084] As shown in Figures 12, 13, and 14: guard rod mechanism 3.9 includes sliding block 3.9.1, which is installed on two sliding rods 3.9.2. Sliding rod 3.9.2 is a stepped shaft with a limiting end face at one end and is installed on rotating shaft 3.9.3 and limited by lock nut 3.9.5. Sliding rod 3.9.2 is installed with telescopic spring 3.9.4, which is divided into working and non-working states. In the non-working state, the distance Lx is the maximum value L1, and in the working state, Lx < L1. Rotating shaft 3.9.3 is installed on fixed ear seat 3.9.8 and is limited by lock plate 3.9.9 at the end. Rotating shaft 3.9.3 is installed with torsional spring 3.9.7, one end of which is fixed by torsional spring limiting block 3.9.6 fixed on rotating shaft 3.9.3, and the other end is limited by limiting screw 3.9.10 fixed on fixed ear seat 3.9.8. The first state of sliding rod 3.9.2 is horizontal position, and the second state is rotating position, i.e., sliding block 3.9.1 rotates a certain angle around rotating shaft 3, i.e., the axis of sliding rod 3.9.2 has a certain angle with the horizontal plane, and the angle is α, 0 ≤ α ≤ 90°.

[0085] Generally, the guard rod mechanism is integrated as an independent module on the automatic drill rig, installed on one side of the drill rig, and realizes the limitation of anchor rod 7 in the working position and the waiting position, so that the head of anchor rod 7 can smoothly enter the drill hole. The mechanism can also protect and position the drill rod 8 in the working position, so that the position of the head is accurately positioned.

[0086] The process flow is: when the drilling box 3.4 carrying the drill pipe 8 reaches a certain height in the drilling upward process, the drilling box 3.4 hits the sliding block 3.9.1 on the guard rod mechanism, pushes the sliding block 3.9.1 to rise, until the drill pipe 8 reaches the predetermined depth, the drilling box 3.4 stops rising, at this time, the included angle between the sliding rod 3.9.2 and the horizontal plane is α=45°. Then, the rod retraction action is performed, and the drilling box 3.4 descends to the bottom of the drilling rig. The sliding rod 3.9.2 rotates from α=45° to α=0.

[0087] As shown in Figures 15, 16, 17: the drilling box 3.4 is installed on the drilling box connecting plate 3.7.1 of the feeding assembly 3.7, and the relative sliding between the drilling box connecting plate 3.7.1 and the guide connecting plate 3.7.4 is achieved by switching the guide column 3.7.2. The lower part of the drilling box connecting plate 3.7.1 is provided with a positioning hole 3.7.3, and the drilling box connecting plate 3.7.1 is centered with the guide connecting plate 3.7.4 through the positioning hole 3.7.3. The guide connecting plate 3.7.4 is driven by the feeding assembly 3.7 to feed axially along the frame 3.1, so as to realize the axial feeding of the whole drilling and anchoring box switching mechanism 3.6 along the frame 3.1.

[0088] The drilling and anchoring box switching mechanism 3.6 includes a left fixed seat 3.6.1, a right fixed seat 3.6.2, an anti-rotation plate 3.6.3 and a switching oil cylinder 3.6.6. The left fixed seat 3.6.1 and the right fixed seat 3.6.2 are connected to the two sides of the guide connecting plate 3.7.4. The anti-rotation plate 3.6.3 is overlapped on the left fixed seat 3.6.1 and the right fixed seat 3.6.2. The lower end of the anti-rotation plate 3.6.3 is provided with an anti-rotation wear-resistant strip 3.6.5. The two ends of the switching oil cylinder 3.6.6 are respectively installed on the left fixed seat 3.6.1 and the right fixed seat 3.6.2. The anti-rotation wear-resistant strip 3.6.5 is embedded in the groove of the cylinder barrel of the switching oil cylinder 3.6.6, so that the cylinder barrel of the switching oil cylinder 3.6.6 cannot rotate in the circumferential direction at all times. The drilling box 3.4 is provided with a drilling box shifting block 3.6.7, and the anchoring box 3.5 is provided with an anchoring box shifting block 3.6.4. The cylinder barrel of the switching oil cylinder 3.6.6 is connected with the drilling box shifting block 3.6.7 and the anchoring box shifting block 3.6.4 to push the drilling box 3.4 and the anchoring box 3.5 to switch positions.

[0089] The left fixed seat 3.6.1 and the right fixed seat 3.6.2 are provided with a screw rod adjusting mechanism 3.6.8 and a proximity sensor 3.6.9. The screw rod adjusting mechanism 3.6.8 limits the stroke range of the oil cylinder cylinder 3.6.6. The proximity sensor 3.6.9 detects the position signal and transmits the signal to the control system.

[0090] The switching guide column 3.7.2 and the guide connecting plate 3.7.4 are not in full circumferential contact. The switching guide column 3.7.2 is provided with four cutting planes, so that there is a certain space between the switching guide column 3.7.4 and the guide hole of the guide connecting plate 3.7.1. This facilitates the discharge of sludge and sundries.

[0091] The automatic drilling machine is fixed at the end of the multi-degree-of-freedom working arm, and realizes full-process automation when drilling anchor rods, that is, automatic drilling, automatic rod withdrawing, automatic anchor agent loading, automatic anchor rod loading and full-process automation of anchor rod stirring and fastening.

[0092] The wheel type single-arm anchor rod and anchor cable drill vehicle has reasonable overall structure, novel design and various functions, realizes automatic operation of coal mine roadway anchor rod drilling construction, reduces labor intensity of workers, improves safety of workers, improves construction quality and efficiency, and better guarantees engineering quality.

[0093] The above description of disclosed embodiments enables those skilled in the art to carry out or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A single-arm wheeled roof-bolt and anchor drill rig for use in coal mines, characterised in that: It comprises a wheeled chassis (1), a multi-degree-of-freedom working arm (2) and an on-board automatic drilling machine (3); The wheeled chassis (1) carries the whole drilling rig, and is a four-tire articulated structure vehicle body, the main structure of which is divided into a front frame and a rear frame; the front frame is provided with a front stabilizing mechanism (1.4), and the rear frame is provided with a rear stabilizing mechanism (1.6); the front and rear stabilizing mechanisms are retracted when the drilling rig is running and are unfolded to lift the tires off the ground when anchor drilling is performed; The multi-degree-of-freedom working arm (2) is fixed at one end to the tail of the rear frame and connected at the other end to the on-board automatic drilling machine (3) and has multiple degrees of freedom relative to the rear frame; the multiple degrees of freedom constitute two-stage fine adjustment of the on-board automatic drilling machine (3), the first stage being realized by lifting, left-right swinging, stretching and rotating of the working arm, and the second stage being realized by left-right swinging, forward-backward folding and vertical lifting of a leveling swinging mechanism.

2. The single-arm wheeled roof-bolt and anchor drill rig for coal mines according to claim 1, characterized in that: The multi-degree-of-freedom working arm (2) comprises a working arm base (2.1), lifting cylinders (2.2), a working arm outer sleeve (2.3), a working arm inner sleeve (2.4), a revolving reducer (2.5), a leveling swinging device (2.6) and a telescopic cylinder (2.7); The working arm base (2.1) is fixed to the rear frame by a plurality of bolts; the working arm outer sleeve (2.3) and one end of the two lifting cylinders (2.2) are connected to the working arm base (2.1) by a cross shaft assembly, the other end of the two lifting cylinders (2.2) is hinged to the working arm outer sleeve (2.3), the lifting cylinders (2.2) are at an angle to the working arm outer sleeve (2.3), the two lifting cylinders (2.2) are linked to realize up-down swinging and / or left-right swinging of the working arm outer sleeve (2.3); The working arm inner sleeve (2.4) is inserted into the working arm outer sleeve (2.3), and the telescopic cylinder (2.7) built-in drives the working arm inner sleeve (2.4) to telescope along the working arm outer sleeve (2.3); The revolving reducer (2.5) is coaxially installed at the end of the working arm inner sleeve (2.4), and can rotate 360° to realize full-face drilling of the on-board automatic drilling machine (3); the leveling swinging device (2.6) is connected to the revolving reducer (2.5).

3. The single-arm wheeled roof-bolt and anchor drill rig for coal mines according to claim 2, characterized in that: The leveling swinging device (2.6) comprises a mounting plate (2.6.1), a swinging seat (2.6.2), a pin shaft (2.6.3), a lifting mechanism (2.6.6), a leveling cylinder (2.6.7) and a swinging cylinder (2.6.8). The mounting plate (2.6.1) is fixed with the swing reducer (2.5) by screws, the swing reducer (2.5) drives the swing seat (2.6.2) to rotate 360°; the swing cylinder (2.6.8) is installed on the mounting plate (2.6.1) by bolts, the swing seat (2.6.2) is installed above the swing cylinder (2.6.8) and can rotate within a certain angle around the swing cylinder axis; the bearing part of the lifting mechanism (2.6.6) is connected with the swing seat (2.6.2) through the pin shaft (2.6.3), the lifting part of the lifting mechanism (2.6.6) is connected with the airborne automatic drilling machine (3), one end of the leveling cylinder (2.6.7) is connected with the swing seat (2.6.2) and the other end is connected with the bearing part of the lifting mechanism.

4. The single-arm wheeled roof-bolt and anchor drill rig for coal mines according to claim 1, characterized in that: The airborne automatic drilling machine (3) comprises a frame (3.1), a roof assembly (3.2), an anchor agent installation system (3.3), a drilling box (3.4), an anchor box (3.5), a drilling-anchor box switching mechanism (3.6), a feeding assembly (3.7), a lifting mechanism connecting part (3.8) and a guard rod mechanism (3.9); The roof assembly (3.2) is arranged on the frame (3.1); The drilling box (3.4) and the anchor box (3.5) are slidably arranged on the frame (3.1) through the drilling-anchor box switching mechanism (3.6), the drilling box (3.4) has a first working position and a first standby position, at the first working position, the drilling box (3.4) is opposite to the drill rod located at the second position and is used for drilling, at the first standby position, the drilling box (3.4) is idle; the anchor box (3.5) has a second working position and a second standby position, at the second working position, the anchor box (3.5) is used for anchor rod installation and fastening with the anchor rod located at the second position, at the second standby position, the anchor box (3.5) is idle with the anchor rod; The feeding assembly (3.7) is suitable for driving the drilling box (3.4) at the first working position to move along the axial direction of the frame (3.1) to realize the feeding of the drilling box (2.4), and is also suitable for driving the anchor box (3.5) at the second working position to move along the axial direction of the frame (3.1) to realize the feeding of the anchor box (3.5); The lifting mechanism connecting part (3.8) is connected with the lifting part of the lifting mechanism (2.6.6); The guard rod mechanism (3.9) is arranged on the upper part of the lifting mechanism connecting part (3.8) and realizes the limitation of the anchor rod at the second working position and the second standby position, so that the head of the anchor rod can smoothly enter the centering bearing bush of the roof assembly (3.2); The anchor agent installation system (3.3) is arranged at the side end of the frame (3.1).

5. The single-arm wheeled roof-bolt and anchor drill rig for coal mines according to claim 4, characterized in that: The guard rod mechanism (3.9) comprises a sliding block (3.9.1) mounted on two sliding rods (3.9.2), the sliding rod (3.9.2) is a stepped shaft, one end is provided with a limiting end face, and the other end is mounted on a rotating shaft (3.9.3); the sliding rod (3.9.2) is provided with an extension spring (3.9.4), the extension spring (3.9.4) is divided into a working state and a non-working state, in the non-working state, the distance Lx is the maximum value L1, in the working state, Lx < L1; the rotating shaft (3.9.3) is mounted on a fixed lug seat (3.9.8), the end is limited by a lock plate (3.9.9), the rotating shaft (3.9.3) is provided with a torsion spring (3.9.7), one end of the torsion spring (3.9.7) is fixed by a torsion spring limiting block (3.9.6) fixed on the rotating shaft (3.9.3), the other end is limited by a limiting screw (3.9.10) fixed on the fixed lug seat (3.9.8); the first state of the sliding rod (3.9.2) is a horizontal position, and the second state is a rotating position, that is, the sliding block (3.9.1) rotates by a certain angle around the rotating shaft 3, that is, the axis of the sliding rod (3.9.2) and the horizontal plane exist a certain angle, the angle is α, 0 ≤ α ≤ 90°.

6. The single-arm wheeled roof-bolt drill rig for coal mines according to claim 4, characterized in that: The drill box (3.4) is mounted on the drill box connecting plate (3.7.1), and the relative sliding between the drill box (3.4) and the guide connecting plate (3.7.4) is realized through the switching guide column (3.7.2); the guide connecting plate (3.7.4) is driven by the feeding assembly (3.7) to feed axially along the frame (3.1); The drill anchor box switching mechanism (3.6) comprises a left fixed seat (3.6.1), a right fixed seat (3.6.2), an anti-rotation plate (3.6.3) and a switching oil cylinder (3.6.6); the left fixed seat (3.6.1) and the right fixed seat (3.6.2) are connected to the two sides of the guide connecting plate (3.7.4); the anti-rotation plate (3.6.3) is overlapped on the left fixed seat (3.6.1) and the right fixed seat (3.6.2); the lower end of the anti-rotation plate (3.6.3) is provided with an anti-rotation wear-resistant strip (3.6.5); the two ends of the switching oil cylinder (3.6.6) are respectively mounted on the left fixed seat (3.6.1) and the right fixed seat (3.6.2); the anti-rotation wear-resistant strip (3.6.5) is embedded in the groove of the cylinder barrel of the switching oil cylinder (3.6.6), so that the cylinder barrel of the switching oil cylinder (3.6.6) cannot rotate in the circumferential direction at all; the drill box (3.4) is provided with a drill box shifting block (3.6.7), and the anchor box (3.5) is provided with an anchor box shifting block (3.6.4); the cylinder barrel of the switching oil cylinder (3.6.6) is connected with the drill box shifting block (3.6.7) and the anchor box shifting block (3.6.4) to push the drill box (3.4) and the anchor box (3.5) to switch positions. ​ 7. The single-arm wheeled roof-bolt drill rig for coal mines according to claim 4, characterized in that: The anchor agent installation system (3.3) comprises a swing arm (3.3.1), a driving motor (3.3.2), a socket pipe (3.3.3), a cartridge storage hose (3.3.4), a driving rope mechanism (3.3.5), a driving rope motor (3.3.6), a steel wire rope displacement sensor (3.3.7) and a steel wire rope storage pipe (3.3.8); The anchor agent installation system (3.3) is divided into a centering mechanism and a driving rope mechanism from top to bottom, the centering mechanism adopts a driving motor (3.3.2) to drive a swing arm (3.3.1) to be positioned, the driving rope mechanism is concentrically communicated by a socket pipe (3.3.3) and a cartridge storage hose (3.3.4), and the cartridge storage hose (3.3.4) can accommodate a plurality of cartridges; under the action of a driving rope motor (3.3.6), a cartridge in the cartridge storage hose (3.3.4) is driven by a steel wire rope to enter a hole through the socket pipe (3.3.3); a steel wire rope displacement sensor (3.3.7) monitors the extension amount of the steel wire rope and feeds back to a control system to judge the pushing amount of the cartridge.

8. The single-arm wheeled roof-bolt and anchor drill rig for coal mines according to claim 1, characterized in that: The radiator (1.1), the fuel tank (1.2), the exhaust treatment tank (1.3), the front stabilizing mechanism (1.4), the water supplement tank (1.5), the front drive axle (1.6), the tire (1.7), the engine assembly (1.8), the torque converter (1.9), the cab (1.10), the gearbox (1.11), the hydraulic oil tank (1.12), the steering part hydraulic system and the pneumatic system for controlling gear shifting are installed on the front frame; the drilling anchor water tank (1.13), the passenger room (1.14), the pipe winding machine (1.15), the rear stabilizing mechanism (1.16), the standing platform storage box (1.17), the rear drive axle (1.18), the material bin (1.19), the starting gas tank (1.20), the steering oil (1.21) and the multi-degree-of-freedom working arm (2) are installed on the rear frame.

9. The single-arm wheeled roof-bolt drill rig for coal mines according to claim 3, characterized in that: The detachable standing platform (2.10) is loaded on the leveling swing device (2.6), the detachable standing platform (2.10) comprises a protective chain (2.10.1), a mounting side plate (2.10.2), a protective pipe (2.10.3), a stepping plate (2.10.4) and a turnover short ladder (2.10.5); the mounting side plate (2.10.2), the protective pipe (2.10.3), the stepping plate (2.10.4) and the protective chain (2.10.1) enclose a riding area, and the turnover short ladder (2.10.5) is connected with the stepping plate (2.10.4) and used for entering the riding area from below.

10. The single-arm wheeled roof-bolt drill rig for coal mines according to claim 3, characterized in that: The working arm outer sleeve (2.3) is fixedly connected with a cross shaft assembly, the cross shaft is connected with a first encoder (2.8), the first encoder (2.8) rotates synchronously with the cross shaft, and the first encoder (2.8) is used for monitoring the lifting angle of the working arm outer sleeve (2.3); The pin shaft (2.6.3) is fixedly connected with a bearing part of the lifting mechanism (2.6.6) through a spring pin (2.6.4), the pin shaft (2.6.3) is connected with a second encoder device (2.9), the second encoder device (2.9) rotates synchronously with the pin shaft (2.6.3), and is used for monitoring the swing angle of the lifting mechanism (2.6.6).

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