Multifunctional tunneling and anchoring integrated machine

Abstract

The present invention relates to the technical field of coal mine roadway rapid tunneling devices, and provides a multifunctional tunneling and anchoring integrated machine. The multifunctional tunneling and anchoring integrated machine is provided with a multi-link vertical lifting / lowering workbench, which can meet workbench height requirements for roadways having different mining heights, and the working height of the workbench can be adjusted in real time on the basis of the roadway height conditions. Roof anchor drilling rigs and front sidewall drilling rigs are arranged on the workbench, the roof anchor drilling rigs are responsible for bolt supporting operations at the top of the roadway, and the front sidewall drilling rigs are responsible for bolt supporting operations at the lower sidewall of the roadway, thereby effectively solving the problem of untimely sidewall bolt supporting. Rear sidewall drilling rigs having a sliding stroke of up to 0-1 m are configured to work in conjunction with rotatable outer-side roof anchor drilling rigs, thereby greatly improving the same-row supporting capability of roof and sidewall bolts of the tunneling and anchoring integrated machine. The workbench is provided with independent water exploration drilling rigs, which satisfy the water exploration operation requirement of a coal wall at the front end of the roadway, and can be rotated for performing water exploration operations of coal walls on both sides.

Description

A multi-functional tunneling and anchoring machine Technical Field

[0001] This invention belongs to the technical field of rapid tunneling equipment for coal mine roadways, and specifically discloses a multi-functional tunneling and anchoring integrated machine. Background Technology

[0002] The roadheader-anchor (BAR) is the mainstream type of equipment for coal mine roadway excavation and a key piece of equipment in rapid tunneling systems. When paired with shuttle cars and other post-rapid tunneling equipment, it enables efficient coal roadway excavation operations. The BAR integrates nine major systems: cutting system, loading system, temporary support, transportation system, walking system, anchoring device, spray dust suppression system, advanced water detection device, and composite navigation system. It not only achieves efficient coal cutting and transfer, extending rapid roadway excavation, but also simultaneously performs top and side anchor bolt support operations during mining operations, saving support operation time and effectively increasing tunneling progress.

[0003] A typical tunneling and anchoring machine is equipped with four top anchor drilling rigs for top anchoring operations and two side anchor drilling rigs for side anchoring operations. The side anchor drilling rigs are positioned laterally, with a distance of approximately 1.6–2.0 meters between them. When the stability of the side walls deviates, there is a problem of untimely side support. Currently, the slippage range of the side anchor drilling rigs is only 0–0.2 meters, posing a challenge when top and side anchor bolts are installed in the same row.

[0004] The anchoring work platform of the roadheader-anchor machine serves as the installation platform for the top anchor drilling rig and the front side drilling rig. Based on the tunnel mining height range, roadheader-anchor machines are currently available in low-profile, standard, and high-mining-height models. Traditionally, the work platform height was fixed, taking into account the tunnel height and equipment maneuverability. This traditional design resulted in different models having a single work platform; changes in mining height required replacing the work platform to adapt to the new height. Furthermore, when the mining height changes during tunnel excavation, a fixed-height work platform cannot adapt in time, easily causing difficulties for the operator.

[0005] The tunneling and anchoring machine is usually equipped with a water detection device on the cutting arm assembly of the cutting system for water detection operations on the coal wall at the front end of the roadway. However, water detection operations on the coal walls on both sides of the roadway still require the assistance of special water detection equipment, which not only increases the company's procurement costs but also causes delays in operations. Summary of the Invention

[0006] This invention provides a multi-functional tunneling and anchoring integrated machine, featuring a multi-link vertical lifting worktable that can adapt to the height requirements of roadways with different mining heights and can adjust the working height of the worktable in real time according to the roadway height. The worktable is equipped with a top anchor drilling rig and a front sidewall drilling rig. The top anchor drilling rig is responsible for the anchoring operation at the top of the roadway, while the front sidewall drilling rig is responsible for the anchoring operation at the lower sidewalls, effectively solving the problem of untimely sidewall anchor support. A rear sidewall drilling rig with a sliding stroke of 0-1 meter is also included, which, in conjunction with the rotatable outer top anchor drilling rig, greatly enhances the ability of the integrated tunneling and anchoring machine to provide simultaneous support for the top and sidewall anchors. An independent water exploration drilling rig is also provided on the worktable, meeting the needs of water exploration operations at the front of the roadway coal wall and, after rotation, can also be used for water exploration operations on both sides of the coal wall.

[0007] The aforementioned multi-functional tunneling and anchoring machine includes a walking system, a cutting system, a loading system, a transportation system, a temporary support system, a dust suppression spray system, and an anchoring system. The walking system includes a chassis. The cutting system is located at the front of the chassis, and the loading system is installed at the front of the chassis, below the cutting system. The transportation system is installed on the chassis, connected to the cutting system at its front end, and located above the loading system. The temporary support and dust suppression spray systems are located above the transportation system. Two sets of anchoring systems are symmetrically arranged on both sides of the transportation system. The anchoring system is located behind the loading system and includes a multi-link vertical lifting platform, a top anchor assembly, a front sidewall assembly, a water detection assembly, and a rear sidewall assembly. The multi-link vertical lifting platform includes a lower support frame, an upper support frame, connecting frames I, II, III, IV, V, and VI, a support cylinder, and pins I and II. Pins III, IV, VA, Vb, VIa, VIb, VIIa, VIIb, and a telescopic platform; the lower support frame is mounted on the chassis of the walking system; connecting frame I includes two opposing connecting rods I, the bottom ends of the two connecting rods I and the two sides of the lower support frame are rotatably connected by pins I; connecting frame II includes two opposing connecting rods II, the bottom ends of the two connecting rods II and the two sides of the lower support frame are rotatably connected by pins II; connecting frame III includes two opposing connecting rods III, the top ends of the two connecting rods III... The upper support frame is rotatably connected to both sides via pin III; the connecting frame IV includes two opposing connecting rods IV and a reinforcing rod IV connecting the two connecting rods IV, with the top ends of the two connecting rods IV and both sides of the upper support frame rotatably connected via pin IV; the connecting frame V includes two opposing connecting rods V, with the top ends of connecting rod V, the top ends of connecting rod I, and the bottom ends of connecting rod III rotatably connected via pin VA, and the bottom ends of connecting rod V and the middle of connecting rod II rotatably connected via pin VAb; the connecting frame VI includes two opposing connecting rods VI, with the bottom ends of connecting rod VI and connecting rod II rotatably connected via pin VA. The top end of the connecting rod and the bottom end of the connecting rod IV are rotatably connected by pin VIa, and the top end of the connecting rod VI and the middle part of the connecting rod III are rotatably connected by pin VIb; the bottom end of the support cylinder and the lower support frame are rotatably connected by pin VIIa, and the top end of the support cylinder and the reinforcing rod IV are rotatably connected by pin VIIb; the telescopic platform and the upper support frame are connected and extend and retract along the front and rear directions of the traveling chassis; the top anchor assembly includes an inner top anchor drill and an outer top anchor drill; both the inner and outer top anchor drills are installed at the front end of the telescopic platform and can deflect along the front and rear directions of the traveling chassis. The system includes a front side support assembly that can rotate and deflect in the left and right directions along the chassis; the front side support assembly includes a front side support drill; the front side support drill is mounted at the front end of the upper support frame, located below the inner and outer top anchor drills, and can deflect in the left and right directions along the chassis; the water exploration drill is mounted on the telescopic platform and can swing in the up and down direction along the chassis and deflect in the left and right direction along the chassis; the rear side support assembly is located behind the multi-link vertical lifting platform and includes a sliding rail, a lifting mechanism, and a rear side support drill; the sliding rail is arranged in the front and rear direction along the chassis.The lifting mechanism is slidably connected to the sliding rail; the rear side drilling rig is connected to the lifting mechanism to achieve vertical lifting.

[0008] In the aforementioned multi-functional tunneling and anchoring integrated machine, connecting frame I also includes reinforcing rod I connecting two connecting rods I; connecting frame II also includes reinforcing rod II connecting two connecting rods II; connecting frame III also includes reinforcing rod III connecting two connecting rods III; connecting frame V also includes reinforcing rod V connecting two connecting rods V; connecting frame VI also includes reinforcing rod VI connecting two connecting rods VI.

[0009] In the aforementioned multi-functional tunneling and anchoring machine, the support cylinder has a built-in displacement sensor that can display the working height of the workbench in real time.

[0010] In the aforementioned multi-functional tunneling and anchoring machine, the distances between pins I and II, and between pins III and IV, are all equal, denoted as X; the distances between pins I and VA, VA and III, II and VIa, and VIa and IV are all equal, denoted as Y; the distances between pins II and VAb, and III and VIb are all equal, denoted as Z; the distances between pins VA and VAb, and VIa and VIb... The distances between them are all equal, denoted as T; the vertical heights between pins II and VA, and between pins III and VI are all equal, denoted as H1; the vertical heights between pins I and VI, and between pins IV and VA are all equal, denoted as H2; the vertical heights between pin I and the lower support frame, and between pin II and the lower support frame are all equal, denoted as H3; the vertical heights between pin III and the upper support frame, and between pin IV and the upper support frame are all equal, denoted as H3. All angles are equal, let's call it H4; the distances between pins II and VA, and between pins III and VI, are equal, let's call it d1; the triangle formed by pins II, I, and VA is congruent to the triangle formed by pins III, IV, and VI, with the angle corresponding to pin I being equal to the angle corresponding to pin IV, let's call it α, and the angle corresponding to pin II being equal to the angle corresponding to pin III, let's call it ∠1; the triangle formed by pins VA, II, and VI is congruent to the triangle formed by pins VA, III, and VI. The triangle formed by pins I, II, and VIA is congruent with the triangle formed by pins IV, III, and VA. The angle corresponding to pin II is equal to the angle corresponding to pin III, and is denoted as ∠2. The triangle formed by pins I, II, and VIA and the triangle formed by pins IV, III, and VA are congruent with the angle corresponding to pin II and the angle corresponding to pin III, and is denoted as ∠3. When the multi-link vertical lifting worktable is in any state, the vertical height between the lower support frame and the upper support frame is H, and the horizontal misalignment of the edges on the same side of the lower support frame and the upper support frame is ΔX.

[0011] H and ΔX are controlled by X, Y, Z, T, H3, H4, and α according to the following formula;

[0012] ,

[0013] ,

[0014] In the formula, ,

[0015] ,

[0016] ,

[0017] ,

[0018] ,

[0019] ,

[0020] ,

[0021] .

[0022] In the aforementioned multi-functional tunneling and anchoring integrated machine, the top anchor assembly also includes a fixed sleeve, an inner sliding frame, an outer sliding frame, a sliding cylinder, an inner deflection frame, an outer deflection frame, inner deflection cylinder I, inner deflection cylinder II, an outer rotary reducer, and an outer deflection cylinder; the fixed sleeve is fixedly installed on the telescopic platform; the inner and outer sliding frames are slidably connected to the fixed sleeve and driven by the sliding cylinder to slide along the left and right directions of the traveling chassis; the inner deflection frame is rotatably installed on the inner sliding frame; the two ends of the inner deflection cylinder I are respectively connected to the inner sliding frame and the inner deflection frame, driving the inner deflection frame. The inner deflector is rotatably mounted on the inner deflector frame; the two ends of the inner deflector cylinder II are connected to the inner deflector frame and the inner deflector respectively, driving the inner deflector to deflect in the front-back direction of the chassis; the outer deflector frame is rotatably connected to the outer sliding frame through the outer rotary reducer, and is driven by the outer rotary reducer to deflect in the left-right direction of the chassis; the outer deflector is rotatably mounted on the outer deflector frame; the two ends of the outer deflector cylinder are connected to the outer deflector frame and the outer deflector respectively, driving the outer deflector to deflect in the front-back direction of the chassis.

[0023] In the aforementioned multi-functional tunneling and anchoring integrated machine, the top anchor assembly also includes an inner top anchor drilling machine operating platform and an outer top anchor drilling machine operating platform; both the inner and outer top anchor drilling machine operating platforms are installed on the telescopic platform.

[0024] In the aforementioned multi-functional tunneling and anchoring integrated machine, the front side assembly also includes a front side drilling rig mounting frame and a front side drilling rig deflection cylinder; the front side drilling rig mounting frame is fixedly installed at the front end of the upper support frame; the front side drilling rig is rotatably installed on the front side drilling rig mounting frame; the two ends of the front side drilling rig deflection cylinder are respectively connected to the front side drilling rig mounting frame and the front side drilling rig, driving the front side drilling rig to deflect in the left and right directions along the traveling chassis.

[0025] In the aforementioned multi-functional tunneling and anchoring integrated machine, the water exploration component also includes a water exploration drill rig mounting base, a swing mechanism, and a slewing mechanism; the water exploration drill rig mounting base is rotatably mounted on the telescopic platform and is driven by the swing mechanism to swing along the vertical direction of the traveling chassis; the water exploration drill rig is rotatably mounted on the water exploration drill rig mounting base and is driven by the slewing mechanism to swing along the horizontal direction of the traveling chassis.

[0026] In the aforementioned multi-functional tunneling and anchoring integrated machine, the rear side panel assembly also includes a rear side sliding frame, a pushing cylinder, and a rear side panel drilling rig operating valve box; the rear side sliding frame is mounted on the traveling chassis; the sliding track is set on the rear side sliding frame; the two ends of the pushing cylinder are respectively connected to the rear side sliding frame and the lifting mechanism; the rear side panel drilling rig operating valve box is mounted on the rear side sliding frame.

[0027] In the aforementioned multi-functional tunneling and anchoring integrated machine, the multi-link vertical lifting worktable also includes a ladder; the ladder is installed on the telescopic platform.

[0028] Compared with the prior art, the present invention has the following beneficial effects.

[0029] 1. While ensuring the overall passability of the tunneling and anchoring machine, the multi-link vertical lifting worktable enables real-time vertical lifting of the worktable, solving the defect of traditional designs that cannot adjust the working height and improving working comfort.

[0030] 2. After the outer top anchor drilling rig rotates, it can be used for side anchor bolt support. After timely support of the side walls of the roadway, the stability of the side coal wall is greatly improved. The rear side drilling rig is equipped with a 0-1.0 meter ultra-large stroke sliding rail, which greatly improves the ability of the top and side anchor bolts of the integrated tunneling and anchoring machine to support the same row.

[0031] 3. The water exploration drilling rig not only enables water exploration operations in the front coal wall, but also meets the water exploration needs of the side coal wall, eliminating the need to purchase special equipment and saving procurement costs.

[0032] 4. The aforementioned multi-functional tunneling and anchoring machine is equipped with 4 top anchor drilling rigs, 2 front sidewall drilling rigs, 2 rear sidewall drilling rigs, and 2 water exploration drilling rigs, totaling 10 drilling rigs. If the sidewall stability of the excavated roadway is good, the 2 front sidewall drilling rigs can be eliminated. Furthermore, the 4 top anchor drilling rigs are only responsible for supporting the roof anchor bolts, while the 2 rear sidewall drilling rigs provide delayed and synchronous support for the upper sidewall anchor bolts of the roadway, saving support time, increasing effective cutting time, and further achieving efficient and rapid roadway excavation. Attached Figure Description

[0033] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 is a structural schematic diagram of the multi-functional tunneling and anchoring integrated machine;

[0035] Figure 2 shows the assembly diagram of the single-sided multi-link vertical lifting mechanism, the top anchor assembly, the front side panel assembly, and the water exploration assembly;

[0036] Figure 3 is a schematic diagram of the multi-link vertical lifting mechanism (excluding the telescopic platform).

[0037] Figure 4 shows the assembly diagram of the lower support frame, connecting frame I, connecting frame II, and connecting frame V;

[0038] Figure 5 shows the assembly diagram of the lower support frame, connecting frame I, connecting frame II, connecting frame III, connecting frame IV, connecting frame V, connecting frame VI, and support cylinder;

[0039] Figure 6 is a schematic diagram for calculating the horizontal misalignment of a multi-link vertical lifting mechanism.

[0040] Figure 7 is a simplified diagram of Figure 6;

[0041] Figure 8 is a comparison of the highest and lowest states of the multi-link vertical lifting mechanism.

[0042] Figure 9 is a comparison diagram of the extension and retraction states of the multi-link vertical lifting mechanism;

[0043] Figure 10 is a structural schematic diagram of a single-sided top anchor assembly;

[0044] Figure 11 is a schematic diagram of Figure 10 from another direction;

[0045] Figure 12 is a schematic diagram of the rotation of the outer top anchor drilling rig in the top anchor assembly;

[0046] Figure 13 is a structural schematic diagram of a single-sided front side panel assembly;

[0047] Figure 14 is a schematic diagram of the structure of a single-sided water detection component;

[0048] Figure 15 is a structural schematic diagram of the double-sided rear side panel assembly.

[0049] In the diagram: A - Walking system; B - Cutting system; C - Loading system; D - Transportation system; E - Temporary support; F - Spray dust suppression system; G - Anchoring system; H - Electrical system; I - Hydraulic system;

[0050] 1-Lower support frame; 2-Upper support frame; 3-Connecting frame I; 4-Connecting frame II; 5-Connecting frame III; 6-Connecting frame IV; 7-Connecting frame V; 8-Connecting frame VI; 9-Support cylinder; 10-Pin I; 11-Pin II; 12-Pin III; 13-Pin IV; 14-Pin VA; 15-Pin VAb; 16-Pin VIa; 17-Pin VIb; 18-Pin VIIa; 19-Pin VIIb; 20-Telescopic platform; 21-Ladder; 22-Fixing sleeve; 23-Inner sliding frame; 24-Outer sliding frame; 25-Sliding cylinder; 26-Inner deflection frame; 27-Outer deflection frame; 28-Inner... 1. Side deflection cylinder I; 29. ​​Inner side deflection cylinder II; 30. Outer side rotary reducer; 31. Outer side deflection cylinder; 32. Inner side top anchor drilling rig; 33. Outer side top anchor drilling rig; 34. Inner side top anchor drilling rig control panel; 35. Outer side top anchor drilling rig control panel; 36. Front side auxiliary drilling rig mounting frame; 37. Front side auxiliary drilling rig deflection cylinder; 38. Front side auxiliary drilling rig; 39. Water exploration drilling rig mounting base; 40. Swing mechanism; 41. Rotation mechanism; 42. Water exploration drilling rig; 43. Water exploration drilling rig control valve; 44. Rear side sliding frame; 45. Lifting mechanism; 46. Pushing cylinder; 47. Rear side auxiliary drilling rig; 48. Rear side auxiliary drilling rig control valve box. Detailed Implementation

[0051] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] This embodiment provides a multi-functional tunneling and anchoring integrated machine, including a walking system A, a cutting system B, a loading system C, a transportation system D, temporary support E, a spray dust suppression system F, an anchoring system G, an electrical system H, and a hydraulic system I. The walking system A, including the walking chassis, is responsible for the overall machine movement. The cutting system B, located in front of the walking chassis, is responsible for cutting the coal. The loading system C, installed at the front of the walking chassis and below the cutting system B, is responsible for loading the coal. The transportation system D, installed on the walking chassis and connected to the cutting system B at its front end, is located above the loading system C and is responsible for transferring and transporting the loaded coal. Temporary support system E and dust suppression system F are located above transport system D. Two sets of anchoring systems G are symmetrically arranged on both sides of transport system D, including a multi-link vertical lifting platform, top anchor assembly, front sidewall assembly, water detection assembly, and rear sidewall assembly. The multi-link vertical lifting platform is located behind loading system C. The top anchor assembly, front sidewall assembly, and water detection assembly are all arranged on the multi-link vertical lifting platform, responsible for the top anchoring operation of the roadway, the lower sidewall anchoring operation of the roadway, and the water detection operation of the roadway coal wall, respectively. The rear sidewall assembly is located behind the multi-link vertical lifting platform, responsible for the upper sidewall anchoring operation of the roadway. Electrical system H and hydraulic system I are arranged on both sides of the whole machine.

[0053] The multi-link vertical lifting worktable includes a lower support frame 1, an upper support frame 2, connecting frame I 3, connecting frame II 4, connecting frame III 5, connecting frame IV 6, connecting frame V 7, connecting frame VI 8, a support cylinder 9, pin I 10, pin II 11, pin III 12, pin IV 13, pin VA 14, pin VA 15, pin VI 16, pin VI 17, pin VII 18, pin VII 19, a telescopic platform 20, and a ladder 21.

[0054] The lower support frame 1 is installed on the walking chassis.

[0055] The connecting frame I3 includes two opposing connecting rods I and a reinforcing rod I connecting the two connecting rods I. The bottom ends of the two connecting rods I and the two sides of the lower support frame 1 are rotatably connected by pins I10.

[0056] The connecting frame II4 includes two opposing connecting rods II and a reinforcing rod II connecting the two connecting rods II. The bottom ends of the two connecting rods II and the two sides of the lower support frame 1 are rotatably connected by pins II11.

[0057] The connecting frame Ⅲ5 includes two opposing connecting rods Ⅲ and a reinforcing rod Ⅲ connecting the two connecting rods Ⅲ. The top ends of the two connecting rods Ⅲ and the two sides of the upper support frame 2 are rotatably connected by pins Ⅲ12.

[0058] The connecting frame Ⅳ6 includes two opposing connecting rods Ⅳ and a reinforcing rod Ⅳ connecting the two connecting rods Ⅳ. The top ends of the two connecting rods Ⅳ and the two sides of the upper support frame 2 are rotatably connected by pins Ⅳ13.

[0059] The connecting frame V7 includes two opposing connecting rods V and a reinforcing rod V connecting the two connecting rods V. The top end of connecting rod V, the top end of connecting rod I, and the bottom end of connecting rod III are rotatably connected by pin VA14, and the bottom end of connecting rod V and the middle part of connecting rod II are rotatably connected by pin VB15.

[0060] The connecting frame VI8 includes two opposing connecting rods VI and a reinforcing rod VI connecting the two connecting rods VI. The bottom end of connecting rod VI, the top end of connecting rod II, and the bottom end of connecting rod IV are rotatably connected by pin VIa16. The top end of connecting rod VI and the middle part of connecting rod III are rotatably connected by pin VIb17.

[0061] The bottom end of the support cylinder 9 and the lower support frame 1 are rotatably connected by pin Ⅶa18, and the top end of the support cylinder 9 and the reinforcing rod IV are rotatably connected by pin Ⅶb19. The support cylinder 9 has a built-in displacement sensor that can display the working height of the worktable in real time.

[0062] The lower support frame 1, upper support frame 2, and connecting frame are connected by pins to form a rigid structural component. There are three sets of spatial multi-link connections. The connecting pins are optimized, and the linkage system forms three sets of spatial parallelograms, resulting in a strong structural load-bearing capacity. The support cylinder 9, driven by the pump station of the integrated excavator and anchor machine, extends its piston rod, pushing the connecting frame IV6 upwards, simultaneously driving the entire upper support frame 2 upwards, and vice versa. This allows for a large lifting capacity within a limited height range.

[0063] The multi-link vertical lifting worktable can be infinitely adjusted in real time according to the mining height of the roadway. The maximum lifting stroke can be optimized and determined according to the mining height dimensions. During the movement, the upper support frame 2 and the lower support frame 1 maintain a strict horizontal relationship in real time. The vertical height between the lower support frame 1 and the upper support frame 2 is H, and the horizontal misalignment of the same side edges of the lower support frame 1 and the upper support frame 2 is ΔX. Through optimized design, it can be ensured that when the multi-link vertical lifting worktable is at height H, ΔX is within a controllable range. The optimization process is as follows:

[0064] The distance between pin I10 and pin II11, and the distance between pin III12 and pin IV13 are all equal, denoted as X;

[0065] The distances between pin I10 and pin VA14, pin VA14 and pin III12, pin II11 and pin VI16, and pin VI16 and pin IV13 are all equal, and are denoted as Y;

[0066] The distances between pins II11 and Vb15, and between pins III12 and VIb17 are all equal, and are denoted as Z;

[0067] The distances between pins Ⅴa14 and Ⅴb15, and between pins Ⅵa16 and Ⅵb17 are all equal, denoted as T;

[0068] The vertical height between pin II11 and pin VA14, and the vertical height between pin III12 and pin VI16 are all equal, and are denoted as H1;

[0069] The vertical height between pin I10 and pin VIa16, and the vertical height between pin IV13 and pin VA14 are all equal, and are denoted as H2;

[0070] The vertical height between pin I10 and the lower support frame 1, and the vertical height between pin II11 and the lower support frame 1 are all equal, and are set as H3;

[0071] The vertical height between pin III12 and upper support frame 2, and the vertical height between pin IV13 and upper support frame 2 are all equal, and are set as H4;

[0072] The distance between pin II11 and pin VA14, and the distance between pin III12 and pin VI16 are all equal, and are denoted as d1;

[0073] The triangle formed by pins II11, I10, and VA14 is congruent to the triangle formed by pins III12, IV13, and VI16. The angle corresponding to pin I10 is equal to the angle corresponding to pin IV13, denoted as α. The angle corresponding to pin II11 is equal to the angle corresponding to pin III12, denoted as ∠1.

[0074] The triangle formed by pins Ⅴa14, Ⅱ11, and Ⅵa16 is congruent to the triangle formed by pins Ⅴa14, Ⅲ12, and VIa16. The angle corresponding to pin Ⅱ11 is equal to the angle corresponding to pin Ⅲ12, and is denoted as ∠2.

[0075] The triangle formed by pin I10, pin II11, and pin VIa16 is congruent to the triangle formed by pin IV13, pin III12, and pin VA14. The angle corresponding to pin II11 is equal to the angle corresponding to pin III12, and is denoted as ∠3.

[0076] H and ΔX are controlled by X, Y, Z, T, H3, H4, and α according to the following formula;

[0077] ,

[0078] ,

[0079] In the formula, ,

[0080] ,

[0081] ,

[0082] ,

[0083] ,

[0084] ,

[0085] ,

[0086] .

[0087] In the design process of a multi-link vertical lifting worktable, X, Y, Z, T, H3, and H4 are the design variables. By adjusting X, Y, Z, T, H3, and H4, H is made to meet the design requirements, while ΔX is optimized to minimize its value. Using the above formula, α is changed to simulate the lifting process of the multi-link vertical lifting worktable. This allows for the rapid calculation of the performance of various combinations of X, Y, Z, T, H3, and H4 under different H values. Compared with modifying the 3D model, this method speeds up the calculation and improves the design efficiency.

[0088] The smaller the value of ΔX, the smaller the horizontal offset of the upper support frame 2 when the multi-link vertical lifting worktable changes from the previous height to the next height. Taking the multi-link vertical lifting worktable from the lowest state of 1080mm to the highest state of 2080mm as an example, the horizontal offset is only 0.5mm in the highest state.

[0089] The telescopic platform 20 is connected to the upper support frame 2 and extends and retracts along the front and rear direction of the traveling chassis to achieve "zero top-to-bottom distance" anchoring operation.

[0090] Ladder 21 is installed on telescopic platform 20.

[0091] The top anchor assembly includes a fixed sleeve 22, an inner sliding frame 23, an outer sliding frame 24, a sliding cylinder 25, an inner deflection frame 26, an outer deflection frame 27, an inner deflection cylinder I 28, an inner deflection cylinder II 29, an outer rotary reducer 30, an outer deflection cylinder 31, an inner top anchor drilling machine 32, an outer top anchor drilling machine 33, an inner top anchor drilling machine operating platform 34, and an outer top anchor drilling machine operating platform 35. The fixed sleeve 22 is fixedly installed on the front end of the upper surface of the telescopic platform 20; the inner sliding frame 23 and the outer sliding frame 24 are slidably connected to the fixed sleeve 22 respectively, and are driven by the sliding cylinder 25 to slide along the left and right directions of the traveling chassis; the inner deflection frame 26 is rotatably installed on the inner sliding frame 23; the two ends of the inner deflection cylinder I 28 are respectively connected to the inner sliding frame 23 and the inner deflection frame 26, driving the inner deflection frame 26 to deflect along the left and right directions of the traveling chassis; the inner top anchor drill 32 is rotatably installed on the inner deflection frame 26; the two ends of the inner deflection cylinder II 29 are respectively connected to the inner deflection frame 26 and the inner top anchor drill 32. Anchor drill 32 is connected and drives the inner top anchor drill 32 to deflect in the front-rear direction of the traveling chassis; the outer deflection frame 27 is rotatably connected to the outer sliding frame 24 through the outer rotary reducer 30, and is driven by the outer rotary reducer 30 to deflect in the left-right direction of the traveling chassis; the outer top anchor drill 33 is rotatably mounted on the outer deflection frame 27; the two ends of the outer deflection cylinder 31 are respectively connected to the outer deflection frame 27 and the outer top anchor drill 33, driving the outer top anchor drill 33 to deflect in the front-rear direction of the traveling chassis; the inner top anchor drill operating platform 34 and the outer top anchor drill operating platform 35 are both mounted on the telescopic platform 20. Under the action of the outer rotary reducer 30, the outer top anchor drill 33 can rotate 90 degrees to realize the top anchor drill drilling of side anchor bolts. In the event of mining in roadways with unstable sidewalls, timely support of the side anchor bolts can effectively reduce the risk of sidewall spalling.

[0092] The front side support assembly includes a front side support drilling rig mounting frame 36, a front side support drilling rig deflection cylinder 37, and a front side support drilling rig 38. The front side support drilling rig mounting frame 36 is fixedly installed at the front end of the upper support frame 2. The front side support drilling rig 38 is rotatably installed on the front side support drilling rig mounting frame 36, located below the inner top anchor drilling rig 32 and the outer top anchor drilling rig 33. The two ends of the front side support drilling rig deflection cylinder 37 are respectively connected to the front side support drilling rig mounting frame 36 and the front side support drilling rig 38, driving the front side support drilling rig 38 to deflect in the left and right directions along the traveling chassis, realizing small-angle swing, which facilitates the same-space support of the side support.

[0093] The water exploration assembly includes a water exploration drill mount 39, a swing mechanism 40, a rotation mechanism 41, a water exploration drill 42, and a water exploration drill control valve 43. The water exploration drill mount 39 is rotatably mounted on the telescopic platform 20 and is driven by the swing mechanism 40 to swing along the vertical direction of the traveling chassis, thereby adjusting the vertical angle of the drilling. The water exploration drill 42 is rotatably mounted on the water exploration drill mount 39 and is driven by the rotation mechanism 41 to swing along the horizontal direction of the traveling chassis, thereby adjusting the horizontal direction of the drilling. The water exploration drill control valve 43 is mounted on the water exploration drill mount 39. This water exploration assembly not only enables water exploration operations at the front coal face but also meets the water exploration needs of the side coal face, eliminating the need for specialized equipment and saving procurement costs.

[0094] The rear sidewall assembly includes a rear sliding frame 44, a sliding rail, a lifting mechanism 45, a pushing cylinder 46, a rear sidewall drilling rig 47, and a rear sidewall drilling rig operating valve box 48. The rear sliding frame 44 is mounted on the traveling chassis. The sliding rail is set on the rear sliding frame 44 and arranged along the front-rear direction of the traveling chassis. The lifting mechanism 45 is slidably connected to the sliding rail. The two ends of the pushing cylinder 46 are respectively connected to the rear sliding frame 44 and the lifting mechanism 45, with a sliding stroke of 0 to 1 meter. The rear sidewall drilling rig 47 is connected to the lifting mechanism 45 to achieve vertical lifting. The rear sidewall drilling rig operating valve box 48 is mounted on the rear sliding frame 44.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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. A multi-functional tunneling and anchoring machine, comprising a walking system (A), a cutting system (B), a loading system (C), a transportation system (D), a temporary support system (E), a spray dust suppression system (F), and an anchoring system (G); The walking system (A) includes a walking chassis; The cutting system (B) is located at the front end of the chassis. The loading system (C) is installed at the front end of the walking chassis, below the cutting system (B); The transport system (D) is mounted on a walking chassis, connected at the front end to the cutting system (B), and located above the loading system (C); The temporary support (E) and the spray dust suppression system (F) are located above the transport system (D); Two sets of anchoring systems (G) are symmetrically arranged on both sides of the transport system (D); Its features are, The anchoring system (G) includes a multi-link vertical lifting platform, a top anchor assembly, a front side panel assembly, a water exploration assembly, and a rear side panel assembly; The multi-link vertical lifting platform is located behind the loading system (C) and includes a lower support frame (1), an upper support frame (2), a connecting frame I (3), a connecting frame II (4), a connecting frame III (5), a connecting frame IV (6), a connecting frame V (7), a connecting frame VI (8), a support cylinder (9), a pin I (10), a pin II (11), a pin III (12), a pin IV (13), a pin VA (14), a pin VAb (15), a pin VIa (16), a pin VIb (17), a pin VIIa (18), a pin VIIb (19), and a telescopic platform (20). The lower support frame (1) is installed on the walking chassis; The connecting frame I (3) includes two connecting rods I arranged opposite to each other. The bottom ends of the two connecting rods I and the two sides of the lower support frame (1) are rotatably connected by pin I (10). The connecting frame II (4) includes two connecting rods II arranged opposite to each other. The bottom ends of the two connecting rods II and the two sides of the lower support frame (1) are rotatably connected by pins II (11). The connecting frame Ⅲ (5) includes two connecting rods Ⅲ arranged opposite to each other, and the top of the two connecting rods Ⅲ and the two sides of the upper support frame (2) are rotatably connected by pins Ⅲ (12); The connecting frame Ⅳ (6) includes two connecting rods Ⅳ arranged opposite each other and a reinforcing rod Ⅳ connecting the two connecting rods Ⅳ. The top ends of the two connecting rods Ⅳ and the two sides of the upper support frame (2) are rotatably connected by pins Ⅳ (13). The connecting frame V (7) includes two connecting rods V arranged opposite to each other. The top end of connecting rod V, the top end of connecting rod I, and the bottom end of connecting rod III are rotatably connected by pin VA (14). The bottom end of connecting rod V and the middle part of connecting rod II are rotatably connected by pin VB (15). The connecting frame VI (8) includes two connecting rods VI arranged opposite to each other. The bottom end of connecting rod VI, the top end of connecting rod II, and the bottom end of connecting rod IV are rotatably connected by pin VIa (16). The top end of connecting rod VI and the middle part of connecting rod III are rotatably connected by pin VIb (17). The bottom end of the support cylinder (9) and the lower support frame (1) are rotatably connected by pin VIIa (18), and the top end of the support cylinder and the reinforcing rod IV are rotatably connected by pin VIIb (19). The telescopic platform (20) is connected to the upper support frame (2) and extends and retracts along the front and rear directions of the walking chassis; The top anchor assembly includes an inner top anchor drill (32) and an outer top anchor drill (33). The inner top anchor drilling machine (32) and the outer top anchor drilling machine (33) are both installed at the front end of the telescopic platform (20) and can deflect along the front-back direction of the traveling chassis and along the left-right direction of the traveling chassis. The front sidewall assembly includes a front sidewall drill (38); The front side drilling rig (38) is installed at the front end of the upper support frame (2), located below the inner top anchor drilling rig (32) and the outer top anchor drilling rig (33), and can deflect along the left and right directions of the traveling chassis. The water exploration assembly includes a water exploration drilling rig (42); The water exploration drilling rig (42) is installed on the telescopic platform (20) and can swing up and down along the walking chassis and deflect left and right along the walking chassis. The rear sidewall assembly is located behind the multi-link vertical lifting worktable and includes a sliding rail, a lifting mechanism (45), and a rear sidewall drilling rig (47). The sliding track is arranged along the front-rear direction of the traveling chassis; The lifting mechanism (45) is slidably connected to the sliding track; The rear side drilling rig (47) is connected to the lifting mechanism (45) to achieve vertical lifting.

2. The multi-functional tunneling and anchoring integrated machine according to claim 1, characterized in that, The connecting frame I (3) also includes a reinforcing rod I that connects the two connecting rods I; The connecting frame II (4) also includes a reinforcing rod II that connects the two connecting rods II; The connecting frame Ⅲ (5) also includes a reinforcing rod Ⅲ that connects the two connecting rods Ⅲ; The connecting frame V (7) also includes a reinforcing rod V that connects the two connecting rods V; The connecting frame VI (8) also includes a reinforcing rod VI that connects the two connecting rods VI.

3. The multi-functional tunneling and anchoring integrated machine according to claim 1, characterized in that, The support cylinder (9) has a built-in displacement sensor.

4. The multi-functional tunneling and anchoring integrated machine according to claim 1, characterized in that, The distance between pin I (10) and pin II (11), and the distance between pin III (12) and pin IV (13) are all equal, and are denoted as X; The distances between pin I (10) and pin VA (14), pin VA (14) and pin III (12), pin II (11) and pin VIA (16), and pin VIA (16) and pin IV (13) are all equal, and are denoted as Y; The distance between pin II (11) and pin VB (15), and the distance between pin III (12) and pin VI (17) are all equal, and are denoted as Z; The distance between pins Ⅴa (14) and Ⅴb (15) and the distance between pins Ⅵa (16) and Ⅵb (17) are all equal, and are denoted as T; The vertical height between pin II (11) and pin VA (14), and the vertical height between pin III (12) and pin VI (16) are all equal, and are set as H1; The vertical height between pin I (10) and pin V a (16) and the vertical height between pin IV (13) and pin V a (14) are all equal, and are set as H2; The vertical height between pin I (10) and the lower support frame (1) and the vertical height between pin II (11) and the lower support frame (1) are equal, and are set as H3; The vertical height between pin III (12) and the upper support frame (2) and the vertical height between pin IV (13) and the upper support frame (2) are equal, and are set as H4; The distance between pin II (11) and pin VA (14), and the distance between pin III (12) and pin VI (16) are all equal, and are set as d1; The triangle formed by pins II (11), I (10), and VA (14) is congruent to the triangle formed by pins III (12), IV (13), and VIA (16). The angle corresponding to pin I (10) is equal to the angle corresponding to pin IV (13), and is set as α. The angle corresponding to pin II (11) is equal to the angle corresponding to pin III (12), and is set as ∠1. The triangle formed by pins Ⅴa(14), Ⅱ(11), and Ⅵa(16) is congruent to the triangle formed by pins Ⅴa(14), Ⅲ(12), and Ⅵa(16). The angle corresponding to pin Ⅱ(11) is equal to the angle corresponding to pin Ⅲ(12), and is set as ∠2. The triangle formed by pin I (10), pin II (11), and pin VIA (16) is congruent to the triangle formed by pin IV (13), pin III (12), and pin VA (14). The angle corresponding to pin II (11) is equal to the angle corresponding to pin III (12), and is set as ∠3. When the multi-link vertical lifting worktable is in any state, the vertical height between the lower support frame (1) and the upper support frame (2) is H, and the horizontal misalignment of the same side edge of the lower support frame (1) and the upper support frame (2) is ΔX. H and ΔX are controlled by X, Y, Z, T, H3, H4, and α according to the following formula; ， ， In the formula, ， ， ， ， ， ， ， 。 5. The multi-functional tunneling and anchoring integrated machine according to any one of claims 1-4, characterized in that, The top anchor assembly also includes a fixed sleeve (22), an inner sliding frame (23), an outer sliding frame (24), a sliding cylinder (25), an inner deflection frame (26), an outer deflection frame (27), an inner deflection cylinder I (28), an inner deflection cylinder II (29), an outer rotary reducer (30), and an outer deflection cylinder (31). The fixed sleeve (22) is fixedly installed on the telescopic platform (20); The inner sliding frame (23) and the outer sliding frame (24) are slidably connected to the fixed sleeve (22) and are driven by the sliding cylinder (25) to slide along the left and right directions of the walking chassis. The inner deflection frame (26) is rotatably mounted on the inner sliding frame (23); The two ends of the inner deflection cylinder I (28) are connected to the inner sliding frame (23) and the inner deflection frame (26) respectively, driving the inner deflection frame (26) to deflect in the left and right directions of the walking chassis; The inner top anchor drilling machine (32) is rotatably mounted on the inner deflection frame (26); The two ends of the inner deflection cylinder II (29) are connected to the inner deflection frame (26) and the inner top anchor drill (32) respectively, driving the inner top anchor drill (32) to deflect along the front and rear direction of the traveling chassis; The outer deflection frame (27) is rotatably connected to the outer sliding frame (24) through the outer rotary reducer (30), and is driven by the outer rotary reducer (30) to deflect in the left and right directions of the walking chassis; The outer top anchor drilling rig (33) is rotatably mounted on the outer deflection frame (27); The two ends of the outer deflection cylinder (31) are connected to the outer deflection frame (27) and the outer top anchor drill (33) respectively, driving the outer top anchor drill (33) to deflect along the front and rear direction of the traveling chassis.

6. The multi-functional tunneling and anchoring integrated machine according to claim 5, characterized in that, The top anchor assembly also includes an inner top anchor drilling machine operating platform (34) and an outer top anchor drilling machine operating platform (35). The inner top anchor drilling machine operating platform (34) and the outer top anchor drilling machine operating platform (35) are both installed on the telescopic platform (20).

7. The multi-functional tunneling and anchoring integrated machine according to claim 6, characterized in that, The front side assembly also includes a front side drilling rig mounting bracket (36) and a front side drilling rig deflection cylinder (37). The front side drilling rig mounting bracket (36) is fixedly installed at the front end of the upper support frame (2); The front side drilling rig (38) is rotatably mounted on the front side drilling rig mounting frame (36); The two ends of the front side drilling rig deflection cylinder (37) are connected to the front side drilling rig mounting frame (36) and the front side drilling rig (38) respectively, driving the front side drilling rig (38) to deflect in the left and right directions of the traveling chassis.

8. The multi-functional tunneling and anchoring integrated machine according to claim 7, characterized in that, The water exploration assembly also includes a water exploration drilling rig mounting base (39), a swing mechanism (40), and a rotation mechanism (41). The water exploration drilling rig mounting base (39) is rotatably mounted on the telescopic platform (20) and is driven by the swing mechanism (40) to swing along the vertical direction of the traveling chassis; The water exploration drilling rig (42) is rotatably mounted on the water exploration drilling rig mounting base (39) and is driven by the slewing mechanism (41) to swing left and right along the walking chassis.

9. The multi-functional tunneling and anchoring integrated machine according to claim 8, characterized in that, The rear sidewall assembly also includes a rear side sliding frame (44), a push cylinder (46), and a rear sidewall drilling rig operating valve box (48). The rear sliding frame (44) is mounted on the walking chassis; The sliding track is set on the rear sliding frame (44); The two ends of the pushing cylinder (46) are respectively connected to the rear sliding frame (44) and the lifting mechanism (45); The rear side drilling rig operating valve box (48) is installed on the rear side sliding frame (44).

10. The multi-functional tunneling and anchoring integrated machine according to claim 9, characterized in that, The multi-link vertical lifting worktable also includes a ladder (21); The ladder (21) is installed on the telescopic platform (20).

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