CN113006841B

CN113006841B - Three-station propelling beam and automatic drilling, anchoring and anchoring method thereof

Info

Publication number: CN113006841B
Application number: CN202110281780.1A
Authority: CN
Inventors: 徐雪锋; 李勇涛; 杜标; 高强胜; 郑晓辉
Original assignee: Zhejiang Kaishan Heavy Industry Co ltd
Current assignee: Zhejiang Kaishan Heavy Industry Co ltd
Priority date: 2020-06-15
Filing date: 2021-03-16
Publication date: 2023-04-25
Anticipated expiration: 2041-03-16
Also published as: CN215057493U; CN113006841A; CN113006843B; CN215057494U; CN113006842B; CN113006842A; CN215057495U; CN113006843A

Abstract

The invention discloses a three-station propelling beam and an automatic drilling, anchoring and anchoring method thereof, comprising a fixed beam and a rotary beam, wherein the rotary beam is rotatably arranged on the fixed beam, a drilling device for completing drilling operation is arranged on the rotary beam, an anchoring device for completing anchoring operation and an anchoring device for completing anchoring operation are arranged on the rotary beam, and the drilling device and the anchoring device are respectively positioned at two sides of the anchoring device; the drilling device comprises a drilling guide rail, a drilling rock drill and a drilling propelling device, wherein the drilling guide rail is arranged along the axial direction of the sleeve and is fixedly arranged on the rotating beam; through drilling station, stock station and the anchor station of rotatory switching, very big promotion switching rate to can also ensure that the angle in the switching process is accurate and the location is accurate.

Description

Three-station propelling beam and automatic drilling, anchoring and anchoring method thereof

Technical Field

The invention relates to the technical field of mine and tunnel engineering machinery, in particular to a three-station propelling beam and an automatic drilling, anchoring and anchoring method thereof.

Background

The underground support (roadway support) is mainly used for relieving and reducing the movement of surrounding rocks, so that the section of the roadway is not excessively reduced, and scattered and destroyed surrounding rocks are prevented from falling down; in general, in order for the roadway support to play a positive role in adjusting and controlling the deformation of the surrounding rock, the support should be installed before the surrounding rock is loosened and destroyed, so that the support plays a bearing role together with the surrounding rock under the condition that the surrounding rock still has self-bearing force.

Taking an anchor bolt support as an example; drilling an anchor rod hole in advance in the process of anchor rod support, and then knocking in an anchor rod; in the early stage of the anchor bolt support, a gas leg type rock drill is often adopted for manually drilling, and then an anchor bolt is manually installed; the scheme has the advantages of high working strength, low working efficiency, low supporting quality and low safety coefficient; the double-drill-arm anchor rod drill carriage is quickly replaced by a double-drill-arm anchor rod drill carriage, when the double-drill-arm anchor rod drill carriage works, a drill is drilled through one drill arm, and an anchor rod is installed on the other drill arm; the technical problems of low initial safety coefficient and the like are solved; however, because the scheme needs two sets of drilling arm control systems, the operation is complex, and the two drilling arms are independent of each other, the hole is difficult to be drilled in the process of installing the anchor rod by the other drilling arm after the drilling is completed; namely, the original technical problems of high working strength, low working efficiency, low supporting quality and the like still exist.

The existing anchor bolt support often adopts a single-drill-arm anchor bolt drill carriage, namely, a push beam pushes a slide plate to be respectively provided with a drill hole and an anchor bolt drill, and the slide plate is translated to switch the drill/anchor rock drill to drill the drill hole and install the anchor bolt; or only one rock drill is installed, and the purposes of drilling and installing the anchor rod are achieved by switching the drill rod and the anchor rod; the hydraulic anchor rod trolley disclosed in the Chinese patent document with the publication number of CN209539352U achieves the aim of drilling and installing an anchor rod by switching a drill rod and the anchor rod;

they have the following disadvantages:

1) Although the drilling and anchoring switching rate is improved to a certain extent compared with the original scheme of the anchor rod support, there is still room for improvement;

2) For the anchor rod drill carriage adopting the double rock drills, two sets of propulsion systems are often adopted, so that the propulsion beams are heavy and the operation is complex.

Thus, the Chinese patent document with publication number CN110761816A discloses an automatic jumbolter mechanism, which belongs to the technical field of the drill mechanism; the drilling and anchoring device comprises a fixed seat, a rotating frame hinged with the fixed seat and provided with a drilling and anchoring sleeve, and a propelling part for driving the drilling and anchoring sleeve to move forwards and backwards; the rotating frame is driven to rotate by the driving component. The drilling and anchoring suite on the rotating frame comprises a drill rod, an anchoring agent and an anchor rod. The drilling machine mechanism is provided with the rotating frame, the drill rod, the anchoring agent and the anchor rod are arranged at different positions of the rotating frame, positioning before construction is realized by rotation of the rotating frame, three processes of drilling the drill rod, anchoring the anchoring agent and anchoring the anchor rod are changed into one process, and the whole processes of drilling the drill rod, anchoring the anchoring agent and anchoring the anchor rod are realized through automatic control. The drilling machine mechanism only needs one propulsion system and can realize the accurate positioning action of the drill rod, the anchoring agent and the anchor rod by one-time positioning.

Although this patent document solves the above technical problems, a person skilled in the art finds that there are still drawbacks in the use process; in theory, after the drilling mechanism finishes positioning once, the subsequent bolting operation and anchoring operation need not to be repositioned as long as the rotating frame rotates by a specific angle, but the situation is not the case in the actual operation process, for example, the whole drilling mechanism is in a vibration state during the drilling operation, and obviously, the drilling machine generates a certain displacement, then a certain deviation exists after the subsequent rotating frame rotates by a specific angle, and in addition, how to ensure that the rotating frame rotates by a specific angle and the angle error is small enough is not mentioned in the patent literature.

Disclosure of Invention

In order to solve the technical problems, the invention aims to overcome the defects of the prior art and provide a three-station propelling beam and an automatic drilling, anchoring and anchoring method thereof.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

An automatic drilling, anchoring and bolting method is characterized in that;

the drilling device is used for completing the drilling operation, the anchor rod device is used for completing the anchoring operation, and the drilling device and the anchor rod device are respectively positioned at two sides of the anchoring device;

the drilling device comprises a drilling guide rail, a drilling rock drill and a drilling propelling device, wherein the drilling guide rail is arranged along the axial direction of the sleeve and fixedly arranged on the rotating beam,

the anchor rod device comprises an anchor rod guide rail, an anchor rod rock drill and an anchor rod propelling device, wherein the anchor rod guide rail is arranged along the axial direction of the sleeve and fixedly arranged on the rotary beam,

the method comprises the following specific steps:

step one: moving the fixed beam shaft and enabling the top end of the fixed beam to prop against a roadway top plate to be anchored;

step two: the drilling propulsion device drives the drilling rock drill to move upwards along the drilling guide rail to finish drilling operation, and then the drilling rock drill returns to the initial position;

step three: the rotating beam rotates anticlockwise so that the anchoring device is positioned at an anchoring position, and the anchoring device completes the anchoring operation;

Step four: the rotary beam rotates anticlockwise so that the anchor rod device is positioned at an anchor rod position, the anchor rod propelling device pushes the anchor rod rock drill to move upwards along the anchor rod guide rail to finish anchor rod operation, and then the anchor rod rock drill returns to the initial position;

step five: the rotating beam rotates clockwise to return to the initial position, and simultaneously the anchor stock warehouse changes the anchor rod rock drill for the next anchor rod, and the fixed beam is moved to the roadway roof to be anchored at the next position.

Step six: repeating the steps two to five.

Preferably, in step three, the anchoring device delivers the anchoring agent into the borehole of the drilling device by means of a high-pressure water flow.

Preferably, in the third step, the anchoring device pushes the anchoring agent to the hole bottom drilled by the drilling device through the pushing rod and fixes the anchoring agent to the hole bottom drilled by the drilling device.

Preferably, the anchoring device comprises a bottom plate, a connecting pipe, a pushing rod, a compensating mechanism, an anchoring assembly and a pushing assembly; the bottom plate comprises an upper bottom plate and a lower bottom plate, the propulsion component is arranged on the lower bottom plate, the connecting pipe is fixedly arranged on the upper bottom plate and partially extends out of the upper bottom plate upwards, and the upper bottom plate is slidably arranged on the lower bottom plate and driven by the compensation mechanism to reciprocate on the lower bottom plate; the anchoring assembly sends the anchoring agent into a hole drilled by the drilling device through the connecting pipe, and the pushing assembly drives the pushing rod to push and install the anchoring agent to the bottom of the hole drilled by the drilling device.

Preferably, the connecting pipe comprises a first pipeline, a second pipeline and a third pipeline which are communicated, and the first pipeline part extends upwards from the bottom plate; the first guide pipe is connected with the third pipeline so that the anchoring agent sequentially passes through the third pipeline and the first pipeline and then enters a hole drilled by the drilling device, and the pushing assembly drives the pushing rod to reciprocate on the bottom plate and has a first stay position and a second stay position;

when the pushing rod is positioned at the first stay position, the anchoring component can push the anchoring agent to sequentially pass through the third pipeline and the first pipeline and then enter the hole drilled by the drilling device, and in the process that the pushing rod moves from the first stay position to the second stay position, the top end of the pushing rod enters from the inner end of the first pipeline and then extends out from the outer end of the first pipeline so as to push and fix the anchoring agent to the bottom of the hole drilled by the drilling device.

Preferably, the anchoring assembly comprises a tee joint, a first valve is arranged at a first outlet end of the tee joint, a second valve is arranged at a second outlet end of the tee joint, a first guide pipe detachably connected with the guide pipe is connected to a third outlet end of the tee joint, the first outlet end is used for inputting anchoring agent, and the second outlet end is connected with a third guide pipe used for inputting water.

Preferably, a top disc is arranged at the top end of the fixed beam, and a plurality of protruding parts are distributed on the upper surface of the top disc so that the fixed beam can stably lean against a roadway top plate needing anchoring.

Preferably, the rotating beam comprises a pushing rod, a sleeve and a plurality of connecting pieces, wherein the sleeve and the pushing rod are distributed in parallel and are fixedly connected through the connecting pieces, the sleeve is sleeved on the fixed beam and can rotate relative to the fixed beam, the anchoring device, the drilling device and the anchor rod device are all arranged on the sleeve, and the pushing rod is driven by the switching oil cylinder to rotate by taking the fixed beam as a central shaft.

Preferably, the rock drill and the rock drill jointly adopt a pushing oil cylinder to complete pushing and pulling.

A three-station push beam adopts an automatic drilling, anchoring and bolting method as described above.

The beneficial effects of the invention are as follows:

1) The purpose of boring the anchor switching is achieved through the rotation of the rotating beam, compared with the original method of further improving the speed of boring the anchor switching through translation sliding switching, the top end of the fixed beam is always propped against a roadway roof to be anchored in the rotating process, the accuracy of boring the anchor switching is guaranteed, the problem that the center hole cannot be aligned quickly and accurately after boring the anchor switching due to the fact that the whole car moves or the working arm moves or the propelling beam moves in the rotating switching process is avoided, the rock drilling anchoring process is continuous, the production efficiency is high, and the economic benefit is better.

2) Through the setting of a plurality of stopper and a plurality of spacing base, guaranteed at the rotatory switching in-process of propulsion roof beam, drilling equipment accurate positioning is to drilling position, and stock device accurate positioning is to stock position and anchor device accurate positioning is to anchor position.

3) The anchoring device has a simple structure and small occupied space, and is very suitable for being assembled on a single propelling beam with three stations.

4) The anchoring device provided by the invention completely simulates the manual anchoring agent feeding process, is convenient, quick and safe to operate, and avoids personnel from filling anchoring agents in dangerous areas.

Drawings

FIG. 1 is a schematic view of a first embodiment of a beam structure;

FIG. 2 is a schematic diagram of a first embodiment of a beam;

FIG. 3 is a schematic diagram of a third embodiment of a beam structure;

FIG. 4 is a schematic view of a limiting interlock device according to a first embodiment of the present invention;

FIG. 5 is an exploded view of a spacing interlock device according to a first embodiment of the present invention;

FIG. 6 is a schematic view of the oil path of a feed beam in accordance with an embodiment of the present invention;

FIG. 7 is a schematic diagram of a rotation switch in accordance with a first embodiment of the present invention;

FIG. 8 is a schematic view of an anchoring device according to a first embodiment of the present invention;

FIG. 9 is a second schematic view of an anchoring device according to the first embodiment of the present invention;

FIG. 10 is a schematic view of an anchor assembly according to a first embodiment of the present invention;

FIG. 11 is a schematic view of a three-station pusher beam in a second embodiment of the present invention;

FIG. 12 is a schematic view of a second embodiment of an anchoring device according to the first embodiment of the present invention;

FIG. 13 is a schematic diagram showing a second embodiment of an anchoring device;

FIG. 14 is a hydraulic schematic diagram of a limiting cylinder, a compensating cylinder and a propulsion motor in a second embodiment of the present invention;

fig. 15 is a schematic view of a connecting pipe in a second embodiment of the invention.

Reference numerals illustrate: 1. a bracket; 2. a fixed beam; 4. a drilling device; 6. a roof bolt device; 31. a push rod; 32. a sleeve; 33. a connecting piece; 7. a limit oil cylinder; 51. an anchoring limiting block; 52. an anchoring limit base; 41. a first limiting block; 42. Drilling a limit base; 62. an anchor rod limiting base; 43. drilling a guide rail; 44. drilling rock drill; 53. an anchor assembly; 54. A guide tube; 55. anchoring the guide rail; 56. a slide block; 57. a pushing member; 63. an anchor rod guide rail; 64. rock drill of the anchor rod; 34. switching the oil cylinder; 8. a limit interlocking device; 81. a thrust cylinder; 82. interlocking oil cylinders; 20. a top plate; 35. an anchor rod bin; 350. a motor; 351. an upper rod storage disc; 352. a lower rod storage disc; 353. a central shaft; 83. an upper pulley block; 84. a lower pulley block; 85. A movable pulley block; 801. position a; 802. position B; 803. position C; 804. position D; 86. a limit seat; 87. a limiting block; 88. a limit groove; 89. a limiting piece; 805. a reversing valve A; 806. a reversing valve B; 531. a first outlet end; 532. a first valve; 533. a second outlet end; 534. a second valve; 58. a first conduit; 59. a guide ring; 90. a connecting pipe; 901. A first pipe; 902. a second pipe; 903. a third conduit; 91. a propulsion rod; 920. a propulsion motor; 921. pushing the slide block; 923. an upper guide wheel; 924. a chain; 930. an upper base plate; 931. a lower base plate; 94. a compensation oil cylinder; 950. a reversing valve C; 951. a reversing valve D; 952. and a reversing valve E.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more, unless otherwise clearly defined.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the invention, "upper", "lower", "front", "rear", "left" and "right" are based on the orientation of each component in fig. 1; wherein, the top disk on the fixed beam is located the upper end.

Embodiment one:

a hydraulic anchor rod drill carriage comprises an engineering chassis, a working arm, a three-station propelling beam as shown in figures 1-3, an electric device, a hydraulic device and a cab; the engineering chassis is used for supporting the whole vehicle, ensuring the rigidity and strength of the whole vehicle, ensuring the working stability of the whole vehicle by transversely extending and contracting the front of the supporting legs of the engineering chassis, ensuring the normal work of the three-station propelling beam and the working arm by the electric device and the hydraulic device, and arranging a driver in a cab and operating the working arm and the three-station propelling beam by the driver to complete the underground supporting work; the three-station propelling beam is arranged on the working arm and is adjusted to be in a vertical state through the working arm;

in this embodiment, the three-station propelling beam includes a bracket 1 mounted on a working arm and a rotating beam mounted on the bracket 1, on which a drilling device 4 for completing drilling operation, an anchor device 6 for completing anchor operation and an anchoring device for completing anchoring operation are mounted;

The three-station propelling beam further comprises a fixed beam 2 fixedly arranged on the bracket 1, the rotating beam comprises a pushing rod 31, a sleeve 32 and a plurality of connecting pieces 33, the sleeve 32 and the pushing rod 31 are distributed in parallel and are fixedly connected through the plurality of connecting pieces 33, the sleeve 32 is sleeved on the fixed beam 2 and can rotate relative to the fixed beam 2, an anchoring device, a drilling device 4 and an anchor rod device 6 are all arranged on the sleeve 32, the drilling device 4 and the anchor rod device 6 are respectively positioned on two sides of the anchoring device, and the pushing rod 31 is driven by a switching oil cylinder 34 to rotate by taking the fixed beam 2 as a central shaft; so that the drilling device 4 is positioned at a drillable position during drilling operation, the anchoring device is positioned at an anchoring position during anchoring operation, and the anchor rod device 6 is positioned at an anchor rod position during anchor rod operation;

and in the processes of drilling operation, anchoring operation, anchor rod operation and rotation of the rotating beam, the top end of the fixed beam 2 is always abutted against the roadway roof to be anchored and fixed.

So set up, reach the purpose of boring the anchor switching through the rotation of pivoted roof beam, compare in original through translation slip switching boring the speed that the anchor was changed to further promotion of anchor switching, and at rotatory in-process, the top of fixed roof beam 2 is held up all the time and is leaned on the tunnel roof that needs the anchor, guaranteed boring the accuracy that the anchor switched, avoided rotating the switching in-process because whole car removes or the arm removes or three station propelling beam removes and lead to changeing the unable quick accurate centre bore of aiming at after the anchor switching, and then make rock drilling anchoring process more continuous, production efficiency is high, economic benefits is better.

In this embodiment, a top plate 20 is disposed at the top end of the fixed beam 2, and a plurality of protruding portions are distributed on the upper surface of the top plate 20, so that the fixed beam 2 can stably lean against a roadway roof to be anchored; further preferably, the fixed beam 2 is driven by a working arm to be propped against a roadway roof, or the fixed beam 2 is a telescopic beam and is driven by an oil cylinder to be propped against the roadway roof; tilting or rocking during drilling and bolting and displacement that may occur during switching of the drill rod and the rock drill 64 are prevented even further by the top disc 20.

When the pushing rod 31 rotates from the initial position to the maximum rotatable position, the rotating angle of the pushing rod relative to the axial line of the fixed beam 2 is not more than 135 degrees; in this embodiment, the angle by which the rotating beam rotates from the initial position to the maximum rotatable position is between 80-100 degrees; the reason for this is that the rotation beam is pushed by the switching cylinder 34 to rotate, so that the rotation angle is difficult to reach 180 ° and is optimal around 90 °; in addition, the more centralized drilling device 4 and bolting device 6 also facilitate the installation of the bolting magazine 35.

In this embodiment, as shown in fig. 7, there are further provided a limiting cylinder 7, an anchoring limiting block 51 and an anchoring limiting base 52, the anchoring limiting base 52 is mounted on the fixed beam 2 or the bracket 1, the anchoring limiting block 51 is fixedly mounted on the sleeve 32, in the process that the piston of the switching cylinder 34 is retracted from the extended state to drive the rotating beam to rotate counterclockwise, the drilling device 4, the anchoring device and the anchor rod device 6 are sequentially located at the drilling position, the anchoring position and the anchor rod position, the piston of the limiting cylinder 7 is extended to drive the anchoring limiting base 52 to abut against the anchoring limiting block 51 so that the anchoring device is located at the anchoring position, and in the process that the piston of the switching cylinder 34 is extended from the retracted state to drive the rotating beam to rotate clockwise, the drilling device 4 and the anchor rod device 6 are sequentially located at the drilling position and the anchor rod position, in the process, and the piston of the limiting cylinder 7 is always located at the retracted state; this is so because, in general, the longest extended position and the fully retracted position of the piston of the switching cylinder 34 are determined, so that the drilling device 4 can be ensured to be in the drilling position and the bolting device 6 can be ensured to be in the bolting position, whereas when the bolting device is in the bolting position, the piston of the switching cylinder 34 is in the intermediate position, which cannot be determined precisely, so that the bolting position can be determined precisely by the cooperation of the fixing stopper 87 and the bolting-stopper base 52 during rotation.

It should be noted that, in other embodiments, the drilling device 4, the anchoring device and the anchor rod device 6 are sequentially located at the drilling position, the anchoring position and the anchor rod position when the piston of the switching cylinder 34 is extended from the retracted state to drive the rotating beam to rotate, and the drilling device 4 and the anchor rod device 6 are sequentially located at the drilling position and the anchor rod position when the piston of the switching cylinder 34 is retracted from the extended state to drive the rotating beam to rotate; and the piston retraction of the limit cylinder 7 drives the anchoring limit base 52 to move against the anchoring limit block 51 so that the anchoring device is in the anchoring position is also possible.

It should be noted that the above two situations of the position of the switching cylinder 34 are only two optimal ways, i.e. the drilling machine 44 and/or the rock drill 64 may be in the drilling position when the switching cylinder 34 is in other positions.

In this embodiment, the anchoring limit base 52 is rotatably mounted on the fixed beam 2 or the bracket 1, and the limit cylinder 7 is hinged with the anchoring limit base 52; in other embodiments, the anchoring limit base 52 is slidably mounted on the fixed beam 2 or the bracket 1, and the limit cylinder 7 is fixedly connected with the anchoring limit base 52; in view of that the rotation of the rotating beam is stopped by the abutment of the anchoring stopper 51 and the anchoring stopper base 52 during the rotation of the rotating beam, and the drilling, anchoring and bolting device 6 is mounted on the rotating beam, the rotation inertia thereof is relatively large, and meanwhile, in the process, the connection between the limiting cylinder 7 and the anchoring stopper base 52 is a stress concentration point, so that the anchoring stopper base 52 is preferably rotatably mounted on the fixed beam 2 or the bracket 1 to ensure the connection stability of the limiting cylinder 7 and the anchoring stopper base 52.

In this embodiment, at least one first adjusting bolt is further provided, and the first adjusting bolt is installed on the anchoring limiting block 51 or the anchoring limiting base 52, and when the anchoring limiting block 51 abuts against the anchoring limiting base 52, the rotating beam can be rotated again by adjusting the first adjusting bolt. This is because even through the engagement of the anchor stop 51 or the anchor stop base 52, a comparatively small deviation may still exist between the anchoring device and the anchoring position due to machining or the like, and this deviation can be avoided by adjusting the first adjusting screw.

In this embodiment, a first limiting block 41, a drilling limiting base 42 and an anchor rod limiting base 62 are further provided, the drilling limiting base 42 and the anchor rod limiting base 62 are fixedly installed on the fixed beam 2 or the bracket 1, the first limiting block 41 is fixedly installed on the sleeve 32, and when the first limiting block 41 abuts against the drilling limiting base 42, the drilling device 4 is located at a drilling position; when the first limiting block 41 abuts against the anchor rod limiting base 62, the anchor rod device 6 is positioned at an anchor rod position; further preferably, at least two second adjusting bolts are further arranged, the second adjusting bolts are arranged on the first limiting block 41 or the drilling limiting base 42 or the anchor rod limiting base 62, and when the first limiting block 41 abuts against the drilling limiting base 42 or when the first limiting block 41 abuts against the anchor rod limiting base 62, the rotating beam can rotate again through adjusting the second adjusting bolts.

In the present embodiment, the structure of the working arm may refer to the working arm referred to in publication No. CN209539352U, CN210141141U, CN108868841A, CN108756965 a; generally, the working arm comprises a first big arm and a second big arm, wherein the rear end of the first big arm is rotatably arranged on the engineering chassis and is provided with a rear lifting swing oil cylinder for controlling the first big arm to rotate; the rear end of the second large arm is fixedly connected with the first large arm, the front end of the second large arm is hinged with the bracket 1, a front lifting swing oil cylinder is arranged to operate the three-station propelling beam to rotate, further preferably, the rear lifting swing arm is also provided with a first arm seat and a second arm seat, the first arm seat is fixedly arranged on the engineering chassis, the first large arm is rotatably arranged on the first arm seat, the second arm seat is fixedly arranged at the front end of the first large arm, the second large arm is fixedly arranged on the second arm seat, one end of the rear lifting swing oil cylinder is rotatably arranged on the first arm seat, the other end of the rear lifting swing oil cylinder is hinged with the first large arm, and one end of the front lifting swing oil cylinder is rotatably arranged on the second arm seat, and the other end of the front lifting swing oil cylinder is hinged with the bracket 1; thus, the three-station propelling beam can be sent to a designated position according to a designated angle.

In this embodiment, as shown in fig. 1-2, an anchor rod bin 35 for storing anchor rods is further provided on one side of the rotating beam, and the structure of the anchor rod bin can refer to the anchor rod bin 35 in publication number CN209539352U, CN110173286A, CN108979688A, CN108222987A, CN 204238883U; in general, the bolt magazine 35 includes a protective cover, a motor 350, an upper rod storage plate 351 and a lower rod storage plate 352, a central shaft 353 is connected between the upper rod storage plate 351 and the lower rod storage plate 352, grooves for accommodating drill rods or bolts are circumferentially formed in the upper rod storage plate 351 and the lower rod storage plate 352, and a plurality of guide wheels are circumferentially formed in the upper rod storage plate 351 and the lower rod storage plate 352 and located on one side of the grooves. Is used for pressing the anchor rod and the drill rod. The drill rod is taken out smoothly, and meanwhile, abrasion of the drill rod is avoided; the motor 350 drives the upper rod storing disc 351 and the lower rod storing disc 352 to swing; and the rock bolt is mounted on the rock bolt drill 64 during the swing. Further preferably, the lower storage tray 352 is movable up and down on the central shaft 353 to accommodate different length anchor rod sizes. The arrangement greatly improves the rod containing capacity of the anchor rod bin 35 by adopting the screw-in anchor rod bin 35, avoids frequent anchor rod installation, reduces auxiliary working time, improves efficiency, has compact structure and greatly reduces labor intensity of personnel; and the personnel safety is ensured.

In the present embodiment, the drilling device 4 includes a drilling guide rail 43, a drilling rock drill 44, and a drilling propulsion device, where the drilling guide rail 43 is disposed along the axial direction of the sleeve 32 and is fixedly mounted on the sleeve 32, the drilling propulsion device may select an oil cylinder or a motor, and the drilling propulsion device drives the drilling rock drill 44 to move along the drilling guide rail 43 to complete the drilling operation;

as shown in fig. 8 to 9, the anchoring device comprises an anchoring assembly 53 for inputting an anchoring agent and pushing the anchoring agent to move, a guide tube 54 for conveying the anchoring agent, an anchoring guide rail 55 and an anchoring pushing device for pushing the guide tube 54 to move back and forth along the anchoring guide rail 55, wherein the anchoring guide rail 55 is arranged along the axial direction of the sleeve 32 and fixedly installed on the sleeve 32, the anchoring pushing device comprises a sliding block 56 and a pushing piece 57, the sliding block 56 is slidably installed on the anchoring guide rail 55, the guide tube 54 is fixedly connected with the sliding block 56 and detachably connected with the anchoring assembly 53, and the pushing piece 57 pushes the sliding block 56 to move back and forth on the anchoring guide rail 55 to complete an anchoring operation; the arrangement is because the anchor assembly 53 in the anchoring device is relatively bulky and its mounting location coincides with the mounting of the pusher 57 to such an extent that it is difficult to provide a space for mounting the anchor assembly 53 on the pusher beam, and therefore, in the present invention, the problem is easily solved by connecting the anchor assembly 53 to the guide tube 54 via the first conduit 58, which is a hose, and the anchor assembly 53 serves as a separate device, which facilitates the addition of water and resin anchoring agent to the anchor assembly 53, and also reduces the mass of the pusher beam and saves space for mounting the pusher beam.

The anchor rod device 6 comprises an anchor rod guide rail 63, an anchor rod rock drill 64 and an anchor rod propelling device, wherein the anchor rod guide rail 63 is arranged along the axial direction of the sleeve 32 and fixedly installed on the sleeve 32, the anchor rod propelling device can select an oil cylinder or a motor, and the anchor rod propelling device pushes the anchor rod rock drill 64 to move along the anchor rod guide rail 63 so as to complete anchor rod operation; the drill rail 43 and the anchor rail 63 are located on either side of the anchor rail 55.

The rock drill 64 and the drill 44 may share the same cylinder or motor to perform the pushing, or may be two separate cylinders or motors to perform the pushing, and in this embodiment, the pushing cylinder 81 is preferably used to perform the pushing of the rock drill 64 and the drill 44.

In the present embodiment, there are also provided a limit interlock 8 and an interlock cylinder 82 for pushing the limit interlock 8 to move laterally, wherein when the drilling machine 44 is at the drilling position, the interlock cylinder 82 drives the limit interlock 8 to move to one side of the rock drill 64 to fix the rock drill 64, and the push cylinder 81 drives the drilling machine 44 to complete the drilling operation; when the rock drill 64 is in the rock drill position, the interlocking cylinder 82 drives the limit interlocking device 8 to move to one side of the drill hole drill 44 so as to fix the drill hole drill 44, and the pushing cylinder 81 drives the rock drill 64 to complete the rock drill operation.

By means of the arrangement, the drilling rock drill 44 and the anchor rod rock drill 64 can be driven through the single pushing oil cylinder 81, operation is simple and convenient, and meanwhile cost of the whole vehicle can be effectively reduced, so that further popularization of underground support mechanization is facilitated.

The pushing cylinder 81 can complete the pushing and pulling of the drilling and drilling machine 44 and the rock drilling machine 64 through a wire rope or a chain, and in this embodiment, as shown in the figure, the pushing cylinder 81 completes the pushing and pulling of the drilling and drilling machine 44 and the rock drilling machine 64 through a wire rope; specifically, the sleeve 32 is further provided with an upper pulley block 83, a lower pulley block 84, a movable pulley block 85, a pull-back steel wire rope and a pushing steel wire rope, the upper pulley block 83 is fixed at the upper end of the sleeve 32, the lower pulley block 84 is fixed at the lower end of the sleeve 32, the movable pulley block 85 is arranged at the middle section of the sleeve 32 and is pushed by the pushing oil cylinder 81 so that the movable pulley block 85 moves up and down along the axial direction of the sleeve 32, one end of the pull-back steel wire rope is fixed on the drilling rock drill 44, and one pulley of the lower pulley blocks 84, one pulley of the movable pulley block 85 and the other pulley of the lower pulley block 84 are sequentially bypassed, and the other end of the pull-back steel wire rope is fixed on the rock drill 64; one end of the pushing wire rope is fixed on the drilling rock drill 44, and sequentially bypasses one pulley in the upper pulley block 83, the other pulley in the movable pulley block 85 and the other pulley in the upper pulley block 83, and the other end of the pushing wire rope is fixed on the rock drill 64.

It is further preferred that one end of the pullback wire is fixed to the drill 44 at a position a801 and the other end is fixed to the rock drill 64 at a position B802, wherein both the position a801 and the position B802 are located above the lower pulley block 84;

and, one end of the pushing wire is fixed at a position C803 on the drilling rock drill 44 and the other end is fixed at a position D804 on the rock drill 64, wherein both the position C803 and the position D804 are located below the upper pulley block 83.

So configured, when the rock drill 64 is fixed, the push cylinder 81 pushes the movable pulley block 85 to rise, then under the combined action of the pull-back wire rope and the push wire rope, and due to the fixation of the rock drill 64, the pull-back wire rope and the push wire rope can only push the drilling rock drill 44 to rise, and when the push cylinder 81 pulls the movable pulley block 85 to fall, then under the combined action of the pull-back wire rope and the push wire rope, the drilling rock drill 44 can fall; similarly, when the drill bit 44 is stationary, the pull-back wire and the push-in wire may only move the rock bolt drill 64 due to the combined action of the pull-back wire and the push-in wire, and due to the fixation of the drill bit 44.

It should be noted that in other embodiments, the pushing ram 81 may also be used to push and pull the drill 44 and rock bolt 64 through a chain.

In this embodiment, as shown in fig. 4 and 5, the limiting interlocking device 8 includes a limiting seat 86 and a limiting block 87, the limiting seat 86 is fixedly connected with the rotating beam, a limiting groove 88 is provided on the limiting seat 86, the limiting block 87 is slidably installed in the limiting groove 88 and connected with the interlocking cylinder 82, both left and right ends of the limiting block 87 are provided with limiting pieces 89, and the limiting pieces 89 are fixedly connected with the limiting block 87 or integrally formed; wherein, when the interlocking cylinder 82 pushes the stopper 87 to slide toward the side of the drill hole drill 44 and brings the stopper 89 on the side of the drill hole drill 44 into contact with the drill hole drill 44, the movement of the drill hole drill 44 in the axial direction can be restricted and the stopper 89 on the side of the rock bolt drill 64 is no longer in contact with the rock bolt drill 64; when the interlock cylinder 82 pushes the stopper 87 to slide toward the rock drill 64 side and brings the stopper 89 on the rock drill 64 side into contact with the rock drill 64, the movement of the rock drill 64 in the axial direction can be restricted and the stopper 89 on the rock drill 44 side is no longer in contact with the rock drill; further preferably, the limiting members 89 are bolts and fixed to both ends of the limiting block 87.

In the present embodiment, when the switching cylinder 34 starts to drive the rotation beam to rotate, the interlock cylinder 82 simultaneously starts to drive the limit interlock 8 to move; when the drill bit 44 is moved to the drilling position, the limit interlock 8 is also moved to one side of the rock bolt drill 64 to limit axial movement of the rock bolt drill 64; alternatively, when the rock bolt drill 64 is moved to the drilling position, the limit interlock 8 is also moved to the side of the drill bit 44 to limit axial movement of the drill bit 44. Further preferably, the schematic oil circuit diagrams of the switching cylinder 34, the interlocking cylinder 82 and the pushing cylinder 81 are as shown in fig. 6, and a reversing valve a805 and a reversing valve B806 are further provided and connected, wherein the large cavity of the switching cylinder 34 is communicated with the small cavity of the interlocking cylinder 82, the small cavity of the switching cylinder 34 is communicated with the large cavity of the interlocking cylinder 82, and two oil ports of the reversing valve a805 are respectively communicated with the large cavity and the small cavity of the switching cylinder 34 or the interlocking cylinder 82; two oil ports of the reversing valve B806 are respectively communicated with a large cavity and a small cavity of the propulsion oil cylinder 81; the arrangement is such that the switching cylinder 34 and the interlocking cylinder 82 are always in a synchronous motion state, and the pushing cylinder 81 starts to drive the drill rod or the rock drill 64 to move after the switching cylinder 34 and the interlocking cylinder 82 are completed, so that the operation process becomes very simple and quick.

It should be noted that in other embodiments, the interlock cylinder 82 and the switching cylinder 34 may not move simultaneously, and the switching and interlocking of the drill and rock drills 44, 64 may still be accomplished; however, the working time is relatively prolonged and a reversing valve is added.

In this embodiment, as shown in fig. 10, the anchoring assembly 53 comprises a tee, a first outlet 531 of the tee is provided with a first valve 532, a second outlet 533 is provided with a second valve 534, and a third outlet is connected with a first conduit 58 detachably connected to the guide tube 54, wherein the first outlet 531 is connected with a second conduit for inputting an anchoring agent, and the second outlet 533 is connected with a third conduit for inputting water; so configured, when it is desired to charge the anchoring agent, the second valve 534 is closed, the first valve 532 is opened, the resin anchoring agent is fed from the first outlet 531, typically manually and directly, and then the first valve 532 is closed, the second valve 534 is opened, and the resin anchoring agent is fed into the bottom of the hole and held at the bottom of the hole by the water flow.

Further preferably, the first conduit 58 is a hose; this is so because the anchor assembly 53 is disconnected from the guide tube 54 when it is not necessary to fill with the anchoring agent, i.e. the first conduit 58 is separate from the guide tube 54 and the anchor assembly 53 is a separate device not mounted on the three-position thrust beam, so that when the guide tube 54 is extended into the hole bottom by the pusher 57, the first conduit 58, which is a hose, is connected to the guide tube 54 again, so that the installation of the anchor assembly 53 on the three-position thrust beam is not considered and space is saved for the installation of the bolting means 6 and the drilling means 4; of course, it is also possible that the first conduit 58 is always connected to the guide tube 54.

Further preferably, the first valve 532 and the second valve 534 are ball valves; of course, in other embodiments, the first and

second valves

532, 534 may alternatively be butterfly valves, shut-off valves, or other valves.

In this embodiment, the pushing member 57 of the anchoring device is a driving motor 350 or an electric motor, the pushing member 57 drives the sliding block 56 to move back and forth along the anchor rod guide rail 63 through a chain or a synchronous belt, and more preferably, fixed gears in driving fit with the chain or the synchronous belt are installed at both ends of the anchoring guide rail 55, and the pushing member 57 is in driving connection with one of the fixed gears. This arrangement ensures a sufficiently long stroke of the slider 56 and a sufficiently smooth movement of the guide tube 54.

Further preferably, a guide ring 59 is further fixed to one end of the anchor rail 55, and the guide tube 54 passes through the guide ring 59. This arrangement further ensures that the guide tube 54 does not deflect during insertion into the bottom of the hole.

In this embodiment, the concrete working process of the hydraulic anchor drill carriage for underground support is as follows:

1) The driver manipulates the working arm so that the three-position propelling beam is positioned at a specified position according to a specified angle, and the top disc 20 on the fixed beam 2 is propped against the roadway roof to be anchored, at the moment, the drilling rock drill 44 is positioned at the drilling position and the rock bolting rock drill 64 is in a fixed state;

2) And (3) drilling: the pushing oil cylinder 81 drives the movable pulley block 85 to ascend, and the drilling rock drill 44 is driven to ascend by pulling back the steel wire rope and pushing the steel wire rope so as to complete the drilling work; after the drilling is completed, the pushing oil cylinder 81 drives the movable pulley block 85 to descend, and the drilling rock drill 44 is driven to descend to an initial position by pulling back the steel wire rope and pushing the steel wire rope;

3) And (3) an anchoring process: the switching oil cylinder 34 and the limiting oil cylinder 7 work simultaneously, so that the anchoring limiting block 51 is propped against the anchoring limiting base 52, then the pushing piece 57 drives the guide pipe 54 to extend into the bottom of a hole drilled by the drill rod, the resin anchoring agent is injected into the guide pipe 54, the resin anchoring agent is fed into the bottom of the hole and kept at the bottom of the hole through water flow, and then the pushing piece 57 drives the guide pipe 54 to extend out of the hole drilled by the drill rod;

4) And (3) anchor rod process: the switching oil cylinder 34, the limiting oil cylinder 7 and the interlocking oil cylinder 82 work simultaneously, wherein a piston rod of the switching oil cylinder 34 extends to the maximum value to drive the rotating beam to rotate around the fixed beam 2, the anchor rod limiting block 61 is propped against the anchor rod limiting base 62, and meanwhile, a piston rod of the interlocking oil cylinder 82 extends to the maximum value to drive the limiting block 87 to transversely move in the limiting groove 88, and the drilling rock drill 44 is fixed; then the pushing oil cylinder 81 drives the movable pulley block 85 to ascend, and the pushing steel wire rope drives the anchor rod rock drill 64 to lift so as to complete the anchor rod work;

5) After the anchor rod is completed, the pushing oil cylinder 81 drives the movable pulley block 85 to descend, and the anchor rod rock drill 64 is driven to descend to the initial position by pulling back the steel wire rope and pushing the steel wire rope; the piston rod of the switching cylinder 34 and the piston rod of the interlock cylinder 82 are then both retracted to the initial position such that the drill bit 44 is in the drill position and the rock bolt drill 64 is in a fixed state;

6) The anchor stock warehouse is used for replacing a rock drill with a new anchor stock;

7) Repeating the above operation steps, and further completing the underground support at other positions.

It should be noted that the top plate 20 on the fixed beam 2 always abuts against the same position on the tunnel roof to be anchored during the drilling rod and the anchoring process of the single anchor rod.

Embodiment two:

the present embodiment is different from the first embodiment in that: the anchoring device and the anchoring process are different.

In this embodiment, the anchoring device comprises a bottom plate, a connecting pipe 90, an anchoring assembly 53 in the first embodiment and a pushing assembly for driving a pushing rod 91 to reciprocate; the connecting pipe 90 is fixedly arranged on the upper half part of the bottom plate, and the propulsion component is arranged on the bottom plate and positioned below the connecting pipe 90;

the connecting pipe 90 comprises a first pipeline 901, a second pipeline 902 and a third pipeline 903 which are communicated, and part of the first pipeline 901 extends upwards from the bottom plate; the anchoring component 53 is connected with the third pipeline 903 so that the anchoring agent sequentially passes through the third pipeline 903 and the first pipeline 901 and then enters a hole drilled by the drilling device 4, and the pushing component drives the pushing rod 91 to reciprocate on the bottom plate and has a first stay position and a second stay position;

Wherein, when the pushing rod 91 is located at the first stay position, the anchoring component 53 can push the anchoring agent to pass through the third pipeline 903 and the first pipeline 901 in sequence and then enter the hole drilled by the drilling device 4, and in the process that the pushing rod 91 moves from the first stay position to the second stay position, the top end of the pushing rod 91 enters from the inner end of the first pipeline 901 and then extends out from the outer end of the first pipeline 901 so as to push and fix the anchoring agent to the hole bottom drilled by the drilling device 4.

Thus, although the anchor assembly 53 of the first embodiment is also used in this embodiment, the anchor assembly 53 has different functions in the two embodiments, in the first embodiment, the anchor assembly 53 conveys the anchoring agent into the hole drilled by the drilling device 4 and fixes the anchoring agent at the hole bottom by high-pressure water flow, and in the second embodiment, the anchor assembly 53 is only used to convey the anchoring agent into the hole drilled by the drilling device 4, and then the pushing rod 91 pushes and fixes the anchoring agent to the hole bottom drilled by the drilling device 4; the reason for this is that the drilling device 4 is a round hole with a hole depth of 2 meters, namely, the stroke of the high-pressure water flow is long, so that the pushing force is reduced, in the conventional case, the high-pressure water flow still has enough pushing force after pushing the anchoring agent to the hole bottom, so that the anchoring agent expands to be fixed at the hole bottom, but when the drilling device 4 is not ideal in drilling, such as uneven hole inner wall or insufficient hole perpendicularity, the high-pressure water flow does not have enough pushing force, so that the anchoring agent expands to be fixed at the hole bottom, and thus, the anchoring agent has a certain dropping rate in the anchoring operation; therefore, in this embodiment, the pushing rod 91 is used to push the anchoring agent to move in the hole, so that the pushing force of the pushing rod 91 on the anchoring agent is not reduced when the pushing rod 91 pushes the anchoring agent to the hole bottom, and the dropping of the anchoring agent is basically avoided, regardless of the situation that the drilling device 4 drills holes.

In addition, the anchoring device in the embodiment is similar to the anchoring device in the first embodiment in structural arrangement, has simple structure and small occupied space, and is very suitable for being assembled on a single propelling beam with three stations.

In this embodiment, the propulsion component drives the propulsion rod 91 to reciprocate on the bottom plate through a chain 924, a steel wire rope or a screw rod; further preferably, the pushing assembly adopts a chain 924 to drive the pushing rod 91 to reciprocate on the bottom plate, and specifically comprises a pushing motor 920, a pushing sliding block 921, an upper guide wheel 923 and a chain 924, wherein the upper guide wheel 923 is arranged on the upper half part of the bottom plate, the pushing motor 920 is arranged on the lower half part of the bottom plate, the pushing sliding block 921 is slidably arranged on the bottom plate, the pushing sliding block 921 is fixedly connected with the chain 924 and the pushing rod 91 respectively, and the chain 924 is connected with the pushing motor 920 and bypasses the upper guide wheel 923. In this way, the chain 924 can withstand a large thrust force.

Further preferably, the bottom end of the push rod 91 is fixedly mounted on the slide 56, and when the push rod 91 is in the first resting position, the upper end of the push rod 91 is positioned in the second conduit 902.

It should be noted that, in other embodiments, when the pushing rod 91 is located at the first resting position, the upper end of the pushing rod 91 may also be located in the second pipe 902, and, of course, after this, the guiding ring 59 is also required to be provided to ensure that the pushing rod 91 can enter the second pipe 902.

In this embodiment, the second pipe 902 and the third pipe 903 form an included angle ranging from 15 ° to 45 °; this facilitates the delivery of the anchoring agent into the first conduit 901.

In this embodiment, the first pipe 901 includes a pipe a and a pipe B, and the diameter of the pipe a is larger than the diameter of the pipe B;

the third pipe 903 includes a pipe C and a pipe D, the pipe C having a diameter larger than the pipe D;

the pipeline C is communicated with the pipeline A.

In this way, the movement of the anchoring agent from the third conduit 903 to the first conduit 901 can be facilitated.

Further preferably, the diameters of the pipe C, the pipe a and the second pipe are the same.

It should be noted that, since the three-position pushing beam is switched by rotation during the process of drilling, anchoring and bolting, that is, when the three-position pushing beam is rotated to the anchoring position, the initial position of the first pipe 901 is located outside the hole drilled by the drilling device 4, when the anchoring device in this embodiment is installed in the three-position pushing beam, a compensation mechanism is further required to send the first pipe 901 into the hole drilled by the drilling device 4.

Specifically, the base plate includes an upper base plate 930 and a lower base plate 931, the propulsion assembly is mounted on the lower base plate 931, the connection pipe 90 is fixedly mounted on the upper base plate 930, the upper base plate 930 is slidably mounted on the lower base plate 931, and the compensation mechanism is used to drive the upper base plate 930 to reciprocate on the lower base plate 931. Further preferably, the compensation mechanism adopts a motor or an oil cylinder to drive the upper bottom plate 930 to reciprocate on the lower bottom plate 931; in the present embodiment, a compensation cylinder 94 is provided, one end of the compensation cylinder 94 is mounted on the upper bottom plate 930, and the other end of the compensation cylinder 94 is mounted on the lower bottom plate 931.

The schematic diagram of the hydraulic principle of the limiting cylinder 7, the compensating cylinder 94 and the propulsion motor 920 is shown in the figure, and a reversing valve C950, a reversing valve D951 and a reversing valve E952 are also connected, wherein two oil ports of the reversing valve C950 are respectively communicated with a large cavity and a small cavity of the limiting cylinder 7; two oil ports of the reversing valve D951 are respectively communicated with the large cavity and the small cavity of the propulsion oil cylinder 81, and two oil ports of the reversing valve E952 are respectively communicated with the large cavity and the small cavity of the propulsion oil cylinder 81.

an automatic drilling, anchoring and bolting method is characterized in that;

the drilling device comprises a fixed beam 2 and a rotating beam, wherein the rotating beam is rotatably arranged on the fixed beam 2, a drilling device 4 for completing drilling operation is arranged on the rotating beam, an anchor rod device 6 for completing anchor rod operation and an anchoring device for completing anchoring operation are arranged on the rotating beam, and the drilling device 4 and the anchor rod device 6 are respectively positioned on two sides of the anchoring device;

the drilling device 4 comprises a drill guide rail 43, a drill rig 44 and a drill propulsion device, the drill guide rail 43 being arranged in the axial direction of the sleeve 32 and being fixedly mounted on a rotating beam,

the anchor device 6 comprises an anchor rail 63, an anchor drill 64 and an anchor propulsion device, the anchor rail 63 being arranged in the axial direction of the sleeve 32 and being fixedly mounted on the rotating beam,

The method comprises the following specific steps:

step one: moving the shaft of the fixed beam 2 and enabling the top end of the fixed beam 2 to prop against a roadway roof to be anchored;

step two: the drilling propulsion means pushes the drilling rig 44 to move upwards along the drilling guide rail 43 to complete the drilling operation, and then the drilling rig 44 returns to the original position;

step four: the rotary beam rotates anticlockwise so that the anchor device 6 is in an anchor position, the anchor pushing device pushes the anchor rock drill 64 to move upwards along the anchor guide rail 63 to complete anchor operation, and then the anchor rock drill 64 returns to the initial position;

step five: the rotating beam is rotated clockwise to return to the original position while the stock house is changing the rock drill 64 for the next rock bolt and moving the fixed beam 2 to the next roof of the roadway to be anchored.

Step six: repeating the steps two to five.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic drilling, anchoring and bolting method is characterized in that;

the drilling device comprises a fixed beam (2) and a rotating beam, wherein the rotating beam is rotatably arranged on the fixed beam (2), a drilling device (4) for completing drilling operation is arranged on the rotating beam, an anchor rod device (6) for completing anchor rod operation and an anchoring device for completing anchoring operation are arranged on the rotating beam, and the drilling device (4) and the anchor rod device (6) are respectively positioned on two sides of the anchoring device;

the drilling device (4) comprises a drilling guide rail (43), a drilling rock drill (44) and a drilling propelling device, the drilling guide rail (43) is arranged along the axial direction of the sleeve (32) and fixedly arranged on the rotating beam, the sleeve (32) is sleeved on the fixed beam (2) and can rotate relative to the fixed beam (2),

The anchor rod device (6) comprises an anchor rod guide rail (63), an anchor rod rock drill (64) and an anchor rod propelling device, wherein the anchor rod guide rail (63) is arranged along the axial direction of the sleeve (32) and fixedly arranged on the rotary beam,

the method comprises the following specific steps:

step one: moving the shaft of the fixed beam (2) and enabling the top end of the fixed beam (2) to prop against a roadway roof to be anchored;

step two: the drilling propulsion device drives the drilling rock drill (44) to move upwards along the drilling guide rail (43) to complete drilling operation, and then the drilling rock drill (44) returns to the initial position;

step four: the rotary beam rotates anticlockwise so that the anchor rod device (6) is positioned at an anchor rod position, the anchor rod pushing device pushes the anchor rod rock drill (64) to move upwards along the anchor rod guide rail (63) to finish anchor rod operation, and then the anchor rod rock drill (64) returns to the initial position;

step five: the rotating beam rotates clockwise to return to the initial position, and simultaneously the anchor stock warehouse changes the anchor rod rock drill (64) for the next anchor rod, and moves the fixed beam (2) to the roadway roof to be anchored at the next position;

step six: repeating the second to fifth steps;

The anchoring device comprises a bottom plate, a connecting pipe (90), a pushing rod (91), a compensation mechanism, an anchoring assembly (53) and a pushing assembly; the base plate comprises an upper base plate (930) and a lower base plate (931), the propulsion assembly is mounted on the lower base plate (931), the connecting pipe (90) is fixedly mounted on the upper base plate (930) and partially extends out of the upper base plate (930), and the upper base plate (930) is slidably mounted on the lower base plate (931) and driven by the compensation mechanism to reciprocate on the lower base plate (931); the anchoring assembly (53) sends the anchoring agent into a hole drilled by the drilling device (4) through the connecting pipe (90), and the pushing assembly drives the pushing rod (91) to push and install the anchoring agent to the bottom of the hole drilled by the drilling device (4);

the anchoring assembly (53) comprises a tee joint, a first outlet end (531) of the tee joint is provided with a first valve (532), a second outlet end (533) is provided with a second valve (534), a third outlet end is connected with a first conduit (58) detachably connected with the guide tube (54), the first outlet end (531) is used for inputting anchoring agent, and the second outlet end (533) is connected with a third conduit used for inputting water;

the connecting pipe (90) comprises a first pipeline (901), a second pipeline (902) and a third pipeline (903) which are communicated, and part of the first pipeline (901) extends upwards to an upper bottom plate (930); the first guide pipe (58) is connected with the third pipeline (903) so that the anchoring agent sequentially passes through the third pipeline (903) and the first pipeline (901) and then enters a hole drilled by the drilling device (4), and the pushing assembly drives the pushing rod (91) to reciprocate on the lower bottom plate (931) and has a first stay position and a second stay position;

Wherein, when propulsion pole (91) is located first stay position, anchor subassembly (53) can promote the anchoring agent and get into drilling device (4) after passing through third pipeline (903) and first pipeline (901) in proper order, in the in-process that propulsion pole (91) moved to the second and stay the position from first stay position, the top of propulsion pole (91) gets into then stretches out from the outer end of first pipeline (901) in order to push away the anchoring agent to and fix at the hole bottom of drilling device (4) drilling from the inner of first pipeline (901).

2. An automated drilling, anchoring and bolting method according to claim 1, wherein; the top of fixed beam (2) is equipped with footwall (20), a plurality of bellying are distributed on the upper surface of footwall (20) so that fixed beam (2) can be firm the top lean on the tunnel roof that needs the anchor.

3. An automated drilling, anchoring and bolting method according to claim 1, wherein; the rotating beam comprises a pushing rod (31), a sleeve (32) and a plurality of connecting pieces (33), wherein the sleeve (32) and the pushing rod (31) are distributed in parallel and fixedly connected through the connecting pieces (33), the anchoring device, the drilling device (4) and the anchor rod device (6) are all installed on the sleeve (32), and the pushing rod (31) is driven by the switching oil cylinder (34) to rotate by taking the fixed beam (2) as a central shaft (353).

4. An automated drilling, anchoring and bolting method according to claim 1, wherein; the rock drill (64) and the drilling rock drill (44) adopt a pushing oil cylinder (81) together to complete pushing and pulling.

5. A three-position feed beam, characterized in that an automatic drilling, anchoring and bolting method according to any of the claims 1-4 is used.