CN113898390B

CN113898390B - Mining automatic collaborative drilling and anchoring robot

Info

Publication number: CN113898390B
Application number: CN202111212748.4A
Authority: CN
Inventors: 葛世荣; 蒋康庆; 郭一楠
Original assignee: China University of Mining and Technology Beijing CUMTB
Current assignee: China University of Mining and Technology Beijing CUMTB
Priority date: 2021-10-18
Filing date: 2021-10-18
Publication date: 2023-01-31
Anticipated expiration: 2041-10-18
Also published as: CN113898390A

Abstract

The invention discloses an automatic cooperative drilling and anchoring robot for a mine, and belongs to the technical field of underground coal mine roadway support. The automatic drilling and anchoring integrated device comprises a temporary support frame, a drilling and anchoring robot body, an anchor net storage bin body, a net distributing mechanical arm, an anchor net conveying mechanism, an anchor net pushing mechanism, a drilling and anchoring mechanical arm, a self-walking mechanism and an automatic drilling and anchoring integrated device; the net distributing mechanical arm realizes grabbing of the anchor net in the anchor net bin through the tail end paw, and realizes transportation of the anchor net through arm self-stretching or an anchor net conveying mechanism, and on the basis, the automatic drilling and anchoring integrated machine is cooperated to comprehensively complete supporting operation of a roadway, so that cooperative operation of laying the anchor net and installing an anchor rod can be realized, and the problems of low tunneling efficiency caused by unbalance of the current tunneling and supporting operation and low drilling and anchoring integration degree caused by complicated roadway supporting process are solved. The parallel operation of tunneling, supporting and anchoring can be realized by matching with tunneling equipment. The structure is simple, the operation time is short, and the anchor drilling efficiency is high.

Description

Mining automatic collaborative drilling and anchoring robot

Technical Field

The invention relates to the technical field of underground roadway support of coal mines, in particular to an automatic collaborative drilling and anchoring robot for a mine.

Background

In the traditional comprehensive mechanical tunneling process, when tunneling operation is carried out, the machine body of the tunneling machine is stopped after tunneling for a certain distance, and anchor drilling workers use a single anchor rod drilling machine to carry out anchor rod supporting operation so as to complete a supporting process. The method adopts a serial operation mode of digging firstly and then digging secondly, the supporting time accounts for more than 60% of the whole tunneling operation time, workers often need to face severe environments with high labor intensity, high mechanical vibration noise, gas, dust and the like in the process, and the factors not only bring great challenges to tunneling and supporting of underground personnel roadways, but also threaten the life health safety of the underground personnel all the time. In addition, the mode supports more proportioning personnel, the digging, supporting and anchoring integrated degree is not high, the tunneling efficiency is low, and the efficient production of coal is severely restricted.

The conventional bolting process usually includes driving a drill rod by a bolting machine to realize drilling operation, then detaching the drill rod and filling an anchoring agent into an anchor hole, then replacing an anchor rod, and finally fastening to realize final anchoring of the anchor rod. However, the existing construction process of the resin anchor rod is complicated, the operation is complex, the automation of drilling and anchoring is not facilitated, hole collapse is easy to occur in the operation of the weak broken rock mass, and the supporting efficiency of the roadway is influenced.

The foreign anchor rod drill carriage is mainly used for matching operation with a continuous coal mining machine, is commonly used in coal mine shortwall mining and multi-lane tunneling, and is continuously developed by coal mining equipment companies represented by JOY and the like along with the continuous development of anchor rod supporting theoretical knowledge, so that the safety and reliability of the anchor rod drill carriage are greatly enhanced. However, the coal mining process, the roadway arrangement mode, the coal geological conditions and other aspects in China are greatly different from those in China, and in view of the complex conditions of the coal geological conditions in China, the comprehensive mechanical tunneling of the cantilever type tunneling machine is still the mainstream direction of the coal mine roadway tunneling in China. With the development of technologies such as internet technology, advanced manufacturing and the like, the integration, automation and intelligence of tunneling, supporting and anchoring and transportation become the development trend of advanced tunneling equipment, and the key for realizing the automation and intelligence of the tunneling technology lies in the mutual cooperation between the tunneling and supporting anchors, and the problem of unbalanced tunneling and supporting proportion can be solved only by researching and developing high-efficiency supporting equipment matched with the tunneling and supporting anchors.

The anchor rod drill carriage mainly adapts to underground reality of various regions in China, the working space is limited, part of the anchor rod drill carriages are large in size, the requirement on the working condition of a roadway is high, the adaptability is poor, the price is high, a drilling and anchoring robot capable of automatically adapting to the condition of the roadway is lacked, and anchor net laying and anchor rod supporting operation can be completed according to actual conditions. In the general tunneling process, a tunneling machine usually needs to wait for a bolting drill carriage or an onboard bolting drill to complete bolting and then continue tunneling, the tunneling speed of a tunnel is severely limited, coal flow cannot realize continuous transportation, operation cannot be realized in parallel, mobile equipment is complicated and is accompanied by personnel moving safety hazards, part of the domestic existing bolting drill carriages cannot completely complete top and side bolting and supporting operation, automatic laying of anchor nets of the heading machine has certain limitation, cooperative operation of net laying and bolting and automatic anchoring operation and a bolting and feeding system still need to be further improved, the manual labor intensity is still high, two actions of 'bolting and retracting' are needed for completing bolting and supporting, the time consumption is long, the integration degree is not high, the bolting and supporting efficiency is low, and the requirement of rapid tunneling of underground tunnels cannot be met.

Patent publication No. CN111911154A discloses a portal type digs and protects anchor robot system, and this system can adapt to the tunnel environment, has solved the unbalanced problem of digging a proportion, has further improved and has strutted quality and speed, has the referential meaning to solving the difficult problem of tunnelling fast under the complicated geological conditions. Patent publication No. CN112012774A discloses a frame-type drilling and anchoring robot, which can collect and transport nets, net laying, net jacking, side protection, drilling and rod loading, realizes the reliability of roadway support and the parallel operation of tunneling and supporting, effectively reduces the labor intensity of workers, and provides theoretical support for further improving the rapid tunneling of roadways. Patent publication No. CN111088990A discloses a full-automatic stock drill carriage is used in colliery, and this full-automatic stock drill carriage can realize removing, location, lapping, drilling, spout a series of operations of medicine, dress pole and stock fastening, and its support efficiency and degree of automation are higher, and the activity duration is shorter, possesses the using value in the research of the quick tunnelling in coal mine tunnel. Patent publication No. CN108104853A discloses a full-automatic anchor drilling operation vehicle, and this anchor drilling vehicle can collect and pave anchor net, bore the anchor eye, annotate anchoring agent and installation anchor rod process in an organic whole, can accomplish the automation of tunnel roof anchor net and lay and roof, the mechanized and automatic of lateral wall department anchor rod and strut, has effectively solved the unbalanced problem of present tunnelling proportion, provides value support to the parallel mode operation of supporting the realization tunnelling anchor with tunnelling equipment. Although the support quality and speed can be improved by the drilling and anchoring robot (the anchor rod drill carriage), part of drilling and anchoring mechanical equipment can collect and transport nets, paving the nets, jacking the nets, protecting the walls, drilling and feeding the rods into a whole, the problem of unbalanced digging and supporting proportion is effectively solved, and theoretical basis is provided for rapid excavation of a coal mine tunnel. However, the whole structure of the drilling and anchoring robot (anchor rod drill carriage) equipment system is huge and complex, the anchor net support still needs manual auxiliary operation, and the cooperative operation of the anchor net and the anchor rod at the roadway roof still needs to be further improved. Part bores anchor robot and lacks the temporary support to the tunnel sky top, and when carrying out the anchor bolt support operation, needs the supplementary operations such as installation stock of workman and batch pencil, and its automatic intelligent degree needs further improvement. Part bores anchor operation car and lacks the concerted operation to tunnel side wall department stock and anchor net, and at anchor bolt support operation in-process, the drilling of the integrative device of brill anchor, the operation processes such as anchoring agent injection, pole changing, dress pole are loaded down with trivial details, and the support time that consumes is longer, is unfavorable for the realization that the tunnel is tunneled fast to a certain extent.

Disclosure of Invention

The technical problem is as follows: the invention aims to overcome the defects in the prior art and provides a mining automatic cooperative drilling and anchoring robot.

The technical scheme is as follows: the invention relates to an automatic collaborative drilling and anchoring robot for a mine, which is characterized in that: the automatic drilling and anchoring integrated device comprises a temporary support frame, a drilling and anchoring robot body, an anchor net storage cabin body, a net distributing mechanical arm, an anchor net conveying mechanism, an anchor net pushing mechanism, a drilling and anchoring mechanical arm, a self-walking mechanism and an automatic drilling and anchoring integrated device. The invention can realize the cooperative operation of anchor net laying and anchor rod anchoring in the roadway supporting operation process, effectively solves the problems of low tunneling efficiency caused by serious unbalance of tunneling and supporting anchor operation, limited drilling and anchoring conditions caused by bad working conditions of a tunneling working face and lower drilling and anchoring integration degree in the traditional comprehensive mechanical tunneling mode operation, and can further improve the supporting efficiency so as to realize the quick tunneling of a coal roadway and the high-efficiency production of coal.

The chassis of the drilling and anchoring robot body can straddle the reversed loader.

The front part of the body of the drilling and anchoring robot is attached with two cuboid stand columns, the cross section of the drilling and anchoring robot is rectangular, square holes are formed in the length direction of the cross section of the drilling and anchoring robot, and the drilling and anchoring robot can be matched with a temporary support frame to lift so as to support a top plate.

The middle part of the drilling and anchoring robot body is attached with two anchor net storage bin bodies which are symmetrical to each other, an anchor net for supporting a top plate of a roadway is placed above a bin body on the left side of the drilling and anchoring robot body, an anchor net for supporting a side wall of the roadway is placed above a bin body on the right side of the drilling and anchoring robot body, two cuboid stand columns which are symmetrical to each other are arranged in the middle parts of the two bin bodies, the cross sections of the cuboid stand columns are rectangular, square holes are formed in the length direction of the cuboid stand columns, and the square holes can be matched with a net distribution mechanical arm lifting frame to grab a top plate supporting anchor net; the top of the net distributing arm lifting frame is fixedly connected with a net distributing arm fixing plate which is of a cuboid structure, and a cloth top anchoring net mechanical arm is arranged below the bottom of the fixing plate.

The top-distributed anchor net mechanical arm is used for grabbing and transporting a top plate supporting anchor net and comprises a first mechanical arm, a second telescopic mechanical arm, a third telescopic mechanical arm, a net-distributed gripper fixing frame and a net-distributed mechanical gripper. The first mechanical arm is of a hollow square structure, is fixed on the bottom side of the net distribution arm fixing plate, and is symmetrically provided with a same mechanical arm structure along the central line direction of the net distribution arm fixing plate; the second telescopic mechanical arm is of a cuboid structure and is provided with a square hole along the length direction, the second telescopic mechanical arm can be embedded in the first mechanical arm of the hollow square structure in a sliding manner, and the second telescopic mechanical arm is symmetrically provided with a same mechanical arm structure along the central line direction of the mesh distribution arm fixing plate; the telescopic mechanical arm III is of a cuboid structure and can be embedded in the telescopic mechanical arm II in a sliding manner, and the same mechanical arm structure is symmetrically arranged along the central line direction of the cloth net arm fixing plate; the net distributing paw fixing frame is of a cuboid structure, is symmetrical along the central line direction of the net distributing arm fixing plate, and two ends of the net distributing paw fixing frame are fixedly connected with three top ends of the telescopic mechanical arm respectively; the net distributing mechanical grippers are symmetrically arranged on the left side and the right side of the gripper fixing frame and used for realizing grabbing of the roof supporting anchor net.

The net distributing mechanical claw comprises a net distributing mechanical claw frame, a net distributing mechanical claw hydraulic oil cylinder, a net distributing grabbing mechanical arm and a pin shaft. The net distribution grabbing mechanical arms are symmetrically arranged on two sides of the net distribution mechanical arm frame through pin shafts; the hydraulic cylinder of the net distribution mechanical gripper is a double-rod hydraulic cylinder which connects the net distribution grabbing manipulators through pin shafts, and the hydraulic cylinder of the net distribution mechanical gripper enables the net distribution grabbing manipulators to rotate around a shaft through bidirectional hydraulic driving so as to realize grabbing operation of the anchor net.

The cloth upper anchor net mechanical arm comprises a stand column, a height adjusting hydraulic cylinder, a pitching adjusting hydraulic cylinder, an arm telescopic hydraulic cylinder, a folding arm small arm, a folding arm large arm, a large arm supporting seat and a cloth upper anchor net mechanical gripper.

The anchor net conveying mechanism is an anchor net conveying mechanism, comprises an arm pushing hydraulic cylinder and an upright column base, and is symmetrically distributed along the axial line direction of the drilling and anchoring robot. The arm pushing hydraulic cylinder is connected with the upright post base and drives the cloth upper anchor net mechanical arm to transversely move in a hydraulic driving mode; the center of the stand column base is fixed with the stand column of the cloth upper anchor net mechanical arm, and the stand column base is used for supporting and axially positioning the cloth upper anchor net mechanical arm.

A square groove is formed in two sides of the drilling and anchoring robot body. One end of the arm pushing hydraulic cylinder is fixed at the tail part of the square groove; one side of the upright column base, which is close to the vehicle body, is in contact with the side surface of the square groove, the upper surface of the upright column base is in contact with the top surface of the groove, the lower surface of the upright column base is in contact with the bottom surface of the groove, and the upright column base is slidably arranged in the square groove.

And two anchor net pushing mechanisms for fixing the anchor nets at the left side wall and the right side wall are arranged at the rear part of the drilling and anchoring robot body. The anchor net pushing mechanism comprises a base, a fixed sleeve, a first telescopic arm, a second telescopic arm, a sucking disc and a base; the first telescopic arm is of a cuboid structure, and a sucker is attached to the tail end of the first telescopic arm and is used for sucking the anchor net; the second telescopic arm is of a cuboid structure, a square hole is formed in the second telescopic arm along the length direction, and the first telescopic arm can be embedded in the second telescopic arm in a sliding mode; the fixed sleeve is fixedly connected to the base and is of a cuboid structure, a square hole is formed in the fixed sleeve along the length direction, and the telescopic arm II is arranged in the fixed sleeve in an embedded and sliding mode; the side anchor net pushing mechanism realizes pushing and fixing operation of the anchor net at the side wall position through the relative motion relation of the first telescopic arm, the second telescopic arm and the fixing sleeve; the end sucker of the first telescopic arm is a rectangular plate magnetic sucker, and four circular bosses for fixing electromagnets are attached to the center of the surface of the rectangular plate sucker and used for sucking the side anchor net moved to the specified supporting position by the anchor net conveying mechanism.

The drilling and anchoring mechanical arm is a mechanical arm for supporting a roadway side wall anchor rod, is symmetrically distributed on two sides of a platform at the tail part of the drilling and anchoring robot vehicle body, and is used for supporting the roadway left and right side wall anchor rods; the drilling and anchoring mechanical arm comprises a base, a rotary table, a drilling and anchoring mechanical arm large arm, a drilling and anchoring mechanical arm small arm, a drilling and anchoring mechanical arm large arm oil cylinder, a drilling and anchoring mechanical arm small arm oil cylinder, a drilling machine oil cylinder, an automatic drilling and anchoring integrated machine, a drilling machine auxiliary swing device and a drilling machine support; the base is fixed on the drilling and anchoring robot body, and a circular hole matched with the rotary table is formed in the middle part of the base; the bottom of the rotary table is provided with a cylindrical boss matched with the circular hole of the base, and the rotary table can realize rotary motion relative to the base; one end of the large arm oil cylinder of the drilling and anchoring mechanical arm is fixed on the rotary table, and the other end of the large arm oil cylinder of the drilling and anchoring mechanical arm is connected with the large arm of the drilling and anchoring mechanical arm to comprehensively control the pitching motion of the large arm of the drilling and anchoring mechanical arm; one end of the drilling and anchoring mechanical arm small arm oil cylinder is fixed on the drilling and anchoring mechanical arm large arm, and the other end of the drilling and anchoring mechanical arm small arm oil cylinder is connected with the drilling and anchoring mechanical arm small arm to comprehensively control the pitching motion of the drilling and anchoring mechanical arm small arm; one end of the drilling machine oil cylinder is fixed on the small arm of the drilling anchor mechanical arm, and the other end of the drilling machine oil cylinder is connected with the drilling machine auxiliary swing device and used for supporting and fixing the spatial position of the device; the auxiliary swing device of the drilling machine is connected with the automatic drilling and anchoring integrated machine, and the rotary motion of the drilling machine along the span direction of the roadway is controlled by an internal hydraulic motor of the drilling machine so as to be used for anchor rod supporting operation at the side wall position of the roadway; the drilling machine support is located at the tail of the automatic drilling and anchoring integrated machine, and the support is controlled to stretch out and draw back through a support oil cylinder of the drilling machine support and is used for initial guiding support of the drilling machine on a drilling and anchoring robot vehicle body.

The automatic drilling and anchoring integrated machine has the functions of automatic replacement and installation of the anchor rod, self drilling and anchoring of the anchor rod, has the characteristics of compact structure and simplicity in operation, and is used for anchor rod supporting operation of roadway side walls. The automatic drilling and anchoring integrated machine comprises an anchor rod storage and reloading mechanism, an anchoring agent air-jet mechanism, a drilling machine feeding mechanism and a self-drilling hollow anchor rod.

The anchor rod storage reloading mechanism comprises an anchor rod storage bin body, an anchor rod storage bin baffle, an anchor rod storage bin frame, an anchor rod reloading manipulator and a stepping motor. The anchor rod storage and replacement mechanisms are symmetrically distributed on two sides of the automatic drilling and anchoring integrated machine; the anchor rod storage bin body is of a wheel disc type structure and symmetrically distributed at the front and rear positions of the anchor net storage bin frame, a front wheel disc of the anchor rod storage bin body is used for supporting an anchor rod, a rear wheel disc of the anchor rod storage bin body is in contact with an anchor rod supporting plate, the tail end of the anchor rod is in contact with an anchor rod storage bin baffle, and the anchor rod position is fixed under the synergistic effect of the front wheel disc, the rear wheel disc and the anchor rod supporting plate so as to prevent the anchor rod from sliding down due to drilling machine movement and vibration factors; the anchor rod storage bin body is of a wheel disc type structure and is provided with a plurality of chutes for storing and supporting the self-drilling hollow anchor rod, and a main shaft is arranged in the middle of a wheel disc of the anchor rod storage bin body; the anchor rod storage bin baffle is used for axially positioning the self-drilling hollow anchor rod, so that the anchor rod can be stably stored in the anchor rod storage bin body, and the middle part of the anchor rod storage bin baffle is provided with a stepping motor which is used for driving a main shaft of the anchor rod storage bin body to rotate for one anchor rod step; its afterbody of stock reloading manipulator is seted up with axle complex circular port for the operation of getting of stock is realized to the cooperation pivot, when the stock reloads the manipulator and drives the stock and reachs the drill box dead ahead, realizes the dress operation from boring formula cavity stock.

The anchoring agent air-jet mechanism comprises an air pump guide pipe, a rotary motor, an air gun fixing seat and an air-jet gun barrel. The air gun fixing seat is fixed at the tail part of the feeding slide rail, and a circular hole matched with the air gun barrel is formed in the top end of the air gun fixing seat; the rotary motor is arranged at the rear side of the air gun fixing seat and is used for driving the air gun barrel to rotate relative to the air gun fixing seat; air pump pipe one end is connected with air gun fixing base rear side circular hole department, and the other end is connected with the air pump of establishing on the brill anchor robot automobile body, the air pump is installed on the brill anchor robot automobile body and is used for providing high-pressure gas, and high-pressure gas passes through air gun pipe via the air pump pipe and spouts to stock cavity position.

The drilling machine feeding mechanism comprises a drilling machine frame, a feeding slide rail, a drilling box, a guide connecting plate, a drilling machine supporting frame, a primary feeding hydraulic cylinder, a secondary feeding hydraulic cylinder, a supporting seat, a positioning clamping lug and a positioning vertical sharp disc. The drilling machine frame is hydraulically driven by a primary feeding oil cylinder, a positioning vertical sharp disc is fixed at the top end of the drilling machine frame, and the positioning vertical sharp disc is provided with a conical head and is used for axially positioning the drilling machine and reducing the phenomena of drilling machine deviation and reduced operating efficiency caused by vibration factors in the working process of the drilling machine; the drilling box is arranged on the guide connecting plate, the guide connecting plate is arranged at the tail of the feeding slide rail, the guide connecting plate can realize relative movement along the length direction of the slide rail through a chain oil cylinder assembly, and the drilling box realizes rotary drilling operation on the self-drilling hollow anchor rod through a hydraulic motor; the feeding slide rail is arranged on the drilling machine support frame and is hydraulically driven by a secondary feeding hydraulic cylinder, one end of the secondary feeding hydraulic cylinder is connected to the tail part of the drilling machine support frame, the other end of the secondary feeding hydraulic cylinder is connected with the tail end of the feeding slide rail, and the feeding slide rail can be controlled to realize relative movement along the length direction of the drilling machine support frame; the positioning clamping lugs are fixed on the upper part of the tail end of the feeding slide rail, are symmetrically distributed along the length direction of the feeding slide rail and are in a closed clamping state in the self-drilling operation of the anchor rod, so that the axial drilling position error of an anchor hole of a drilling machine in the drilling and anchoring operation process is prevented, and the stability and the accuracy of the drilling and anchoring operation are ensured; the supporting seat is located at the tail end of the feeding slide rail, the supporting seat is driven by a supporting seat telescopic oil cylinder to realize axial movement of the oil cylinder, the supporting seat is used for supporting the self-drilling hollow anchor rod, one end of the supporting seat telescopic oil cylinder is connected with the tail end of the feeding slide rail, and the other end of the supporting seat telescopic oil cylinder is connected with the bottom of the supporting seat.

The self-drilling hollow anchor rod comprises a hollow anchor rod body, an alloy drill bit, a base plate, a nut, a piston and a resin cartridge. The hollow anchor rod body is made of high-strength deformed steel bar, and is used as a storage channel of the drill rod and the resin anchoring agent, a resin cartridge and a piston for pushing the resin cartridge to move are arranged in the hollow anchor rod body, and a baffle is arranged at the tail part of the piston for blocking; the alloy drill bit is arranged at the top end of the hollow anchor rod body and is cast by wear-resistant alloy steel with strong penetrating power, and a slurry outlet hole is formed in the tail end of the drill bit; the tail part of the alloy drill bit is provided with a metal piercing nail for contacting and extruding with a resin cartridge packaged by plastic, so as to pierce and release the anchoring agent; the base plate and the nut are used for pre-tightening the hollow anchor rod body and enabling the stress of the deep surrounding rock to be uniformly transmitted to surrounding rocks; self-drilling type cavity stock has collection and creeps into, thick liquid is annotated, anchor in function of an organic whole, can be arranged in broken rock, loose, collapse etc. do not possess the operation in the complicated stratum of pore-forming condition, the use of self-drilling type cavity stock can effectively solve the tunnel and strut inefficiency, bore the loaded down with trivial details scheduling problem of anchor operation.

The self-walking mechanism is of a crawler-type structure, consists of a crawler plate and a crawler pin, and has the characteristics of strong bearing capacity, high strength, explosion resistance, corrosion resistance and the like.

The automatic drilling and anchoring integrated device has the functions of automatic replacement of the anchor rod, automatic drilling and anchoring of the anchor rod, and is used for anchor rod support operation of a roadway roof. The automatic drilling and anchoring integrated device comprises a top drilling machine position and posture adjusting device, a drilling machine support oil cylinder, a drilling machine fixing support seat and an automatic drilling and anchoring integrated machine; the top drilling machine position and posture adjusting device is connected with the drilling machine supporting frame, and the posture of the drilling machine relative to the terminal anchor hole position is adjusted through an internal rotating hydraulic motor; the upper end and the lower end of the top drilling machine position and posture adjusting device are slidably arranged in a sliding track of an anchor rod support working surface at the front end of the drilling and anchoring robot body and are driven by a chain and sprocket assembly so as to be used for the transverse displacement movement of a drilling machine to carry out the operation of anchor rod support in the same row; the tail part of the automatic drilling and anchoring integrated machine is provided with a drilling machine support oil cylinder which is matched with the drilling machine support oil cylinder, the drilling machine support oil cylinder is used for driving a drilling machine to fix and support the axial movement of a support seat, and when anchor rod supporting operation is carried out, the support seat at the tail part of the automatic drilling and anchoring integrated machine is used for fixing and supporting, so that the stability and reliability of roof anchor rod supporting operation are improved; the support carrier of the drilling machine fixing support seat is a trapezoidal boss, the trapezoidal boss is arranged at the position below an automatic drilling and anchoring integrated machine which is supported by a roof bolt before a drilling and anchoring robot vehicle body, included angles between two side surfaces of the trapezoidal boss and the horizontal plane of the vehicle body are 15 degrees, and the top surface and the bottom surface of the trapezoidal boss are parallel to the horizontal plane of the vehicle body.

The mining automatic cooperative drilling and anchoring robot is used for realizing parallel operation of digging and supporting anchors by matching with tunneling equipment.

Has the advantages that: due to the adoption of the technical scheme, the automatic drilling and anchoring all-in-one machine has the functions of automatic replacement and installation of the anchor rod, self drilling and anchoring of the anchor rod, has the characteristics of compact structure and simplicity in operation, and can be used for anchor rod supporting operation of a roadway roof and a side wall. The device comprises nine parts, namely a drilling and anchoring robot body, a temporary support frame, a net distributing mechanical arm, an anchor net storage cabin body, an anchor net pushing mechanism, an anchor net conveying mechanism, a drilling and anchoring mechanical arm, an automatic drilling and anchoring integrated device and a self-walking mechanism, can realize coordinated operation of anchor net laying and anchor rod anchoring in the roadway support operation process, effectively solves the problems of low tunneling efficiency caused by serious unbalance of tunneling and supporting operation, limited drilling and anchoring conditions caused by bad working conditions of a tunneling working face and low drilling and anchoring integrated degree in the conventional comprehensive mechanical tunneling mode operation, and can further improve the support efficiency so as to realize quick tunneling of a coal roadway and high-efficiency production of coal. Compared with the prior art, the advantages are:

the temporary support frame can be matched with a square upright column at the front part of the drilling and anchoring robot body to be used for temporarily supporting a roadway roof and can also be used as a carrier for moving and fixing a roof anchor net; the anchor rod storage bin body is provided with an anchor net for supporting a roadway top plate and a side wall, and the anchor net are grabbed by a net distributing mechanical arm, so that the comprehensive mechanization degree of supporting operation is further improved; the side anchor net pushing mechanism sucks the anchor net at the anchor net conveying mechanism through a tail end magnetic sucker, and then the anchor net is pushed and fixed to the side coal wall through the relative motion of a secondary telescopic arm of the side anchor net pushing mechanism, so that the supporting operation of the roadway is comprehensively realized in cooperation with a drilling and anchoring mechanical arm on the basis, and the drilling and anchoring integration degree is further improved; the automatic drilling and anchoring integrated machine has the advantages that the drilling and anchoring mechanical arm has multiple degrees of freedom, the working space range can cover supporting operation of an anchor rod at the position of an appointed side wall anchor hole, and the tail end automatic drilling and anchoring integrated machine can reach the position of the appointed anchor hole through the synergistic effect of multiple joints. The chassis of the mining automatic cooperative drilling and anchoring robot body can straddle on a reversed loader, can be used for realizing parallel operation of digging and supporting anchors in cooperation with tunneling equipment, realizes cooperative operation of anchor net laying and anchor rod anchoring in the roadway supporting operation process, effectively solves the problems of low tunneling efficiency caused by serious unbalance of digging and supporting anchor operation, limited drilling and anchoring conditions and low drilling and anchoring integration degree caused by bad working conditions of a tunneling working face during the operation of the traditional comprehensive mechanical tunneling mode, and can effectively improve the supporting efficiency, automation and intelligent degree of the mining automatic cooperative drilling and anchoring robot body. The parallel operation of tunneling, supporting and anchoring can be realized by matching with tunneling equipment, so that the rapid tunneling of a coal roadway and the efficient production of coal are further realized. The drilling and anchoring device has the advantages of high drilling and anchoring automation and intelligent degree, short operation time and high drilling and anchoring efficiency. The self-drilling hollow anchor rod has the functions of integrating drilling, grouting and anchoring, and can be used for operations in complex strata without pore-forming conditions, such as rock breaking, loosening, collapse and the like. Meanwhile, the use of the self-drilling anchor rod greatly optimizes the drilling operation of the roadway, enables the drilling and the anchoring of the anchor rod to be integrated, realizes the automatic filling of the anchor rod, enables the roadway to be formed at one time, greatly reduces the occupied time of supporting in the traditional roadway tunneling process, improves the tunneling efficiency of the whole roadway, effectively ensures the life health and safety of workers, effectively solves the problems of low efficiency, complex drilling and anchoring operation and the like of roadway supporting, and has wide market prospect in the rapid tunneling of the roadway.

Drawings

FIG. 1 is a schematic perspective view of an automated cooperative drilling and anchoring robot for mining according to the present invention;

FIG. 2 is a schematic plane structure diagram of the mining automated cooperative drilling and anchoring robot of the present invention;

FIG. 3 is a schematic view of a forward partial three-dimensional structure of the automated collaborative drilling and anchoring robot for mines according to the invention;

FIG. 4 is a partial structural top view of the mining automatic cooperative drilling and anchoring robot in the forward direction;

FIG. 5 is a schematic structural diagram of a mechanical arm of a roof-laying anchor net of the mining automatic cooperative drilling and anchoring robot;

FIG. 6 is a schematic structural diagram of a mesh distributing mechanical gripper of the mining automatic cooperative drilling and anchoring robot;

FIG. 7 is a schematic structural diagram of an anchor net distributing mechanical arm and an anchor net conveying mechanism of the mining automatic cooperative drilling and anchoring robot;

FIG. 8 is a schematic perspective view of an anchor net pushing mechanism of the mining automatic cooperative drilling and anchoring robot of the present invention;

FIG. 9 is a right side view of an anchor net pushing mechanism of the mining automated cooperative drilling and anchoring robot of the present invention;

FIG. 10 is a schematic structural diagram of a drilling and anchoring mechanical arm of the mining automatic cooperative drilling and anchoring robot;

FIG. 11 is a front view of a drilling and anchoring mechanical arm of the mining automatic cooperative drilling and anchoring robot of the invention;

FIG. 12 is a schematic structural diagram of an automatic integrated drilling and anchoring machine of the automatic collaborative drilling and anchoring robot for the mine;

FIG. 13 is a front view of the automated integrated drilling and anchoring machine of the mining automated collaborative drilling and anchoring robot of the present invention;

FIG. 14 is a schematic structural diagram of an anchor rod storage and reloading mechanism and an anchoring agent gas spraying mechanism of the mining automatic cooperative drilling and anchoring robot;

FIG. 15 is a schematic structural diagram of a feeding mechanism of the mining automatic cooperative drilling and anchoring robot drilling machine of the invention;

fig. 16 is a three-dimensional structural view of a self-drilling hollow anchor rod of the automated collaborative drilling and anchoring robot for mines according to the invention;

FIG. 17 is a front view of the self-drilling hollow anchor rod of the mining automated collaborative drilling and anchoring robot of the present invention;

FIG. 18 is a cross-sectional view of the self-drilling hollow anchor rod of the mining automated cooperative drilling and anchoring robot of the present invention;

FIG. 19 is a front view of the position and posture changing mechanism of the mining automatic cooperative drilling and anchoring robot drilling machine.

In the figure: 1-temporary support frame; 2-drilling and anchoring the robot vehicle body; 201-a cuboid column; 3-anchor net storage cabin body; 301-left anchor net storage bin; 302-right anchor net storage bin; 303-a cuboid column; 4-a net-laying mechanical arm; 401-arranging a net arm lifting frame; 402-laying net arm fixing plate; 403-anchor net arranging mechanical arm; 4031-mechanical arm one; 4032-a second telescopic mechanical arm; 4033-telescopic mechanical arm III; 4034-cloth mesh paw fixing frame; 4035-cloth net gripper; 40351-cloth net manipulator frame; 40352-hydraulic cylinder of mechanical gripper for netting; 40353-netting grasping robot; 40354-pin; 404-cloth upper anchor net mechanical arm; 4041-column; 4042-height adjusting hydraulic cylinder; 4043-big arm support seat; 4044-pitch adjustment hydraulic cylinder; 4045-folding arm big arm; 4046-arm telescopic hydraulic cylinder; 4047-folding arm forearm; 5-anchor net conveying mechanism; 501-an arm pushing hydraulic cylinder; 502-column base; 6-anchor net pushing mechanism; 601-a base; 602-a fixed sleeve; 603-telescopic arm one; 604-telescoping arm two; 605-suction cup; 7-anchor drilling mechanical arm; 701-a base; 702-a turntable; 703-drilling and anchoring the big arm of the mechanical arm; 704-drilling anchor mechanical arm small arm; 705-drilling anchor mechanical arm large arm oil cylinder; 706-drilling anchor mechanical arm small arm oil cylinder; 707-a drill cylinder; 708-an automated drilling and anchoring all-in-one machine; 7081-anchor rod storage and reloading mechanism; 70811-anchor rod storage bin; 70812-anchor storage bin baffle; 70813-anchor rod storage bin rack; 70814-anchor rod changing manipulator; 70815-a stepper motor; 7082-anchoring agent air-jet mechanism; 70821-an air pump conduit; 70822-a rotary motor; 70823-air gun holder; 70824-spray gun barrel; 7083-drill feed mechanism; 70831-rig frame; 70832-feed slide; 70833-drill box; 70834-a guide web; 70835-drilling rig support frame; 70836-primary feed hydraulic cylinder; 70837-secondary feed hydraulic cylinder; 70838-supporting seat; 708381-supporting seat telescopic oil cylinder; 70839-positioning clip ears; 708310-positioning vertical tip disk; 7084-self drilling hollow bolt; 70841-a hollow mooring body; 70842-alloy drill bit; 708421-metal barbed nails; 70843-backing plate; 70844-nut; 70845-a piston; 70846-medicated roll of resin; 709-auxiliary swing device of drilling machine; 7010-rig mast; 8-self-walking mechanism; 9-an automatic drilling and anchoring integrated device; 901-position and posture adjusting device of top drilling machine; 902-a drill rig mast cylinder; 903-fixing and supporting seat of the drilling machine.

Detailed Description

The invention will be further described with reference to the following examples in the drawings to which:

referring to the attached drawing 1, the automatic collaborative drilling and anchoring robot for the mine comprises a temporary support frame 1, a drilling and anchoring robot body 2, an anchor net storage bin body 3, a net distribution mechanical arm 4, an anchor net conveying mechanism 5, an anchor net pushing mechanism 6, a drilling and anchoring mechanical arm 7, a self-walking mechanism 8 and an automatic drilling and anchoring integrated device 9.

Referring to the attached figure 3, the front part of the body of the drilling and anchoring robot is attached with two cuboid stand columns 201, the cross sections of the two cuboid stand columns are rectangular, square holes are formed in the length direction of the two cuboid stand columns, and the two cuboid stand columns can be matched with the temporary supporting rack 1 to lift so as to support a roof plate and play a role in temporarily supporting the roof plate of a roadway. The temporary support frame 1 can also be used as a movable carrier of a top anchor net, and plays a role in temporarily fixing the anchor net and completing roadway anchor rod support operation in cooperation with the automatic drilling and anchoring integrated machine.

Referring to fig. 3, the left and right anchor net

storage cabin bodies

301 and 302 are bilaterally and symmetrically distributed in the middle of the drilling and anchoring robot body, two cuboid stand columns 303 which are symmetrical to each other are arranged in the middle of the cabin body, the cross section of each cabin body is rectangular, square holes are formed in the length direction of each cabin body, and the grabbing of a roof supporting anchor net can be realized by matching with the net distributing arm lifting frame 401. The top of the net distributing arm lifting frame 401 is fixedly connected with a net distributing arm fixing plate 402, the net distributing arm fixing plate 402 is of a cuboid structure, and a net distributing anchor mechanical arm 403 is arranged below the bottom of the net distributing arm lifting frame.

Referring to fig. 3 and 5, the cloth top anchor net manipulator comprises a first manipulator 4031, a second telescopic manipulator 4032, a third telescopic manipulator 4033, a cloth net paw fixing frame 4034 and a cloth net paw 4035. The first mechanical arm 4031 is of a hollow square structure and is fixed on the bottom side of the net distribution arm fixing plate 402; the second telescopic mechanical arm 4032 is of a cuboid structure, a square hole is formed in the length direction, and the second telescopic mechanical arm 4032 is slidably arranged in the first mechanical arm 4031 of the hollow square structure in a nested mode; the third telescopic mechanical arm 4033 is of a cuboid structure and can be arranged in the second telescopic mechanical arm 4032 in an embedded and sleeved sliding mode; the net distributing paw fixing frame 4034 is of a cuboid structure, is symmetrical along the central line direction of the net distributing arm fixing plate 402, is used as a fixing carrier of the net distributing paw, and two ends of the net distributing paw fixing frame are respectively fixedly connected with the top end of the third telescopic mechanical arm 4033; the net-laying mechanical gripper 4035 is symmetrically arranged on the left side and the right side of the net-laying gripper fixing frame 4034 and is used for realizing grabbing of the roof supporting anchor net. The specific work flow of the mechanical arm 403 for anchoring the top of the cloth is as follows: the relative motion of the secondary telescopic mechanical arm drives a net distribution mechanical paw 4035 on a net distribution mechanical paw fixing frame 4034 to transversely move, the movement is stopped when the net distribution mechanical paw 4035 moves to a designated anchor net grabbing position, then the net distribution arm lifting frame 401 descends, the net distribution mechanical paw 4035 contacts and grabs an anchor net in the anchor net cabin and ascends to an initial position along with the arm lifting frame 401, the anchor net moves to the temporary support frame 1 through the relative motion of the telescopic mechanical arm, then the temporary support frame 1 supports the roof and moves up to the roof to complete the temporary support of the roof of the roadway and the fixing operation of the anchor net, and the grabbing movement and the fixing operation of the anchor net are comprehensively realized.

Referring to fig. 6, the mesh-laying gripper 4035 includes a mesh-laying gripper 40351, a mesh-laying gripper hydraulic cylinder 40352, a mesh-laying gripping robot 40353, and a pin 40354. The net distribution gripping manipulator 40353 is symmetrically arranged on two sides of the net distribution manipulator support 40351 through a pin 40354 and is used for gripping an anchor net; the mesh-distributing mechanical gripper hydraulic oil cylinder 40352 is a double-rod hydraulic cylinder, the mesh-distributing mechanical gripper 40353 is connected through a pin 40354, and the mesh-distributing mechanical gripper hydraulic oil cylinder 40352 drives the mesh-distributing gripping manipulator 40353 to rotate around a shaft through bidirectional hydraulic driving, so that tensioning movement of the gripper is realized.

Referring to fig. 7, the cloth upper anchored net mechanical arm 404 includes a column 4041, a height adjusting hydraulic cylinder 4042, a large arm support base 4043, a pitch adjusting hydraulic cylinder 4044, a folding arm large arm 4045, an arm telescopic hydraulic cylinder 4046, a folding arm small arm 4047, and a cloth net mechanical gripper 4035. The height adjusting hydraulic cylinder 4042 is used for adjusting the vertical distance of the anchor net grabbed by the net grabbing mechanical arm according to the height of the roadway, one end of the height adjusting hydraulic cylinder 4042 is connected with the upright post 4041, and the other end of the height adjusting hydraulic cylinder 4042 is connected with the large arm supporting seat 4043; one end of the large arm pitching adjusting hydraulic cylinder 4044 is connected with the large arm supporting seat 4043, the other end is connected with the folding arm large arm 4045, and the pitching motion of the folding arm large arm 4045 is comprehensively controlled; one end of an arm telescopic adjusting hydraulic cylinder 4046 is connected with the folding arm big arm 4045, the other end is connected with the folding arm small arm 4047, and pitching motion of the folding arm small arm 4047 is comprehensively controlled.

Referring to fig. 7, the anchor net conveying mechanism 5 is an anchor net conveying mechanism, and includes an arm pushing hydraulic cylinder 501 and a column base 502. The arm pushing hydraulic cylinder 501 is connected with the upright column base 502 and drives the cloth upper anchor net mechanical arm 404 to move transversely in a hydraulic driving mode; the central position of the column base 502 is fixed with the column 4041 of the cloth upper anchor net mechanical arm, and is used for supporting and axially positioning the cloth upper anchor net mechanical arm 404.

Referring to fig. 8, the anchor net pushing mechanism 6 includes a base 601, a fixed sleeve 602, a first telescopic arm 603, a second telescopic arm 604 and a suction cup 605; the first telescopic arm 603 is of a cuboid structure, and a sucker 605 is attached to the tail end of the first telescopic arm and is used for sucking the anchor net; the second telescopic arm 604 is of a cuboid structure, a square hole is formed in the length direction of the second telescopic arm, and the first telescopic arm 603 is arranged in the second telescopic arm 604 in an embedded and sliding mode; the fixed sleeve 602 is fixedly connected to the base 601 and is of a cuboid structure, a square hole is formed in the fixed sleeve along the length direction, and the second telescopic arm 604 is arranged in the fixed sleeve 602 in an embedded and sliding manner; the side anchor net pushing mechanism 6 realizes pushing and fixing operation of the anchor net at the side position through the relative motion relationship of the first telescopic arm 603, the second telescopic arm 604 and the fixing sleeve 602; the tail end sucking disc 605 of the first telescopic arm 603 is a rectangular plate magnetic sucking disc, and four circular bosses for fixing electromagnets are attached to the center of the surface of the rectangular plate sucking disc and used for sucking the side anchor net moved to the appointed supporting position by the anchor net conveying mechanism. The anchor net pushing mechanism 6 has the following specific working procedures: the tail end magnetic suction disc 605 of the first telescopic arm 603 sucks the anchor net conveying mechanism to move to the side wall anchor net at the specified supporting position, the relative motion of the second-stage telescopic arm drives the anchor net sucked by the tail end magnetic suction disc 605 of the first telescopic arm 603 to realize the transverse movement of the side wall coal wall, and when the specified supporting position is reached, the anchor net pushing mechanism fixes the side wall anchor net to wait for the subsequent anchor rod supporting operation of the anchor drilling mechanical arm 7.

Referring to fig. 11, the drilling and anchoring mechanical arm 7 is used for bolting and supporting the left and right side walls of the roadway, and includes a base 701, a rotary table 702, a drilling and anchoring mechanical arm large arm 703, a drilling and anchoring mechanical arm small arm 704, a drilling and anchoring mechanical arm large arm cylinder 705, a drilling and anchoring mechanical arm small arm cylinder 706, a drilling machine cylinder 707, an automatic drilling and anchoring integrated machine 708, a drilling machine auxiliary swing device 709 and a drilling machine support 7010; the base 701 is fixed on a drill anchor robot body, and a circular hole matched with the rotary table 702 is formed in the middle of the base 701; the bottom of the rotary table 702 is provided with a cylindrical boss matched with a circular hole of the base, and the rotary table can realize rotary motion relative to the base; one end of the large arm oil cylinder 705 of the drill and anchor mechanical arm is fixed on the rotary table 702, and the other end of the large arm oil cylinder is connected with the large arm 703 of the drill and anchor mechanical arm to comprehensively control the pitching motion of the large arm 703 of the drill and anchor mechanical arm; one end of the drill-anchor mechanical arm small arm oil cylinder 706 is fixed on the drill-anchor mechanical arm large arm 703, and the other end is connected with the drill-anchor mechanical arm small arm 704 to comprehensively control the pitching motion of the drill-anchor mechanical arm small arm 704; one end of the drilling machine oil cylinder 707 is fixed on the drilling anchor mechanical arm small arm 704, and the other end is connected with the drilling machine auxiliary swing device 709 and is used for supporting and fixing the spatial position of the device; the auxiliary swing device 709 of the drilling machine is connected with the automatic drilling and anchoring integrated machine 708, and the drilling machine is controlled to rotate along the span direction of the roadway through an internal hydraulic motor so as to be used for anchor rod supporting operation at the side wall position of the roadway; the drilling machine support 7010 is located at the tail of the automatic drilling and anchoring integrated machine 708, and the support is controlled to stretch and retract through a support oil cylinder of the automatic drilling and anchoring integrated machine, so that the drilling machine support is used for initial guiding support of a drilling machine on a drilling and anchoring robot vehicle body. The concrete work flow of the drilling and anchoring mechanical arm 7 is as follows: and reversely solving variables of all joints of the drilling and anchoring mechanical arm 7 through inverse kinematics according to the position and the posture of the known tail end anchor hole, realizing a space motion track from a tail end drilling machine to the appointed anchor hole by all the joints according to the solved preset variable values, and then realizing the supporting operation of the roadway side anchor rod through the automatic drilling and anchoring integrated machine 708.

Referring to fig. 12, the automated drilling and anchoring all-in-one machine 708 comprises a rock bolt storage and replacement mechanism 7081, an anchoring agent air injection mechanism 7082, a drilling machine feeding mechanism 7083 and a self-drilling hollow rock bolt 7084. The automatic drilling and anchoring integrated machine has the functions of automatic replacement and installation of the anchor rod, self drilling and anchoring of the anchor rod, and has the characteristics of compact structure and simplicity in operation. The self-drilling hollow anchor rod 7084 has the functions of drilling, grouting and anchoring, is used for operation in a complex stratum which is broken rock, loose or collapsed and does not have a pore-forming condition, and solves the problems of low roadway supporting efficiency and complex drilling and anchoring operation.

Referring to fig. 14 and 15, the anchor rod storing and reloading mechanism 7081 comprises an anchor rod storing cabin 70811, an anchor rod storing cabin baffle 70812, an anchor rod storing cabin rack 70813, an anchor rod reloading manipulator 70814 and a stepping motor 70815. The anchor rod storage bin body 70811 is of a wheel disc type structure and is symmetrically distributed at the front and the rear of the anchor net storage bin frame 70813, the front wheel disc of the anchor rod storage bin body is used for supporting the self-drilling hollow anchor rod 7084, the rear wheel disc is in contact with the anchor rod supporting plate, the tail end of the anchor rod is in contact with the anchor rod storage bin baffle 70812, and the anchor rod is fixed by the synergistic effect of the three parts, so that the anchor rod is prevented from sliding down due to the movement and vibration factors of a drilling machine; the wheel disc type anchor rod storage cabin 70811 is provided with a plurality of chutes for storing and supporting the self-drilling hollow anchor rod 7084, and a main shaft is arranged in the middle of a wheel disc; the anchor rod storage bin baffle 70812 is used for axially positioning the self-drilling hollow anchor rod 7084 so that the anchor rod can be stably stored in the anchor rod storage bin 70811, and a stepping motor 70815 is arranged in the middle of the anchor rod storage bin baffle 70812 and used for driving a main shaft of the anchor rod storage bin 70811 to rotate for one anchor rod process step; the anchor rod reloading manipulator 70814 is provided with a circular hole at the tail part thereof, wherein the circular hole is matched with the shaft, and is used for matching with the rotating shaft to realize the taking operation of the anchor rod 7084, and when the anchor rod arrives at the right front part of the drilling box, the loading operation of the self-drilling hollow anchor rod 7084 is realized. The anchor rod storage reloading mechanism 7081 has the specific working process that: the stepping motor 70815 drives the anchor rod storage cabin 70811 to rotate by a anchor rod reloading operation flow through a wheel disc main shaft, when the anchor rod reloading operation flow reaches a designated position, the anchor rod reloading manipulator 70814 rotates through a cabin frame rotating shaft, and when the anchor rod reloading manipulator reaches the position right ahead of the drill box 70833, subsequent anchor rod reloading operation is realized.

Referring to fig. 14 and 15, the anchoring agent air-blasting mechanism 7082 includes an air pump conduit 70821, a rotary motor 70822, an air gun holder 70823 and an air gun tube 70824. The air gun fixing seat 70823 is used as a supporting structure of the air gun barrel 70824 and is fixed at the tail of the anchor rod feeding slide rail, and the top end of the air gun fixing seat 70823 is provided with a circular hole matched with the air gun barrel 70824; the rotary motor 70822 is arranged on the rear side of the air gun fixing seat 70823 and used for driving the air gun barrel 70824 to rotate relative to the air gun fixing seat 70823; the air pump guide pipe 70821 is used as a carrier for transmitting high-pressure air, one end of the air pump guide pipe 70821 is connected with the circular hole at the rear side of the air gun fixing seat 70823, the other end of the air pump guide pipe is connected with an air pump arranged on the drilling and anchoring robot body 2, the air pump is arranged on the drilling and anchoring robot body 2 and used for providing high-pressure air, and the high-pressure air is ejected to the hollow part of the anchor rod through an air gun pipe 70824 via the air pump guide pipe 70821. The specific work flow of the anchoring agent air-spraying mechanism 7082 is as follows: after the anchor rod drills into the coal wall, the drill box 70833 fixedly connected to the guide connecting plate 70834 retreats to the end part of the feed sliding rail 70832, the rotary motor 70822 arranged at the rear side of the air gun fixing seat 70823 drives the air gun barrel 70824 to rotate relative to the air gun fixing seat 70823, and when the air gun barrel rotates to the hollow part of the anchor rod, high-pressure air generated by an air pump arranged on the drill anchor robot body 2 is ejected to the hollow part of the anchor rod body through an air pump guide pipe 70821.

Referring to fig. 15, the feeding mechanism 7083 of the drilling machine comprises a drilling machine frame 70831, a feeding slide rail 70832, a drilling box 70833, a guide connecting plate 70834, a drilling machine supporting frame 70835, a primary feeding hydraulic cylinder 70836, a secondary feeding hydraulic cylinder 70837, a supporting seat 70838, a positioning clamping lug 70839 and a positioning vertical sharp disk 708310. The drilling machine rack 70831 is driven by a hydraulic pressure 70836 of a primary feeding oil cylinder, and a positioning vertical sharp disc 708310 is fixed at the top end of the drilling machine rack; the positioning vertical pointed disc 708310 is used for axial positioning of the drilling machine and reducing the phenomena of deviation of the drilling machine and reduction of the operation efficiency caused by vibration factors in the working process of the drilling machine; the drill box 70833 is arranged on a guide connecting plate 70834, the guide connecting plate 70834 is arranged at the tail of a feeding slide rail 70832, the guide connecting plate 70834 can realize relative movement along the length direction of the slide rail through a chain oil cylinder assembly, and the drill box 70833 realizes rotary drilling operation on the self-drilling hollow anchor bar 7084 through a hydraulic motor; the feeding sliding rail 70832 is arranged on a drilling machine support 70835 and is hydraulically driven by a secondary feeding hydraulic cylinder 70837, one end of the secondary feeding hydraulic cylinder 70837 is connected to the tail part of the drilling machine support 70835, the other end of the secondary feeding hydraulic cylinder 70837 is connected with the tail end of the feeding sliding rail 70832, and the feeding sliding rail 70832 can be controlled to realize relative movement along the length direction of the drilling machine support 70835; the positioning clamping lug 70839 is fixed on the upper part of the tail end of the feeding slide rail 70832, is in a closed clamping state in the self-drilling operation of the anchor rod, and is used for preventing the drilling machine from generating an axial drilling position error of an anchor hole in the drilling and anchoring operation process and ensuring the stability and the accuracy of the drilling and anchoring operation; the supporting seat 70838 is located at the end of the feeding sliding rail 70832, and is driven by a supporting seat telescopic cylinder 708381 to realize axial movement of the cylinder, and is used for supporting the self-drilling hollow anchor bar 7084, one end of the supporting seat telescopic cylinder 708381 is connected with the end of the feeding sliding rail 70832, and the other end of the supporting seat telescopic cylinder 708381 is connected with the bottom of the supporting seat 70838. The specific work flow of the drill feeding mechanism 7083 is as follows: the drill machine frame 70831 is driven by a primary feeding oil cylinder hydraulic pressure 70836, and axial positioning of the drill machine is realized through a conical head of a tip disc standing at the tail end of the drill machine, and the phenomena of drill machine deviation and reduced operation efficiency caused by vibration factors in the working process of the drill machine are reduced. On the basis, the secondary feeding hydraulic cylinder 70837 can push the feeding slide rail 70832 to realize relative movement along the length direction of the drilling machine support frame 70835 so as to realize the movement positioning of the tail end drill of the anchor rod to the anchor hole position. The propelling mechanism is arranged at the tail part of the feeding sliding rail 70832 and can realize relative movement along the length direction of the sliding rail so as to realize the drilling operation of the anchor rod in the process. When the anchor rod reloading manipulator realizes that the anchor rod rotates to reach the position right ahead the propelling mechanism through the bin frame rotating shaft, the drill box 70833 fixedly connected to the guide connecting plate 70834 moves forwards to load, unload and fix the anchor rod, the drill box 70833 realizes the rotary drilling operation on the self-drilling hollow anchor rod 7084 through a hydraulic motor, and in the process, the positioning clamping lug 70839 is converted from the open state before the anchor rod reloading into the clamping closed state in the anchor rod drilling process, so that the axial drilling position error of an anchor hole in the drilling operation process of the drilling machine is prevented. Meanwhile, in the drilling process of the anchor rod, the supporting seat 708381 contracts to drive the supporting seat 70838 to move downwards, and after the tray of the self-drilling hollow anchor rod 7084 contacts the coal wall, the self-drilling operation of the anchor rod is completed.

Referring to fig. 17 and 18, the self-drilling hollow bolt 7084 includes a hollow bolt body 70841, an alloy drill 70842, a backing plate 70843, a nut 70844, a piston 70845 and a resin cartridge 70846. The hollow anchor rod body 70841 is made of high-strength deformed steel bar, is used as a storage channel of a drill rod and a resin anchoring agent, and is internally provided with a resin cartridge 70846 and a piston 70845 for pushing the resin cartridge to move; the alloy drill bit 70842 is arranged at the top end of the hollow anchor rod body 70841 and is cast by wear-resistant alloy steel with strong penetrating power, and the tail end of the alloy drill bit 70842 is provided with a slurry outlet; the tail of the alloy drill 70842 is provided with a metal piercing pin 708421 which is used for contacting and extruding a plastic-packaged resin cartridge 70846 pushed by high-pressure gas of the air pump conduit 70822 so as to pierce and release an anchoring agent; the backing plate 70843 and the nut 70844 are used for pre-tightening the hollow anchor rod body 70841, and stress of deep surrounding rocks can be uniformly transmitted to surrounding rocks. The self-drilling hollow anchor rod 7084 has the functions of drilling, grouting and anchoring, can be used for operations in complex strata without pore-forming conditions, such as broken rock, loose and collapse, and the like, and can effectively solve the problems of low roadway supporting efficiency, complex drilling and anchoring operations and the like by using the self-drilling hollow anchor rod 7084. The specific work flow of the self-drilling hollow anchor 7084 is as follows: the drilling box drives the hollow anchor rod to drill holes through the alloy drill bit at the tail end of the hollow anchor rod through the chain oil cylinder component by the aid of an internal hydraulic motor, when an anchor rod tray is in contact extrusion with a coal wall, the drilling box fixedly connected to the guide connecting plate retreats to an initial position, the air gun barrel 70824 is driven to rotate relative to the air gun fixing seat 70823 by the aid of the rotary motor 70822 arranged on the rear side of the air gun fixing seat 70823, when the anchor rod tray rotates to the hollow part of the anchor rod, high-pressure air generated by an air pump is ejected to the hollow part of the anchor rod body through the air pump guide pipe 70821, the high-pressure air impacts the piston 70845 in the hollow anchor rod body, the piston 70845 drives the resin cartridge 70846 to forwardly impact the metal piercing nail 708421 located at the tail part of the alloy drill bit 70842, and then is in contact extrusion with the resin cartridge 70846 packaged by the plastic, the resin cartridge 70846 can be pierced and an anchoring agent can be released, and the released anchoring agent flows out of the alloy drill bit 70842 provided with a grout outlet hole.

The self-walking mechanism 8 is of a crawler-type structure and comprises a crawler plate and a crawler pin, has the characteristics of strong bearing capacity, high strength, explosion resistance, corrosion resistance and the like, and can adapt to severe underground conditions.

Referring to fig. 19, the automatic drilling and anchoring integrated device 9 has the functions of automatic replacement and installation of an anchor rod, self drilling of the anchor rod and anchoring, and is used for anchor rod supporting operation of a roadway roof. The automatic drilling and anchoring integrated device 9 comprises a top drilling machine position and posture adjusting device 901, a drilling machine support oil cylinder 902, a drilling machine fixed support 903 and an automatic drilling and anchoring integrated machine 708; the top drilling machine position and posture adjusting device 901 is connected with a drilling machine support frame, and realizes the posture adjustment of the drilling machine relative to the position of the terminal anchor hole through an internal rotating hydraulic motor; the upper end and the lower end of the top drilling machine position and posture adjusting device 901 are arranged in a sliding track of an anchor rod support working surface at the front end of the drilling and anchoring robot body in a sliding mode, and are driven by a chain and sprocket assembly to be used for carrying out anchor rod support operation in the same row by transverse displacement movement of a drilling machine; the tail of the automatic drilling and anchoring integrated machine 708 is provided with a drilling machine support oil cylinder 902, the drilling machine support oil cylinder 902 is used for driving the drilling machine fixing support seat 903 to move axially, and when anchor rod supporting operation is carried out, the drilling machine fixing support seat 903 at the tail of the drilling machine is used for fixing and supporting, so that the stability and reliability of roof anchor rod supporting operation are improved; the support carrier of the drilling machine fixing support seat 903 is a trapezoidal boss, the trapezoidal boss is arranged at the position below an automatic drilling and anchoring integrated machine which is supported by a roof bolt before a drilling and anchoring robot body, included angles between two side faces of the trapezoidal boss and the horizontal plane of the drilling and anchoring robot body are 15 degrees, and the top face and the bottom face of the trapezoidal boss are parallel to the horizontal plane of the drilling and anchoring robot body.

Claims

1. The utility model provides a mining automatic collaborative type bores anchor robot which characterized in that: the automatic drilling and anchoring integrated device comprises a temporary support frame (1), a drilling and anchoring robot body (2), an anchor net storage bin body (3), a net distributing mechanical arm (4), an anchor net conveying mechanism (5), an anchor net pushing mechanism (6), a drilling and anchoring mechanical arm (7), a self-walking mechanism (8) and an automatic drilling and anchoring integrated device (9); a temporary support frame (1) is arranged at the front part of the drilling and anchoring robot body (2); the anchor net storage bin body (3) is arranged at the rear part of the temporary support frame (1), the net distribution mechanical arm (4) and the anchor net conveying mechanism (5) are symmetrically arranged in grooves at the left side and the right side of the drilling and anchoring robot body (2), the anchor net conveying mechanism (5) is connected with the net distribution mechanical arm (4), and the back and forth movement of the net distribution mechanical arm (4) is realized in a hydraulic driving mode; the anchor net pushing mechanisms (6) are arranged beside the net distributing mechanical arm (4), and the anchor net pushing mechanisms (6) are distributed on two sides of the drilling and anchoring robot body (2) in bilateral symmetry; the mechanical drilling and anchoring arms (7) are mechanical arms for supporting the anchor rod at the side wall of the roadway, are symmetrically distributed at two sides of the tail part of the robot body (2) for supporting the anchor rod at the left side wall and the right side wall of the roadway; the automatic drilling and anchoring integrated device (9) is arranged in the front of the drilling and anchoring robot vehicle body (2) and is used for supporting and protecting roadway roof anchor rods; an air pump for providing high-pressure air is arranged on the drilling and anchoring robot body (2);

the anchor net storage bin body (3) comprises a left anchor net storage bin body (301), a right anchor net storage bin body (302) and a cuboid stand column (303); anchor nets for supporting a roadway roof are placed above the left anchor net storage bin body (301), anchor nets for supporting a roadway side wall are placed above the right anchor net storage bin body (302), two cuboid stand columns (303) are symmetrically arranged between the left bin body and the right bin body, and square holes are formed in the cross sections of the cuboid stand columns (303) along the length direction;

the drilling and anchoring mechanical arm (7) comprises a base (701), a rotary table (702), a drilling and anchoring mechanical arm large arm (703), a drilling and anchoring mechanical arm small arm (704), a drilling and anchoring mechanical arm large arm oil cylinder (705), a drilling and anchoring mechanical arm small arm oil cylinder (706), a drilling machine oil cylinder (707), an automatic drilling and anchoring all-in-one machine (708), a drilling machine auxiliary swing device (709) and a drilling machine support (7010); the base (701) is fixed on the drilling and anchoring robot body (2), and a circular hole matched with the rotary table (702) is formed in the middle of the base (701); the bottom of the rotary table (702) is provided with a cylindrical boss matched with a circular hole of the base (701), and the rotary table (702) can rotate relative to the base (701); the tail part of the large arm (703) of the drill and anchor mechanical arm is connected with the rotary table (702), and the top end of the large arm is connected with the small arm (704) of the drill and anchor mechanical arm; the tail part of the small arm (704) of the drilling and anchoring mechanical arm is connected with the top end of the large arm (703) of the drilling and anchoring mechanical arm, and the top end of the small arm (704) of the drilling and anchoring mechanical arm is connected with the auxiliary swing device (709) of the drilling machine; one end of a large arm oil cylinder (705) of the drill and anchor mechanical arm is fixed on the rotary table (702), and the other end of the large arm oil cylinder is connected with the large arm (703) of the drill and anchor mechanical arm to comprehensively control the pitching motion of the large arm (703) of the drill and anchor mechanical arm; one end of the small arm oil cylinder (706) of the drilling and anchoring mechanical arm is fixed on the large arm (703) of the drilling and anchoring mechanical arm, and the other end of the small arm oil cylinder is connected with the small arm (704) of the drilling and anchoring mechanical arm to comprehensively control the pitching motion of the small arm (704) of the drilling and anchoring mechanical arm; one end of the drilling machine oil cylinder (707) is fixed on the small arm (704) of the drilling anchor mechanical arm, and the other end of the drilling machine oil cylinder is connected with the drilling machine auxiliary swing device (709) and used for supporting and fixing the spatial position of the device; the auxiliary swing device (709) of the drilling machine is connected with the automatic drilling and anchoring integrated machine (708), and the drilling machine is controlled to rotate along the span direction of the roadway through an internal hydraulic motor so as to be used for anchor rod supporting operation at the side wall position of the roadway; the drilling machine support (7010) is located at the tail of the automatic drilling and anchoring integrated machine (708), and the support cylinder of the drilling machine support (7010) is used for controlling the drilling machine support (7010) to stretch and retract and is used for initial guiding and supporting of the drilling machine on the drilling and anchoring robot body (2).

2. The mining automated collaborative drill-anchor robot of claim 1, characterized in that: the net distribution mechanical arm (4) comprises a net distribution arm lifting frame (401), a net distribution arm fixing plate (402), a cloth top anchor net mechanical arm structure (403) and a cloth upper anchor net mechanical arm (404); the net distributing arm lifting frame (401) is arranged in a square hole of the cuboid stand column (303), the top plate supporting anchor net is grabbed by lifting up and down, the net distributing arm fixing plate (402) is arranged at the top of the net distributing arm lifting frame (401), the net distributing arm fixing plate (402) is of a cuboid structure, and the left side and the right side of the net distributing anchor net mechanical arm structure (403) are symmetrically arranged on the two sides of the net distributing arm fixing plate (402);

the top cloth anchor net mechanical arm structure (403) comprises a first mechanical arm (4031), a second telescopic mechanical arm (4032), a third telescopic mechanical arm (4033), a net distributing paw fixing frame (4034) and a net distributing paw (4035); the first mechanical arm (4031) is of a hollow square structure, the first mechanical arm (4031) is fixed to the bottom side of the net distributing arm fixing plate (402), the second telescopic mechanical arm (4032) is of a cuboid structure and is provided with a square hole along the length direction, the second telescopic mechanical arm (4032) is arranged in the first mechanical arm (4031) of the hollow square structure in a nested sliding mode, the third telescopic mechanical arm (4033) is of a cuboid structure and is arranged in the second telescopic mechanical arm (4032) in a nested sliding mode, and the net distributing paw fixing frame (4034) is of a cuboid structure and is symmetrical along the central line direction of the net distributing arm fixing plate (402); the net distributing mechanical paw (4035) is arranged on the net distributing paw fixing frame (4034) and is used for realizing grabbing of a roof supporting anchor net;

the net distributing mechanical gripper (4035) comprises a net distributing mechanical gripper frame (40351), a net distributing mechanical gripper hydraulic cylinder (40352), a net distributing grabbing mechanical arm (40353) and a pin shaft (40354); the net distribution gripping manipulator (40353) is symmetrically arranged on two sides of the net distribution manipulator frame (40351) through a pin shaft (40354); the mesh distribution mechanical gripper hydraulic cylinder (40352) is a double-rod hydraulic cylinder, the double-rod hydraulic cylinder connects the mesh distribution gripping manipulator (40353) through a pin shaft (40354), and the mesh distribution mechanical gripper hydraulic cylinder (40352) drives the mesh distribution gripping manipulator (40353) to rotate around a shaft through bidirectional hydraulic drive so as to realize gripping operation on an anchor mesh;

the cloth upper anchored net mechanical arm (404) comprises a stand column (40401), a height adjusting hydraulic cylinder (40402), a large arm supporting seat (40403), a large arm pitching adjusting hydraulic cylinder (40404), a folding arm large arm (40405), an arm telescopic hydraulic cylinder (40406), a folding arm small arm (40407) and a cloth net mechanical gripper (4035); one end of the height adjusting hydraulic cylinder (40402) is connected with the upright post (40401), and the other end of the height adjusting hydraulic cylinder is connected with the large arm supporting seat (40403); one end of the large arm pitching adjusting hydraulic cylinder (40404) is connected with the large arm supporting seat (40403), the other end of the large arm pitching adjusting hydraulic cylinder is connected with the folding arm large arm 40405, and the pitching motion of the folding arm large arm 40405 is comprehensively controlled; one end of the arm telescopic adjusting hydraulic cylinder (40406) is connected with the folding arm big arm (40405), and the other end of the arm telescopic adjusting hydraulic cylinder is connected with the folding arm small arm (40407), so that the pitching motion of the folding arm small arm (40407) is comprehensively controlled; and the net distribution mechanical paw (4035) is arranged at the tail end of the small arm of the folding arm and is used for realizing grabbing operation of the side anchor net.

3. The mining automated collaborative drilling and anchoring robot of claim 1, characterized in that: the anchor net conveying mechanism (5) comprises arm pushing hydraulic cylinders (501) and upright bases (502) of a conveying mechanism for lateral side anchor nets, the arm pushing hydraulic cylinders (501) and the upright bases (502) are symmetrically distributed along the axis direction of the drilling and anchoring robot body (2), one ends of the arm pushing hydraulic cylinders (501) are fixed at the tail parts of the grooves in the two sides of the drilling and anchoring robot body (2), one surface, close to the drilling and anchoring robot body (2), of the upright bases (502) is in contact with the side surfaces of the grooves in the two sides, the upper surfaces of the upright bases (502) are in contact with the top surfaces of the grooves, the lower surfaces of the upright bases (502) are in contact with the bottom surfaces of the grooves, and the upright bases (502) are slidably arranged in the grooves; an arm pushing hydraulic cylinder (501) is connected with the upright column base (502) and drives the cloth upper anchor net mechanical arm (404) to move transversely in a hydraulic driving mode; the center position of the upright column base (502) is fixed with the cloth upper anchor net mechanical arm upright column (40401) and is used for supporting and axially positioning the cloth upper anchor net mechanical arm (404).

4. The mining automated collaborative drill-anchor robot of claim 1, characterized in that: the anchor net pushing mechanism (6) comprises a base (601), a fixed sleeve (602), a first telescopic arm (603), a second telescopic arm (604) and a sucker (605); the first telescopic arm (603) is of a cuboid structure, and a sucker (605) is attached to the tail end of the first telescopic arm (603) and used for sucking the anchor net; the second telescopic arm (604) is of a cuboid structure, a square hole is formed in the second telescopic arm (604) along the length direction, and the first telescopic arm (603) is arranged in the second telescopic arm (604) in a nested and sliding manner; the fixed sleeve (602) is fixedly connected to the base (601) and is of a cuboid structure, a square hole is formed in the fixed sleeve (602) along the length direction, and the second telescopic arm (604) is arranged in the fixed sleeve (602) in a nested sliding mode; the anchor net pushing and fixing operation of the anchor net pushing mechanism (6) at the side wall position of the roadway is realized through the relative motion of the first telescopic arm (603), the second telescopic arm (604) and the fixing sleeve (602); the tail end sucker (605) of the first telescopic arm (603) is a rectangular plate magnetic sucker, and four circular bosses for fixing electromagnets are attached to the center of the surface of the rectangular plate sucker and used for sucking the side anchor net moved to the appointed supporting position by the anchor net conveying mechanism (5).

5. The mining automated collaborative drill-anchor robot of claim 1, characterized in that: the automatic drilling and anchoring integrated machine (708) comprises an anchor rod storage and replacement mechanism (7081), an anchoring agent air spraying mechanism (7082), a drilling machine feeding mechanism (7083) and a self-drilling type hollow anchor rod (7084);

the anchor rod storing and replacing mechanism (7081) comprises an anchor rod storing cabin body (70811), an anchor rod storing cabin baffle (70812), an anchor rod storing cabin frame (70813), an anchor rod replacing and installing manipulator (70814) and a stepping motor (70815); the anchor rod storage bin body (70811) is of a wheel disc type structure and symmetrically distributed at the front and rear positions of an anchor net storage bin frame (70813), a front wheel disc of the anchor rod storage bin body (70811) is used for supporting an anchor rod, a rear wheel disc is in contact with an anchor rod supporting plate, the tail end of the anchor rod is in contact with an anchor rod storage bin baffle (70812), and the three parts cooperate with each other to fix the position of the anchor rod so as to prevent the anchor rod from sliding off due to movement and vibration factors of the automatic drilling and anchoring integrated machine (708); the wheel disc type anchor rod storage bin body (70811) is provided with a plurality of chutes for storing and supporting the self-drilling hollow anchor rod (7084), and a main shaft is arranged in the middle of a wheel disc of the wheel disc type anchor rod storage bin body (70811); the anchor rod storage bin baffle (70812) is used for axially positioning the self-drilling hollow anchor rod (7084) so that the anchor rod can be stably stored in the anchor rod storage bin body (70811), and a stepping motor (70815) is arranged in the middle of the anchor rod storage bin baffle (70812) and used for driving a main shaft of the anchor rod storage bin body (70811) to rotate for one anchor rod working step; the tail of the anchor rod reloading manipulator (70814) is provided with a circular hole for matching with a rotating shaft to realize the grabbing operation of the self-drilling hollow anchor rod (7084), and when the anchor rod reloading manipulator (70814) drives the anchor rod to reach the front of the drilling box (70833), the loading operation of the self-drilling hollow anchor rod (7084) is realized;

the anchoring agent air spraying mechanism (7082) comprises an air pump conduit (70821), a rotary motor (70822), an air gun fixing seat (70823) and an air gun barrel (70824); the air gun fixing seat (70823) is fixed at the tail of the feeding sliding rail (70832), and a circular hole matched with the air gun barrel (70824) is formed in the top end of the air gun fixing seat (70823); the rotary motor (70822) is arranged on the rear side of the air gun fixing seat (70823) and used for driving the air gun barrel (70824) to rotate relative to the air gun fixing seat (70823); one end of the air pump guide pipe (70821) is connected with a circular hole at the rear side of the air gun fixing seat (70823), the other end of the air pump guide pipe is connected with an air pump arranged on the drilling and anchoring robot body (2), and high-pressure air is sprayed out of the hollow part of the anchor rod through an air gun barrel (70824) via the air pump guide pipe (70821);

the drilling machine feeding mechanism (7083) comprises a drilling machine frame (70831), a feeding slide rail (70832), a drilling box (70833), a guide connecting plate (70834), a drilling machine supporting frame (70835), a primary feeding hydraulic cylinder (70836), a secondary feeding hydraulic cylinder (70837), a supporting seat (70838), a positioning clamping lug (70839) and a positioning vertical sharp disc (708310); a primary feeding hydraulic cylinder (70836) is arranged on the drilling machine rack (70831), a positioning sharp disc (708310) is fixed at the top end of the drilling machine rack (70831), and a conical head is arranged on the positioning sharp disc (708310) and is used for axially positioning the drilling machine and reducing the phenomena of drilling machine deviation and reduced working efficiency caused by vibration factors in the working process of the drilling machine; the drilling box (70833) is arranged on a guide connecting plate (70834), the guide connecting plate (70834) is arranged at the tail of a feeding slide rail (70832), the guide connecting plate (70834) achieves relative movement along the length direction of the slide rail through a chain oil cylinder assembly, and the drilling box (70833) achieves rotary drilling operation on the self-drilling hollow anchor rod (7084) through a hydraulic motor; the feeding sliding rail (70832) is arranged on a drilling machine supporting frame (70835) and is hydraulically driven by a secondary feeding hydraulic cylinder (70837), one end of the secondary feeding hydraulic cylinder (70837) is connected to the tail part of the drilling machine supporting frame (70835), the other end of the secondary feeding hydraulic cylinder is connected with the tail end of the feeding sliding rail (70832), and the feeding sliding rail (70832) is controlled to realize relative movement along the length direction of the drilling machine supporting frame (70835); the positioning clamping lugs (70839) are fixed at the upper part of the tail end of the feeding slide rail (70832), are symmetrically distributed along the length direction of the slide rail, are in a closed clamping state in the self-drilling operation of the anchor rod, and are used for preventing the drilling machine from generating an axial drilling position error of an anchor hole in the drilling and anchoring operation process so as to ensure the stability and the accuracy of the drilling and anchoring operation; the supporting seat (70838) is fixed at the tail end of the feeding slide rail (70832), the supporting seat is driven by a supporting seat telescopic oil cylinder (708381) to realize axial movement of the oil cylinder and support a self-drilling hollow anchor rod (7084), one end of the supporting seat telescopic oil cylinder (708381) is connected with the tail end of the feeding slide rail (70832), and the other end of the supporting seat telescopic oil cylinder is connected with the bottom of the supporting seat (70838);

the self-drilling hollow anchor rod (7084) comprises a hollow anchor rod body (70841), an alloy drill bit (70842), a backing plate (70843), a nut (70844), a piston (70845) and a resin cartridge (70846); the hollow anchor rod body (70841) is made of high-strength deformed steel, a resin cartridge (70846) and a piston (70845) for pushing the resin cartridge to move are arranged in the hollow anchor rod body, and a baffle is arranged at the tail of the piston (70845); the alloy drill bit (70842) is sleeved at the top end of the hollow anchor rod body (70841) and is cast by wear-resistant alloy steel with strong penetrating power, a metal piercing nail (708421) used for piercing an outer film of the resin explosive roll (70846) is arranged in a blind hole matched with the top ends of the alloy drill bit (70842) and the hollow anchor rod body (70841), and a plurality of outlets for releasing anchoring agent slurry are arranged on the tail wall of the alloy drill bit (70842); the backing plate (70843) and the nut (70844) are used for pre-tightening the backing plate on the air anchor rod body (70841), so that the stress of the deep surrounding rock is uniformly transmitted to the surrounding rock.

6. The mining automated collaborative drilling and anchoring robot of claim 1, characterized in that: the automatic drilling and anchoring integrated device (9) comprises a top drilling machine position and posture adjusting device (901), a drilling machine support oil cylinder (902), a drilling machine fixing support seat (903) and an automatic drilling and anchoring integrated machine (708); the top drilling machine position and posture adjusting device (901) is connected with a drilling machine support frame (70835), and the posture of the position of the anchor hole at the opposite tail end of the automatic drilling and anchoring integrated machine (708) is adjusted by rotating a hydraulic motor in the top drilling machine position and posture adjusting device (901); the upper end and the lower end of the top drilling machine position and posture adjusting device (901) are arranged in a sliding track of a anchor rod support working surface at the front end of the drilling and anchoring robot body (2) in a sliding mode and are driven by a chain and sprocket assembly to be used for transverse displacement movement of a drilling machine to perform anchor rod support operation in the same row; the drilling machine support oil cylinder (902) is arranged at the tail of the automatic drilling and anchoring integrated machine (708) and is used for driving the drilling machine fixing support seat (903) to axially move, and when anchor rod supporting operation is carried out, the drilling machine fixing support seat (903) at the tail of the automatic drilling and anchoring integrated machine (708) is used for fixing and supporting so as to improve the stability and reliability of roof anchor rod supporting operation; the support carrier of the drilling machine fixing and supporting seat (903) is a trapezoidal boss, the included angle between the two side faces of the trapezoidal boss and the horizontal plane of the drilling and anchoring robot body (2) is 15 degrees, the top face and the bottom face of the trapezoidal boss are both parallel to the horizontal plane of the drilling and anchoring robot body (2), and the drilling machine fixing and supporting seat (903) is arranged below an automatic drilling and anchoring integrated machine (708) which is supported by a roof bolt before the drilling and anchoring robot body (2).