CN114320401A

CN114320401A - Anchor vehicle

Info

Publication number: CN114320401A
Application number: CN202111416873.7A
Authority: CN
Inventors: 金江; 周旭; 张东宝; 吕继双; 任晓文; 田原; 宋明江; 安四元; 兰辉敏; 贾运红; 康鹏; 张云波; 米雄伟; 闫金宝; 张礼才; 马钊宁; 米豪鼎
Original assignee: Taiyuan Institute of China Coal Technology and Engineering Group; Shanxi Tiandi Coal Mining Machinery Co Ltd
Current assignee: Taiyuan Institute of China Coal Technology and Engineering Group; Shanxi Tiandi Coal Mining Machinery Co Ltd
Priority date: 2021-11-25
Filing date: 2021-11-25
Publication date: 2022-04-12
Anticipated expiration: 2041-11-25
Also published as: AU2022397722A1; CN114320401B; WO2023093117A1

Abstract

The invention discloses an anchor protecting vehicle which comprises a vehicle body, a net hanging device, an anchor drilling device, an anchoring agent conveying device, a control device and a cable rolling device, wherein the net hanging device comprises a net hanging arm group and a support frame; the anchor drilling device comprises a positioning arm group and an anchor bin, the anchor rod drilling machine is rotatably connected with the free end of the positioning arm group, the anchoring agent conveying device comprises a pushing assembly, a storage box, a conveying pipe and a hole aligning assembly, a plurality of storage pipes are arranged in the storage box, the positions of the storage pipes are adjustable, and the hole aligning assembly is suitable for aligning the conveying pipe with a drilled hole; the net hanging device, the anchor drilling device and the anchoring agent conveying device are electrically connected with the control device, and the cable rolling device is arranged on the vehicle body and is suitable for rolling a cable. The anchor protection vehicle disclosed by the invention realizes automation and intellectualization of anchor protection operation, reduces the labor load intensity and improves the working efficiency.

Description

Anchor vehicle

Technical Field

The invention relates to the technical field of roadway supporting devices, in particular to an anchor vehicle.

Background

In the process of tunneling, the anchoring operation is required to be carried out in time, the anchoring operation usually adopts a supporting mode of matching anchor bolt supporting and anchor net supporting, and in the related technology, the anchoring operation is manual operation, so that the problems of large labor load and low working efficiency exist.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, the embodiment of the invention provides an anchoring and protecting vehicle, which realizes automation and intellectualization of anchoring and protecting operation, reduces the labor load intensity of workers and improves the working efficiency.

The anchor vehicle of the embodiment of the invention comprises: a vehicle body; the net hanging device comprises a net hanging arm group and a support frame, the net hanging arm group is connected with the vehicle body, the support frame is rotatably connected with the free end of the net hanging arm group, the support frame can slide relative to the net hanging arm group, the net hanging arm group can swing along the length direction of the vehicle body to adjust the space direction of the support frame, and the support frame can adsorb and fix an anchor net; the anchor drilling device comprises a positioning arm group and an anchor bin, the positioning arm group is connected with the vehicle body, the anchor drilling machine is rotatably connected with the free end of the positioning arm group, the positioning arm group can swing along the length direction, the width direction and the height direction of the vehicle body, the length of the positioning arm group is adjustable, the positioning arm group is suitable for adjusting the space direction of the anchor bin, and the anchor bin is suitable for drilling an anchor rod or an anchor cable and fixing the anchor net; the anchoring agent conveying device comprises a pushing assembly, a storage box, a conveying pipe and a hole aligning assembly, the conveying pipe is connected between the storage box and the hole aligning assembly, a plurality of storage pipes are arranged in the storage box, the positions of the storage pipes are adjustable so that the storage pipes can be communicated with the conveying pipe, the hole aligning assembly is arranged on the anchoring bin, the hole aligning assembly is suitable for aligning the conveying pipe with a drilled hole after the anchoring bin is drilled, and the pushing assembly is suitable for pushing the anchoring agent in the storage pipes into the drilled hole; the net hanging device, the anchoring drill device and the anchoring agent conveying device are electrically connected with the control device, and the control device is suitable for comprehensively regulating and controlling the net hanging device, the anchoring drill device and the anchoring agent conveying device so as to realize automation; the cable winding device is arranged on the vehicle body and suitable for winding a cable so as to enable the vehicle body to operate within a range, and the cable is suitable for providing power.

The anchor protection vehicle provided by the embodiment of the invention realizes automation and intellectualization of anchor protection operation, reduces the labor load intensity of workers and improves the working efficiency.

In some embodiments, the net arm set comprises a net base, a first net arm, a first net drive, a second net arm, a second net drive, a support frame, and a third net drive, the net hanging base is connected with the vehicle body, one end of the first net hanging arm is rotatably connected with the net hanging base, the first net hanging drive is suitable for driving the first net hanging arm to rotate along the length direction of the vehicle body, one end of the second net hanging arm is rotatably connected with the other end of the first net hanging arm, the second net hanging drive is suitable for driving the second net hanging arm to rotate along the length direction of the vehicle body, the support frame is rotationally connected with the other end of the second net hanging arm through the third net hanging drive, and the support is slidable relative to the third hanging net drive, and the third hanging net drive is suitable for driving the support frame to swing and rotate circumferentially.

In some embodiments, the support frame comprises a main frame, a first subframe rotatably connected to one side of the main frame, and a second subframe rotatably connected to the other side of the main frame, the support frame having a first configuration in which the first subframe, the main frame, and the second subframe are laid flat and adapted to hold an anchor net, and a second configuration in which the first subframe and the second subframe are superimposed on the main frame.

In some embodiments, the support frame includes a third subframe rotatably coupled to the main frame, the rack detachably mounted to the third subframe, in the first configuration, the third subframe is tiled with the main frame and the rack is secured to the third subframe to increase a support area, in the second configuration, the rack is removed from the third subframe and the third subframe is stacked on the main frame, and a fourth screen drive coupled between the third subframe and the main frame, the fourth screen drive adapted to drive the third subframe to swing.

In some embodiments, the third hanging net drive includes a first drive, a second drive, a first hanging net seat and a second hanging net seat, the first drive is disposed on the second hanging net arm, the first hanging net seat is connected to a drive end of the first drive, the first drive is adapted to drive the first hanging net seat to swing so that the support frame can be adapted to lay anchor nets of a top plate and a side wall, the second drive is disposed on the first hanging net seat, the second hanging net seat is connected to a drive end of the second drive, the support frame is connected to the second hanging net seat, and the second drive is adapted to drive the second hanging net seat to swing so that the support frame can rotate circumferentially.

In some embodiments, first string of net arm includes first section and second section, first section with the second section is the contained angle and forms and dodges the groove, the string net device has operating condition and idle condition work condition, the support frame passes through first string of net arm with second string of net arm swings to the automobile body front side in order to carry out the anchor net operation, first section with the groove is dodged towards the rear side in order to reduce that the second section forms first string of net arm with the focus of second string of net arm with the interval of string net base idle condition, the support frame is suitable for passing through first string of net arm with second string of net arm swings to the automobile body rear side, dodge the groove towards and be suitable for dodging downwards.

In some embodiments, the anchor bin comprises a bin body, a chain assembly, a pushing assembly, a drilling box, an anchor box, a feeding assembly and a switching assembly, wherein the chain assembly, the pushing assembly, the drilling box, the anchor box, the feeding assembly and the switching assembly are all arranged on the bin body, the chain assembly is provided with a plurality of clamping grooves for fixing anchor rods, the chain assembly can rotate and can convey the anchor rods to a first position, the pushing assembly is suitable for pushing the anchor rods at the first position to a second position, the drilling box and the anchor box are assembled on the bin body in a guiding and sliding mode, the drilling box can be opposite to the anchor rods at the second position and is suitable for drilling, the anchor box can be opposite to the anchor rods at the second position and is suitable for anchoring, and the feeding assembly is suitable for driving the drilling box and the anchor box to move along the axial direction of the bin body, the switching assembly is suitable for switching the anchor box and the drill box so that the anchor box and the drill box are respectively opposite to the anchor rod.

In some embodiments, the hole aligning assembly is disposed on the cartridge body, the hole aligning assembly comprises a centralizer, a nozzle, a hole aligning drive, and an image collector, the righting piece is suitable for righting the anchor rod, the spray pipe is communicated with the conveying pipe, the spray pipe is suitable for aligning with the drilled hole and spraying the anchoring agent, the righting part and the spray pipe are both arranged on the hole aligning driving device, the hole aligning driving device is suitable for driving the righting part and the spray pipe to switch positions, the image collector is arranged on the anchor bin and is electrically connected with the control device, and the image collector is suitable for collecting the image information of the holes on the anchor net and transmitting the image information to the control device, the control device is suitable for analyzing the position of the hole through the image information so as to regulate and control the movement of the net hanging device, the anchoring drill device and the anchoring agent conveying device.

In some embodiments, the positioning arm set includes a main positioning arm, a first positioning seat, a first positioning arm, a second positioning seat, a second positioning arm and a third positioning seat, the first positioning seat is connected with the vehicle body and can swing along the width direction of the vehicle body, one end of the main positioning arm is connected with the first positioning seat and can swing in the height direction of the vehicle body, one end of the first positioning arm is rotatably connected with the first positioning seat, the other end of the first positioning arm is rotatably connected with the main positioning arm, the first positioning arm is suitable for driving the main positioning arm to swing up and down, the second positioning seat is connected with the other end of the main positioning arm, one end of the second positioning arm is rotatably connected with the main positioning arm, the other end of the second positioning arm is rotatably connected with the second positioning seat, the second positioning arm is suitable for driving the second positioning seat to swing up and down, the third positioning seat is connected with the second positioning seat, the third positioning seat can swing in the width direction of the vehicle body, and the third positioning seat is suitable for being connected with an anchor bin.

In some embodiments, the storage box includes a box body, a driving chain, a driving wheel, an air inlet and an air outlet, the driving chain is rotatably assembled in the box body, the plurality of storage pipes are arranged on the outer peripheral side of the driving chain at intervals, the air inlet and the air outlet are both arranged on the box body, the driving wheel is adapted to drive the driving chain to rotate so that each storage pipe rotates between the air inlet and the air outlet and is communicated with the air inlet and the air outlet, the pushing assembly is a gas pushing assembly, the air inlet is adapted to be communicated with the pushing assembly, and the air outlet is adapted to be communicated with the conveying pipe.

In some embodiments, the anchor drilling device comprises a first anchor drilling device and a second anchor drilling device, the first anchor drilling device and the second anchor drilling device are both provided with the delivery pipe and the hole aligning assembly, the air outlet interface comprises a first interface and a second interface, the first interface and the second interface are respectively communicated with the delivery pipe of the first anchor drilling device and the delivery pipe of the second anchor drilling device, the first interface and the second interface are assembled on the box body in a guiding and sliding manner, and the storage box comprises an interface driver which is suitable for driving the first interface and the second interface to move so that any one of the first interface and the second interface can be communicated with a corresponding storage pipe.

In some embodiments, the cable winding device comprises a cable frame, a cable winding driver, a cable winding roller, a cable arrangement component and a guide roller, the cable winding device is arranged at the rear side of the vehicle body, the cable winding roller, the cable arrangement component and the guide roller are all assembled on the cable frame, the cable winding roller, the cable arrangement component and the guide roller are sequentially arranged along the front-rear direction of the vehicle body, the cable winding driver is in transmission connection with the cable winding roller, and the cable winding driver is suitable for driving the cable winding roller to rotate so as to wind the cable.

In some embodiments, the vehicle body includes a frame and a plurality of struts mounted on the frame and spaced circumferentially about the frame, the struts being adjustable in length and adapted to be braced against the ground to secure and level the vehicle body.

In some embodiments, the use of the anchor cart comprises the steps of:

s1: determining an anchoring position, and then moving the vehicle body to the anchoring position;

s2: controlling the plurality of supporting devices to extend and support with the roadway bottom plate so as to fix and level the vehicle body;

s3: the anchor net is placed on the supporting frame, and then the net hanging device is controlled to act so as to buckle the anchor net on a roadway top plate or a roadway side wall;

s4: identifying the position of a hole in the anchor net by using the hole aligning component, and then operating the anchor drilling device to act and penetrate through the drilled hole with the hole;

s5: conveying an anchoring agent into the drill hole by using an anchoring machine conveying device, and then controlling the anchor drilling device to act so as to complete anchor rod support and fix an anchor net;

s6: and (4) controlling the vehicle body to move to the next anchoring position according to the preset anchoring row spacing, and repeating the steps from S2 to S5 until anchoring of the tunneling roadway is completed.

Drawings

Fig. 1 is a schematic rear view of the overall structure of an anchor and guard vehicle according to an embodiment of the present invention.

Figure 2 is a front side schematic view of the anchor truck of figure 1.

Fig. 3 is a schematic right view of the anchor guard of fig. 2.

Fig. 4 is a schematic view showing a state in which the anchor drilling device of fig. 1 is used.

Fig. 5 is a perspective view of the anchor drilling device of fig. 1.

Fig. 6 is a schematic structural diagram of the positioning arm set in fig. 5.

Fig. 7 is a first schematic structural view of the anchor bin of fig. 5.

Fig. 8 is a second structural schematic view of the anchor cartridge of fig. 5.

Fig. 9 is a perspective view of the net hanging device of fig. 1.

Fig. 10 is a schematic bottom view of the screen mounting apparatus of fig. 1.

Fig. 11 is a schematic view of the working condition of the net hanging device in fig. 9.

Fig. 12 is a schematic view of the idle mode of the screening device of fig. 9.

Fig. 13 is a schematic structural view of the second seat in fig. 12.

Fig. 14 is a schematic view of the second screen arm of fig. 13.

Figure 15 is a schematic cross-sectional view of the second screen arm of figure 14.

Fig. 16 is a schematic structural view of the stent of fig. 9 in a second configuration.

Fig. 17 is a schematic view of the first configuration of the stent of fig. 9.

FIG. 18 is a schematic view of a pusher assembly of the anchoring agent delivery device of FIG. 1.

FIG. 19 is a schematic view of the foramen assembly of the anchor delivery device of FIG. 1.

Fig. 20 is a schematic view of a storage tank of the anchoring agent delivery device of fig. 1.

Fig. 21 is a perspective view of the cable winder of fig. 1.

Fig. 22 is a schematic top view of the cable winder of fig. 21.

Reference numerals:

a vehicle body 1;

a frame 11; a jack 12; a ladder stand 13;

a net hanging device 2;

a net hanging base 21; a first net hanging arm 22; a first screening drive 221; a first segment 222; a second segment 223; a second net hanging arm 23; a second screen hanging drive 231; a netting outer sleeve 232; a U-shaped frame 233; a screening drive 234; a mesh-hanging inner sleeve 235; a third screen hanging drive 24; a first driver 241; a second driver 242; a first screen hanging seat 243; a second screen mount 244; lightening holes 2441; a support frame 25; a main frame 251; a first subframe 252; a second subframe 253; a fourth screen drive 254; a third sub-frame 255; a net frame 256; a fifth screen drive 257; an anchor net 26; a sheet web 261; a strip steel 262; a guide member 27; a guide base 271; a guide bar 272;

an anchor drilling device 3;

a positioning armset 31; a first positioning seat 311; positioning the main arm 312; a first positioning arm 313; a second positioning socket 314; a second positioning arm 315; the third positioning seat 316; positioning the lifting mechanism 317; an anchor bin 32; a cartridge body 321; a chain assembly 322; a push-out mechanism 323; a drill box 324; an anchor box 325; a feed assembly 326; a switching component 327; a drag chain 33;

an anchoring agent delivery device 4;

a push component 41; to the hole assembly 42; a hole aligning drive 421; a centralizer 422; a nozzle 423; a plugging plate 4231; an image collector 424; a storage box 43; a case 431; a feed hole 4311; a storage pipe 432; a drive chain 433; a drive wheel 434; an air intake interface 435; a first interface 436; the second interface 437; an interface driver 438;

a cable winding device 5;

a cable holder 51; a cable drum 52; the cable routing assembly 53; a guide roller 54;

and a control device 6.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

As shown in fig. 1 to 22, the anchor and protection vehicle according to the embodiment of the present invention includes a vehicle body 1, a net hanging device 2, an anchor drilling device 3, an anchoring agent delivery device 4, a control device 6, and a cable winding device 5.

As shown in fig. 1, the vehicle body 1 may be a crawler-type vehicle body 1, and the vehicle body 1 may move by itself, in some other embodiments, the vehicle body 1 may also be a tire vehicle body 1, that is, a run flat tire is mounted on the bottom of the vehicle body 1.

The net hanging device 2 comprises a net hanging arm group and a support frame 25, the net hanging arm group is connected with the vehicle body 1, the support frame 25 is rotatably connected with the free end of the net hanging arm group, the support frame 25 can slide relative to the net hanging arm group, the net hanging arm group can swing along the length direction of the vehicle body 1 to adjust the space direction of the support frame 25, and the support frame 25 can adsorb the fixed anchor net 26.

Specifically, the string net armset can be fixed in the top of automobile body 1, the string net armset is the arm, support frame 25 installs the free end at string net armset, can realize the adjustment to support frame 25 spatial orientation through controlling the action of string net armset, can be equipped with the electro-magnet on the support frame 25, the electro-magnet can adsorb anchor net 26 and fix on support frame 25, can be with anchor net 26 lock on the roof or the side of tunnel through adjustment string net armset and support frame 25, treat that anchor net 26 is fixed back with tunnel roof or side, can cut off the power of electro-magnet, thereby realize the separation of support frame 25 and anchor net 26. The net arm group can swing in the front-rear direction (the longitudinal direction of the vehicle body 1), and thus, the position adjustment of the support frame 25 in the front-rear direction can be satisfied.

The anchor drilling device 3 comprises a positioning arm group 31 and an anchor bin 32, the positioning arm group 31 is connected with the vehicle body 1, the anchor drilling machine is rotatably connected with the free end of the positioning arm group 31, the positioning arm group 31 can swing along the length direction, the width direction and the height direction of the vehicle body 1, the length of the positioning arm group 31 is adjustable, the positioning arm group 31 is suitable for adjusting the space direction of the anchor bin 32, and the anchor bin 32 is suitable for drilling an anchor rod or an anchor cable and fixing the anchor net 26.

Specifically, the positioning arm set 31 may be fixed above the vehicle body 1, the positioning arm set 31 may be a mechanical arm, the anchor bin 32 is fixed at a free end of the positioning arm set 31, adjustment of a spatial direction of the anchor bin 32 may be achieved through swinging and stretching of the positioning arm set 31, and the anchor bin 32 may be provided with an anchor rod or an anchor cable, so that support of the anchor rod or the anchor cable may be achieved. The anchor drilling device 3 can be matched with the net hanging device 2, so that the anchoring and protecting operation can be completed.

The anchoring agent conveying device 4 comprises a pushing assembly 41, a storage box 43, a conveying pipe and a hole aligning assembly 42, wherein the conveying pipe is connected between the storage box 43 and the hole aligning assembly 42, a plurality of storage pipes 432 are arranged in the storage box 43, the positions of the storage pipes 432 are adjustable, so that the storage pipes 432 can be communicated with the conveying pipe, the hole aligning assembly 42 is arranged on the anchoring bin 32, the hole aligning assembly 42 is suitable for aligning the conveying pipe with a drilled hole after the anchoring bin 32 is drilled, and the pushing assembly 41 is suitable for pushing the anchoring agent in the storage pipes 432 into the drilled hole.

Specifically, be used for storing the anchoring agent in the storage pipe 432, the storage pipe 432 can be the guide and slide the assembly in storage box 43, and a plurality of storage pipes 432 can remove along setting for the direction, can be equipped with import and export on the storage box 43, and import and export are just right, and storage pipe 432 can remove to between import and the export, and storage pipe 432's one end and import intercommunication, storage pipe 432's the other end and export intercommunication.

Propelling movement subassembly 41 can link to each other with the import, and the one end of conveyer pipe can link to each other with the export, and propelling movement subassembly 41 can be mechanical type propelling movement subassembly 41, for example, propelling movement subassembly 41 can carry a flexible ejector pin, and flexible ejector pin can penetrate in storage pipe 432 and the conveyer pipe to can be with the anchoring agent propelling movement to drilling in the storage pipe 432.

The pair of aperture assemblies 42 may include a camera-location system that identifies the location of the aperture in the anchor net 26 after the anchor net 26 is snap-fit by the support frame 25 and passed through the apertured borehole, and then directs the delivery tube to move so that the outlet of the delivery tube is aligned with the aperture, whereby the anchoring agent pushed from the delivery tube can be pushed into the borehole.

The net hanging device 2, the anchor drilling device 3 and the anchor agent conveying device 4 are electrically connected with the control device 6, and the control device 6 is suitable for overall regulation and control of the net hanging device 2, the anchor drilling device 3 and the anchor agent conveying device 4 to achieve automation. The control device 6 may be a PLC control system, or may be another type of processor or controller. In the operation process, the control device 6 can control the net hanging device 2, the anchor drilling device 3 and the anchoring agent conveying device 4 to act in a coordinated manner.

For example, the net hanging device 2 can be firstly controlled to buckle the anchor net 26 on the roadway side wall, then the anchor drilling device 3 can be controlled to drill the drilled hole, after the drilled hole is drilled, the anchoring agent conveying device 4 can be controlled to convey the anchoring agent into the drilled hole, and finally the anchor drilling device 3 is controlled again to act and complete the fixing of the anchor rod.

The cable winding device 5 is arranged on the vehicle body 1, the cable winding device 5 is suitable for winding a cable so as to enable the vehicle body 1 to work within a range, and the cable is suitable for supplying electric power. As shown in fig. 1, the cable winding device 5 may be disposed at the rear end of the vehicle body 1, and the cable winding device 5 may automatically wind the cable, and may supply power to the anchor vehicle through the cable. One end of the cable can be connected with a power supply, and the position of the vehicle body 1 can be adjusted by winding the cable in the using process, so that the transition requirement is met.

According to the anchoring and protecting vehicle disclosed by the embodiment of the invention, the anchoring and protecting vehicle can automatically complete the anchoring and protecting operation of the tunneling roadway, so that the automation and the intellectualization of the anchoring and protecting operation are realized, the labor load intensity of workers is reduced, and the working efficiency is improved.

In some embodiments, the net hanging arm set comprises a net hanging base 21, a first net hanging arm 22, a first net hanging drive 221, a second net hanging arm 23, a second net hanging drive 231, a support frame 25 and a third net hanging drive 24, the net hanging base 21 is connected with the vehicle body 1, one end of the first net hanging arm 22 is rotatably connected with the net hanging base 21, the first net hanging drive 221 is suitable for driving the first net hanging arm 22 to rotate along the length direction of the vehicle body 1, one end of the second net hanging arm 23 is rotatably connected with the other end of the first net hanging arm 22, the second net hanging drive 231 is suitable for driving the second net hanging arm 23 to rotate along the length direction of the vehicle body 1, the support frame 25 is rotatably connected with the other end of the second net hanging arm 23 through the third net hanging drive 24 and is slidably supported relative to the third net hanging drive 24, and the third net hanging drive 24 is suitable for driving the support frame 25 to swing and rotate circumferentially.

Specifically, as shown in fig. 9, the net hanging base 21 may be a vertical column, the net hanging base 21 extends in the up-down direction, and the bottom end of the net hanging base 21 may be detachably connected to the vehicle body 1 by a bolt. The net hanging base 21 can be a square column, and in other embodiments, the net hanging base 21 can also be a round column, a block, or the like.

The first net hanging arm 22 is connected with the top end of the net hanging base 21, the first net hanging arm 22 can swing in the front-back direction (the length direction of the vehicle body 1) relative to the net hanging base 21, the first net hanging drive 221 can be a rotary drive device, the first net hanging arm 22 is connected with the net hanging base 21 through the first net hanging drive 221, and the first net hanging drive 221 can realize the swing drive of the first net hanging arm 22. The second net hanging arm 23 is connected with the other end of the first net hanging arm 22, the second net hanging arm 23 can swing in the front-rear direction relative to the first net hanging arm 22, the second net hanging drive 231 can be a rotary drive device, the second net hanging arm 23 is connected with the first net hanging arm 22 through the second net hanging drive 231, and the second net hanging drive 231 can realize the swing drive of the second net hanging arm 23.

The third net hanging drive 24 can be a rotary drive device, the third net hanging drive 24 can have two rotary shafts, namely a first rotary shaft and a second rotary shaft, wherein the first rotary shaft extends along the left-right direction, and the support frame 25 can rotate around the first rotary shaft in the front-back direction, so that the operation requirement of supporting the top plate and the side wall of the roadway by the support frame 25 is met.

The second rotation axis may be arranged perpendicular to the first rotation axis, and the support frame 25 may also rotate circumferentially around the second rotation axis, thereby enabling the switching of the orientation angle of the support frame 25.

The support frame 25 can be assembled with the third hanging net drive 24 in a guiding sliding mode, and therefore the support frame 25 can be translated integrally relative to the third hanging net drive 24, fine adjustment of the position of the support frame 25 can be achieved, the flexibility of adjustment of the support frame 25 is improved, and adjustment in place is facilitated.

When the net hanging device provided by the embodiment of the invention is used, the support frame 25 can be adjusted to the position needing to be supported by the anchor net 26 through the first net hanging arm 22 and the second net hanging arm 23, then the anchor net 26 on the support frame 25 can be buckled on the top plate or the side wall of the roadway through the third net hanging drive 24, and finally the anchor net 26 is fixed with the top plate or the side wall of the roadway.

In some embodiments, the support frame 25 includes a main frame 251, a first subframe 252 and a second subframe 253, the first subframe 252 being rotatably attached to one side of the main frame 251, the second subframe 253 being rotatably attached to the other side of the main frame 251, the support frame 25 having a first configuration in which the first subframe 252, the main frame 251, the second subframe 253 are laid flat and adapted to hold the anchor net 26, and a second configuration in which the first subframe 252 and the second subframe 253 are folded over the main frame 251.

Specifically, as shown in fig. 16 and 17, the main frame 251 may be connected to the second arm by a third driving device, the first sub-frame 252 may be pivotally assembled to the left side of the main frame 251, and the second sub-frame 253 may be pivotally assembled to the right side of the main frame 251, when the anchor net 26 needs not to be supported, as shown in fig. 16, the first sub-frame 252 and the second sub-frame 253 may both be stacked above the main frame 251, and at this time, the support frame 25 is switched to the first form, thereby reducing the spatial size of the support frame 25, avoiding collision and improving the trafficability.

When the anchor net 26 needs to be supported, as shown in fig. 17, the first subframe 252 and the second subframe 253 may be respectively folded to the left and right sides of the main frame 251, and the first subframe 252, the main frame 251, and the second subframe 253 are sequentially arranged in the left-right direction, whereby the supporting area can be increased, and the net laying requirement can be satisfied.

It should be noted that, as shown in fig. 2, the anchor net 26 may include a sheet net 261 and a steel strip 262, the sheet net 261 may be a rectangular steel net, the steel strip 262 and the sheet net 261 are welded and fixed, the steel strip 262 is provided with a hole, and when an anchor rod is drilled, the anchor rod passes through the hole and is fixed with the top plate or the side wall.

In some embodiments, the support frame 25 includes a third sub-frame 255, a rack 256, and a fourth screen drive 254, the third sub-frame 255 being rotatably coupled to the main frame 251, the rack 256 being removably mounted to the third sub-frame 255, in a first configuration, the third sub-frame 255 is flat with the main frame 251 and the rack 256 is secured to the third sub-frame 255 to increase support area, in a second configuration, the rack 256 on the third sub-frame 255 is removed and the third sub-frame 255 is folded onto the main frame 251, the fourth screen drive 254 is coupled between the third sub-frame 255 and the main frame 251, and the fourth screen drive 254 is adapted to drive the third sub-frame 255 to swing.

Specifically, as shown in fig. 16 and 17, the third sub-frame 255 may be pivotally mounted on the front side of the main frame 251, and when the mesh is required to be laid, the third sub-frame 255 may be rotated to the front side of the main frame 251, and the third sub-frame 255 and the main frame 251 are located substantially in the same plane, thereby increasing the supporting area, so that the supporting frame 25 can meet the laying requirements of anchor nets 26 of different sizes and the tunneling process requirements.

Whether the third sub-frame 255 needs to be unfolded or not may be selected according to the actual situation, and for example, when laying an anchor net 26 having a small size, only the first sub-frame 252 and the second sub-frame 253 may be unfolded, and when laying an anchor net 26 having a large size is needed, the third sub-frame 255 may be unfolded.

As shown in fig. 17, the rack 256 may be removably assembled with the third sub-rack 255. The net frame 256 has a length dimension substantially equal to the entire length dimension of the first sub-frame 252 and the main frame 251 and the second sub-frame 253 in the first form after being expanded, thereby satisfying the support requirement of the anchor net 26. The rack 256 can be fastened and fixed on the third sub-frame 255, for example, a slot can be provided on one of the third sub-frame 255 or the rack 256, so that the rack 256 and the third sub-frame 255 can be fastened and fixed during use, thereby facilitating the installation and the disassembly of the rack 256. The rack 256 may be secured to the third sub-frame 255 when it is desired to use the third sub-frame 255, and the rack 256 may be removed when it is desired to stow the third sub-frame 255.

As shown in fig. 16, the fourth driving means may be a driving motor, the fourth driving means may be fixed below the main frame 251, and a driving shaft of the fourth driving means may be connected to the third sub-frame 255, thereby facilitating the rotational driving of the third sub-frame 255.

Alternatively, both the first and

second subframes

252 and 253 may be stacked above the main frame 251 and the third subframe 255 may be stacked below the main frame 251, whereby the use of the first and

second subframes

252 and 253 is relatively independent of the use of the third subframe 255, thereby increasing the flexibility of use of the third subframe 255.

In some embodiments, the third net driving device 24 includes a first driving device 241, a second driving device 242, a first net holder 243 and a second net holder 244, the first driving device 241 is disposed on the second net arm 23, the first net holder 243 is connected to a driving end of the first driving device 241, the first driving device 241 is adapted to drive the first net holder 243 to swing so that the supporting frame 25 can be adapted to lay the anchor net 26 of the roof and the side wall, the second driving device 242 is disposed on the first net holder 243, the second net holder 244 is connected to a driving end of the second driving device 242, the supporting frame 25 is connected to the second net holder 244, and the second driving device 242 is adapted to drive the second net holder 244 to swing so that the supporting frame 25 can rotate circumferentially.

As shown in fig. 10 and 11, the first driver 241 and the second driver 242 may be both driving motors, the first driver 241 may be fixedly connected to the second arm, a driving shaft of the first driver 241 may extend in the left-right direction, the driving shaft of the first driver 241 may be connected to the second arm, and the first seat may be connected to the outer circumferential wall of the first driver 241.

The second driver 242 is fixed on the first seat, a driving shaft of the second driver 242 is perpendicular to a driving shaft of the first driver 241, an outer circumferential wall of the second driver 242 may be fixed with the first seat, and the second seat may be connected and fixed with the driving shaft of the second driver 242. The support bracket 25 is then guided into engagement with the second seat.

During the use, can drive support frame 25 through first driver 241 and rotate the adjustment back and forth, can rotate support frame 25 through second driver 242 circumferential direction, from this, made things convenient for the adjustment in support frame 25 position to switch. The arrangement of the first and second housings facilitates the switching of the first and

second drivers

241, 242.

In some embodiments, the net hanging device 2 comprises a guiding assembly 27 and a fifth net hanging driving device 257, the guiding assembly 27 comprises a guiding rod 272 and a guiding seat 271, the guiding rod 272 is slidably assembled with the guiding seat 271, one of the guiding rod 272 and the guiding seat 271 is connected with the supporting frame 25, the other one is connected with the second net hanging seat 244, the fifth net hanging driving device 257 is arranged between the supporting frame 25 and the second net hanging seat 244, and the fifth net hanging driving device 257 is suitable for driving the supporting frame 25 to slidably move relative to the second net hanging seat 244.

Specifically, as shown in fig. 13 and 16, the guide assembly 27 may include two guide rods 272 and four guide seats 271, the two guide rods 272 are fixed on the support frame 25, the two guide rods 272 are arranged in parallel at intervals, the four guide seats 271 may be fixed on the second net hanging seat 244, the four guide seats 271 are fixed at four corner positions of the second net hanging seat 244, each guide rod 272 corresponds to two guide seats 271, and the guide rods 272 are guided and fitted in the guide holes of the corresponding two guide seats 271. Thereby, the support bracket 25 is allowed to integrally translate along the extending direction of the guide bar 272.

As shown in fig. 17, the fifth net hanging driver 257 may be a hydraulic telescopic cylinder, a cylinder body of the fifth net hanging driver 257 may be fixedly connected to the second net hanging seat 244, a piston rod of the fifth net hanging driver 257 may be connected to the support frame 25, and a telescopic direction of the fifth net hanging driver 257 is consistent with an extending direction of the guide rod 272, so that the support frame 25 may be integrally translated by the telescopic movement of the fifth net hanging driver 257.

In some embodiments, the second net hanging arm 23 includes a net hanging inner sleeve 235, a net hanging outer sleeve 232, a net hanging driver 234 and a displacement sensor, the net hanging inner sleeve 235 is guided and fitted in the net hanging outer sleeve 232, the net hanging outer sleeve 232 is connected with the second net hanging arm 23, the net hanging inner sleeve 235 is connected with the third net hanging driver 24, the net hanging driver 234 and the displacement sensor are arranged in the net hanging inner sleeve 235 and the net hanging outer sleeve 232, one end of the net hanging driver 234 is connected with the net hanging inner sleeve 235, the other end of the net hanging driver 234 is connected with the net hanging outer sleeve 232, the net hanging driver 234 is adapted to drive the net hanging inner sleeve 235 and the net hanging outer sleeve 232 to move relatively to achieve the length adjustment of the second net hanging arm 23, and the displacement sensor is adapted to monitor the telescopic length of the second net hanging arm 23.

Specifically, as shown in fig. 14 and 15, both the mesh inner sleeve 235 and the mesh outer sleeve 232 are square sleeves, the mesh inner sleeve 235 is guided and rotation-stopped to be fitted in the mesh outer sleeve 232, the mesh driver 234 can be arranged in the mesh inner sleeve 235 and the mesh outer sleeve 232, the mesh driver 234 can be a hydraulic telescopic cylinder, one end of the mesh driver 234 is hinged to the mesh inner sleeve 235, the other end of the mesh driver 234 is hinged to the mesh outer sleeve 232, and the length adjustment of the second mesh arm 23 can be realized through the stretching of the mesh driver 234, so that the stretching sizes of the first mesh arm 22 and the second mesh arm 23 can meet the operation requirements of different roadway sizes, and the adaptability of the anchor mesh 266 support is improved. The displacement sensor can be arranged in the net hanging inner sleeve 235 and the net hanging outer sleeve 232, and the displacement sensor can monitor the telescopic amount of the second net hanging arm 23, so that the second net hanging arm 23 can be adjusted in place more intuitively.

In the use process, the net hanging inner sleeve 235 and the net hanging outer sleeve 232 mainly bear the moment action and the shearing force action, so that the supporting requirement and the structural strength of the second net hanging arm 23 are met. The influence on the screening drive 234 is reduced, and the screening drive 234 is protected.

In some embodiments, as shown in fig. 14, the free end of the inner netting sleeve 235 is provided with a U-shaped frame 233, the first driver 241 is assembled in the U-shaped frame 233, the first netting seat 243 is L-shaped, the first driver 241 is connected with the first netting seat 243 and is located at the inner side of the first netting seat 243, and the second driver 242 is connected with the first netting seat 243 and is located at the outer side of the first netting seat 243.

The U-shaped frame 233 is fixed to the free end of the internal sleeve 235 for hanging net, the first driver 241 may be fitted into the groove formed by the U-shaped frame 233, and the driving shaft of the first driver 241 may be connected to the U-shaped frame 233. The provision of the U-shaped frame 233 serves to protect the first driver 241 and enhance the stability of the assembly.

As shown in fig. 11 and 12, the entire first net hanging seat 243 may be an L-shaped seat, the inner side of the first net hanging seat 243 is the side of the right angle formed by the first net hanging seat 243, and the first driver 241 may be fixed in the right angle formed by the first net hanging seat 243, that is, the first net hanging seat 243 is wrapped on the outer circumferential side of the first driver 241, so that the first net hanging seat 243 may rotate around the first driver 241, the space occupation of the first net hanging seat 243 during rotation is reduced, and the compactness of the structure is improved.

In some embodiments, the first net hanging arm 22 includes a first section 222 and a second section 223, the first section 222 and the second section 223 form an included angle and form an avoidance groove, the net hanging device 2 has a working condition and an idle condition, in the working condition, the support frame 25 swings to the front side of the vehicle body 1 through the first net hanging arm 22 and the second net hanging arm 23 to perform the operation of the anchor net 26, the avoidance groove formed by the first section 222 and the second section 223 swings to the rear side to reduce the distance between the gravity center of the first net hanging arm 22 and the second net hanging arm 23 and the net hanging base 21, in the idle condition, the support frame 25 is suitable for swinging to the rear side of the vehicle body 1 through the first net hanging arm 22 and the second net hanging arm 23, and the avoidance groove faces downward and is suitable for avoidance.

Specifically, as shown in fig. 11, the first net hanging arm 22 is integrally V-shaped, the first section 222 and the second section 223 of the first net hanging arm 22 form an included angle, when the anchor net 26 needs to be laid (working condition), the first net hanging arm 22 can swing above the net hanging base 21, the second net hanging arm 23 can swing to the front side of the first net hanging arm 22, at this time, the joint of the first section 222 and the second section 223 protrudes forward, and for the design that the first net hanging arm 22 is a straight arm, the gravity center of the structure formed by the first net hanging arm 22 and the second net hanging arm 23 can approach the net hanging base 21, so that the stability of the structure can be enhanced, and the operation of the anchor net 26 is facilitated.

When the anchor net 26 does not need to be laid (idle condition), as shown in fig. 12, the first net hanging arm 22 can swing backwards, the second net hanging arm 23 can swing to the rear side of the first net hanging arm 22, at this time, the first net hanging arm 22 and the second net hanging arm 23 are sequentially arranged along the direction from the front to the rear, an avoiding groove formed by the first net hanging arm 22 is opened downwards, so that the condition of touching with a corresponding component on the vehicle body 1 is avoided, and the first net hanging arm 22 and the second net hanging arm 23 are convenient to store. The problem that the front part of the vehicle body 1 is heavy and the rear part of the vehicle body 1 is light is also avoided, and the stability of the movement of the vehicle body 1 is facilitated.

In some embodiments, as shown in fig. 13, the second screen holder 244 may be provided with a plurality of lightening holes 2441, thereby reducing the weight and the gravity acting on the first and

second screen arms

22 and 23.

In some embodiments, the anchor cartridge 32 comprises a cartridge body 321, a chain assembly 322, an ejection mechanism 323, a drill box 324, an anchor box 325, a feed assembly 326, and a switch assembly 327, the chain assembly 322, the pushing-out mechanism 323, the drill box 324, the anchor box 325, the feeding assembly 326 and the switching assembly 327 are arranged on the cabin body 321, the chain assembly 322 is provided with a plurality of clamping grooves for fixing anchor rods, the chain assembly 322 can rotate and can convey the anchor rods to a first position, the pushing-out mechanism 323 is suitable for pushing the anchor rods at the first position to a second position, the drill box 324 and the anchor box 325 are assembled on the cabin body 321 in a guiding and sliding mode, the drill box 324 can be opposite to the anchor rods at the second position and is suitable for drilling, the anchor box 325 can be opposite to the anchor rods at the second position and is suitable for anchoring, the feeding assembly 326 is suitable for moving along the axial direction of the cabin body 321 to drive the drill box 324 and the anchor box 325 to move, and the switching assembly 327 is suitable for switching the anchor box 325 and the drill box 324 so that the anchor box 325 and the drill box 324 are opposite to the anchor rods respectively.

As shown in fig. 7 and 8, the bin body 321 may be substantially rectangular, the bin body 321 extends in the up-down direction, the chain assembly 322 may include a ring of endless chain encircling the bin body 321, the endless chain may rotate circularly around the circumferential direction of the bin body 321, a plurality of clamping grooves are disposed on the outer circumferential side of the endless chain, the clamping grooves may fix the anchor rod, and when the endless chain rotates, the rotational movement of the anchor rod may be achieved. It should be noted that during the rotation of the endless chain, the anchor rods on the endless chain may be sequentially conveyed to the first position, which is the position corresponding to the pushing mechanism 323.

The pushing mechanism 323 can include a four-bar linkage mechanism, a pushing driving cylinder and a manipulator, the manipulator can be a claw type manipulator, one end of the four-bar linkage mechanism is connected with the bin body 321, the other end of the four-bar linkage mechanism is connected with the manipulator, the manipulator can grab the anchor rod, the pushing driving cylinder can drive the four-bar linkage mechanism to swing, so that the anchor rod can be pushed to a second position from a first position, and the second position is a position where the anchor rod is right opposite to the drill box 324 or the anchor box 325.

As shown in fig. 8, the drill box 324 and the anchor box 325 can be slidably assembled at the bottom of the cabin body 321, the drill box 324 and the anchor box 325 can move along the width direction of the anchor cabin 32, during the movement of the drill box 324, the drill box 324 has a first working position and a first waiting position, wherein in the first working position, the drill box 324 moves to the feeding assembly 326, then the drilling operation of the anchor rod can be realized under the action of the feeding assembly 326, and in the first waiting position, the drill box 324 moves out of the feeding assembly 326 and is temporarily idle on the cabin body 321. Similarly, during the movement of the anchor magazine 325, the anchor magazine 325 has a second work position, in which the anchor magazine 325 is moved onto the feed assembly 326 and then the anchoring operation of the anchor rods can be effected by the feed assembly 326, and a second waiting position, in which the anchor magazine 325 is moved out of the feed assembly 326 and temporarily rests on the magazine body 321.

The feeding assembly 326 may include a guide connecting plate slidably assembled on the bin body 321 and capable of sliding up and down, and a feeding driving device capable of driving the guide connecting plate to move up and down. In the first work position, the drill box 324 can be moved from the silo body 321 to the guide connection plate, in the first waiting position, the drill box 324 can be moved from the guide connection plate to the silo body 321, in the second work position, the anchor box 325 can be moved from the silo body 321 to the guide connection plate, and in the second waiting position, the anchor box 325 can be moved from the guide connection plate to the silo body 321.

The switch assembly 327 may include a switch actuator and a switch cylinder, the switch cylinder is disposed at a front end of the switch actuator, the switch cylinder is provided with a piston rod, the piston rod can be engaged with the through hole of the drill box 324, the drill box 324 can be driven to move by the switch actuator, the piston rod of the switch cylinder can be engaged with the through hole of the anchor box 325, and the anchor box 325 can be driven to move by the switch actuator.

Optionally, the drilling box 324 is a wet dusting drilling box 324, the anchor box 325 motor is a large displacement, large torque motor, and the tightening torque is not less than 400 Nm; the motor of the drill box 324 is a motor with small displacement and large rotating speed, the rotating speed of the motor is not lower than 600rpm, and the requirement of fastening the anchor rod with small rotating speed and large torque is met.

In some embodiments, the hole aligning assembly 42 is disposed on the cartridge body 321, the hole aligning assembly 42 includes a centering member 422, a nozzle 423, a hole aligning driving device 421 and an image collector 424, the centering member 422 is adapted to center the anchor rod, the nozzle 423 is communicated with the conveying pipe, the nozzle 423 is adapted to align with the drilled hole and eject the anchoring agent, the centering member 422 and the nozzle 423 are disposed on the hole aligning driving device 421, the hole aligning driving device 421 is adapted to drive the centering member 422 and the nozzle 423 to perform position switching, the image collector 424 is disposed on the anchor cartridge 32, the image collector 424 is electrically connected to the control device 6, the image collector 424 is adapted to collect image information of the holes on the anchor net 26 and transmit the image information to the control device 6, and the control device 6 is adapted to analyze the positions of the holes through the image information to regulate and control the movement of the net hanging device 2, the anchor drilling device 3 and the anchoring agent conveying device 4.

Specifically, as shown in FIG. 19, the pair hole driver 421 may include a pair hole driver and a pair hole telescoping sleeve, which may include a pair hole inner sleeve and a pair hole outer sleeve, wherein the pair hole inner sleeve is guided to slidably fit within the pair hole outer sleeve. The hole aligning driver can be a hydraulic telescopic cylinder, one end of the hole aligning driver is hinged to the hole aligning inner sleeve, the other end of the hole aligning driver is hinged to the hole aligning outer sleeve, and the hole aligning telescopic sleeve can stretch out and draw back through stretching of the hole aligning driver. The hole aligning telescopic sleeve mainly bears acting force in the using process, so that the condition that the hole aligning driver is easily damaged by the direct action of external force on the hole aligning driver is avoided.

The righting member 422 may include two rubber wheels symmetrically arranged with their rotation shafts extending in the up-down direction. The righting piece 422 is arranged at the free end of the inner sleeve in the hole, and the righting piece 422 can stop against the anchor rod, so that the condition that the anchor rod is inclined is avoided.

The nozzle 423 may be a stainless steel nozzle 423, the nozzle 423 is disposed at a free end of the inner socket for the orifice, the nozzle 423 extends in an up-down direction, and the nozzle 423 and the centralizer 422 are spaced apart along the extending direction of the inner socket for the orifice. The positions of the spray pipe 423 and the righting piece 422 can be switched by stretching and retracting the hole driving device 421, so that the switching of setting the anchor rod and spraying the anchoring agent can be realized.

It will be appreciated that the nozzle 423 may be slidably guided on an inner sleeve of the pair of bores and the nozzle 423 may be moved in an up and down direction. At this time, a spray pipe 423 driver can be further arranged on the hole aligning inner sleeve, the driving end of the spray pipe 423 driver is connected with the spray pipe 423, the cylinder wall of the spray pipe 423 driver is connected with the hole aligning inner sleeve, and the spray pipe 423 driver can drive the spray pipe 423 to move up and down, so that after the spray pipe 423 is aligned with the drilled hole, the spray pipe 423 driver can drive the spray pipe 423 to be close to the hole opening of the drilled hole, and stable conveying of the anchoring agent is guaranteed.

As shown in fig. 7, the image collector 424 can be a camera, the image collector 424 is installed at the top of the anchor bin 32, the image collector 424 can shoot images of the top plate or the side wall of the roadway, and the control device 6 can analyze the position of the hole on the anchor net 26 after receiving the collected image information, so as to guide the anchor drilling device 3 and the action on the hole assembly 42, thereby facilitating the drilling and the transportation of the anchoring agent.

In some embodiments, the positioning arm set 31 includes a main positioning arm 312, a first positioning seat 311, a first positioning arm 313, a second positioning seat 314, a second positioning arm 315, and a third positioning seat 316, the first positioning seat 311 is connected to the vehicle body 1 and is swingable along the width direction of the vehicle body 1, one end of the main positioning arm 312 is connected to the first positioning seat 311 and is swingable in the height direction of the vehicle body 1, one end of the first positioning arm 313 is rotatably connected to the first positioning seat 311, the other end of the first positioning arm 313 is rotatably connected to the main positioning arm 312, the first positioning arm 313 is adapted to drive the main positioning arm 312 to swing up and down, the second positioning seat 314 is connected to the other end of the main positioning arm 312, one end of the second positioning arm 315 is rotatably connected to the main positioning arm 312, the other end of the second positioning arm 315 is rotatably connected to the second positioning seat 314, the second positioning arm 315 is adapted to drive the second positioning seat 314 to swing up and down, the third positioning seat 316 is connected to the second positioning seat 314, and the third positioning seat 316 can swing in the width direction of the vehicle body 1, and the third positioning seat 316 is suitable for being connected to the anchor bin 32.

Specifically, as shown in fig. 5 and 6, the first positioning seat 311 may be pivotally mounted on the vehicle body 1, the first positioning seat 311 may swing in the left-right direction, the positioning main arm 312 may be pivotally mounted on the first positioning seat 311, the positioning main arm 312 may swing in the up-down direction with respect to the first positioning seat 311, the positioning main arm 312 may extend, one end of the second positioning arm 315 may be pivotally connected to the first positioning seat 311, the other end of the second positioning arm 315 may be pivotally connected to the positioning main arm 312, the second positioning arm 315 is disposed below the positioning main arm 312, and the up-down swing of the positioning main arm 312 may be driven by the extension and contraction of the second positioning arm 315.

The second positioning seat 314 can be pivotally assembled at the free end of the main positioning arm 312, the second positioning seat 314 can swing up and down relative to the main positioning arm 312, one end of a second positioning arm 315 can be pivotally connected to the main positioning arm 312, the other end of the second positioning arm 315 can be pivotally connected to the second positioning seat 314, the second positioning arm 315 is disposed below the main positioning arm 312, and the second positioning arm 315 can be driven to swing up and down by the extension and contraction of the second positioning arm 315. The third positioning seat 316 is rotatably mounted on the second positioning seat 314, the third positioning seat 316 can swing in the left-right direction relative to the second positioning seat 314, and the anchor bin 32 can be connected with the third positioning seat 316.

During the use, can adjust the anchor storehouse 32 and wait the position department that the anchor protected through the flexible of location main arm 312 and the flexible of first positioning arm 313, then can rectify the vertical position of anchor storehouse 32 through second positioning arm 315, can adjust the circumferential direction of anchor storehouse 32 through rotating third positioning seat 316, from this, made things convenient for and adjusted anchor storehouse 32 to target in place.

It can be understood that, in some other embodiments, the third positioning seat 316 may further be provided with a first fine adjustment seat and a second fine adjustment seat, the first fine adjustment seat may swing up and down, and the second fine adjustment seat may swing left and right, so that fine adjustment of the position of the anchor bin 32 may be achieved, and accurate positioning is facilitated.

As shown in fig. 6, the third positioning seat 316 may further be connected to a positioning lifting mechanism 317, the positioning lifting mechanism 317 may be a hydraulic lifting mechanism, and the anchor bin 32 may be connected to the positioning lifting mechanism 317, so that the adjustment of the upper and lower positions of the anchor bin 32 may be achieved. When being provided with first fine tuning seat and second fine tuning seat, location elevating system 317 can link to each other with third positioning seat 316 through first fine tuning seat and second fine tuning seat.

Alternatively, the first fine adjustment seat and the second fine adjustment seat may be actuated by an electro-hydraulic servo valve control element, and the electro-hydraulic servo valve may be composed of a command electro-relay, a feedback potentiometer, an electronic amplifier, an electro-hydraulic servo valve, a hydraulic cylinder, and a table. Therefore, the dead zone problem of the electro-hydraulic proportional control valve can be solved, the response speed of the actuating element is higher, the adjusting angle is not more than 5 degrees, and the adjusting precision is further ensured.

In some embodiments, as shown in fig. 2 and 3, the positioning arm set 31 may be provided with a drag chain 33, one end of the drag chain 33 may be connected to the cylinder wall of the positioning arm set 31, and the other end of the drag chain 33 may be connected to the driving shaft of the positioning arm set 31. The drag chain 33 may play a role of protecting hydraulic pipes and cables.

In some embodiments, the storage box 43 includes a box 431, a driving chain 433, a driving wheel 434, an air inlet 435 and an air outlet, the driving chain 433 is rotatably assembled in the box 431, a plurality of storage pipes 432 are disposed at an outer circumferential side of the driving chain 433 and are spaced apart from each other, the air inlet 435 and the air outlet are disposed on the box 431, the driving wheel 434 is adapted to drive the driving chain 433 to rotate so that each of the storage pipes 432 is rotated between the air inlet 435 and the air outlet and is communicated with the air inlet 435 and the air outlet, the pushing assembly 41 is a gas pushing assembly 41, the air inlet 435 is adapted to be communicated with the pushing assembly 41, and the air outlet is adapted to be communicated with the conveying pipe.

Specifically, as shown in fig. 20, the case 431 may be formed by tailor welding of steel plates, and the driving chain 433 may be provided in the case 431 and rotatable in a vertical plane. The driving wheel 434 is provided outside the case 431, a gear is provided at an end of a driving shaft of the driving wheel 434, the gear is engaged with the driving chain 433, and the driving chain 433 can be rotationally driven by rotating the driving wheel 434.

The storage pipes 432 may be circular pipes, the storage pipes 432 are plural and are all provided on the outer peripheral side of the drive chain 433, and the plural storage pipes 432 are arranged at equal intervals along the circumferential direction of the drive chain 433. Within the storage tube 432 is used to place an anchoring agent.

The air inlet interface 435 and the air outlet interface are arranged on the box body 431, the air inlet interface 435 is opposite to the air outlet interface, and along with the rotation of the driving chain 433, each storage pipe 432 can rotate to the position between the air inlet interface 435 and the air outlet interface, so that the communication of the air inlet interface 435, the storage pipes 432 and the air outlet interface can be realized.

As shown in fig. 18, the pushing assembly 41 may include two gas storage bags, and after the storage pipe 432 is switched between the gas inlet 435 and the gas outlet, the pushing assembly 41 may output the gas pressure, so that the anchoring agent in the storage pipe 432 may be sequentially conveyed into the borehole through the gas outlet, the conveying pipe, and the nozzle 423.

Alternatively, as shown in fig. 19, the outlet end of the nozzle 423 may be provided with two blocking plates 4231, the two blocking plates 4231 may be symmetrically arranged, the blocking plates 4231 may be pivotally assembled on the nozzle 423, and a torsion spring may be provided between the blocking plates 4231 and the nozzle 423, and the torsion spring may realize self-return of the blocking plates 4231. Under the normality, the shutoff board 4231 can be by oneself with the export shutoff of spray tube 423 under the effect of torsional spring, from this, can realize the gas tightness of spray tube 423 to a certain extent, has guaranteed the intensity of propelling movement subassembly 41 output atmospheric pressure. In use, the anchoring agent pushes the blocking plate 4231 away, so that the anchoring agent can be pushed out of the nozzle 423.

In some embodiments, as shown in fig. 20, a plurality of feeding holes 4311 may be formed in the box 431, the feeding holes 4311 are arranged at equal intervals in the up-down direction, and during the rotation of the driving chain 433, the feeding holes 4311 are aligned with the storage pipes 432 one by one, so that the anchoring agent can be inserted into the storage pipes 432 from the corresponding feeding holes 4311, thereby facilitating the filling of the anchoring agent.

In some embodiments, the anchor drilling device 3 comprises a first anchor drilling device and a second anchor drilling device, each provided with a duct and counterbore assembly 42, the air outlet interface comprises a first interface 436 and a second interface 437, the first interface 436 and the second interface 437 are in communication with the ducts of the first anchor drilling device and the second anchor drilling device, respectively, the first interface 436 and the second interface 437 are slidably mounted on the tank body 431, the storage tank 43 comprises an interface drive 438, the interface drive 438 is adapted to drive the first interface 436 and the second interface 437 to move such that either of the first interface 436 and the second interface 437 can communicate with the corresponding storage pipe 432.

Specifically, as shown in fig. 1 and 2, two anchor drilling devices 3, namely a first anchor drilling device and a second anchor drilling device, may be disposed on the vehicle body 1, and the first anchor drilling device and the second anchor drilling device may be disposed in parallel and at an interval in the left-right direction, and the net hanging device 2 may be disposed between the first anchor drilling device and the second anchor drilling device, so that, on one hand, the structural stability of the vehicle body 1 may be enhanced, and on the other hand, the anchoring efficiency may be improved. It will be appreciated that in other embodiments, only one anchor drilling device 3 may be provided on the vehicle body 1.

Corresponding to the two anchor drilling devices 3, there may be two air outlet ports, which are respectively a first port 436 and a second port 437, wherein the first port 436 may be connected to the hole aligning assembly 42 of the first anchor drilling device through a corresponding duct, and the second port 437 may be connected to the hole aligning assembly 42 of the second anchor drilling device through a corresponding duct.

As shown in fig. 20, the first interface 436 and the second interface 437 may be slidably and slidably mounted on the case 431, for example, the first interface 436 and the second interface 437 may be integrally formed and slidably guided along the width of the case 431. The interface driver 438 can be a driving oil cylinder, one end of the interface driver 438 is connected with the first interface 436 and the second interface 437, the other end of the interface driver 438 is connected with the box body 431, the first interface 436 and the second interface 437 can be driven to move through the interface driver 438, so that the conveying of the anchoring agent to the first anchor drilling device and the second anchor drilling device can be respectively realized, a one-to-two conveying operation mode is realized, the automation of large-capacity anchoring agent storage, conveying, hole aligning switching, anchoring agent conveying and spraying and the like is also realized, the machine body space is saved, and the adaptability is high.

Optionally, as shown in fig. 2, an image collector 424 is disposed on each of the first anchor drilling device and the second anchor drilling device.

In some embodiments, the cable winding device 5 includes a cable frame 51, a cable winding driver, a cable winding drum 52, a cable arrangement component 53 and a guide roller 54, the cable winding device 5 is disposed at the rear side of the vehicle body 1, the cable winding drum 52, the cable arrangement component 53 and the guide roller 54 are all assembled on the cable frame 51, the cable winding drum 52, the cable arrangement component 53 and the guide roller 54 are sequentially arranged along the front-rear direction of the vehicle body 1, the cable winding driver is in transmission connection with the cable winding drum 52, and the cable winding driver is suitable for driving the cable winding drum 52 to rotate so as to wind the cable.

Specifically, as shown in fig. 21 and 22, the cable frame 51 may be a rectangular parallelepiped box, the cable drum 52 may be rotatably assembled in the cable frame 51, the cable winding driver may be a driving motor, and the cable winding driver may drive the cable drum 52 to rotate, so that winding and releasing of the cable may be achieved.

The cable arranging assembly 53 may be provided between the guide roller 54 and the cable drum 52, and the cable arranging assembly 53 may perform regular winding and releasing of the cable. The guide roller 54 can be used for pulling the cable, so that the cable is prevented from being scratched and damaged.

Optionally, the cable winding device 5 may further be provided with a full cable protection system, and when the cable on the cable winding drum 52 is full, the full cable protection system outputs a signal, and the control device 6 may timely brake the cable winding device 5 and stop the cable winding.

In some embodiments, the vehicle body 1 includes a frame 11 and a plurality of struts 12, the plurality of struts 12 being mounted on the frame 11 and spaced apart along a circumference of the frame 11, the struts 12 being adjustable in length, the struts 12 being adapted to be braced against the ground to secure and level the vehicle body 1. Specifically, prop top ware 12 and can be the flexible hydro-cylinder of hydraulic pressure, frame 11 can be rectangular plate-like, prop top ware 12 and can be equipped with four and establish four corner positions departments at frame 11 respectively, prop top ware 12 and can extend downwards and prop with ground, from this, can increase the fulcrum on the one hand, play fixed effect, on the other hand when the tunnel bottom plate is not at ordinary times, can transfer different lengths to propping top ware 12 to can adjust the inclination of frame 11.

In some embodiments, the use of the anchor cart comprises the steps of:

s1: determining an anchoring position, and then moving the vehicle body 1 to the anchoring position;

s2: operating a plurality of supporting devices 12 to extend and support with the roadway bottom plate so as to fix and level the vehicle body 1;

s3: the anchor net 26 is placed on the support frame 25, and then the net hanging device 2 is controlled to act so as to buckle the anchor net 26 on the top plate or the side wall of the roadway;

s4: identifying the position of the hole on the anchor net 26 by using the hole aligning component 42, and then operating the anchor drilling device 3 to act and drill a hole through the hole;

s5: the anchoring agent is delivered into the borehole by means of the anchor conveyor, and then the anchor drilling device 3 is manipulated to act to complete bolting and to fix the anchor net 26.

In some embodiments, each joint of the positioning arm set 31 and each joint of the net hanging arm set may be provided with a data collector such as an encoder, thereby facilitating accurate regulation and control of the positioning arm set 31 and the net hanging arm set.

In some embodiments, as shown in fig. 2, a ladder 13 may be provided on the vehicle body 1, and the ladder 13 facilitates the operator to climb onto the operation platform of the vehicle body 1.

In some embodiments, the vehicle body 1 may be provided with a driving detection system, and the driving detection system may detect the form displacement and the driving speed of the vehicle body 1, so as to facilitate timely control of the driving information. The vehicle body 1 is also provided with a hydraulic system which can provide hydraulic pressure for a corresponding driver, thereby facilitating hydraulic driving.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. An anchor guard vehicle, comprising:

a vehicle body;

the net hanging device comprises a net hanging arm group and a support frame, the net hanging arm group is connected with the vehicle body, the support frame is rotatably connected with the free end of the net hanging arm group, the support frame can slide relative to the net hanging arm group, the net hanging arm group can swing along the length direction of the vehicle body to adjust the space direction of the support frame, and the support frame can adsorb and fix an anchor net;

the anchor drilling device comprises a positioning arm group and an anchor bin, the positioning arm group is connected with the vehicle body, the anchor drilling machine is rotatably connected with the free end of the positioning arm group, the positioning arm group can swing along the length direction, the width direction and the height direction of the vehicle body, the length of the positioning arm group is adjustable, the positioning arm group is suitable for adjusting the space direction of the anchor bin, and the anchor bin is suitable for drilling an anchor rod or an anchor cable and fixing the anchor net;

the anchoring agent conveying device comprises a pushing assembly, a storage box, a conveying pipe and a hole aligning assembly, the conveying pipe is connected between the storage box and the hole aligning assembly, a plurality of storage pipes are arranged in the storage box, the positions of the storage pipes are adjustable so that the storage pipes can be communicated with the conveying pipe, the hole aligning assembly is arranged on the anchoring bin, the hole aligning assembly is suitable for aligning the conveying pipe with a drilled hole after the anchoring bin is drilled, and the pushing assembly is suitable for pushing the anchoring agent in the storage pipes into the drilled hole;

the net hanging device, the anchoring drill device and the anchoring agent conveying device are electrically connected with the control device, and the control device is suitable for comprehensively regulating and controlling the net hanging device, the anchoring drill device and the anchoring agent conveying device so as to realize automation;

the cable winding device is arranged on the vehicle body and suitable for winding a cable so as to enable the vehicle body to operate within a range, and the cable is suitable for providing power.

2. The anchor trolley of claim 1, wherein the set of screen arms comprises a screen base, a first screen arm, a first screen drive, a second screen arm, a second screen drive, a support frame, and a third screen drive, the net hanging base is connected with the vehicle body, one end of the first net hanging arm is rotatably connected with the net hanging base, the first net hanging drive is suitable for driving the first net hanging arm to rotate along the length direction of the vehicle body, one end of the second net hanging arm is rotatably connected with the other end of the first net hanging arm, the second net hanging drive is suitable for driving the second net hanging arm to rotate along the length direction of the vehicle body, the support frame is rotationally connected with the other end of the second net hanging arm through the third net hanging drive, and the support is slidable relative to the third hanging net drive, and the third hanging net drive is suitable for driving the support frame to swing and rotate circumferentially.

3. An anchor and guard vehicle as claimed in claim 2, wherein the support frame includes a main frame, a first subframe rotatably connected to one side of the main frame and a second subframe rotatably connected to the other side of the main frame, the support frame having a first configuration in which the first subframe, the main frame and the second subframe are laid flat and adapted to hold an anchor net, and a second configuration in which the first subframe and the second subframe are superimposed on the main frame.

4. An anchor handling vehicle as claimed in claim 3, wherein the support frame comprises a third sub-frame, a net mount and a fourth net drive, the third sub-frame being rotatably connected to the main frame, the net mount being removably mounted to the third sub-frame, in the first configuration the third sub-frame is laid flat with the main frame and the net mount is secured to the third sub-frame to increase the support area, in the second configuration the net mount on the third sub-frame is removed and the third sub-frame is folded onto the main frame, the fourth net drive being connected between the third sub-frame and the main frame, the fourth net drive being adapted to drive the third sub-frame to swing.

5. The anchor trolley of claim 2, wherein the third screen drive comprises a first drive, a second drive, a first screen mount and a second screen mount, the first drive is disposed on the second screen arm, the first screen mount is coupled to a drive end of the first drive, the first drive is adapted to drive the first screen mount to swing such that the support frame is adapted to lay the anchor screen of the roof and the sidewall, the second drive is disposed on the first screen mount, the second screen mount is coupled to a drive end of the second drive, the support frame is coupled to the second screen mount, and the second drive is adapted to drive the second screen mount to swing such that the support frame is rotatable circumferentially.

6. The anchor protecting vehicle of claim 2, wherein the first net hanging arm comprises a first section and a second section, the first section and the second section are included angles and form an avoiding groove, the net hanging device has a working condition and an idle condition, the working condition is that the support frame passes through the first net hanging arm and the second net hanging arm swing to the front side of the vehicle body to carry out anchor net operation, the first section and the avoiding groove formed by the second section swing to the rear side to reduce the gravity center of the first net hanging arm and the second net hanging arm and the distance between the net hanging bases, the idle condition is that the support frame is suitable for passing through the first net hanging arm and the second net hanging arm swing to the rear side of the vehicle body, and the avoiding groove faces downward and is suitable for avoiding.

7. The anchor trolley as claimed in claim 1, wherein the anchor bin comprises a bin body, a chain assembly, a pushing assembly, a drilling box, an anchor box, a feeding assembly and a switching assembly, the chain assembly, the pushing assembly, the drilling box, the anchor box, the feeding assembly and the switching assembly are all arranged on the bin body, the chain assembly is provided with a plurality of clamping grooves for fixing anchor rods, the chain assembly can rotate and convey the anchor rods to a first position, the pushing assembly is suitable for pushing the anchor rods at the first position to a second position, the drilling box and the anchor box are both assembled on the bin body in a guiding and sliding manner, the drilling box can be opposite to the anchor rods at the second position and is suitable for drilling, the anchor box can be opposite to the anchor rods at the second position and is suitable for anchoring, and the feeding assembly is suitable for driving the drilling box and the anchor box to move along the axial direction of the bin body, the switching assembly is suitable for switching the anchor box and the drill box so that the anchor box and the drill box are respectively opposite to the anchor rod.

8. The anchor trolley as claimed in claim 7, wherein the hole aligning assembly is disposed on the cabin body, the hole aligning assembly comprises a centering member, a nozzle, a hole aligning driving device and an image collector, the centering member is adapted to center the anchor rod, the nozzle is communicated with the delivery pipe, the nozzle is adapted to align with the drilled hole and eject the anchoring agent, the centering member and the nozzle are both disposed on the hole aligning driving device, the hole aligning driving device is adapted to drive the centering member and the nozzle to perform position switching, the image collector is disposed on the anchor cabin, the image collector is electrically connected to the control device, the image collector is adapted to collect image information of the holes on the anchor net and transmit the image information to the control device, and the control device is adapted to analyze the positions of the holes through the image information to adjust and control the net hanging device, Movement of the anchor drilling device, the anchoring agent delivery device.

9. The anchor vehicle as claimed in claim 1, wherein the set of holding arms includes a main holding arm, a first holding base connected to the vehicle body and swingable in a width direction of the vehicle body, a first holding arm having one end connected to the first holding base and swingable in a height direction of the vehicle body, a second holding base having one end rotatably connected to the first holding base and the other end rotatably connected to the main holding arm, a second holding arm adapted to drive the main holding arm to swing up and down, and a third holding base having one end rotatably connected to the main holding arm and the other end rotatably connected to the second holding base, the second positioning arm is suitable for driving the second positioning seat to swing up and down, the third positioning seat is connected with the second positioning seat and can swing in the width direction of the vehicle body, and the third positioning seat is suitable for being connected with an anchor bin.

10. The anchor vehicle as claimed in claim 1, wherein the storage box comprises a box body, a driving chain, a driving wheel, an air inlet port and an air outlet port, the driving chain is rotatably assembled in the box body, the plurality of storage pipes are arranged on the outer peripheral side of the driving chain at intervals, the air inlet port and the air outlet port are both arranged on the box body, the driving wheel is adapted to drive the driving chain to rotate so that each storage pipe rotates between the air inlet port and the air outlet port and is communicated with the air inlet port and the air outlet port, the pushing assembly is a gas pushing assembly, the air inlet port is adapted to be communicated with the pushing assembly, and the air outlet port is adapted to be communicated with the conveying pipe.

11. The anchor handling vehicle of claim 10, wherein the anchor drilling device comprises a first anchor drilling device and a second anchor drilling device, the first anchor drilling device and the second anchor drilling device each being provided with the delivery tube and the counterbore assembly, the air outlet port comprises a first port and a second port, the first port and the second port being in communication with the delivery tubes of the first anchor drilling device and the second anchor drilling device, respectively, the first port and the second port being slidably guided on the tank, the storage tank comprising a port drive adapted to drive the first port and the second port to move such that any one of the first port and the second port can be in communication with a corresponding storage tube.

12. The anchor car of claim 1, wherein the cable winding device comprises a cable frame, a cable winding driver, a cable winding roller, a cable arranging assembly and a guide roller, the cable winding device is arranged at the rear side of the car body, the cable winding roller, the cable arranging assembly and the guide roller are all assembled on the cable frame, the cable winding roller, the cable arranging assembly and the guide roller are sequentially arranged along the front-rear direction of the car body, the cable winding driver is in transmission connection with the cable winding roller, and the cable winding driver is suitable for driving the cable winding roller to rotate so as to wind the cable.

13. An anchor trolley according to any one of claims 1 to 12 wherein the trolley body includes a frame and a plurality of jacks mounted on the frame and spaced circumferentially thereof, the jacks being adjustable in length, the jacks being adapted to be jacked with the ground to secure and level the trolley body.

14. An anchor and maintenance vehicle as claimed in claim 13, wherein the use of the anchor and maintenance vehicle comprises the steps of: