CN118008414B - Automatic anchor loading equipment - Google Patents
Automatic anchor loading equipment Download PDFInfo
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- CN118008414B CN118008414B CN202410413292.5A CN202410413292A CN118008414B CN 118008414 B CN118008414 B CN 118008414B CN 202410413292 A CN202410413292 A CN 202410413292A CN 118008414 B CN118008414 B CN 118008414B
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- oil cylinder
- rod
- guide rod
- output shaft
- vertical plate
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- 238000005553 drilling Methods 0.000 claims abstract description 77
- 238000004873 anchoring Methods 0.000 claims abstract description 43
- 238000003860 storage Methods 0.000 claims abstract description 26
- 230000000149 penetrating effect Effects 0.000 claims abstract description 3
- 230000000007 visual effect Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 7
- 238000010079 rubber tapping Methods 0.000 claims 2
- 238000012423 maintenance Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000002787 reinforcement Effects 0.000 abstract description 5
- 239000003795 chemical substances by application Substances 0.000 description 24
- 230000001681 protective effect Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 4
- 239000003814 drug Substances 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 239000011435 rock Substances 0.000 description 4
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 3
- 235000017491 Bambusa tulda Nutrition 0.000 description 3
- 241001330002 Bambuseae Species 0.000 description 3
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 3
- 239000011425 bamboo Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- PMZURENOXWZQFD-UHFFFAOYSA-L Sodium Sulfate Chemical compound [Na+].[Na+].[O-]S([O-])(=O)=O PMZURENOXWZQFD-UHFFFAOYSA-L 0.000 description 2
- 239000011324 bead Substances 0.000 description 2
- 239000004568 cement Substances 0.000 description 2
- 239000004927 clay Substances 0.000 description 2
- 239000010883 coal ash Substances 0.000 description 2
- YDEXUEFDPVHGHE-GGMCWBHBSA-L disodium;(2r)-3-(2-hydroxy-3-methoxyphenyl)-2-[2-methoxy-4-(3-sulfonatopropyl)phenoxy]propane-1-sulfonate Chemical compound [Na+].[Na+].COC1=CC=CC(C[C@H](CS([O-])(=O)=O)OC=2C(=CC(CCCS([O-])(=O)=O)=CC=2)OC)=C1O YDEXUEFDPVHGHE-GGMCWBHBSA-L 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
- E21B17/22—Rods or pipes with helical structure
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B6/00—Drives for drilling with combined rotary and percussive action
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/02—Setting anchoring-bolts with provisions for grouting
- E21D20/021—Grouting with inorganic components, e.g. cement
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Geochemistry & Mineralogy (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Inorganic Chemistry (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to the technical field of anchoring equipment, in particular to automatic anchoring equipment, which comprises an anchoring unit, wherein the anchoring unit comprises a drilling machine, a drilling rod, a gear a, a gear b, a bearing seat, a storage cylinder, a conveying pipe, a mounting plate, a bearing and an output shaft, the drilling rod is connected with a rotating shaft of the drilling machine, the drilling machine and the bearing seat are arranged on the mounting plate, the output shaft is arranged in the bearing seat, and the bearing is arranged between the output shaft and the bearing seat; the gear a is arranged on a rotating shaft of the drilling machine, the gear b is arranged on an output shaft, and the gear a is meshed with the gear b; the drill rod sequentially comprises a drill bit, a rod main body and a fixed handle from top to bottom, wherein the end part of the fixed handle is provided with a connecting structure corresponding to the output shaft, and a filling hole penetrating through the drill rod is formed in the length direction of the drill rod; one end of the conveying pipe is connected with the storage cylinder, and the other end of the conveying pipe penetrates through the output shaft and is inserted into the filling hole. The automatic anchor loading equipment can complete anchor rod reinforcement work at one time, improves working efficiency, is simple in equipment structure and is low in manufacturing and maintenance cost.
Description
Technical Field
The invention relates to the technical field of anchoring equipment, in particular to automatic anchoring equipment.
Background
In the underground ore mining process, the tunnelling equipment is required to process the tunnel as soon as possible in order to prevent collapse after the tunnelling equipment excavates the tunnel. At present, the anchor bolt support is a main support mode of underground mining roadways. The anchor rod reinforcement work of the roadway comprises the following steps: 1. drilling, namely drilling anchor holes on the bottom surface and the side surface of the roadway at intervals; 2. filling anchoring agents into the anchor holes, wherein the anchoring agents are commonly used resin; 3. installing an anchor rod; 4. and installing a protective net, installing a backing plate at the tail part of the anchor rod to fix the protective net and fastening the anchor rod.
At the earliest, the work is completely finished by manpower one by one, and along with the development of an automation technology, the roadway reinforcement field goes out a plurality of automation devices: the invention patent of the grant bulletin number CN112943326B discloses an automatic anchor drilling device which comprises a base, a drilling module, a medicine filling module and a fixing rod module, wherein the drilling module, the medicine filling module and the fixing rod module are vertically arranged at the upper end of the base; the base is provided with a driving device, and can move the drilling module, the medicine filling module and the fixing rod module to a working position in sequence according to a preset track. Can carry out drilling, fill in medicine, solid pole, replace manual operation, ensured operating personnel's safety, improved work efficiency simultaneously. The patent of the invention of the grant publication No. CN113550769B discloses an automatic drilling and anchoring mechanism integrating drilling and anchoring, which comprises an equipment base, wherein a rotating base is movably arranged on the surface of the equipment base, and a front-back adjusting mechanism is arranged at the top end of the rotating base. According to the invention, the rotary base, the front-back adjusting mechanism, the left-right adjusting mechanism, the drilling and anchoring exchanging mechanism, the anchoring mechanism, the drilling mechanism, the screw nut, the transmission screw and the sliding frame slide plate are arranged, so that the drilling and anchoring can be rapidly and synchronously completed at one time during the tunnel or tunnel construction, the requirements of automatic drilling and anchoring are met, the automation degree is high, the construction time is effectively shortened, and the working efficiency is improved.
In the process of implementing the present invention, the inventor finds that at least the following problems exist in the prior art: the prior art only simply replaces manual work with an automatic means, and the technological process of the anchor rod reinforcement work is not changed. The traditional anchor rod reinforcement process has more steps, so that the structure of the automatic equipment is complex, a plurality of power mechanisms are needed, the manufacturing cost is high, the equipment failure rate is high, and the maintenance cost is high.
Disclosure of Invention
Aiming at the defects of the prior art, the invention develops the automatic anchor loading equipment which can complete the anchor rod reinforcing work at one time, improves the working efficiency, has simple equipment structure and low manufacturing and maintenance cost.
The technical scheme for solving the technical problems is as follows: the embodiment of the invention provides automatic anchor loading equipment, which comprises an anchor loading unit, wherein the anchor loading unit comprises a drilling machine, a drill rod, a rotating shaft of the drilling machine, a gear a, a gear b, a bearing seat, a storage cylinder, a conveying pipe, a mounting plate a, a bearing and an output shaft, the drilling machine and the bearing seat are arranged on the mounting plate a, the output shaft is arranged in the bearing seat, and the bearing is arranged between the output shaft and the bearing seat; the gear a is arranged on a rotating shaft of the drilling machine, the gear b is arranged on an output shaft, and the gear a is meshed with the gear b; the drill rod sequentially comprises a drill bit, a rod main body and a fixed handle from top to bottom, wherein the diameter of the drill bit is larger than that of the rod main body, a spiral chip groove is formed in the rod main body, an external thread is arranged on the fixed handle, a connecting structure corresponding to the output shaft is arranged at the end part of the fixed handle, and a penetrating filling hole is formed in the length direction of the drill rod; the output shaft is the tubular of both ends open-ended, and storage section of thick bamboo is connected to conveyer pipe one end, and the other end passes the output shaft and inserts the filling hole.
The upper end of the output shaft is provided with an outer hexagon, and the end part of the fixed handle is provided with a corresponding inner hexagon sleeve. The storage cylinder is in a cylinder shape and comprises a cylinder body and a piston rod, the anchoring agent is stored in the storage cylinder, the anchoring agent can be filled into the drilled hole through the conveying pipe and the filling hole by extruding the storage cylinder after the drilling is completed, and the extrusion of the storage cylinder is stopped when the anchoring agent flows out of the drilled hole. Finally, manually installing a protective net on the roadway: when the drilling is completed, the fixed handle does not enter the ore deposit outside, and when the protective net is paved on the inner wall of the roadway, the fixed handle penetrates through the protective net, the baffle plate is sleeved into the fixed handle, and then the protective net can be fixed by installing and screwing nuts on the fixed handle, so that the anchoring work is completed. The anchoring agent is a fluid formed by stirring cement, coarse stone powder, fine coal ash, clay, glass beads, sodium lignin sulfonate, anhydrous sodium sulfate and water, and the proportion is common in the construction industry and belongs to the prior art. One end of the conveying pipe, which is far away from the storage cylinder, is provided with a flange plate, and the flange plate is fixed at the bottom of the mounting plate a.
The anchor unit further comprises a sliding frame, a sliding block, an oil cylinder a and a guide rod a, wherein the installation plate a is fixed on the sliding block, the guide rod a is vertically arranged on the sliding frame, the sliding block is arranged on the guide rod a, a cylinder body of the oil cylinder a is arranged on the sliding frame, and a telescopic rod of the oil cylinder a is connected with the sliding block.
The anchor unit further comprises a guide rod b, a vertical plate and an oil cylinder b, wherein the guide rod b is arranged on the sliding frame, the guide rod b is parallel to the guide rod a, a guide sleeve is arranged at the top of the vertical plate, the guide rod b is arranged in the guide sleeve, a cylinder body of the oil cylinder b is arranged on the vertical plate, and a telescopic rod of the oil cylinder b is connected with the sliding frame.
The anchor unit further comprises a positioning plate, a guide rod c and an oil cylinder c, wherein the guide rod b is hollow, the bottom of the positioning plate is connected with the guide rod c, the guide rod c is inserted from the top of the guide rod b, a sliding sleeve is arranged between the guide rod c and an inner cavity of the guide rod b, a cylinder body of the oil cylinder c is arranged on the vertical plate, and a telescopic rod of the oil cylinder c is connected with the bottom surface of the positioning plate. The storage cylinder comprises a cylinder body, a piston and an electric push rod, wherein the piston is arranged in the cylinder body, and the electric push rod is connected with the piston.
The automatic anchor loading device further comprises a transverse adjusting part, a longitudinal adjusting part, a vehicle body, a workbench and an operation panel, wherein the workbench is arranged on two sides of the front end of the vehicle body respectively; the operation panel is provided with a hydraulic control valve. The vehicle body is a motor-driven tracked vehicle. The anchor loading units arranged on the transverse adjusting part can anchor the top of the roadway, and the anchor loading units arranged on the longitudinal adjusting part can anchor the two sides of the roadway.
The automatic anchor loading equipment also comprises a transmitter, a receiver and a singlechip, wherein the transmitter transmits ultrasonic waves or electromagnetic wave signals, and the receiver can receive the signals transmitted by the transmitter and calculate the distance between the receiver and the transmitter; the data port of the receiver is connected with the singlechip, the power system of the vehicle body is connected with the singlechip, the transmitter is arranged at the two sides of the outlet position of the roadway and the tail part of the drill rod, and the receiver and the singlechip are arranged on the vehicle body; or the automatic anchor loading equipment also comprises a camera, an image processor, an indicator light and a singlechip, wherein the indicator light is arranged on two sides of the outlet position of the roadway and at the tail part of the drill rod, the camera, the image processor, the singlechip and the audible and visual alarm are arranged on the vehicle body, the camera is connected with the image processor, and the image processor, a power system of the vehicle body and the audible and visual alarm are connected with the singlechip; the camera shoots pictures of a roadway at the rear of the car body, black points in the pictures after vector processing are the positions of the indicator lights, the image processor knows the travelling distance of the car body according to the number of the indicator lights in the pictures and gives signals to the singlechip, and the singlechip controls the car body to stop at fixed distance intervals to carry out anchor loading work; the image processor can also compare the indicator lamp pictures shot at different time periods, and uses three indicator lamps closest to the interior of the roadway as reference standards to perform image comparison, and if the positions of the indicator lamps are found to deviate, the singlechip controls the audible and visual alarm to give an alarm.
As optimization, the middle part of the rod main body is also provided with a transverse branch outlet which is communicated with the filling hole.
As optimization, the transverse adjusting part comprises a base, a transverse moving oil cylinder and a moving arm, wherein the base is connected with a workbench, two sliding grooves are transversely formed in the base, the moving arm is arranged in the sliding grooves, two ends of the transverse moving oil cylinder are respectively hinged with the moving arm and the base, and the vertical plate is arranged at the tail end of the moving arm.
As optimization, the transverse adjusting part further comprises a mounting plate b, a swinging oil cylinder a, a mounting block and a swinging oil cylinder b, wherein the mounting plate b is arranged at the tail end of the movable arm, the swinging oil cylinder a is mounted on the mounting plate b, and the mounting block is connected with a rotating shaft of the swinging oil cylinder a; the mounting block is provided with a bearing seat, two sides of the vertical plate are provided with rotating shafts, the vertical plate is arranged in the bearing seat on the mounting block, the cylinder body of the swing cylinder b is connected with the mounting block, and the rotating shaft of the swing cylinder b is connected with the side face of the vertical plate.
As optimization, the vertical adjustment part comprises a vertical plate b, a moving block b, an oil cylinder d, a rotary oil cylinder and guide rods d, wherein the vertical plate b is vertically arranged on two sides of the rear end of the vehicle body, the guide rods d are arranged on the vertical plate b, the moving block b is arranged on the guide rods d, the oil cylinder d is arranged between the moving block b and the vertical plate b, the rotary oil cylinder is arranged on the moving block b, and the vertical plate is connected with a rotary rod of the rotary oil cylinder.
The effects provided in the summary of the invention are merely effects of embodiments, not all effects of the invention, and the above technical solution has the following advantages or beneficial effects:
1. Through set up the drill bit in the head of drilling rod, set up spiral junk slot in the pole main part, the tip of fixed handle is provided with the connection structure that corresponds with the output shaft, the drilling rod mountable is on the output shaft, drilling machine passes through gear a, gear b drives the output shaft and rotates, and then drive the drilling rod and rotate, make the drilling rod can drill, set up the filling hole that runs through on the length direction of drilling rod, and set up conveyer pipe one end and connect the storage section of thick bamboo, the other end passes the output shaft and insert the filling hole, be clearance fit between conveyer pipe and the filling hole, the conveyer pipe is kept away from the one end of storage section of thick bamboo and is fixed in the bottom of mounting panel a through the ring flange, there is the friction between conveyer pipe and the filling hole, but the rotation of drilling rod can not influence the position of conveyer pipe.
2. The automatic anchor loading equipment can complete the work of drilling, installing the anchor rod and filling the anchoring agent at one time, improves the working efficiency, has simple equipment structure and is low in manufacturing and maintenance cost.
3. One end of the conveying pipe far away from the storage cylinder can be fixed through the flange plate, so that smooth filling of the anchoring agent is guaranteed.
4. By arranging the partial outlet in the middle of the rod main body, the anchoring agent can be prevented from being solidified too fast and cannot fill the drilled holes, and the filling speed of the anchoring agent can be improved.
5. Through setting up hydro-cylinder a, can promote the drilling machine and reach tunnel side and top surface position to provide pressure for the drilling, ensured going on smoothly of drilling.
6. Through setting up riser, hydro-cylinder b, the lift of steerable carriage can make the drilling machine reach the farther distance, has improved the working range of equipment.
7. The anchoring position can be fixed by arranging the positioning plate, so that the stability of the equipment is improved.
8. By arranging the swing oil cylinder a and the swing oil cylinder b, the reciprocating rotation motion of the swing oil cylinder a and the swing oil cylinder b can be started to respectively control the vertical plate to rotate along the cross section and the horizontal plane of the roadway, when hard rock is encountered in the drilling process, the swing oil cylinder a and the swing oil cylinder b are started, the drill bit can be controlled to swing to find the rock weak point, and the drilling is convenient; when the drill bit is taken out, the drilling machine is kept to rotate, and meanwhile, the swing oil cylinder a and the swing oil cylinder b are started, so that the drill bit can be prevented from being blocked in a drilled hole, and the drill bit can be conveniently taken out; when the anchoring agent is squeezed in, the swinging oil cylinder a and the swinging oil cylinder b are started, so that the anchoring agent can be completely filled in the drilled holes, and gaps are avoided.
9. The vertical position of the movable block b can be controlled by controlling the extension and retraction of the oil cylinder d, so that the different heights of the side wall of the roadway are anchored; the inclination angle of the transverse plate can be adjusted through the rotary oil cylinder, so that the inclined surface of the side wall of the roadway is anchored; when the drill rod loading device works, the positions of the anchor loading units are adjusted through the control oil cylinder d and the rotary oil cylinder, and then the anchor loading units are started to carry out drill rod loading.
10. The distance between the vehicle body and the roadway outlet and the distance between the vehicle body and the installed drill rod can be measured through the transmitter and the receiver, so that the next anchor loading position can be determined. After reaching the appointed distance, the singlechip controls the power system of the vehicle body to stop. The camera shoots pictures of a roadway at the rear of the car body, and the image processor knows the travelling distance of the car body according to the number of the indicator lamps in the pictures, so that signals are given to the singlechip to control the car body to stop at fixed distance intervals, and anchor loading work is carried out. The image processor can also compare the indicator lamp pictures shot at different time periods, and when any one of the relative position, distribution and distance of the indicator lamps in the pictures changes, the roadway deformation is indicated, and the singlechip gives an alarm. The situation of the roadway can be monitored by arranging the camera and the image processor, so that roadway collapse can be found in time, and accidents are avoided.
Drawings
Fig. 1 is a front view of a first embodiment of the present invention.
Fig. 2 is a cross-sectional view of fig. 1 taken along the direction B-B.
Fig. 3 is a perspective view of a first embodiment of the present invention.
Fig. 4 is a front view of an embodiment of a drill rod.
Fig. 5 is a cross-sectional view of fig. 4 taken along the direction C-C.
Fig. 6 is a perspective view of an embodiment of a drill rod.
Fig. 7 is a front view of a second embodiment of the present invention.
Fig. 8 is a front view of a third embodiment of the present invention.
Fig. 9 is a perspective view of one embodiment of a riser.
Fig. 10 is a front view of a fourth embodiment of the present invention.
Fig. 11 is a left side view of a fourth embodiment of the present invention.
Fig. 12 is a partial enlarged view of the region D in fig. 11.
Fig. 13 is a perspective view of a fifth embodiment of the present invention.
Fig. 14 is a perspective view showing a state in which the lateral adjustment portion is connected to the anchor unit.
Fig. 15 is a perspective view of an embodiment of the lateral adjustment portion.
Fig. 16 is a front view showing a state in which the lateral adjustment portion is connected to the anchor unit.
Fig. 17 is a cross-sectional view of fig. 16 taken along the direction A-A.
Fig. 18 is a front view showing a state in which the longitudinal adjustment portion is connected to the anchor unit.
Fig. 19 and 20 are perspective views showing a state in which the longitudinal adjustment portion is connected to the anchor unit.
Fig. 21 is a vector diagram one obtained after the roadway picture processing.
Fig. 22 is a second vector diagram obtained after the roadway picture processing.
Fig. 23 is a comparison diagram of the first and second vector diagrams after alignment and superposition.
Wherein: 1. the device comprises an anchor unit, a transverse adjusting part, a longitudinal adjusting part, a vehicle body, a workbench and an operating panel, wherein the anchor unit, the transverse adjusting part, the longitudinal adjusting part, the vehicle body, the workbench and the operating panel are arranged in sequence;
11. Drilling machine, 12, gears a, 13, gears b, 14, bearing seat, 15, drill pipe, 16, storage cylinder, 17, delivery pipe, 18, mounting plate a, 19, bearing, 120, output shaft, 121, carriage, 122, slider, 123, cylinder a, 124, guide rod a, 125, guide rod b, 126, riser, 127, cylinder b, 128, locating plate, 129, guide rod c, 130, cylinder c, 1261, guide sleeve.
151. Drill bit, 152, rod body, 153, fixed handle, 154, tap, 155, filling hole;
161. cylinder, 162, piston, 163, electric push rod;
171. a flange plate;
21. base, 22, traversing cylinder, 23, moving arm, 24, swinging cylinder a mounting plates b and 26, mounting blocks and 27, swinging cylinders b and 211 and sliding grooves;
31. The vertical plates b and 32, the moving blocks b and 33, the oil cylinders d and 34, the rotary oil cylinders and 35 and the guide rod d.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present invention will be described in detail below with reference to the following detailed description and the accompanying drawings.
Example 1: fig. 1 to 6 are views showing a first embodiment of the present invention, and as shown in fig. 1 to 3, an automatic anchor loading apparatus includes an anchor loading unit 1, wherein the anchor loading unit 1 includes a drilling machine 11, a drill pipe 15, a gear a12, a gear b13, a bearing housing 14, a storage cylinder 16, a conveying pipe 17, a mounting plate a18, a bearing 19, and an output shaft 120, the drill pipe 15 is connected to a rotating shaft of the drilling machine 11, the drilling machine 11 and the bearing housing 14 are mounted on the mounting plate a18, the output shaft 120 is mounted in the bearing housing 14, and the bearing 19 is disposed between the output shaft 120 and the bearing housing 14; gear a12 is mounted on the spindle of the drill 11, gear b13 is mounted on the output shaft 120, and gear a12 meshes with gear b 13.
As shown in fig. 4 to 6, the drill rod 15 sequentially comprises a drill bit 151, a rod main body 152 and a fixed handle 153 from top to bottom, the diameter of the drill bit 151 is larger than that of the rod main body 152, a spiral chip groove is formed in the rod main body 152, an external thread is formed in the fixed handle 153, a connecting structure corresponding to the output shaft 120 is formed at the end part of the fixed handle 153, and a through filling hole 155 is formed in the length direction of the drill rod 15; as shown in fig. 2, the output shaft 120 has a tubular shape with both ends open, one end of the delivery pipe 17 is connected to the storage cylinder 16, and the other end is inserted into the filling hole 155 through the output shaft 120. The upper end of the output shaft 120 is provided with an outer hexagon, and the end of the fixing handle 153 is provided with a corresponding inner hexagon socket. The end of the conveying pipe 17 far away from the storage cylinder 16 is provided with a flange 171, and the flange 171 is fixed at the bottom of the mounting plate a 18. By providing the flange 171, the end of the delivery tube 17 remote from the storage tube 16 can be fixed, ensuring smooth filling of the anchoring agent.
As shown in fig. 5, a lateral outlet 154 is further provided at the middle of the lever main body 152, and the outlet 154 communicates with the filling hole 155. By providing partial outlets 154 in the middle of the stem body 152, the anchoring agent is prevented from solidifying too quickly, failing to fill the borehole, and the rate of filling with the anchoring agent can be increased.
Through set up drill bit 151, set up spiral junk slot on the pole main part 152 of drilling rod 15, the tip of fixed handle 153 is provided with the connection structure that corresponds with output shaft 120, drilling rod 15 mountable is on output shaft 120, drilling machine 11 passes through gear a12, gear b13 drives output shaft 120 rotation, and then drive drilling rod 15 and rotate, make drilling rod 15 can drill, through setting up the filling hole 155 that runs through in the length direction of drilling rod 15, and set up conveyer pipe 17 one end and connect storage tube 16, the other end passes output shaft 120 and inserts filling hole 155, be clearance fit between conveyer pipe 17 and the filling hole 155, the one end that conveyer pipe 17 kept away from storage tube 16 is fixed in the bottom of mounting panel a18 through flange 171, there is the friction between conveyer pipe 17 and the filling hole 155, but the rotation of drilling rod 15 can not influence the position of conveyer pipe 17.
The storage cylinder 16 is in a syringe shape and comprises a cylinder body and a piston rod, the storage cylinder 16 stores anchoring agent, the storage cylinder 16 can be squeezed to fill the anchoring agent into the drilled hole through the conveying pipe 17 and the filling hole 155 after the drilling is completed, and the storage cylinder 16 is stopped being squeezed when the anchoring agent flows out of the drilled hole. Finally, manually installing a protective net on the roadway: when the drilling is completed, the fixed handle 153 does not enter the ore bed outside, when the protective net is paved on the inner wall of the roadway, the fixed handle 153 penetrates through the protective net, the baffle plate is sleeved into the fixed handle 153, and then the protective net can be fixed by installing and screwing nuts on the fixed handle 153, so that the anchoring work is completed. The anchoring agent is a fluid formed by stirring cement, coarse stone powder, fine coal ash, clay, glass beads, sodium lignin sulfonate, anhydrous sodium sulfate and water, and the proportion is common in the construction industry and belongs to the prior art.
The automatic anchor loading equipment can complete the work of drilling, installing the anchor rod and filling the anchoring agent at one time, improves the working efficiency, has simple equipment structure and is low in manufacturing and maintenance cost.
Example 2: fig. 7 shows a second embodiment of the present invention, which differs from the first embodiment in that: the anchor unit 1 further comprises a sliding frame 121, a sliding block 122, an oil cylinder a123 and a guide rod a124, wherein the mounting plate a18 is fixed on the sliding block 122, the guide rod a124 is vertically arranged on the sliding frame 121, the sliding block 122 is arranged on the guide rod a124, a cylinder body of the oil cylinder a123 is arranged on the sliding frame 121, and a telescopic rod of the oil cylinder a123 is connected with the sliding block 122. By arranging the oil cylinder a123, the drilling machine 11 can be pushed to reach the positions of the side surface and the top surface of the roadway, pressure is provided for drilling, and smooth drilling is ensured.
Example 3: fig. 8 and 9 are diagrams illustrating a third embodiment of the present invention, which is different from the second embodiment in that: the anchor unit1 further comprises a guide rod b125, a vertical plate 126 and an oil cylinder b127, wherein the guide rod b125 is arranged on the sliding frame 121, the guide rod b125 is parallel to the guide rod a124, a guide sleeve 1261 is arranged at the top of the vertical plate 126, the guide rod b125 is arranged in the guide sleeve 1261, a cylinder body of the oil cylinder b127 is arranged on the vertical plate 126, and a telescopic rod of the oil cylinder b127 is connected with the sliding frame 121. By providing the vertical plate 126 and the oil cylinder b127, the lifting of the carriage 121 can be controlled, the drilling machine 11 can reach a longer distance, and the working range of the equipment is increased.
Example 4: fig. 10 to 12 are fourth embodiments of the present invention, which are different from the third embodiment in that: the anchor unit 1 further comprises a positioning plate 128, a guide rod c129 and an oil cylinder c130, the guide rod b125 is in a hollow tube shape, the bottom of the positioning plate 128 is connected with the guide rod c129, the guide rod c129 is inserted from the top of the guide rod b125, a sliding sleeve is arranged between the guide rod c129 and an inner cavity of the guide rod b125, a cylinder body of the oil cylinder c130 is arranged on the vertical plate 126, and a telescopic rod of the oil cylinder c130 is connected with the bottom surface of the positioning plate 128. The anchoring position can be fixed by arranging the positioning plate 128, so that the stability of the equipment is improved. The reservoir cylinder 16 includes a cylinder body 161, a piston 162, and an electric push rod 163, the piston 162 being mounted in the cylinder body 161, the electric push rod 163 being connected to the piston 162.
Example 5: fig. 13 to 20 are fifth embodiments of the present invention, which are different from the fourth embodiment in that: as shown in fig. 13, the automatic anchor device further comprises a transverse adjusting part 2, a longitudinal adjusting part 3, a vehicle body 4, a workbench 5 and an operation panel 6, wherein the workbench 5 is respectively arranged on two sides of the front end of the vehicle body 4, the operation panel 6 is arranged on the workbench 5, the transverse adjusting part 2 is arranged on the front end of the workbench 5, the longitudinal adjusting part 3 is respectively arranged on two sides of the rear end of the vehicle body 4, and the anchor unit 1 is arranged on the transverse adjusting part 2 and the longitudinal adjusting part 3; the operation panel 6 is provided with a hydraulic control valve. The vehicle body 4 is a motor-driven tracked vehicle. The anchor loading units 1 arranged on the transverse adjusting part 2 can anchor the top of the roadway, and the anchor loading units 1 arranged on the longitudinal adjusting part 3 can anchor the two sides of the roadway.
As shown in fig. 15 and 17, the lateral adjustment portion 2 includes a base 21, a lateral shifting cylinder 22, and a moving arm 23, the base 21 is connected to the workbench 5, two sliding grooves 211 are transversely provided in the base 21, the moving arm 23 is installed in the sliding grooves 211, two ends of the lateral shifting cylinder 22 are respectively hinged to the moving arm 23 and the base 21, and a vertical plate 126 is installed at the end of the moving arm 23.
As shown in fig. 14 and 16, the lateral adjustment portion 2 further includes a mounting plate b25, a swing cylinder a24, a mounting block 26, and a swing cylinder b27, the mounting plate b25 is disposed at the end of the moving arm 23, the swing cylinder a24 is mounted on the mounting plate b25, and the mounting block 26 is connected to the rotation shaft of the swing cylinder a 24; the mounting block 26 is provided with a bearing seat, two sides of the vertical plate 126 are provided with rotating shafts, the vertical plate 126 is mounted in the bearing seat on the mounting block 26, the cylinder body of the swinging oil cylinder b27 is connected with the mounting block 26, and the rotating shaft of the swinging oil cylinder b27 is connected with the side face of the vertical plate 126.
By arranging the swing oil cylinder a24 and the swing oil cylinder b27, the reciprocating rotation motion of the swing oil cylinder a24 and the swing oil cylinder b27 can be started to respectively control the vertical plate 126 to rotate along the cross section and the horizontal plane of a roadway, when hard rock is encountered in the drilling process, the swing oil cylinder a24 and the swing oil cylinder b27 are started, the drill bit can be controlled to swing to find the rock weak point, and the drilling is convenient; when the drill bit is taken out, the drilling machine 11 is kept to rotate, and meanwhile, the swing oil cylinder a24 and the swing oil cylinder b27 are started, so that the drill bit can be prevented from being blocked in a drilling hole, and the drill bit can be conveniently taken out; when the anchoring agent is extruded, the swinging oil cylinder a24 and the swinging oil cylinder b27 are started, so that the anchoring agent can be completely filled in the drilled hole, and gaps are avoided.
As shown in fig. 18 to 20, the longitudinal adjustment portion 3 includes a vertical plate b31, a moving block b32, an oil cylinder d33, a rotating oil cylinder 34, and a guide rod d35, the vertical plate b31 is vertically installed at both sides of the rear end of the vehicle body 4, the guide rod d35 is provided on the vertical plate b31, the moving block b32 is installed on the guide rod d35, the oil cylinder d33 is provided between the moving block b32 and the vertical plate b31, the rotating oil cylinder 34 is installed on the moving block b32, and the vertical plate 126 is connected to the rotating rod of the rotating oil cylinder 34. The vertical position of the movable block b32 can be controlled by controlling the extension and retraction of the oil cylinder d33, so that the different heights of the side wall of the roadway are anchored; the inclination angle of the transverse plate 35 can be adjusted by rotating the oil cylinder 34, so that the inclined surface of the side wall of the roadway is anchored; during operation, the position of the anchor loading unit 1 is adjusted through the control oil cylinder d33 and the rotary oil cylinder 34, and then the anchor loading unit 1 is started to load the drill rod 15.
Example 6: the present embodiment differs from the fifth embodiment in that: the automatic anchor loading equipment also comprises a transmitter, a receiver and a singlechip, wherein the transmitter transmits ultrasonic waves or electromagnetic wave signals, and the receiver can receive the signals transmitted by the transmitter and calculate the distance between the receiver and the transmitter; the data port of receiver is connected the singlechip, and singlechip is connected to the driving system of automobile body 4, and the transmitter sets up in tunnel exit position both sides and drilling rod 15 afterbody, and receiver, singlechip are installed on automobile body 4. By providing transmitters, receivers, the distance between the car body 4 and the roadway exit, the installed drill rod 15 can be measured, so that the next anchor position is determined. After reaching the specified distance, the singlechip controls the power system of the vehicle body 4 to stop.
Example 7: fig. 21 to 23 are seventh embodiments of the present invention, which are different from the fifth embodiment in that: the automatic anchor loading equipment further comprises a camera, an image processor, an indicator light, a single chip microcomputer and an audible and visual alarm, wherein the indicator light is arranged on two sides of the roadway outlet position and at the tail of the drill rod 15, the camera, the image processor and the single chip microcomputer are arranged on the vehicle body 4, the camera is connected with the image processor, and the image processor, a power system of the vehicle body 4 and the audible and visual alarm are connected with the single chip microcomputer. The camera shoots pictures of lanes at the rear of the car body 4, black points in the pictures after vector processing are the positions of the indicator lamps, and fig. 21 is a vector diagram I obtained after lane picture processing. Fig. 22 is a second vector diagram obtained after the equipment roadway picture processing. The image processor knows the travelling distance of the car body 4 according to the number of the indicator lamps in the picture, so as to signal the singlechip, control the car body 4 to stop at fixed distance intervals, and perform anchor loading work. For example, the first indicator lights are identified in the first vector diagram, the second indicator lights are identified in the second vector diagram, the seventh indicator lights are identified in the roadway pictures, and the corresponding equipment advances by one anchor rod distance from the sixth indicator lights to the seventh indicator lights. When new indicator lamps appear in the roadway pictures, the indicator lamps represent that the equipment advances by one anchor rod distance, the equipment stops advancing, and anchor loading work is carried out.
The image processor can also compare the indicator lamp pictures shot at different time periods, and when any one of the relative position, distribution and distance of the indicator lamps in the pictures changes, the roadway deformation is indicated, and the singlechip gives an alarm. The situation of the roadway can be monitored by arranging the camera and the image processor, so that roadway collapse can be found in time, and accidents are avoided. Fig. 23 is a comparison diagram of the first and second vector diagrams after alignment and superposition. The newly excavated roadway is attached to the original geological structure, the structure is the most stable, collapse is not easy to occur, so that three indicator lamps closest to the interior of the roadway are taken as reference, as shown in the figure 21 and shot before the figure 22, the three indicator lamps in the circle in the figure 21 correspond to the three indicator lamps in the circle in the figure 22, the figure 21 is fixed, the three points in the figure 22 are overlapped with the three points in the figure 21 by rotating the zoom figure 22, the figure 23 is obtained, the right side of the roadway can be seen, the positions of the indicator lamps close to the position of the outlet of the roadway are deviated, the deviation amount of the outlet of the roadway is larger, the position is proved to collapse, and the singlechip controls the audible-visual alarm to give out an alarm.
In operation, a worker can stand on the table 5 and operate the lateral adjustment portion 2, the anchor unit 1, and the longitudinal adjustment portion 3 through the operation panel 6. The transverse adjusting part 2 is additionally provided with the anchor units 1 to anchor the top surface of the roadway, and the longitudinal adjusting part 3 is additionally provided with the anchor units 1 to anchor the two sides of the roadway. Two sliding grooves 211 are transversely formed in the base 21, a movable arm 23 is respectively arranged in the two sliding grooves 211, and the horizontal positions of the two movable arms 23 can be controlled by controlling the extension and contraction of the transverse moving oil cylinder 22, so that four anchoring positions are positioned; after the position of the movable arm 23 is determined, the telescopic rod of the control oil cylinder c130 extends out to push the positioning plate 128 against the top surface of the roadway, so that positioning is realized; then, manually installing the drill rod 15 on the drilling machine 11, enabling the oil cylinder b127 to extend to push the sliding frame 121 to move towards the direction of the positioning plate 128 until the drill rod 15 contacts the top surface of the roadway, starting the drilling machine 11, and enabling the oil cylinder a123 to extend to provide a pressing force for a drill bit on the drilling machine 11 until the drilling work is completed; after the drilling is completed, the electric push rod 163 is activated to push the piston 162 to fill the anchoring agent in the cylinder 161 into the drilling, and the electric push rod 163 is stopped when the anchoring agent flows out of the drilling. Finally, manually installing a protective net on the roadway: when the drilling is completed, the fixing handle 153 does not enter the ore layer outside, a plug-in structure is arranged between the drill rod 15 and the output shaft 120, and the shrinkage of the oil cylinder a123, the oil cylinder b127 and the oil cylinder c130 is controlled in sequence to enable the drill rod 15 to be separated, so that the anchor loading unit 1 is reset. When the protective net is paved on the inner wall of the roadway, the fixed handle 153 penetrates through the protective net, the baffle plate is sleeved into the fixed handle 153, and then the protective net can be fixed by installing and screwing nuts on the fixed handle 153, so that the anchoring work is completed.
While the foregoing description of the embodiments of the present invention has been presented with reference to the drawings, it is not intended to limit the scope of the invention, but rather, it is apparent that various modifications or variations can be made by those skilled in the art without the need for inventive work on the basis of the technical solutions of the present invention.
Claims (5)
1. Automatic anchor loading equipment, including anchor loading unit (1), anchor loading unit (1) are including drilling machine (11), drilling rod (15), and the pivot of drilling machine (11), characterized by are connected in drilling rod (15): the anchor unit (1) further comprises a gear a (12), a gear b (13), a bearing seat (14), a storage cylinder (16), a conveying pipe (17), a mounting plate a (18), a bearing (19) and an output shaft (120), wherein the drilling machine (11) and the bearing seat (14) are mounted on the mounting plate a (18), the output shaft (120) is mounted in the bearing seat (14), and the bearing (19) is arranged between the output shaft (120) and the bearing seat (14); the gear a (12) is arranged on a rotating shaft of the drilling machine (11), the gear b (13) is arranged on the output shaft (120), and the gear a (12) is meshed with the gear b (13); the drill rod (15) sequentially comprises a drill bit (151), a rod main body (152) and a fixed handle (153) from top to bottom, wherein the diameter of the drill bit (151) is larger than that of the rod main body (152), a spiral chip groove is formed in the rod main body (152), external threads are formed in the fixed handle (153), a connecting structure corresponding to the output shaft (120) is arranged at the end part of the fixed handle (153), and a penetrating filling hole (155) is formed in the length direction of the drill rod (15); the output shaft (120) is in a tubular shape with two open ends, one end of the conveying pipe (17) is connected with the storage cylinder (16), and the other end of the conveying pipe penetrates through the output shaft (120) and is inserted into the filling hole (155);
the anchor unit (1) further comprises a sliding frame (121), a sliding block (122), an oil cylinder a (123) and a guide rod a (124), wherein the mounting plate a (18) is fixed on the sliding block (122), the guide rod a (124) is vertically arranged on the sliding frame (121), the sliding block (122) is arranged on the guide rod a (124), a cylinder body of the oil cylinder a (123) is arranged on the sliding frame (121), and a telescopic rod of the oil cylinder a (123) is connected with the sliding block (122);
The anchor unit (1) further comprises a guide rod b (125), a vertical plate (126) and an oil cylinder b (127), wherein the guide rod b (125) is arranged on the sliding frame (121), the guide rod b (125) is parallel to the guide rod a (124), a guide sleeve (1261) is arranged at the top of the vertical plate (126), the guide rod b (125) is arranged in the guide sleeve (1261), a cylinder body of the oil cylinder b (127) is arranged on the vertical plate (126), and a telescopic rod of the oil cylinder b (127) is connected with the sliding frame (121);
The anchor unit (1) further comprises a positioning plate (128), a guide rod c (129) and an oil cylinder c (130), wherein the guide rod b (125) is hollow and tubular, the bottom of the positioning plate (128) is connected with the guide rod c (129), the guide rod c (129) is inserted from the top of the guide rod b (125), a sliding sleeve is arranged between the guide rod c (129) and an inner cavity of the guide rod b (125), a cylinder body of the oil cylinder c (130) is arranged on the vertical plate (126), and a telescopic rod of the oil cylinder c (130) is connected with the bottom surface of the positioning plate (128);
The automatic anchor loading equipment further comprises a transverse adjusting part (2), a longitudinal adjusting part (3), a vehicle body (4), a workbench (5) and an operation panel (6), wherein one workbench (5) is arranged on two sides of the front end of the vehicle body (4), the operation panel (6) is arranged on the workbench (5), the transverse adjusting part (2) is arranged at the front end of the workbench (5), one longitudinal adjusting part (3) is arranged on two sides of the rear end of the vehicle body (4), and the anchor loading unit (1) is arranged on the transverse adjusting part (2) and the longitudinal adjusting part (3); the operation panel (6) is provided with a hydraulic control valve;
The automatic anchor loading equipment also comprises a transmitter, a receiver and a singlechip, wherein the transmitter transmits ultrasonic waves or electromagnetic wave signals, and the receiver can receive the signals transmitted by the transmitter and calculate the distance between the receiver and the transmitter; the data port of the receiver is connected with the singlechip, the power system of the vehicle body (4) is connected with the singlechip, the transmitter is arranged at both sides of the outlet position of the roadway and at the tail part of the drill rod (15), and the receiver and the singlechip are arranged on the vehicle body (4); or the automatic anchor loading equipment also comprises a camera, an image processor, an indicator light, a single chip microcomputer and an audible and visual alarm, wherein the indicator light is arranged on two sides of the outlet position of the roadway and at the tail part of the drill rod (15), the camera, the image processor and the single chip microcomputer are arranged on the vehicle body (4), the camera is connected with the image processor, and the image processor, a power system of the vehicle body (4) and the audible and visual alarm are connected with the single chip microcomputer; the camera shoots pictures of a roadway at the rear of the car body (4), black points in the pictures after vector processing are indicator light positions, the image processor knows the travelling distance of the car body (4) according to the number of the indicator lights in the pictures and gives signals to the singlechip, and the singlechip controls the car body (4) to stop at fixed distance intervals to carry out anchor loading work; the image processor can also compare the indicator lamp pictures shot at different time periods, and uses three indicator lamps closest to the interior of the roadway as reference standards to perform image comparison, and if the positions of the indicator lamps are found to deviate, the singlechip controls the audible and visual alarm to give an alarm.
2. The automatic anchoring device according to claim 1, characterized in that the middle part of the rod body (152) is further provided with a transverse tapping opening (154), the tapping opening (154) being in communication with the filling hole (155).
3. The automatic anchor loading device according to claim 1, wherein the transverse adjusting portion (2) comprises a base (21), a transverse moving oil cylinder (22) and a moving arm (23), the base (21) is connected with the workbench (5), two sliding grooves (211) are transversely formed in the base (21), the moving arm (23) is arranged in the sliding grooves (211), two ends of the transverse moving oil cylinder (22) are hinged with the moving arm (23) and the base (21) respectively, and the vertical plate (126) is arranged at the tail end of the moving arm (23).
4. The automatic anchor device according to claim 3, wherein the lateral adjustment portion (2) further comprises a mounting plate b (25), a swinging oil cylinder a (24), a mounting block (26) and a swinging oil cylinder b (27), the mounting plate b (25) is arranged at the tail end of the moving arm (23), the swinging oil cylinder a (24) is mounted on the mounting plate b (25), and the mounting block (26) is connected with a rotating shaft of the swinging oil cylinder a (24); the mounting block (26) is provided with a bearing seat, two sides of the vertical plate (126) are provided with rotating shafts, the vertical plate (126) is mounted in the bearing seat on the mounting block (26), the cylinder body of the swinging oil cylinder b (27) is connected with the mounting block (26), and the rotating shafts of the swinging oil cylinder b (27) are connected with the side surfaces of the vertical plate (126).
5. The automatic anchor loading device according to claim 1, wherein the longitudinal adjustment portion (3) comprises a vertical plate b (31), a moving block b (32), an oil cylinder d (33), a rotary oil cylinder (34) and a guide rod d (35), wherein the vertical plate b (31) is vertically arranged on two sides of the rear end of the vehicle body (4), the guide rod d (35) is arranged on the vertical plate b (31), the moving block b (32) is arranged on the guide rod d (35), the oil cylinder d (33) is arranged between the moving block b (32) and the vertical plate b (31), the rotary oil cylinder (34) is arranged on the moving block b (32), and the vertical plate (126) is connected with a rotary rod of the rotary oil cylinder (34).
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| CN101250981B (en) * | 2008-03-26 | 2012-11-07 | 中国葛洲坝集团股份有限公司 | Construction method for accurate locating small distance air face hole-drilling |
| CN101302931B (en) * | 2008-06-25 | 2011-02-16 | 闫振东 | Method for extracting rim angle coal and re-extracting after warehouse coal extracting |
| CN102518401A (en) * | 2011-12-01 | 2012-06-27 | 中国煤炭科工集团太原研究院 | Hydraulic-driving two-level feeding cylinder-oriented symmetrically-arranged jumbolter |
| CN104213831B (en) * | 2014-08-16 | 2016-08-24 | 中国煤炭科工集团太原研究院有限公司 | A kind of roofboltier collecting colliery digging, supporting and transporting parallel sharp work |
| CN104314483B (en) * | 2014-10-27 | 2017-02-15 | 济南同日工业机器人科技有限公司 | Automatic auxiliary workover rig |
| CN114086895B (en) * | 2021-11-25 | 2024-08-02 | 山东创力邦迈智能科技有限公司 | Forward moving device of roof bolting machine for tunneling and bolting machine |
| CN115853560B (en) * | 2022-12-19 | 2023-09-15 | 江苏中贵重工有限公司 | Anchor rod drilling arm and multifunctional drill carriage for underground narrow space of coal mine |
| CN117431935A (en) * | 2023-12-06 | 2024-01-23 | 北京荣创岩土工程股份有限公司 | Sectional type cavity slip casting anchor rope end anchor |
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