WO2023093117A1 - 锚护车 - Google Patents

锚护车 Download PDF

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Publication number
WO2023093117A1
WO2023093117A1 PCT/CN2022/109665 CN2022109665W WO2023093117A1 WO 2023093117 A1 WO2023093117 A1 WO 2023093117A1 CN 2022109665 W CN2022109665 W CN 2022109665W WO 2023093117 A1 WO2023093117 A1 WO 2023093117A1
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WO
WIPO (PCT)
Prior art keywords
net
anchor
hanging
frame
arm
Prior art date
Application number
PCT/CN2022/109665
Other languages
English (en)
French (fr)
Inventor
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
中国煤炭科工集团太原研究院有限公司
山西天地煤机装备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国煤炭科工集团太原研究院有限公司, 山西天地煤机装备有限公司 filed Critical 中国煤炭科工集团太原研究院有限公司
Priority to AU2022397722A priority Critical patent/AU2022397722A1/en
Publication of WO2023093117A1 publication Critical patent/WO2023093117A1/zh

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Classifications

    • 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
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
    • E21D11/14—Lining predominantly with metal
    • E21D11/15—Plate linings; Laggings, i.e. linings designed for holding back formation material or for transmitting the load to main supporting members
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
    • E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D20/00—Setting anchoring-bolts
    • 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

Definitions

  • the invention relates to the technical field of roadway support devices, in particular to an anchor protection vehicle.
  • the anchoring and protection work usually adopts the support method of bolt support and anchor net support. low problem.
  • the present invention aims to solve one of the technical problems in the related art at least to a certain extent.
  • an embodiment of the present invention proposes an anchor protection vehicle, which realizes the automation and intelligence of the anchor protection operation, reduces the labor load intensity of workers, and improves work efficiency.
  • the anchor protection vehicle in the embodiment of the present invention comprises: a vehicle body; a net-hanging device, the net-hanging device includes a net-hanging arm group and a support frame, the net-hanging arm group is connected to the vehicle body, and the support frame is connected to the
  • the free ends of the hanging net arm set are rotatably connected, and the support frame can slide relative to the net hanging arm set, and the net hanging arm set can swing along the length direction of the vehicle body for adjustment
  • the spatial orientation of the support frame, the support frame can absorb and fix the anchor net;
  • the anchor drilling device, the anchor drilling device includes a positioning arm group and an anchor warehouse, the positioning arm group is connected with the vehicle body, and the anchor drilling device
  • the rod drilling rig is rotatably connected to the free end of the positioning arm group, the positioning arm group can swing along the length direction, width direction and height direction of the vehicle body, and the length of the positioning arm group is adjustable,
  • the positioning arm group is suitable for adjusting the spatial orientation of the anchor bin, and the
  • the boreholes are aligned, and the pushing assembly is adapted to push the anchoring agent in the storage pipe into the borehole;
  • the control device includes the net hanging device, the anchor drilling device, and the anchoring agent delivery device All are electrically connected with the control device, and the control device is suitable for coordinating and regulating the net hanging device, the anchor drilling device, and the anchoring agent delivery device to realize automation;
  • the cable winding device the cable winding device is set On the vehicle body, the cable winding device is adapted to retract a cable so that the vehicle body can be operated within a range, and the cable is adapted to provide electric power.
  • the anchor protection vehicle of the embodiment of the present invention realizes the automation and intelligence of the anchor protection operation, reduces the labor load intensity of workers, and improves work efficiency.
  • the set of net-hanging arms includes a net-hanging base, a first net-hanging arm, a first net-hanging drive, a second net-hanging arm, a second net-hanging drive, a support frame and a third net-hanging drive
  • the hanging net base is connected with the vehicle body
  • one end of the first hanging net arm is rotatably connected with the hanging net base
  • the first hanging net drive is suitable for driving the first hanging net
  • the net arm rotates 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
  • the second net-hanging arm rotates along the length direction of the vehicle body
  • the support frame is rotatably connected with the other end of the second net-hanging arm through the third net-hanging drive
  • the support is opposite to the first net-hanging arm.
  • the drive of the three hanging nets can slide, and the driving
  • the support frame includes a main frame, a first sub-frame and a second sub-frame, the first sub-frame is rotatably connected to one side of the main frame, and the second sub-frame can Rotationally connected to the other side of the main frame, the support frame has a first form and a second form.
  • the first form the first sub-frame, the main frame, and the second sub-frame
  • the frame is laid flat and is suitable for buckling the anchor net.
  • the first sub-frame and the second sub-frame are stacked on the main frame.
  • the support frame includes a third sub-frame, a net frame and a fourth net-hanging drive
  • the third sub-frame is rotatably connected with the main frame
  • the net frame is detachably assembled on the
  • the third sub-frame in the first form, the third sub-frame is laid flat with the main frame, and the network frame is fixed on the third sub-frame to increase the supporting area.
  • the net frame on the third sub-frame is removed, and the third sub-frame is superimposed on the main frame, and the fourth hanging net is driven and connected between the third sub-frame and the Between the main frames, the fourth hanging net drive is suitable for driving the third sub-frame to swing.
  • the third net-hanging drive includes a first driver, a second driver, a first net-hanging seat and a second net-hanging seat
  • the first driver is arranged on the second net-hanging arm
  • the first net-hanging seat is connected to the driving end of the first driver
  • the first driver is suitable for driving the swing of the first net-hanging seat so that the support frame can be suitable for laying anchors for the roof and side walls.
  • the second driver is arranged on the first net hanging seat
  • the second net hanging seat is connected to the driving end of the second driver
  • the support frame is connected to the second net hanging seat
  • the second driver is adapted to drive the second net hanging seat to swing so that the supporting frame can rotate in a circumferential direction.
  • the first net-hanging arm includes a first section and a second section, the first section and the second section form an angle and form an avoidance groove, and the net-hanging device has a working condition and the idle working condition, in the working working condition, the support frame swings to the front side of the vehicle body through the first net hanging arm and the second net hanging arm to perform anchor net operation, the first section and the The avoidance groove formed by the second section faces the rear side to reduce the distance between the center of gravity of the first net-hanging arm and the second net-hanging arm and the net-hanging base. In the idle working condition, the The support frame is suitable for swinging to the rear side of the vehicle body through the first net-hanging arm and the second net-hanging arm, and the avoidance slot faces downward and is suitable for avoidance.
  • the anchor bin includes a bin body, a chain assembly, a push assembly, a drill box, an anchor box, a feed assembly, and a switch assembly, the chain assembly, the push assembly, the drill box, the The anchor box, the feed assembly, and the switching assembly are all arranged on the warehouse body, and the chain assembly is provided with a plurality of slots for fixing the anchor rod, and the chain assembly can rotate and transport the anchor rod to The first position, the pushing assembly is suitable for pushing the anchor rod at the first position to the second position, the drilling box and the anchor box are guided and slidably assembled on the warehouse body, the drilling box
  • the anchor box can be directly opposed to the anchor rod at the second position and is suitable for drilling, the anchor box can be directly opposite to the anchor rod at the second position and suitable for anchoring, and the feed assembly is suitable for moving along
  • the axial movement of the bin body drives the drilling box and the anchor box to move, and the switching assembly is adapted to switch the anchor box and the drilling box so that the anchor box and the drilling box are respectively connected to the
  • the hole alignment assembly is arranged on the bin body, the hole alignment assembly includes a centralizer, a nozzle, a hole alignment driving device and an image collector, and the centralizer is suitable for righting the bolt,
  • the spray pipe communicates with the conveying pipe, and the spray pipe is suitable for aiming at the borehole and spraying out the anchoring agent.
  • the hole driving device is suitable for driving the centralizer and the nozzle to switch positions
  • the image collector is arranged on the anchor bin, the image collector is electrically connected to the control device, and the image collector It is suitable for collecting image information with holes on the anchor net and transmitting the image information to the control device, and the control device is suitable for analyzing the position of the holes through the image information to regulate the net hanging device and the anchor.
  • the positioning arm set includes a positioning main arm, a first positioning seat, a first positioning arm, a second positioning seat, a second positioning arm and a third positioning seat, and the first positioning seat is connected to the The vehicle body is connected and can swing along the width direction of the vehicle body.
  • One end of the positioning main 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 connected to the The first positioning seat is rotatably connected, the other end of the first positioning arm is rotatably connected to the positioning main arm, and the first positioning arm is suitable for driving the positioning main arm to swing up and down.
  • the second positioning seat is connected with the other end of the positioning main arm, one end of the second positioning arm is rotatably connected with the positioning main arm, and the other end of the second positioning arm is connected with the second positioning seat Rotatably connected, 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 the third positioning seat is positioned on the vehicle body
  • the width direction of the third positioning seat is suitable for being connected with the anchor bin.
  • the storage box includes a box body, a drive chain, a drive wheel, an air inlet port, and an air outlet port.
  • the outer peripheral side of the drive chain is arranged at intervals, the air inlet port and the air outlet port are both arranged on the box body, and the drive wheel is suitable for driving the drive chain to rotate so that each of the storage tubes Rotate between the air inlet port and the air outlet port and communicate with the air inlet port and the air outlet port, the push assembly is a gas push assembly, the air inlet port is suitable for communicating with the push assembly, and the air outlet
  • the interface is adapted to communicate with the delivery tube.
  • the drill anchor device includes a first drill drill device and a second drill drill device, and both the first drill drill device and the second drill drill device are provided with the delivery pipe and the pair of drill drill devices.
  • the hole assembly, the air outlet interface includes a first interface and a second interface, and the first interface and the second interface communicate with the delivery pipes of the first anchor drilling device and the second anchor drilling device respectively, so The first interface and the second interface are guided and slidably assembled on the box body, and the storage box includes an interface driver, and the interface driver is suitable for driving the movement of the first interface and the second interface so that Any one of the first interface and the second interface may communicate with a corresponding storage pipe.
  • the cable winding device includes a cable frame, a cable driving driver, a cable winding drum, a cable discharge assembly and a guide roller, the cable winding device is arranged on the rear side of the vehicle body, and the cable winding drum , the cable discharge assembly and the guide roller are all assembled on the cable frame, and the cable winding drum, the cable discharge assembly and the guide roller are arranged in sequence along the front and rear direction of the car body, and the roll
  • the cable driver is in transmission connection with the cable reeling drum, and the cable reeling driver is suitable for driving the cable reeling drum to rotate to reel up the cable.
  • the vehicle body includes a vehicle frame and a plurality of props, the plurality of props are assembled on the vehicle frame and arranged at intervals along the circumference of the vehicle frame, the The length of the props is adjustable, and the props are suitable for propping up with the ground to fix and level the vehicle body.
  • the use of the anchor car includes the following steps:
  • S3 Place the anchor net on the support frame, and then control the movement of the net hanging device to fasten the anchor net on the roof of the roadway or the side of the roadway;
  • S4 Use the hole alignment component to identify the position of the hole on the anchor net, and then manipulate the anchor drill device to drill through the hole;
  • Fig. 1 is a schematic diagram of the rear side of the overall structure of the anchor protection vehicle according to the embodiment of the present invention.
  • Fig. 2 is a schematic diagram of the front side of the anchor car in Fig. 1 .
  • Fig. 3 is a schematic diagram of the right side view of the anchor car in Fig. 2 .
  • Fig. 4 is a schematic diagram of the use state of the anchor drilling device in Fig. 1 .
  • Fig. 5 is a schematic perspective view of the drill anchor device in Fig. 1 .
  • Fig. 6 is a schematic structural diagram of the positioning arm group in Fig. 5 .
  • Fig. 7 is a first schematic diagram of the structure of the anchor bin in Fig. 5 .
  • Fig. 8 is a second schematic diagram of the structure of the anchor bin in Fig. 5 .
  • Fig. 9 is a schematic perspective view of the net hanging device in Fig. 1 .
  • Fig. 10 is a schematic bottom view of the net hanging device in Fig. 1 .
  • Fig. 11 is a schematic diagram of the working condition of the net hanging device in Fig. 9 .
  • Fig. 12 is a schematic diagram of the idle working condition of the net hanging device in Fig. 9 .
  • Fig. 13 is a schematic structural view of the second seat in Fig. 12 .
  • Fig. 14 is a schematic structural view of the second net-hanging arm in Fig. 13 .
  • Fig. 15 is a schematic cross-sectional view of the second net hanging arm in Fig. 14 .
  • Fig. 16 is a schematic structural view of the support frame in Fig. 9 in a second configuration.
  • Fig. 17 is a schematic structural view of the support frame in Fig. 9 in a first form.
  • Fig. 18 is a schematic diagram of a pushing component of the anchoring agent delivery device in Fig. 1 .
  • FIG. 19 is a schematic diagram of the hole assembly of the anchoring agent delivery device in FIG. 1 .
  • FIG. 20 is a schematic illustration of a storage box of the anchoring agent delivery device of FIG. 1 .
  • Fig. 21 is a schematic perspective view of the cable winding device in Fig. 1 .
  • FIG. 22 is a schematic top view of the cable winding device in FIG. 21 .
  • Anchoring agent delivery device 4
  • the anchor protection vehicle 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 .
  • the car body 1 can be a crawler car body 1, and the car body 1 can move by itself.
  • the car body 1 can also be a tire car body 1, that is, the bottom of the car body 1 is installed tire.
  • Hanging net device 2 comprises hanging net arm group and bracing frame 25, and hanging net arm group links to each other with car body 1, and bracing frame 25 links to each other rotatably with the free end of hanging net arm group, and bracing frame 25 relative hanging net arm group can Sliding, the net hanging arm group can swing along the length direction of the vehicle body 1 to adjust the spatial orientation of the support frame 25, and the support frame 25 can adsorb and fix the anchor net 26.
  • the net-hanging arm group can be fixed on the top of the car body 1, the net-hanging arm group is a mechanical arm, and the support frame 25 is installed on the free end of the net-hanging arm group, and the support frame can be adjusted by controlling the action of the net-hanging arm group. 25.
  • the support frame 25 can be provided with an electromagnet, and the electromagnet can adsorb and fix the anchor net 26 on the support frame 25, and the anchor net 26 can be fastened in the roadway by adjusting the hanging net arm group and the support frame 25 On the roof or the side of the roadway, after the anchor net 26 is fixed with the roadway roof or the side, the power supply of the electromagnet can be cut off, thereby realizing the separation of the support frame 25 and the anchor net 26.
  • the net-hanging arm group can swing in the front-rear direction (the length direction of the vehicle body 1), thus, the position adjustment of the support frame 25 in the front-rear direction can be satisfied.
  • Anchor drilling device 3 comprises positioning arm group 31 and anchor storehouse 32, and positioning arm group 31 is connected with car body 1, and rock bolt machine is rotatably connected with the free end of positioning arm group 31, and positioning arm group 31 is along the car body 1.
  • the length direction, width direction and height direction can be swung, and the length of the positioning arm group 31 is adjustable.
  • the positioning arm group 31 is suitable for adjusting the spatial orientation of the anchor bin 32, and the anchor bin 32 is suitable for setting the anchor bar or anchor cable and fixing the anchor net26.
  • the positioning arm group 31 can be fixed on the top of the car body 1.
  • the positioning arm group 31 can be a mechanical arm.
  • the anchor warehouse 32 can be set with anchor rods or anchor cables, so as to realize anchor rod or anchor cable support.
  • Anchor drilling device 3 can cooperate with hanging net device 2, thereby can finish anchor protection operation.
  • the anchoring agent delivery device 4 includes a pushing assembly 41, a storage box 43, a delivery pipe and a hole alignment assembly 42, the delivery pipe is connected between the storage box 43 and the hole alignment assembly 42, and a plurality of material storage pipes 432 are arranged in the storage box 43,
  • the position of the material storage pipe 432 is adjustable so that the material storage pipe 432 can be communicated with the delivery pipe
  • the alignment assembly 42 is arranged on the anchor bin 32, and the alignment assembly 42 is suitable for aligning the delivery pipe with the drill hole after the anchor bin 32 is drilled.
  • the pushing assembly 41 is adapted to push the anchoring agent in the storage tube 432 into the borehole.
  • the storage tube 432 is used to store the anchoring agent.
  • the storage tube 432 can be guided and slid to be assembled in the storage box 43.
  • a plurality of storage tubes 432 can move along a set direction.
  • the storage box 43 can be provided with The inlet and the outlet are facing each other.
  • the storage tube 432 can be moved between the inlet and the outlet.
  • One end of the storage tube 432 communicates with the inlet, and the other end of the storage tube 432 communicates with the outlet.
  • the pushing assembly 41 can be connected with the inlet, and one end of the delivery pipe can be connected with the outlet, and the pushing assembly 41 can be a mechanical pushing assembly 41, for example, the pushing assembly 41 can convey a flexible ejector rod, and the flexible ejector rod can pass through the material storage pipe 432 and the delivery pipe, so that the anchoring agent in the storage pipe 432 can be pushed into the borehole.
  • the hole alignment assembly 42 can include a camera positioning system.
  • the camera positioning system can identify the position of the band hole on the anchor net 26, and then guide the delivery pipe Moving and aligning the outlet of the delivery tube with the belt hole, whereby the anchoring agent pushed out of the delivery tube can be pushed into the borehole.
  • the net-hanging device 2, the anchor-drilling device 3, and the anchoring agent delivery device 4 are all electrically connected to the control device 6, and the control device 6 is suitable for coordinating and regulating the net-hanging device 2, the anchor-drilling device 3, and the anchoring agent delivery device 4 to realize automation.
  • the control device 6 may be a PLC control system, or other types of processors or controllers. During operation, the control device 6 can control the net hanging device 2, the anchor drilling device 3, and the anchoring agent delivery device 4 to coordinate actions.
  • the cable winding device 5 is arranged on the vehicle body 1, and the cable winding device 5 is suitable for winding up the cable so that the vehicle body 1 can operate in a range, and the cable is suitable for providing electric power.
  • the cable winding device 5 can be arranged at the rear end of the car body 1, and the cable winding device 5 can self-wind the cable, and then can supply power to the anchor car through the cable.
  • One end of the cable can be connected to the power supply, and the position of the car body 1 can be adjusted by winding the cable during use, so as to meet the transition requirements.
  • the anchor protection vehicle of the embodiment of the present invention can complete the anchor protection operation of the excavation roadway by itself, realizes the automation and intelligence of the anchor protection operation, reduces the labor load intensity of the workers, and improves the work efficiency.
  • the net hanging arm group includes 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 first net hanging arm.
  • Three hanging nets drive 24, the hanging net base 21 is connected with the car body 1, and one end of the first hanging net arm 22 is rotatably connected with the hanging net base 21, and the first hanging net driving 221 is suitable for driving the first hanging net arm 22 rotates along the length direction of the vehicle body 1, and one end of the second hanging net arm 23 is rotatably connected with the other end of the first hanging net arm 22, and the second hanging net driving 231 is suitable for driving the second hanging net arm 23 along the Rotate along the length direction of the car body 1, the support frame 25 is rotatably connected with the other end of the second hanging net arm 23 through the third hanging net driving 24, and the support is slidable relative to the third hanging net driving 24, and the third hanging net driving
  • the net drive 24 is suitable for driving the support frame 25 to swing and rotate in
  • the net hanging base 21 can be a column, the net hanging base 21 extends along the up and down direction, and the bottom end of the net hanging base 21 can be detachably connected with the vehicle body 1 through bolts .
  • the hanging net base 21 can be a square column, and in some other embodiments, the hanging net base 21 can also be a round column, a block, and the like.
  • the first net-hanging arm 22 links to each other with the top of the net-hanging base 21, and the first net-hanging arm 22 can swing in the front-rear direction (the length direction of the car body 1) relative to the net-hanging base 21, and the first net-hanging drive 221 can It is a rotary driving 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 driving 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 and rear direction relative to the first net-hanging arm 22, and the second net-hanging drive 231 can be a rotary driving device , the second net-hanging arm 23 is connected to the first net-hanging arm 22 through the second net-hanging drive 231 , and the second net-hanging drive 231 can realize the swing driving of the second net-hanging arm 23 .
  • the third hanging net drive 24 can be a rotary driving device, and the third hanging net driving 24 can have two rotary shafts, which are respectively a first rotary shaft and a second rotary shaft, wherein the first rotary shaft extends along the left and right directions, and the support frame 25 can rotate around the first axis of rotation in the front and back direction, thereby meeting the operation requirements of the support frame 25 supporting the roof of the roadway and the sides of the roadway.
  • the second rotation axis can be arranged perpendicular to the first rotation axis, and the support frame 25 can also rotate circumferentially around the second rotation axis, thus, the azimuth angle switching of the support frame 25 can be realized.
  • the support frame 25 can be assembled with the guide sliding of the third hanging net drive 24, thus, the support frame 25 can translate as a whole relative to the third hanging net drive 24, so that the fine adjustment of the position of the support frame 25 can be realized, and the adjustment of the support frame 25 can be improved.
  • the flexibility makes it easy to adjust in place.
  • the support frame 25 can be adjusted to the position requiring the support of the anchor net 26 through the first net-hanging arm 22 and the second net-hanging arm 23, and then the third net-hanging arm can be used to drive 24.
  • the anchor net 26 on the support frame 25 can be fastened on the roof or the side of the roadway, and finally the anchor net 26 and the roadway roof or the side are fixed.
  • the support frame 25 includes a main frame 251, a first sub-frame 252 and a second sub-frame 253, the first sub-frame 252 is rotatably connected to one side of the main frame 251, and the second sub-frame 253 is rotatable ground connected to the other side of the main frame 251, the support frame 25 has a first form and a second form, in the first form, the first sub-frame 252, the main frame 251, and the second sub-frame 253 are flat and suitable for buckling anchors For the net 26 , in the second form, the first sub-frame 252 and the second sub-frame 253 are stacked on the main frame 251 .
  • the main frame 251 can be connected with the second arm through a third driving device, the first sub-frame 252 can be pivotally mounted on the left side of the main frame 251, and the second sub-frame 253 can be It is pivotally mounted on the right side of the main frame 251.
  • the support frame 25 is switched to the first form, thereby reducing the space size of the support frame 25, thereby avoiding bumps and improving passability.
  • the first sub-frame 252 and the second sub-frame 253 can be folded to the left and right sides of the main frame 251 respectively, the first sub-frame 252, the main frame 251,
  • the second sub-frame 253 is sequentially arranged along the left and right directions, thereby increasing the supporting area, thereby meeting the requirements for laying the net.
  • the anchor net 26 can include a sheet net 261 and a strip steel 262, the sheet net 261 can be a rectangular steel net, the strip steel 262 and the sheet net 261 are welded and fixed, and the strip steel 262 is provided with a belt.
  • the anchor rod When setting the anchor rod, pass the anchor rod through the belt hole and fix it with the top plate or side.
  • the support frame 25 includes a third sub-frame 255, a net frame 256 and a fourth net-hanging drive 254, the third sub-frame 255 is rotatably connected with the main frame 251, and the net frame 256 is detachably assembled on the second side.
  • the third sub-frame 255 is tiled with the main frame 251, and the grid frame 256 is fixed on the third sub-frame 255 to increase the supporting area.
  • the third sub-frame 255 The upper net frame 256 is removed, and the third sub-frame 255 is stacked on the main frame 251, and the fourth hanging net drive 254 is connected between the third sub-frame 255 and the main frame 251, and the fourth hanging net drive 254 is suitable for driving The third sub-frame 255 swings.
  • the 3rd auxiliary frame 255 can pivotally be assembled on the front side of main frame 251, when needing netting, the 3rd auxiliary frame 255 can be rotated to the front side of main frame 251
  • the third sub-frame 255 and the main frame 251 are generally located in the same plane, thus, the support area can be increased, so that the support frame 25 can meet the laying requirements of anchor nets 26 of different sizes and the technological requirements of excavation.
  • the third sub-frame 255 needs to be expanded can be selected according to the actual situation. For example, when laying the anchor net 26 with a smaller size, only the first sub-frame 252 and the second sub-frame 253 can be deployed. , when the anchor net 26 with a larger size needs to be laid, the third auxiliary frame 255 can be expanded.
  • the network frame 256 can be detachably assembled with the third sub-frame 255 .
  • the length dimension of the net frame 256 is substantially the same as the overall length dimension formed after the first sub-frame 252 , the main frame 251 and the second sub-frame 253 are deployed in the first form, thereby meeting the supporting requirements of the anchor net 26 .
  • Net frame 256 can be clamped and fixed on the 3rd sub-frame 255, for example, can be provided with draw-in groove on one of the 3rd sub-frame 255 or the net frame 256, during use, can net frame 256 and the 3rd sub-frame 255 Clamping and fixing also facilitates the installation and disassembly of the grid frame 256 like this.
  • the net frame 256 can be fixed on the third sub-frame 255 , and when the third sub-frame 255 needs to be put away, the net frame 256 can be disassembled.
  • the fourth driving device can be a driving motor, the fourth driving device can be fixed under the main frame 251, and the drive shaft of the fourth driving device can be connected with the third sub-frame 255, thus facilitating the third Rotational drive of the sub-frame 255.
  • both the first sub-frame 252 and the second sub-frame 253 can be stacked above the main frame 251, and the third sub-frame 255 can be stacked under the main frame 251, thus, the first sub-frame 252
  • the use of the second sub-frame 253 and the use of the third sub-frame 255 are relatively independent, thereby improving the flexibility of the use of the third sub-frame 255 .
  • the third hanging net drive 24 includes a first driver 241, a second driver 242, a first net hanging seat 243 and a second net hanging seat 244, and the first driver 241 is arranged on the second net hanging arm 23.
  • the first hanging net seat 243 is connected with the driving end of the first driver 241, and the first driver 241 is suitable for driving the first hanging net seat 243 to swing so that the support frame 25 can be suitable for laying the anchor net 26 of the roof and the side.
  • Two drivers 242 are located on the first hanging net seat 243, the second hanging net seat 244 links to each other with the driving end of the second driver 242, the support frame 25 links to each other with the second hanging net seat 244, and the second driver 242 is suitable for driving the second
  • the net hanging seat 244 swings so that the supporting frame 25 can rotate in a circumferential direction.
  • the first driver 241 and the second driver 242 can both be drive motors, the first driver 241 can be connected and fixed with the second arm, and the drive shaft of the first driver 241 extends along the left-right direction, the second A driving shaft of a driver 241 can be connected with the second arm, and the first seat is connected with the peripheral wall of the first driver 241 .
  • the second driver 242 is fixed on the first seat, and the drive shaft of the second driver 242 is perpendicular to the drive shaft of the first driver 241.
  • the peripheral wall of the second driver 242 can be fixed with the first seat, and the second seat can be connected with the second driver.
  • the driving shaft of 242 is connected and fixed. Support frame 25 is then assembled with the second seat guide.
  • the support frame 25 When in use, the support frame 25 can be driven to rotate back and forth by the first driver 241 , and the support frame 25 can be rotated circumferentially by the second driver 242 , thereby facilitating the adjustment and switching of the support frame 25 orientation.
  • the arrangement of the first seat and the second seat facilitates the switching of the first driver 241 and the second driver 242 .
  • the hanging net device 2 includes a guide assembly 27 and a fifth hanging net drive 257
  • the guide assembly 27 includes a guide rod 272 and a guide seat 271
  • the guide rod 272 is guided and slidably assembled with the guide seat 271
  • the guide rod 272 and Wherein one of guide seat 271 links to each other with support frame 25, and the other links to each other with the second hanging net seat 244, and the fifth hanging net drive 257 is located between support frame 25 and the second hanging net seat 244, and the fifth hanging net
  • the drive 257 is adapted to drive the support frame 25 to slide relative to the second net holder 244 .
  • 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, and the two guide rods 272 are arranged in parallel and at intervals , the four guide seats 271 can all be fixed on the second hanging net seat 244, and the four guide seats 271 are respectively fixed at the four corner positions of the second hanging net seat 244, and each guide bar 272 corresponds to two The guide seat 271, and the guide rod 272 guides and fits in the guide holes of the corresponding two guide seats 271.
  • the support frame 25 can be translated as a whole along the extending direction of the guide rod 272 .
  • the fifth hanging net drive 257 can be a hydraulic telescopic cylinder, the cylinder body of the fifth hanging net driving 257 can be connected and fixed with the second hanging net seat 244, and the piston rod of the fifth hanging net driving 257 can be connected with
  • the supporting frame 25 is connected, and the stretching direction of the fifth hanging net drive 257 is consistent with the extension direction of the guide rod 272, thus, the overall translation of the supporting frame 25 can be realized through the expansion and contraction of the fifth hanging net driving 257.
  • the second hanging net arm 23 includes a hanging net inner sleeve 235, a hanging net outer sleeve 232, a hanging net driver 234 and a displacement sensor, and the hanging net inner sleeve 235 guides and fits on the hanging net outer sleeve 232.
  • the hanging net outer sleeve 232 links to each other with the second hanging net arm 23, and the hanging net inner sleeve 235 links to each other with the third hanging net drive 24, and the hanging net driver 234 and the displacement sensor are located at the hanging net inner sleeve 235 and the hanging net.
  • one end of the hanging net driver 234 is connected with the inner sleeve 235 of the hanging net, and the other end of the hanging net driver 234 is connected with the outer sleeve 232 of the hanging net, and the hanging net driver 234 is suitable for driving the inner sleeve 235 of the hanging net.
  • the displacement sensor is suitable for monitoring the telescopic length of the second net hanging arm 23 .
  • the inner sleeve 235 of the hanging net and the outer sleeve 232 of the hanging net are both square sleeves, and the inner sleeve 235 of the hanging net is guided and locked in the outer sleeve 232 of the hanging net
  • the hanging net driver 234 can be located in the hanging net inner sleeve 235 and the hanging net outer sleeve 232
  • the hanging net driver 234 can be a hydraulic telescopic cylinder
  • one end of the hanging net driver 234 is hinged with the hanging net inner sleeve 235
  • the hanging net The other end of the driver 234 is hinged with the hanging net outer sleeve 232
  • the second hanging net arm 23 can be adjusted in length through the expansion and contraction of the hanging net driver 234, so that the extension size of the first hanging net arm 22 and the second hanging net arm 23 It can meet the operation requirements of different roadway sizes, and improves the adaptability of the anchor net 266 support.
  • the displacement sensor can be located in the inner sleeve 235 of the hanging net and the outer sleeve 232 of the hanging net, and the displacement sensor can monitor the expansion and contraction of the second hanging net arm 23, thereby making things easier for the second hanging net arm 23 to be adjusted in place more intuitively.
  • the inner sleeve 235 of the hanging net and the outer sleeve 232 of the hanging net mainly bear the action of moment and shearing force, thereby meeting the supporting requirements and structural strength of the second hanging net arm 23 .
  • the impact on the net-hanging driver 234 is reduced, and the effect of protecting the net-hanging driver 234 is played.
  • the free end of the inner sleeve 235 of the hanging net is provided with a U-shaped frame 233
  • the first driver 241 is assembled in the U-shaped frame 233
  • the first hanging net seat 243 is L-shaped
  • the first driver 241 is connected with the first net-hanging seat 243 and is located inside the first net-hanging seat 243
  • the second driver 242 is connected with the first net-hanging seat 243 and is located at the outside of the first net-hanging seat 243 .
  • the U-shaped frame 233 is fixed on the free end of the inner sleeve 235 of the hanging net, and the first driver 241 can be assembled in the groove formed by the U-shaped frame 233 , and the driving shaft of the first driver 241 can be connected with the U-shaped frame 233 .
  • the arrangement of the U-shaped frame 233 serves to protect the first driver 241 and enhance the stability of assembly.
  • the first hanging net seat 243 as a whole can be an L-shaped seat, and the inner side of the first hanging net seat 243 is the right-angled side formed by the first hanging net seat 243, and the first driver 241 can Be fixed in the right angle formed by the first hanging net seat 243, that is, the first hanging net seat 243 is wrapped around the outer peripheral side of the first driver 241, thus, the first hanging net seat 243 can rotate around the first driver 241, reducing The space occupied by the first net hanging seat 243 when rotating is reduced, and the compactness of the structure is improved.
  • 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 angle and form an avoidance groove, and the net hanging device 2 has working conditions and idle conditions.
  • Working 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 anchor net 26 operation, and the first section 222 and the second section 223 form
  • the avoidance groove of the first hanging net arm 22 and the second hanging net arm 23 is towards the rear side to reduce the distance between the center of gravity of the first hanging net arm 22 and the second hanging net arm 23 and the spacing of the hanging net base 21.
  • the second net-hanging arm 23 swings to the rear side of the car body 1, and the avoidance groove is facing downward and is suitable for avoiding.
  • the first netting arm 22 is V-shaped as a whole, and the first section 222 and the second section 223 of the first netting arm 22 form an included angle.
  • the first net-hanging arm 22 can swing to the top of the net-hanging base 21, and the second net-hanging arm 23 can swing to the front side of the first net-hanging arm 22.
  • the first section 222 and the second net-hanging arm The junction of section 223 generally protrudes forward.
  • the center of gravity of the structure formed by the first net-hanging arm 22 and the second net-hanging arm 23 can be towards the net-hanging base 21. Approaching, thus, the stability of the structure can be enhanced, which facilitates the operation of the anchor net 26.
  • the first net-hanging arm 22 can swing backward, and the second net-hanging arm 23 can swing to the rear side of the first net-hanging arm 22 , now the first net-hanging arm 22 and the second net-hanging arm 23 are arranged successively along the direction from front to back, and the opening of the avoidance groove formed by the first net-hanging arm 22 is downward, thereby avoiding contact with the car body 1.
  • the case where the corresponding components touch facilitates the storage of the first net-hanging arm 22 and the second net-hanging arm 23 . It also avoids the problem that the front of the vehicle body 1 is heavy and the rear is light, which is beneficial to the stability of the movement of the vehicle body 1 .
  • a plurality of weight-reducing holes 2441 may be provided on the second net-hanging seat 244 , thereby reducing weight and reducing the impact on the first net-hanging arm 22 and the second net-hanging arm 22 .
  • the anchor bin 32 includes a bin body 321, a chain assembly 322, an ejection mechanism 323, a drilling box 324, an anchor box 325, a feed assembly 326, and a switch assembly 327, the chain assembly 322, the ejection mechanism 323, and the drilling box 324 , the anchor box 325, the feed assembly 326, and the switch assembly 327 are all arranged on the bin body 321, and the chain assembly 322 is provided with a plurality of draw-in slots for fixing the anchor rod, and the chain assembly 322 is rotatable and can transport the anchor rod to the first position
  • the push-out mechanism 323 is adapted to push the anchor rod at the first position to the second position, the drilling box 324 and the anchor box 325 are guided and slid to be assembled on the bin body 321, and the drilling box 324 can be aligned with the anchor rod at the second position.
  • the anchor box 325 can face the anchor rod at the second position and is suitable for anchoring
  • the feed assembly 326 is suitable for moving along the axial direction of the bin body 321 to drive the drilling box 324 and the anchor box 325
  • the switch assembly 327 is adapted to switch the anchor box 325 and the drill box 324 so that the anchor box 325 and the drill box 324 are respectively facing the anchor rod.
  • the bin body 321 can be generally rectangular parallelepiped, and the bin body 321 extends along the up and down direction, and the chain assembly 322 can include a circle of ring-shaped chains around the bin body 321, and the ring-shaped chain can go around the bin body
  • the body 321 rotates circularly in the circumferential direction, and the outer peripheral side of the endless chain is provided with a plurality of draw-in slots, the draw-in slots can fasten and fix the anchor bar, and when the endless chain rotates, the anchor bar can be rotated and moved.
  • the anchor rods on the endless chain can be transported to the first position in sequence, and the first position is the position corresponding to the push-out mechanism 323 .
  • Ejection mechanism 323 can comprise four-bar linkage mechanism, push drive oil cylinder and manipulator, and manipulator can be gripper type manipulator, and one end of four-bar linkage mechanism links to each other with storehouse body 321, and the other end of four-bar linkage mechanism links to each other with manipulator, and manipulator can grasp Take the anchor rod, push the driving cylinder to drive the four-bar linkage mechanism to swing, so that the anchor rod can be pushed from the first position to the second position, and the second position is the position where the anchor rod is facing the drilling box 324 or the anchor box 325 place.
  • the drilling box 324 and the anchor box 325 can be assembled on the bottom of the warehouse body 321 by guiding and sliding, and the drilling box 324 and the anchor box 325 can move along the width direction of the anchor warehouse 32.
  • the drilling box 324 has a first working position and a first waiting position, wherein at the first working position, the drilling box 324 moves to the feed assembly 326, and then under the action of the feed assembly 326, the drilling of the anchor rod can be realized.
  • the drilling box 324 is removed from the feeding assembly 326 and temporarily idled on the bin body 321 .
  • the anchor box 325 has a second working position and a second waiting position, wherein at the second working position, the anchor box 325 moves onto the feed assembly 326, and then the feed assembly 326
  • the anchoring operation of the anchor rod can be realized under the action of the anchor rod.
  • the anchor box 325 is removed from the feed assembly 326 and temporarily idled on the warehouse body 321 .
  • the feed assembly 326 may include a guide connecting plate and a feed driving device.
  • the guide connecting plate is slidably assembled on the bin body 321 and can slide up and down, and the feed driving device can drive the guide connecting plate to move up and down.
  • the drilling box 324 In the first working position, the drilling box 324 can move from the warehouse body 321 to the guide connecting plate. In the first waiting position, the drilling box 324 can move from the guiding connecting plate to the warehouse body 321. In the second working position, The anchor box 325 can move from the warehouse body 321 to the guide connecting plate, and at the second waiting position, the anchor box 325 moves from the guide connecting plate to the warehouse body 321 .
  • Switching assembly 327 can comprise switching driver and switching oil cylinder, and switching oil cylinder is located at the front end of switching driver, is provided with piston rod on the switching oil cylinder, and piston rod can cooperate with the through hole on drilling box 324, then can drive drilling box 324 to move by means of switching driver , the piston rod on the switching oil cylinder can also cooperate with the through hole on the anchor box 325, and then the anchor box 325 can be driven to move by means of the switching driver.
  • the drilling box 324 is a wet dust removal drilling drilling box 324
  • the motor of the anchor box 325 is a large-displacement high-torque motor, and the tightening torque is not less than 400Nm
  • the drilling box 324 motor is a small-displacement high-speed motor, and the motor speed is not The speed is lower than 600rpm, which meets the requirements of fastening bolts with small speed and high torque.
  • the hole alignment assembly 42 is arranged on the bin body 321, the hole alignment assembly 42 includes a centralizing member 422, a nozzle 423, a hole alignment driving device 421 and an image collector 424, and the centralizing member 422 is suitable for righting the bolt, Nozzle 423 communicates with delivery pipe, and nozzle 423 is suitable for aiming at the borehole and spraying anchoring agent.
  • Both the centralizing member 422 and the nozzle 423 are arranged on the hole-aligning driving device 421, and the aligning-hole driving device 421 is suitable for driving the centralizing member 422 and the nozzle 423 switch positions, the image collector 424 is arranged on the anchor bin 32, the image collector 424 is electrically connected with the control device 6, and the image collector 424 is suitable for collecting image information with holes on the anchor net 26 and The image information is transmitted to the control device 6, and the control device 6 is suitable for analyzing the positions of the holes through the image information to regulate the movement of the net hanging device 2, the anchor drilling device 3, and the anchoring agent delivery device 4.
  • the driving device 421 for the hole can include a driver for the hole and a telescopic sleeve for the hole
  • the telescopic sleeve for the hole can include an inner sleeve for the hole and an outer sleeve for the hole, wherein the inner sleeve for the hole
  • the sleeve guide slide fits in the hole outer sleeve.
  • the driver for the hole can be a hydraulic telescopic cylinder, one end of the driver for the hole is hinged with the inner sleeve of the hole, the other end of the driver for the hole is hinged with the outer sleeve for the hole, and the expansion and contraction of the driver for the hole can realize the expansion and contraction of the telescopic sleeve for the hole telescopic.
  • the telescopic sleeve for the hole is mainly subjected to force, thereby avoiding the situation that the driver for the hole is easily damaged by an external force acting directly on the driver for the hole.
  • the centralizing member 422 may include two rubber wheels, which are arranged symmetrically, and the rotating shafts of the two rubber wheels both extend along the up and down direction.
  • the centralizing piece 422 is arranged on the free end of the sleeve in the hole, and the centralizing piece 422 can stop against the anchor rod, thereby avoiding the situation that the anchor rod is skewed.
  • the nozzle 423 can be a stainless steel nozzle 423, and the nozzle 423 is arranged on the free end of the inner sleeve of the pair of holes, and the nozzle 423 extends along the up and down direction, and the nozzle 423 and the centralizer 422 extend along the direction of extension of the telescopic sleeve of the pair of holes Interval arrangement.
  • the switch of the positions of the nozzle pipe 423 and the centralizing member 422 can be realized through the expansion and contraction of the hole driving device 421, so that the switch of setting the bolt and spraying the anchoring agent can be realized.
  • the nozzle pipe 423 can be guided and slidably assembled on the inner sleeve of the pair of holes, and the nozzle pipe 423 can move in the up and down direction.
  • the inner sleeve of the pair of holes can also be provided with a nozzle pipe 423 driver, the driving end of the nozzle pipe 423 driver links to each other with the nozzle pipe 423, the cylinder wall of the nozzle pipe 423 driver links to each other with the inner sleeve of the pair of holes, and the nozzle pipe 423 driver links to each other.
  • the nozzle 423 can be driven to move up and down, thus, after the nozzle 423 is aligned with the borehole, the driver of the nozzle 423 can drive the nozzle 423 close to the opening of the borehole, ensuring the stable delivery of the anchoring agent.
  • the image collector 424 can be a camera, and the image collector 424 is installed on the top of the anchor warehouse 32, and the image collector 424 can take images of the roadway roof or side walls, and the control device 6 receives the collected image information , the position of the holes on the anchor net 26 can be analyzed, so as to guide the action of the anchor-drilling device 3 and the hole assembly 42, which facilitates the drilling and the delivery of the anchoring agent.
  • the positioning arm set 31 includes a positioning main 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 with the vehicle body 1 and can swing along the width direction of the vehicle body 1. One end of the positioning main arm 312 is connected with the first positioning seat 311 and can swing in the height direction of the vehicle body 1. One end of the first positioning arm 313 is connected to the The first positioning seat 311 is rotatably connected, and the other end of the first positioning arm 313 is rotatably connected with the positioning main arm 312.
  • the first positioning arm 313 is suitable for driving the positioning main arm 312 to swing up and down, and the second positioning seat 314 is connected to the positioning main arm 312.
  • the other end of the main arm 312 is connected, one end of the second positioning arm 315 is rotatably connected with the positioning main arm 312, and the other end of the second positioning arm 315 is rotatably connected with the second positioning seat 314, and the second positioning arm 315 is suitable for
  • the third positioning seat 316 is connected with 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 connecting with the anchor warehouse 32 connected.
  • the first positioning seat 311 can be pivotally assembled on the vehicle body 1, the first positioning seat 311 can swing in the left and right directions, and the positioning main arm 312 can be connected with the first positioning seat 311. Pivot assembly, and the positioning main arm 312 can swing up and down relative to the first positioning seat 311, the positioning main arm 312 can be extended, and one end of the second positioning arm 315 can be pivotally connected with the first positioning seat 311, and the second The other end of the positioning arm 315 can be pivotally connected with the positioning main arm 312, and the second positioning arm 315 is arranged below the positioning main arm 312, and the positioning main arm 312 can be driven to swing up and down by the expansion and contraction of the second positioning arm 315.
  • the second positioning seat 314 can be pivotally assembled on the free end of the positioning main arm 312, the second positioning seat 314 can swing up and down relative to the positioning main arm 312, and one end of the second positioning arm 315 can be pivotally connected with the positioning main arm 312, The other end of the second positioning arm 315 can be pivotally connected with the second positioning seat 314, the second positioning arm 315 is located below the positioning main arm 312, and the second positioning seat 314 can be moved up and down by the expansion and contraction of the second positioning arm 315 swing drive.
  • the third positioning seat 316 is rotatably assembled on the second positioning seat 314 , the third positioning seat 316 can swing in the left and right direction relative to the second positioning seat 314 , and the anchor bin 32 can be connected with the third positioning seat 316 .
  • the anchor bin 32 can be adjusted to the position to be anchored by the expansion and contraction of the positioning main arm 312 and the first positioning arm 313, and then the vertical orientation of the anchor bin 32 can be corrected by the second positioning arm 315.
  • the third positioning seat 316 can adjust the circumferential orientation of the anchor bin 32, thereby facilitating the adjustment of the anchor bin 32 in place.
  • the third positioning seat 316 can also be provided with a first fine-tuning seat and a second fine-tuning seat, the first fine-tuning seat can swing up and down, and the second fine-tuning seat can Left and right swing adjustment, thus, can realize fine adjustment of the position of the anchor bin 32, thereby facilitating accurate positioning.
  • the third positioning seat 316 can also be connected with a positioning lifting mechanism 317, the positioning lifting mechanism 317 can be a hydraulic lifting mechanism, and the anchor bin 32 can be connected with the positioning lifting mechanism 317, thus, the anchor bin 32 can be realized up and down. Position adjustments.
  • the positioning lifting mechanism 317 can be connected with the third positioning seat 316 through the first fine-tuning seat and the second fine-tuning seat.
  • the first fine-tuning seat and the second fine-tuning seat can be controlled by an electro-hydraulic servo valve
  • the electro-hydraulic servo valve can be controlled by a command teletransmitter, a feedback potentiometer, an electronic amplifier, an electro-hydraulic servo valve, a hydraulic cylinder, etc. and workbench.
  • the dead zone problem of the electro-hydraulic proportional control valve can be overcome, and the response speed of the actuator is faster, and the adjustment angle is not greater than 5 degrees, which further ensures the adjustment accuracy.
  • drag chain 33 can be provided on positioning arm group 31, and one end of drag chain 33 can be connected with the cylinder wall of positioning arm group 31, and the other end of drag chain 33 can be connected with The drive shafts of the positioning arm group 31 are connected together.
  • the drag chain 33 can play the role of protecting hydraulic pipes and cables.
  • the storage box 43 includes a box body 431, a drive chain 433, a drive wheel 434, an air inlet port 435, and an air outlet port.
  • the outer peripheral side of the chain 433 is arranged at intervals, the air inlet port 435 and the air outlet port are all located on the casing 431, and the drive wheel 434 is suitable for driving the drive chain 433 to rotate so that each storage pipe 432 rotates to the air inlet port 435 and the air outlet port 435.
  • the air outlet ports communicate with the air inlet port 435 and the air outlet port.
  • the pushing component 41 is a gas pushing component 41 .
  • the box body 431 can be formed by tailor welding of steel plates, and the driving chain 433 can be arranged in the box body 431 and can rotate in a vertical plane.
  • Drive wheel 434 is located at the outside of casing 431, and the end of the drive shaft of drive wheel 434 is provided with gear, and gear is meshed with drive chain 433, can realize the rotational drive of drive chain 433 by rotating drive wheel 434.
  • the storage tube 432 can be a round tube, there are multiple storage tubes 432 and they are all arranged on the outer peripheral side of the drive chain 433 , and the multiple storage tubes 432 are arranged at equal intervals along the circumference of the drive chain 433 .
  • the storage pipe 432 is used for placing anchoring agent.
  • the air inlet interface 435 and the air outlet interface are all located on the box body 431, and the air inlet interface 435 and the air outlet interface are facing each other. With the rotation of the driving chain 433, each storage pipe 432 can be rotated to the air inlet interface 435 and the air outlet port. The position between the interfaces, thus, the communication of the air inlet interface 435, the storage pipe 432, and the air outlet interface can be realized.
  • the pushing assembly 41 can include two air storage bags.
  • the pushing assembly 41 can output air pressure, so that the air in the storage pipe 432 can be The anchoring agent is transported into the borehole through the air outlet port, the delivery pipe, and the nozzle 423 in sequence.
  • the outlet end of the nozzle 423 can be provided with a blocking plate 4231, two blocking plates 4231 can be provided, the two blocking plates 4231 are arranged symmetrically, and the blocking plate 4231 can pivot Assembled on the nozzle 423, a torsion spring can be provided between the blocking plate 4231 and the nozzle 423, and the torsion spring can realize the self-resetting of the blocking plate 4231.
  • the blocking plate 4231 can automatically block the outlet of the nozzle 423 under the action of the torsion spring, thus, the airtightness of the nozzle 423 can be realized to a certain extent, and the intensity of the output air pressure of the pushing assembly 41 is guaranteed.
  • the anchoring agent will push away the blocking plate 4231 so that it can be pushed out from the nozzle 423 .
  • a plurality of feeding holes 4311 may be provided on the box body 431, and the feeding holes 4311 are arranged at equal intervals along the up and down direction.
  • the plurality of feeding holes 4311 The multiple storage tubes 432 are aligned one by one, so that the anchoring agent can be inserted into the storage tube 432 from the corresponding feeding hole 4311, which facilitates the filling of the anchoring agent.
  • the anchor drilling device 3 includes a first anchor drilling device and a second anchor drilling device, the first anchor drilling device and the second anchor drilling device are provided with a delivery pipe and a hole assembly 42, and the air outlet interface includes a first The interface 436 and the second interface 437, the first interface 436 and the second interface 437 communicate with the delivery pipes of the first anchor drilling device and the second anchor drilling device respectively, and the first interface 436 and the second interface 437 are guided and slidably assembled in the box On the body 431, the storage box 43 includes an interface driver 438, and the interface driver 438 is suitable for driving the first interface 436 and the second interface 437 to move so that any one of the first interface 436 and the second interface 437 can be connected to the corresponding storage tube. 432 connected.
  • two anchor drilling devices 3 may be provided on the vehicle body 1, which are respectively a first anchor drilling device and a second anchor drilling device, and the first anchor drilling device and the second anchor drilling device
  • the device is arranged in parallel and at intervals along the left and right directions, and the hanging net device 2 can be arranged between the first anchor drilling device and the second anchor drilling device, thus, on the one hand, the stability of the car body 1 structure can be enhanced, and on the other hand, the Improve anchor protection efficiency.
  • only one anchor drilling device 3 may be provided on the vehicle body 1 .
  • two air outlet ports can be provided, which are respectively the first port 436 and the second port 437, and the first port 436 can be connected to the corresponding port on the first anchor drilling device through a corresponding delivery pipe.
  • the hole assembly 42 is connected, and the second interface 437 can be connected with the hole assembly 42 on the second anchor drilling device through a corresponding delivery pipe.
  • the first interface 436 and the second interface 437 can be guided and slidably assembled on the box body 431, for example, the first interface 436 and the second interface 437 can be integrally provided and can be guided along the width of the box body 431 slip.
  • 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, and the other end of the interface driver 438 is connected with the box body 431, and the first interface 436 and the second interface can be driven by the interface driver 438.
  • the interface 437 moves, so that the anchoring agent can be delivered to the first anchor-drilling device and the second anchor-drilling device respectively, realizing the "one-to-two" delivery operation form, and also realizing large-capacity anchoring agent storage, delivery, hole-to-hole switching and
  • the automation of anchoring agent delivery and injection saves the space of the fuselage and has strong adaptability.
  • image collectors 424 are provided on both the first anchor drilling device and the second anchor drilling device.
  • the cable winding device 5 includes a cable frame 51, a cable winding driver, a cable winding drum 52, a cable discharge assembly 53, and a guide roller 54.
  • the cable discharge assembly 53, and the guide roller 54 are all assembled on the cable rack 51, and the cable winding drum 52, the cable discharge assembly 53, and the guide roller 54 are arranged in sequence along the front and rear directions of the car body 1, and the cable winding driver and the cable winding drum 52
  • the transmission is connected, and the cable winding driver is suitable for driving the cable winding drum 52 to rotate to wind up the cable.
  • the cable frame 51 can be a cuboid box
  • the cable drum 52 can be rotatably assembled in the cable frame 51
  • the cable drive can be a driving motor
  • the cable drive can drive the cable drum 52 to rotate, so that the winding and releasing of the cable can be realized.
  • the cable discharge assembly 53 can be arranged between the guide roller 54 and the cable winding drum 52, and the cable discharge assembly 53 can realize the regular winding and release of the cable.
  • the guide roller 54 can lay the cable, thereby avoiding the cable from being scratched and damaged.
  • the cable winding device 5 can also be provided with a full cable protection system.
  • the full cable protection system will output a signal, and the control device 6 can brake the cable winding device 5 in time and stop. Take up the cable.
  • the vehicle body 1 includes a vehicle frame 11 and a plurality of props 12, the plurality of props 12 are assembled on the frame 11 and arranged at intervals along the circumference of the frame 11, the props 12
  • the length is adjustable
  • the supporter 12 is suitable for supporting the ground to fix and level the vehicle body 1 .
  • the supporter 12 can be a hydraulic telescopic oil cylinder
  • the vehicle frame 11 can be a rectangular plate
  • the supporter 12 can be provided with four and respectively arranged at the four corner positions of the vehicle frame 11.
  • the supporter 12 It can extend downwards and support the top with the ground, thus, on the one hand, the fulcrum can be increased to achieve a fixed effect; on the other hand, when the floor of the roadway is uneven, the top supporter 12 can be adjusted to different lengths, so that the frame can be adjusted 11 tilt angles.
  • use of the anchor car includes the steps of:
  • S2 Manipulate a plurality of jacking devices 12 to extend and prop up with the roadway floor to fix and level the vehicle body 1;
  • data collectors such as encoders can be provided at each joint of the positioning arm group 31 and at each joint of the net-hanging arm group, thereby facilitating the accurate positioning of the positioning arm group 31 and the net-hanging arm group. regulation.
  • a ladder 13 may be provided on the car body 1 , which facilitates the operator to climb to the operating platform of the car body 1 through the ladder 13 .
  • the vehicle body 1 can be equipped with a driving detection system, which can detect the form displacement and driving speed of the vehicle body 1, so as to facilitate timely control of driving information.
  • the car body 1 is also provided with a hydraulic system, which can provide hydraulic pressure to the corresponding driver, thereby facilitating the hydraulic drive.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch.
  • “above”, “above” and “above” the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • “Below”, “beneath” and “beneath” the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

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Abstract

一种锚护车，包括车体（1）、挂网装置（2）、锚钻装置（3）、锚固剂输送装置（4）、控制装置（6）和卷缆装置（5），挂网装置（2）包括挂网臂组和支撑架（25），挂网臂组与车体（1）相连，支撑架（25）与挂网臂组的自由端可转动地相连，且支撑架（25）相对挂网臂组可滑移，支撑架（25）可吸附固定锚网（26）；锚钻装置（3）包括定位臂组（31）和锚仓（32），锚仓（32）与定位臂组（31）的自由端可转动地相连，锚固剂输送装置（4）包括推送组件（41）、存储箱（43）、输送管和对孔组件（42），存储箱（43）内设有多个储料管（432），储料管（432）位置可调，对孔组件（42）适于将输送管与钻孔对齐；挂网装置（2）、锚钻装置（3）、锚固剂输送装置（4）均与控制装置（6）电性相连，卷缆装置（5）设在车体（1）上并适于卷收电缆。

Description

锚护车 技术领域
本发明涉及巷道支护装置技术领域，具体地，涉及一种锚护车。
背景技术
巷道掘进过程中需要及时的进行锚护作业，锚护作业通常采用锚杆支护和锚网支护配合的支护方式，相关技术中，锚护作业为人工作业，存在劳动负荷大、工作效率低的问题。
发明内容
本发明旨在至少在一定程度上解决相关技术中的技术问题之一。
为此，本发明实施例提出一种锚护车，该锚护车实现了锚护作业的自动化和智能化，降低了工人的劳动负荷强度，提高了工作效率。
本发明实施例的锚护车包括：车体；挂网装置，所述挂网装置包括挂网臂组和支撑架，所述挂网臂组与所述车体相连，所述支撑架与所述挂网臂组的自由端可转动地相连，且所述支撑架相对所述挂网臂组可滑移，所述挂网臂组可沿着所述车体的长度方向摆动以用于调整所述支撑架的空间方位，所述支撑架可吸附固定锚网；锚钻装置，所述锚钻装置包括定位臂组和锚仓，所述定位臂组与所述车体相连，所述锚杆钻机与所述定位臂组的自由端可转动地相连，所述定位臂组沿着所述车体的长度方向、宽度方向、高度方向可摆动，且所述定位臂组的长度可调，所述定位臂组适于调整所述锚仓的空间方位，所述锚仓适于打设锚杆或锚索并固定所述锚网；锚固剂输送装置，所述锚固剂输送装置包括推送组件、存储箱、输送管和对孔组件，所述输送管连接在所述存储箱和所述对孔组件之间，所述存储箱内设有多个储料管，所述储料管位置可调以使所述储料管可与所述输送管连通，所述对孔组件设在所述锚仓上，所述对孔组件适于在所述锚仓钻孔后将所述输送管与所述钻孔对齐，所述推送组件适于将所述储料管内的锚固剂推送至所述钻孔内；控制装置，所述挂网装置、所述锚钻装置、所述锚固剂输送装置均与所述控制装置电性相连，所述控制装置适于统筹调控所述挂网装置、所述锚钻装置、所述锚固剂输送装置以实现自动化；卷缆装置，所述卷缆装置设在所述车体上，所述卷缆装置适于卷收电缆以使所述车体可范围作业，所述电缆适于提供电力。
本发明实施例的锚护车实现了锚护作业的自动化和智能化，降低了工人的劳动负荷强度，提高了工作效率。
在一些实施例中，所述挂网臂组包括挂网基座、第一挂网臂、第一挂网驱动、第二挂网臂、第二挂网驱动、支撑架和第三挂网驱动，所述挂网基座与所述车体相连，所述第一挂网臂的一端与所 述挂网基座可转动地相连，所述第一挂网驱动适于驱动所述第一挂网臂沿着所述车体的长度方向转动，所述第二挂网臂的一端与所述第一挂网臂的另一端可转动地相连，所述第二挂网驱动适于驱动所述第二挂网臂沿着所述车体的长度方向转动，所述支撑架通过所述第三挂网驱动与第二挂网臂的另一端可转动地相连，且所述支撑相对所述第三挂网驱动可滑移，所述第三挂网驱动适于驱动所述支撑架摆动和周向转动。
在一些实施例中，所述支撑架包括主架、第一副架和第二副架，所述第一副架可转动地连接在所述主架的一侧，所述第二副架可转动地连接在所述主架的另一侧，所述支撑架具有第一形态和第二形态，在所述第一形态，所述第一副架、所述主架、所述第二副架平铺并适于扣压锚网，在所述第二形态，所述第一副架和所述第二副架叠合在所述主架上。
在一些实施例中，所述支撑架包括第三副架、网架和第四挂网驱动，所述第三副架可转动地与所述主架相连，所述网架可拆卸地装配在所述第三副架上，在所述第一形态，所述第三副架与所述主架平铺，且所述网架固定在所述第三副架上以增加支撑面积，在所述第二形态，所述第三副架上的网架拆除，且所述第三副架叠合在所述主架上，所述第四挂网驱动连接在所述第三副架和所述主架之间，所述第四挂网驱动适于驱动所述第三副架摆动。
在一些实施例中，所述第三挂网驱动包括第一驱动器、第二驱动器、第一挂网座和第二挂网座，所述第一驱动器设在所述第二挂网臂上，所述第一挂网座与所述第一驱动器的驱动端相连，所述第一驱动器适于驱动所述第一挂网座摆动以使所述支撑架可适于铺设顶板和侧帮的锚网，所述第二驱动器设在所述第一挂网座上，所述第二挂网座与所述第二驱动器的驱动端相连，所述支撑架与所述第二挂网座相连，所述第二驱动器适于驱动所述第二挂网座摆动以使所述支撑架可周向转动。
在一些实施例中，所述第一挂网臂包括第一段和第二段，所述第一段和所述第二段呈夹角并形成避让槽，所述挂网装置具有工作工况和闲置工况，在所述工作工况，所述支撑架通过所述第一挂网臂和所述第二挂网臂摆动至车体前侧以进行锚网作业，所述第一段和所述第二段所形成的避让槽朝向后侧以缩减所述第一挂网臂和所述第二挂网臂的重心与所述挂网基座的间距，在所述闲置工况，所述支撑架适于通过所述第一挂网臂和所述第二挂网臂摆动至车体后侧，所述避让槽朝向下方并适于避让。
在一些实施例中，所述锚仓包括仓体、链条组件、推送组件、钻箱、锚箱、进给组件和切换组件，所述链条组件、所述推送组件、所述钻箱、所述锚箱、所述进给组件、所述切换组件均设在所述仓体上，所述链条组件设有多个固定锚杆的卡槽，所述链条组件可转动并可将锚杆输送至第一位置，所述推送组件适于将所述第一位置的锚杆推送至第二位置，所述钻箱和所述锚箱均导向滑移装配在所述仓体上，所述钻箱可与位于所述第二位置的锚杆正对并适于钻孔，所述锚箱可与位于所述 第二位置的锚杆正对并适于锚固，所述进给组件适于沿着所述仓体的轴向动作以驱动所述钻箱和所述锚箱移动，所述切换组件适于切换所述锚箱和所述钻箱以使所述锚箱和所述钻箱分别与锚杆正对。
在一些实施例中，所述对孔组件设在所述仓体上，所述对孔组件包括扶正件、喷管、对孔驱动装置和图像采集器，所述扶正件适于扶正锚杆，所述喷管与所述输送管连通，所述喷管适于对准钻孔并喷出锚固剂，所述扶正件和所述喷管均设在所述对孔驱动装置上，所述对孔驱动装置适于驱动所述扶正件和所述喷管进行位置切换，所述图像采集器设在所述锚仓上，所述图像采集器与所述控制装置电性相连，且图像采集器适于采集锚网上带孔的图像信息并将图像信息传输给所述控制装置，所述控制装置适于通过所述图像信息分析所述带孔的位置以调控所述挂网装置、所述锚钻装置、所述锚固剂输送装置的移动。
在一些实施例中，所述定位臂组包括定位主臂、第一定位座、第一定位臂、第二定位座、第二定位臂和第三定位座，所述第一定位座与所述车体相连且沿着所述车体的宽度方向可摆动，所述定位主臂的一端与所述第一定位座相连且在车体的高度方向可摆动，所述第一定位臂的一端与所述第一定位座可转动地相连，所述第一定位臂的另一端与所述定位主臂可转动地相连，所述第一定位臂适于驱动所述定位主臂上下摆动，所述第二定位座与所述定位主臂的另一端相连，所述第二定位臂的一端与所述定位主臂可转动地相连，所述第二定位臂的另一端与所述第二定位座可转动地相连，所述第二定位臂适于驱动所述第二定位座上下摆动，所述第三定位座与所述第二定位座相连，且所述第三定位座在所述车体的宽度方向可摆动，所述第三定位座适于与锚仓相连。
在一些实施例中，所述存储箱包括箱体、驱动链条、驱动轮、进气接口和出气接口，所述驱动链条转动装配在所述箱体内，多个所述储料管设在所述驱动链条的外周侧并间隔排布，所述进气接口和所述出气接口均设在所述箱体上，所述驱动轮适于驱动所述驱动链条转动以使每个所述储料管转动至进气接口和所述出气接口之间并与所述进气接口和所述出气接口连通，所述推送组件为气体推送组件，所述进气接口适于与推送组件连通，所述出气接口适于与所述输送管连通。
在一些实施例中，所述锚钻装置包括第一锚钻装置和第二锚钻装置，所述第一锚钻装置和所述第二锚钻装置均设有所述输送管和所述对孔组件，所述出气接口包括第一接口和第二接口，所述第一接口和所述第二接口分别与所述第一锚钻装置和所述第二锚钻装置的输送管连通，所述第一接口和所述第二接口导向滑移装配在所述箱体上，所述存储箱包括接口驱动器，所述接口驱动器适于驱动所述第一接口和所述第二接口移动以使所述第一接口和所述第二接口的任意一者可与对应地储料管连通。
在一些实施例中，所述卷缆装置包括缆架、卷缆驱动器、卷缆滚筒、排缆组件和导向辊，所述 卷缆装置设在所述车体的后侧，所述卷缆滚筒、所述排缆组件、所述导向辊均装配在所述缆架上，且所述卷缆滚筒、所述排缆组件、所述导向辊沿着车体的前后方向依次布置，所述卷缆驱动器与所述卷缆滚筒传动相连，所述卷缆驱动器适于驱动所述卷缆滚筒转动以收卷电缆。
在一些实施例中，所述车体包括车架和多个撑顶器，多个所述撑顶器装配在所述车架上且沿着所述车架的周向间隔排布，所述撑顶器长度可调，所述撑顶器适于与地面撑顶以固定和调平所述车体。
在一些实施例中，所述锚护车的使用包括以下步骤：
S1：确定锚护位置，然后将车体移动至锚护位置；
S2：操控多个所述撑顶器伸展并与巷道底板撑顶，以固定和调平车体；
S3：将锚网放置在支撑架上，然后控制挂网装置动作以将锚网扣合在巷道顶板或巷道侧帮上；
S4：利用对孔组件识别锚网上带孔的位置，然后操控锚钻装置动作并穿过所述带孔钻孔；
S5：利用锚固机输送装置将锚固剂输送至所述钻孔内，然后操控锚钻装置动作以完成锚杆支护并将锚网固定；
S6：根据预设的锚护排距操控车体移动至下一锚护位置，重复步骤S2至步骤S5，直至完成掘进巷道的锚护。
附图说明
图1是本发明实施例的锚护车的整体结构后侧示意图。
图2是图1中锚护车的前侧示意图。
图3是图2中锚护车的右视示意图。
图4是图1中锚钻装置的使用状态示意图。
图5是图1中锚钻装置的立体示意图。
图6是图5中定位臂组的结构示意图。
图7是图5中锚仓的结构示意图一。
图8是图5中锚仓的结构示意图二。
图9是图1中挂网装置的立体示意图。
图10是图1中挂网装置的仰视示意图。
图11是图9中挂网装置的工作工况的示意图。
图12是图9中挂网装置的闲置工况的示意图。
图13是图12中第二座的结构示意图。
图14是图13中第二挂网臂的结构示意图。
图15是图14中第二挂网臂的剖视示意图。
图16是图9中支撑架在第二形态的结构示意图。
图17是图9中支撑架在第一形态的结构示意图。
图18是图1中锚固剂输送装置的推送组件的示意图。
图19是图1中锚固剂输送装置的对孔组件的示意图。
图20是图1中锚固剂输送装置的存储箱的示意图。
图21是图1中卷缆装置的立体示意图。
图22是图21中卷缆装置的俯视示意图。
附图标记：
车体1；
车架11；撑顶器12；爬梯13；
挂网装置2；
挂网基座21；第一挂网臂22；第一挂网驱动221；第一段222；第二段223；第二挂网臂23；第二挂网驱动231；挂网外套筒232；U型架233；挂网驱动器234；挂网内套筒235；第三挂网驱动24；第一驱动器241；第二驱动器242；第一挂网座243；第二挂网座244；减重孔2441；支撑架25；主架251；第一副架252；第二副架253；第四挂网驱动254；第三副架255；网架256；第五挂网驱动257；锚网26；片网261；带钢262；导向组件27；导向座271；导向杆272；
锚钻装置3；
定位臂组31；第一定位座311；定位主臂312；第一定位臂313；第二定位座314；第二定位臂315；第三定位座316；定位升降机构317；锚仓32；仓体321；链条组件322；推出机构323；钻箱324；锚箱325；进给组件326；切换组件327；拖链33；
锚固剂输送装置4；
推送组件41；对孔组件42；对孔驱动装置421；扶正件422；喷管423；封堵板4231；图像采集器424；存储箱43；箱体431；送料孔4311；储料管432；驱动链条433；驱动轮434；进气接口435；第一接口436；第二接口437；接口驱动器438；
卷缆装置5；
缆架51；卷缆滚筒52；排缆组件53；导向辊54；
控制装置6。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出。下面通过参考附图描述的实 施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
如图1至图22所示，本发明实施例的锚护车包括车体1，挂网装置2，锚钻装置3，锚固剂输送装置4，控制装置6和卷缆装置5。
如图1所示，车体1可以为履带式车体1，车体1可以自行移动，在其他一些实施例中，车体1也可以为轮胎车体1，即车体1的底部安装防爆轮胎。
挂网装置2包括挂网臂组和支撑架25，挂网臂组与车体1相连，支撑架25与挂网臂组的自由端可转动地相连，且支撑架25相对挂网臂组可滑移，挂网臂组可沿着车体1的长度方向摆动以用于调整支撑架25的空间方位，支撑架25可吸附固定锚网26。
具体地，挂网臂组可以固定在车体1的上方，挂网臂组即为机械臂，支撑架25安装在挂网臂组的自由端，通过操控挂网臂组动作可以实现对支撑架25空间方位的调整，支撑架25上可以设有电磁铁，电磁铁可以将锚网26吸附固定在支撑架25上，通过调整挂网臂组和支撑架25可以将锚网26扣合在巷道的顶板或侧帮上，待锚网26与巷道顶板或侧帮固定后，可以切断电磁铁的电源，从而实现支撑架25和锚网26的分离。挂网臂组可以在前后方向(车体1的长度方向)上摆动，由此，可以满足支撑架25在前后方向的位置调整。
锚钻装置3包括定位臂组31和锚仓32，定位臂组31与车体1相连，锚杆钻机与定位臂组31的自由端可转动地相连，定位臂组31沿着车体1的长度方向、宽度方向、高度方向可摆动，且定位臂组31的长度可调，定位臂组31适于调整锚仓32的空间方位，锚仓32适于打设锚杆或锚索并固定锚网26。
具体地，定位臂组31可以固定在车体1的上方，定位臂组31可以为机械臂，锚仓32固定在定位臂组31的自由端，通过定位臂组31的摆动和伸缩可以实现锚仓32空间方位的调整，锚仓32则能够打设锚杆或锚索，从而可以实现锚杆或锚索支护。锚钻装置3可以与挂网装置2配合，从而可以完成锚护作业。
锚固剂输送装置4包括推送组件41、存储箱43、输送管和对孔组件42，输送管连接在存储箱43和对孔组件42之间，存储箱43内设有多个储料管432，储料管432位置可调以使储料管432可与输送管连通，对孔组件42设在锚仓32上，对孔组件42适于在锚仓32钻孔后将输送管与钻孔对齐，推送组件41适于将储料管432内的锚固剂推送至钻孔内。
具体地，储料管432内用于存储锚固剂，储料管432可以导向滑移装配在存储箱43内，多个储料管432可以沿着设定方向移动，存储箱43上可以设有进口和出口，进口和出口正对，储料管432可以移动至进口和出口之间，且储料管432的一端与进口连通，储料管432的另一端与出口连通。
推送组件41可以与进口相连，输送管的一端可以与出口相连，推送组件41可以为机械式推送组件41，例如，推送组件41可以输送一个柔性顶杆，柔性顶杆可以穿入储料管432和输送管内，从而可以将储料管432内的锚固剂推送至钻孔内。
对孔组件42可以包括摄像定位系统，当锚网26被支撑架25扣合固定并穿过带孔钻孔后，摄像定位系统可以识别锚网26上的带孔的位置，然后可以指导输送管移动并使得输送管的出口与带孔对齐，由此，从输送管推出的锚固剂可以被推送至钻孔内。
挂网装置2、锚钻装置3、锚固剂输送装置4均与控制装置6电性相连，控制装置6适于统筹调控挂网装置2、锚钻装置3、锚固剂输送装置4以实现自动化。控制装置6可以为PLC控制系统，也可以为其他类型的处理器或控制器。运行过程中，控制装置6可以操控挂网装置2、锚钻装置3、锚固剂输送装置4协调动作。
例如，可以首先操控挂网装置2将锚网26扣合在巷道侧帮上，然后可以操控锚钻装置3钻取钻孔，待钻孔钻取完成后，可以操控锚固剂输送装置4将锚固剂输送至钻孔内，最后再次操控锚钻装置3动作并完成锚杆的固定即可。
卷缆装置5设在车体1上，卷缆装置5适于卷收电缆以使车体1可范围作业，电缆适于提供电力。如图1所示，卷缆装置5可以设在车体1的后端，卷缆装置5可以自行收卷电缆，通过电缆则可以向锚护车供应电力。电缆的一端可以电源相连，使用的过程中可以通过电缆的收卷满足车体1位置的调整，从而满足转场需求。
本发明实施例的锚护车，锚护车可以自行完成掘进巷道的锚护作业，实现了锚护作业的自动化和智能化，降低了工人的劳动负荷强度，提高了工作效率。
在一些实施例中，挂网臂组包括挂网基座21、第一挂网臂22、第一挂网驱动221、第二挂网臂23、第二挂网驱动231、支撑架25和第三挂网驱动24，挂网基座21与车体1相连，第一挂网臂22的一端与挂网基座21可转动地相连，第一挂网驱动221适于驱动第一挂网臂22沿着车体1的长度方向转动，第二挂网臂23的一端与第一挂网臂22的另一端可转动地相连，第二挂网驱动231适于驱动第二挂网臂23沿着车体1的长度方向转动，支撑架25通过第三挂网驱动24与第二挂网臂23的另一端可转动地相连，且支撑相对第三挂网驱动24可滑移，第三挂网驱动24适于驱动支撑架25摆动和周向转动。
具体地，如图9所示，挂网基座21可以为一根立柱，挂网基座21沿着上下方向延伸，挂网基座21的底端可以与车体1通过螺栓可拆卸地相连。挂网基座21可以为方形立柱，在其他一些实施例中，挂网基座21也可以为圆形柱、块状物等。
第一挂网臂22与挂网基座21的顶端相连，且第一挂网臂22相对挂网基座21可在前后方向(车 体1的长度方向)摆动，第一挂网驱动221可以为回转驱动装置，第一挂网臂22通过第一挂网驱动221与挂网基座21相连，第一挂网驱动221可以实现第一挂网臂22的摆动驱动。第二挂网臂23与第一挂网臂22的另一端相连，第二挂网臂23相对于第一挂网臂22可以在前后方向上摆动，第二挂网驱动231可以为回转驱动装置，第二挂网臂23通过第二挂网驱动231与第一挂网臂22相连，第二挂网驱动231可以实现第二挂网臂23的摆动驱动。
第三挂网驱动24可以为回转驱动装置，第三挂网驱动24可以有两个回转轴，分别为第一回转轴和第二回转轴，其中第一回转轴沿着左右方向延伸，支撑架25可以绕着第一回转轴在前后方向转动，由此，满足了支撑架25撑顶巷道顶板和巷道侧帮的作业要求。
第二回转轴可以与第一回转轴垂直布置，支撑架25也可以绕着第二回转轴进行周向转动，由此，可以实现支撑架25方位角度的切换。
支撑架25可以与第三挂网驱动24导向滑移装配，由此，支撑架25相对于第三挂网驱动24可以整体平移，从而可以实现支撑架25位置的微调，提升了支撑架25调整的灵活性，方便了调整到位。
本发明实施例的挂网设备在使用时，可以通过第一挂网臂22和第二挂网臂23将支撑架25调整至需要锚网26支护的位置，然后可以利用第三挂网驱动24可以将支撑架25上的锚网26扣合在巷道的顶板或侧帮上，最后将锚网26与巷道顶板或侧帮固定即可。
在一些实施例中，支撑架25包括主架251、第一副架252和第二副架253，第一副架252可转动地连接在主架251的一侧，第二副架253可转动地连接在主架251的另一侧，支撑架25具有第一形态和第二形态，在第一形态，第一副架252、主架251、第二副架253平铺并适于扣压锚网26，在第二形态，第一副架252和第二副架253叠合在主架251上。
具体地，如图16和图17所示，主架251可以通过第三驱动装置与第二臂相连，第一副架252可以枢转装配在主架251的左侧，第二副架253可以枢转装配在主架251的右侧，当不需要进行锚网26支护时，如图16所示，第一副架252和第二副架253可以均叠合在主架251的上方，此时，支撑架25即切换至第一形态，由此，可以减少支撑架25的空间尺寸，从而避免了磕碰并提高了通过性。
当需要进行锚网26支护时，如图17所示，第一副架252和第二副架253可以分别向主架251的左右两侧翻折，第一副架252、主架251、第二副架253沿着左右方向依次布置，由此，可以增加支撑面积，从而满足了铺网要求。
需要说明的是，如图2所示，锚网26可以包括片网261和带钢262，片网261可以为长方形钢网，带钢262与片网261焊接固定，带钢262上设有带孔，打设锚杆时，将锚杆穿过带孔并与顶 板或侧帮固定即可。
在一些实施例中，支撑架25包括第三副架255、网架256和第四挂网驱动254，第三副架255可转动地与主架251相连，网架256可拆卸地装配在第三副架255上，在第一形态，第三副架255与主架251平铺，且网架256固定在第三副架255上以增加支撑面积，在第二形态，第三副架255上的网架256拆除，且第三副架255叠合在主架251上，第四挂网驱动254连接在第三副架255和主架251之间，第四挂网驱动254适于驱动第三副架255摆动。
具体地，如图16和图17所示，第三副架255可以枢转装配在主架251的前侧，当需要铺网时，可以将第三副架255转动至主架251的前侧，此时第三副架255和主架251大体位于同一平面内，由此，可以增加支撑面积，使得支撑架25能够满足不同尺寸锚网26的铺设要求以及掘进的工艺要求。
需要说明的是，第三副架255是否需要展开可以根据实际情况选择，例如，当对尺寸较小的锚网26铺设时，可以仅将第一副架252和第二副架253展开即可，当需要对尺寸较大的锚网26进行铺设时，可以再将第三副架255展开。
如图17所示，网架256可以可拆卸地与第三副架255装配。网架256的长度尺寸大体与第一形态下第一副架252、主架251第二副架253展开后所形成的整体长度尺寸相同，由此，满足了锚网26的支撑要求。网架256可以卡紧固定在第三副架255上，例如，第三副架255或网架256的一者上可以设有卡槽，使用时，可以将网架256与第三副架255卡紧固定，这样也方便了网架256的安装和拆卸。当需要使用第三副架255时可以将网架256固定在第三副架255上，当需要收起第三副架255时，可以将网架256拆卸。
如图16所示，第四驱动装置可以为驱动电机，第四驱动装置可以固定在主架251的下方，第四驱动装置的驱动轴可以与第三副架255相连，由此方便了第三副架255的转动驱动。
可选地，第一副架252和第二副架253均可以叠合在主架251的上方，第三副架255则可以叠合在主架251的下方，由此，第一副架252和第二副架253的使用与第三副架255的使用相对独立，从而提升了第三副架255使用的灵活性。
在一些实施例中，第三挂网驱动24包括第一驱动器241、第二驱动器242、第一挂网座243和第二挂网座244，第一驱动器241设在第二挂网臂23上，第一挂网座243与第一驱动器241的驱动端相连，第一驱动器241适于驱动第一挂网座243摆动以使支撑架25可适于铺设顶板和侧帮的锚网26，第二驱动器242设在第一挂网座243上，第二挂网座244与第二驱动器242的驱动端相连，支撑架25与第二挂网座244相连，第二驱动器242适于驱动第二挂网座244摆动以使支撑架25可周向转动。
如图10和图11所示，第一驱动器241和第二驱动器242可以均为驱动电机，第一驱动器241可以与第二臂连接固定，第一驱动器241的驱动轴沿着左右方向延伸，第一驱动器241的驱动轴可以与第二臂相连，第一座则与第一驱动器241的外周壁相连。
第二驱动器242固定在第一座上，第二驱动器242的驱动轴与第一驱动器241的驱动轴垂直，第二驱动器242的外周壁可以与第一座固定，第二座可以与第二驱动器242的驱动轴连接固定。支撑架25则与第二座导向装配。
使用时，可以通过第一驱动器241驱动支撑架25前后转动调整，可以通过第二驱动器242周向转动支撑架25，由此，方便了支撑架25方位的调整切换。第一座和第二座的设置则方便了第一驱动器241和第二驱动器242的转接切换。
在一些实施例中，挂网装置2包括导向组件27和第五挂网驱动257，导向组件27包括导向杆272和导向座271，导向杆272与导向座271导向滑移装配，导向杆272和导向座271的其中一者与支撑架25相连、另一者与第二挂网座244相连，第五挂网驱动257设在支撑架25和第二挂网座244之间，第五挂网驱动257适于驱动支撑架25相对第二挂网座244滑移。
具体地，如图13和图16所示，导向组件27可以包括两个导向杆272和四个导向座271，两个导向杆272均固定在支撑架25上，两个导向杆272并行间隔布置，四个导向座271则可以均固定在第二挂网座244上，四个导向座271则分别固定在第二挂网座244的四个边角位置处，每个导向杆272对应两个导向座271，且该导向杆272导向配合在对应地两个导向座271的导向孔内。由此，使得支撑架25可以沿着导向杆272的延伸方向整体平移。
如图17所示，第五挂网驱动257可以为液压伸缩缸，第五挂网驱动257的缸体可以与第二挂网座244连接固定，第五挂网驱动257的活塞杆则可以与支撑架25相连，第五挂网驱动257的伸缩方向与导向杆272的延伸方向一致，由此，通过第五挂网驱动257的伸缩即可实现支撑架25的整体平移。
在一些实施例中，第二挂网臂23包括挂网内套筒235、挂网外套筒232、挂网驱动器234和位移传感器，挂网内套筒235导向配合在挂网外套筒232内，挂网外套筒232与第二挂网臂23相连，挂网内套筒235与第三挂网驱动24相连，挂网驱动器234和位移传感器设在挂网内套筒235和挂网外套筒232内，挂网驱动器234的一端与挂网内套筒235相连，挂网驱动器234的另一端与挂网外套筒232相连，挂网驱动器234适于驱动挂网内套筒235和挂网外套筒232相对移动以实现第二挂网臂23长度的可调，位移传感器适于监测第二挂网臂23的伸缩长度。
具体地，如图14和图15所示，挂网内套筒235和挂网外套筒232均为方形套筒，挂网内套筒235导向并止转配合在挂网外套筒232内，挂网驱动器234可以设在挂网内套筒235和挂网外套筒 232内，挂网驱动器234可以为液压伸缩缸，挂网驱动器234的一端与挂网内套筒235铰接，挂网驱动器234的另一端与挂网外套筒232铰接，通过挂网驱动器234的伸缩可以实现第二挂网臂23长度调整，从而使得第一挂网臂22和第二挂网臂23的伸展尺寸可以满足不同巷道尺寸的作业要求，提高了锚网266支护的适应性。位移传感器可以设在挂网内套筒235和挂网外套筒232内，位移传感器可以监测第二挂网臂23的伸缩量，从而方便了更加直观的将第二挂网臂23调整到位。
使用过程中，挂网内套筒235和挂网外套筒232主要承受力矩作用和剪切力作用，从而满足了第二挂网臂23的支撑要求和结构强度。降低了对挂网驱动器234的影响，起到了保护挂网驱动器234的作用。
在一些实施例中，如图14所示，挂网内套筒235的自由端设有U型架233，第一驱动器241装配在U型架233内，第一挂网座243为L型，第一驱动器241与第一挂网座243相连并位于第一挂网座243的内侧，第二驱动器242与第一挂网座243相连并位于第一挂网座243的外侧。
U型架233固定在挂网内套筒235的自由端，第一驱动器241可以装配在U型架233所形成的凹槽内，第一驱动器241的驱动轴可以与U型架233相连。U型架233的设置则起到了保护第一驱动器241和增强装配稳定性的作用。
如图11和图12所示，第一挂网座243整体可以为L型座，第一挂网座243的内侧即为第一挂网座243所形成直角的一侧，第一驱动器241可以固定在第一挂网座243所形成的直角内，即第一挂网座243包裹在第一驱动器241的外周侧，由此，第一挂网座243可以绕着第一驱动器241转动，减小了第一挂网座243在转动时的空间占用，提升了结构的紧凑性。
在一些实施例中，第一挂网臂22包括第一段222和第二段223，第一段222和第二段223呈夹角并形成避让槽，挂网装置2具有工作工况和闲置工况，在工作工况，支撑架25通过第一挂网臂22和第二挂网臂23摆动至车体1前侧以进行锚网26作业，第一段222和第二段223所形成的避让槽朝向后侧以缩减第一挂网臂22和第二挂网臂23的重心与挂网基座21的间距，在闲置工况，支撑架25适于通过第一挂网臂22和第二挂网臂23摆动至车体1后侧，避让槽朝向下方并适于避让。
具体地，如图11所示，第一挂网臂22整体为V型，第一挂网臂22的第一段222和第二段223成夹角，当需要进行锚网26铺设(工作工况)时，第一挂网臂22可以摆动至挂网基座21的上方，第二挂网臂23可以摆动至第一挂网臂22的前侧，此时，第一段222和第二段223的连接处大体向前突出，相对于第一挂网臂22为直臂的设计，第一挂网臂22和第二挂网臂23所形成的结构的重心可以向挂网基座21靠近，由此，可以增强结构的稳定性，方便了锚网26作业。
当不需要铺设锚网26(闲置工况)时，如图12所示，第一挂网臂22可以向后摆动，第二挂网 臂23则可以摆动至第一挂网臂22的后侧，此时第一挂网臂22和第二挂网臂23沿着从前至后的方向依次设置，第一挂网臂22所形成的避让槽开口向下，从而避免了与车体1上的对应部件碰触的情况，方便了第一挂网臂22和第二挂网臂23的收纳。也避免了车体1前重后轻的问题，有利于车体1移动的稳定性。
在一些实施例中，如图13所示，第二挂网座244上可以设有设有多个减重孔2441，由此，能够减轻重量，降低了对第一挂网臂22和第二挂网臂23的重力作用。
在一些实施例中，锚仓32包括仓体321、链条组件322、推出机构323、钻箱324、锚箱325、进给组件326和切换组件327，链条组件322、推出机构323、钻箱324、锚箱325、进给组件326、切换组件327均设在仓体321上，链条组件322设有多个固定锚杆的卡槽，链条组件322可转动并可将锚杆输送至第一位置，推出机构323适于将第一位置的锚杆推送至第二位置，钻箱324和锚箱325均导向滑移装配在仓体321上，钻箱324可与位于第二位置的锚杆正对并适于钻孔，锚箱325可与位于第二位置的锚杆正对并适于锚固，进给组件326适于沿着仓体321的轴向动作以驱动钻箱324和锚箱325移动，切换组件327适于切换锚箱325和钻箱324以使锚箱325和钻箱324分别与锚杆正对。
如图7和图8所示，仓体321大体可以为长方体状，仓体321沿着上下方向延伸，链条组件322可以包括一圈环绕在仓体321上的环形链条，环形链条可以绕着仓体321的周向方向循环转动，环形链条的外周侧设有多个卡槽，卡槽可以将锚杆卡紧固定，当环形链条转动时，可以实现对锚杆的转动移动。需要说明的是，在环形链条转动的过程中，环形链条上的锚杆可以顺次被输送至第一位置处，第一位置即为与推出机构323相对应地位置处。
推出机构323可以包括四连杆机构、推送驱动油缸和机械手，机械手可以为夹爪式机械手，四连杆机构的一端与仓体321相连，四连杆机构的另一端与机械手相连，机械手可以抓取锚杆，推送驱动油缸可以驱动四连杆机构摆动，从而可以将锚杆由第一位置推送至第二位置处，第二位置即为锚杆与钻箱324或锚箱325正对的位置处。
如图8所示，钻箱324和锚箱325可以均导向滑移装配在仓体321的底部，钻箱324和锚箱325能够沿着锚仓32的宽度方向移动，在钻箱324移动的过程中，钻箱324具有第一工作位和第一等待位，其中在第一工作位，钻箱324移动至进给组件326上，然后在进给组件326的作用下可以实现锚杆的钻孔作业，在第一等待位，钻箱324从进给组件326上移出并暂时闲置在仓体321上。相似地，在锚箱325移动的过程中，锚箱325具有第二工作位和第二等待位，其中在第二工作位，锚箱325移动至进给组件326上，然后在进给组件326的作用下可以实现锚杆的锚固作业，在第二等待位，锚箱325从进给组件326上移出并暂时闲置在仓体321上。
进给组件326可以包括导向连接板和进给驱动装置，导向连接板导向滑移装配在仓体321上并能够沿着上下方向滑移，进给驱动装置则能够驱动导向连接板上下移动。在第一工作位，钻箱324能够从仓体321上移动至导向连接板上，在第一等待位，钻箱324能够从导向连接板上移动至仓体321上，在第二工作位，锚箱325能够从仓体321上移动至导向连接板上，在第二等待位，锚箱325从导向连接板上移动至仓体321上。
切换组件327可以包括切换驱动器和切换油缸，切换油缸设在切换驱动器的前端，切换油缸上设有活塞杆，活塞杆可以与钻箱324上通孔配合，然后借助切换驱动器可以驱动钻箱324移动，切换油缸上的活塞杆也可以与锚箱325上的通孔配合，然后借助切换驱动器可以驱动锚箱325移动。
可选地，钻箱324为湿式除尘钻孔钻箱324，锚箱325马达为大排量大扭矩马达，紧固力矩不小于400Nm；钻箱324马达为小排量大转速马达，马达转速不低于600rpm，满足了小转速大扭矩的紧固锚杆要求。
在一些实施例中，对孔组件42设在仓体321上，对孔组件42包括扶正件422、喷管423、对孔驱动装置421和图像采集器424，扶正件422适于扶正锚杆，喷管423与输送管连通，喷管423适于对准钻孔并喷出锚固剂，扶正件422和喷管423均设在对孔驱动装置421上，对孔驱动装置421适于驱动扶正件422和喷管423进行位置切换，图像采集器424设在锚仓32上，图像采集器424与控制装置6电性相连，且图像采集器424适于采集锚网26上带孔的图像信息并将图像信息传输给控制装置6，控制装置6适于通过图像信息分析带孔的位置以调控挂网装置2、锚钻装置3、锚固剂输送装置4的移动。
具体地，如图19所示，对孔驱动装置421可以包括对孔驱动器和对孔伸缩套筒，对孔伸缩套筒可以包括对孔内套筒和对孔外套筒，其中对孔内套筒导向滑移装配在对孔外套筒内。对孔驱动器可以为液压伸缩缸，对孔驱动器的一端与对孔内套筒铰接，对孔驱动器的另一端与对孔外套筒铰接，通过对孔驱动器的伸缩可以实现对孔伸缩套筒的伸缩。使用过程中对孔伸缩套筒主要承受作用力，从而避免了外力直接作用在对孔驱动器上容易造成对孔驱动器损坏的情况。
扶正件422可以包括两个胶轮，两个胶轮对称布置，两个胶轮的转轴均沿着上下方向延伸。扶正件422设在对孔内套筒的自由端，扶正件422可以与锚杆止抵，从而避免了锚杆歪斜的情况。
喷管423可以不锈钢喷管423，喷管423设在对孔内套筒的自由端，喷管423沿着上下方向延伸，且喷管423和扶正件422沿着对孔伸缩套筒的延伸方向间隔布置。通过对孔驱动装置421的伸缩可以实现喷管423和扶正件422位置的切换，从而可以实现打设锚杆和喷射锚固剂的切换。
可以理解的是，喷管423可以导向滑移装配在对孔内套筒上，喷管423可以在上下方向上移动。此时，对孔内套筒上还可以设有喷管423驱动器，喷管423驱动器的驱动端与喷管423相连，喷管 423驱动器的缸壁与对孔内套筒相连，喷管423驱动器可以驱动喷管423上下移动，由此，在喷管423和钻孔对齐后，喷管423驱动器可以驱动喷管423靠近钻孔的孔口处，保证了锚固剂的稳定输送。
如图7所示，图像采集器424可以摄像头，图像采集器424安装在锚仓32的顶部，图像采集器424可以拍摄巷道顶板或侧壁的图像，控制装置6在接收到采集的图像信息后，可以分析出锚网26上带孔的位置，从而可以指导锚钻装置3和对孔组件42的动作，方便了钻孔和锚固剂的输送。
在一些实施例中，定位臂组31包括定位主臂312、第一定位座311、第一定位臂313、第二定位座314、第二定位臂315和第三定位座316，第一定位座311与车体1相连且沿着车体1的宽度方向可摆动，定位主臂312的一端与第一定位座311相连且在车体1的高度方向可摆动，第一定位臂313的一端与第一定位座311可转动地相连，第一定位臂313的另一端与定位主臂312可转动地相连，第一定位臂313适于驱动定位主臂312上下摆动，第二定位座314与定位主臂312的另一端相连，第二定位臂315的一端与定位主臂312可转动地相连，第二定位臂315的另一端与第二定位座314可转动地相连，第二定位臂315适于驱动第二定位座314上下摆动，第三定位座316与第二定位座314相连，且第三定位座316在车体1的宽度方向可摆动，第三定位座316适于与锚仓32相连。
具体地，如图5和图6所示，第一定位座311可以枢转装配在车体1上，第一定位座311可以在左右方向上摆动，定位主臂312可以与第一定位座311枢转装配，且定位主臂312相对与第一定位座311可以在上下方向上摆动，定位主臂312可以伸展，第二定位臂315的一端可以与第一定位座311枢转相连，第二定位臂315的另一端可以与定位主臂312枢转相连，第二定位臂315设在定位主臂312的下方，通过第二定位臂315的伸缩可以驱动定位主臂312的上下摆动。
第二定位座314可以枢转装配在定位主臂312的自由端，第二定位座314相对与定位主臂312可上下摆动，第二定位臂315的一端可以与定位主臂312枢转相连，第二定位臂315的另一端可以与第二定位座314枢转相连，第二定位臂315设在定位主臂312的下方，通过第二定位臂315的伸缩可以实现第二定位座314的上下摆动驱动。第三定位座316转动装配在第二定位座314上，第三定位座316相对于第二定位座314可以在左右方向上摆动，锚仓32可以与第三定位座316相连。
使用时，通过定位主臂312的伸缩和第一定位臂313的伸缩可以将锚仓32调整待锚护的位置处，然后通过第二定位臂315可以校正锚仓32的竖向方位，通过转动第三定位座316可以调整锚仓32的周向方位，由此，方便了将锚仓32调整到位。
可以理解的是，在其他一些实施例中，第三定位座316上还可以设有第一精调座和第二精调座，第一精调座可以上下摆动调整，第二精调座可以左右摆动调整，由此，可以实现锚仓32位置的精 细化调整，从而方便了准确定位。
如图6所示，第三定位座316上还可以连接有定位升降机构317，定位升降机构317可以液压提升机构，锚仓32可以与定位升降机构317相连，由此，可以实现锚仓32上下位置的调整。当设置有第一精调座和第二精调座时，定位升降机构317可以通过第一精调座和第二精调座与第三定位座316相连。
可选地，第一精调座和第二精调座可以通过电液伺服阀控制元件动作，电液伺服阀可以由指令电传器、反馈电位器、电子放大器、电液伺服阀、液压缸和工作台组成。由此，可以克服电液比例控制阀的死区问题，且执行元件反应速度更快，调整角度不大于5度，进一步保证了调整的精度。
在一些实施例中，如图2和图3所示，定位臂组31上可以设有拖链33，拖链33的一端可以定位臂组31的缸壁相连，拖链33的另一端可以与定位臂组31的驱动轴相连。拖链33可以起到保护液压管、电缆的作用。
在一些实施例中，存储箱43包括箱体431、驱动链条433、驱动轮434、进气接口435和出气接口，驱动链条433转动装配在箱体431内，多个储料管432设在驱动链条433的外周侧并间隔排布，进气接口435和出气接口均设在箱体431上，驱动轮434适于驱动驱动链条433转动以使每个储料管432转动至进气接口435和出气接口之间并与进气接口435和出气接口连通，推送组件41为气体推送组件41，进气接口435适于与推送组件41连通，出气接口适于与输送管连通。
具体地，如图20所示，箱体431可以通过钢板拼焊成型，驱动链条433可以设在箱体431内并在竖直平面内可转动。驱动轮434设在箱体431的外侧，驱动轮434的驱动轴的端部设有齿轮，齿轮与驱动链条433啮合，通过转动驱动轮434可以实现驱动链条433的转动驱动。
储料管432可以为圆管，储料管432有多个并均设在驱动链条433的外周侧，且多个储料管432沿着驱动链条433的周向等间隔排布。储料管432内用于放置锚固剂。
进气接口435和出气接口均设在箱体431上，且进气接口435和出气接口正对，随着驱动链条433的转动，每个储料管432均可以转动至进气接口435和出气接口之间的位置处，由此，可以实现进气接口435、储料管432、出气接口的连通。
如图18所示，推送组件41可以包括两个储气包，当储料管432切换至进气接口435和出气接口之间后，推送组件41可以输出气压，从而可以将储料管432内的锚固剂依次经由出气接口、输送管、喷管423输送至钻孔内。
可选地，如图19所示，喷管423的出口端可以设有封堵板4231，封堵板4231可以设有两个，两个封堵板4231对称布置，封堵板4231可以枢转装配在喷管423上，封堵板4231和喷管423之间可以设有扭簧，扭簧可以实现封堵板4231的自行复位。常态下，封堵板4231在扭簧的作用下可 以自行将喷管423的出口封堵，由此，一定程度上可以实现喷管423的气密性，保证了推送组件41输出气压的强度。使用时，锚固剂会推开封堵板4231，从而可以从喷管423内推出。
在一些实施例中，如图20所示，箱体431上可以设有多个送料孔4311，送料孔4311沿着上下方向等间隔排布，驱动链条433转动的过程中，多个送料孔4311会与多个储料管432一一对齐，从而使得锚固剂可以从对应的送料孔4311插入储料管432内，方便了锚固剂的填充。
在一些实施例中，锚钻装置3包括第一锚钻装置和第二锚钻装置，第一锚钻装置和第二锚钻装置均设有输送管和对孔组件42，出气接口包括第一接口436和第二接口437，第一接口436和第二接口437分别与第一锚钻装置和第二锚钻装置的输送管连通，第一接口436和第二接口437导向滑移装配在箱体431上，存储箱43包括接口驱动器438，接口驱动器438适于驱动第一接口436和第二接口437移动以使第一接口436和第二接口437的任意一者可与对应地储料管432连通。
具体地，如图1和图2所示，车体1上可以设有两个锚钻装置3，分别为第一锚钻装置和第二锚钻装置，第一锚钻装置和第二锚钻装置沿着左右方向并行间隔布置，挂网装置2则可以设在第一锚钻装置和第二锚钻装置之间，由此，一方面可以增强车体1结构的稳定性，另一方面可以提高锚护效率。可以理解的是，在其他一些实施例中，车体1上也可以仅设有一个锚钻装置3。
与两个锚钻装置3相对应地，出气接口可以设有两个，分别为第一接口436和第二接口437，第一接口436可以通过对应地输送管与第一锚钻装置上的对孔组件42相连，第二接口437可以通过对应地输送管与第二锚钻装置上的对孔组件42相连。
如图20所示，第一接口436和第二接口437可以导向滑移装配在箱体431上，例如，第一接口436和第二接口437可以一体设置并可以沿着箱体431的宽度导向滑移。接口驱动器438可以为驱动油缸，接口驱动器438的一端与第一接口436和第二接口437相连，接口驱动器438的另一端与箱体431相连，通过接口驱动器438可以驱动第一接口436和第二接口437移动，从而可以分别实现向第一锚钻装置和第二锚钻装置输送锚固剂，实现了“一对二”的输送作业形式，也实现大容量锚固剂储存、输送、对孔切换及锚固剂输送喷射等的自动化，节省了机身空间，适应性强。
可选地，如图2所示，第一锚钻装置和第二锚钻装置上均设有图像采集器424。
在一些实施例中，卷缆装置5包括缆架51、卷缆驱动器、卷缆滚筒52、排缆组件53和导向辊54，卷缆装置5设在车体1的后侧，卷缆滚筒52、排缆组件53、导向辊54均装配在缆架51上，且卷缆滚筒52、排缆组件53、导向辊54沿着车体1的前后方向依次布置，卷缆驱动器与卷缆滚筒52传动相连，卷缆驱动器适于驱动卷缆滚筒52转动以收卷电缆。
具体地，如图21和图22所示，缆架51可以为长方体盒状，卷缆滚筒52可以转动装配在缆架51内，卷缆驱动器可以为驱动电机，卷缆驱动器可以驱动卷缆滚筒52转动，从而可以实现实现电 缆的收卷和释放。
排缆组件53可以设在导向辊54和卷缆滚筒52之间，排缆组件53可以实现电缆的规则收卷和释放。导向辊54则可以搭放电缆，从而避免了电缆划伤破损。
可选地，卷缆装置5还可以设有满缆保护系统，当卷缆滚筒52上的电缆收满后，满缆保护系统会输出信号，控制装置6可以及时刹停卷缆装置5并停止收缆。
在一些实施例中，车体1包括车架11和多个撑顶器12，多个撑顶器12装配在车架11上且沿着车架11的周向间隔排布，撑顶器12长度可调，撑顶器12适于与地面撑顶以固定和调平车体1。具体地，撑顶器12可以为液压伸缩油缸，车架11可以为长方形板状，撑顶器12可以设有四个并分别设在车架11的四个边角位置处，撑顶器12可以向下伸展并与地面撑顶，由此，一方面可以增加支点，起到固定效果，另一方面当巷道底板不平时，可以将撑顶器12调至不同的长度，从而可以调整车架11的倾斜角度。
在一些实施例中，锚护车的使用包括以下步骤：
S1：确定锚护位置，然后将车体1移动至锚护位置；
S2：操控多个撑顶器12伸展并与巷道底板撑顶，以固定和调平车体1；
S3：将锚网26放置在支撑架25上，然后控制挂网装置2动作以将锚网26扣合在巷道顶板或巷道侧帮上；
S4：利用对孔组件42识别锚网26上带孔的位置，然后操控锚钻装置3动作并穿过带孔钻孔；
S5：利用锚固机输送装置将锚固剂输送至钻孔内，然后操控锚钻装置3动作以完成锚杆支护并将锚网26固定。
S6：根据预设的锚护排距操控车体移动至下一锚护位置，重复步骤S2至步骤S5，直至完成掘进巷道的锚护。
在一些实施例中，定位臂组31的各个关节处、挂网臂组的各个关节处均可以设有编码器等数据采集器，由此，方便了定位臂组31和挂网臂组的精确调控。
在一些实施例中，如图2所示，车体1上可以设有爬梯13，通过爬梯13方便了操作人员攀爬至车体1的操作平台上。
在一些实施例中，车体1上可以设有行驶检测系统，行驶检测系统可以检测车体1的形式位移和行驶速度，从而方便了及时掌控行驶信息。车体1上还设有液压系统，液压系统可以向对应的驱动器提供液压，从而方便了液压驱动。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、 “底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体地限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接或彼此可通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (14)

  1. 一种锚护车，其特征在于，包括：
    车体；
    挂网装置，所述挂网装置包括挂网臂组和支撑架，所述挂网臂组与所述车体相连，所述支撑架与所述挂网臂组的自由端可转动地相连，且所述支撑架相对所述挂网臂组可滑移，所述挂网臂组可沿着所述车体的长度方向摆动以用于调整所述支撑架的空间方位，所述支撑架可吸附固定锚网；
    锚钻装置，所述锚钻装置包括定位臂组和锚仓，所述定位臂组与所述车体相连，所述锚杆钻机与所述定位臂组的自由端可转动地相连，所述定位臂组沿着所述车体的长度方向、宽度方向、高度方向可摆动，且所述定位臂组的长度可调，所述定位臂组适于调整所述锚仓的空间方位，所述锚仓适于打设锚杆或锚索并固定所述锚网；
    锚固剂输送装置，所述锚固剂输送装置包括推送组件、存储箱、输送管和对孔组件，所述输送管连接在所述存储箱和所述对孔组件之间，所述存储箱内设有多个储料管，所述储料管位置可调以使所述储料管可与所述输送管连通，所述对孔组件设在所述锚仓上，所述对孔组件适于在所述锚仓钻孔后将所述输送管与所述钻孔对齐，所述推送组件适于将所述储料管内的锚固剂推送至所述钻孔内；
    控制装置，所述挂网装置、所述锚钻装置、所述锚固剂输送装置均与所述控制装置电性相连，所述控制装置适于统筹调控所述挂网装置、所述锚钻装置、所述锚固剂输送装置以实现自动化；
    卷缆装置，所述卷缆装置设在所述车体上，所述卷缆装置适于卷收电缆以使所述车体可范围作业，所述电缆适于提供电力。
  2. 根据权利要求1所述的锚护车，其特征在于，所述挂网臂组包括挂网基座、第一挂网臂、第一挂网驱动、第二挂网臂、第二挂网驱动、支撑架和第三挂网驱动，所述挂网基座与所述车体相连，所述第一挂网臂的一端与所述挂网基座可转动地相连，所述第一挂网驱动适于驱动所述第一挂网臂沿着所述车体的长度方向转动，所述第二挂网臂的一端与所述第一挂网臂的另一端可转动地相连，所述第二挂网驱动适于驱动所述第二挂网臂沿着所述车体的长度方向转动，所述支撑架通过所述第三挂网驱动与第二挂网臂的另一端可转动地相连，且所述支撑相对所述第三挂网驱动可滑移，所述第三挂网驱动适于驱动所述支撑架摆动和周向转动。
  3. 根据权利要求2所述的锚护车，其特征在于，所述支撑架包括主架、第一副架和第二副架，所述第一副架可转动地连接在所述主架的一侧，所述第二副架可转动地连接在所述主架的另一侧，所述支撑架具有第一形态和第二形态，在所述第一形态，所述第一副架、所述主架、所述第二副架平铺并适于扣压锚网，在所述第二形态，所述第一副架和所述第二副架叠合在所述主架上。
  4. 根据权利要求3所述的锚护车，其特征在于，所述支撑架包括第三副架、网架和第四挂网驱动，所述第三副架可转动地与所述主架相连，所述网架可拆卸地装配在所述第三副架上，在所述第一形态，所述第三副架与所述主架平铺，且所述网架固定在所述第三副架上以增加支撑面积，在所述第二形态，所述第三副架上的网架拆除，且所述第三副架叠合在所述主架上，所述第四挂网驱动连接在所述第三副架和所述主架之间，所述第四挂网驱动适于驱动所述第三副架摆动。
  5. 根据权利要求2所述的锚护车，其特征在于，所述第三挂网驱动包括第一驱动器、第二驱动器、第一挂网座和第二挂网座，所述第一驱动器设在所述第二挂网臂上，所述第一挂网座与所述第一驱动器的驱动端相连，所述第一驱动器适于驱动所述第一挂网座摆动以使所述支撑架可适于铺设顶板和侧帮的锚网，所述第二驱动器设在所述第一挂网座上，所述第二挂网座与所述第二驱动器的驱动端相连，所述支撑架与所述第二挂网座相连，所述第二驱动器适于驱动所述第二挂网座摆动以使所述支撑架可周向转动。
  6. 根据权利要求2所述的锚护车，其特征在于，所述第一挂网臂包括第一段和第二段，所述第一段和所述第二段呈夹角并形成避让槽，所述挂网装置具有工作工况和闲置工况，在所述工作工况，所述支撑架通过所述第一挂网臂和所述第二挂网臂摆动至车体前侧以进行锚网作业，所述第一段和所述第二段所形成的避让槽朝向后侧以缩减所述第一挂网臂和所述第二挂网臂的重心与所述挂网基座的间距，在所述闲置工况，所述支撑架适于通过所述第一挂网臂和所述第二挂网臂摆动至车体后侧，所述避让槽朝向下方并适于避让。
  7. 根据权利要求1所述的锚护车，其特征在于，所述锚仓包括仓体、链条组件、推送组件、钻箱、锚箱、进给组件和切换组件，所述链条组件、所述推送组件、所述钻箱、所述锚箱、所述进给组件、所述切换组件均设在所述仓体上，所述链条组件设有多个固定锚杆的卡槽，所述链条组件可转动并可将锚杆输送至第一位置，所述推送组件适于将所述第一位置的锚杆推送至第二位置，所述钻箱和所述锚箱均导向滑移装配在所述仓体上，所述钻箱可与位于所述第二位置的锚杆正对并适于钻孔，所述锚箱可与位于所述第 二位置的锚杆正对并适于锚固，所述进给组件适于沿着所述仓体的轴向动作以驱动所述钻箱和所述锚箱移动，所述切换组件适于切换所述锚箱和所述钻箱以使所述锚箱和所述钻箱分别与锚杆正对。
  8. 根据权利要求7所述的锚护车，其特征在于，所述对孔组件设在所述仓体上，所述对孔组件包括扶正件、喷管、对孔驱动装置和图像采集器，所述扶正件适于扶正锚杆，所述喷管与所述输送管连通，所述喷管适于对准钻孔并喷出锚固剂，所述扶正件和所述喷管均设在所述对孔驱动装置上，所述对孔驱动装置适于驱动所述扶正件和所述喷管进行位置切换，所述图像采集器设在所述锚仓上，所述图像采集器与所述控制装置电性相连，且图像采集器适于采集锚网上带孔的图像信息并将图像信息传输给所述控制装置，所述控制装置适于通过所述图像信息分析所述带孔的位置以调控所述挂网装置、所述锚钻装置、所述锚固剂输送装置的移动。
  9. 根据权利要求1所述的锚护车，其特征在于，所述定位臂组包括定位主臂、第一定位座、第一定位臂、第二定位座、第二定位臂和第三定位座，所述第一定位座与所述车体相连且沿着所述车体的宽度方向可摆动，所述定位主臂的一端与所述第一定位座相连且在车体的高度方向可摆动，所述第一定位臂的一端与所述第一定位座可转动地相连，所述第一定位臂的另一端与所述定位主臂可转动地相连，所述第一定位臂适于驱动所述定位主臂上下摆动，所述第二定位座与所述定位主臂的另一端相连，所述第二定位臂的一端与所述定位主臂可转动地相连，所述第二定位臂的另一端与所述第二定位座可转动地相连，所述第二定位臂适于驱动所述第二定位座上下摆动，所述第三定位座与所述第二定位座相连，且所述第三定位座在所述车体的宽度方向可摆动，所述第三定位座适于与锚仓相连。
  10. 根据权利要求1所述的锚护车，其特征在于，所述存储箱包括箱体、驱动链条、驱动轮、进气接口和出气接口，所述驱动链条转动装配在所述箱体内，多个所述储料管设在所述驱动链条的外周侧并间隔排布，所述进气接口和所述出气接口均设在所述箱体上，所述驱动轮适于驱动所述驱动链条转动以使每个所述储料管转动至进气接口和所述出气接口之间并与所述进气接口和所述出气接口连通，所述推送组件为气体推送组件，所述进气接口适于与推送组件连通，所述出气接口适于与所述输送管连通。
  11. 根据权利要求10所述的锚护车，其特征在于，所述锚钻装置包括第一锚钻装置和第二锚钻装置，所述第一锚钻装置和所述第二锚钻装置均设有所述输送管和所述对孔组件，所述出气接口包括第一接口和第二接口，所述第一接口和所述第二接口分别与所 述第一锚钻装置和所述第二锚钻装置的输送管连通，所述第一接口和所述第二接口导向滑移装配在所述箱体上，所述存储箱包括接口驱动器，所述接口驱动器适于驱动所述第一接口和所述第二接口移动以使所述第一接口和所述第二接口的任意一者可与对应地储料管连通。
  12. 根据权利要求1所述的锚护车，其特征在于，所述卷缆装置包括缆架、卷缆驱动器、卷缆滚筒、排缆组件和导向辊，所述卷缆装置设在所述车体的后侧，所述卷缆滚筒、所述排缆组件、所述导向辊均装配在所述缆架上，且所述卷缆滚筒、所述排缆组件、所述导向辊沿着车体的前后方向依次布置，所述卷缆驱动器与所述卷缆滚筒传动相连，所述卷缆驱动器适于驱动所述卷缆滚筒转动以收卷电缆。
  13. 根据权利要求1-12中任一项所述的锚护车，其特征在于，所述车体包括车架和多个撑顶器，多个所述撑顶器装配在所述车架上且沿着所述车架的周向间隔排布，所述撑顶器长度可调，所述撑顶器适于与地面撑顶以固定和调平所述车体。
  14. 根据权利要求13所述的锚护车，其特征在于，所述锚护车的使用包括以下步骤：
    S1：确定锚护位置，然后将车体移动至锚护位置；
    S2：操控多个所述撑顶器伸展并与巷道底板撑顶，以固定和调平车体；
    S3：将锚网放置在支撑架上，然后控制挂网装置动作以将锚网扣合在巷道顶板或巷道侧帮上；
    S4：利用对孔组件识别锚网上带孔的位置，然后操控锚钻装置动作并穿过所述带孔钻孔；
    S5：利用锚固机输送装置将锚固剂输送至所述钻孔内，然后操控锚钻装置动作以完成锚杆支护并将锚网固定；
    S6：根据预设的锚护排距操控车体移动至下一锚护位置，重复步骤S2至步骤S5，直至完成掘进巷道的锚护。
PCT/CN2022/109665 2021-11-25 2022-08-02 锚护车 WO2023093117A1 (zh)

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