CN215332691U

CN215332691U - Portable anchor rod drilling machine with full-automatic rod changing function

Info

Publication number: CN215332691U
Application number: CN202120543316.0U
Authority: CN
Inventors: 徐诗虎; 赵东洋; 苏国用; 杨豚; 童佳乐
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2021-03-16
Filing date: 2021-03-16
Publication date: 2021-12-28
Anticipated expiration: 2031-03-16

Abstract

The utility model relates to a portable jumbolter with a full-automatic rod replacing function. The loadable full-automatic rod-changing anchor rod drilling machine provided by the utility model has the advantages that the structure is compact, the space utilization rate is high, a plurality of anchor rods can be stored at one time, the positioning, fastening and installation of the anchor rods can be realized through the double-manipulator structure, the hidden danger of rod throwing in the rod changing process is prevented, and the full-automatic rod-changing function is realized; the anchor rod drilling machine can be arranged on any equipment needing anchor rod support, has a portable structure with multiple machine positions, realizes simultaneous work of multiple anchor rod drilling machines and cooperative equipment, and has strong applicability to main equipment, good safety and high anchoring and protecting efficiency.

Description

Portable anchor rod drilling machine with full-automatic rod changing function

Technical Field

The utility model relates to the field of mining machinery, in particular to a portable jumbolter with a full-automatic rod changing function.

Background

With the development of coal mine fully-mechanized mining technical equipment and the improvement of coal mining mechanization degree in China, the amount of underground coal mine roadway tunneling engineering is greatly increased, the existing tunneling machine equipment has great breakthrough in quantity and quality, compared with the situation that tunneling and anchoring are unbalanced, the situation is more prominent, and the development of anchor supporting equipment becomes an important factor for limiting rapid tunneling of a roadway. At present, a single jumbolter and an airborne jumbolter are mostly adopted in the underground coal mine, and the descriptions are respectively given below.

Typical single body jumbolters represent patents such as "CN 112065478A", "CN 111852346A", etc. The matching of the development machine and the single drilling machine is the most main roadway development mode of coal mine roadways in China at present, but development and support are separated in the process, the mechanization degree is low, the single anchor rod drilling machine cannot move automatically, the maneuverability is poor, and after the development work is complete, the anchor rod drilling machine is carried manually to construct anchor rods and anchor cables; after each rod driving is finished, the anchor rod drilling machine is conveyed to the next anchoring and protecting position by workers, then the anchor rod is manually filled, the workers are required to operate in front of the machine all the time in the working process, multi-machine-position simultaneous operation cannot be carried out, the labor intensity is high, and the anchoring and protecting efficiency is low; workers need to construct in a narrow area which is not supported yet in the working process, danger such as falling rocks can be caused, and safety is poor.

Typical onboard jumbolter models such as jumbolters, excavators, etc. represent patents such as "CN 104912484A", "CN 110454087A", "CN 112081612A", etc. The machine-mounted jumbolter is characterized in that the jumbolter is arranged on a self-moving device, a combined tunneling and anchoring unit is adopted to complete tunneling and anchoring operation, the anchoring and protecting efficiency is high, the machine-mounted jumbolter is suitable for single-lane tunneling and complex tunnels with roof plates needing to be supported in time, and the tunneling speed can reach more than one kilometer per month under a proper condition. But the disadvantages are not small: firstly, the automation degree of an onboard hydraulic jumbolter adopted in domestic coal mine production is not high, most jumbolters only realize the automation of a drilling function, the functions of installing a drill rod into a drill hole and fastening an anchor rod cannot be automatically realized, and adverse consequences such as low drilling efficiency, rod blockage failure and the like can be caused; secondly, the cooperative capability among all sub mechanisms of the equipment is poor, most of the disclosed equipment is structurally superposed, and the complex working procedures in actual operation are not considered, so that the anchoring effect is poor; thirdly, the existing anchor rod drilling machine is limited by narrow and small roadway environments, is heavy in size, can only work singly or in a small number at the same time, is low in space utilization rate and low in overall efficiency; fourthly, in the rod replacing process, a plurality of workers are required to replace the anchor rod and then the next process can be carried out, the anchor rod is at a certain distance and height from the hydraulic motor, the manual completion is particularly laborious, the labor intensity is high in the actual production, and certain potential safety hazards can exist if the anchor rod is installed manually and is not operated properly, so that the portable anchor rod drilling machine capable of achieving full-automatic rod replacement is particularly important.

Disclosure of Invention

The utility model aims to provide a portable jumbolter with a full-automatic rod changing function, which breaks through the limitation of the prior art, realizes the full-automatic rod changing and simultaneously works with other equipment, so that a plurality of jumbolters work simultaneously, and the working efficiency under a narrow roadway is improved.

The purpose of the utility model can be realized by the following technical scheme:

a portable jumbolter with a full-automatic rod replacing function comprises a fixed support mechanism, a rod replacing mechanism, a manipulator mechanism, a pushing oil cylinder mechanism, a main hydraulic cylinder, a hydraulic motor mechanism, a case, a suspension oil cylinder, an upper manipulator shaft sleeve, a lower manipulator piston rod sleeve plate and a jumbolter; the fixed support mechanism is welded on a side plate of the case, the rod changing mechanism is welded on a bottom plate of the case, the upper manipulator mechanism is connected with a cylinder body of the suspension oil cylinder through an upper manipulator shaft sleeve, the lower manipulator mechanism is connected with a cylinder rod of the suspension oil cylinder through a lower manipulator piston rod sleeve plate, the pushing oil cylinder mechanisms are symmetrically welded on a top plate of the case, the main hydraulic cylinders are respectively fixed on the top plate and the bottom plate of the case through bolts, lug plates on the hydraulic motor mechanism are connected with lug plates on the main hydraulic cylinders through bolts, synchronous movement of the hydraulic motor mechanism and the main hydraulic cylinders is achieved, the cylinder body of the suspension oil cylinder is symmetrically fixed on the pushing oil cylinder mechanisms through bolts, holes are formed in the top plate of the case, and the anchor rod can be pushed out of the case.

Preferably, the fixed support mechanism comprises a fixed plate, two inclined support bottom sleeves, two inclined support rods, a support hydraulic cylinder connecting plate, two support shaft bottom sleeves, a support hydraulic cylinder bottom sleeve, two support shafts, two inclined support shaft sleeves, two cross shaft sleeves and a cross shaft; one end of the support shaft is connected with the support shaft bottom sleeve, the other end of the support shaft is connected with the cross shaft sleeve, and the distance between the two support shafts is equal to the length of the case; one end of the inclined supporting rod is connected with the inclined supporting bottom sleeve, the other end of the inclined supporting rod is connected with the inclined supporting shaft sleeve, the inclined supporting shaft sleeve is connected with the supporting shaft, and the inclined supporting bottom sleeve is connected with the fixing plate; the cross shaft and the two cross shaft sleeves are coaxial and can rotate relatively, two ends of the cross shaft are respectively connected with the two cross shaft sleeves, and the two cross shaft sleeves are symmetrically welded with the side plate of the case.

Preferably, a connecting plate of a supporting hydraulic cylinder of the fixed support mechanism is welded with a side plate of the case, and a bottom sleeve of the supporting hydraulic cylinder is connected with a fixed plate through a bolt; the supporting hydraulic cylinder is connected with the supporting hydraulic cylinder connecting plate and the supporting hydraulic cylinder bottom sleeve, and the supporting hydraulic cylinder stretches and retracts to drive the cross shaft to rotate relative to the cross shaft sleeve.

Preferably, the rod replacing mechanism comprises a rod replacing motor, a rod replacing motor base, a connecting shaft rod replacing disc and a rod replacing base; the rod-changing motor base, the rod-changing base and the case are welded, and the widths of the rod-changing motor base, the rod-changing base and the inner space of the case are equal; the output shaft of the rod changing motor is connected with the connecting shaft rod changing disc through a spline, the rod changing motor works to drive the connecting shaft rod changing disc to rotate, the bottom of the tray of the anchor rod rotates in the groove of the rod changing base, the connecting shaft rod changing disc is provided with a plurality of holes, and a plurality of anchor rods can be placed correspondingly at one time.

Preferably, the manipulator mechanism comprises a grab handle, two grabs, two claw gears, two connecting rods, a driving wheel and a grab motor; the jumbolter is provided with two manipulator mechanisms, the longitudinal movement of the lower manipulator mechanism is realized while the longitudinal movement of the upper manipulator mechanism is limited, and the two manipulators are positioned at the same axial center position; an output shaft of the gripper motor is connected with the driving wheel, the driving wheel is meshed with the claw gears, and the two claw gears are meshed.

Preferably, the claw gear and the connecting rod are arranged in parallel, one end of the claw gear and one end of the connecting rod are connected with the gripper handle, the other end of the claw gear and the other end of the connecting rod are connected with the grippers, and the two grippers, the two claw gears and the two connecting rods are symmetrically distributed; the grab handle is provided with five holes which are respectively connected with the two claw gears, the two connecting rods and the driving wheel, and the grab handle is provided with two holes which are respectively connected with the claw gears and the connecting rods.

Preferably, the pushing oil cylinder mechanism comprises a fixed platform, a sliding plate, a limiting plate, two guide rods and a pushing oil cylinder; the fixed platforms are symmetrically welded on the top plate of the case, the lug plate on the sliding plate is connected with the piston rod of the pushing cylinder, and the cylinder body of the pushing cylinder is connected with the fixed platforms; one end of the guide rod is welded with the sliding plate, the other end of the guide rod is welded with the limiting plate, guide rail grooves are formed in two sides of the fixed platform, and the sliding plate is assembled with the longitudinal guide groove of the fixed platform and connected with the longitudinal guide groove in a sliding connection mode; two holes are symmetrically formed in the fixed platform, and the two guide rods are connected with the fixed platform through the holes in a sliding connection mode.

Preferably, the hydraulic motor mechanism comprises a hydraulic motor, a hydraulic motor base and a hydraulic motor sleeve; the hydraulic motor is fixed on a hydraulic motor base through bolts, an ear plate on the hydraulic motor base is connected with an ear plate on a main hydraulic cylinder body through bolts, and a hydraulic motor sleeve is connected with the hydraulic motor through bolts.

Preferably, the cylinder body of the master cylinder can move on a piston rod, two ends of the piston rod of the master cylinder are respectively welded on two master cylinder fixing seats, the master cylinder fixing seats are as wide as the inside of the case, and the two master cylinder fixing seats are respectively fixed on a top plate and a bottom plate of the case by bolts; the suspension oil cylinders are symmetrically welded below the pushing oil cylinder mechanism.

Compared with the prior art, the utility model has the beneficial effects that:

1. the utility model has compact structure, the whole device is in modular design, is easy to assemble and disassemble, can carry out structural optimization according to the actual size and working condition requirements of the cooperative equipment, and has high reliability; the anchor rod is transported to the working face by operating the rod changing mechanism firstly during working, the anchor rod is clamped by the manipulator mechanism, then the anchor rod is conveyed to the hydraulic motor mechanism for installation and fastening through the cooperation of the pushing oil cylinder mechanism and the hanging oil cylinder, finally the hydraulic motor mechanism is driven by the main hydraulic cylinder for rod striking, and the full-automatic high-precision anchoring and protecting work from rod changing to rod striking is completed.

2. The portable installation device has high space utilization rate and strong applicability to equipment, can realize portable installation of the jumbolter, and has high anchoring and protecting efficiency because a plurality of jumbolters and cooperative equipment work simultaneously; the swing of the anchor rod drilling machine can be realized through the extension and retraction of the supporting hydraulic cylinder, and the roadway is reinforced from different angles.

3. The manipulator mechanism adopts a gear engagement mode, has constant instantaneous transmission ratio and high working stability, and can improve the efficiency of automatic rod replacement; the anchor rod can be fastened by positioning the double manipulators, and the rod is prevented from being thrown in the rod replacing process.

4. The rod changing mechanism has a rod storage function, can store a plurality of anchor rods at one time, can adjust the quantity of the stored rods according to the actual working condition, is convenient to supplement the anchor rods, is matched with each mechanism for operation, reduces the labor intensity of workers, and meets the requirements of 'no/few people, intelligence, high efficiency, green safety' of the current coal mining.

Drawings

FIG. 1 is a schematic view of an angle internal structure of the present invention

FIG. 2 is a schematic view of another embodiment of the present invention

FIG. 3 is a schematic structural view of a fixing support mechanism of the present invention

FIG. 4 is a schematic view of the extended configuration of the support cylinder of the present invention

FIG. 5 is a schematic structural view of the rod changing mechanism of the present invention

FIG. 6 is a schematic view of the structure of the rod-changing base of the present invention

FIG. 7 is a schematic structural view of a robot mechanism according to the present invention

FIG. 8 is a schematic cross-sectional view of a push cylinder mechanism according to the present invention

FIG. 9 is a schematic structural view of a fixing platform according to the present invention

FIG. 10 is a schematic view of the assembly of the hydraulic motor and the hydraulic motor base according to the present invention

FIG. 11 is a schematic view of the construction of the hydraulic motor sleeve of the present invention

FIG. 12 is a schematic structural diagram of the upper mechanical arm bushing of the present invention

FIG. 13 is a schematic structural view of a piston rod bushing of a lower manipulator of the present invention

In the drawings, the components represented by the respective reference numerals are listed below: 1-fixing a support mechanism; 2-a rod changing mechanism; 3-a manipulator mechanism; 4-pushing the oil cylinder mechanism; 5-main hydraulic cylinder; 6-a hydraulic motor mechanism; 7-a case; 8-hanging the oil cylinder; 9-upper mechanical arm shaft sleeve; 10-lower manipulator piston rod sleeve plate; 11-anchor rod; 101-a fixed plate; 102-inclined supporting bottom sleeves; 103-inclined supporting rods; 104-supporting hydraulic cylinders; 105-supporting hydraulic cylinder connecting plates; 106-supporting the shaft bottom sleeve; 107-supporting the bottom sleeve of the hydraulic cylinder; 108-support shaft; 109-inclined supporting shaft sleeve; 110-a cross bush; 111-cross shaft sleeve; 112-horizontal axis; 201-rod changing motor; 202-rod changing motor fixing seat; 203-connecting shaft rod changing disc; 204-rod changing base; 301-a grab handle; 302-hand grip; 303-pawl gear; 304-a connecting rod; 305-a driving wheel; 306-gripper motor; 401-a stationary platform; 402-a slide plate; 403-limiting plate; 404-a guide bar; 405-pushing cylinder; 601-a hydraulic motor; 602-a hydraulic motor mount; 603-hydraulic motor sleeve.

Detailed Description

The utility model is further illustrated by the following specific examples.

In the description of the present invention, it should be noted that the terms "bolt connection", "connection", and the like are used in a broad sense, and for example, "connection" may be a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected indirectly through an intermediary or may be connected internally between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1, a schematic diagram of an internal overall structure of a portable jumbolter with a full-automatic rod replacement function is shown, and the portable jumbolter comprises a rod replacement mechanism 2, a manipulator mechanism 3, a push cylinder mechanism 4, a main hydraulic cylinder 5, a hydraulic motor mechanism 6, a suspension cylinder 8 and a jumbolter 11; the rod changing mechanism 2 is welded on a bottom plate of the case 7, the pushing cylinder mechanism 4 is welded on a top plate of the case 7, the hydraulic motor mechanism 6 is connected with the main hydraulic cylinder 5 through an ear plate, a cylinder body of the main hydraulic cylinder 5 can move on a cylinder rod to realize a rod opening function, a hole groove is formed in the top plate of the case 7, and the anchor rod 11 can be pushed out through the hole groove when being anchored.

Referring to fig. 2, 3 and 4, the fixed bracket mechanism 1 includes a fixed plate 101, two inclined support bottom sleeves 102, two inclined support rods 103, a support hydraulic cylinder 104, a support hydraulic cylinder connecting plate 105, two support shaft bottom sleeves 106, a support hydraulic cylinder bottom sleeve 107, two support shafts 108, two inclined support shaft sleeves 109, two cross shaft sleeves 110, two cross shaft sleeves 111 and a cross shaft 112; the fixed support mechanism 1 is welded on a side plate of the case 7, two transverse shaft sleeves 111 are symmetrically welded with the side plate of the case 7, a transverse shaft 105 of the fixed support mechanism 1 is hinged with two transverse shaft sleeves 112 and can rotate relatively, and the fixed support mechanism is characterized in that the telescopic action of the supporting hydraulic cylinder 104 drives the case 7 to swing, so that multi-angle anchoring is realized.

Referring to fig. 5 and 6, the rod-changing mechanism 2 includes a rod-changing motor 201, a rod-changing motor fixing seat 202, a coupling rod-changing disc 203, and a rod-changing base 204; trade pole motor fixing base 202, trade pole base 204 and quick-witted case 7 inner space aequilate, trade pole motor fixing base 202, trade pole base 204 and quick-witted case 7 welding, trade the output shaft of pole motor 201 and link trade pole dish 203 spline coupling, trade pole motor 201 work and drive link trade pole dish 203 and rotate, the tray bottom of stock 11 rotates in the recess of trading pole base 204, link and trade and have a plurality of holes on the pole dish 203, characterized in that can once place many stocks, realize storing up the pole function.

Referring to fig. 7, a cross-sectional view of the manipulator mechanism 3 includes a gripper handle 301, two grippers 302, two gripper gears 303, two links 304, a driving wheel 305, and a gripper motor 306; five holes are formed in the gripper handle 301 and are respectively connecting holes of two claw gears 303, two connecting rods 304 and a gripper motor 306, when the gripper motor 306 works, an output shaft drives a driving wheel 305 to rotate, the claw gears 303 meshed with the driving wheel 305 are meshed with each other, the gears rotate to drive the tightness of the gripper 302, the two grippers 302, the two claw gears 303 and the two connecting rods 304 are symmetrically distributed, when the two grippers 302 are in contact, the two grippers are in limit positions, and at the moment, the grippers clamp the anchor rod.

Referring to fig. 8 and 9, a cross-sectional view of the pushing cylinder mechanism 4 is shown, and includes a fixed platform 401, a sliding plate 402, a limiting plate 403, two guide rods 404, and a pushing cylinder 405; the base of the pushing oil cylinder 405 is installed on the fixing platform 401 through bolts, the fixing platform 401 is welded on the case 7, a piston rod of the pushing oil cylinder 405 is connected with an ear plate on the sliding plate 402, the suspension oil cylinder 8 is symmetrically welded below the sliding plate 402, the sliding plate 402 is driven to reciprocate by the stretching of the pushing oil cylinder 405, one end of the guide rod 404 is welded with the sliding plate 402, the other end of the guide rod 404 is welded with the limiting plate 403, two holes are symmetrically formed in the fixing platform 401, the guide rod 404 is connected with the fixing platform 401 in a sliding connection mode, the fixing platform 401 and the sliding plate 402 slide relatively through a groove structure, the groove structure is characterized in that the pushing stability is increased, and the stable reciprocating motion of the suspension oil cylinder 8 is realized.

Referring to fig. 10 and 11, the hydraulic motor mechanism 6 includes a hydraulic motor 601, a hydraulic motor base 602, and a hydraulic motor sleeve 603; the hydraulic motor 601 is connected with the hydraulic motor base 602 through bolts, and the lug plate on the hydraulic motor base 602 is connected with the lug plate on the main hydraulic cylinder 5, so that the hydraulic motor mechanism 6 and the main hydraulic cylinder 5 can move synchronously, and the rod beating function is completed.

Referring to fig. 12 and 13, the manipulator mechanism comprises an upper manipulator shaft sleeve 9 and a lower manipulator piston rod sleeve plate 10, wherein the upper manipulator shaft sleeve 9 and the lower manipulator piston rod sleeve plate 10 are connected with a suspension cylinder 8 into a whole through bolts and are welded with two manipulator mechanisms 3 respectively.

A kind of loadable jumbolter with full-automatic rod-changing function, its rod-changing operation includes the following steps:

s1, connecting a spline output shaft of the rod changing motor 201 with the connecting shaft rod changing disc 203, and enabling the rod changing motor 201 to work to enable the connecting shaft rod changing disc 203 to rotate until the anchor rod 11 rotates to a working position closest to the hydraulic motor mechanism 6 and then stops rotating;

s2, the suspension oil cylinder 8 extends downwards, the oil cylinder mechanism 4 is pushed after the suspension oil cylinder extends to the maximum position to drive the two manipulator mechanisms 3 to move forwards to be coaxial with the anchor rod 11 to be anchored and protected, the lower manipulator mechanism 3 clamps the anchor rod 11 firstly, the suspension oil cylinder 8 retracts upwards until a gap is reserved between the bottom of the anchor rod 11 to be anchored and the top of the hydraulic motor base 602, after the upper manipulator mechanism 3 clamps the anchor rod 11, the lower manipulator mechanism 3 loosens the anchor rod 11, the suspension oil cylinder 10 extends downwards again, and the lower manipulator mechanism 3 clamps the anchor rod 11 again after extending to the maximum position to finish the fastening work;

s3, the pushing oil cylinder mechanism 4 continues to be pushed forwards until the anchor rod 11 and the output shaft of the hydraulic motor mechanism 6 are coaxial, the pushing oil cylinder stops, the main hydraulic cylinder 5 drives the hydraulic motor mechanism 6 to push upwards, the hydraulic motor mechanism 6 starts to work until contacting with the anchor rod 11, the output shaft of the hydraulic motor mechanism 6 and the bottom of the anchor rod 11 are provided with threads, the anchor rod 11 and the hydraulic motor 601 are screwed through the rotation of the hydraulic motor mechanism 6 and the upward pushing of the main hydraulic cylinder 5, the two mechanical hand mechanisms 3 loosen the anchor rod 11 after screwing, the swinging rod of the anchor rod 11 in the rod loading process is avoided, the suspension oil cylinder 8 retracts upwards, and the pushing oil cylinder mechanism 4 pushes back to the initial position;

s4, in the anchoring and protecting process, the two mechanical hand mechanisms 3 return to the original positions, the rod changing mechanism 2 works, the anchor rod 11 to be anchored and protected next is sent to the working position closest to the hydraulic motor mechanism 6 and stops rotating, the main hydraulic cylinder 5 drives the hydraulic motor mechanism 6 to start anchoring and protecting, the main hydraulic cylinder 5 drives the hydraulic motor mechanism 6 to return to the original position after the anchor rod 11 is driven into the roadway, and the next working process is started.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A portable jumbolter with a full-automatic rod changing function is characterized by comprising a fixed support mechanism (1), a rod changing mechanism (2), a manipulator mechanism (3), a pushing oil cylinder mechanism (4), a main hydraulic cylinder (5), a hydraulic motor mechanism (6), a case (7), a suspension oil cylinder (8), an upper manipulator shaft sleeve (9), a lower manipulator piston rod sleeve plate (10) and an anchor rod (11); the fixed support mechanism (1) is welded on a side plate of a case (7), the rod replacing mechanism (2) is welded on a bottom plate of the case (7), the upper manipulator mechanism (3) is connected with a cylinder body of a suspension oil cylinder (8) through an upper manipulator shaft sleeve (9), the lower manipulator mechanism (3) is connected with a cylinder rod of the suspension oil cylinder (8) through a lower manipulator piston rod sleeve plate (10), the push oil cylinder mechanisms (4) are symmetrically welded on a top plate of the case (7), the main hydraulic cylinder (5) is respectively fixed on the top plate and the bottom plate of the case (7) through bolts, an ear plate on the hydraulic motor mechanism (6) is connected with an ear plate on the main hydraulic cylinder (5) through bolts, synchronous movement of the hydraulic motor mechanism (6) and the main hydraulic cylinder (5) is realized, the cylinder body of the suspension oil cylinder (8) is symmetrically fixed on the push oil cylinder mechanisms (4) through bolts, a hole is formed in the top plate of the case (7), and the anchor rod (11) can be pushed out of the case (7) through the hole.

2. The portable jumbolter with the full-automatic rod changing function according to claim 1, wherein the fixed support mechanism (1) comprises a fixed plate (101), two inclined support bottom sleeves (102), two inclined support rods (103), a support hydraulic cylinder (104), a support hydraulic cylinder connecting plate (105), two support shaft bottom sleeves (106), a support hydraulic cylinder bottom sleeve (107), two support shafts (108), two inclined support shaft sleeves (109), two cross shaft sleeves (110), two cross shaft sleeves (111) and a cross shaft (112); one end of each support shaft (108) is connected with the support shaft bottom sleeve (106), the other end of each support shaft is connected with the cross shaft sleeve (110), and the distance between the two support shafts (108) is equal to the length of the case (7); one end of the inclined supporting rod (103) is connected with the inclined supporting bottom sleeve (102), the other end of the inclined supporting rod is connected with an inclined supporting shaft sleeve (109), the inclined supporting shaft sleeve (109) is connected with the supporting shaft (108), and the inclined supporting bottom sleeve (102) is connected with the fixing plate (101); the transverse shaft (112) and the two transverse shaft sleeves (111) are coaxial and can rotate relatively, two ends of the transverse shaft (112) are respectively connected with the two cross shaft sleeves (110), and the two transverse shaft sleeves (111) are symmetrically welded with the side plate of the case (7).

3. The portable jumbolter with the full-automatic rod changing function according to claim 2, wherein the supporting hydraulic cylinder connecting plate (105) of the fixed bracket mechanism (1) is welded with the side plate of the chassis (7), and the supporting hydraulic cylinder bottom sleeve (107) is in bolted connection with the fixed plate (101); the supporting hydraulic cylinder (104) is connected with a supporting hydraulic cylinder connecting plate (105) and a supporting hydraulic cylinder bottom sleeve (107), and the supporting hydraulic cylinder (104) stretches and retracts to drive the transverse shaft (112) to rotate relative to the transverse shaft sleeve (111).

4. A portable jumbolter with a fully automatic rod changing function according to claim 1, wherein the rod changing mechanism (2) comprises a rod changing motor (201), a rod changing motor base (202), a coupling rod changing disc (203), a rod changing base (204); the rod changing motor base (202) and the rod changing base (204) are welded with the case (7), and the internal spaces of the rod changing motor base (202), the rod changing base (204) and the case (7) are equal in width; the output shaft of the rod changing motor (201) is in splined connection with the connecting shaft rod changing disc (203), the rod changing motor (201) works to drive the connecting shaft rod changing disc (203) to rotate, the bottom of the tray of the anchor rod (11) rotates in the groove of the rod changing base (204), a plurality of holes are formed in the connecting shaft rod changing disc (203), and a plurality of anchor rods can be placed correspondingly at one time.

5. A portable jumbolter with a fully automatic rod changing function according to claim 1, wherein the manipulator mechanism (3) comprises a gripper handle (301), two grippers (302), two claw gears (303), two connecting rods (304), a driving wheel (305), a gripper motor (306); the jumbolter is provided with two manipulator mechanisms (3), the longitudinal movement of the lower manipulator mechanism (3) is realized while the longitudinal movement of the upper manipulator mechanism (3) is limited, and the two manipulators are positioned at the same axial center position; an output shaft of the gripper motor (306) is connected with the driving wheel (305), the driving wheel (305) is meshed with the claw gears (303), and the two claw gears (303) are meshed.

6. The portable jumbolter with the full-automatic rod changing function is characterized in that the claw gear (303) is arranged in parallel with the connecting rod (304), one end of each of the claw gear (303) and the connecting rod (304) is connected with the grab handle (301), the other end of each of the claw gear (303) and the connecting rod (304) is connected with the grab handle (302), and the two grab handles (302), the two claw gears (303) and the two connecting rods (304) are symmetrically distributed; five holes are formed in the grab handle (301) and are respectively connected with the two claw gears (303), the two connecting rods (304) and the driving wheel (305), two holes are formed in the grab handle (302) and are respectively connected with the claw gears (303) and the connecting rods (304).

7. The portable jumbolter with the full-automatic rod changing function according to claim 1, wherein the push cylinder mechanism (4) comprises a fixed platform (401), a sliding plate (402), a limiting plate (403), two guide rods (404) and a push cylinder (405); the fixed platform (401) is symmetrically welded on a top plate of the case (7), an ear plate on the sliding plate (402) is connected with a piston rod of the pushing cylinder (405), and a cylinder body of the pushing cylinder (405) is connected with the fixed platform (401); one end of the guide rod (404) is welded with the sliding plate (402), the other end of the guide rod (404) is welded with the limiting plate (403), guide rail grooves are formed in two sides of the fixed platform (401), and the sliding plate (402) is assembled with the longitudinal guide groove of the fixed platform (401) and connected in a sliding connection mode; two holes are symmetrically formed in the fixed platform (401), and the two guide rods (404) are connected with the fixed platform (401) through the holes in a sliding connection mode.

8. A portable jumbolter with a fully automatic rod changing function according to claim 1, wherein the hydraulic motor mechanism (6) comprises a hydraulic motor (601), a hydraulic motor base (602), a hydraulic motor sleeve (603); the hydraulic motor (601) is fixed on a hydraulic motor base (602) through bolts, an ear plate on the hydraulic motor base (602) is connected with an ear plate on a cylinder body of the main hydraulic cylinder (5) through bolts, and a hydraulic motor sleeve (603) is connected with the hydraulic motor (601) through bolts.

9. The portable jumbolter with the full-automatic rod replacement function according to claim 1, wherein the cylinder body of the main hydraulic cylinder (5) can move on the piston rod, the two ends of the piston rod of the main hydraulic cylinder (5) are respectively welded on two main hydraulic cylinder fixing seats, the main hydraulic cylinder fixing seats are as wide as the inside of the case (7), and the two main hydraulic cylinder fixing seats are respectively fixed on the top plate and the bottom plate of the case (7) by bolts; the suspension oil cylinders (8) are symmetrically welded below the pushing oil cylinder mechanism (4).