CN104847386A - Automatic net paving device of anchor rod drill carriage for coal mine - Google Patents
Automatic net paving device of anchor rod drill carriage for coal mine Download PDFInfo
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- CN104847386A CN104847386A CN201510175699.XA CN201510175699A CN104847386A CN 104847386 A CN104847386 A CN 104847386A CN 201510175699 A CN201510175699 A CN 201510175699A CN 104847386 A CN104847386 A CN 104847386A
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- arm
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- spiral oscillating
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Abstract
The invention discloses an automatic net paving device of an anchor rod drill carriage for a coal mine. The device comprises a rotating base, a lug base, a first arm, a first oil cylinder, a second arm, a second oil cylinder, a third arm, a third oil cylinder, a first spiral swing cylinder, a second spiral swing cylinder, a third spiral swing cylinder and a magnetic manipulator. The automatic net paving device of the anchor rod drill carriage for the coal mine realizes horizontal translation of the magnetic manipulator through the rotation of a worm wheel of the rotating base, realizes vertical translation of the magnetic manipulator through the telescopic motions of the first oil cylinder and the second oil cylinder, realizes front-back translation of the magnetic manipulator through the telescopic motion of the third oil cylinder, and realizes three degrees of rotating freedom of the magnetic manipulator through the rotation of the three spiral swing cylinders; and the magnetic manipulator realizes the grabbing and the pavement of reinforcement meshes, so that the automatic net paving device of the anchor rod drill carriage for the coal mine can realize automatic pavement of the reinforcement meshes so as to improve the paving efficiency of the reinforcement meshes.
Description
Technical field
The present invention relates to the component of a kind of colliery roofboltier, particularly relate to the automatic device for layering of a kind of colliery roofboltier.
Background technology
In coal mining, when coal seam is very thick, all adopt separate zone production.Be divided into some layers by coal seam, be generally 2 layers or 3 layers, exploit respectively.In the separate zone production process in colliery, need the base plate paving top net in work plane during back production, as the top board of middle paneling.After laying top net, when exploiting next layering, the caved gangue of higher slice can be held, be conducive to roof control during lower leaf exploitation.
In prior art, lapping device is generally completed by hand by workman, and efficiency is lower.
Summary of the invention
The object of the invention is to provide the automatic device for layering of a kind of colliery roofboltier, and it realizes automation lapping by mechanical arm, and efficiency is higher.
Technical solution problem of the present invention adopts following technical scheme: the automatic device for layering of a kind of colliery roofboltier, and it comprises rotating base, ear seat, the first arm, the first oil cylinder, the second arm, the second oil cylinder, the 3rd arm, the 3rd oil cylinder, the first spiral oscillating cylinder, the second spiral oscillating cylinder, the 3rd spiral oscillating cylinder and magnetic machinery hand;
Described ear seat is fixed on the rotatable parts of described rotating base, and described rotating base drives described ear seat to rotate;
One end of described first arm is articulated with on described ear seat;
One end of described second arm is articulated with the other end of described first arm;
The two ends of described first oil cylinder are articulated with on described ear seat and described first arm respectively, and the first arm described in described first hydraulic oil cylinder driving rotates around the jointed shaft of described first arm and ear seat;
One end of described second oil cylinder is articulated with described first arm, and the other end is articulated with described second arm; Second arm described in described second hydraulic oil cylinder driving rotates around the jointed shaft of described second arm and the first arm;
The other end of described second arm is hollow form, and described 3rd arm is slidably disposed in described second arm;
One end of described 3rd oil cylinder is articulated with described second arm, and the other end is articulated with described 3rd arm;
The cylinder body of described first spiral oscillating cylinder is fixed on described 3rd arm one end away from described second arm, the cylinder body of described second spiral oscillating cylinder is fixed on the dwang of described first spiral oscillating cylinder, and the dwang of described second spiral oscillating cylinder is vertical with the dwang of described first spiral oscillating cylinder; The cylinder body of described 3rd spiral oscillating cylinder is fixed on the dwang of described second spiral oscillating cylinder, and the dwang of described 3rd spiral oscillating cylinder is perpendicular to the dwang of described second spiral oscillating cylinder;
Described magnetic machinery hand is fixed on the dwang of described 3rd spiral oscillating cylinder.
Optionally, described rotating base comprises hydraulic motor and worm-and-wheel gear, described hydraulic motor is fixed on the chassis of described colliery roofboltier, described worm screw is fixed on the output shaft of described hydraulic motor, worm screw described in described fluid motor-driven is rotated, described worm gear is arranged on described chassis rotationally, described worm screw and described worm wheel, worm gear wheel described in described worm drive; Described ear seat is fixed on described worm gear.
Optionally, described first arm comprises the first straight-arm and the second straight-arm, and one end of described first straight-arm and one end of the second straight-arm fix, and the angle between described first straight-arm and the second straight-arm is 135 degree, and the other end of described first straight-arm is articulated with described ear seat.
Optionally, described first oil cylinder, the second oil cylinder and the 3rd oil cylinder are positioned at same plane.
Optionally, described second arm offers square opening along its length; Described 3rd arm is linearly, and its cross section is identical with described square opening.
Optionally, the piston rod of described first oil cylinder and the cylinder barrel of the second oil cylinder are articulated with on described second straight-arm by same jointed shaft.
The present invention has following beneficial effect: the automatic device for layering of colliery of the present invention roofboltier, by the rotation of the worm gear of rotating base, realizes the left and right translation of described magnetic machinery hand; And pass through the stretching motion of the first oil cylinder and the second oil cylinder, realize the upward-downward translation of described magnetic machinery hand; By the stretching motion of described 3rd oil cylinder, realize the front and back translation of described magnetic machinery hand; And by the rotation of described three spiral oscillating cylinders, realize 3 rotary freedoms of magnetic machinery hand; Described magnetic machinery hand realizes crawl and the laying of described reinforced mesh, and the automatic device for layering of visible colliery of the present invention roofboltier can realize the automatic laying of reinforced mesh, improves the laying efficiency of reinforced mesh.
Accompanying drawing explanation
Fig. 1 is the structural representation of the automatic device for layering of colliery of the present invention roofboltier;
Fig. 2 is the structural representation of the automatic device for layering of colliery of the present invention roofboltier when being installed on the roofboltier of colliery;
In figure, mark is illustrated as: 101-rotating base; 102-ear seat; 103-first arm; 104-first oil cylinder; 105-second arm; 106-second oil cylinder; 107-the 3rd arm; 108-the 3rd oil cylinder; 109-first spiral oscillating cylinder; 110-second spiral oscillating cylinder; 111-the 3rd spiral oscillating cylinder; 112-magnetic machinery hand; 113-worm screw; 114-worm gear; 115-first ear; 116-first straight-arm; 117-second straight-arm; 118-second ear.
Detailed description of the invention
Below in conjunction with embodiment, technical scheme of the present invention is further elaborated.
Embodiment 1
Present embodiments provide the automatic device for layering of a kind of colliery roofboltier, it comprises rotating base 101, ear seat 102, first arm 103, first oil cylinder 104, second arm 105, second oil cylinder 106, the 3rd arm 107, the 3rd oil cylinder 108, first spiral oscillating cylinder 109, second spiral oscillating cylinder 110, the 3rd spiral oscillating cylinder 111 and magnetic machinery hand 112.
Described rotating base 101 is installed on the chassis of described colliery roofboltier in use, described rotating base 101 comprises hydraulic motor and worm-and-wheel gear, described hydraulic motor is fixed on described chassis, described worm screw 113 is fixed on the output shaft of described hydraulic motor, to be rotated by worm screw 113 described in described fluid motor-driven, described worm gear 114 is arranged on described chassis rotationally, described worm screw 113 is matched with described worm gear 114, and described worm screw 113 drives described worm gear 114 to rotate; In the present embodiment, preferably, described chassis level is arranged, and described worm screw 113 is horizontally disposed with, and described worm gear 114 is vertically arranged.
Described ear seat 102 is fixed on described worm gear 114, when described worm gear 114 rotates, and described ear seat 102 synchronous axial system.
One end of described first arm 103 is articulated with on described ear seat 102, and described first arm 103 comprises two the first ears 115 with the hinged end of described ear seat 102, and described two the first ear 115 sizes are identical, and are parallel to each other; Described ear seat 102 between described two the first ears 115, and contacts with described two the first ears 115; In the present embodiment, preferably, described first arm 103 is V-shaped, it comprises the first straight-arm 116 and the second straight-arm 117, one end of described first straight-arm 116 and one end of the second straight-arm 117 fix, and the angle between described first straight-arm 116 and the second straight-arm 117 is 135 degree, the other end of described first straight-arm 116 is articulated with described ear seat 102.
The cylinder body of described first oil cylinder 104 is articulated with on described ear seat 102, and the piston rod of described first oil cylinder 104 is articulated with the middle part of the second straight-arm 117 of described first arm 103; In the present embodiment, described first oil cylinder 104 does not overlap around the rotation of described ear seat 102 with described first straight-arm 116 around the rotation of described ear seat 102, thus pass through the stretching motion of described first oil cylinder 104, realize described first arm 103 and rotate with the jointed shaft of ear seat 102 relative to described first arm 103.
Described second arm 105 is linearly, and its one end is articulated with the other end of described first arm 103, is namely articulated with the other end of described second straight-arm 117; Preferably, described first arm 103 comprises two the second ears 118 with the hinged end of described second arm 105, the size of described two the second ears 118 is identical, and be parallel to each other, one end of described second arm 105 between described two the second ears 118, and contacts with described two the second ears 118.
The cylinder body of described second oil cylinder 106 is articulated with the middle part of the second straight-arm 117 of described first arm 103, the piston rod of described second oil cylinder 106 is articulated with described second arm 105 one end near described first arm 103, and described first oil cylinder 104 and the second oil cylinder 106 are in same plane, thus pass through the stretching motion of described second oil cylinder 106, realize described second arm 105 and rotate relative to the jointed shaft of described second arm 105 and the first arm 103.In the present embodiment, preferably, described first arm 103 and described second arm 105 are also in same plane.
The other end of described second arm 105 is hollow form, and described 3rd arm 107 is slidably disposed in described second arm 105, and does not relatively rotate with described second arm 105; Preferably, described second arm 105 offers square opening along its length, the cross section of described 3rd arm 107 is identical with described square opening, described 3rd arm 107 is linearly, to be realized the guiding to described 3rd arm 107 by described square opening, prevent from relatively rotating between described 3rd arm 107 and the second arm 105.
The cylinder body of described 3rd oil cylinder 108 is articulated with on described second arm 105, and the pin joint of the cylinder body of described 3rd oil cylinder 108 and described second arm 105 is at the pin joint of described second oil cylinder 106 and described second arm 105 and between the first arm 103 and the pin joint of the second arm 105; The piston rod of described 3rd oil cylinder 108 is articulated with on described 3rd arm 107, thus realizes the flexible of described 3rd arm 107 by the stretching motion of the 3rd oil cylinder 108.
The cylinder body of described first spiral oscillating cylinder 109 is fixed on described 3rd arm 107 one end away from described second arm 105, the cylinder body of described second spiral oscillating cylinder 110 is fixed on the dwang of described first spiral oscillating cylinder 109, and the dwang of described second spiral oscillating cylinder 110 is vertical with the dwang of described first spiral oscillating cylinder 109; The cylinder body of described 3rd spiral oscillating cylinder 111 is fixed on the dwang of described second spiral oscillating cylinder 110, and the dwang of described 3rd spiral oscillating cylinder 111 is perpendicular to the dwang of described second spiral oscillating cylinder 110; Described magnetic machinery hand 112 is fixed on the dwang of described 3rd spiral oscillating cylinder 111, three spiral oscillating cylinders realize a rotary freedom respectively, thus 3 rotary freedoms can be realized, when the first spiral oscillating cylinder 109, second spiral oscillating cylinder 110 and the 3rd spiral oscillating cylinder 111 rotate, the Three Degree Of Freedom realizing described magnetic machinery hand 112 rotates.
Described magnetic machinery hand 112 can comprise an electromagnet, and when described electromagnet energising, it produces magnetic field, and described magnetic machinery hand 112 can adsorb reinforced mesh, thus realizes described magnetic machinery hand 112 to the crawl of described reinforced mesh; When described electromagnet power-off, described magnetic machinery hand 112 is separated with described reinforced mesh.
In the present embodiment, for realizing the fuel feeding to described first oil cylinder 104, second oil cylinder 106, the 3rd oil cylinder 108, first spiral oscillating cylinder 109, second spiral oscillating cylinder 110 and the 3rd spiral oscillating cylinder 111, the automatic device for layering of described colliery roofboltier also comprises oil supply system and many fluid pressure lines, and described first oil cylinder 104, second oil cylinder 106, the 3rd oil cylinder 108, first spiral oscillating cylinder 109, second spiral oscillating cylinder 110 are connected with described oil supply system respectively by one article of fluid pressure line with the 3rd spiral oscillating cylinder 111; For realizing controlling described first oil cylinder 104, second oil cylinder 106, the 3rd oil cylinder 108, first spiral oscillating cylinder 109, second spiral oscillating cylinder 110 and the 3rd spiral oscillating cylinder 111 are independent, described every bar fluid pressure line is provided with switch valve and choke valve; Further; for realizing the tactile wall overload protection of the automatic device for layering of described colliery roofboltier; described every bar fluid pressure line is provided with pressure sensor; when the automatic device for layering of described colliery roofboltier touches rib; the pressure of fluid pressure line exceedes the service pressure of setting; after pressure sensor receives pressure signal, be passed to protective device, thus make the automatic device for layering stop motion of described colliery roofboltier.
The automatic device for layering of colliery of the present invention roofboltier, by the rotation of the worm gear of rotating base 101, realizes the left and right translation of described magnetic machinery hand 112; And pass through the stretching motion of the first oil cylinder 104 and the second oil cylinder 106, realize the upward-downward translation of described magnetic machinery hand 112; By the stretching motion of described 3rd oil cylinder 108, realize the front and back translation of described magnetic machinery hand 112; And by the rotation of described three spiral oscillating cylinders, realize 3 rotary freedoms of magnetic machinery hand 112; Described magnetic machinery hand 112 realizes crawl and the laying of reinforced mesh, and the automatic device for layering of visible colliery of the present invention roofboltier can realize the automatic laying of reinforced mesh, improves the laying efficiency of reinforced mesh.
In the present embodiment, the piston rod of described first oil cylinder 104 and the cylinder barrel of the second oil cylinder 106 are articulated with on described second straight-arm 117 by same jointed shaft.
The automatic device for layering of colliery of the present invention roofboltier is by the combination of manipulator and multiple degrees of freedom arm; realize the crawl of reinforced mesh, conveying and laying location, there is wide accommodation, lay the effects such as efficiency is high; and there is the functions such as tactile wall protection, improve the safety of lapping operation.
The sequencing of above embodiment, only for ease of describing, does not represent the quality of embodiment.
Last it is noted that above embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (6)
1. the automatic device for layering of a colliery roofboltier, it is characterized in that, comprise rotating base (101), ear seat (102), the first arm (103), the first oil cylinder (104), the second arm (105), the second oil cylinder (106), the 3rd arm (107), the 3rd oil cylinder (108), the first spiral oscillating cylinder (109), the second spiral oscillating cylinder (110), the 3rd spiral oscillating cylinder (111) and magnetic machinery hand (112);
Described ear seat (102) is fixed on the rotatable parts of described rotating base (101), and described rotating base (101) drives described ear seat (102) to rotate;
One end of described first arm (103) is articulated with on described ear seat (102);
One end of described second arm (105) is articulated with the other end of described first arm (103);
The two ends of described first oil cylinder (104) are articulated with on described ear seat (102) and described first arm (103) respectively, and described first oil cylinder (104) drives described first arm (103) to rotate around the jointed shaft of described first arm (103) with ear seat (102);
One end of described second oil cylinder (106) is articulated with described first arm (103), and the other end is articulated with described second arm (105); Described second oil cylinder (106) drives described second arm (105) to rotate around the jointed shaft of described second arm (105) with the first arm (103);
The other end of described second arm (105) is hollow form, and described 3rd arm (107) is slidably disposed in described second arm (105);
One end of described 3rd oil cylinder (108) is articulated with described second arm (105), and the other end is articulated with described 3rd arm (107);
The cylinder body of described first spiral oscillating cylinder (109) is fixed on described 3rd arm (107) one end away from described second arm (105), the cylinder body of described second spiral oscillating cylinder (110) is fixed on the dwang of described first spiral oscillating cylinder (109), and the dwang of described second spiral oscillating cylinder (110) is vertical with the dwang of described first spiral oscillating cylinder (109); The cylinder body of described 3rd spiral oscillating cylinder (111) is fixed on the dwang of described second spiral oscillating cylinder (110), and the dwang of described 3rd spiral oscillating cylinder (111) is perpendicular to the dwang of described second spiral oscillating cylinder (110);
Described magnetic machinery hand (112) is fixed on the dwang of described 3rd spiral oscillating cylinder (111).
2. the automatic device for layering of colliery according to claim 1 roofboltier, it is characterized in that, described rotating base (101) comprises hydraulic motor and worm-and-wheel gear, described hydraulic motor is fixed on the chassis of described colliery roofboltier, described worm screw (113) is fixed on the output shaft of described hydraulic motor, worm screw (113) described in described fluid motor-driven is rotated, described worm gear (114) is arranged on described chassis rotationally, described worm screw (113) is matched with described worm gear (114), described worm screw (113) drives described worm gear (114) to rotate, described ear seat (102) is fixed on described worm gear (114).
3. the automatic device for layering of colliery according to claim 2 roofboltier, it is characterized in that, described first arm (103) comprises the first straight-arm (116) and the second straight-arm (117), one end of described first straight-arm (116) and one end of the second straight-arm (117) fix, and the angle between described first straight-arm (116) and the second straight-arm (117) is 135 degree, the other end of described first straight-arm (116) is articulated with described ear seat (102).
4. the automatic device for layering of colliery according to claim 3 roofboltier, is characterized in that, described first oil cylinder (104), the second oil cylinder (106) and the 3rd oil cylinder (108) are positioned at same plane.
5. the automatic device for layering of colliery according to claim 4 roofboltier, is characterized in that, described second arm (105) offers square opening along its length; Described 3rd arm (107) is linearly, and its cross section is identical with described square opening.
6. the automatic device for layering of colliery according to claim 5 roofboltier, it is characterized in that, the piston rod of described first oil cylinder (104) and the cylinder barrel of the second oil cylinder (106) are articulated with on described second straight-arm (117) by same jointed shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510175699.XA CN104847386A (en) | 2015-04-14 | 2015-04-14 | Automatic net paving device of anchor rod drill carriage for coal mine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510175699.XA CN104847386A (en) | 2015-04-14 | 2015-04-14 | Automatic net paving device of anchor rod drill carriage for coal mine |
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| Publication Number | Publication Date |
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| CN104847386A true CN104847386A (en) | 2015-08-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510175699.XA Pending CN104847386A (en) | 2015-04-14 | 2015-04-14 | Automatic net paving device of anchor rod drill carriage for coal mine |
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| CN (1) | CN104847386A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105350918A (en) * | 2015-11-24 | 2016-02-24 | 岳文智 | Mechanical arm of rock drill |
| CN107165663A (en) * | 2017-06-29 | 2017-09-15 | 中国煤炭科工集团太原研究院有限公司 | A kind of intelligent anchor rod drill carriage |
| CN108756965A (en) * | 2018-06-01 | 2018-11-06 | 中国神华能源股份有限公司 | A kind of roofboltier |
| CN108979682A (en) * | 2018-07-17 | 2018-12-11 | 山东科技大学 | Novel thick seam slicing system bottom plate spreads interconnection device and paving networking method automatically |
| CN109098741A (en) * | 2018-07-13 | 2018-12-28 | 中国煤炭科工集团太原研究院有限公司 | A kind of intelligent anchor rod drilling machine is from movable plate net laying net device |
| CN110159328A (en) * | 2019-05-17 | 2019-08-23 | 中国神华能源股份有限公司 | Device for layering for roof-bolter |
| CN110454204A (en) * | 2019-07-31 | 2019-11-15 | 太原理工大学 | A kind of automatic device for layering of coal mine roofboltier |
| CN113250722A (en) * | 2021-05-21 | 2021-08-13 | 肖晓荣 | Automatic quick lapping device of anchor rod drill carriage for coal mine |
| CN114320385A (en) * | 2021-11-25 | 2022-04-12 | 中国煤炭科工集团太原研究院有限公司 | Anchor rod drill carriage net hanging equipment and anchor rod drill carriage |
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| CN102042022A (en) * | 2010-11-26 | 2011-05-04 | 兰海宽 | Machine-borne anchor net supporting and fixing device of development machine |
| CN103485714A (en) * | 2013-09-06 | 2014-01-01 | 三一重型装备有限公司 | Drilling mechanism and drill loader |
| CN103866983A (en) * | 2014-03-27 | 2014-06-18 | 湖南五新重型装备有限公司 | Lengthened type concrete spraying vehicle manipulator |
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| CN201809983U (en) * | 2010-01-19 | 2011-04-27 | 湖南中铁五新重工有限公司 | Wet shotcreting machine |
| CN102042022A (en) * | 2010-11-26 | 2011-05-04 | 兰海宽 | Machine-borne anchor net supporting and fixing device of development machine |
| CN103485714A (en) * | 2013-09-06 | 2014-01-01 | 三一重型装备有限公司 | Drilling mechanism and drill loader |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105350918A (en) * | 2015-11-24 | 2016-02-24 | 岳文智 | Mechanical arm of rock drill |
| CN107165663B (en) * | 2017-06-29 | 2023-09-12 | 中国煤炭科工集团太原研究院有限公司 | Intelligent anchor rod drill carriage |
| CN107165663A (en) * | 2017-06-29 | 2017-09-15 | 中国煤炭科工集团太原研究院有限公司 | A kind of intelligent anchor rod drill carriage |
| CN108756965A (en) * | 2018-06-01 | 2018-11-06 | 中国神华能源股份有限公司 | A kind of roofboltier |
| CN109098741A (en) * | 2018-07-13 | 2018-12-28 | 中国煤炭科工集团太原研究院有限公司 | A kind of intelligent anchor rod drilling machine is from movable plate net laying net device |
| CN108979682A (en) * | 2018-07-17 | 2018-12-11 | 山东科技大学 | Novel thick seam slicing system bottom plate spreads interconnection device and paving networking method automatically |
| CN108979682B (en) * | 2018-07-17 | 2020-03-06 | 山东科技大学 | Automatic network laying device and method for thick coal seam layered mining bottom plate |
| CN110159328A (en) * | 2019-05-17 | 2019-08-23 | 中国神华能源股份有限公司 | Device for layering for roof-bolter |
| CN110454204A (en) * | 2019-07-31 | 2019-11-15 | 太原理工大学 | A kind of automatic device for layering of coal mine roofboltier |
| CN110454204B (en) * | 2019-07-31 | 2020-10-13 | 太原理工大学 | Automatic lapping device of anchor rod drill carriage for coal mine |
| CN113250722A (en) * | 2021-05-21 | 2021-08-13 | 肖晓荣 | Automatic quick lapping device of anchor rod drill carriage for coal mine |
| CN113250722B (en) * | 2021-05-21 | 2024-02-09 | 魏学勇 | Automatic quick lapping device of anchor rod drill carriage for coal mine |
| CN114320385A (en) * | 2021-11-25 | 2022-04-12 | 中国煤炭科工集团太原研究院有限公司 | Anchor rod drill carriage net hanging equipment and anchor rod drill carriage |
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Application publication date: 20150819 |