CN105134070A - Tunnel jumbo drill boom - Google Patents
Tunnel jumbo drill boom Download PDFInfo
- Publication number
- CN105134070A CN105134070A CN201510621048.9A CN201510621048A CN105134070A CN 105134070 A CN105134070 A CN 105134070A CN 201510621048 A CN201510621048 A CN 201510621048A CN 105134070 A CN105134070 A CN 105134070A
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- axle
- drill boom
- sleeve
- support body
- drill
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Abstract
The invention discloses a tunnel jumbo drill boom, in particular to a novel tunnel jumbo drill boom capable of realizing rapid and accurate reverse numerical solution according to kinematics. A first DOF (degree of freedom) rotating spool, a second DOF rotating spool and a third DOF rotating spool are intersected in pair, the intersection coordinates don't change no matter how the first DOF, the second DOF and the third DOF change, in this case, even if a fourth DOF rotating spool and a fifth rotating spool are still intersected at the front end of a branch pipe, a parameter value of each DOF in the given drill rod post state can be solved with a mathematical method in short time, the accuracy is very high, a result can be accurate to 0. 00000001 mm, and 1-2 milliseconds is consumed for calculation of a group of data. The drill boom structure is supplemented by corresponding calculation procedures to automatically, rapidly and accurately position and drill a mine roadway or an engineering tunnel.
Description
Technical field
The present invention relates to a kind of driving drill carriage drill boom, specifically refer to a kind of novel driving drill carriage drill boom realizing the quick accurate reverse numerical solution of kinematics.
Background technology
In the tunnel or tunnel piercing engineering of colliery, black and the department such as sub-terrain mines and chemical industry, railway, water power such as coloured, most driving drill carriage that adopts punches, and then landfill explosive carries out explosion.
Current driving drill carriage working portion is hinged drill boom on the fuselage that crawler travel can be utilized to advance, common drill boom structure as shown in Figure 1, drill boom is by drill steel 1, balladeur train 2, directed slideway 3, support 4, arm 5, drill boom support body 6, axle sleeve 7 and frame 8 form, drill boom has 6 degree of freedom, 1st degree of freedom is that axle sleeve 7 swings relative to frame 8, 2DOF is that drill boom support body 6 swings up and down relative to axle sleeve 7, 3DOF is that arm 5 is relative to drill boom support body 6 forward counter-rotating, 4DOF is that support 4 swings up and down relative to arm 5, 5DOF is that directed slideway 3 swings relative to support 4, 6DOF is that balladeur train 2 stretches out relative to directed slideway 3 and retracts.
Common drill boom structure the 1st and 2DOF, 2nd and 3DOF rotate around shaft staggered (as in Figure 2-4), although and the 1st and 3DOF rotate around axle intersect but along with drill boom support body swing up and down diaxon intersection point be change, thus make the freedom degree rotating of the mechanism be arranged on arm 5 also be staggered around axle, each degree of freedom parameter value under making this drill boom structure that mathematical method cannot be used to solve given drill steel position and posture, this drill boom structure is wanted to realize the method that automatic perforating can only use computer to carry out exhaustive search and finds out each degree of freedom parameter value, the method used time of this exhaustive search is extremely long, and precision very low (be accurate to 0.01mm calculate one group of data used time be 1-2 hour), be unsuitable for industrial applications.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of mine working or engineering tunnel driving drill carriage drill boom, and this drill boom structure can use each degree of freedom parameter value of mathematical method fast and accurate solution, and then can realize automatically locating perforating.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
A kind of driving drill carriage drill boom, comprise arm, drill boom support body, axle sleeve and frame, its bottom bracket axle is arranged in the axis hole of frame, the relative frame of axle sleeve with axle sleeve center line for axle swings, by swing called after the 1st degree of freedom of relative for axle sleeve frame, by axle sleeve center line called after the 1st freedom degree rotating around axle; Drill boom support body is hinged on axle sleeve by hinged sleeve, and drill boom support body swings up and down with hinged sleeve center line relative to axle sleeve, by the swing called after 2DOF of relative for drill boom support body axle sleeve, rotates hinged sleeve center line called after 2DOF around axle; Arm is socketed in the pipe of pivoted arm support body front end, and arm, with pivoted arm support body center line positive and negative rotation, is rotated called after 3DOF relative to drill boom support body by the relative pivoted arm support body of arm, rotates drill boom support body center line called after 3DOF around axle; 1st freedom degree rotating around axle, 2DOF rotate around axle and 3DOF rotate around axle be intersection between two, in any case and the 1st degree of freedom, 2DOF and 3DOF to change this intersecting point coordinate all constant.
Preferably, the 1st freedom degree rotating rotates around axle and 2DOF and intersects vertically around axle.
Preferably, 2DOF rotates and intersects vertically around axle around axle and 3DOF rotation.
Preferably, the 1st freedom degree rotating rotates around axle and 2DOF and mutually intersects vertically between axle around axle and 3DOF rotation, and intersects at a point.
Preferably, 2DOF rotate around axle place hinged sleeve be two the half hinged sleeve being symmetrically welded at axle sleeve lateral surface both sides, and respectively wear in two half hinged sleeve an axle by drill boom support body and axle sleeve hinged.
Owing to adopting technique scheme, the beneficial effect that the present invention produces is:
Drill boom structure the 1st of the present invention, 2nd and 3DOF rotate intersect at a point around axle, and the 1st, in any case the 2nd and 3DOF change this intersection point and all do not change, even if arm front end the 4th and 5DOF rotation are still staggered around axle in this case, each degree of freedom parameter value under but mathematical method can have been used to solve given drill steel position and posture, and the used time is exceedingly fast, precision is high, being accurate to 0.00000001mm, to calculate one group of data used time be 1-2 millisecond, what this drill boom structure was aided with that corresponding calculation procedure realizes mine working or engineering tunnel accurately locates perforating automatically fast.
Accompanying drawing explanation
Fig. 1 is the former drill boom structural representation of driving drill carriage;
Fig. 2 is driving drill carriage primitive axis cover and former drill boom frame assembly drawing;
Fig. 3 is driving drill carriage primitive axis nested structure schematic diagram;
Fig. 4 is driving drill carriage former drill boom shelf structure schematic diagram;
Fig. 5 is that the present invention tunnels drill carriage axle sleeve structure schematic diagram;
Fig. 6 is that the present invention tunnels drill carriage drill boom shelf structure schematic diagram;
Fig. 7 is that the present invention tunnels drill carriage axle sleeve and Novel drill jib assembly drawing;
Fig. 8 is that the present invention tunnels drill carriage drill boom structural representation;
Wherein: 1, drill steel, 2, balladeur train, 3, directed slideway, 4, support, 5, arm, 6, drill boom support body, 7, axle sleeve, 8, frame, 9, hinged sleeve.
Detailed description of the invention
The present invention relates to a kind of driving drill carriage drill boom, comprise arm 5, drill boom support body 6, axle sleeve 7 and frame 8, its bottom bracket axle 7 is arranged in the axis hole of frame 8, axle sleeve 7 relatively frame 8 with axle sleeve 7 center line for axle swings, therefore by swing called after the 1st degree of freedom of relative for axle sleeve 7 frame 8, by axle sleeve 7 center line called after the 1st freedom degree rotating around axle; Drill boom support body 6 is hinged on axle sleeve 7 by hinged sleeve 9, drill boom support body 6 swings up and down with hinged sleeve 9 center line relative to axle sleeve 7, by the swing called after 2DOF of relative for drill boom support body 6 axle sleeve 7, hinged sleeve 9 center line called after 2DOF is rotated around axle; Arm 5 is socketed in the pipe of pivoted arm support body 6 front end, and arm 5, with pivoted arm support body 6 center line positive and negative rotation, is rotated called after 3DOF, by the rotation of drill boom support body 6 center line called after 3DOF around axle relative to drill boom support body 6 by arm 5 relatively pivoted arm support body 6; Method computer can only being used to carry out exhaustive search in order to solve existing drill boom structure finds out each degree of freedom parameter value, and then the problem of each degree of freedom parameter value under solving given drill steel position and posture, design new drill boom structure, make its 1st freedom degree rotating around axle, 2DOF rotate around axle and 3DOF rotate around axle be intersection between two, in any case and the 1st degree of freedom, 2DOF and 3DOF to change this intersecting point coordinate all constant.
For simplified calculation method, realize calculating location fast, described 1st freedom degree rotating rotates around axle and 2DOF and intersects vertically around axle, as shown in Figure 5; 2DOF rotates and intersects vertically around axle around axle and 3DOF rotation, as shown in Figure 6; 1st freedom degree rotating rotates around axle and 2DOF and mutually intersects vertically between axle around axle and 3DOF rotation, and intersects at a point, as shown in Figure 7.
Design based on above-mentioned degree of freedom, as shown in Figure 8, hinged sleeve 9 is arranged on axle sleeve 7, and makes the center line of drill boom support body 6 and hinged sleeve axis be positioned at same plane, and mutually vertical.Concrete, hinged sleeve 9 for being symmetrically welded at two half hinged sleeve of axle sleeve lateral surface both sides, and respectively wear in two half hinged sleeve an axle by drill boom support body and axle sleeve 7 hinged.Even if the 4th and the 5DOF rotation that the drill steel 1 of arm 5 front end, balladeur train 2, directed slideway 3, support 4 etc. are formed is still staggered around axle, each degree of freedom parameter value under mathematical method can have been used to solve given drill steel position and posture, and the used time is exceedingly fast, precision is high, and being accurate to 0.00000001mm, to calculate one group of data used time be 1-2 millisecond.
Claims (5)
1. a driving drill carriage drill boom, comprise arm (5), drill boom support body (6), axle sleeve (7) and frame (8), its bottom bracket axle (7) is arranged in the axis hole of frame (8), axle sleeve (7) relatively frame (8) is that axle swings with axle sleeve (7) center line, by swing called after the 1st degree of freedom of relative for axle sleeve (7) frame (8), by axle sleeve (7) center line called after the 1st freedom degree rotating around axle; Drill boom support body (6) is hinged on axle sleeve (7) by hinged sleeve (9), drill boom support body (6) swings up and down with hinged sleeve (9) center line relative to axle sleeve (7), by the swing called after 2DOF of relative for drill boom support body (6) axle sleeve (7), hinged sleeve (9) center line called after 2DOF is rotated around axle; Arm (5) is socketed in the pipe of pivoted arm support body (6) front end, the relative pivoted arm support body (6) of arm (5) is with pivoted arm support body center line positive and negative rotation, arm (5) is rotated called after 3DOF relative to drill boom support body (6), drill boom support body (6) center line called after 3DOF is rotated around axle; It is characterized in that: the 1st freedom degree rotating around axle, 2DOF rotate around axle and 3DOF rotate around axle be intersection between two, in any case and the 1st degree of freedom, 2DOF and 3DOF to change this intersecting point coordinate all constant.
2. driving drill carriage drill boom according to claim 1, is characterized in that: the 1st freedom degree rotating rotates around axle and 2DOF and intersects vertically around axle.
3. driving drill carriage drill boom according to claim 1, is characterized in that: 2DOF rotates and intersects vertically around axle around axle and 3DOF rotation.
4. driving drill carriage drill boom according to claim 1, is characterized in that: the 1st freedom degree rotating rotates around axle and 2DOF and mutually intersects vertically between axle around axle and 3DOF rotation, and intersects at a point.
5. the driving drill carriage drill boom according to claim 2 or 4, it is characterized in that: 2DOF rotates around axle place hinged sleeve (9) for being symmetrically welded at two half hinged sleeve of axle sleeve (7) lateral surface both sides, and in two half hinged sleeve, respectively wear an axle by hinged to drill boom support body (6) and axle sleeve (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510621048.9A CN105134070A (en) | 2015-09-25 | 2015-09-25 | Tunnel jumbo drill boom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510621048.9A CN105134070A (en) | 2015-09-25 | 2015-09-25 | Tunnel jumbo drill boom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105134070A true CN105134070A (en) | 2015-12-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510621048.9A Pending CN105134070A (en) | 2015-09-25 | 2015-09-25 | Tunnel jumbo drill boom |
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| CN (1) | CN105134070A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB292227A (en) * | 1927-03-14 | 1928-06-14 | Percy Arthur Stedman | Improvements in devices for supporting portable power driven tools, such as drills, riveting apparatus and the like |
| US2766012A (en) * | 1949-05-20 | 1956-10-09 | Joy Mfg Co | Apparatus for drilling mine-roof-bolt holes |
| DE1533688A1 (en) * | 1967-04-08 | 1970-03-12 | Hausherr & Soehne Rudolf | Device for sinking and clearing, for mining or drilling in mines |
| US4364540A (en) * | 1979-03-26 | 1982-12-21 | Etablissements Montabert S.A. | Support-arm assembly for a drill or borer, particularly for subterranean applications |
| CN2223352Y (en) * | 1994-07-26 | 1996-03-27 | 煤炭科学研究总院南京研究所 | Entry-driving machine carrying anchor bar drilling and mounting machine |
| CN201915826U (en) * | 2011-02-21 | 2011-08-03 | 三一重型装备有限公司 | Drilling system and drilling equipment |
| CN203201466U (en) * | 2013-04-16 | 2013-09-18 | 江苏中煤矿山设备有限公司 | Rotary supporting mechanism of omnibearing multi-angle rotary type anchor drill carriage |
| CN205117213U (en) * | 2015-09-25 | 2016-03-30 | 石家庄煤矿机械有限责任公司 | Tunnelling drill carriage drill boom |
-
2015
- 2015-09-25 CN CN201510621048.9A patent/CN105134070A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB292227A (en) * | 1927-03-14 | 1928-06-14 | Percy Arthur Stedman | Improvements in devices for supporting portable power driven tools, such as drills, riveting apparatus and the like |
| US2766012A (en) * | 1949-05-20 | 1956-10-09 | Joy Mfg Co | Apparatus for drilling mine-roof-bolt holes |
| DE1533688A1 (en) * | 1967-04-08 | 1970-03-12 | Hausherr & Soehne Rudolf | Device for sinking and clearing, for mining or drilling in mines |
| US4364540A (en) * | 1979-03-26 | 1982-12-21 | Etablissements Montabert S.A. | Support-arm assembly for a drill or borer, particularly for subterranean applications |
| CN2223352Y (en) * | 1994-07-26 | 1996-03-27 | 煤炭科学研究总院南京研究所 | Entry-driving machine carrying anchor bar drilling and mounting machine |
| CN201915826U (en) * | 2011-02-21 | 2011-08-03 | 三一重型装备有限公司 | Drilling system and drilling equipment |
| CN203201466U (en) * | 2013-04-16 | 2013-09-18 | 江苏中煤矿山设备有限公司 | Rotary supporting mechanism of omnibearing multi-angle rotary type anchor drill carriage |
| CN205117213U (en) * | 2015-09-25 | 2016-03-30 | 石家庄煤矿机械有限责任公司 | Tunnelling drill carriage drill boom |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151209 |
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| RJ01 | Rejection of invention patent application after publication |