CN105298387A - Drill jumbo - Google Patents
Drill jumbo Download PDFInfo
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- CN105298387A CN105298387A CN201510736935.0A CN201510736935A CN105298387A CN 105298387 A CN105298387 A CN 105298387A CN 201510736935 A CN201510736935 A CN 201510736935A CN 105298387 A CN105298387 A CN 105298387A
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Abstract
The invention discloses a drill jumbo, belongs to the technical field of mine and tunnel construction through a borehole-blasting method and solves the technical problems that in the prior art, drill work is high in cost and low in efficiency. The drill jumbo comprises a chassis, a cab, automatic rock drilling devices, an automatic control system and a positioning system; each automatic rock drilling device comprises a drill boom, a propelling mechanism and a rock drill, and each drill boom is installed on the chassis and connected with the corresponding rock drill through the corresponding propelling mechanism; the automatic control system adjusts the states of the drill booms and the propelling mechanisms so that the rock drills can reach the preset positions, and closed loop control is conducted through the positioning system and the automatic control system in the adjustment process; after the rock drills reach the preset positions, drilling is conducted according to the predetermined drilling depth and drilling angle.
Description
Technical field
The present invention relates to drilling and blasting method mine and technical field of tunnel construction, specifically, relate to a kind of jumbo.
Background technology
Boring is a requisite procedure in drilling and blasting method mine and constructing tunnel, and the effect and quality of boring directly affects efficiency of construction and construction quality.At present, operation many employings handheld pneumatic hammer drill of boring or manual operation hydraulic drill ring carry out operation.
Handheld pneumatic hammer drill adopts compressed air as power, and every platform hammer drill needs operating personnel to control; Hydraulic drill ring can select an arm, two arms or multi-arm according to working section size, and general each drill boom is controlled by operating personnel.
Adopt handheld pneumatic hammer drill and adopt manual operation hydraulic drill ring, survey crew is all needed to measure in advance and mark bore position, in boring procedure, each hammer drill (or drill boom) needs at least one operating personnel to manipulate, cost of labor and power consumption cost higher, and penetration rate is slow, drilling efficiency is low.Therefore, there is high, the inefficient technical problem of cost of boring work in prior art.
Summary of the invention
The object of the present invention is to provide a kind of jumbo, with high, the inefficient technical problem of the cost solving in prior art work of holing.
The invention provides a kind of jumbo, comprise chassis, driver's cabin, automatically rock drilling device, automatic control system and navigation system;
Described automatic rock drilling device comprises drill boom, propulsive mechanism and hammer drill, and described drill boom is installed on described chassis, and is connected with described hammer drill by described propulsive mechanism;
Described automatic control system adjusts the state of described drill boom and described propulsive mechanism, makes described hammer drill reach precalculated position, and carries out closed-loop control by described navigation system and described automatic control system in adjustment process;
After described hammer drill reaches precalculated position, hole according to predetermined drilling depth and bore angle.
Further, this jumbo also comprises engine power system, for the power providing described jumbo to walk.
Further, this jumbo also comprises electric machine control system, for providing power for described drill boom and described propulsive mechanism.
Preferably, described drill boom comprises base, large universal joint, large pitching oil cylinder, large oscillating oil cylinder, outer arm, telescopic oil cylinder, inner arm, little oscillating oil cylinder, little pitching oil cylinder, little universal joint, rotary actuator, adjustment oil cylinder and bracket.
Further, described propulsive mechanism is installed on described bracket;
Described propulsive mechanism comprises compensating cylinder, propelling cylinder and forward beam.
Further, this jumbo also comprises the work hanging basket be connected with described chassis.
Preferably, described navigation system comprises laser scanner, multiple angular transducer and multiple displacement transducer.
Preferably, described angular transducer is arranged in the jointed shaft of each spinning movement of described automatic rock drilling device.
Preferably, institute's displacement sensors is arranged in each oil cylinder of described automatic rock drilling device.
Further, in described driver's cabin, be provided with display screen, for showing position and the parameter information of boring in real time.
Present invention offers following beneficial effect: utilize jumbo provided by the invention, automatic location and the bore operation of hammer drill can be realized by automatic control system, substantially increase efficiency of construction, its efficiency of construction is 2 times of Artificial Control hydraulic drill ring, is 6 to 8 times of handheld pneumatic hammer drill.Controlled by the high accuracy of navigation system, can out break be effectively reduced, realize smooth blasting, improve construction quality.
In addition, utilize jumbo provided by the invention, automatically completed the boring of a work plane completely by automatic control system, only need operating personnel to carry out monitoring task, therefore save cost of labor.Further, control hammer drill action by mechanical arm, operating personnel only need carry out monitoring task in driver's cabin, away from work plane, ensure that the personal safety of operating personnel is with healthy.
Other features and advantages of the present invention will be set forth in the following description, and, becoming apparent from manual of part, or understand by implementing the present invention.Object of the present invention and other advantages realize by structure specifically noted in manual, claims and accompanying drawing and obtain.
Accompanying drawing explanation
In order to the technical scheme in the clearer explanation embodiment of the present invention, accompanying drawing required in describing is done simple introduction below to embodiment:
Fig. 1 is the schematic diagram of the jumbo that the embodiment of the present invention provides;
Fig. 2 is the schematic diagram of automatic rock drilling device in Fig. 1;
Fig. 3 is the flow chart of the boring method that the embodiment of the present invention provides.
Detailed description of the invention
Describe embodiments of the present invention in detail below with reference to drawings and Examples, to the present invention, how application technology means solve technical problem whereby, and the implementation procedure reaching technique effect can fully understand and implement according to this.It should be noted that, only otherwise form conflict, each embodiment in the present invention and each feature in each embodiment can be combined with each other, and the technical scheme formed is all within protection scope of the present invention.
The embodiment of the present invention provides a kind of jumbo, can be applicable to the bore operation in drilling and blasting method mine and constructing tunnel.As shown in Figure 1, this jumbo mainly comprises chassis 1, driver's cabin 2, automatically rock drilling device, automatic control system 5 and navigation system.Wherein, automatic rock drilling device comprises drill boom 7, propulsive mechanism 8 and hammer drill 9.Drill boom 7 is installed on chassis, and is connected with hammer drill 9 by propulsive mechanism 8.According to actual needs, can one or more automatic rock drilling device be set on chassis 1, as can be seen from Figure 1, in the present embodiment, be provided with three automatic rock drilling devices.
Automatic control system 5 adjusts the state of drill boom 7 and propulsive mechanism 8, makes hammer drill 9 reach precalculated position, and carries out closed-loop control by navigation system and automatic control system 5 in adjustment process.After hammer drill 9 reaches precalculated position, hole according to predetermined drilling depth and bore angle.
In addition, the jumbo that the embodiment of the present invention is carried also comprises and is arranged on the One On The Chassis engine power system 3 and electric machine control system 4.The power of engine power system 3 for providing jumbo to walk, and the control that can realize the speed of travel of complete machine, direction, service brake and parking braking.Chassis 1 can adopt Wheel type travelling chassis, also can adopt crawler-type traveling chassis, and as can be seen from Figure 1, the chassis 1 in the present embodiment is Wheel type travelling chassis.Electric machine control system 4 for providing power for drill boom 7 and propulsive mechanism 8, and adopts all-hydraulic transmission, electric automatic control.
As shown in Figure 2, the drill boom in the present embodiment comprises base 11, large universal joint 12, large pitching oil cylinder 13, large oscillating oil cylinder 14, outer arm 15, telescopic oil cylinder 16, inner arm 17, little oscillating oil cylinder 18, little pitching oil cylinder 19, little universal joint 20, rotary actuator 21, adjustment oil cylinder 22 and bracket 23.Propulsive mechanism 8 is installed on bracket 23, and propulsive mechanism 8 comprises compensating cylinder 26, propelling cylinder 27 and forward beam 28.
As depicted in figs. 1 and 2, one end of base is connected with chassis 1, and the other end is connected with outer arm 15 by large universal joint 12.Large pitching oil cylinder 13 controls outer arm 15 and carries out upper and lower pitching motion, and large oscillating oil cylinder 14 controls outer arm 15 and carries out swinging action, and outer arm 15 to be connected with inner arm 17 by telescopic oil cylinder 16 and to realize relative telescoping movement.Inner arm 17 is connected with rotary actuator 21 by little universal joint 20, little pitching oil cylinder 19 controls rotary actuator 21, bracket 23 carries out upper and lower pitching motion together with propulsive mechanism 8, little oscillating oil cylinder 18 controls rotary actuator 21, bracket 23 carries out swinging action together with propulsive mechanism 8, rotary actuator 21 controls bracket 23 and propulsive mechanism 8 and carries out 360 ° of spinning movements around the axis of inner arm 17, and adjustment oil cylinder 22 controls bracket 23 and propulsive mechanism 8 swings around the axis perpendicular to inner arm 17.
Compensating cylinder 26 controls propulsive mechanism 8 and hammer drill 9 stretching motion in the chute of bracket 23, and propelling cylinder 27 controls hammer drill 9 and slides on forward beam 28.
In the present embodiment, navigation system comprises laser scanner 6, multiple angular transducer 24 and multiple displacement transducer 25.Laser scanner 6 is arranged on chassis 1, and navigation system can judge shape and the bulk of tunnel tunnel face by laser scanner 6, and automatically calculates the position of jumbo relative to face.Angular transducer 24 is arranged in the jointed shaft of each spinning movement of automatic rock drilling device, and displacement transducer 25 is arranged in each oil cylinder of automatic rock drilling device, thus accurately can obtain direction, the Distance geometry angle of each action.
Further, in the jumbo that the embodiment of the present invention provides, be also provided with the work hanging basket 10 be connected with chassis 1, work hanging basket 10 also can be connected with chassis 1 by a drill boom 7.Work hanging basket 10 may be used for powder charge, also may be used for manned, enables staff carry out operating mode inspection easily.
As a preferred version, in driver's cabin 2, be provided with display screen, for showing position and the parameter information of boring in real time.Concrete, can arrange a computer in driver's cabin again, this display screen is the display screen of computer.Meanwhile, automatic control system 5 is also connected with this computer, and computer can also store borehole data and information, is optimized subsequent job circulation or operation to facilitate.Operating personnel can pass through operating computer, drill hole information are inputted automatic control system 5, carry out automatic drilling work, and in boring procedure, are monitored position and the parameter information of boring by display screen in real time.
The embodiment of the present invention also provides a kind of boring method of above-mentioned jumbo, can realize automatic drilling.As shown in Figure 3, this boring method mainly comprises the following steps:
S1: drill hole information is imported in automatic control system.
By laser scanner to jumbo relative to after the coordinate setting of work plane, the drill hole information that designed in advance is good can be imported to automatic control system.Drill hole information comprises the precalculated position of hammer drill corresponding to each hole, and each drilling depth and bore angle.Drill hole information can be designed in Office PC by engineer in advance, then imports to the automatic control system of jumbo.
S2: automatic control system adjustment drill boom and the state of propulsive mechanism, makes hammer drill reach precalculated position in drill hole information, and carries out closed-loop control by navigation system and automatic control system in adjustment process.
Automatic control system can adjust the state of drill boom and propulsive mechanism automatically, reaches precalculated position in drill hole information to make the state of hammer drill.In the process of adjustment, be installed on direction, Distance geometry angle that angular transducer on drill boom and propulsive mechanism and displacement transducer continue to sense each action, and by navigation system and automatic control system, closed-loop control is carried out to adjustment process, to control the precision adjusted.
S3: after hammer drill reaches precalculated position, automatic controlling system hammer drill is holed according to the drilling depth in drill hole information and bore angle.
After hammer drill reaches precalculated position, after namely the state of hammer drill has adjusted, automatic controlling system hammer drill, starts to carry out automatic drilling according to the drilling depth in drill hole information and bore angle.
After a hole drill is good, namely enters automatic location and the automatic drilling process in next hole, repeat each step above-mentioned, until complete all bore operations of this work plane.
In addition, in boring procedure, the position of display boring in real time on display screen and parameter information, monitor boring procedure for operating personnel, and borehole data and information can be stored in automatic control system (or computer), to facilitate, subsequent job circulation or operation are optimized.
In the jumbo that the embodiment of the present invention provides and boring method thereof, automatic control system can be utilized to realize automatic location and the bore operation of hammer drill, substantially increase efficiency of construction, its efficiency of construction is 2 times of Artificial Control hydraulic drill ring, is 6 to 8 times of handheld pneumatic hammer drill.In the embodiment of the present invention, controlled by the high accuracy of navigation system, can out break be effectively reduced, realize smooth blasting, improve construction quality.
In addition, in the embodiment of the present invention, automatically completed the boring of a work plane completely by automatic control system, only need operating personnel to carry out monitoring task, therefore save cost of labor.Further, control hammer drill action by mechanical arm, operating personnel only need carry out monitoring task in driver's cabin, away from work plane, ensure that the personal safety of operating personnel is with healthy.
Although embodiment disclosed in this invention is as above, the embodiment that described content just adopts for the ease of understanding the present invention, and be not used to limit the present invention.Technician in any the technical field of the invention; under the prerequisite not departing from spirit and scope disclosed in this invention; any amendment and change can be done what implement in form and in details; but scope of patent protection of the present invention, the scope that still must define with appending claims is as the criterion.
Claims (10)
1. a jumbo, is characterized in that, comprises chassis, driver's cabin, automatically rock drilling device, automatic control system and navigation system;
Described automatic rock drilling device comprises drill boom, propulsive mechanism and hammer drill, and described drill boom is installed on described chassis, and is connected with described hammer drill by described propulsive mechanism;
Described automatic control system adjusts the state of described drill boom and described propulsive mechanism, makes described hammer drill reach precalculated position, and carries out closed-loop control by described navigation system and described automatic control system in adjustment process;
After described hammer drill reaches precalculated position, hole according to predetermined drilling depth and bore angle.
2. jumbo according to claim 1, is characterized in that, also comprises engine power system, for the power providing described jumbo to walk.
3. jumbo according to claim 1, is characterized in that, also comprises electric machine control system, for providing power for described drill boom and described propulsive mechanism.
4. jumbo according to claim 1, it is characterized in that, described drill boom comprises base, large universal joint, large pitching oil cylinder, large oscillating oil cylinder, outer arm, telescopic oil cylinder, inner arm, little oscillating oil cylinder, little pitching oil cylinder, little universal joint, rotary actuator, adjustment oil cylinder and bracket.
5. jumbo according to claim 4, is characterized in that, described propulsive mechanism is installed on described bracket;
Described propulsive mechanism comprises compensating cylinder, propelling cylinder and forward beam.
6. jumbo according to claim 1, is characterized in that, also comprises the work hanging basket be connected with described chassis.
7. jumbo according to claim 1, is characterized in that, described navigation system comprises laser scanner, multiple angular transducer and multiple displacement transducer.
8. jumbo according to claim 7, is characterized in that, described angular transducer is arranged in the jointed shaft of each spinning movement of described automatic rock drilling device.
9. jumbo according to claim 7, is characterized in that, institute's displacement sensors is arranged in each oil cylinder of described automatic rock drilling device.
10. jumbo according to claim 1, is characterized in that, is provided with display screen in described driver's cabin, for showing position and the parameter information of boring in real time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510736935.0A CN105298387A (en) | 2015-11-03 | 2015-11-03 | Drill jumbo |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510736935.0A CN105298387A (en) | 2015-11-03 | 2015-11-03 | Drill jumbo |
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| CN105298387A true CN105298387A (en) | 2016-02-03 |
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| CN201510736935.0A Pending CN105298387A (en) | 2015-11-03 | 2015-11-03 | Drill jumbo |
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| CN105888644A (en) * | 2016-04-05 | 2016-08-24 | 中国铁建重工集团有限公司 | Anti-collision method and anti-collision system for arm supports |
| CN106223843A (en) * | 2016-08-29 | 2016-12-14 | 中国铁建电气化局集团第五工程有限公司 | A kind of method using automatic punching chassis to beat suppending hole in subway tunnel |
| CN106401475A (en) * | 2016-11-18 | 2017-02-15 | 中国葛洲坝集团三峡建设工程有限公司 | Multifunctional anchor cable drilling machine |
| CN107514236A (en) * | 2017-10-16 | 2017-12-26 | 湖南五新隧道智能装备股份有限公司 | A kind of arm support and drill jumbo |
| CN107575161A (en) * | 2017-10-16 | 2018-01-12 | 湖南五新隧道智能装备股份有限公司 | A kind of intelligent drill jumbo |
| CN107724958A (en) * | 2017-10-30 | 2018-02-23 | 湖南五新隧道智能装备股份有限公司 | Drill jumbo and drill jumbo forward beam |
| CN107939284A (en) * | 2017-12-08 | 2018-04-20 | 中国铁建重工集团有限公司 | A kind of open air drill rig |
| CN108590706A (en) * | 2018-05-10 | 2018-09-28 | 中铁五局集团有限公司 | One kind being used for speciality single-track railway tunnel drifter with booms Construction Techniques of Grouting in Heavy Curtain |
| CN108729849A (en) * | 2018-05-21 | 2018-11-02 | 中国水利水电第十工程局有限公司 | A kind of Improvement type hydraulic rock drilling machine |
| CN108868600A (en) * | 2018-08-15 | 2018-11-23 | 中铁工程装备集团有限公司 | A kind of tunnel boring trolley being loaded with the more mechanisms that drill |
| CN109184684A (en) * | 2018-08-28 | 2019-01-11 | 徐州天能矿山机械有限责任公司 | A kind of intelligence rock drill mining machinery |
| CN109505608A (en) * | 2018-11-02 | 2019-03-22 | 中铁工程装备集团有限公司 | Guidance system and all-hydraulic three arm rock drilling jumbo based on guidance system and localization method of constructing |
| CN109630013A (en) * | 2019-01-23 | 2019-04-16 | 湖南五新隧道智能装备股份有限公司 | A kind of hydraulic drill ring |
| CN109630030A (en) * | 2018-12-29 | 2019-04-16 | 中国铁建重工集团有限公司 | A kind of drill jumbo positioning device |
| CN109653680A (en) * | 2019-01-23 | 2019-04-19 | 四川大学 | A kind of drill jumbo mechanical arm of hydraulic gusseted and universal turning structure |
| CN109798120A (en) * | 2019-01-25 | 2019-05-24 | 中国铁建重工集团有限公司 | A kind of brill for tunnel excavation splits trolley |
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| CN110410056A (en) * | 2019-08-08 | 2019-11-05 | 河北中瑞智能机械设备制造有限公司 | A kind of automatic control system and its control method of drill jumbo |
| CN110607989A (en) * | 2019-10-25 | 2019-12-24 | 中国铁建重工集团股份有限公司 | Rock drilling trolley and tunnel tunneling construction method for reducing surrounding rock disturbance |
| CN110630260A (en) * | 2019-09-29 | 2019-12-31 | 杨绍贤 | Small-size rock of copper mine hole equipment of knocking off |
| CN111350491A (en) * | 2018-12-21 | 2020-06-30 | 山特维克矿山工程机械(中国)有限公司 | Underground drilling machine and angle measuring system thereof |
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| CN113467343A (en) * | 2021-08-10 | 2021-10-01 | 江苏徐工工程机械研究院有限公司 | Remote control system and method for drill jumbo |
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| CN114016925A (en) * | 2021-11-15 | 2022-02-08 | 中铁三局集团第五工程有限公司 | Tunnel blast hole accurate punching device and construction method |
| CN114109246A (en) * | 2021-11-29 | 2022-03-01 | 江苏徐工工程机械研究院有限公司 | Geotechnical engineering machinery and working arm control method thereof |
| CN114370227A (en) * | 2021-12-10 | 2022-04-19 | 中国一冶集团有限公司 | Automatic static explosion drilling device |
| CN114637308A (en) * | 2022-03-11 | 2022-06-17 | 徐州威卡电子控制技术有限公司 | Attitude control system and control method for push beam of drill jumbo |
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Cited By (47)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105888644A (en) * | 2016-04-05 | 2016-08-24 | 中国铁建重工集团有限公司 | Anti-collision method and anti-collision system for arm supports |
| CN105888644B (en) * | 2016-04-05 | 2019-07-12 | 中国铁建重工集团有限公司 | A kind of collision-proof method and system for cantilever crane |
| CN106223843A (en) * | 2016-08-29 | 2016-12-14 | 中国铁建电气化局集团第五工程有限公司 | A kind of method using automatic punching chassis to beat suppending hole in subway tunnel |
| CN106401475A (en) * | 2016-11-18 | 2017-02-15 | 中国葛洲坝集团三峡建设工程有限公司 | Multifunctional anchor cable drilling machine |
| CN107514236A (en) * | 2017-10-16 | 2017-12-26 | 湖南五新隧道智能装备股份有限公司 | A kind of arm support and drill jumbo |
| CN107575161A (en) * | 2017-10-16 | 2018-01-12 | 湖南五新隧道智能装备股份有限公司 | A kind of intelligent drill jumbo |
| CN107724958A (en) * | 2017-10-30 | 2018-02-23 | 湖南五新隧道智能装备股份有限公司 | Drill jumbo and drill jumbo forward beam |
| CN107939284A (en) * | 2017-12-08 | 2018-04-20 | 中国铁建重工集团有限公司 | A kind of open air drill rig |
| CN108590706A (en) * | 2018-05-10 | 2018-09-28 | 中铁五局集团有限公司 | One kind being used for speciality single-track railway tunnel drifter with booms Construction Techniques of Grouting in Heavy Curtain |
| CN108729849A (en) * | 2018-05-21 | 2018-11-02 | 中国水利水电第十工程局有限公司 | A kind of Improvement type hydraulic rock drilling machine |
| CN108868600A (en) * | 2018-08-15 | 2018-11-23 | 中铁工程装备集团有限公司 | A kind of tunnel boring trolley being loaded with the more mechanisms that drill |
| CN109184684A (en) * | 2018-08-28 | 2019-01-11 | 徐州天能矿山机械有限责任公司 | A kind of intelligence rock drill mining machinery |
| CN109505608A (en) * | 2018-11-02 | 2019-03-22 | 中铁工程装备集团有限公司 | Guidance system and all-hydraulic three arm rock drilling jumbo based on guidance system and localization method of constructing |
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