CN107607008B - Tunnelling blast hole projectile filling parallel machine configuration executes platform - Google Patents
Tunnelling blast hole projectile filling parallel machine configuration executes platform Download PDFInfo
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- CN107607008B CN107607008B CN201711029481.9A CN201711029481A CN107607008B CN 107607008 B CN107607008 B CN 107607008B CN 201711029481 A CN201711029481 A CN 201711029481A CN 107607008 B CN107607008 B CN 107607008B
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Abstract
The present invention announces a kind of tunnelling blast hole projectile filling parallel machine configuration execution platform, belongs to tunnelling blast hole projectile filling technical field.It swings driving assembly including support component, left column component, right column component, column；Lower-left expansion screw component, upper left expansion screw component are hinged on left column component；Lower-left expansion screw component, upper left expansion screw component the other end pass through spherical pair connecting platform component；Bottom right expansion screw component, upper right expansion screw component are hinged on right column component；Bottom right expansion screw component, upper right expansion screw component the other end pass through spherical pair connecting platform component.It is more difficult that the present invention solves the problems, such as that the strong nonlinearity of multiple degrees of freedom series connection joint of mechanical arm causes the blasthole stepping of mechanical arm to be aligned；The present invention is non-linear independent control, and there is no the solution idol problems between intensive nonlinear functions, without the planning of minimal path.
Description
Technical field
The present invention relates to mechanical designing technique and tunnelling blast hole projectile filling method, specifically a kind of tunnelling blasthole dress
Medicine parallel machine configuration executes platform.
Background technique
Whether the mineral back production Yu tunnelling or the exploitation of coal mine and tunnelling of metal mine, mostly uses greatly
The method of rock drilling and explosion strips down the entity mineral of target, commonly uses " brill ", " quick-fried ", " dress ", " fortune " portray tunnel
Tunneling process is realized to the removings of mineral and is cleared by " brill ", " quick-fried ", " dress ", " fortune ", drill can be used airleg rock drill,
Hydraulic gate, drill jumbo, down-the-hole drill, rotary drill etc. have been in semi-automatic and automation state；Explosion is related to frying
The transporting to of medicine, being blended of explosive, the control process of the filling of blasthole, detonation, blast hole charging can using injecting type, it is forced with
The method of association type has been in artificial, semi-automatic and automation state；The shipment of explosion falling bodies, both can using dirt loader,
Loader-and-carry dumper, scraper realize load with transport unification, and can by the way of crab claw loader-and-carry dumper and transporter integration of operation,
The mode of vertical pawl loader-and-carry dumper and transporter integration of operation has been in semi-automatic and automation state.Currently, blasting process is corresponding
Blast hole charging mechanization and the degree of automation it is relatively low, main cause is on the one hand due to tunnel complexity there are two aspect
Interface cause the vision Automatic-searching hole location before powder charge more difficult, need more complicated algorithm to eliminate noise signal,
It on the other hand is the blasthole that the strong nonlinearity combined due to multi-degree-of-freemechanical mechanical arm joint with crank rocker mechanism leads to mechanical arm
Position solves more difficulty, needs to distribute the amount of relative motion in each joint, servo alignment control rule under minimal path principle
Delineating is haggled over for difficulty.The problem of the problem of the problem of first aspect is machine vision, the second aspect is theory of mechanisms and watch
The problem of taking optimum control.
Summary of the invention
The technical issues of to solve the second aspect, the present invention provide a kind of tunnelling blast hole projectile filling parallel machine configuration and hold
Row platform.
The invention is realized by the following technical scheme: a kind of tunnelling blast hole projectile filling parallel machine configuration execution platform, packet
The pencil guide sleeve for including platform assembly and being mounted on platform assembly；The execution platform further includes support component, and rotation peace
Left column component, right column component in support component；The left column component, right column member parallel are arranged symmetrically；
The platform that executes further includes one for driving the column of left column component, the rotation of right column component to swing driving group
Part；It is hinged on the left column component that there are two axially disposed lower-left expansion screw components, upper left expansion screw component；Institute
State lower-left expansion screw component, upper left expansion screw member parallel arrangement, lower-left expansion screw component, upper left expansion screw component
The other end platform assembly is connected by spherical pair；It is hinged on the right column component that there are two axially disposed bottom rights
Expansion screw component, upper right expansion screw component；The bottom right expansion screw component, upper right expansion screw component and the lower-left
Expansion screw component, upper left expansion screw member parallel arrangement, bottom right expansion screw component, upper right expansion screw component it is another
End connects the platform assembly by spherical pair；The execution platform further includes pitching telescopic screw arbor assembly；The pitching telescopic
Screw arbor assembly one end and right column member hinges, the pitching telescopic screw arbor assembly other end and bottom right expansion screw member hinges.
It is further: the support component includes column bottom plate and the left column hollow support that is fixed on column bottom plate
Axis, right column hollow support axle；The left column component includes left column；The left column is seamless steel pipe, lower section inner hole
With the composition small―gap suture cooperation of left column hollow support axle, left column lower end turning set is in left column hollow support axle；It is described
Left column bearing is installed between left column lower end and column bottom plate；The right column component includes right column；The right column
For seamless steel pipe, lower section inner hole and the composition small―gap suture cooperation of right column hollow support axle, right column lower end turning set is mounted in the right side
In column hollow support axle；Right column bearing is installed between the right column lower end and column bottom plate.
The column driving assembly that swings by gear assembly connects left column component, right column component；Institute
Stating gear assembly includes the left gear being mounted on left column, and the right gear being mounted on right column；The left gear passes through
Left column key is connect with left column, and the left column positioning ring being supported under left gear is fixed on left column；The right gear
It is connect by right column key with right column, the right column positioning ring being supported under right gear is fixed on right column.
The driving assembly that swings includes the upright post base being fixed on column bottom plate；It is fixed on the upright post base
There is driving stop sleeve；Be sequentially arranged in the driving stop sleeve column stepper motor, column retarder and
Column drive shaft；The column stepper motor is connect with column retarder；The column retarder connects bolt by retarder
It is fixed in driving stop sleeve, column retarder connect key connection by motor with column drive shaft；The column drive shaft
It is rotatably installed in driving stop sleeve by column upper bearing (metal), column lower bearing；It is equipped on the upside of the column upper bearing (metal)
Circlip for hole；Column drive shaft outer end is equipped with column by gear connecting key and drives gear, in column sliding tooth
Gear positioning sleeve is equipped between wheel and circlip for hole；The column driving gear is mutually nibbled with left gear and right gear simultaneously
It closes.
The lower-left expansion screw component, upper left expansion screw component, bottom right expansion screw component, upper right expansion screw group
Part structure is identical；The bottom right expansion screw component includes bottom right screw rod set component and bottom right studdle component；The bottom right
Screw rod set component includes Section of four set of bottom right screw rod, bottom right screw rod third section set, bottom right screw rod the successively docked from left to right
Two sections set and bottom right screw rod first segment set；Section of four set left end of the bottom right screw rod is fixed with bottom right screw rod bottom plate, bottom right screw rod
Bottom right screw rod ear mount is fixed on the left of bottom plate；The bottom right studdle component includes being sleeved in bottom right screw rod first segment set
Bottom right supports hollow stem；Bottom right support hollow stem outer end is fixed with bottom right studdle end, and bottom right supports outside hollow stem
Guide groove is provided on wall, bottom right support hollow stem inner end is fixed with bottom right nut；The guiding of the bottom right support hollow stem outer wall
Bottom right feather key is installed, the both ends of bottom right feather key are fixed on bottom right screw rod first with elastic opening pin by right down key in slot
On section set inner wall；Bottom right screw shaft is installed on the bottom right nut；Bottom right spiral shell is placed in Section four of bottom right screw rod set
Bar stepper motor；The bottom right screw rod stepper motor is connected with bottom right screw deceleration device；The bottom right screw deceleration device is fixed on
Bottom right screw rod third section is put on, and bottom right screw deceleration device output end and bottom right screw shaft inner end pass through bottom right motor connecting key
Connection；Bottom right screw shaft inner end is rotatably installed in bottom right screw rod by bottom right screw rod lower bearing, bottom right screw rod upper bearing (metal)
In three section sets, the second section of bottom right screw rod set.
The pitching telescopic screw arbor assembly is identical as bottom right expansion screw modular construction；Bowing in pitching telescopic screw arbor assembly
Studdle end is faced upward to be hinged in the expansion screw component of bottom right on bottom right screw rod first segment set outer wall.
The platform assembly includes four spherical pair motherboards and the four spherical pair pressing plates for being pressed in four spherical pair motherboard rear surfaces；Institute
It states four spherical pair motherboard rear surfaces to open there are four in half ball-and-socket for holding distribution, four spherical pair pressing plates are provided with and four and half ball-and-socket phases
Pair annular sphere, four and half ball-and-sockets and four annular spheres form the ball-and-sockets that four central angles are equal to 200 °；Four spherical surface
Secondary motherboard bottom side is welded with platform floor, and platform top, welding on the right side of four spherical pair motherboards are welded on the upside of four spherical pair motherboards
There is platform dextral plate, is welded with platform sinistral plate on the left of four spherical pair motherboards.
Guide sleeve mounting assembly is equipped on the upside of the platform top；The guide sleeve mounting assembly includes guide sleeve support；
Through-hole is provided on the guide sleeve support, the pencil guide sleeve is mounted in the through-hole of guide sleeve support；Guide sleeve support is left
Downside is welded with left bottom foot base, and guide sleeve support lower right side is welded with right bottom foot base；The left bottom foot base, right bottom foot base are by leading
It is mounted in platform top to set carrier setting bolt and guide sleeve support nut.
Compared with prior art, the beneficial effects of the present invention are: solving the strong non-of multiple degrees of freedom series connection joint of mechanical arm
The blasthole stepping of mechanical arm is linearly caused to be directed at more difficult problem；The present invention is non-linear independent control, and there is no strong non-
Solution idol problem between linear function, without the planning of minimal path.
Detailed description of the invention
Fig. 1 is state diagram when the invention works；
Fig. 2 is longitudinal movement relationship main view of the present invention；
Fig. 3 is transverse movement relationship main view of the present invention；
Fig. 4 is that the present invention is just facing upward movement relation main view；
Fig. 5 is side-to-side movement relationship top view of the present invention；
Fig. 6 is schematic structural view of the invention；
Fig. 7 is the main view of upper right expansion screw component of the present invention；
Fig. 8 is the top view of upper right expansion screw component of the present invention；
Fig. 9 is the main view of expansion screw component in bottom right of the present invention；
Figure 10 is the top view of expansion screw component in bottom right of the present invention；
Figure 11 is the main view of expansion screw component in upper left of the present invention；
Figure 12 is the top view of expansion screw component in upper left of the present invention；
Figure 13 is the main view of expansion screw component in lower-left of the present invention；
Figure 14 is the top view of expansion screw component in lower-left of the present invention；
Figure 15 is the main view of pitching telescopic screw arbor assembly of the present invention；
Figure 16 is the top view of pitching telescopic screw arbor assembly of the present invention；
Figure 17 is the main view of platform assembly and guide sleeve mounting assembly of the present invention；
Figure 18 is B in Figure 17-B-section figure；
Figure 19 is top view in Figure 17；
Figure 20 is the main view of platform assembly of the present invention；
Figure 21 is left view in Figure 20；
Figure 22 is top view in Figure 20；
Figure 23 is right view in Figure 20；
Figure 24 is the main view of four spherical pair pressing plates；
Figure 25 is left view in Figure 24；
Figure 26 is the main view of left column component；
Figure 27 is the main view of right column component；
Figure 28 is that column swings the main view of driving assembly；
Figure 29 is top view in Figure 28；
Figure 30 is that left column component, right column component and column swing the main view of driving assembly；
Figure 31 is top view in Figure 30.
In figure: 1 left column component；2 gear assemblies；3 right column components；4 pitching telescopic screw arbor assemblies；5 bottom rights are stretched spiral shell
Bar assembly；6 lower-left expansion screw components；7 upper right expansion screw components；8 upper left expansion screw components；9 platform assemblies；10 pencils
Guide sleeve；11 guide sleeve mounting assemblies；12 support components；13 columns swing driving assembly；The rock wall of 14 distribution boreholes；
1-1 left column；1-2 left column upper pin；1-3 left column cottering；Pin shaft in 1-4 left column；1-5 left column split shed
Pin；1-6 left column positioning ring；2-1 right gears；2-2 right column keys；2-3 left gears；2-4 left column keys；3-1 right columns；3–2
Right column upper pin；3-3 right column cotterings；Pin shaft in 3-4 right columns；3-5 right column split shed pins；Under 3-6 right columns
Pin shaft；3-7 right column under shed pins；3-8 right column positioning rings；4-1 pitching screw rods cover component；4-2 pitching studdle components；
4-11 pitching screw rod first segment sets；4-12 pitching screw rod the second section sets；4-13 pitching screw rod third section sets；4-14 pitching screw rods
Four section sets；4-15 pitching screw rod bottom plates；4-16 pitching screw rod ear mounts；4-17 pitching screw rod stepper motors；4-18 pitching screw rods subtract
Fast device；4-19 the first bolts of pitching screw rod；4-110 the first nuts of pitching screw rod；4-111 pitching screw rod lower bearings；4-112 pitching
Screw rod attachment screw；4-113 the second bolts of pitching screw rod；4-114 the second nuts of pitching screw rod；4-115 pitching screw rod upper bearing (metal)s；
4-21 pitching studdle ends；4-22 pitching support hollow stem；4-23 pitching feather keys；4-24 pitching screw shafts；4-25 bow
Face upward nut；4-26 pitching key elastic opening pins；4-27 pitching motor connecting keys；4-28 pitching O-ring seals；4-29 pitching pins
Axis；4-210 right pitching open front pins；5-1 bottom right screw rods cover component；5-2 bottom right studdle components；5-11 bottom right screw rods first
Section set；5-12 bottom right screw rod the second section sets；5-13 bottom right screw rod third section sets；5-14 Section four of bottom right screw rod sets；5-15 bottom rights
Screw rod bottom plate；5-16 bottom right screw rod ear mounts；5-17 bottom right screw rod stepper motors；5-18 bottom right screw deceleration devices；5-19 bottom right spiral shells
The first bolt of bar；5-110 the first nuts of bottom right screw rod；5-111 bottom right screw rod lower bearings；5-112 bottom right screw rod attachment screws；5–
113 the second bolts of bottom right screw rod；5-114 the second nuts of bottom right screw rod；5-115 bottom right screw rod upper bearing (metal)s；Before 5-116 upper right screw rods
Ear mount；Ear mount after 5-117 upper right screw rods；5-21 bottom rights studdle end；5-22 bottom rights support hollow stem；5-23 bottom rights guiding
Key；5-24 bottom right screw shafts；5-25 bottom right nuts；5-26 right down key elastic opening pins；5-27 bottom right motor connecting keys；5–28
Bottom right O-ring seal；6-1 lower-left screw rods cover component；6-2 lower-left studdle components；6-11 upper left screw rod first segment sets；6–12
Upper left screw rod the second section set；6-13 upper left screw rod third section sets；6-14 Section four of upper left screw rod sets；6-15 upper left screw rod bottom plates；
6-16 upper left screw rod ear mounts；6-17 upper left screw rod stepper motors；6-18 upper left screw deceleration devices；6-19 the first spiral shells of upper left screw rod
Bolt；6-110 the first nuts of upper left screw rod；6-111 upper left screw rod lower bearings；6-112 upper left screw rod attachment screws；6-113 upper lefts
The second bolt of screw rod；6-114 the second nuts of upper left screw rod；6-115 upper left screw rod upper bearing (metal)s；6-21 upper lefts studdle end；
6-22 upper lefts support hollow stem；6-23 upper left feather keys；6-24 upper left screw shafts；6-25 upper left nuts；6-26 upper left key bullets
Property split pin；6-27 upper left motor connecting keys；6-28 upper left O-ring seals；7-1 upper right screw rods cover component；7-2 upper rights support spiral shell
Bar assembly；7-11 upper right screw rod first segment sets；7-12 upper right screw rod the second section sets；7-13 upper right screw rod third section sets；7-14 is right
Section of four set of upper screw rod；7-15 upper right screw rod bottom plates；7-16 upper right screw rod ear mounts；7-17 upper right screw rod stepper motors；7-18 is right
Upper screw deceleration device；7-19 the first bolts of upper right screw rod；7-110 the first nuts of upper right screw rod；7-111 upper right screw rod lower bearings；
7-112 upper right screw rod attachment screws；7-113 the second bolts of upper right screw rod；7-114 the second nuts of upper right screw rod；7-115 upper right spiral shells
Bar upper bearing (metal)；7-21 upper right studdle ends；7-22 upper rights support hollow stem；7-23 upper right feather keys；7-24 upper right screw rods
Axis；7-25 upper right nuts；7-26 upper key elastic opening pins；7-27 upper right motor connecting keys；7-28 upper right O-ring seals；
8-1 upper left screw rods cover component；8-2 upper left studdle components；8-11 upper left screw rod first segment sets；8-12 the second sections of upper left screw rod
Set；8-13 upper left screw rod third section sets；8-14 Section four of upper left screw rod sets；8-15 upper left screw rod bottom plates；8-16 upper left screw rod ears
Seat；8-17 upper left screw rod stepper motors；8-18 upper left screw deceleration devices；8-19 the first bolts of upper left screw rod；8-110 upper left screw rods
First nut；8-111 upper left screw rod lower bearings；8-112 upper left screw rod attachment screws；8-113 the second bolts of upper left screw rod；8–
114 the second nuts of upper left screw rod；8-115 upper left screw rod upper bearing (metal)s；8-21 upper lefts studdle end；The support of 8-22 upper lefts is hollow
Bar；8-23 upper left feather keys；8-24 upper left screw shafts；8-25 upper left nuts；8-26 upper left key elastic opening pins；8-27 upper lefts
Motor connecting key；8-28 upper left O-ring seals；9-1 four spherical pair motherboards；9-2 platform tops；9-3 platform floors；9-4 platforms
Left plate；9-5 platform dextral plates；9-6 guide sleeve carrier setting bolts；9-7 guide sleeve support nuts；9-8 four spherical pair pressing plates；9–9
Follower bolt；9-10 panel nuts；11-1 guide sleeve supports；11-2 left bottom foot bases；11-3 right bottom foot bases；12-1 left columns are hollow
Support shaft；12-2 left column bearings；12-3 column bottom plates；12-4 right column hollow support axles；12-5 right column bearings；12-6 is anti-
Dust hood；13-1 column stepper motors；13-2 column retarders；13-3 retarders connect bolt；13-4 driving stop sleevees；13–5
Column drive shaft；13-6 circlip for holes；13-7 columns drive gear；13-8 gear connecting keys；13-9 gear positioning sleeves；
13-10 column upper bearing (metal)s；13-11 column lower bearings；13-12 motor connecting keys；13-13 upright post bases；13-14 upright post base spiral shells
Bolt；13-15 upright post base nuts.
Symbol in figure: O11The revolute pair of upper left screw rod and left column；O12The revolute pair of lower-left screw rod and left column；O21It is right
The revolute pair of upper screw rod and right column；O22The revolute pair of bottom right screw rod and right column；O23The rotation of right pitching screw rod and right column
It is secondary；Wheelbase between a or so screw rod；The revolute pair of the right pitching screw front end of A；The spherical joint pair of the bottom right B screw front end；The lower-left E
The spherical joint pair of screw front end；The spherical joint pair of C upper right screw front end；The spherical joint pair of the upper left D screw front end；A11It is right
The first position of pitching screw front end revolute pair；A13The third place of right pitching screw front end revolute pair；B11Bottom right screw front end
The first position of spherical joint pair；B12The second position of bottom right screw front end spherical joint pair；B12Bottom right screw front end spherical surface closes
Save secondary the third place；E11The first position of lower-left screw front end spherical joint pair；E12Lower-left screw front end spherical joint pair
The second position；E13The third place of lower-left screw front end spherical joint pair；C11First of upper right screw front end spherical joint pair
It sets；C12The second position of upper right screw front end spherical joint pair；C13The third place of upper right screw front end spherical joint pair；D11
The first position of upper left screw front end spherical joint pair；D12The second position of upper left screw front end spherical joint pair；D13Upper left spiral shell
The third place of bar front end spherical joint pair；The pencil guide sleeve front end LS is the distance between to column axis；LB pencil guide sleeve
Front end is the distance between to rock wall surface；L10Length of the center of spherical joint pair to pencil guide sleeve front end；The reason in the tunnel HK
Think width；The ideal height of the tunnel HG rectangular section；L51Bottom right screw rod ear mount is relative to O22The length of point；L52Bottom right screw rod ear
The height of seat；The origin of O coordinate system.
Pxy0The design basis point of actuator pencil guide sleeve front end；Pxy1The lowest point of actuator pencil guide sleeve front end；
Pxy2The arbitrary point of actuator pencil guide sleeve front end；Pxy3The most vertex of actuator pencil guide sleeve front end；j11Actuator pencil
The downward initial distance in guide sleeve front end；j12Distance of the x-axis of actuator to tunnel bottom surface；j13Before actuator pencil guide sleeve
Hold the distance shifted up；B110The base position of bottom right screw front end spherical pair；C110The benchmark of upper right screw front end spherical pair
Position；H12The wheelbase of upper right screw rod and bottom right spiro rod rear end；H23The wheelbase of bottom right screw rod and right pitching spiro rod rear end；M borehole is sought
Plane；QyiBorehole is in the number being parallel in Oxy plane；LySpacing of the borehole in short transverse；LzBorehole is in width direction
Spacing；Ly1Distance of the borehole of bottom first to bottom surface；H9On pencil guide sleeve center line to platform C point and D point line away from
From；φ4The angular displacement of right pitching screw axis；ψ5The angular displacement of bottom right screw axis；S4Right pitching screw arbor assembly both ends kinematic pair
Between length；QyzjBorehole position is in the number being parallel in Oyz plane.
Specific embodiment
It is a specific embodiment of the invention below, the present invention will be further described with reference to the accompanying drawings.
As shown in Figures 1 to 6, a kind of tunnelling blast hole projectile filling parallel machine configuration executes platform, and pencil guide sleeve 10 is logical
Guide sleeve mounting assembly 11 is crossed to be mounted on platform assembly 9.Left column component 1, right column component 3 are rotatably installed in support respectively
On component 12, left column component 1, right column component 3 are parallel and symmetrical.The column driving assembly 13 that swings passes through gear assembly
2 by driving left column component 1, right column component 3 to rotate in same direction.Lower-left expansion screw component 6, upper left expansion screw component 8
One end be hinged on left column component 1, the other end passes through spherical pair connecting platform component 9.Bottom right expansion screw component 5, upper right
One end of expansion screw component 7 is hinged on right column component 3, and the other end passes through spherical pair connecting platform component 9.Bottom right is flexible
Screw arbor assembly 5, upper right expansion screw component 7 and lower-left expansion screw component 6, upper left expansion screw component 8 are arranged in parallel, structure
It is identical.It is extended and retracted by bottom right, upper right, lower-left, upper left expansion screw component, comes the position of control platform component 9.It bows
It faces upward 4 one end of expansion screw component and right column component 3 is hinged, the other end and bottom right expansion screw component 5 are hinged, are stretched by pitching
Compression screw arbor component 4 extends and retracts, come control bottom right, upper right, lower-left, upper left expansion screw component elevation-depression angle.
As shown in Figure 26 and Figure 27, support component 12 includes left column hollow support axle 12-1, left column bearing 12-2, stands
Column base plate 12-3, right column hollow support axle 12-4, right column bearing 12-5 and dust cover 12-6.Left column hollow support axle
12-1, right column hollow support axle 12-4, which are symmetrically welded, to be fixed on column bottom plate 12-3.Left column bearing 12-2 is sleeved on a left side
The bottom end column hollow support axle 12-1, right column bearing 12-5 are sleeved on the bottom end right column hollow support axle 12-4.
Left column component 1 in left column 1-1, left column upper pin 1-2, left column cottering 1-3, left column including selling
Axis 1-4, left column split shed pin 1-5, left column positioning ring 1-6.Left column 1-1 and the composition of left column hollow support axle 12-1 are justified
Column pair.The lower end surface of left column 1-1 forms revolute pair by left column bearing 12-2 and column bottom plate 12-3.Left column upper pin
1-2, pin shaft 1-4 is separately mounted on left column 1-1 in corresponding hole in left column.In left column cottering 1-3, left column
Split pin 1-5 is separately mounted to left column upper pin 1-2, in left column on pin shaft 1-4.Left column positioning ring 1-6 is welded on a left side
On vertical 1-1, for positioning left gear 2-3.
Right column component 3 in right column 3-1, right column upper pin 3-2, right column cottering 3-3, right column including selling
Axis 3-4, right column split shed pin 3-5, right column lower bearing pin 3-6, right column under shed pin 3-7, right column positioning ring 3-8.It is right
Column 3-1 and right column hollow support axle 12-4 form cylindrical pair.The lower end surface of right column 3-1 by right column bearing 12-5 with
Column bottom plate 12-3 forms revolute pair.Pin shaft 3-4, right column lower bearing pin 3-6 are pacified respectively in right column upper pin 3-2, right column
In corresponding hole on right column 3-1.Right column cottering 3-3, right column split shed pin 3-5, right column under shed pin
3-7 are separately mounted to right column upper pin 1-2, pin shaft 1-4 in right column, on right column lower bearing pin 1-6.Right column positioning ring 3-
8 are welded on right column 3-1, for positioning right gear 2-1.
Left column component 1 and right column component 3 are connected by a gear assembly 2 and the column driving assembly 13 that swings
It connects.Gear assembly 2 includes the left gear 2-3 being mounted on left column 1-1, and the right gear 2-1 being mounted on right column 3-1.
Left gear 2-3 is connect by left column key 2-4 with left column 1-1, and left column positioning ring 1-6 is supported under left gear 2-3.Right tooth
Wheel 2-1 is connect by right column key 2-2 with right column 3-1, and stud location ring 3-8 is supported under right gear 2-1.
It include the column being fixed on column bottom plate 12-3 in conjunction with the driving assembly 13 that shown in Figure 28 to Figure 31, swings
Driving stop sleeve 13-4 is welded and fixed on pedestal 13-13, upright post base 13-13.Column stepper motor 13-1 and column slow down
Device 13-2 is integrated integral structure.Column retarder 13-2 connects bolt 13-3 by retarder and is connected to driving support sleeve
The lower end of cylinder 13-4.The output shaft of column retarder 13-2 is connect by motor connecting key 13-12 with column drive shaft 13-5.It is vertical
Column drive shaft 13-5 is mounted on the inner hole of driving stop sleeve 13-4 by column upper bearing (metal) 13-10 and column lower bearing 13-11
In.Circlip for hole 13-6 is used for positioning vertical column upper bearing (metal) 13-10.Column drives gear 13-7 to pass through gear connecting key 13-8
It is mounted in column drive shaft 13-5.Gear positioning sleeve 13-9 drives gear 13-7 for axially position column.Wherein, column bottom
Upright post base 13-13 is connected on the chassis of trolley by seat bolt 13-14 and upright post base nut 13-15.Column drives gear
13-7 engage with right gear 2-1 and left gear 2-3 simultaneously.Dust cover 12-6 is for blocking column driving gear 13-7, right gear
2-1 objects that may be fallen with 2-3 top of left gear.
Bottom right, upper right, lower-left, upper left expansion screw modular construction are identical, now only do in detail to bottom right expansion screw component 5
It introduces:
In conjunction with shown in Fig. 9 and Figure 10, bottom right expansion screw component 5 includes that bottom right screw rod covers component 5-1, bottom right studdle
Component 5-2 and bottom right screw rod stepper motor 5-17；
The inner hole that bottom right screw rod first segment covers 5-11 is provided with axial keyway, bottom right screw rod first segment set 5-11 and bottom right screw rod
Second section set 5-12 welds together.The second section of bottom right screw rod set 5-12 passes through the second bolt of bottom right screw rod 5-113, bottom right screw rod
Second nut 5-114 links together with bottom right screw rod third section set 5-13.Bottom right screw rod third section set 5-13 passes through bottom right spiral shell
The first bolt of bar 5-19, the first nut of bottom right screw rod 5-110 and Section four of bottom right screw rod set 5-14 link together.Bottom right screw rod
Bottom plate 5-15 is welded on the left side of Section four of bottom right screw rod set 5-14, and bottom right screw rod ear mount 5-16 is welded on bottom right screw rod bottom
On plate 5-15.Wherein, pin shaft 3-4 in right column, bottom right expansion screw component 5 are installed in the hole of 5-16 left end of bottom right screw rod ear mount
Revolute pair is formed by pin shaft 3-4 in right column and right column component 3.
Bottom right studdle end 5-21 is mounted on bottom right by helicitic texture and supports in the inner hole of 5-22 right end of hollow stem.
It is provided with axial keyway in bottom right support hollow stem 5-22, bottom right supports hollow stem 5-22 to pass through bottom right feather key 5-23 and bottom right spiral shell
5-11 axially opposing prismatic pair of composition of bar first segment set.Bottom right feather key 5-23 is fixed with elastic opening pin 5-26 by right down key
On bottom right screw rod first segment set 5-11.Bottom right supports hollow stem 5-22 and the axial welding of bottom right nut 5-25, bottom right nut 5-
Axial keyway, hole machined trapezoidal thread in bottom right nut 5-25, bottom right screw shaft 5-24 and bottom right nut are provided in 25 outside cylinders
5-25 composition screw pairs.Bottom right screw rod lower bearing 5-111 and bottom right screw rod upper bearing (metal) 5-115 are installed on bottom right screw shaft 5-24,
Bottom right screw rod lower bearing 5-111 is mounted in the inner hole of bottom right screw rod third section set 5-13, and bottom right screw rod upper bearing (metal) 5-115 is installed
In the inner hole that screw rod the second section in bottom right covers 5-12.The left end of bottom right screw shaft 5-24 passes through bottom right motor connecting key 5-27 and the right side
The output axis connection of lower screw deceleration device 5-18.Bottom right screw deceleration device 5-18 by the attachment screw 5-112 of bottom right screw rod with
5-13 connection of bottom right screw rod third section set.Bottom right screw deceleration device 5-18 and bottom right screw rod stepper motor 5-17 are integrated one
Change structure.Bottom right O-ring seal 5-28 is mounted on bottom right screw rod first segment and covers in the inside groove of 5-11 right ends for bottom right screw rod the
One section covers the sealing between 5-11 and bottom right support hollow stem 5-22.The bulb and platform of 5-21 end of bottom right studdle end
Component 9 forms spherical pair B.The effect of bottom right expansion screw component 5 is to realize desired length variable quantity, and length variable quantity is by the right side
Lower screw rod stepper motor 5-17 control.
As shown in Figure 7 and Figure 8, upper right expansion screw component 7 includes: upper right screw rod set component: 7-1；Upper right studdle
Component 7-2；Upper right screw rod first segment set 7-11；The second section of upper right screw rod set 7-12；Upper right screw rod third section set 7-13；Upper right spiral shell
Section four of bar set 7-14；Upper right screw rod bottom plate 7-15；Upper right screw rod ear mount 7-16；Upper right screw rod stepper motor 7-17；Upper right spiral shell
Bar retarder 7-18；The first bolt of upper right screw rod 7-19；The first nut of upper right screw rod 7-110；Upper right screw rod lower bearing 7-111；
Upper right screw rod attachment screw 7-112；The second bolt of upper right screw rod 7-113；The second nut of upper right screw rod 7-114；On upper right screw rod
Bearing 7-115；Upper right studdle end 7-21；Upper right supports hollow stem 7-22；Upper right feather key 7-23；Upper right screw shaft 7-
24；Upper right nut 7-25；Upper key elastic opening pin 7-26；Upper right motor connecting key 7-27；Upper right O-ring seal 7-28.
Wherein, upper right screw rod ear mount 7-16 forms revolute pair, upper right studdle end by right column upper pin 3-2 and right column 3-1
First 7-21 form spherical pair C with platform assembly 9.
As is illustrated by figs. 11 and 12, upper left screw part 8 includes: upper left screw rod set component 8-1；Upper left studdle component
8–2；Upper left screw rod first segment set 8-11；The second section of upper left screw rod set 8-12；Upper left screw rod third section set 8-13；Upper left screw rod
Four sections set 8-14；Upper left screw rod bottom plate 8-15；Upper left screw rod ear mount 8-16；Upper left screw rod stepper motor 8-17；Upper left screw rod subtracts
Fast device 8-18；The first bolt of upper left screw rod 8-19；The first nut of upper left screw rod 8-110；Upper left screw rod lower bearing 8-111；Upper left
Screw rod attachment screw 8-112；The second bolt of upper left screw rod 8-113；The second nut of upper left screw rod 8-114；Upper left screw rod upper bearing (metal)
8–115；Upper left studdle end 8-21；Upper left supports hollow stem 8-22；Upper left feather key 8-23；Upper left screw shaft 8-24；
Upper left nut 8-25；Upper left key elastic opening pin 8-26；Upper left motor connecting key 8-27；Upper left O-ring seal 8-28.Its
In, upper left screw rod ear mount 8-16 forms revolute pair, upper left studdle end by left column upper pin 1-2 and right column 1-1
8-21 form spherical pair D with platform assembly 9.
As shown in Figure 13 and Figure 14, lower-left expansion screw component 6 includes: lower-left screw rod set component 6-1；Lower-left studdle
Component 6-2；Upper left screw rod first segment set 6-11；The second section of upper left screw rod set 6-12；Upper left screw rod third section set 6-13；Upper left spiral shell
Section four of bar set 6-14；Upper left screw rod bottom plate 6-15；Upper left screw rod ear mount 6-16；Upper left screw rod stepper motor 6-17；Upper left spiral shell
Bar retarder 6-18；The first bolt of upper left screw rod 6-19；The first nut of upper left screw rod 6-110；Upper left screw rod lower bearing 6-111；
Upper left screw rod attachment screw 6-112；The second bolt of upper left screw rod 6-113；The second nut of upper left screw rod 6-114；On the screw rod of upper left
Bearing 6-115；Upper left studdle end 6-21；Upper left supports hollow stem 6-22；Upper left feather key 6-23；Upper left screw shaft 6-
24；Upper left nut 6-25；Upper left key elastic opening pin 6-26；Upper left motor connecting key 6-27；Upper left O-ring seal 6-28.
Wherein, upper left screw rod ear mount 6-16 forms revolute pair, upper left studdle end by pin shaft 1-4 in left column and left column 1-1
First 6-21 form spherical pair E with platform assembly 9.
In conjunction with shown in Figure 15 and Figure 16, pitching telescopic screw arbor assembly 4 is identical as bottom right 5 structures of expansion screw component.Pitching
Expansion screw component 4 includes: pitching screw rod set component 4-1；Pitching studdle component 4-2；Pitching screw rod first segment set 4-11；
The second section of pitching screw rod set 4-12；Pitching screw rod third section set 4-13；Section four of pitching screw rod set 4-14；Pitching screw rod bottom plate 4-
15；Pitching screw rod ear mount 4-16；Pitching screw rod stepper motor 4-17；Pitching screw deceleration device 4-18；The first bolt of pitching screw rod
4–19；The first nut of pitching screw rod 4-110；Pitching screw rod lower bearing 4-111；Pitching screw rod attachment screw 4-112；Pitching screw rod
Second bolt 4-113；The second nut of pitching screw rod 4-114；Pitching screw rod upper bearing (metal) 4-115；Pitching studdle end 4-21；
Pitching supports hollow stem 4-22；Pitching feather key 4-23；Pitching screw shaft 4-24；Pitching nut 4-25；Pitching key is opened with elasticity
Mouth pin 4-26；Pitching motor connecting key 4-27；Pitching O-ring seal 4-28.
Wherein, right pitching screw part 4 forms revolute pair by right column lower bearing pin 3-6 and right column component 3.In pitching
Pitching pin shaft 4-29 is installed in the end of studdle end 4-21, and pitching pin shaft 4-29 is equipped with right pitching open front pin 4-210.
Ear mount 5-116 before opposite upper right screw rod is welded below bottom right screw rod first segment set 5-11 in bottom right expansion screw component 5
With ear mount 5-117 after upper right screw rod.Right pitching screw part 4 passes through ear mount 5-116 and the right side before pitching pin shaft 4-29, upper right screw rod
Ear mount 5-117 and bottom right expansion screw component 5 form revolute pair after upper screw rod.
In conjunction with shown in Figure 17 to Figure 25, platform assembly 9 and guide sleeve mounting assembly 11:
The beneath welding platform bottom plate 9-3 of four spherical pair motherboards 9-1, on the top of four spherical pair motherboards 9-1 welding platform top
The left side welding platform of plate 9-2, the right side welding platform right side plate 9-5 of four spherical pair motherboards 9-1, four spherical pair motherboards 9-1 is left
Side plate 9-4.Processing is there are four half ball-and-socket behind four spherical pair motherboards 9-1, on this four and half ball-and-socket and four spherical pair pressing plates 9-8
Four annular spheres form the ball-and-socket that four central angles are equal to 200 °, accommodate bottom right studdle end respectively in this four ball-and-sockets
First 5-21, upper left studdle end 6-21, upper right studdle end 7-21, the bulb of upper left studdle end 8-21.
Four spherical pair pressing plates 9-8 are connected on four spherical pair motherboards 9-1 by follower bolt 9-9 and panel nut 9-10.Left bottom foot base
11-2 are welded on the lower left side of guide sleeve support 11-1, and right bottom foot base 11-3 is welded on the lower right side of guide sleeve support 11-1, leads
It is connected in platform top 9-2 to set mounting assembly 11 by guide sleeve carrier setting bolt 9-6 and guide sleeve support nut 9-7, medicine
Pipe guide sleeve 10 is mounted in the hole of guide sleeve support 11-1.
As shown in Figure 1, when borehole is distributed in the straight line y=LS-L for being parallel to y-coordinate axis10When upper, the function of borehole was found
The control function of relationship, i.e. screw action is as shown in Figure 2；
In Oxyz coordinate system shown in Fig. 2, the axis of actuator pencil guide sleeve is in Oxy plane, O21O22=B11C11
=H12, O22O23=H23, O23A11=S4If O21C11=S21, O22B11=S22, S at this time22=S21, O21C110=S210, O22B110=
S220, S220=S210=LS-L10, the azimuth of bottom right expansion screw component 5 is ψ5, the azimuth of right pitching screw part 4 is
φ4, when actuator pencil guide sleeve front end is in design basis point Pxy0When, Pxy0The x and y-coordinate of point are respectively (LS, H9), upper right
The initial azimuth ψ of expansion screw component 770=pi/2, the initial azimuth ψ of bottom right expansion screw component 550=pi/2, right pitching
The initial azimuth φ of screw part 440With initial length S40Respectively
As borehole QyiSequence i when taking 1~6, Qy1、Qy2、Qy3、Qy4、Qy5、Qy6Be distributed in Oxyz coordinate system with y-axis away from
From on the vertical line for LS+LB, Qy1X and y-coordinate be respectively (LS+LB ,-j12+Ly1), Qy2X and y-coordinate be respectively (LS+
LB ,-j12+Ly1+Ly), Qy3X and y-coordinate be respectively (LS+LB ,-j12+Ly1+2Ly), and so on, in order to keep PxyPoint and big gun
It is LB that eye, which seeks the distance between plane M, needs to be implemented device pencil guide sleeve front end PxyY-coordinate axis is parallel in Oxy plane
Straight line y=LS-L10On, enable B, C always in y2=LS-L10Straight line on, i.e. xC=xB=LS-L10, yC=yPxy–H9, yB=yC–
H12, zC=zB=a/2, zO21=a/2, works as yPxy=yQyiWhen, the hole of actuator pencil guide sleeve front end is aligned with borehole, is entered
Powder charge state；
When the hole of actuator pencil guide sleeve front end is aligned with borehole, if the axis of upper right expansion screw component 7 about-
The angular displacement of y-axis is ψ7, by the x of C pointC=LS-L10、yC=yPxy–H9Obtain the length S of upper right expansion screw component 721It is stretched with upper right
The axis angular displacement ψ of compression screw arbor component 77Respectively
ψ7=arctan [(LS-L10)/(yPxy-H9)] (4)
S21Relative to S210Variable quantity by the screw-drive mechanism in upper right expansion screw component 7 relative motion realize,
S22=S21, S22Relative to S220Variable quantity by the screw-drive mechanism in bottom right expansion screw component 5 relative motion realize,
The axis angular displacement ψ of bottom right expansion screw component 55=ψ7；
The displacement side for the cranking block mechanism that right column component 3, right pitching screw part 4 and bottom right expansion screw component 5 form
The axis angular displacement φ of journey, right pitching screw part 44, right pitching screw part 4 length S4Respectively
S4Relative to S40Variable quantity by the screw-drive mechanism in right pitching screw part 4 relative motion realize；
The relative motion relation of upper left expansion screw component 8 is identical as upper right expansion screw component 7；Lower-left expansion screw
The relative motion relation of component 6 is identical as bottom right expansion screw component 5.
When borehole is distributed in the plane for be parallel to Oyz, the functional relation of borehole, i.e. the control letter of screw action are found
Number is as shown in Figure 3；
In Oxyz coordinate system shown in Fig. 3, as borehole QyzjWhen in the plane for be located parallel to Oyz, borehole QyzjX
=LS+LB, in order to keep PxyzIt is LB that point, which seeks the distance between plane M with borehole, needs to be implemented device pencil guide sleeve front end Pxyz
It is being parallel in the plane of Oyz, i.e. xCz=xBz=LS-L10, yCz=yPxyz–H9, yBz=yCz–H12, zO21=a/2, zCz=zBz=
a/2+zPxyz, work as yPxyz=yQyzj、zPxyz=zQyzjWhen, the hole of actuator pencil guide sleeve front end is aligned with borehole, into powder charge
State；
Due to zQyzjAppearance, it is desirable that right column component 3 is around own axes y2Rotate φ3yZ is worked as at angleQyzjWhen > 0, φ3y's
Corner is negative, works as zQyzjWhen < 0, φ3yCorner be positive number, left column component 1 is around own axes y1Rotate φ1yAngle, φ1y=
φ3y, by left column component 1, right column component 3, upper left expansion screw component 8, upper right expansion screw component 7, platform component 9,
The geometrical constraint for the space mechanism that lower-left expansion screw component 6 and bottom right expansion screw component 5 form is realized；
The length S of upper right expansion screw component 721zWith upper right expansion screw component 7 around own axes y2Rotate φ3yAngle point
It is not
S21zRelative to S210Variable quantity it is real by the relative motion of the screw-drive mechanism in upper right expansion screw component 7
It is existing, S22z=S21z, S22zRelative to S220Variable quantity by the screw-drive mechanism in bottom right expansion screw component 5 relative motion
It realizes, angular displacement φ of the bottom right expansion screw component 5 around own axes5y=φ3y。
The relative motion relation of upper left expansion screw component 8 is identical as upper right expansion screw component 7；Lower-left expansion screw
The relative motion relation of component 6 is identical as bottom right expansion screw component 5.
When borehole and x-axis are at ± αzWhen angle, the functional relation of borehole, the i.e. control function of screw action such as Fig. 4 institute are found
Show:
In Oxyz coordinate system shown in Fig. 4, when the axis and x-axis of pencil guide sleeve are at ± αzWhen angle, corresponding pencil
The axis of guide sleeve is about z-axis swing ± αzAngle, pencil guide sleeve front end face are L at a distance from rock wall surfaceB1, as borehole Qyzj
When on the axis of pencil guide sleeve, the hole of actuator pencil guide sleeve front end is aligned with borehole, into powder charge state.This
When, xCα=LS+LB-(L10+LB1)cosαz+H9sinαz, yCα=yQyzj–(L10+LB1)sinαz–H9cosαz, xBα=xCα+H12sin
αz, yBα=yCα–H12cosαz, zCα=zBα=a/2+zQyzj, the length S of upper right expansion screw component 721α, about z-axis angle position
Move ψ7αAnd about y2The corner φ of axis3yαRespectively
ψ7α=pi/2+arctan (yCa/xCa) (11)
The length S of bottom right expansion screw component 522α, about the angular displacement ψ of z-axis5αRespectively
ψ5α=pi/2+arctan (yBα/xBα) (14)
Bottom right expansion screw component 5 is about y2The corner φ of axis5yα=φ3yα；
The displacement side for the cranking block mechanism that right column component 3, right pitching screw part 4 and bottom right expansion screw component 5 form
The axis angular displacement φ of journey, right pitching screw part 44α, right pitching screw part 4 length S4αRespectively
S4αRelative to S40Variable quantity by the screw-drive mechanism in right pitching screw part 4 relative motion realize；
The relative motion relation of upper left expansion screw component 8 is identical as upper right expansion screw component 7；Lower-left expansion screw
The relative motion relation of component 6 is identical as bottom right expansion screw component 5.
When borehole and y-axis are at ± αyWhen angle, the functional relation of borehole, the i.e. control function of screw action such as Fig. 5 institute are found
Show:
In Oxyz coordinate system shown in Fig. 5, when the axis and x-axis of pencil guide sleeve are at ± αyWhen angle, corresponding pencil is led
To set axis about y-axis swing ± αyAngle, pencil guide sleeve front end face are L at a distance from rock wall surfaceB1, as borehole QyzjPosition
When on the axis of pencil guide sleeve, the hole of actuator pencil guide sleeve front end is aligned with borehole, into powder charge state.At this point,
xDα=LS+LB-(L10+LB1)cosαy–0.5a sinαy, yDα=yQyzj–H9, zDα=zQyzj+(L10+LB1)sinαy–0.5acos
αy, xCα=xDα+a sinαy, yCα=yDα, zCα=zDα+acosαy, the length S of upper left expansion screw component 811α, about y-axis
Angular displacement ψ8yαAnd the corner φ about z-axis8zαRespectively
ψ8yα=arctan (- zDα/xDα) (19)
The length S of lower-left expansion screw component 612α=S11α, about the angular displacement ψ of y-axis6yα=ψ8yαAnd about z-axis
Corner φ6zα=φ8zα；
The length S of upper right expansion screw component 721α, about the angular displacement ψ of y-axis7yαAnd the corner φ about z-axis7zαPoint
It is not
ψ7vα=arctan (- zCα/xCα) (22)
The length S of bottom right expansion screw component 522α=S21α, about the angular displacement ψ of y-axis5yα=ψ7yα, and about z-axis
Corner φ5zα=φ7zα。
As shown in fig. 6, do not swing when chassis of the left column component 1 with right column component 3 relative to vehicle, bottom right is stretched spiral shell
Bar assembly 5, lower-left expansion screw component 6, upper right expansion screw component 7, the equal length of upper left expansion screw component 8 and constant
When change, spatial six-bar mechanism is formed by platform assembly 9, movable link sum n=5, at this point, general constraint m=1, it is public about
The attribute of beam is that all components cannot all move along the z-axis direction, the freedom degree F of mechanism1=(6-m) n-(5-m) P5–(4–m)
P4–(3–m)P3=(6-1) 5-(5-1) 4-(4-1) 0-(3-1) 4=1, the condition correspond to the plane of movement of spatial six-bar mechanism with
Oxy plane is parallel, which is realized by the length relative variation of the right pitching screw part 4 in Fig. 1, independent control variable
Only 1；
When left column component 1 relative to vehicle chassis about y1Axis is swung, chassis of the right column component 3 relative to vehicle
About y2Axis synchronous hunting, bottom right expansion screw component 5, lower-left expansion screw component 6, upper right expansion screw component 7, upper left are stretched
When the length of compression screw arbor component 8 is constant, movable link sum n=7, the general constraint m=1 of the eight bar executing agency of space are public
The attribute constrained altogether is that all components are not rotated around x-axis, the freedom degree F of mechanism1=(6-m) n-(5-m) P5–(4–m)P4–(3–
m)P3–(2–m)P2=(6-1) 7-(5-1) 6-(4-1) 0-(3-1) 4-(2-1) × 1=2, this condition correspond to the spatial six-bar mechanism
Both the movement parallel with Oxy plane can be done, the movement is real by the length relative variation of the right pitching screw part 4 in Fig. 1
It is existing, and can be swung around y-axis, the movement is by the right gear component 2 in Fig. 1 relative to floor underframe for vehicle about y2The swing of axis is real
Existing, independent control variable only has 2；
When left column component 1 relative to vehicle chassis about y1Axis is swung, chassis of the right column component 3 relative to vehicle
About y2Axis synchronous hunting, lower-left expansion screw component 6, the length of upper left expansion screw component 8 are constant, bottom right expansion screw group
Part 5, upper right expansion screw component 7 length sync variation when, movable link sum n=9, the public affairs of the ten bar executing agency of space
M=1 is constrained altogether, and the attribute of general constraint is that all components are not rotated around x-axis, and bottom right expansion screw component 5 and upper right are flexible
The length variable quantity of screw arbor assembly 7 is identical, is equivalent to that there are the constraint P of a functional relationV, the freedom degree F of mechanism1=(6-m)
n–(5–m)P5–(4–m)P4–(3–m)P3–(2–m)P2–PV=(6-1) 9-(5-1) 8-(4-1) 0-(3-1) 4-(2-1) 1-1=3,
This condition, which corresponds to the space ten bars mechanism, can both do the movement parallel with Oxy plane, and the movement is by the right pitching screw rod in Fig. 1
The length relative variation of component 4 is realized, and can be swung around y-axis, and the movement is by the right gear component 2 in Fig. 1 relative to vehicle
Chassis is about y2The swing realization of axis, meanwhile, the length sync of bottom right expansion screw component 5 and upper right expansion screw component 7
Variable quantity swings platform assembly 9 further about y-axis, and independent control variable only has 3；
When left column component 1 relative to vehicle chassis about y1Axis is swung, chassis of the right column component 3 relative to vehicle
About y2Axis synchronous hunting, upper left expansion screw component 8 and the length of upper right expansion screw component 7 are constant, lower-left expansion screw
When the length sync of component 6 and bottom right expansion screw component 5 changes, movable link sum n=9, the ten bar executing agency of space
General constraint m=1, the attribute of general constraint is that all components are not rotated around x-axis, lower-left expansion screw component 6 and bottom right
The length variable quantity of expansion screw component 5 is identical, is equivalent to that there are the constraint P of a functional relationV, the freedom degree F of mechanism1=
(6–m)n–(5–m)P5–(4–m)P4–(3–m)P3–(2–m)P2–PV4-(2-1) 1-1 of=(6-1) 9-(5-1) 8-(4-1) 0-(3-1)
=3, this condition, which corresponds to the space ten bars mechanism, can both do the movement parallel with Oxy plane, and the movement is by the right pitching in Fig. 1
The length relative variation of screw arbor assembly 4 is realized, and can be swung around y-axis, and the movement is opposite by the right gear component 2 in Fig. 1
In floor underframe for vehicle about y2The swing realization of axis, meanwhile, the length of lower-left expansion screw component 6 and bottom right expansion screw component 5
Identical change amount swings platform assembly 9 further about z-axis, and independent control variable only has 3.
The present invention provides a kind of tunnelling blast hole projectile filling parallel machine configurations to execute platform, using four sets of expansion screw groups
Part and a set of column swing as defined in driving assembly realizes that platform assembly (pencil guide sleeve) reach in space coordinates
Position simultaneously has defined posture.Specifically: platform assembly (pencil guide sleeve) is realized in four sets of expansion screw component synchronization movements
Distance movement relative to trolley；Column swings driving assembly realization platform assembly (pencil guide sleeve) relative to trolley
Left and right movement；Two sets of expansion screw components realize platform relative to the length sync variation of two sets of expansion screw components above below
Pitching motion of the component (pencil guide sleeve) relative to trolley；Two sets of front expansion screw component is relative to two sets below flexible spiral shells
The movement that swings of platform assembly (pencil guide sleeve) relative to trolley is realized in the length sync variation of bar assembly.
A kind of tunnelling blast hole projectile filling parallel machine configuration provided by the invention executes platform, although the execution platform exists
There are a relative movement, bottom right expansion screw component 5 is opposite there are one for 6 controlled variables, i.e. pitching telescopic screw arbor assembly 4
Mobile, lower-left expansion screw component 6 is there are a relative movement, and there are a relative movement, upper lefts for upper right expansion screw component
Expansion screw component 8 is there are a relative movement, and column swings, and there are a relative rotations for driving assembly 13, still, medicine
Pipe guide sleeve reaches defined position in space coordinates and has independent control variable at most 3 of defined posture, change
Relation of equal quantity is only existed between amount there is no strong nonlinearity coupling, the design of control system is enormously simplified, due to independent control
Variable is less while also improving the realization precision of position and posture.
The present invention, which solves, currently executes platform (powder charge conduit) automatic control by the blast hole projectile filling of prototype of drill jumbo
Difficult problem, such as the Normat ammonium oil explosive loading truck CharmecLC605DA of Finland, the Normat ammonium oil explosive loading truck of Finland
Charmec9825BE, Canadian Dux company explosive loading truck PI-AN/FO, Changsha Mine Inst JFZ600 ammonium oil powder charge trolley,
The emulsified explosive loading truck in Beijing Mine and Metallurgy General Inst's BCJ4 type ground, Beijing Mine and Metallurgy General Inst's BCJ41 type ground emulsified explosive loading truck etc.,
They, which all exist, executes the difficulty that platform (powder charge conduit) automatically controls.The present invention realizes blast hole projectile filling Automatic-searching hole location
The control of non-strong coupling and non-minimum path planning.
Claims (8)
1. a kind of tunnelling blast hole projectile filling parallel machine configuration executes platform, including platform assembly (9) and it is mounted on platform assembly
(9) the pencil guide sleeve (10) on；
It is characterized by:
The execution platform further includes support component (12), and be rotatably installed on support component (12) left column component (1),
Right column component (3)；The left column component (1), right column component (3) Parallel Symmetric arrangement；The execution platform further includes
One column for driving left column component (1) and right column component (3) to rotate swings driving assembly (13)；
It is hinged on the left column component (1) that there are two axially disposed lower-left expansion screw components (6), upper left expansion screw
Component (8)；The lower-left expansion screw component (6), upper left expansion screw component (8) parallel arrangement, lower-left expansion screw component
(6), the other end of upper left expansion screw component (8) connects the platform assembly (9) by spherical pair；The right column component
It is (3) hinged on that there are two axially disposed bottom right expansion screw components (5), upper right expansion screw component (7)；It stretches the bottom right
Compression screw arbor component (5), upper right expansion screw component (7) and the lower-left expansion screw component (6), upper left expansion screw component
(8) be arranged in parallel, bottom right expansion screw component (5), upper right expansion screw component (7) the other end by spherical pair connect described in
Platform assembly (9)；
The execution platform further includes pitching telescopic screw arbor assembly (4)；Described pitching telescopic screw arbor assembly (4) one end and right column
Hingedly, pitching telescopic screw arbor assembly (4) other end and bottom right expansion screw component (5) are hinged for component (3).
2. tunnelling blast hole projectile filling parallel machine configuration according to claim 1 executes platform, it is characterised in that: the branch
Support component (12) include column bottom plate (12-3) and the left column hollow support axle (12-1) being fixed on column bottom plate (12-3),
Right column hollow support axle (12-4)；
The left column component (1) includes left column (1-1)；The left column (1-1) is seamless steel pipe, lower section inner hole and a left side
Column hollow support axle (12-1) forms small―gap suture cooperation；Pacify between left column (1-1) lower end and column bottom plate (12-3)
Equipped with left column bearing (12-2)；
The right column component (3) includes right column (3-1)；The right column (3-1) is seamless steel pipe, lower section inner hole and the right side
Column hollow support axle (12-4) forms small―gap suture cooperation；Pacify between the right column lower end (3-1) and column bottom plate (12-3)
Equipped with right column bearing (12-5).
3. tunnelling blast hole projectile filling parallel machine configuration according to claim 2 executes platform, it is characterised in that: described vertical
Column swing driving assembly (13) pass through gear assembly (2) connection left column component (1) and right column component (3)；
The gear assembly (2) includes the left gear (2-3) being mounted on left column (1-1), and is mounted on right column (3-1)
Right gear (2-1)；The left gear (2-3) is connect by left column key (2-4) with left column (1-1), in left column (1-1)
On be fixed with the left column positioning ring (1-6) being supported under left gear (2-3)；The right gear (2-1) passes through right column key (2-
2) it is connect with right column (3-1), the right column positioning ring (3- being supported under right gear (2-1) is fixed on right column (3-1)
8).
4. tunnelling blast hole projectile filling parallel machine configuration according to claim 3 executes platform, it is characterised in that: the left side
Right wobble drive component (13) includes the upright post base (13-13) being fixed on column bottom plate (12-3)；The upright post base
Driving stop sleeve (13-4) is fixed on (13-13)；It is sequentially arranged in the driving stop sleeve (13-4)
Column stepper motor (13-1), column retarder (13-2) and column drive shaft (13-5)；The column stepper motor (13-1)
It is connect with column retarder (13-2)；The column retarder (13-2) is fixed on driving by retarder connection bolt (13-3)
In stop sleeve (13-4), column retarder (13-2) is connect with column drive shaft (13-5) by motor connecting key (13-12)；
The column drive shaft (13-5) is rotatably installed in driving branch by column upper bearing (metal) (13-10) and column lower bearing (13-11)
In support set cylinder (13-4)；Circlip for hole (13-6) is installed on the upside of the column upper bearing (metal) (13-10)；The column drives
The moving axis outer end (13-5) is equipped with column driving gear (13-7) by gear connecting key (13-8), drives gear (13- in column
7) gear positioning sleeve (13-9) is equipped between circlip for hole (13-6)；Column driving gear (13-7) simultaneously with a left side
Gear (2-3) and right gear (2-1) are meshed.
5. tunnelling blast hole projectile filling parallel machine configuration according to claim 1 executes platform, it is characterised in that: the left side
Lower expansion screw component (6), upper left expansion screw component (8), bottom right expansion screw component (5), upper right expansion screw component (7)
Structure is identical；
The bottom right expansion screw component (5) includes bottom right screw rod set component (5-1) and bottom right studdle component (5-2)；
Bottom right screw rod set component (5-1) includes bottom right screw rod Section of four set (5-14), the bottom right successively docked from left to right
Screw rod third section set (5-13), bottom right screw rod the second section set (5-12) and bottom right screw rod first segment set (5-11)；The bottom right spiral shell
Section of four set (5-14) left end of bar is fixed with bottom right screw rod bottom plate (5-15), is fixed with bottom right on the left of bottom right screw rod bottom plate (5-15)
Screw rod ear mount (5-16)；
The bottom right studdle component (5-2) is hollow including the bottom right support being sleeved in bottom right screw rod first segment set (5-11)
Bar (5-22)；Bottom right support outer end hollow stem (5-22) is fixed with bottom right studdle end (5-21), in the support of bottom right
Guide groove is provided on empty bar (5-22) outer diameter, bottom right support inner end hollow stem (5-22) is fixed with bottom right nut (5-25)；It is described
It is equipped with bottom right feather key (5-23) in the guide groove of bottom right support hollow stem (5-22) outer diameter, the two of bottom right feather key (5-23)
End is fixed on bottom right screw rod first segment set (5-11) inner wall by right down key with elastic opening pin (5-26)；The bottom right nut
Bottom right screw shaft (5-24) is installed on (5-25)；
Bottom right screw rod stepper motor (5-17) is placed in Section of four set (5-14) of the bottom right screw rod；The bottom right screw rod stepping
Motor (5-17) is connected with bottom right screw deceleration device (5-18)；The bottom right screw deceleration device (5-18) is fixed on bottom right screw rod
On three section sets (5-13), bottom right screw deceleration device (5-18) output end and the bottom right screw shaft inner end (5-24) pass through bottom right electricity
Machine connecting key (5-27) connection；The bottom right screw shaft inner end (5-24) passes through bottom right screw rod lower bearing (5-111) and bottom right spiral shell
Bar upper bearing (metal) (5-115) is rotatably installed in bottom right screw rod third section set (5-13) and bottom right screw rod the second section set (5-12).
6. tunnelling blast hole projectile filling parallel machine configuration according to claim 5 executes platform, it is characterised in that: described to bow
It is identical as bottom right expansion screw component (5) structure to face upward expansion screw component (4)；Pitching branch in pitching telescopic screw arbor assembly (4)
Support screw end head (4-21) is hinged in bottom right expansion screw component (5) on bottom right screw rod first segment set (5-11) outer wall.
7. tunnelling blast hole projectile filling parallel machine configuration according to claim 1 executes platform, it is characterised in that: described flat
Platform component (9) includes four spherical pair motherboards (9-1) and the four spherical pair pressing plates (9-for being pressed in four spherical pair motherboards (9-1) rear surface
8)；Four spherical pairs motherboard (9-1) rear surface is opened there are four half ball-and-socket for being in distributed rectangular, and four spherical pair pressing plates (9-8) are opened
There is the annular sphere opposite with four and half ball-and-sockets, four and half ball-and-sockets and four annular spheres form four central angles and are equal to 200 °
Ball-and-socket；Four spherical pairs motherboard (9-1) bottom side is welded with platform floor (9-3), is welded on the upside of four spherical pair motherboards (9-1)
Platform top (9-2), four spherical pair motherboards (9-1) right side are welded with platform dextral plate (9-5), and four spherical pair motherboards (9-1) are left
Side is welded with platform sinistral plate (9-4).
8. tunnelling blast hole projectile filling parallel machine configuration according to claim 7 executes platform, it is characterised in that: described flat
Guide sleeve mounting assembly (11) are equipped on the upside of platform top plate (9-2)；The guide sleeve mounting assembly (11) includes guide sleeve support
(11-1)；Through-hole is provided on the guide sleeve support (11-1), the pencil guide sleeve (10) is mounted on guide sleeve support (11-
1) in through-hole；Guide sleeve support (11-1) lower left side is welded with left bottom foot base (11-2), guide sleeve support (11-1) lower right side
It is welded with right bottom foot base (11-3)；The left bottom foot base (11-2) and right bottom foot base (11-3) pass through guide sleeve carrier setting bolt (9-
6) it is mounted on platform top (9-2) with guide sleeve support nut (9-7).
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| CN201711029481.9A CN107607008B (en) | 2017-10-27 | 2017-10-27 | Tunnelling blast hole projectile filling parallel machine configuration executes platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711029481.9A CN107607008B (en) | 2017-10-27 | 2017-10-27 | Tunnelling blast hole projectile filling parallel machine configuration executes platform |
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| CN107607008A CN107607008A (en) | 2018-01-19 |
| CN107607008B true CN107607008B (en) | 2019-02-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109506534A (en) * | 2018-12-22 | 2019-03-22 | 中铁十八局集团有限公司 | A kind of device for drill jumbo dynamite charge |
| EP3690186B1 (en) * | 2019-02-01 | 2023-01-18 | Sandvik Mining and Construction Oy | Apparatus, method and computer program product for designing blasting order |
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| SE469344B (en) * | 1989-05-19 | 1993-06-21 | Svets & Maskinrep Ab | Arrangement for distribution of a medium by hose |
| CN201637359U (en) * | 2010-04-16 | 2010-11-17 | 湖南金能科技股份有限公司 | Telescopic arm hydraulic control system for underground mine explosive loading truck |
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| CN107607008A (en) | 2018-01-19 |
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