CN109723380B

CN109723380B - Drill carriage actuating mechanism and anchor rod drill carriage

Info

Publication number: CN109723380B
Application number: CN201910026207.9A
Authority: CN
Inventors: 李钦彬; 崔治; 司癸卯; 任军; 王兴文; 李帅
Original assignee: Jiangsu Zingo Heavy Industry Co ltd
Current assignee: Jiangsu Zingo Heavy Industry Co ltd
Priority date: 2019-01-10
Filing date: 2019-01-10
Publication date: 2020-05-15
Anticipated expiration: 2039-01-10
Also published as: CN109723380A

Abstract

The application provides a drill carriage actuating mechanism and an anchor rod drill carriage, and belongs to the technical field of drill carriages. The drill carriage actuating mechanism comprises a base body, an actuating device and a driving mechanism. The base is configured to be coupled to a walking device. The execution device comprises a connecting seat, a rotating seat, a power head, a first driving device and a second driving device. The rotating seat is rotatably arranged on the connecting seat. The first driving device is configured to drive the rotating seat to rotate around the first axis relative to the connecting seat. The power head is rotatably arranged on the rotating seat. The second drive device is configured to drive the power head to rotate about the second axis relative to the rotary seat. The connecting seat is in transmission connection with the base body through a driving mechanism, and the driving mechanism is configured to drive the actuating device to move along the transverse direction relative to the base body. The first axis is arranged in a longitudinal or longitudinal direction and the second axis is arranged in a transverse or transverse direction. When the transverse position of the power head is adjusted, only the driving mechanism needs to work, the position of the power head does not need to be adjusted in a moving mode through the traveling device, and the positioning efficiency is high.

Description

Drill carriage actuating mechanism and anchor rod drill carriage

Technical Field

The application relates to the technical field of drill rigs, in particular to a drill rig actuating mechanism and an anchor rod drill rig.

Background

At present, an anchor rod drill carriage is a mobile device for drilling an anchor rod hole, and comprises a walking device and a drill carriage execution mechanism, wherein the drill carriage execution mechanism comprises a mechanical arm and a power head, the power head is connected with the walking device through the mechanical arm, each joint of the mechanical arm can only move in the same vertical plane, when a hole is drilled and positioned, the transverse movement of the power head is realized through the movement of the walking device, and the positioning efficiency is low.

Disclosure of Invention

The embodiment of the application provides a drill carriage actuating mechanism and an anchor rod drill carriage to the problem of low positioning efficiency during drilling operation is improved.

In a first aspect, an embodiment of the present application provides a drill carriage actuator, which includes a base, an actuator, and a driving mechanism;

the base body is configured to be connected with a walking device, the walking device is provided with a transverse direction and a longitudinal direction, and the walking direction of the walking device is the longitudinal direction;

the executing device comprises a connecting seat, a rotating seat, a power head, a first driving device and a second driving device; the rotating seat is rotatably arranged on the connecting seat; the first driving device is configured to drive the rotating seat to rotate around a first axis relative to the connecting seat; the power head is rotatably arranged on the rotating seat; the second driving device is configured to drive the power head to rotate around a second axis relative to the rotating seat;

the connecting seat is in transmission connection with the base body through the driving mechanism, and the driving mechanism is configured to drive the executing device to move along the transverse direction relative to the base body;

wherein the first axis is arranged along the longitudinal direction and the second axis is arranged along the transverse direction; or

The first axial direction is arranged along the transverse direction and the second axial direction is arranged along the longitudinal direction.

In the technical scheme, the driving mechanism is used for driving the executing device to move transversely relative to the base body, namely the transverse position of the power head can be adjusted through the driving mechanism; the first driving device is used for driving the rotating seat to rotate around the first axis relative to the first connecting seat, namely the power head can rotate around the first axis through the first driving device; the second driving device is used for driving the power head to rotate around the second axis relative to the rotating seat, namely the power head can rotate around the second axis through the second driving device. When the drill carriage is actually used, the drill carriage actuating mechanism is arranged on the traveling device, the traveling device works to drive the whole device to move, and the power head can reach the specified drilling position through the driving mechanism, the first driving device and the second driving device, so that accurate positioning is realized; when the transverse position of the power head is adjusted, only the driving mechanism needs to work, the position of the power head does not need to be adjusted in a moving mode through the traveling device, and the positioning efficiency is high.

In addition, the drill carriage actuator of the embodiment of the application also has the following additional technical characteristics:

in some embodiments of the present application, the drive mechanism comprises a telescoping member;

the connecting seat is connected with the base body through the telescopic piece, and the telescopic piece is configured to be telescopic along the transverse direction so that the executing device moves along the transverse direction relative to the base body.

Among the above-mentioned technical scheme, the connecting seat passes through the extensible member with the base member and is connected, and the lateral shifting through the lateral extension of extensible member alright realize final controlling element, and the mechanism is simple, easily realizes, and is with low costs.

In some embodiments of the present application, the drive mechanism further comprises a drive member, the telescoping member comprising at least two telescoping sections;

every two adjacent telescopic joints are respectively a first telescopic joint and a second telescopic joint, the first telescopic joint is connected with the second telescopic joint through a driving piece, and the driving piece is configured to drive the first telescopic joint and the second telescopic joint to move relatively.

Among the above-mentioned technical scheme, every two telescopic links realize flexible through a driving piece for every telescopic link can both move in a flexible way, and the controllability of extensible member is good, guarantees that whole extensible member has the flexible range of big enough.

In some embodiments of the present disclosure, the first telescopic joint is closer to the base than the second telescopic joint, the second telescopic joint is movably sleeved outside the first telescopic joint, and the driving member is configured to partially or completely receive the first telescopic joint in the second telescopic joint; or

The first telescopic joint is far away from the base body compared with the second telescopic joint, the second telescopic joint is movably sleeved on the outer side of the first telescopic joint, and the driving piece is configured to enable the first telescopic joint to be partially or completely accommodated in the second telescopic joint.

Among the above-mentioned technical scheme, the outside of first telescopic joint is located to the mobilizable cover of second telescopic joint, and the telescopic joint in the extensible member is established step by step promptly, can effectively improve the flexible scope of extensible member, and each telescopic joint of extensible member in flexible in-process has fine stability.

In some embodiments of the present application, the cross section of the telescopic joint is a hollow rectangular structure, and the outer contour of the cross section of the first telescopic joint is matched with the inner contour of the cross section of the second telescopic joint.

Among the above-mentioned technical scheme, the cross section of telescopic joint is hollow rectangular structure, and the outer contour of the cross section of first telescopic joint and the interior contour phase-match of the cross section of second telescopic joint for each telescopic joint can only directional removal, makes the extensible member have better directional flexible ability. In addition, the telescopic joint with the structure can improve the bending strength and the torsional strength of the telescopic joint, so that the whole telescopic piece has good bending resistance and torsional strength.

In some embodiments of the present application, the driving mechanism and the actuating device are two, two actuating devices are disposed at intervals in the transverse direction, and each driving mechanism is configured to drive one actuating device corresponding to the driving mechanism to move relative to the base body along the transverse direction.

According to the technical scheme, the two driving mechanisms and the two executing devices are respectively arranged, one driving mechanism correspondingly drives one executing device to transversely move, the power heads in the two executing devices can carry out drilling operation, the power head in one executing device can be selected to carry out drilling operation according to specific requirements, and of course, the power heads in the two executing devices can also carry out drilling operation simultaneously, so that the drilling efficiency is improved.

In some embodiments of the present application, the two drive mechanisms are a first drive mechanism and a second drive mechanism, respectively;

the telescopic piece in the first driving mechanism is configured to be elongated along the transverse positive direction so as to move the actuating device corresponding to the first driving mechanism to the direction far away from the actuating device corresponding to the second driving mechanism;

the telescopic piece in the second driving mechanism is configured to be elongated along the transverse direction so as to move the actuating device corresponding to the second driving mechanism to the direction far away from the actuating device corresponding to the first driving mechanism.

In the above technical solution, the telescopic part in the first driving mechanism is configured to extend in the transverse forward direction, and the telescopic part in the second driving mechanism is configured to extend in the transverse reverse direction, that is, the direction of extension of the telescopic part in the first driving mechanism is opposite to the direction of extension of the telescopic part in the second driving mechanism, so that the two telescopic parts can extend towards both sides in the transverse direction, and the drilling operation range of the whole drill carriage execution mechanism is increased.

In some embodiments of the present application, the telescoping member in the first drive mechanism overlaps partially or completely with the telescoping member in the second drive mechanism in the shortened state in the lateral direction in the shortened state.

In the technical scheme, the telescopic piece in the first driving mechanism is partially or completely overlapped with the telescopic piece in the second driving mechanism in the transverse direction in the shortened state, and the transverse total length of the two telescopic pieces in the shortened state is small, so that excessive space is not occupied.

In a second aspect, the embodiment of the application provides an anchor rod drill carriage, which comprises a walking device and the drill carriage executing mechanism;

the base body is connected with the walking device.

Among the above-mentioned technical scheme, running gear's effect is that drive whole drill carriage actuating mechanism removes, and actuating mechanism, first drive arrangement and second drive arrangement in the drill carriage actuating mechanism alright make the power head reach appointed drilling position, realize accurate location, when adjusting the horizontal position of power head, only need make actuating mechanism work can, need not to adjust the position of power head through the mode that running gear removed, and positioning efficiency is higher. In addition, the drill carriage actuating mechanism with the structure has smaller longitudinal span, and can effectively reduce the length of the drill carriage body.

In some embodiments of the present application, the roof bolt drill carriage further comprises a top bracing device, the base body is connected with the walking device through the top bracing device, and the top bracing device is configured to drive the drill carriage actuator to move vertically relative to the walking device.

Among the above-mentioned technical scheme, the base member passes through the shoring device with running gear and is connected, can drive the drill carriage actuating mechanism vertical movement through the shoring device, can adjust the vertical position of drill carriage actuating mechanism promptly through the shoring device, and then adjusts the vertical position of unit head, has promoted the vertical operation scope of stock drill carriage.

In some embodiments of the present application, an operation platform is disposed on the base;

the top bracing device comprises a top bracing mechanism, a first top bracing piece and a second top bracing piece;

the top support mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are sequentially hinged end to form a planar four-connecting-rod mechanism, the first connecting rod is fixedly connected to the walking device, and the base body is hinged to the third connecting rod;

one end of the first top support piece is hinged with the walking device, the other end of the first top support piece is hinged with the second connecting rod, and the first top support piece is configured to drive the second connecting rod to rotate relative to the first connecting rod;

one end of the second top support piece is hinged to the walking device, the other end of the second top support piece is hinged to the base body, and the second top support piece is configured to drive the base body to rotate relative to the third connecting rod, so that the operating platform is located in a horizontal position.

In the technical scheme, the operation platform is used for supporting an operator, namely the operator can stand on the operation platform to operate and control the drill carriage; because the top support mechanism is a plane four-bar mechanism, when the first top support drives the second connecting bar to rotate relative to the first connecting bar, the third connecting bar hinged with the base body performs plane motion, the third connecting bar has a supporting function on the base body, the operating platform is lifted along with the base body, and in the process, the second top support works to keep the operating platform at a position parallel to the walking device; when the walking device walks onto the inclined surface, the walking device and the operating platform are in an inclined state, at the moment, the second supporting piece works again to enable the base body to rotate relative to the third connecting rod, so that the operating platform is located at a horizontal position, and an operator standing on the operating platform can be kept balanced.

In some embodiments of the present application, the roof bolt drill carriage further comprises a support mechanism,

the operating platform is connected with the walking device through the supporting mechanism;

the hinge axes of the first and second links are arranged along the transverse direction, the support mechanism is configured to allow the operation platform to move along the vertical direction and the longitudinal direction following the base, and the support mechanism is configured to prevent the operation platform from rotating around the axis arranged along the longitudinal direction.

Among the above-mentioned technical scheme, because the articulated axis of first connecting rod and second connecting rod is along horizontal arranging, and the shoring mechanism among the shoring device is four-bar linkage, make operation platform will follow longitudinal motion at vertical motion simultaneously, and supporting mechanism can allow operation platform to follow the base member along vertical and longitudinal movement, vertical and longitudinal movement that operation platform can not be influenced in the setting of supporting mechanism promptly, and supporting mechanism can prevent operation platform and rotate around the axis of following longitudinal arrangement, and supporting mechanism has the effect of preventing operation platform from turning on one's side promptly, operation platform's stability is improved.

In some embodiments of the present application, the support mechanism comprises a first support and a second support;

the first support part is hinged with the second support part, the first support part is hinged with the operating platform, and the second support part is hinged with the walking device;

the hinge axis of the first support piece and the second support piece, the hinge axis of the first support piece and the operating platform, and the hinge axis of the second support piece and the walking device are all parallel to the hinge axis of the first connecting rod and the second connecting rod.

Among the above-mentioned technical scheme, when operation platform followed the base member vertical and longitudinal movement simultaneously, first support piece and second support piece will rotate relatively, neither can influence operation platform's vertical movement, also can not influence operation platform's longitudinal movement, but the supporting mechanism that first support piece and second support piece constitute can prevent operation platform around longitudinal arrangement's axial rotation, and the supporting mechanism of this kind of structure simple structure easily realizes.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural diagram of an actuator of a drill carriage provided in embodiment 1 of the present application;

FIG. 2 is a schematic view of the connection of the base, the connecting base and the telescoping member provided in one example of the present application;

FIG. 3 is a schematic structural view of the drive mechanism shown in FIG. 1;

FIG. 4 is a schematic view of the driving mechanism, the connecting seat and the base shown in FIG. 1;

FIG. 5 is a schematic connection diagram of a driving mechanism, a connecting seat and a base according to another embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of a drive mechanism provided in accordance with another embodiment of the present application;

FIG. 7 is a schematic view of the telescoping member shown in FIG. 3;

FIG. 8 is a schematic view of the actuator shown in FIG. 1 attached to a substrate in a first operational state;

FIG. 9 is a schematic view of the actuator shown in FIG. 1 attached to a substrate in a second operational configuration;

fig. 10 is a schematic structural view of a rock-bolt drill carriage provided in embodiment 2 of the present application;

FIG. 11 is a schematic view showing the connection among the base, the top bracing device and the walking device shown in FIG. 10;

FIG. 12 is a schematic connection diagram of the operation platform, the top support mechanism and the traveling device shown in FIG. 10;

fig. 13 is a schematic connection diagram of the operating platform, the top bracing mechanism and the walking device according to another embodiment.

Icon: 100-drill carriage actuator; 10-a substrate; 11-a slide rail; 12-an operating platform; 20-an execution device; 21-a connecting seat; 22-a rotating seat; 23-a power head; 24-a first drive; 25-a slewing bearing; 30-a drive mechanism; 301-a first drive mechanism; 302-a second drive mechanism; 31-a telescoping member; 311-expansion joint; 312-a first telescopic joint; 313-a second telescopic joint; 32-a drive member; 40-a first axis; 50-second axis; 200-an anchor drill carriage; 210-a walking device; 211-a chassis; 212-crawler travel; 220-a jacking device; 221-a top bracing mechanism; 2211-a first link; 2212-second link; 213-third link; 2214-fourth link; 222-a first top support; 223-a second top support; 230-a support mechanism; 231-a first support; 232-a second support; a-transverse direction; b-longitudinal direction; and C-vertical direction.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is usually understood by those skilled in the art, or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for the convenience of describing the application and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may for example be fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Example 1

As shown in fig. 1, the present embodiment provides a drill carriage actuator 100, which includes a base 10, an actuator 20, and a driving mechanism 30.

The base body 10 is configured to be connected to a running gear (not shown in fig. 1) having a transverse direction a, a longitudinal direction B and a vertical direction C, the running direction of the running gear being the longitudinal direction B.

It can be understood that when the walking device is placed in a horizontal plane, the transverse direction A and the longitudinal direction B are two directions perpendicular to each other in the horizontal plane, and the vertical direction C is a direction perpendicular to the horizontal plane. Of course, the drill carriage actuator 100 also has a transverse direction a, a longitudinal direction B, and a vertical direction C, after the base 10 of the drill carriage actuator 100 is connected to the traveling device, the transverse direction a of the drill carriage actuator 100 is the transverse direction of the traveling device, the longitudinal direction B of the drill carriage actuator 100 is the longitudinal direction of the traveling device, and the vertical direction C of the drill carriage actuator 100 is the vertical direction of the traveling device.

The actuating device 20 comprises a connecting seat 21, a rotating seat 22, a power head 23, a first driving device 24 and a second driving device (not shown); the rotary seat 22 is rotatably arranged on the connecting seat 21, the first driving device 24 is configured to drive the rotary seat 22 to rotate around a first axis 40 relative to the connecting seat 21, the power head 23 is rotatably arranged on the rotary seat 22, and the second driving device is configured to drive the power head 23 to rotate around a second axis 50 relative to the rotary seat 22.

The connecting base 21 is in transmission connection with the base 10 through a driving mechanism 30, and the driving mechanism 30 is configured to drive the actuator 20 to move along the transverse direction a relative to the base 10.

Wherein the first axis 40 and the second axis 50 have two arrangements, one being: the first axis 40 is arranged in the longitudinal direction B and the second axis 50 is arranged in the transverse direction a; the other is as follows: the first axis 40 is disposed in the transverse direction a and the second axis 50 is disposed in the longitudinal direction B. The first axis 40 and the second axis 50 are shown in fig. 1 in a first arrangement.

The driving mechanism 30 is used for driving the actuator 20 to move along the transverse direction a relative to the base 10, that is, the transverse direction a position of the power head 23 can be adjusted through the driving mechanism 30; the first driving device 24 is used for driving the rotating base 22 to rotate around the first axis 40 relative to the first connecting base 21, that is, the power head 23 can be rotated around the first axis 40 by the first driving device 24; the second drive means is used for driving the power head 23 to rotate around the second axis 50 relative to the rotary base 22, i.e. the power head 23 can be rotated around the second axis 50 by the second drive means. In practical use, the drill carriage actuating mechanism 100 is arranged on the traveling device, the traveling device works to drive the whole device to move, and the power head 23 can reach a specified drilling position through the driving mechanism 30, the first driving device 24 and the second driving device, so that accurate positioning is realized; when the transverse position A of the power head 23 is adjusted, the driving mechanism 30 only needs to work, the position of the power head 23 does not need to be adjusted in a moving mode of the traveling device, and the positioning efficiency is high.

In this embodiment, the rotating seat 22 is connected to the connecting seat 21 through the pivoting support 25, the inner ring of the pivoting support 25 is fixedly connected to the connecting seat 21, and the outer ring of the pivoting support 25 is fixedly connected to the rotating seat 22. In other embodiments, the rotating seat 22 and the connecting seat 21 can be connected in other rotating manners, for example, the rotating seat 22 and the connecting seat 21 are connected by a rotating shaft.

The first driving device 24 is used for driving the rotating base 22 to rotate around the first axis 40 relative to the connecting base 21, and the first driving device 24 can be in various structures. In this embodiment, the first driving device 24 includes a motor and a gear, the motor is fixed to the connecting base 21, the gear is fixed to an output shaft of the motor, the gear is engaged with the external tooth structure on the outer ring of the pivoting support 25, the motor operates to drive the gear to rotate, the outer ring of the pivoting support 25 rotates, and thus the rotating base 22 rotates around the first axis 40 relative to the connecting base 21.

The power head 23 is used to drill a hole in an object (wall or ground, etc.) and when the power head 23 is operated, the drill bit is axially advanced to drill the desired hole in the object.

Of course, the connection of the power head 23 to the rotary seat 22 may be various. In this embodiment, the power head 23 is rotatably connected to the rotary base 22 through a rotary shaft.

The second driving means, which may be of various configurations, is operative to drive the power head 23 in rotation about the second axis 50 relative to the rotatable base 22. In this embodiment, the second driving device is a hydraulic cylinder, one end of the hydraulic cylinder is hinged to the rotating base 22, the other end of the hydraulic cylinder is hinged to the power head 23, and when the hydraulic cylinder extends or shortens, the power head 23 rotates the relative rotating base 22 around the second axis 50.

In this embodiment, the driving mechanism 30 includes a telescopic member 31, the connecting seat 21 and the base 10 are connected by the telescopic member 31, and the telescopic member 31 is configured to be telescopic along the transverse direction a, so as to move the actuator 20 relative to the base 10 along the transverse direction a.

The connecting seat 21 is connected with the base body 10 through the telescopic piece 31, and the transverse A movement of the actuating device 20 can be realized through the transverse A telescopic of the telescopic piece 31, so that the mechanism is simple, easy to realize and low in cost.

In a non-limiting example, as shown in fig. 2, the connecting base 21 is slidably connected to the base 10, the base 10 is provided with a slide rail 11 for sliding the connecting base 21, the telescopic member 31 is a hydraulic cylinder, one end of the hydraulic cylinder is connected to the connecting base 21, the other end of the hydraulic cylinder is connected to the base 10, and the extension or contraction of the hydraulic cylinder will move the connecting base 21 in the transverse direction a relative to the base 10.

In this embodiment, as shown in fig. 3, the driving mechanism 30 further includes a driving member 32, the telescopic member 31 includes at least two telescopic joints 311, each two adjacent telescopic joints 311 are a first telescopic joint 312 and a second telescopic joint 313, the first telescopic joint 312 and the second telescopic joint 313 are connected by the driving member 32, and the driving member 32 is configured to drive the first telescopic joint 312 and the second telescopic joint 313 to move relatively.

Every two telescopic joints 311 are extended and contracted through one driving piece 32, so that each telescopic joint 311 can flexibly move, the controllability of the telescopic piece 31 is good, and the whole telescopic piece 31 is ensured to have a large enough extension range.

The number of the expansion joints 311 in the expansion member 31 may be two, or may be two or more. In a non-limiting example, the number of the telescopic joints 311 of the telescopic member 31 is three, and the number of the driving members 32 is two because every two adjacent telescopic joints 311 are connected by one driving member 32. The driving part 32 is a hydraulic cylinder, every two adjacent telescopic parts 31 are connected through one hydraulic cylinder, when the hydraulic cylinder extends, the two telescopic parts 31 connected with the hydraulic cylinder are far away from each other, and when the hydraulic cylinder shortens, the two telescopic parts 31 connected with the hydraulic cylinder are close to each other.

In this embodiment, as shown in fig. 4, the first expansion joint 312 is farther from the base 10 than the second expansion joint 313, the second expansion joint 313 is movably sleeved outside the first expansion joint 312, and the driving member 32 is configured to partially or completely accommodate the first expansion joint 312 in the second expansion joint 313.

The second telescopic joint 313 is movably sleeved outside the first telescopic joint 312, that is, the cross-sectional size of each telescopic joint 311 in the telescopic member 31 is gradually increased in the telescopic direction from the base 10 to the connecting seat 21 of the telescopic member 31, so that the telescopic range of the telescopic member 31 can be effectively increased, and each telescopic joint 311 in the telescopic process of the telescopic member 31 has good stability.

It can be understood that the telescopic joint 311 with the largest cross-sectional dimension in the telescopic member 31 is connected and fixed with the base 10, and the telescopic joint 311 with the smallest cross-sectional dimension in the telescopic member 31 is connected and fixed with the connecting seat 21. The first telescopic joint 312 of each adjacent two telescopic joints 311 may be partially received in the second telescopic joint 313, or the first telescopic joint 312 may be completely received in the second telescopic joint 313, depending on the lengths of the first telescopic joint 312 and the second telescopic joint 313. If the length of the first telescopic joint 312 is greater than that of the second telescopic joint 313, that is, the length of each telescopic joint 311 in the telescopic member 31 increases gradually in the telescopic direction from the base 10 to the connecting seat 21 of the telescopic member 31, the first telescopic joint 312 can be partially accommodated in the second telescopic joint 313 under the action of the driving member 32; if the length of the first telescopic joint 312 is smaller than that of the second telescopic joint 313, that is, the length of each telescopic joint 311 in the telescopic member 31 gradually decreases in the telescopic direction from the base 10 to the connecting seat 21, the first telescopic joint 312 can be completely accommodated in the second telescopic joint 313 by the driving member 32.

In other embodiments, as shown in fig. 5, the first expansion joint 312 is closer to the base 10 than the second expansion joint 313, the second expansion joint 313 is movably sleeved outside the first expansion joint 312, and the driving member 32 is configured to partially or completely receive the first expansion joint 312 in the second expansion joint 313.

It can be understood that the telescopic joint 311 with the largest cross-sectional dimension in the telescopic member 31 is fixedly connected with the connecting seat 21, and the telescopic joint 311 with the smallest cross-sectional dimension in the telescopic member 31 is fixedly connected with the base 10. The first telescopic joint 312 of each adjacent two telescopic joints 311 may be partially received in the second telescopic joint 313, or the first telescopic joint 312 may be completely received in the second telescopic joint 313, depending on the lengths of the first telescopic joint 312 and the second telescopic joint 313. If the length of the first telescopic joint 312 is greater than that of the second telescopic joint 313, that is, the length of each telescopic joint 311 in the telescopic member 31 gradually decreases in the telescopic direction from the base 10 to the connecting seat 21 of the telescopic member 31, the first telescopic joint 312 can be partially accommodated in the second telescopic joint 313 under the action of the driving member 32; if the length of the first telescopic joint 312 is smaller than that of the second telescopic joint 313, that is, the length of each telescopic joint 311 in the telescopic member 31 is gradually increased in the telescopic direction from the base 10 to the connecting base 21, the first telescopic joint 312 can be completely accommodated in the second telescopic joint 313 by the driving member 32.

Of course, the arrangement of the telescopic sections 311 in the telescopic member 31 is not limited to the way in which the cross section of the telescopic section 311 is gradually increased or decreased. In other embodiments, each telescopic joint 311 in the telescopic member 31 may be arranged in other manners, for example, as shown in fig. 6, when the number of the telescopic joints 311 in the telescopic member 31 is three or more, the cross section of the telescopic joint 311 at two ends of three adjacent telescopic joints 311 is larger than that of the telescopic joint 311 in the middle, that is, the telescopic joints 311 at two ends are movably sleeved outside the telescopic joint 311 in the middle.

In this embodiment, as shown in fig. 7, the cross section of the telescopic joint 311 is a hollow rectangular structure, and the outer contour of the cross section of the first telescopic joint 312 matches the inner contour of the cross section of the second telescopic joint 313. This structure makes each telescopic joint 311 only move directionally, so that the telescopic member 31 has better directional telescopic capability. In addition, the cross section of the telescopic joint 311 is a hollow rectangular structure, which can improve the bending strength and the torsional strength of the telescopic joint 311, so that the whole telescopic member 31 has good bending resistance and torsional strength.

The number of the execution devices 20 may be one or a plurality (including two); one or a plurality (including two) of the driving mechanisms 30 may be provided, and one driving mechanism 30 is provided for one actuator 20 to move in the lateral direction a.

In this embodiment, the driving mechanism 30 and the actuator 20 are both two, the two actuators 20 are arranged at intervals in the transverse direction a, and each driving mechanism 30 is configured to drive one actuator 20 corresponding thereto to move relative to the base 10 along the transverse direction a.

The two driving mechanisms 30 and the two executing devices 20 are both provided, one driving mechanism 30 correspondingly drives one executing device 20 to move transversely A, the power heads 23 in the two executing devices 20 can perform drilling operation, the power head in one executing device 20 can be selected to perform drilling operation according to specific requirements, and of course, the power heads 23 in the two executing devices 20 can perform drilling operation simultaneously, so that the drilling efficiency is improved.

For convenience of description, the two driving mechanisms 30 are defined as a first driving mechanism 301 and a second driving mechanism 302, respectively.

In the present embodiment, as shown in fig. 8, the telescopic member 31 in the first driving mechanism 301 is configured to be elongated in the positive direction of the transverse direction a to move the actuator 20 corresponding to the first driving mechanism 301 in a direction away from the actuator 20 corresponding to the second driving mechanism 302; the telescopic member 31 in the second driving mechanism 302 is configured to elongate in the direction opposite to the transverse direction a to move the actuator 20 corresponding to the second driving mechanism 302 in a direction away from the actuator 20 corresponding to the first driving mechanism 301. That is, the extension direction of the telescopic member 31 in the first driving mechanism 301 is opposite to the extension direction of the telescopic member 31 in the second driving mechanism 302, so that the two telescopic members 31 can extend to both sides of the transverse direction a, and when the two telescopic members 31 extend to both sides of the transverse direction a at the same time, the two actuators 20 will move to the opposite directions at the same time, thereby increasing the drilling operation range of the whole drill carriage actuator 100.

Of course, in other embodiments, the extension direction of the telescopic member 31 in the first driving mechanism 301 and the extension direction of the telescopic member 31 in the second driving mechanism 302 may be the same, and when two telescopic members 31 are extended simultaneously, the two actuators 20 will move to the same direction at the same time.

Further, in the present embodiment, the extensible member 31 in the first driving mechanism 301 partially or completely overlaps with the extensible member 31 in the second driving mechanism 302 in the transverse direction a in the shortened state. This configuration allows the overall length of the two telescopic elements 31 in the transverse direction a to be small in the shortened state, without taking up too much space.

It should be noted that the telescopic member 31 is in the shortened state, that is, the telescopic member 31 is in the shortest state during the shortening process. As shown in fig. 8 and 9, when the cross section of the telescopic joint 311 of the telescopic member 31 is gradually increased, the telescopic joint 311 with the largest cross section is connected with the base 10, the telescopic joint 311 with the smallest cross section is connected with the connecting seat 21, and the length of the telescopic joint 311 is gradually decreased in the telescopic direction from the base 10 to the connecting seat 21 of the telescopic member 31, the telescopic member 31 is in the shortened state, that is, the telescopic joints 311 except for the telescopic joint connected with the base 10 in the telescopic member 31 are all located in the telescopic joint 311 with the longest length, and the length of the telescopic member 31 in the shortened state is the length of the telescopic joint 311 with the longest length. The telescopic members 31 in the first driving mechanism 301 partially or completely overlap with the telescopic members 31 in the second driving mechanism 302 in the shortened state in the transverse direction a in the shortened state, i.e. the two longest telescopic joints 311 of the two telescopic members 31 partially or completely overlap in the transverse direction a. Fig. 9 shows a case where the extensible member 31 of the first drive mechanism 301 in the shortened state and the extensible member 31 of the second drive mechanism 302 in the shortened state are all overlapped.

Example 2

As shown in fig. 10, the present embodiment provides an anchor rod drill carriage 200, which includes a running gear 210 and the drill carriage actuator 100 in the above embodiment, and the base body 10 is connected with the running gear 210.

Optionally, the running gear 210 includes a chassis 211 and a crawler belt 212 disposed at the bottom of the chassis 211, and the running gear 210 runs through the crawler belt 212.

The walking device 210 has a transverse direction a, a longitudinal direction B, and a vertical direction C, and the walking direction of the walking device 210 is the longitudinal direction B.

It can be understood that when the walking device 210 is placed in a horizontal plane, the transverse direction a and the longitudinal direction B are two directions perpendicular to each other in the horizontal plane, and the vertical direction C is a direction perpendicular to the horizontal plane. The transverse direction a of the drill carriage actuator 100 is the transverse direction a of the running gear 210, the longitudinal direction B of the drill carriage actuator 100 is the longitudinal direction B of the running gear 210, and the vertical direction C of the drill carriage actuator 100 is the vertical direction C of the running gear 210.

The base body 10 is connected with the running gear 210, and the base body 10 can be directly connected with the running gear 210, that is, the base body 10 is directly fixed on the chassis 211 of the running gear 210, of course, the base body 10 can also be indirectly connected with the running gear 210 through an intermediate member.

In this embodiment, the anchor rod drilling rig 200 further includes a top bracing device 220, the base 10 is connected with the walking device 210 through the top bracing device 220, and the top bracing device 220 is configured to drive the drill rig actuator 100 to move in the vertical direction C relative to the walking device 210. The vertical C position of the drill carriage actuator 100 can be adjusted by the jacking device 220, and then the vertical C position of the power head 23 is adjusted, and the vertical C operating range of the anchor drill carriage 200 is increased.

The jacking device 220 may be of various configurations as long as the height position of the drill carriage actuator 100 can be changed. In one non-limiting example, the jacking device 220 is a hydraulic cylinder, and the drill carriage actuator 100 is driven to move in the vertical direction C as a whole by the extension or contraction of the hydraulic cylinder.

In this embodiment, as shown in fig. 11, an operation platform 12 is provided on the base 10, and the operation platform 12 is fixed to the base 10. The top bracing apparatus 220 includes a top bracing mechanism 221, a first top bracing member 222, and a second top bracing member 223. The top supporting mechanism 221 includes a first link 2211, a second link 2212, a third link 213, and a fourth link 2214, the first link 2211, the second link 2212, the third link 213, and the fourth link 2214 are sequentially hinged end to form a planar four-link mechanism, the first link 2211 is fixedly connected to the traveling device 210, and the base 10 is hinged to the third link 213. One end of the first support member 222 is hinged to the walking device 210, the other end of the first support member 222 is hinged to the second link 2212, and the first support member 222 is configured to drive the second link 2212 to rotate relative to the first link 2211. One end of the second support member 223 is hinged to the walking device 210, the other end of the second support member 223 is hinged to the base 10, and the second support member 223 is configured to drive the base 10 to rotate relative to the third connecting rod 213, so that the operation platform 12 is located in a horizontal position.

Alternatively, the first link 2211 is fixedly connected to the chassis 211 of the walking device 210.

Optionally, the first top support 222 is a hydraulic cylinder, one end of the hydraulic cylinder is hinged to the chassis 211 of the walking device 210, and the other end of the hydraulic cylinder is hinged to the second connecting rod 2212; the second supporting member 223 is also a hydraulic cylinder, one end of which is hinged to the chassis 211 of the running gear 210, and the other end of which is hinged to the base 10.

It should be noted that the second top support 223 may be one or more (including two). In this embodiment, the number of the second top supports 223 is two, and the hinge axis of the third link 213 and the base 10 in the longitudinal direction B is located between the two second top supports 223. During the period when the first top support 222 is not working and leveling the operation platform 12, when one second top support 223 is extended, the other second top support 223 will be shortened.

The operation platform 12 is used for supporting an operator, namely the operator can stand on the operation platform 12 to carry out operation control on the drill carriage; because the top support mechanism 221 is a planar four-bar linkage, when the first top support 222 drives the second connecting bar 2212 to rotate relative to the first connecting bar 2211, the third connecting bar 213 hinged to the base 10 will make planar motion, the third connecting bar 213 will support the base 10, the operating platform 12 will rise along with the base 10, and in this process, the second top support 223 will work to keep the operating platform 12 at a position parallel to the walking device 210; when the walking device 210 walks on the inclined surface, the walking device 210 and the operation platform 12 will be in an inclined state, and at this time, the second top support member 223 is operated again to rotate the base body 10 relative to the third link 213, so that the operation platform 12 is in a horizontal position to ensure that the operator standing on the operation platform 12 can keep balance.

Understandably, since the first link 2211, the second link 2212, the third link 213 and the fourth link 2214 are sequentially hinged to form a planar four-bar linkage, the hinge axes of the first link 2211 and the second link 2212 are parallel to the hinge axes of the second link 2212 and the third link 213, parallel to the hinge axes of the third link 213 and the fourth link 2214, and parallel to the hinge axes of the fourth link 2214 and the first link 2211, that is, the arrangement directions of the respective hinge axes are consistent.

The hinge axes of the first and

second links

2211 and 2212 may be arranged in multiple directions within a horizontal plane, i.e., the hinge axes of the first and

second links

2211 and 2212 may be arranged in the transverse direction a, the longitudinal direction B, or other directions within the horizontal plane.

As shown in fig. 12, in the present embodiment, the hinge axes of the first and

second links

2211 and 2212 are arranged in the transverse direction a. The anchor drill rig 200 further comprises a support mechanism 230, the operation platform 12 and the running gear 210 being connected by the support mechanism 230, the support mechanism 230 being configured to allow the operation platform 12 to follow the basic body 10 for movement in the vertical direction C and the longitudinal direction B, the support mechanism 230 being configured to prevent the operation platform 12 from rotating about an axis arranged in the longitudinal direction B. The support mechanism 230 is configured not to affect the vertical C and longitudinal B movements of the operation platform 12, and the support mechanism 230 can prevent the operation platform 12 from rotating around the axis arranged along the longitudinal B, that is, the support mechanism 230 has an effect of preventing the operation platform 12 from turning sideways, thereby improving the stability of the operation platform 12.

In this embodiment, the supporting mechanism 230 includes a first supporting member 231 and a second supporting member 232, the first supporting member 231 is hinged to the operating platform 12, the second supporting member 232 is hinged to the traveling device 210, and the hinge axes of the first supporting member 231 and the second supporting member 232, the hinge axis of the first supporting member 231 and the operating platform 12, and the hinge axis of the second supporting member 232 and the traveling device 210 are all parallel to the hinge axis of the first connecting rod 2211 and the second connecting rod 2212.

When the operation platform 12 moves vertically C and longitudinally B simultaneously along with the base 10, the first support 231 and the second support 232 rotate relatively, which does not affect the vertical C movement of the operation platform 12 nor the longitudinal B movement of the operation platform 12, but the support mechanism 230 composed of the first support 231 and the second support 232 can prevent the operation platform 12 from rotating axially around the longitudinal B arrangement, and the support mechanism 230 with such a structure is simple in structure and easy to implement.

Optionally, the first supporting member 231 and the second supporting member 232 are both rod members, one end of the first supporting member 231 is connected to one end of the second supporting member 232, one end of the first supporting member 231, which is far away from the second supporting member 232, is hinged to the operating platform 12, and one end of the second supporting member 232, which is far away from the first supporting member 231, is hinged to the chassis 211 of the walking device 210.

In other embodiments, the supporting mechanism 230 may also be of other structures, for example, as shown in fig. 13, the supporting mechanism 230 is a hydraulic cylinder, one end of the hydraulic cylinder is hinged to the operation platform 12, the other end of the hydraulic cylinder is hinged to the traveling device 210, and the axis of the hydraulic cylinder hinged to the operation platform 12 and the axis of the hydraulic cylinder hinged to the traveling device 210 are both parallel to the hinge axis of the first link 2211 and the second link 2212.

It should be noted that the number of the supporting mechanisms 230 may be one or plural (including two), and the number of the supporting mechanisms 230 may be selected according to the arrangement form of the operation platform 12. The two sides of the base body 10 in the transverse direction a are provided with the operating platforms 12, and then the two support mechanisms 230 can be selected, the two support mechanisms 230 are respectively located on the two sides of the base body 10 in the transverse direction a, one operating platform 12 is connected with the base body 10 through one support mechanism 230, and the other operating platform 12 is connected through the other support mechanism 230.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A drill carriage actuator, comprising:

a base configured to be coupled to a walking device, the walking device having a transverse direction and a longitudinal direction, the walking direction of the walking device being the longitudinal direction;

the actuating device comprises a connecting seat, a rotating seat, a power head, a first driving device and a second driving device; the rotating seat is rotatably arranged on the connecting seat; the first driving device is configured to drive the rotating seat to rotate around a first axis relative to the connecting seat; the power head is rotatably arranged on the rotating seat; the second driving device is configured to drive the power head to rotate around a second axis relative to the rotating seat; and

The first axis is arranged along the transverse direction and the second axis is arranged along the longitudinal direction.

2. The drill carriage actuator of claim 1 wherein the drive mechanism comprises a telescoping member;

3. The drill carriage actuator of claim 2 wherein the drive mechanism further comprises a drive member, the telescoping member comprising at least two telescoping sections;

4. The drill carriage actuator of claim 3, wherein the first expansion joint is closer to the base than the second expansion joint, the second expansion joint is movably sleeved outside the first expansion joint, and the driving member is configured to partially or completely receive the first expansion joint in the second expansion joint; or

5. The drill carriage actuator of claim 4 wherein the cross section of the telescoping section is a hollow rectangular structure, the outer profile of the cross section of the first telescoping section matching the inner profile of the cross section of the second telescoping section.

6. A drill carriage actuator as claimed in any of claims 2 to 5, wherein the drive mechanism and the actuator are both two, two actuators being spaced apart in the transverse direction, each drive mechanism being configured to drive its respective one of the actuators in the transverse direction relative to the base.

7. The drill carriage actuator of claim 6 wherein the two drive mechanisms are a first drive mechanism and a second drive mechanism, respectively;

8. Drill carriage actuator according to claim 7, characterized in that the telescopic member in the first drive mechanism in the shortened state overlaps the telescopic member in the second drive mechanism in the shortened state partly or completely in the transverse direction.

9. A rock bolt drill carriage comprising a running gear and a drill carriage actuator according to any one of claims 1 to 8.

10. The roof bolt drill carriage of claim 9, further comprising a jacking device through which the base and the running gear are connected, the jacking device being configured to drive the drill carriage actuator to move vertically relative to the running gear.

11. The jumbolter as recited in claim 10, wherein the base body is provided with an operation platform;

12. The rock-bolt drill carriage of claim 11, further comprising a support mechanism,

13. The rock-bolt drill carriage of claim 12, wherein the support mechanism includes a first support and a second support;