CN110005448A - A kind of W steel band for underground digging and anchoring integrated machine lifts system - Google Patents
A kind of W steel band for underground digging and anchoring integrated machine lifts system Download PDFInfo
- Publication number
- CN110005448A CN110005448A CN201910283596.3A CN201910283596A CN110005448A CN 110005448 A CN110005448 A CN 110005448A CN 201910283596 A CN201910283596 A CN 201910283596A CN 110005448 A CN110005448 A CN 110005448A
- Authority
- CN
- China
- Prior art keywords
- principal arm
- arm
- hydraulic cylinder
- integrated machine
- digging
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/14—Lining predominantly with metal
- E21D11/15—Plate linings; Laggings, i.e. linings designed for holding back formation material or for transmitting the load to main supporting members
- E21D11/155—Laggings made of strips, slats, slabs or sheet piles
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
Abstract
A kind of W steel band for underground digging and anchoring integrated machine lifts system, and the body including digging and anchoring integrated machine, the relatively described body of principal arm does plane rocking movement, and the principal arm hydraulic cylinder of several limitation main swing arm angles is also connected between principal arm and body;Forearm one end is fixed with the first swing mechanism, and the other end is hinged with working arm, and the forearm, working arm, first connecting rod and second connecting rod constitute four-bar linkage by articulated manner；Gripper includes: corpus unguis, the support shaft of corpus unguis outside portion；Symmetrical two groups of clamping jaws are equipped with by support shaft and the clamping jaw is with respect to corpus unguis opening and closing；The hydraulic cylinder for working of clamping jaw opening and closing is controlled by being hingedly equipped in the root of two groups of clamping jaws；Several positioning hydraulic cylinders are equipped on the corpus unguis among two groups of clamping jaws, the present invention realizes that crawl W steel alleviates the labour of worker by multiple moving components on the whole on the basis of ensuring not change digging and anchoring integrated machine overall structure.
Description
Technical field
The present invention relates to mining machinery field, specially a kind of W steel band for underground digging and anchoring integrated machine lifts system.
Background technique
In each production mine domestic at present, some is adopted has reached more meters of 500-1000 deeply, and crustal stress, force-bearing of surrounding rock mass and deformation are multiple
Miscellaneous multiplicity, single suspension roof support have been unable to meet the big roadway support requirement of breaking roof, compound roof, roof pressure, and
The anchor beam system collectively constituted with anchor pole and W steel band of model, can efficiently control top plate, while it is big to can be applied in fracture
The supporting in tunnel, chamber.
But existing fully-mechanized digging machine device is seldom related to lifting for W steel band of model, such as publication number: disclosing in CN104500086A
A kind of patent name are as follows: the unmanned digging and anchoring integrated machine in tunnel.Its support system just pertains only to gib and suspension roof support, only suitable
The tunnel more stable for country rock situation.If carrying out anchor beam supporting to need manually to lift W steel band.This not only increases and lifts
Difficulty, and have certain risk.In addition, digging and anchoring integrated machine work when it is generally closer apart from section, falling rocks, dust,
Also to worker, there are great security threats for the factors such as noise.
Meanwhile in publication number: disclosing patent name in CN106837398A: a kind of comprehensive pneumatic temporary support device of pick.
Its device can be used for lifting for W steel band of model, be installed on back, by being laid with track drawing device on top plate
Advance, but the defect of the patent: on the one hand have certain influence to the stability of back, the self weight of device can destroy
Through the good country rock of supporting；On the other hand it needs that traction track is additionally installed on top plate, increases workload；Simultaneously because using gas
Dynamic traction, needs to provide new power source for it in underground, inconvenient.
Comparison, the application proposes that one kind can not change in digging and anchoring integrated machine structure basis, and may be implemented to automate
Grab the mechanical arm of W steel.
Summary of the invention
The purpose of the present invention is to provide a kind of W steel bands for underground digging and anchoring integrated machine to lift system, above-mentioned to solve
In the or else change digging and anchoring integrated machine structure basis proposed in background technique, a kind of machinery for being more suitable for tunnel crawl W steel is realized
Arm.
To achieve the above object, the invention provides the following technical scheme:
A kind of W steel band for underground digging and anchoring integrated machine lifts system, the body including digging and anchoring integrated machine, comprising:
Principal arm, the principal arm do plane rocking movement by the relatively described body of the first pin shaft on principal arm axle sleeve, and main
The principal arm hydraulic cylinder of several limitation main swing arm angles is also connected between arm and body；The principal arm further include: opposite principal arm
Make the principal arm core bar of linear expansion movement and the main arm telescoping hydraulic cylinder of limitation principal arm core bar stretching motion, and is fixed on principal arm
First swing mechanism of core bar free end；
Forearm, described forearm one end are fixed with the first swing mechanism, and the other end is hinged with working arm, the forearm, working arm,
One connecting rod and second connecting rod constitute four-bar linkage by articulated manner；And the shaft of first connecting rod and second connecting rod hinged place
The both ends of pitching hydraulic cylinder are respectively articulated with the lower end of forearm；The second swing mechanism is fixed in the end of the working arm；
Gripper, the gripper include: the corpus unguis fixed with the second swing mechanism, and the corpus unguis outside portion is symmetrically arranged with support
Axis；Symmetrical two groups of clamping jaws are equipped with by support shaft and the clamping jaw is with respect to corpus unguis opening and closing；Pass through hinge in the root of two groups of clamping jaws
It is equipped with the hydraulic cylinder for working of control clamping jaw opening and closing；Several positioning hydraulic cylinders are equipped on the corpus unguis among two groups of clamping jaws.
One embodiment of the present invention, the section of the principal arm core bar are polygonized structure and are located inside principal arm, institute
It states principal arm core bar and principal arm is separately connected the both ends of main arm telescoping hydraulic cylinder.
One embodiment of the present invention, first swing mechanism and the second swing mechanism are that worm and gear revolution is driven
Dynamic structure.
One embodiment of the present invention, the principal arm hydraulic cylinder are symmetrically located at the two sides of principal arm.
One embodiment of the present invention, the principal arm hydraulic cylinder, main arm telescoping hydraulic cylinder, pitching hydraulic cylinder, working solution
Cylinder pressure and positioning hydraulic cylinders are connect with the hydraulic power supply of digging and anchoring integrated machine.
Compared with prior art, the beneficial effects of the present invention are: the present invention is integrally tied ensuring not change digging and anchoring integrated machine
On the basis of structure, crawl W steel is realized by multiple moving components on the whole, and realize the movement of the various poses of W steel, with true
The purpose for realizing mobile W steel in the reasonable bulk in tunnel is protected, the labour of worker is alleviated.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the complete section schematic diagram in Fig. 1 at A-A；
Fig. 3 is the complete section schematic diagram in Fig. 1 at B-B；
Fig. 4 is the structural schematic diagram of an angle of the invention；
Fig. 5 is the structural schematic diagram of an angle of the invention；
Fig. 6 is the structural schematic diagram of an angle of the invention；
Fig. 7 is the structural schematic diagram of forearm in the present invention；
Fig. 8 is the structural schematic diagram of working arm in the present invention.
In figure: 1 principal arm；1.0 first pin shafts；1.1 principal arm hydraulic cylinders；1.2 principal arm axle sleeves；1.3 principal arm lifting shafts；1.4 main
Arm core bar；1.5 main arm telescoping hydraulic cylinders；1.6 first swing mechanisms；2 forearms；2.1 working arm；2.2 pitching hydraulic cylinders；2.3 the
One connecting rod；2.4 second connecting rods, 2.5 second swing mechanisms；3 grippers；3.1 corpus unguis, 3.2 clamping jaws, 3.3 support shafts, 3.4 work
Hydraulic cylinder, 3.5 positioning hydraulic cylinders.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Shown in Fig. 1 to 8, a kind of W steel band for underground digging and anchoring integrated machine lifts system, the machine including digging and anchoring integrated machine
Body, comprising:
Principal arm 1, the principal arm 1 do plane rocking fortune by the relatively described body of the first pin shaft 1.0 on principal arm axle sleeve 1.2
It is dynamic；Plane rocking movement can allow principal arm 1 to swing up and down with respect to digging and anchoring integrated machine, complete lifting and putting down for entire mechanical arm,
It is carried for the entirety to W steel, and the principal arm that several limitation 1 swing angles of principal arm are also connected between principal arm 1 and body is hydraulic
Cylinder 1.1, the triangular structure that principal arm hydraulic cylinder 1.1, the body of digging and anchoring integrated machine and 1 three of principal arm are constituted make principal arm 1 stable
Mobile W steel, meanwhile, the principal arm hydraulic cylinder 1.1 is symmetrically located at the two sides of principal arm 1, and this be symmetrically placed with is conducive to keep
Principal arm 1 does not occur active force inclination conditions.The principal arm 1 further include: opposite principal arm 1 makees the principal arm core bar of linear expansion movement
1.4 and limitation 1.4 stretching motion of principal arm core bar main arm telescoping hydraulic cylinder 1.5, and be fixed on 1.4 free end of principal arm core bar
First swing mechanism 1.6；On the one hand stretching motion of the principal arm core bar 1.4 on principal arm 1 is convenient for the W steel straight line grabbed to convey,
Another aspect stretching structure is conducive to the operation of tunnel small space；Meanwhile principal arm core bar 1.4 can be placed in the outer of principal arm 1
Portion, opposite 1 linear slide of principal arm.
Relative to the positional relationship of principal arm core bar 1.4 and principal arm 1, another embodiment of the invention is: the principal arm core
The section of bar 1.4 is polygonized structure and is located inside principal arm 1 that the principal arm core bar 1.4 and principal arm 1 are separately connected main arm telescoping
The both ends of hydraulic cylinder 1.5.This structure for being fixed on center has the advantage for being not take up tunnel small space, and section polygon
Principal arm core bar 1.4.
Forearm 2, described 2 one end of forearm and the first swing mechanism 1.6 are fixed, and the other end and working arm 2.1 are hinged, before described
Arm 2, working arm 2.1, first connecting rod 2.3 and second connecting rod 2.4 constitute four-bar linkage, the first turn-around machine by articulated manner
The specific structure of structure 1.6 is worm and gear revolution driving structure, cooperates principal arm 1 and principal arm core bar 1.4 using this rotary motion
Movement, W steel is lifted onto the contact surface in tunnel.Shaft and forearm in 2.4 hinged place of first connecting rod 2.3 and second connecting rod
2 lower end is respectively articulated with the both ends of pitching hydraulic cylinder 2.2, and the effect of pitching hydraulic cylinder 2.2 is to adjust working arm 2.1 relative to preceding
The corner dimension of arm 2, the angular dimension adjusted here are for the angle that the body of principal arm 1 and digging and anchoring integrated machine is adjusted
The fine tuning of angle, minor adjustments when being suitble to close to tunnel surface.Meanwhile the second turn-around machine is fixed in the end of working arm 2.1
Structure 2.5, the specific structure of the second swing mechanism 2.5 are worm and gear revolution driving structures.
Gripper 3, the gripper 3 include: the corpus unguis 3.1 fixed with the second swing mechanism 2.5, outside the corpus unguis 3.1
Side is symmetrically arranged with support shaft 3.3；Symmetrical two groups of clamping jaws 3.2 are equipped with by support shaft 3.3 and the clamping jaw 3.2 is with respect to corpus unguis
3.1 opening and closing, the opening size of clamping jaw 3.2 are advisable with that can block W steel.In the root of two groups of clamping jaws 3.2 by being hingedly equipped with control
The hydraulic cylinder for working 3.4 of 3.2 opening and closing of clamping jaw processed, the working method of clamping jaw 3.2 are using lever principle, by utilizing working hydraulic pressure
The opening and closing of the flexible realization clamping jaw 3.2 of cylinder 3.4.Corpus unguis meanwhile in order to preferably clamp W steel, among two groups of clamping jaws 3.2
3.1 are equipped with several positioning hydraulic cylinders 3.5, allow clamping jaw 3.2 and positioning hydraulic cylinders 3.5 to work in coordination, by the entire wavy surface of W steel
It clamps.
For principal arm hydraulic cylinder 1.1, the main arm telescoping hydraulic cylinder 1.5, pitching hydraulic cylinder 2.2, working solution allowed in the present invention
Cylinder pressure 3.4 and positioning hydraulic cylinders 3.5 keep working normally, these hydraulic cylinders are connect with the hydraulic power supply of digging and anchoring integrated machine.
The working principle of the invention: in narrow, in order to can satisfy by install W steel be installed to tunnel side wall and
On roof, the present invention utilize on the whole the swing of principal arm 1, principal arm core bar 1.4 it is flexible, realize the adjusting of different height；For
It allows W steel that there is certain rotation angle, to allow W steel to be suitble to the tilt angle in tunnel, the first swing mechanism 1.6 can be passed through
Rotation, control the movement of W steel, obtain in combination with the variation of 2.1 angle of working arm, the second swing mechanism 2.5 in small range
Fine tuning.Meanwhile allow control gripper 3 in clamping jaw 3.2 work hydraulic cylinder for working 3.4 and positioning hydraulic cylinders 3.5 work in coordination,
W steel can be not only clamped, can more not damage the ripple of W steel in clamping process.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of W steel band for underground digging and anchoring integrated machine lifts system, the body including digging and anchoring integrated machine, which is characterized in that
Include:
Principal arm (1), the principal arm (1) are done flat by the relatively described body of the first pin shaft (1.0) on principal arm axle sleeve (1.2)
Face pendulum motion, and the principal arm hydraulic cylinder of several limitation principal arm (1) swing angles is also connected between principal arm (1) and body
(1.1)；The principal arm (1) further include: opposite principal arm (1) makees the principal arm core bar (1.4) and limitation principal arm core of linear expansion movement
The main arm telescoping hydraulic cylinder (1.5) of bar (1.4) stretching motion, and it is fixed on first revolution of principal arm core bar (1.4) free end
Mechanism (1.6)；
Forearm (2), described forearm (2) one end and the first swing mechanism (1.6) are fixed, the other end and working arm (2.1) hingedly, institute
It states forearm (2), working arm (2.1), first connecting rod (2.3) and second connecting rod (2.4) and four bar machine of plane is constituted by articulated manner
Structure；And to be respectively articulated with pitching hydraulic for the lower end of the shaft and forearm (2) of first connecting rod (2.3) and second connecting rod (2.4) hinged place
The both ends of cylinder (2.2)；The second swing mechanism (2.5) are fixed in the end of the working arm (2.1)；
Gripper (3), the gripper (3) include: the corpus unguis (3.1) fixed with the second swing mechanism (2.5), the corpus unguis
(3.1) outside portion is symmetrically arranged with support shaft (3.3)；Symmetrical two groups of clamping jaws (3.2) and the folder are equipped with by support shaft (3.3)
Pawl (3.2) is with respect to corpus unguis (3.1) opening and closing；In the root of two groups of clamping jaws (3.2) by being hingedly equipped with control clamping jaw (3.2) opening and closing
Hydraulic cylinder for working (3.4)；Several positioning hydraulic cylinders (3.5) are equipped on the intermediate corpus unguis (3.1) of two groups of clamping jaws (3.2).
2. the W steel band according to claim 1 for underground digging and anchoring integrated machine lifts system, it is characterised in that: the master
The section of arm core bar (1.4) is polygonized structure and is located at principal arm (1) inside, and the principal arm core bar (1.4) and principal arm (1) are respectively
Connect the both ends of main arm telescoping hydraulic cylinder (1.5).
3. the W steel band according to claim 1 for underground digging and anchoring integrated machine lifts system, it is characterised in that: described
Single-revolution mechanism (1.6) and the second swing mechanism (2.5) are worm and gear revolution driving structures.
4. the W steel band according to claim 1 for underground digging and anchoring integrated machine lifts system, it is characterised in that: the master
Arm hydraulic cylinder (1.1) is symmetrically located at the two sides of principal arm (1).
5. the W steel band according to claim 1 for underground digging and anchoring integrated machine lifts system, it is characterised in that: the master
Arm hydraulic cylinder (1.1), main arm telescoping hydraulic cylinder (1.5), pitching hydraulic cylinder (2.2), hydraulic cylinder for working (3.4) and positioning hydraulic cylinders
(3.5) it is connect with the hydraulic power supply of digging and anchoring integrated machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910283596.3A CN110005448A (en) | 2019-04-10 | 2019-04-10 | A kind of W steel band for underground digging and anchoring integrated machine lifts system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910283596.3A CN110005448A (en) | 2019-04-10 | 2019-04-10 | A kind of W steel band for underground digging and anchoring integrated machine lifts system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110005448A true CN110005448A (en) | 2019-07-12 |
Family
ID=67170679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910283596.3A Pending CN110005448A (en) | 2019-04-10 | 2019-04-10 | A kind of W steel band for underground digging and anchoring integrated machine lifts system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110005448A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112096404A (en) * | 2020-09-01 | 2020-12-18 | 中国煤炭科工集团太原研究院有限公司 | Mining height accurate positioning device of temporary support system of tunneling and anchoring all-in-one machine, tunneling and anchoring all-in-one machine and dismounting and mounting method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000153490A (en) * | 1998-11-18 | 2000-06-06 | K & M Enterprise Kk | Triaxial robot of long stroke |
| CN105416152A (en) * | 2015-12-22 | 2016-03-23 | 陈光星 | Street tree pruning machine |
| CN107651619A (en) * | 2017-10-10 | 2018-02-02 | 浙江鼎力机械股份有限公司 | Template lifts Mobile workbench |
| CN107939423A (en) * | 2017-12-22 | 2018-04-20 | 长沙科达智能装备股份有限公司 | One kind is suitable for tunnel three step constructions trolley foldable arm rack |
| CN108058167A (en) * | 2017-12-27 | 2018-05-22 | 江苏集萃智能制造技术研究所有限公司 | A kind of high rigidity anti-deformation fro hydraulic driving machinery arm |
-
2019
- 2019-04-10 CN CN201910283596.3A patent/CN110005448A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000153490A (en) * | 1998-11-18 | 2000-06-06 | K & M Enterprise Kk | Triaxial robot of long stroke |
| CN105416152A (en) * | 2015-12-22 | 2016-03-23 | 陈光星 | Street tree pruning machine |
| CN107651619A (en) * | 2017-10-10 | 2018-02-02 | 浙江鼎力机械股份有限公司 | Template lifts Mobile workbench |
| CN107939423A (en) * | 2017-12-22 | 2018-04-20 | 长沙科达智能装备股份有限公司 | One kind is suitable for tunnel three step constructions trolley foldable arm rack |
| CN108058167A (en) * | 2017-12-27 | 2018-05-22 | 江苏集萃智能制造技术研究所有限公司 | A kind of high rigidity anti-deformation fro hydraulic driving machinery arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112096404A (en) * | 2020-09-01 | 2020-12-18 | 中国煤炭科工集团太原研究院有限公司 | Mining height accurate positioning device of temporary support system of tunneling and anchoring all-in-one machine, tunneling and anchoring all-in-one machine and dismounting and mounting method |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190712 |
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