CN110454087B - Omnibearing multi-degree-of-freedom anchor rod drill vehicle and working method thereof - Google Patents
Omnibearing multi-degree-of-freedom anchor rod drill vehicle and working method thereof Download PDFInfo
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- CN110454087B CN110454087B CN201910868763.0A CN201910868763A CN110454087B CN 110454087 B CN110454087 B CN 110454087B CN 201910868763 A CN201910868763 A CN 201910868763A CN 110454087 B CN110454087 B CN 110454087B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000005553 drilling Methods 0.000 claims abstract description 101
- 238000009434 installation Methods 0.000 claims description 9
- 238000005065 mining Methods 0.000 abstract description 2
- 238000004873 anchoring Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 239000011435 rock Substances 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000007569 slipcasting Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/003—Supports for the drilling machine, e.g. derricks or masts adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
- E21B19/081—Screw-and-nut feed mechanisms
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/02—Setting anchoring-bolts with provisions for grouting
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/04—Structural features of the supporting construction, e.g. linking members between adjacent frames or sets of props; Means for counteracting lateral sliding on inclined floor
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Geochemistry & Mineralogy (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to an omnibearing multi-degree-of-freedom anchor rod drilling machine and a working method thereof, belonging to the technical field of mining mechanical equipment. The invention provides an omnibearing multi-degree-of-freedom anchor rod drilling machine and a working method thereof, which have the advantages of strong universality, compact structure, high degree of automation, low cost, reduced labor intensity, improved anchor rod supporting efficiency and reduced working danger, and are suitable for complex roadway exposed surfaces.
Description
Technical Field
The invention relates to an omnibearing multi-degree-of-freedom anchor rod drill rig and a working method thereof, belonging to the technical field of mining mechanical equipment.
Background
The anchor bolt support is to change the mechanical state of the surrounding rock through the anchor bolt in the surrounding rock, form an integral and stable rock band around the roadway, and achieve the purpose of maintaining the roadway stability by the combined action of the anchor bolt and the surrounding rock. At present, although the anchor bolt supporting technology realizes some improvements, and equipment such as an excavating and anchoring integrated machine, a drilling and anchoring vehicle and the like appears, a plurality of machines are huge in size, heavy in moving posture, high in cost and poor in popularity. The installation of stock needs to be punched with the rig earlier, then packs the stock into drilling, slip casting, locking, and every process all needs the workman to participate in the work, wastes time and energy for supporting efficiency becomes low, leads to the tunnel empty roof exposure time long, brings very big potential safety hazard. When the large-section roadway carries out anchor bolt support, a plurality of anchor eyes with different positions and heights need to be drilled by a drilling machine, particularly after a certain height, the posture angle of the drilling machine is adjusted by drilling, the mechanical operation is particularly difficult, and meanwhile, the physical burden is brought to operators. Therefore, the drilling and anchoring machine with compact structure and high automation degree is urgently needed, the anchor rod supporting efficiency is improved, the working strength of operators is reduced, and the automation of the drilling and anchoring process is realized to the greatest extent.
Chinese patent document (publication No. CN 203978271U) discloses an intelligent pneumatic roof bolter capable of automatically adjusting jacking thrust, which comprises a drill bit, a drill rod, a transmission device, a drill rod pneumatic motor and a telescopic air leg, wherein the drill rod pneumatic motor and the telescopic air leg are arranged in a main machine shell; the side surface of the intelligent pneumatic roof bolter capable of automatically adjusting the jacking thrust is also provided with a manipulator arm, a pneumatic valve, an air inlet pipeline communicated with the pneumatic valve, and an indicator light and a control button which are arranged on the manipulator arm; wherein: one end of the drill rod is fixedly connected with the drill bit, and a connecting sleeve arranged between the transmission devices at the other end of the drill rod is fixed; the drill rod pneumatic motor is used for driving the transmission device so as to drive the drill rod and the drill bit which are coaxially and fixedly connected with the transmission device to drill in a rotary manner; the telescopic air leg is fixedly connected with the main machine shell, and the main machine shell is also fixedly connected with the internal drill rod pneumatic motor; the control button is electrically connected with a pneumatic valve, and the pneumatic valve is electrically connected with a telescopic air leg. The device realizes automatic drilling and installation of the anchor rod, but has difficult space steering and insufficient flexibility, and cannot realize omnibearing automatic operation.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the omnibearing multi-degree-of-freedom anchor rod drilling machine which has the advantages of strong universality, compact structure, high degree of automation, low cost, reduced labor intensity, improved anchor rod supporting efficiency and reduced working danger, and is suitable for complex roadway exposed surfaces.
The invention also provides a working method of the omnibearing multi-degree-of-freedom anchor rod drilling machine.
The technical scheme of the invention is as follows:
the utility model provides an all-round multi freedom stock drill carriage, includes frame, wheel, X direction arm, Y direction arm, Z direction arm, rig and Z direction elevating rail, and 4 wheels of frame both ends symmetry installation, 4Z direction elevating rail of frame upper portion bilateral symmetry installation, installs Z direction arm in 4Z direction elevating rail inboard tracks, installs Y direction arm in the Z direction arm both sides track, installs X direction arm in the Y direction arm both sides track, and rig is installed to X direction arm one end.
Preferably, the top points at two ends of the frame are symmetrically provided with 4 ground supporting hydraulic struts.
Preferably, the upper part of the frame is provided with a Z-direction driving hydraulic prop, and the other end of the Z-direction driving hydraulic prop is arranged at the center position of the lower part of the Z-direction mechanical arm.
Preferably, a steering engine A is installed at the joint of the X-direction mechanical arm and the drilling machine, a steering engine B is installed at the lower part of the X-direction mechanical arm, and the X-direction mechanical arm is connected with an X-direction mechanical arm base through the steering engine B.
Preferably, at least 4X-direction rail wheels are symmetrically arranged at two ends of the X-direction mechanical arm base, the X-direction rail wheels are positioned in rails at two sides of the Y-direction mechanical arm, an X-direction driving motor is arranged in the middle of one side of the X-direction mechanical arm base, and the X-direction driving motor is connected with the Y-direction mechanical arm through a gear rack.
Further preferably, an X-direction brake is arranged on the X-direction driving motor, and an electromagnetic brake is selected for the X-direction brake.
Preferably, at least 4Y-direction rail wheels are symmetrically arranged at two ends of the Y-direction mechanical arm, the Y-direction rail wheels are positioned in rails at two sides of the Z-direction mechanical arm, a Y-direction driving motor is arranged at the middle position of one end of the lower side of the Y-direction mechanical arm, and the Y-direction driving motor is connected with the Z-direction mechanical arm through a gear rack.
Further preferably, a Y-direction brake is arranged on the Y-direction driving motor, and an electromagnetic brake is selected for the Y-direction brake.
Preferably, the drilling machine comprises a drilling machine motor, a drilling machine motor fixing seat, a drilling machine feeding guide rail, a drilling machine feeding motor, a drilling machine feeding screw and an anchor rod clip, wherein the drilling machine motor is installed at one end of the drilling machine motor fixing seat, the other end of the drilling machine motor fixing seat is installed in the drilling machine feeding guide rail, the anchor rod clip is installed on a motor shaft of the drilling machine motor, a drilling machine sight is arranged at one end of the drilling machine feeding guide rail, and the drilling machine feeding motor is installed at the bottom of the drilling machine feeding guide rail and connected with one end of the drilling machine feeding screw, and the other end of the drilling machine feeding screw is connected with the drilling machine motor fixing seat.
Preferably, an anchor rod storage bin is arranged at one end of the upper part of the frame.
The working method of the omnibearing multi-degree-of-freedom anchor rod drill vehicle comprises the following working steps:
when the anchor bolt is needed to be supported, an operator controls the driller to travel to a working position, the hydraulic prop is driven in the Z direction in a lifting mode, the driller is enabled to ascend to the corresponding position of the anchor bolt, the anchor bolt is accurately positioned through the X-direction mechanical arm, the Y-direction mechanical arm and the driller, the drill bit is installed on the driller to drill an anchor hole, after the anchor hole is drilled, the drill bit is taken down, an anchor bolt is taken to be installed on the driller, then the anchor bolt is installed, after the installation is completed, the driller is adjusted to drill the next anchor hole and install the anchor bolt, and grouting locking is carried out on the last anchor bolt.
The invention has the beneficial effects that:
1. the invention provides an omnibearing multi-degree-of-freedom anchor rod drilling machine and a working method thereof, which have the advantages of strong universality, compact structure, high degree of automation, low cost, reduced labor intensity, improved anchor rod supporting efficiency and reduced working danger, and are suitable for complex roadway exposed surfaces.
2. X, Y, Z three direction arm and steering wheel A steering wheel B's cooperation has realized the nimble adjustment of the omnidirectional operation of rig, makes the operation such as anchor eye, support be beaten to the omnidirectional multi freedom unblock of rig anytime and anywhere, has very big convenience workman's construction, has improved the efficiency of tunnelling in pit.
3. The drilling machine can not only perform drill bit operation, but also perform anchor rod installation, and is multipurpose, so that space is saved.
Drawings
FIG. 1 is a schematic diagram of the final assembly structure of the present invention
FIG. 2 is a front view of the assembled structure of the present invention
FIG. 3 is a schematic view of the X-direction mechanical arm connection structure of the present invention
FIG. 4 is a front view of an X-direction mechanical arm connecting structure according to the present invention
FIG. 5 is a schematic view of the structure of the drilling machine of the present invention
Wherein: 1. a frame; 1-1, lifting guide rails in the Z direction; 1-2, an anchor rod storage bin; 1-3, wheels; 2. an X-direction mechanical arm; 2-1, steering engine A;2-2, steering engine B; 3. a drilling machine; 3-1, a drilling machine motor; 3-2, a drilling machine motor fixing seat; 3-3, a drilling machine sight; 3-4, a drilling machine feeding guide rail; 3-5, a drilling machine feeding motor; 3-6, feeding a lead screw of a drilling machine; 3-7, anchor rod clips; 4. a Y-direction mechanical arm; 4-1, a Y-direction rail wheel; 4-2, a Y-direction driving motor; 4-3, a Y-direction driving gear; 4-4, driving a rack in the X direction; 4-5, braking in the Y direction; 5. a Y-direction driving rack; 6. a Z-direction mechanical arm; 7. a ground supporting hydraulic prop; 8. driving the hydraulic prop in the Z direction; 9. a bolt; 10. an X-direction mechanical arm base; 10-1, X direction driving gear; 10-2, driving a motor in the X direction; 10-3, braking in the X direction; 10-4, X direction rail wheel.
Detailed Description
The invention will now be further illustrated by way of example, but not by way of limitation, with reference to the accompanying drawings.
Example 1:
as shown in fig. 1-4, the embodiment provides an omnibearing multiple freedom anchor rod drilling machine, which comprises a frame 1, wheels 1-3, an X-direction mechanical arm 2, a Y-direction mechanical arm 4, a Z-direction mechanical arm 6, a drilling machine 3 and a Z-direction lifting guide rail 1-1, wherein the wheels 1-3 are symmetrically arranged at two ends of the frame 1, the Z-direction lifting guide rails 1-1 are symmetrically arranged at two sides of the upper part of the frame 1, the Z-direction mechanical arm 6 is arranged in the inner side rail of the 4Z-direction lifting guide rail 1-1, the Y-direction mechanical arm 4 is arranged in the rails at two sides of the Z-direction mechanical arm 6, the X-direction mechanical arm 2 is arranged in the rails at two sides of the Y-direction mechanical arm 4, and the drilling machine 3 is arranged at one end of the X-direction mechanical arm 2.
The upper part of the frame 1 is provided with a Z-direction driving hydraulic prop 8,Z, the other end of the Z-direction driving hydraulic prop 8 is arranged at the center position of the lower part of the Z-direction mechanical arm 6, the Z-direction driving hydraulic prop 8 is used for controlling the Z-direction mechanical arm 6 to move up and down, at least 4X-direction rail wheels 10-4 are symmetrically arranged at the two ends of the base of the X-direction mechanical arm 2, the X-direction rail wheels 10-4 are positioned in rails at the two sides of the Y-direction mechanical arm 4, an X-direction driving motor 10-2 is arranged at the middle position of one side of the X-direction mechanical arm base 10, the X-direction driving motor 10-2 is connected with the Y-direction mechanical arm 4 through an X-direction driving gear 10-1 and an X-direction driving rack 4-4, the X-direction driving motor 10-2 is used for driving the whole X-direction mechanical arm 2 to move in the X-direction, the X-direction driving motor 10-2 is provided with an X-direction brake 10-3, the X-direction brake 10-3 is used for selecting an electromagnetic brake, the X-direction mechanical arm 2 is locked and cannot back and forth when a drill locomotive works, the X-direction mechanical arm 2 is locked, the electromagnetic brake is a connector for transmitting torsion of a driving side to a passive side, the Y is free to be combined as required, the X-direction mechanical arm is, the X-direction brake is compact, the X-direction brake, the X-side brake has long service life, and long service life.
At least 4Y-direction track wheels 4-1 are symmetrically arranged at two ends of the Y-direction mechanical arm 4, the Y-direction track wheels 4-1 are positioned in tracks at two sides of the Z-direction mechanical arm 6, a Y-direction driving motor 4-2 is arranged at the middle position of one end of the lower side of the Y-direction mechanical arm 4, the Y-direction driving motor 4-2 is connected with the Z-direction mechanical arm 6 through a Y-direction driving gear 4-3 and a Y-direction driving rack 5, the Y-direction driving motor 4-2 drives the whole Y-direction mechanical arm 4 to move in the Y direction, a Y-direction brake 4-5 is arranged on the Y-direction driving motor 4-2, and an electromagnetic brake is selected for the Y-direction brake 4-5, so that the Y-direction mechanical arm 4 is locked and cannot shake back and forth when a drilling machine works.
Example 2:
an omnibearing multi-freedom-degree anchor rod drilling machine is structurally characterized in that 4 ground supporting hydraulic struts 7 are symmetrically arranged at the vertexes of two ends of a frame, the ground supporting hydraulic struts are supported before the drilling machine performs the anchor drilling operation, the stability of the whole machine is ensured, the anchor drilling machine is retracted after the anchor drilling operation is finished, and the drilling machine continues to move.
Example 3:
an omnibearing multi-degree-of-freedom anchor rod drill vehicle is structurally characterized in that a steering engine A2-1 is arranged at the joint of an X-direction mechanical arm 2 and a drilling machine 3, a steering engine B2-2 is arranged at the lower part of the X-direction mechanical arm 2, the X-direction mechanical arm 2 is connected with an X-direction mechanical arm base 10 through the steering engine B2-2, the working position of the drilling machine 3 is adjusted through the steering engine by the X-direction mechanical arm 2, the flexibility of the steering engine is utilized to meet the drilling machine operation requirements of different angles, and at present, the steering engine is widely applied to high-grade remote control toys such as airplanes and submarines.
Example 4:
an omnibearing multi-degree-of-freedom anchor rod drill vehicle is structurally characterized in that a drilling machine 3 comprises a drilling machine motor 3-1, a drilling machine motor fixing seat 3-2, a drilling machine feeding guide rail 3-4, a drilling machine feeding motor 3-5, a drilling machine feeding screw 3-6 and an anchor rod clamp 3-7, the drilling machine 3 is structurally characterized in that the drilling machine motor 3-1 is arranged at one end of the drilling machine motor fixing seat 3-2, the other end of the drilling machine motor fixing seat 3-2 is arranged in the drilling machine feeding guide rail 3-4, an anchor rod clamp 3-7 is arranged on a motor shaft of the drilling machine motor 3-1, the anchor rod clamp 3-7 is a drill bit clamping device commonly used in the industry at present, one end of the drilling machine feeding guide rail 3-4 is provided with a drilling machine sight 3-3, the drilling and positioning of an anchor rod is facilitated, meanwhile, dangers caused by overlarge shaking amplitude of a drill bit or an anchor rod 9 during rotation are avoided, the drilling machine feeding motor 3-5 is arranged at the bottom of the drilling machine feeding guide rail 3-4 and is connected with one end of the drilling machine feeding screw 3-6, and the other end of the drilling machine feeding screw is connected with the drilling machine motor 3-2.
The drill bit is arranged on the anchor rod clamp 3-7, the drill motor 3-1 and the drill feeding motor 3-5 are started in sequence, the drill bit is driven to drill through the drill feeding screw 3-6, after the anchor hole is drilled, the drill feeding motor 3-5 runs reversely, the drill bit is withdrawn from the anchor hole, the drill bit is taken off from the anchor rod clamp 3-7, an anchor rod is arranged on the anchor rod clamp 3-7, and then the drill motor 3-1 and the drill feeding motor 3-5 are started in sequence, so that anchor rod installation is performed.
Example 5:
an omnibearing multi-degree-of-freedom anchor rod drill vehicle is structurally characterized in that an anchor rod storage bin 1-2 is arranged at one end of the upper part of a frame 1 and is used for storing a standby anchor rod.
Example 6:
a working method of the omnibearing multi-freedom anchor rod drilling machine according to the embodiment 1-5, comprising the following working steps:
when the anchor bolt is needed to be supported, an operator controls the driller to travel to a working position, the hydraulic prop 8 is driven in the Z direction in a lifting mode, the driller is lifted to the position of the anchor bolt, the position of the anchor bolt is accurately positioned by adjusting the X-direction mechanical arm 2, the Y-direction mechanical arm 4 and the driller 3, the driller is installed on the driller to drill an anchor hole, after the anchor hole is drilled, the driller is taken down, an anchor bolt is installed on the driller 3, then the anchor bolt is installed, after the installation is completed, the driller is adjusted to drill the next anchor hole and install the anchor bolt, and grouting locking is carried out on the last anchor bolt.
Claims (6)
1. The all-dimensional multi-degree-of-freedom anchor rod drilling machine is characterized by comprising a frame, wheels, X-direction mechanical arms, Y-direction mechanical arms, Z-direction mechanical arms, a drilling machine and Z-direction lifting guide rails, wherein 4 wheels are symmetrically arranged at two ends of the frame, 4Z-direction lifting guide rails are symmetrically arranged at two sides of the upper part of the frame, Z-direction mechanical arms are arranged in tracks on the inner sides of the 4Z-direction lifting guide rails, Y-direction mechanical arms are arranged in tracks on two sides of the Z-direction mechanical arms, X-direction mechanical arms are arranged in tracks on two sides of the Y-direction mechanical arms, and the drilling machine is arranged at one end of the X-direction mechanical arm;
the upper part of the frame is provided with a Z-direction driving hydraulic prop, and the other end of the Z-direction driving hydraulic prop is arranged at the center of the lower part of the Z-direction mechanical arm;
a steering engine A is arranged at the joint of the X-direction mechanical arm and the drilling machine, a steering engine B is arranged at the lower part of the X-direction mechanical arm, and the X-direction mechanical arm is connected with an X-direction mechanical arm base through the steering engine B;
at least 4X-direction rail wheels are symmetrically arranged at two ends of the X-direction mechanical arm base, the X-direction rail wheels are positioned in rails at two sides of the Y-direction mechanical arm, an X-direction driving motor is arranged in the middle of one side of the X-direction mechanical arm base, the X-direction driving motor is connected with the Y-direction mechanical arm through a gear rack, an X-direction brake is arranged on the X-direction driving motor, and an electromagnetic brake is selected for the X-direction brake;
at least 4Y-direction rail wheels are symmetrically arranged at two ends of the Y-direction mechanical arm, the Y-direction rail wheels are located in rails at two sides of the Z-direction mechanical arm, a Y-direction driving motor is installed at the middle position of one end of the lower side of the Y-direction mechanical arm, and the Y-direction driving motor is connected to the Z-direction mechanical arm through a gear rack.
2. An all-round multiple freedom anchor rod drilling machine according to claim 1, wherein 4 ground supporting hydraulic struts are symmetrically arranged at the vertexes of two ends of the frame.
3. The omnibearing multiple freedom anchor rod drilling machine according to claim 2, wherein the Y-direction driving motor is provided with a Y-direction brake, and the Y-direction brake is an electromagnetic brake.
4. An all-dimensional multi-degree-of-freedom anchor drilling machine according to claim 3, wherein the drilling machine comprises a drilling machine motor, a drilling machine motor fixing seat, a drilling machine feeding guide rail, a drilling machine feeding motor, a drilling machine feeding screw and an anchor rod clip, wherein the drilling machine motor is installed at one end of the drilling machine motor fixing seat, the other end of the drilling machine motor fixing seat is installed in the drilling machine feeding guide rail, the anchor rod clip is installed on a motor shaft of the drilling machine motor, one end of the drilling machine feeding guide rail is provided with a drilling machine sight, the drilling machine feeding motor is installed at the bottom of the drilling machine feeding guide rail and connected with one end of the drilling machine feeding screw, and the other end of the drilling machine feeding screw is connected with the drilling machine motor fixing seat.
5. An all-round multiple degree of freedom anchor rod drilling machine as claimed in claim 1 wherein the upper end of the frame is provided with an anchor rod storage bin.
6. A method of operating an all-round multiple degree of freedom roof bolt drill vehicle according to claim 4, wherein:
when the anchor bolt is needed to be supported, an operator controls the driller to travel to a working position, the hydraulic prop is driven in the Z direction in a lifting mode, the driller is enabled to ascend to the position of an anchor bolt, the anchor bolt is accurately positioned through the X-direction mechanical arm, the Y-direction mechanical arm and the driller, the drill bit is installed on the driller to drill an anchor hole, after the anchor hole is drilled, the drill bit is taken down, an anchor bolt is taken to be installed on the driller, then the anchor bolt is installed, after the installation is completed, the driller is adjusted to drill the next anchor hole and install the anchor bolt, and grouting locking is carried out on the last anchor bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910868763.0A CN110454087B (en) | 2019-09-16 | 2019-09-16 | Omnibearing multi-degree-of-freedom anchor rod drill vehicle and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910868763.0A CN110454087B (en) | 2019-09-16 | 2019-09-16 | Omnibearing multi-degree-of-freedom anchor rod drill vehicle and working method thereof |
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| Publication Number | Publication Date |
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| CN110454087A CN110454087A (en) | 2019-11-15 |
| CN110454087B true CN110454087B (en) | 2024-03-29 |
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| CN112065478A (en) * | 2020-09-18 | 2020-12-11 | 黄卫兵 | Mechanical single-arm hydraulic jumbolter capable of realizing accurate drilling and anchoring |
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| CN113338794B (en) * | 2021-07-22 | 2023-09-19 | 抚顺罕王傲牛矿业股份有限公司 | Underground horizontal drilling track moving platform |
| CN114109244B (en) * | 2021-11-24 | 2023-07-07 | 河海大学 | Soil drilling device capable of adjusting position of drill bit |
| CN116291636A (en) * | 2023-05-05 | 2023-06-23 | 邹城兖矿泰德工贸有限公司 | Anchor injection rotary drill |
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