CN110454204B - Automatic lapping device of anchor rod drill carriage for coal mine - Google Patents
Automatic lapping device of anchor rod drill carriage for coal mine Download PDFInfo
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- CN110454204B CN110454204B CN201910702624.0A CN201910702624A CN110454204B CN 110454204 B CN110454204 B CN 110454204B CN 201910702624 A CN201910702624 A CN 201910702624A CN 110454204 B CN110454204 B CN 110454204B
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- 239000003245 coal Substances 0.000 title claims abstract description 26
- WSNMPAVSZJSIMT-UHFFFAOYSA-N COc1c(C)c2COC(=O)c2c(O)c1CC(O)C1(C)CCC(=O)O1 Chemical compound COc1c(C)c2COC(=O)c2c(O)c1CC(O)C1(C)CCC(=O)O1 WSNMPAVSZJSIMT-UHFFFAOYSA-N 0.000 claims abstract description 10
- 238000005553 drilling Methods 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 5
- 230000003014 reinforcing effect Effects 0.000 abstract description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
- E21D11/152—Laggings made of grids or nettings
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
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- 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
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- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Conveying And Assembling Of Building Elements In Situ (AREA)
- Earth Drilling (AREA)
Abstract
The invention belongs to the technical field of coal mine anchor rod supporting equipment, and particularly relates to an automatic net laying device of a coal mine anchor rod drill carriage, which solves the problems of low efficiency, high labor intensity, severe working environment and poor safety existing in the conventional anchor rod supporting mode. According to the invention, the top anchor net is grabbed by lifting of the sleeve structure II, the top anchor net is sent to the magnetic suction cup III on the anchor rod vehicle through the telescopic mechanical arm I, the side anchor net is sucked by the vertical lifting mechanism through the magnetic suction cup, and the side anchor net is sent to the magnetic suction cup IV of the anchor rod drill carriage through the belt conveying mechanism, so that the top and side anchor nets are automatically laid. The automatic laying method realizes the automatic laying of the reinforcing mesh and improves the laying efficiency of the reinforcing mesh.
Description
Technical Field
The invention belongs to the technical field of coal mine anchor rod supporting equipment, and particularly relates to an automatic net laying device of a coal mine anchor rod drill carriage.
Background
The anchor bolt support is the main support form of coal mine roadway in China. The traditional sheet mesh paving and supporting process is that the sheet mesh paving and supporting process is carried out through manpower, the sheet mesh paving and supporting process is lifted to an anchor top plate protecting area, then anchor drilling and the like are carried out, the working strength is high, the efficiency is low, the working environment is severe, and more importantly, the safety is extremely poor. Therefore, it is necessary to design a device capable of automatically laying a net to realize the automatic operation of the anchor rod drill carriage.
Disclosure of Invention
The invention provides an automatic net laying device of a coal mine anchor rod drill carriage, aiming at solving the problems of high strength, low efficiency, severe working environment and poor safety of the existing anchor rod supporting mode.
The invention is realized by the following technical scheme: an automatic net laying device of an anchor rod drill carriage for a coal mine comprises an anchor net carriage arranged around the anchor rod drill carriage in a semi-surrounding mode, wherein the anchor net carriage comprises a belt conveying mechanism, a sleeve structure I, a vertical lifting mechanism, a magnetic sucker I, an anchor net, a support, a sleeve structure II, a telescopic mechanical arm I, a magnetic sucker II, a sleeve structure III, a magnetic sucker IV, a telescopic mechanical arm II and a sleeve structure IV; the belt conveying mechanism comprises a belt moving seat, a belt pulley, a belt driving motor, a belt fixing plate and a belt sliding rail, the belt moving seat is fixed with the belt and can move back and forth along the belt sliding rail, the belt conveying mechanism is fixed on each of two side surfaces of the anchor net vehicle, the vertical lifting mechanism comprises a lifting base, a lifting sliding rail, a lifting support and a lifting driving device, the lifting support can move up and down along the lifting sliding rail under the driving of the lifting driving device, the vertical lifting mechanism is arranged on each of two sides of the anchor net vehicle, the vertical lifting mechanism is fixed with the belt moving seat of the belt conveying mechanism through the lifting base, the vertical lifting mechanism can move together with the belt moving seat under the driving of the belt driving motor, and sleeve structures I are symmetrically fixed on the two sides of the anchor net vehicle close to the anchor rod drilling vehicle;
the anchor net trolley moves forwards, the front end face of the anchor net trolley and the front end face of the anchor rod drill trolley are located on the same straight line, the top anchor net is grabbed through lifting of the sleeve structure II, the top anchor net is conveyed to the magnetic chuck III on the anchor rod drill trolley through the telescopic mechanical arm I, the vertical lifting mechanism sucks the lateral anchor net through the magnetic chuck, the lateral anchor net is conveyed to the magnetic chuck IV of the anchor rod drill trolley through the belt conveying mechanism, the magnetic chuck IV can achieve horizontal laying of the anchor net or lay 45 degrees with the horizontal under rotation of the mechanical arm fixing sleeve I, and automatic synchronous laying of the top anchor net and the lateral anchor net can also be achieved.
The sleeve structure one includes sleeve one, sleeve two and fixed corner seat one, and sleeve one is close with sleeve two structures, is the cuboid of transversal personally submitting the square, and has seted up the quad slit along its length direction, and sleeve two sets up in the inside one end of sleeve one, and sleeve two can be along the direction of sleeve one and do relative slip, and the other end of sleeve one is fixed the part that the anchor net car leaned on the stock drill carriage through fixed corner seat one.
Sleeve structure two includes sleeve three, sleeve four, sleeve five and arm fixed plate, sleeve three is the cuboid structure, the cross section is the square, and seted up the quad slit along its length direction, sleeve four sets up in the one end of sleeve three insides, sleeve four can slide for sleeve three, sleeve five sets up in the one end of sleeve four insides, sleeve five can slide for sleeve four, sleeve structure two respectively arranges two in the horizontal and vertical direction of support, the arm fixed plate is the rectangular board, four sleeve five keep away from sleeve four one end terminal surfaces and fix respectively on arm fixed plate four angles and lean on the position in.
Sleeve structure three includes sleeve six, sleeve seven and fixed corner seat three, and sleeve six is that the cross section is square cuboid structure and has seted up the quad slit along its length direction, and sleeve seven sets up in sleeve six inside and the two can the relative slip, and sleeve six's the other end is fixed at the stock drill carriage front portion through fixed corner seat three, and sleeve six has two along horizontal symmetrical arrangement.
Sleeve structure four includes sleeve eight, sleeve nine and fixed corner seat four, and sleeve eight is the cuboid structure, and the cross section is the square, and has seted up the quad slit along its length direction, and sleeve eight sets up in sleeve nine inside and the two can the relative slip, and sleeve nine's the other end is fixed in the anchor rod drill carriage preceding through fixed corner seat four, and along horizontal direction symmetrical arrangement two, and two sleeve structure quadbs are located between sleeve structure three and the anchor rod drill carriage preceding terminal surface.
One of the telescopic mechanical arm comprises a first mechanical arm, a second mechanical arm, a third mechanical arm and a sucker fixing frame, wherein the first mechanical arm and the second mechanical arm are both of cuboid structures, the cross section of each cuboid structure is square, square holes are formed in the length direction of each square hole, the second mechanical arm is arranged in the first mechanical arm and can slide relatively, the third mechanical arm is arranged in the second mechanical arm and can slide relatively, the sucker fixing frame is of a cuboid structure, a circular boss is arranged on one side of the sucker fixing frame towards the ground direction, the first mechanical arm and the second mechanical arm are symmetrically fixed along the length direction of a mechanical arm fixing plate.
The second telescopic mechanical arm comprises a fourth mechanical arm, a fifth mechanical arm, a sixth mechanical arm, a first mechanical arm fixing sleeve and a second mechanical arm fixing sleeve, wherein the fourth mechanical arm and the fifth mechanical arm are cuboid structures with square cross sections, square holes are formed in the length direction of the fourth mechanical arm, the fifth mechanical arm is arranged in the fourth mechanical arm and can move relatively, the sixth mechanical arm is arranged in the fifth mechanical arm and can move relatively, the first mechanical arm fixing sleeve is of a hollow square structure, the fourth mechanical arm is arranged in the first mechanical arm fixing sleeve, the first mechanical arm fixing sleeve is fixed at one end, far away from the fifth telescopic end of the fourth mechanical arm, the second mechanical arm fixing sleeve is fixed at the middle part of the eighth sleeve, the first mechanical arm fixing sleeve and the second mechanical arm fixing.
The support includes sleeve structure frame and fixed angle seat two, and the sleeve structure frame is cuboid hollow out construction, and the sleeve structure frame is along width direction and the side parallel arrangement of anchor net car, and the sleeve structure frame is together fixed with sleeve two through fixed angle seat two, and four sleeve three are fixed respectively in the middle part position of sleeve structure frame, and transversely and vertically respectively arrange two.
Magnetic force sucking disc one, magnetic force sucking disc two, magnetic force sucking disc three, four positive bight positions of magnetic force sucking disc are respectively fixed with an electro-magnet, and the middle part position and the lifting support fixed connection at the magnetic force sucking disc one back, the middle part position of the back of magnetic force sucking disc two and the middle part fixed connection of sucking disc mount, the one end fixed connection that sleeve six was kept away from to the back middle part position of magnetic force sucking disc three and sleeve seven, the one end fixed connection that arm five was kept away from to the back middle part position of magnetic force sucking disc four and arm six.
Compared with the prior art, the invention has the following specific technical characteristics and beneficial effects:
according to the automatic net laying device of the anchor rod drill carriage for the coal mine, the front end of the anchor rod drill carriage and the front end of the anchor rod drill carriage are in the same horizontal plane through forward movement of the anchor rod drill carriage, the top anchor net is grabbed through lifting of the sleeve structure II, the top anchor net is conveyed to the magnetic suction cup III on the anchor rod drill carriage through the telescopic mechanical arm I, the side anchor net is sucked by the vertical lifting mechanism through the magnetic suction cup, and the side anchor net is conveyed to the magnetic suction cup IV on the anchor rod drill carriage through the belt conveying mechanism, so that automatic laying of the top anchor net and the side anchor net is realized. The automatic mesh laying device of the anchor rod drill carriage for the coal mine can realize automatic laying of the reinforcing mesh, and improves laying efficiency of the reinforcing mesh.
Drawings
Fig. 1 is a schematic structural view of an automatic net laying device of a bolting drill carriage for a coal mine according to the present invention;
FIG. 2 is a top plan view of the automatic lapping device of the coal mine bolting rig of the present invention;
FIG. 3 is a schematic structural view of a stent of the present invention;
FIG. 4 is a schematic structural view of the belt conveyor of the present invention;
fig. 5 is a schematic structural diagram of the vertical lift mechanism of the present invention.
Reference numbers in the figures: 101-anchor drilling rig, 102-anchor net vehicle, 103-belt conveying mechanism, 1031-belt moving seat, 1032-belt, 1033-belt pulley, 1034-belt driving motor, 1035-belt fixing plate, 1036-belt sliding rail, 104-sleeve structure I, 1041-sleeve I, 1042-sleeve II, 1043-fixed angle seat I, 105-vertical lifting mechanism, 1051-lifting base, 1052-lifting sliding rail, 1053-lifting bracket, 1054-lifting driving device, 106-magnetic suction cup I, 107-anchor net, 108-bracket, 1081-sleeve structure frame, 1082-fixed angle seat II, 109-sleeve structure II and 1091-sleeve III; 1092-sleeve IV; 1093-five sleeve, 1094-five arm fixing plate, 110-one telescopic arm, 1101-one arm, 1102-two arm, 1103-three arm, 1104-chuck fixing frame, 111-two magnetic chuck, 112-three sleeve structure, 1121-six sleeve, 1122-seven sleeve, 1123-three fixed angle seat, 113-three magnetic chuck, 114-four magnetic chuck, 115-two telescopic arm, 1151-four arm, 1152-five arm, 1153-six arm, 1154-one arm fixing sleeve, 1155-two arm fixing sleeve, 116-four sleeve structure, 1161-eight sleeve, 1162-nine sleeve and 1163-four fixed angle seat.
Detailed Description
The technical solution of the present invention is further described with reference to fig. 1 to 5 in combination with an embodiment.
The embodiment provides an automatic lapping device of an anchor rod drill carriage for a coal mine, which comprises an anchor rod drill carriage 101, an anchor rod drill carriage 102, a belt conveying mechanism 103, a sleeve structure I104, a vertical lifting mechanism 105, a magnetic suction cup I106, an anchor net 107, a support 108, a sleeve structure II 109, a telescopic mechanical arm I110, a magnetic suction cup II 111, a sleeve structure III 112, a magnetic suction cup III 113, a magnetic suction cup IV 114, a telescopic mechanical arm II 115 and a sleeve structure IV 116.
The anchor net trolley 102 is of a U-shaped structure, and the inner space of the anchor net trolley can accommodate the anchor rod drill carriage 101; all around anchor net car 102 and anchor rod drill carriage 101, all be equipped with displacement sensor, guarantee anchor net car 102 and anchor rod drill carriage 101 walking in-process, both sides do not touch the tunnel, improve the security, and install distance sensor on the side that holds anchor rod drill carriage 101 in U-shaped anchor net car 102 is inside, guarantee that the distance of the both sides of anchor rod drill carriage 101 to the both sides of anchor net car 102 is the same.
The belt conveying mechanism 103 includes a belt moving seat 1031, a belt 1032, a belt pulley 1033, a belt driving motor 1034, a belt fixing plate 1035 and a belt sliding rail 1036, the belt moving seat 1031 is fixed with the belt 1032 and can slide back and forth along the belt sliding rail 1036, and the belt conveying mechanism 103 is fixed on two side surfaces of the anchor net truck 102.
The vertical lifting mechanism 105 comprises a lifting base 1051, a lifting slide rail 1052, a lifting bracket 1053 and a lifting driving device 1054, wherein the lifting bracket 1053 can slide up and down along the lifting slide rail 1052 under the driving of the lifting driving device 1054; one vertical lift mechanism 105 is provided on each side of the anchor net truck 102, and the vertical lift mechanism 105 is fixed to the belt moving base 1031 of the belt conveyor 103 by a lift base 1051 and moves together with the belt moving base 1031 by the drive of a belt drive motor 1034.
The first sleeve structure 104 comprises a first sleeve 1041, a second sleeve 1042 and a first fixed angle seat 1043, the first sleeve 1041 is of a cuboid structure, the cross section of the first sleeve 1041 is square, a square hole is formed in the length direction of the first sleeve, the second sleeve 1042 is slidably arranged in one end of the first sleeve 1041, the other end of the first sleeve 1041 is fixed to the portion, close to the anchor rod drill carriage 101, of the anchor net carriage 102 through the first fixed angle seat 1043, and the first sleeve structure 104 is fixed to the portion, close to the inner portion, of the two sides of the anchor net carriage 102.
The sleeve structure II 109 comprises a sleeve III 1091, a sleeve IV 1092, a sleeve V1093 and a mechanical arm fixing plate 1094, the sleeve III 1091 is of a cuboid structure, the cross section of the sleeve III 1091 is square, and a square hole is formed in the length direction of the sleeve III 1091; the sleeve IV 1092 is of a cuboid structure, the cross section of the sleeve IV 1092 is square, a square hole is formed in the length direction of the sleeve IV 1092, the sleeve IV 1092 is slidably arranged in one end of the sleeve III 1091, and the sleeve V1093 is slidably arranged in one end of the sleeve IV 1092; the second sleeve structure 109 is arranged horizontally and longitudinally, the arm fixing plate 1094 is a rectangular plate, and end faces of one ends of the four fifth sleeves 1093, which are far away from the fourth sleeves 1092, are respectively fixed at positions near the inner parts of the four corners of the arm fixing plate 1094.
The third sleeve structure 112 comprises a sixth sleeve 1121, a seventh sleeve 1122 and a third fixed corner seat 1123;
the sleeve six 1121 is of a cuboid structure, the cross section of the sleeve six 1121 is square, a square hole is formed in the length direction of the sleeve six 1121, and the sleeve seven 1122 is slidably arranged in one end of the sleeve six 1121; the other end of the sleeve six 1121 is fixed to the front of the rock bolt drilling rig 101 through a fixed corner seat three 1123, and two sleeves are symmetrically arranged in the transverse direction.
The sleeve structure four 116 comprises a sleeve eight 1161, a sleeve nine 1162 and a fixed corner seat four 1163; the sleeve eight 1161 is of a cuboid structure, the cross section of the sleeve eight 1161 is square, a square hole is formed in the length direction of the sleeve eight, and the sleeve eight is slidably arranged in one end of the sleeve nine; the other end of the sleeve nine 1162 is fixed in front of the anchor rod drill carriage 101 through a fixed corner seat four 1163, and the two sleeves are symmetrically arranged along the transverse direction; two sleeve structures four 116 are located between the sleeve structure three 112 and the front face of the roof bolter car 101.
The telescopic robot 110 comprises a first robot 1101, a second robot 1102, a third robot 1103 and a chuck fixing frame 1104; the first mechanical arm 1101 is of a cuboid structure, the cross section of the first mechanical arm is square, and a square hole is formed in the length direction of the first mechanical arm; the second mechanical arm 1102 is of a cuboid structure, the cross section of the second mechanical arm is square, and a square hole is formed in the length direction of the second mechanical arm; the second robot 1102 is slidably disposed within the first robot 1101; the third robot arm 1103 is slidably disposed within the second robot arm 1102; the sucker fixing frame 1104 is of a cuboid structure, a circular boss is arranged on one side of the sucker fixing frame in the ground direction, the first mechanical arm 1101 is fixed to the other side of the mechanical arm fixing plate 1094, the two first mechanical arms 1101 are symmetrically fixed in the length direction of the mechanical arm fixing plate 1094, and two ends of the sucker fixing frame 1104 are fixedly connected with the third mechanical arm 1103 respectively.
The second telescopic mechanical arm 115 comprises a fourth mechanical arm 1151, a fifth mechanical arm 1152, a sixth mechanical arm 1153, a first mechanical arm fixing sleeve 1154 and a second mechanical arm fixing sleeve 1155; the mechanical arm IV 1151 is of a cuboid structure, the cross section of the mechanical arm IV is square, a square hole is formed in the length direction of the mechanical arm IV, the mechanical arm V1152 is of a cuboid structure, the cross section of the mechanical arm V is square, and a square hole is formed in the length direction of the mechanical arm V; the mechanical arm five 1152 is slidably arranged in a mechanical arm four 1151, the mechanical arm six 1153 is slidably arranged in the mechanical arm five 1152, a mechanical arm fixing sleeve I1154 is of a hollow square structure, the mechanical arm four 1151 is sleeved in the mechanical arm fixing sleeve I1154, and the mechanical arm fixing sleeve I1154 is fixed at one end, far away from the mechanical arm five 1152, of the mechanical arm four 1151; the mechanical arm fixing sleeve II 1155 is fixed in the middle of the sleeve eight 1161; the mechanical arm first fixing sleeve 1154 is connected with the mechanical arm second fixing sleeve 1155, the mechanical arm first fixing sleeve 1154 can rotate for a certain angle around the mechanical arm second fixing sleeve 1155, the side horizontal anchor net laying is achieved, and the anchor net laying can also be achieved in the 45-degree direction.
The support 108 comprises a sleeve structure frame 1081 and a second fixed angle seat 1082, the sleeve structure frame 1081 is a cuboid hollow structure, and the width direction of the sleeve structure frame 1081 is parallel to the side edge of the anchor net vehicle 102; the sleeve structure frame 1081 is fixed with the second sleeve 1042 through a second fixed angle seat 1082; the four sleeve members 1091 are fixed to the middle of the sleeve structure frame 1081, and are disposed two in the horizontal and vertical directions.
The first magnetic sucker 106 is a rectangular plate, four corners of one surface of the first magnetic sucker are respectively fixed with an electromagnet, and the middle part of the other surface of the first magnetic sucker 106 is fixed with the lifting bracket 1053; the second magnetic chuck 111 is a rectangular plate, four corners of one surface of the second magnetic chuck are respectively fixed with electromagnets, the middle part of the other surface of the second magnetic chuck 111 is fixed with the chuck fixing frame 1104 and is fixed at the middle part of the chuck fixing frame 1104, infrared induction is installed on the second magnetic chuck 111, and when the second magnetic chuck 111 reaches a certain distance above the anchor net 107, the electromagnets are electrified, so that the second magnetic chuck 111 can just absorb one anchor net. The magnetic chuck III 113 is a rectangular plate, four corners of one surface of the magnetic chuck III are respectively fixed with an electromagnet, and the middle part of the other surface of the magnetic chuck III 113 is fixed with one end of the sleeve seven 1122 away from the sleeve six 1121; the fourth magnetic chuck 114 is a rectangular plate, four corners of one surface of the fourth magnetic chuck are respectively fixed with an electromagnet, and the middle of the other surface of the fourth magnetic chuck 114 is fixed with one end of the six mechanical arm 1153, which is far away from the five mechanical arm 1152. Electromagnets on the first magnetic sucker 106, the second magnetic sucker 111, the third magnetic sucker 113 and the fourth magnetic sucker 114 generate magnetic fields when the electromagnets are powered on, the magnetic fields can adsorb the steel bar anchor net 107, grabbing of the anchor net is achieved, and the magnetic suckers are separated from the anchor net when the power is off.
Pressure sensors are arranged on the peripheries of an anchor net drilling rig 101 and an anchor net vehicle 102 of the automatic anchor net laying device, and when the anchor net drilling rig 101 or the anchor net vehicle 102 touches a coal wall, the pressure sensors receive signals and transmit the signals to a protection device, so that the anchor net drilling rig 101 and the anchor net vehicle 102 stop being used, and accidents are avoided.
The automatic lapping device of the anchor rod drill carriage for the coal mine realizes grabbing, conveying, laying and positioning of the steel bar net sheets through the combination of the sleeve structure, the mechanical arm and the magnetic suction disc, has the effects of wide application range, high laying efficiency and the like, and is provided with the protection device, so that the safety of lapping operation is improved.
When the automatic net laying device of the anchor rod drilling machine for the coal mine is used, the anchor net trolley 102 moves forwards, the front end face of the anchor net trolley 102 and the front end face of the anchor rod drilling machine 101 are basically on the same straight line, the top anchor net is grabbed through lifting of the sleeve structure II 109, the top anchor net 107 is sent to the magnetic suction cup III 113 on the anchor rod drilling machine 101 through the telescopic mechanical arm I110, the vertical lifting mechanism 105 sucks the side anchor net through the magnetic suction cup I106 and sends the side anchor net to the magnetic suction cup IV 114 of the anchor rod drilling machine 101 through the belt conveying mechanism 103, the magnetic suction cup IV 114 can lay the anchor net horizontally under the rotation of the mechanical arm fixing sleeve I1154 and can lay the anchor net at an angle of 45 degrees, and the top and side anchor nets can be laid automatically at the same time.
The sequence of the above embodiments is only for convenience of description and does not represent the advantages and disadvantages of the embodiments.
It should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same, and although the present invention is described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions described in the foregoing embodiments can be modified or equivalent replaced by some of the technical features, and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. The utility model provides an automatic lapping device of stock drill carriage for coal mine which characterized in that: the anchor net trolley comprises an anchor net trolley (102) arranged around an anchor rod drill trolley (101) in a semi-surrounding mode, wherein the anchor net trolley (102) comprises a belt conveying mechanism (103), a sleeve structure I (104), a vertical lifting mechanism (105), a magnetic suction cup I (106), a support (108), a sleeve structure II (109), a telescopic mechanical arm I (110), a magnetic suction cup II (111), a sleeve structure III (112), a magnetic suction cup III (113), a magnetic suction cup IV (114), a telescopic mechanical arm II (115) and a sleeve structure IV (116), the anchor net trolley (102) is of a U-shaped structure, and the anchor rod drill trolley (101) can be accommodated in the inner space; the belt conveying mechanism (103) comprises a belt moving seat (1031), a belt (1032), a belt pulley (1033), a belt driving motor (1034), a belt fixing plate (1035) and a belt sliding rail (1036), wherein the belt moving seat (1031) is fixed with the belt (1032) and can move back and forth along the belt sliding rail (1036), the belt conveying mechanism (103) is respectively fixed on two side surfaces of the anchor net vehicle (102), the vertical lifting mechanism (105) comprises a lifting base (1051), a lifting sliding rail (1052), a lifting bracket (1053) and a lifting driving device (1054), the lifting bracket (1053) can move up and down along the lifting sliding rail (1052) under the driving of the lifting driving device (1054), the vertical lifting mechanism (105) is respectively arranged on two sides of the anchor net vehicle (102), and the vertical lifting mechanism (105) is fixed together with the belt moving seat (1031) of the belt conveying mechanism (103) through the lifting base (1051), the vertical lifting mechanism (105) can move together with the belt moving seat (1031) under the driving of a belt driving motor (1034), and sleeve structures I (104) are symmetrically fixed on two sides of the anchor net trolley (102) by the parts of the anchor rod drilling trolley (101);
the anchor net trolley (102) moves forwards, so that the front end face of the anchor net trolley (102) and the front end face of the anchor rod drill trolley (101) are located on the same straight line, the top anchor net (107) is grabbed through lifting of the sleeve structure II (109), the top anchor net (107) is sent to a magnetic suction cup III (113) on the anchor rod drill trolley (101) through a telescopic mechanical arm I (110), the vertical lifting mechanism (105) sucks the side anchor net through a magnetic suction cup I (106), the side anchor net is sent to a magnetic suction cup IV (114) of the anchor rod drill trolley (101) through a belt conveying mechanism (103), the magnetic suction cup IV (114) can be tiled under rotation of a mechanical arm fixing sleeve I (1154) to achieve water laying of the anchor net (107) or laying at an angle of 45 degrees with the horizontal plane, and automatic synchronous laying of the top anchor net (107) and the side anchor net (107) can also be achieved.
2. The automatic lapping device of a coal mine bolting jumbo according to claim 1, characterized in that: the sleeve structure I (104) comprises a sleeve I (1041), a sleeve II (1042) and a fixed corner seat I (1043), the sleeve I (1041) and the sleeve II (1042) are similar in structure and are cuboids with square cross sections, square holes are formed in the length direction of the sleeve I, the sleeve II (1042) is arranged at one end of the sleeve I (1041), the sleeve II (1042) can slide relative to the sleeve I (1041) in the direction, and the other end of the sleeve I (1041) is fixed to the portion, close to the anchor rod drill carriage (101), of the anchor rod drill carriage (102) through the fixed corner seat I (1043).
3. The automatic lapping device of a coal mine bolting jumbo according to claim 1, characterized in that: sleeve structure two (109) includes sleeve three (1091), sleeve four (1092), sleeve five (1093) and arm fixed plate (1094), sleeve three (1091) is the cuboid structure, the cross section is the square, and seted up the quad slit along its length direction, sleeve four (1092) sets up in the inside one end of sleeve three (1091), sleeve four (1092) can slide for sleeve three (1091), sleeve five (1093) sets up in the inside one end of sleeve four (1092), sleeve five (1093) can slide for sleeve four (1092), sleeve structure two (109) respectively arrange two in the horizontal and vertical of support (108), arm fixed plate (1094) is the rectangular board.
4. The automatic lapping device of a coal mine bolting jumbo according to claim 1, characterized in that: sleeve structure three (112) includes sleeve six (1121), sleeve seven (1122) and fixed corner seat three (1123), sleeve six (1121) are the cuboid structure of cross section for the square and have seted up the quad slit along its length direction, sleeve seven (1122) set up in the inside of sleeve six (1121) and the two can the relative slip, the other end of sleeve six (1121) is fixed at anchor rod drill carriage (101) front portion through fixed corner seat three (1123), sleeve structure three (112) have two along transverse symmetry arrangement.
5. The automatic lapping device of a coal mine bolting jumbo according to claim 1, characterized in that: sleeve structure four (116) includes sleeve eight (1161), sleeve nine (1162) and fixed corner seat four (1163), sleeve eight (1161) is the cuboid structure, the cross section is the square, and seted up the quad slit along its length direction, sleeve eight (1161) set up in the outside of sleeve nine (1162) and the two can the relative slip, the other end of sleeve nine (1162) is fixed in before anchor rod drill carriage (101) through fixed corner seat four (1163), sleeve structure four (116) are along horizontal direction symmetrical arrangement two, sleeve structure four (116) are located between sleeve structure three (112) and anchor rod drill carriage (101) the preceding terminal surface.
6. The automatic lapping device of a coal mine bolting jumbo according to claim 1, characterized in that: the first telescopic mechanical arm (110) comprises a first mechanical arm (1101), a second mechanical arm (1102), a third mechanical arm (1103) and a sucker fixing frame (1104), wherein the first mechanical arm (1101) and the second mechanical arm (1102) are of cuboid structures, the cross section of the first mechanical arm is square, square holes are formed in the length direction of the first mechanical arm (1101), the second mechanical arm (1102) is arranged in the first mechanical arm (1101) and can slide relatively, the third mechanical arm (1103) is arranged in the second mechanical arm (1102) and can slide relatively, the sucker fixing frame (1104) is of a cuboid structure, a circular boss is arranged on one side of the ground direction, the first mechanical arm (1101) and the second mechanical arm (1103) are symmetrically fixed along the length direction of a mechanical arm fixing plate (1094), and two ends of the sucker fixing.
7. The automatic lapping device of a coal mine bolting jumbo according to claim 1, characterized in that: the telescopic mechanical arm II (115) comprises a mechanical arm IV (1151), a mechanical arm V (1152), a mechanical arm VI (1153), a mechanical arm fixing sleeve I (1154) and a mechanical arm fixing sleeve II (1155), wherein the cross section of each of the mechanical arm IV (1151) and the mechanical arm V (1152) is of a rectangular structure with a square shape, square holes are formed in the length direction of each of the mechanical arm IV (1151) and the mechanical arm V (1152), the mechanical arm V (1152) is arranged in the mechanical arm IV (1151) and can move relatively, the mechanical arm VI (1153) is arranged in the mechanical arm V (1152) and can move relatively, the mechanical arm fixing sleeve I (1154) is of a hollow square structure, the mechanical arm IV (1151) is arranged in the mechanical arm fixing sleeve I (1154), the mechanical arm fixing sleeve I (1154) is fixed at one end, far away from the mechanical arm V (1152), of the mechanical arm IV (, the mechanical arm fixing sleeve I (1154) is connected with the mechanical arm fixing sleeve II (1155) in an interconnecting mode, and the mechanical arm fixing sleeve I (1154) can rotate around the mechanical arm fixing sleeve II (1155).
8. The automatic lapping device of the anchor rod drill carriage for the coal mine is characterized in that the support (108) comprises a sleeve structure frame (1081) and a fixed angle seat II (1082), the sleeve structure frame (1081) is a cuboid hollow structure, the sleeve structure frame (1081) is arranged in parallel with the side edge of the anchor net vehicle (102) along the width direction, the sleeve structure frame (1081) is fixed with the sleeve II (1042) through the fixed angle seat II (1082), and the four sleeve structure III (112) are respectively fixed at the middle position of the sleeve structure frame (1081) and are respectively arranged in two in the transverse direction and the longitudinal direction.
9. The automatic lapping device of the coal mine anchor rod drill carriage according to claim 1, wherein the magnetic suction cup I (106), the magnetic suction cup II (111), the magnetic suction cup III (113) and the magnetic suction cup IV (114) have the same structure and are rectangular plates, the four corner positions of the front surfaces of the magnetic suction cup I (106), the magnetic suction cup II (111), the magnetic suction cup III (113) and the magnetic suction cup IV (114) are respectively fixed with an electromagnet, the middle position of the back of the first magnetic sucker (106) is fixedly connected with the lifting support (1053), the middle position of the back of the second magnetic sucker (111) is fixedly connected with the middle of the sucker fixing frame (1104), the middle position of the back of the third magnetic sucker (113) is fixedly connected with one end, away from the sleeve six (1121), of the sleeve seven (1122), and the middle position of the back of the fourth magnetic sucker (114) is fixedly connected with one end, away from the mechanical arm five (1152), of the mechanical arm six (1153).
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| CN201910702624.0A CN110454204B (en) | 2019-07-31 | 2019-07-31 | Automatic lapping device of anchor rod drill carriage for coal mine |
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| CN201910702624.0A CN110454204B (en) | 2019-07-31 | 2019-07-31 | Automatic lapping device of anchor rod drill carriage for coal mine |
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| CN110454204B true CN110454204B (en) | 2020-10-13 |
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| CN112012755B (en) * | 2020-07-16 | 2022-03-18 | 西安煤矿机械有限公司 | Sliding shoe type anchor net transportation robot |
| CN111980732A (en) * | 2020-07-16 | 2020-11-24 | 西安科技大学 | Crawler-type anchor net transport robot |
| CN112412505B (en) * | 2020-11-19 | 2022-10-14 | 河南理工大学 | Coal mine tunnel fills gob entry anchor net and struts equipment |
| CN112943312B (en) * | 2021-02-19 | 2023-05-09 | 中国铁建重工集团股份有限公司 | Automatic lapping device and tunneling and anchoring integrated machine |
| CN113250722B (en) * | 2021-05-21 | 2024-02-09 | 魏学勇 | Automatic quick lapping device of anchor rod drill carriage for coal mine |
| CN113530556A (en) * | 2021-07-20 | 2021-10-22 | 中国煤炭科工集团太原研究院有限公司 | Intelligent lapping device and lapping method for matched lapping of heading machine |
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