CN110685594A - Automatic drill carriage for coal mine rock roadway and construction method thereof - Google Patents
Automatic drill carriage for coal mine rock roadway and construction method thereof Download PDFInfo
- Publication number
- CN110685594A CN110685594A CN201810731574.4A CN201810731574A CN110685594A CN 110685594 A CN110685594 A CN 110685594A CN 201810731574 A CN201810731574 A CN 201810731574A CN 110685594 A CN110685594 A CN 110685594A
- Authority
- CN
- China
- Prior art keywords
- drill
- drilling
- drill carriage
- coal mine
- regulating
- 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
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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 characterized by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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 DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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 characterized by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/025—Rock drills, i.e. jumbo drills
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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 characterized by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/027—Drills for drilling shallow holes, e.g. for taking soil samples or for drilling postholes
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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
Abstract
The invention provides an automatic drill carriage for a coal mine rock roadway, which is applied to the technical field of coal mine rock roadway tunneling processes, drilling and blasting devices, and particularly discloses a novel automatic drill carriage and a construction method thereof. The invention is based on a walking device main frame body which is represented as a crawler belt and comprises a supporting arm arranged on the device; the walking device is provided with a drill boom rotating device, a position regulating device, an angle regulating device, a drilling propulsion device and a sensor regulating system; the position regulating device is represented by the combined application of three sections of hydraulic oil cylinders; the angle regulating device is connected with the drill boom rotating device through the position regulating device; the drilling propulsion device is arranged on the angle regulation and control device; the sensor regulating and controlling system comprises four sensors which are respectively arranged on the drill boom rotating device, the position regulating and controlling device, the angle regulating and controlling device and the drilling propelling device. The invention provides a novel drilling positioning mode and a drill carriage thereof, which improve the underground operation efficiency and improve the operation accuracy.
Description
Technical Field
The invention belongs to the technical field of roadway tunneling processes and coal mine rock roadway drilling and blasting devices, and particularly relates to a novel automatic drill carriage and a construction method thereof.
Background
A hydraulic drill carriage for a rock roadway is a mechanized device which uses hydraulic pressure as power to complete mechanized drilling operation, reduces manual operation and improves operation efficiency, and is widely applied to the fields of underground engineering, well roadways, coal mines and the like.
At present, blast hole drilling operation in the coal mine rock roadway tunneling process is generally performed by workers operating a drill carriage or manually operating a handheld drilling machine. No matter be the drill carriage or hand-held type rig, in the use, all need the workman to control drilling height and position's assurance, the step is comparatively loaded down with trivial details to workman intensity of labour is high in the operation process, and the drilling position is often inaccurate inadequately, and the effect is not ideal enough, causes work efficiency low.
Present drill carriage in the use, needs the workman to implement the operation under the particular case, and required various switches and action bars are very complicated, and workman's operation attention is more when controlling, hardly compromises self safety, is difficult to in time deal with to the accident, and workman's potential safety hazard is great. The handheld drilling machine can generate a lot of powder in the operation process, and a worker can not avoid causing a series of damages to the body after contacting the handheld drilling machine in a short distance for a long time.
Based on the defects and shortcomings of the existing drill carriage in the aspect of automatic operation, the automatic drill carriage for the coal mine rock roadway is designed, and a construction method of the automatic drill carriage is introduced to achieve efficient drilling automatic operation of the coal mine rock roadway.
Disclosure of Invention
The invention provides an automatic drill carriage for a coal mine rock roadway and a construction method thereof, and solves the problems of low operation efficiency of blast hole drilling of the coal mine rock roadway and high labor intensity of workers.
The technical scheme adopted by the invention is as follows:
the utility model provides a colliery is automatic drill carriage for rock gangway, includes running gear, arranges drill boom rotary device, position regulation and control device, angle regulation and control device, drilling advancing device and the sensor regulation and control system of connection on drill boom rotary device on running gear, running gear shows the track, including arranging the support arm on the device, position regulation and control device shows the combination application of three-section hydraulic cylinder, two sections hydraulic cylinder in the angle regulation and control device pass through position control device link to each other with drill boom rotary device, drilling advancing device arranges on angle regulation and control device through the rail connection, sensor regulation and control system includes the sensor of four positions altogether, arranges respectively in drill boom rotary device, position regulation and control device, angle regulation and control device and drilling advancing device.
The automatic drill carriage for the coal mine rock roadway is characterized in that the walking device shows the movement of the crawler belt in the walking process, the walking device comprises power devices such as a moving crawler belt and a driving wheel, the supporting arms are provided for supporting and driving a working main body located on the walking device of the drill carriage, the working main body of the drill carriage is arranged on the walking device through the three supporting arms, and the supporting arms are provided with damping systems to prevent large-amplitude vibration.
According to the automatic drill carriage for the coal mine rock roadway, the drill boom rotating device is represented as a device main body, and the rotating arm is arranged in the device main body. The rotary arm is provided with two lug seats, the two lug seats are respectively connected with two oil cylinders, the two oil cylinders are used for adjusting the position adjusting and controlling device, and when the rotary arm rotates, the rotary arm can drive the position adjusting and controlling device, the angle adjusting and controlling device, the drilling propulsion device and part of sensors of a part of sensor adjusting and controlling system to rotate together.
The position regulating device comprises three oil cylinders which are respectively connected through ear seats, and the different positions of the drilling propulsion device are regulated through the expansion of the upper oil cylinder and the lower oil cylinder or the upper oil cylinder, the middle oil cylinder and the lower oil cylinder.
The automatic drill carriage for the coal mine rock roadway comprises a regulating device main body, three lug seats arranged outside the device main body, a section of oil cylinder and a pair of lug seats arranged in the regulating device main body, a slide rail arranged on the upper part of the regulating device main body and two rubber cushions used for stabilizing, wherein different angles of various drilling propulsion devices relative to the horizontal plane can be realized through the angle regulating device.
The automatic drill carriage for the coal mine rock roadway is characterized in that the drilling propulsion device is represented as a drill frame main body and comprises a slidable track, a drilling propeller and a drill rod which are slidably connected onto a slide rail above the angle regulating device, and the drilling propulsion device can be used for realizing horizontal position movement of straight hole drilling, inclined position movement of inclined hole drilling and drilling operation.
The automatic drill carriage for the coal mine rock roadway comprises a sensor regulating system and a drill frame head, wherein the sensor regulating system comprises four sensors which are respectively arranged on the side surface of a main body of a drill boom rotating device, a middle oil cylinder of a position regulating device, the side surface of an angle regulating device and the drill frame head of a drilling propulsion device. The sensor arranged on the side face of the drill boom rotating device body plays a positioning role and is a positioning sensor. The sensor arranged on the middle oil cylinder of the position regulating device is used for monitoring the telescopic motion of three oil cylinders on the position regulating device and is a position sensor. The sensor on the side of the angle regulating device is used for monitoring the telescopic motion of the oil cylinder and is an angle sensor. The sensor arranged at the head of the drill frame is used for sensing the contact between the drill frame and the working surface and is a contact sensor. The cooperation of the sensor system can realize the automatic operation of other positions.
In the construction method of the automatic drill carriage for the coal mine rock roadway, in one embodiment, the position where the drilling is required is known. The distance between the automatic drill carriage and the working face is enough to complete work, the position of the drill carriage is fixed, and the spatial position relation between each fixed point on the drill carriage and the drilling position can be known through the positioning sensor. The position signal is transmitted to the control center, the control center can control the rotation of the drill boom rotating device and the stretching of three oil cylinders on the position regulating device to complete the regulation and control of other positions except the advancing direction position, in the position regulating and control process, the angle regulating and control device connected to the position regulating and control device does not rotate, and the position sensor transmits the signal to the control center to ensure that the proper position is reached. The drilling propulsion device slides along the slide rail above the angle regulation and control device, when the head of the drill stand is abutted to the wall of the working face, the contact sensor receives a signal and transmits the signal to the control center, at the moment, the drilling operation is started, and the drilling propeller pushes the drill rod to complete the rock drilling operation.
Compared with the construction method in the prior art, the invention has the following beneficial effects:
1) the drilling and anchoring device has the advantages of high efficiency and low labor intensity;
2) the invention reduces manual regulation and control, and improves the safety of workers in the operation process;
3) the invention adds the adjustment of the sensor and the control center, so that the equipment operation is more automatic on the basis of completing the operation, the position error caused by manual operation is reduced, and the operation accuracy is improved;
4) according to the invention, the position regulation and the angle regulation are respectively carried out, each device respectively plays its own role, errors caused by simultaneous operation of the angle regulation operation and the position stretching operation can be avoided, and the operation stability is improved.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a schematic view of one embodiment of the present invention;
FIG. 3 is a schematic view of the drill boom power plant of the present invention;
FIG. 4 is a schematic view of the angle adjusting apparatus of the present invention;
FIG. 5 is a schematic view of a low level straight hole embodiment of the present invention;
FIG. 6 is a schematic view of the low inclined hole of the present invention;
FIG. 7 is a schematic view of the low inclined hole working principle of the present invention;
FIG. 8 is a schematic view of a straight hole operating position of the present invention;
fig. 9 is a schematic view of the operation of a straight hole of the present invention.
In the drawings, each numeral indicates:
1. the drilling device comprises a walking device, 2 a sensor regulating and controlling system, 3 a drill boom rotating device, 4 a position regulating and controlling device, 5 an angle regulating and controlling device, 6 a drilling propelling device.
11. The drilling rig comprises a drilling rig crawler 12, a drilling rig head supporting arm 13, a drilling rig vertical supporting arm I, a drilling rig vertical supporting arm II, a drilling rig vertical supporting arm 15, a drilling rig working surface 21, an operation positioning sensor 22, a position sensor 23, an angle sensor 24, a contact sensor 31, a rotary working arm 32, an ear seat I, an ear seat II, an ear seat 41, a cylinder I, a cylinder 42, an ear seat III, an ear seat 43, a cylinder II, a cylinder 44, a cylinder support 45, an ear seat IV, a cylinder 46, a cylinder III, a cylinder 51, an ear seat V, a cylinder 52, an ear seat VI, an ear seat VII, a ear seat VIII, an ear seat IV, a cylinder 571, a rubber cushion, a 572, a rubber cushion, a 58, a drilling rig sliding rail 61, a drilling rig rail 62, a drilling thruster 63 and a.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, the contents and principles of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions.
As shown in fig. 1, an automated drill rig according to an embodiment of the present invention includes: 1. the drilling device comprises a walking device, 2 a sensor regulating and controlling system, 3 a drill boom rotating device, 4 a position regulating and controlling device, 5 an angle regulating and controlling device, 6 a drilling propelling device.
As shown in fig. 2, 3 and 4, an automated drill rig according to an embodiment of the present invention includes: 11. the drill rig comprises a drill rig crawler 12, a drill rig head supporting arm 13, a drill rig vertical supporting arm I, a drill rig vertical supporting arm II, a drill rig working surface 15, a drill rig working surface 21, an operation positioning sensor 22, a position sensor 23, an angle sensor 24, a contact sensor 31, a rotary working arm 32, an ear seat I, an ear seat II, an ear seat 41, a cylinder I, a cylinder 42, an ear seat III, an ear seat 43, a cylinder II, a cylinder 44, a cylinder head support 45, an ear seat IV, a cylinder 46, a cylinder III, a cylinder 51, an ear seat V, a cylinder 52, an ear seat VI, an ear seat VII, a ear seat VIII, an ear seat V, an ear seat 55, an ear seat nine, a cylinder 56, a cylinder IV, a lower rubber cushion, a 572, an upper rubber cushion 58, a drill rig sliding rail 61, a drill rig rail 62, a drilling thruster.
According to the embodiment of the invention, the integral movement of the drill carriage under the coal mine rock roadway is represented as the movement of the walking device 1, the walking device 1 is contacted with the ground through the drill carriage crawler belt 11, and the movement of the drill carriage crawler belt 11 on the ground drives the drill carriage to move. The walking device 1 is provided with three supporting arms, the drill carriage head supporting arm 12 has the function of supporting the working surface 15 of the drill carriage, and the drill carriage head supporting arm 12 also has the function of balancing because the front part of the drill carriage is too large and the drill carriage is possibly unbalanced in the front and the back. The first drill carriage vertical supporting arm 13 and the second drill carriage vertical supporting arm 14 are arranged on the walking device 1 and are used for supporting a drill carriage working surface 15, wherein the main parts of the working contents are all arranged on the drill carriage working surface 15.
According to the patented embodiment of the invention, the boom swivel 3 is arranged as a work content part on the rig floor 15, the main work content of the boom swivel 3 being represented by the turning action of the swivel work boom 31. The rotary working arm 31 is provided with a first lug seat 32 and a second lug seat 33, wherein the rotary working arm 31 is hinged with a first oil cylinder 41 through the first lug seat 32, and the other section of the oil cylinder 41 is hinged with a second oil cylinder 43 through a third lug seat 42. The second oil cylinder 43 is hinged with the rotary working arm 31 through the second lug seat 33. When the rotary working arm 31 rotates, the first oil cylinder 41, the second oil cylinder 43 and the working part connected with the second oil cylinder 43 can be driven to rotate simultaneously.
According to the embodiment of the invention, the second oil cylinder 43 is provided with the third lug seat 42, the first oil cylinder 41 is hinged on the third lug seat 42, the head support 44 of the oil cylinder is arranged above the second oil cylinder 43, the head support 44 of the oil cylinder is hinged with the angle regulating device 5 through the fifth lug seat 51 arranged below the angle regulating device 5, the head support 44 of the oil cylinder is provided with the fourth lug seat 45, the fourth lug seat 45 is hinged with the third oil cylinder 46, and the third oil cylinder 46 is hinged with the angle regulating device 5 through the sixth lug seat 52 arranged in the middle of the angle regulating device 5. When the position is regulated, the first oil cylinder 41, the second oil cylinder 43 and the third oil cylinder 46 simultaneously perform telescopic action, and the angle regulating device 5 is ensured not to rotate while the completion of the position regulation work is ensured.
According to the patent embodiment of the invention, the angle adjusting device 5 is provided with a fifth ear seat 51, a sixth ear seat 52, a seventh ear seat 53, an eighth ear seat 54 and a ninth ear seat 55. Wherein, the fifth lug seat 51 is hinged with the second oil cylinder 43 through the third oil cylinder 46, the sixth lug seat 52 is hinged with the second oil cylinder 44 through the third oil cylinder 46, and the drill stand slide rail 58 is hinged above the angle adjusting device 5 through the seventh lug seat 53. Two ends of the oil cylinder four 56 for angle adjustment are respectively hinged on the lug seat eight 54 and the lug seat nine 55, so that the drill frame slide rail 58 can rotate under the adjusting action of the oil cylinder four 45. In the retracting process of the oil cylinder four 56, in order to prevent abrasion damage, two rubber pads are respectively arranged on the drill frame slide rail 56 and the angle adjusting device 5, wherein the upper rubber pad 572 is arranged on the drill frame slide rail 58, and the lower rubber pad 571 is arranged on the lug eight 54.
According to the embodiment of the invention, the angle adjusting device 5 is provided with a drill frame slide rail 58, the drilling propulsion device 6 is arranged on the drill frame slide rail 58 in a sliding mode through a drill frame rail 61, the drilling propulsion device 62 is arranged on the drilling propulsion device 6 in a sliding mode, and the drill rod 63 is connected with the drilling propulsion device 62 in operation. During operation, the drill pusher 62 slides on the drill pusher 6, and drives the drill rod 63 connected to the head thereof into the operation position.
According to the patented embodiment of the invention, the sensor control system 2 comprises four sensors at four positions, and the four sensors are respectively connected with a control center, and the control center is positioned at the middle rear part of the drill rig and is not described as the content of the invention. The operation positioning sensor 21 is fixed outside the boom rotating device 3, and is mainly used for monitoring all operation positions and transmitting operation position signals to the control center, so that the control center can calculate how to move the position regulating device 4 and the angle regulating device 5. The position sensor 22 is located on the outer side of the second oil cylinder 43 and mainly used for monitoring the position regulating device 4, transmitting a signal to the control center after the position regulating device 4 is regulated to a proper position, stopping operating the position regulating device 4 by the control center, and ensuring that the third oil cylinder 46 moves simultaneously in the telescopic process of the first oil cylinder 41, so that the angle regulating device 5 is ensured not to rotate integrally. The angle sensor 23 is arranged outside the angle regulating device 5, and is mainly used for transmitting a signal to the control center after reaching a proper angle after the control center issues a telescopic task to the oil cylinder four 56, and the control center stops operating the oil cylinder 56. The angle sensor 23 is located at the head of the drilling propulsion device 6, after the position regulating device 4 and the angle regulating device 5 complete the operation, the control center controls the drilling propulsion device 6 to slide forwards on the drill frame slide rail 58, when the drilling propulsion device 6 contacts the operation wall, the contact sensor 24 is triggered, the contact sensor 24 transmits a signal to the control center, the control center stops continuously sliding the drilling propulsion device 6, and the drilling propulsion device 62 starts to control the drilling propulsion device 62 to push the drill rod 63 to slide.
According to the patent embodiment of the present invention, fig. 5 is a schematic view of a low position straight hole embodiment of the present invention, fig. 8 is a schematic view of a working position of a straight hole of the present invention, and fig. 9 is a schematic view of a working position of a straight hole of the present invention.
According to the embodiment of the invention, when the straight hole working operation is carried out, firstly, a positioning point D is arranged on the working surface, the positioning point D is provided with a signal receiver, the signal receiver and the working positioning sensor 21 are mutually induced, and the relative position of each working position and the positioning sensor 21 can be calculated through the relative position of each working position and the D point. As shown in fig. 8, for a position a during operation, the relative positions of the positioning point D and the operation point a can be obtained from fig. 8, and the spatial position from any one fixed point on the drill carriage to the operation point a can be calculated by sensing the position D by the operation positioning sensor 21 and transmitting the sensed position to the control center. When performing straight hole drilling work, as shown in fig. 9, after the position of the working point a is determined, the control center first controls the boom turning device 3 to turn the working boom 31 to the position calculated by the control center, and when the working boom 31 is turned to the position, the position sensor 22 sends a signal to the control center, and the control center stops turning the working boom 31. Next, the control center will issue commands to the first cylinder 41, the second cylinder 43, and the third cylinder 46, and the three cylinders will start to perform telescopic motions simultaneously, as shown in fig. 9, the radius of the working surface of the drill carriage can be increased by the extending motion of the cylinders, the radius of the working surface of the drill carriage can be decreased by the shortening motion of the cylinders, and after the suitable working radius is reached, the position sensor 22 sends a signal to the control center, and the control center stops operating the three cylinders. In the stretching process of the oil cylinder, the first oil cylinder 41 and the third oil cylinder 46 are stretched or shortened at the same time all the time and are adjusted by the control center, so that the angle adjusting and controlling device 5 does not rotate around the fifth lug seat 51, the position adjusting and controlling device 4 is only adjusted and controlled in position in the working process, and the problem of operation inclination angle is not involved.
During straight hole operation, as shown in fig. 1 and 5, in the operation process, after the position control device 4 completes position control, the control center starts to control the drilling propulsion device 6, the control content is to make the drilling propulsion device 6 slide forward along the drill frame slide rail 58, when the head of the drilling propulsion device 6 contacts the wall of the operation surface, the contact sensor 24 is triggered, the contact sensor sends a signal to the control center, the control center stops sliding of the drilling propulsion device 6 on the drill frame slide rail 58, and starts to control the drilling propulsion device 62 to push the drill rod 63 to slide, so that the rock drilling rod 63 is driven into the working point a, and the drilling operation is completed.
According to the patent embodiment of the invention, fig. 6 is a schematic view of the practical operation of the low-position inclined hole of the invention, and fig. 7 is a schematic view of the operation principle of the low-position inclined hole of the invention.
When the inclined hole operation is performed, as shown in fig. 7, the inclination angle required to perform the operation is input, and the control center calculates the vertical distance from the reverse extension line of the inclination angle of the operation point to the angle control device 5, which is the distance from point E to point F in the figure. The point F is not a fixed point, any point on the reverse extension line of the inclination angle of the operation point can be taken as the point F, and the point E needs to be above the point F, so that the drilling propulsion device 6 and the reverse extension line of the inclination angle of the operation point are positioned on the same straight line after the angle regulation and control device 5 controls the angle to regulate.
When the working point position is determined during the inclined hole working, the control center firstly controls the drill boom rotating device 3, the working content is that the rotating working boom 31 is rotated to the position calculated by the control center, and after the rotating working boom 31 is rotated to the position, the position sensor 22 sends a signal to the control center, and the control center stops rotating the rotating working boom 31. Then the control center will give commands to cylinder one 41, cylinder two 43 and cylinder three 46, the three cylinders will start to make telescopic movement at the same time, the radius of the working surface of the drill carriage can be increased by the extending movement of the cylinders, the radius of the working surface of the drill carriage can be decreased by the shortening movement of the cylinders, after reaching the proper working radius, the position sensor 22 sends a signal to the control center, and the control center stops operating the three cylinders. In the stretching process of the oil cylinder, the first oil cylinder 41 and the third oil cylinder 46 are stretched or shortened at the same time all the time and are adjusted by the control center, so that the angle adjusting and controlling device 5 does not rotate around the fifth lug seat 51, the position adjusting and controlling device 4 is only adjusted and controlled in position in the working process, and the problem of operation inclination angle is not involved.
When the inclined hole works, the control center starts to control the angle regulating device 5 after finishing operating the position regulating device 4. The angle adjusting device 5 can finish the inclination of the drill stand slide rail 58 by extending the oil cylinder four 56, when the drill stand slide rail 58 inclines to a preset angle of the control center, the angle sensor 23 positioned on the side surface of the angle adjusting device 5 transmits a signal to the control center, and the control center stops the extending movement of the oil cylinder four 56. When the operation is finished or the next operation is straight hole operation, the control center adjusting oil cylinder four 56 is shortened until the drill stand slide rail 58 returns to the initial position, the upper rubber pad 572 and the lower rubber pad 571 are jointed, and the stability of the straight hole operation is ensured.
During the inclined hole operation, as shown in fig. 6, during the operation, after the angle control device 5 finishes the angle control, because of the previous calculation and operation processes, the straight line of the drill rod 63 and the reverse extension line of the inclination angle of the operation point are on the same straight line, the control center starts to control the drilling propulsion device 6, the control content is to make the drilling propulsion device 6 slide forward along the drill frame slide rail 58, when the head of the drilling propulsion device 6 contacts the wall of the operation surface, the contact sensor 24 is triggered, the contact sensor sends a signal to the control center, the control center stops the sliding of the drilling propulsion device 6 on the drill frame slide rail 58, and starts to control the drilling propulsion device 62 to push the drill rod 63 to slide, so as to drive the rock drilling rod 63 into the inclined hole operation point, and the inclined hole operation is finished.
The above is a detailed description of an embodiment of the invention.
Although the embodiments of the present invention have been shown and described, it is to be understood that the above is illustrative and not restrictive, and that various modifications may be made in the embodiments depending on actual needs.
Claims (8)
1. An automatic drill carriage for a coal mine rock roadway mainly comprises a walking device, a drill boom rotating device, a position regulating device, an angle regulating device, a drilling propulsion device and a sensor regulating system.
2. The automatic drill carriage for the coal mine rock roadway as claimed in claim 1, wherein the traveling device is represented by the movement of a track during traveling, the traveling device comprises a power device such as a moving track and a driving wheel, and a supporting arm is provided for supporting and driving a working body on the traveling device of the drill carriage, and the working body of the drill carriage is arranged on the traveling device through three supporting arms.
3. The automatic drill carriage for the coal mine rock roadway as claimed in claim 1, wherein the sensor control system comprises four sensors respectively arranged on the side of the main body of the drill boom rotating device, the middle oil cylinder of the position control device, the side of the angle control device and the drill frame head of the drilling propulsion device.
4. The automated drill rig for coal mine rock gangways as claimed in claim 1, wherein the boom rotation device is embodied as a device body in which a rotating arm is disposed. Two lug seats are arranged on the rotating arm and are respectively connected with two oil cylinders.
5. The automatic drill carriage for the coal mine rock roadway as claimed in claim 1, wherein the position control device comprises three oil cylinders, the three oil cylinders are respectively connected through ear seats, and different positions of the drilling propulsion device are adjusted through the expansion and contraction of the upper and lower two oil cylinders or the upper, middle and lower three oil cylinders.
6. The automatic drill carriage angle regulating device for the coal mine rock roadway as claimed in claim 1, comprising a regulating device body, three lug seats arranged outside the device body, a section of oil cylinder and a pair of lug seats arranged in the regulating device body, a slide rail arranged on the upper part of the regulating device body and two rubber pads for stabilizing.
7. A construction method of an automatic drill carriage for a coal mine rock roadway comprises the steps of fixing the position of the drill carriage when the distance between the automatic drill carriage for the coal mine rock roadway and a working face is enough to finish work, and adjusting a drill boom rotating device, a position adjusting device, an angle adjusting device and a drilling propelling device through leading of a sensor adjusting and controlling system so as to finish rock drilling and drilling operation.
8. The method as claimed in claim 7, wherein the spatial relationship between each fixed point on the drill carriage and the position of the drill hole is known by a positioning sensor. The position signal is transmitted to the control center, and the control center can control the rotation of the drill boom rotating device and the stretching of the three oil cylinders on the position regulating device to complete the regulation and control of other positions except the advancing direction position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810731574.4A CN110685594A (en) | 2018-07-05 | 2018-07-05 | Automatic drill carriage for coal mine rock roadway and construction method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810731574.4A CN110685594A (en) | 2018-07-05 | 2018-07-05 | Automatic drill carriage for coal mine rock roadway and construction method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110685594A true CN110685594A (en) | 2020-01-14 |
Family
ID=69106818
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810731574.4A Pending CN110685594A (en) | 2018-07-05 | 2018-07-05 | Automatic drill carriage for coal mine rock roadway and construction method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110685594A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112343506A (en) * | 2020-11-05 | 2021-02-09 | 宁夏智控能源科技有限公司 | Underground coal mine low-azimuth drilling method and hydraulic drill carriage thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2010360A (en) * | 1977-09-07 | 1979-06-27 | Nelson N | System for Connecting an Underwater Platform to an Underwater Floor |
| CN1376838A (en) * | 2001-03-24 | 2002-10-30 | 孙宽 | In-line measurer for diameter of chemical churning pile |
| CN102313674A (en) * | 2011-07-08 | 2012-01-11 | 中国矿业大学(北京) | Explosion-loading reflection-type caustic experimental method |
| CN107575161A (en) * | 2017-10-16 | 2018-01-12 | 湖南五新隧道智能装备股份有限公司 | A kind of intelligent drill jumbo |
-
2018
- 2018-07-05 CN CN201810731574.4A patent/CN110685594A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2010360A (en) * | 1977-09-07 | 1979-06-27 | Nelson N | System for Connecting an Underwater Platform to an Underwater Floor |
| CN1376838A (en) * | 2001-03-24 | 2002-10-30 | 孙宽 | In-line measurer for diameter of chemical churning pile |
| CN102313674A (en) * | 2011-07-08 | 2012-01-11 | 中国矿业大学(北京) | Explosion-loading reflection-type caustic experimental method |
| CN107575161A (en) * | 2017-10-16 | 2018-01-12 | 湖南五新隧道智能装备股份有限公司 | A kind of intelligent drill jumbo |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112343506A (en) * | 2020-11-05 | 2021-02-09 | 宁夏智控能源科技有限公司 | Underground coal mine low-azimuth drilling method and hydraulic drill carriage thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021077693A1 (en) | Detection, tunneling, supporting, anchoring and transporting integrated machine system for underground rapid tunneling, and method for using same | |
| US4056284A (en) | Machines for use in mining or tunnelling work | |
| CN110671107B (en) | Tunneling, supporting and anchoring all-in-one machine system for underground rapid tunneling and using method thereof | |
| CN110685682B (en) | Self-moving cutting equipment, control method and top-cutting pressure-relief operation method | |
| CN107965342A (en) | Arched tunnel driving moves into covering device certainly without support repeatedly | |
| CN109848956B (en) | Automatic assembling operation device and method for open TBM steel arch | |
| CN110146875B (en) | Tunnel lining radar detection device | |
| CN102704927A (en) | Comprehensive mechanization stone drift heading machine set | |
| CN106194022A (en) | A kind of Portable drilling device for fully-mechanized mining working passing fault and using method | |
| CN109403966B (en) | Mining chiseling and installing all-in-one machine and using method thereof | |
| CN114033414A (en) | Roadway driving system | |
| CN103867202A (en) | Unmanned intelligent mining machine | |
| CN203559773U (en) | Blasting mining drill wagon for thin seam | |
| CN110685594A (en) | Automatic drill carriage for coal mine rock roadway and construction method thereof | |
| CN109630013B (en) | Hydraulic rock drilling trolley | |
| CN110043255A (en) | Coal cutting roadway spiral arm milling machine | |
| CN207847670U (en) | Arched tunnel driving moves into covering device certainly without support repeatedly | |
| CN103485812A (en) | Pre-supporting mechanism and tunneling machine | |
| CN114233318A (en) | Multifunctional heading machine with cutting part capable of extending integrally | |
| CN113738338B (en) | Automatic drilling angle adjusting system, drilling work mechanism and mine drill carriage | |
| CN208982040U (en) | Coal cutting roadway spiral arm milling machine | |
| JP2633957B2 (en) | Tunnel lining method and device | |
| RU2114996C1 (en) | Frontal underground mining plant | |
| CN220015182U (en) | Tunnel deburring device and multifunctional trolley | |
| CN220726196U (en) | Multi-freedom-degree sliding type airborne multifunctional drilling machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200114 |