CN111155940A

CN111155940A - Universal arm and tunnel construction rock drill

Info

Publication number: CN111155940A
Application number: CN202010072916.3A
Authority: CN
Inventors: 龚岗; 王立军; 陈勇; 王双卯; 张建堂; 龚建
Original assignee: Fute Intelligent Equipment Chongqing Co ltd
Current assignee: Fute Intelligent Equipment Chongqing Co ltd
Priority date: 2020-01-20
Filing date: 2020-01-20
Publication date: 2020-05-15

Abstract

The invention discloses a universal arm and a tunnel construction rock drill, wherein the universal arm comprises a large arm, the front end of the large arm is provided with a front support, the front support is rotatably provided with a guide rail sliding frame through a first pivot, and a guide rail sliding frame rotation driving oil cylinder is connected between the guide rail sliding frame and the front support; and a guide rail support is rotatably arranged on the guide rail sliding frame through a second pivot parallel to the bearing surface of the front support, and a turnover driving device for driving the guide rail support to turn over is arranged between the guide rail support and the guide rail sliding frame rotation driving oil cylinder. The tunnel construction rock drill is composed of a universal arm and a stepping rock drill arranged on the universal arm. The universal arm has the advantages of simple structure, small occupied space, light weight and reliable function. The tunnel construction rock drill gives full play to the technical advantages of the stepping rock drill and the universal arm, provides guarantee for the mechanical operation of tunnel construction, and is high in construction efficiency and low in construction cost.

Description

Universal arm and tunnel construction rock drill

Technical Field

The invention relates to a guide rail structure, in particular to a universal arm and a tunnel construction rock drill.

Background

The universal arm is a mechanical arm, has multiple degrees of freedom, and is widely applied to various large and small devices, such as an arm serving as a robot in an industrial production automation device, or a cement paste spray anchor of a large construction device, and a mechanical arm serving as a construction unit in a large tunnel construction device. However, with the development of tunnel construction technology, such as the application of a stepping rock drill in construction, in order to meet the requirements of drilling position and angle adjustment and be limited by the construction environment space, the whole rock drill needs to rotate around the Z axis in the XY plane and also needs to rotate around the Y axis in the ZX plane, wherein the longitudinal direction of the guide rail is defined as the Y axis direction. Although the degree of freedom of the existing universal arm can meet the requirements, the driving devices for realizing rotation around two axes are all hydraulic motors, and the driving devices are high in manufacturing cost and heavy and are not suitable for stepping rock drills. For this reason, improvements to existing gimbal arms are needed. The step-by-step rock drill is a mechanical rock drilling equipment for replacing manual rock drilling in tunnel construction, and is formed by arranging a manual shouldering type pneumatic rock drill on a guide rail. The stepping type propelling automatic rock drilling can be realized through a simple industrial control technology. Compared with large-scale special large-scale rock drilling equipment, the construction cost is low, the maintenance cost and the use cost are low, and the method is particularly suitable for tunnel construction of domestic construction teams. However, the existing rock drill is not combined with the universal arm, and the multi-degree-of-freedom advantage of the universal arm cannot be fully utilized, so that the convenience of tunnel tunneling drilling position and angle adjustment is realized.

Disclosure of Invention

The first purpose of the invention is to provide a universal arm aiming at the defects of heavy weight and high manufacturing cost of the universal arm in the prior art, which meets the requirements of the stepping rock drill on the adjustment of the drilling direction and the adjustment of the drilling position in the tunnel construction through the longitudinal rotating structure and the rotation of a pivot vertical to an end bearing surface, and has simple structure and reliable function. A second object of the invention is to provide a tunnel boring rock drill comprising the aforementioned gimbal arm. The rock drill has multiple degrees of freedom, so that the requirements of drilling position and angle adjustment in the tunnel construction process are met.

In order to achieve the first object, the invention adopts the following technical scheme.

A universal arm comprises a large arm, wherein a front support is arranged at the front end of the large arm, a guide rail sliding frame is rotatably arranged on the front support through a first pivot, and a guide rail sliding frame rotation driving oil cylinder is connected between the guide rail sliding frame and the front support; and a guide rail support is rotatably arranged on the guide rail sliding frame through a second pivot parallel to the bearing surface of the front support, and a turnover driving device for driving the guide rail support to turn over is arranged between the guide rail support and the guide rail sliding frame rotation driving oil cylinder.

According to the invention adopting the technical scheme, the two-stage turnover mounting seat is arranged on the front support, the bearing surface of the front support forms a UV plane relative to a coordinate system UVW, the guide rail sliding frame can rotate around a W shaft in the bearing surface, and the adjustment of the drilling direction can be realized under the condition that the stepping rock drill is arranged on the guide rail support; under the condition that the longitudinal direction of the guide rail of the rock drilling machine is consistent with the axis of the second pivot, the axis of the second pivot is parallel to the V shaft, and the rock drilling machine can longitudinally rotate along with the second pivot so as to meet the requirement of adjusting the drilling position of the peripheral hole on the tunnel face of the tunnel. The structure that it combines together through actuating cylinder and pivot replaces traditional hydraulic motor, makes simple structure, reduces occupation space, lightens weight, and the function is reliable, and application scope is wide. The front support hinge shaft, the first pivot and the second pivot form a UVW relative coordinate system relative to the large arm.

Preferably, the turnover driving device comprises a turnover driving oil cylinder, and a cylinder body and a piston rod of the turnover driving oil cylinder are respectively hinged on the guide rail sliding frame and the guide rail support. The turnover driving is realized through a simple and mature telescopic power element, so that the structure is simplified, and the failure occurrence rate is reduced.

Preferably, the guide rail sliding frame is in a long strip shape, and at least two guide rail supports are distributed in the length direction of the guide rail sliding frame; the turnover driving oil cylinders on the guide rail supports are synchronously telescopic. So as to form uniform and stable support for the component to be installed through a plurality of guide rail supports.

Preferably, the front support is hinged to the front end of the large arm, and a hydraulic support rod is further arranged between the free end of the front support and the large arm. The front support rotates around the U shaft in a VW plane of the UVW relative coordinate system, and fine adjustment of the angle of the drilling machine is achieved.

Preferably, the large arm is of a two-stage telescopic structure, and is hinged to the large arm mounting seat which is hinged to the rear support; a cross universal joint structure is formed between the large arm and the rear support through a horizontal joint shaft and a vertical joint shaft on the large arm mounting seat; the pitching angle of the large arm is adjusted by a pitching adjusting oil cylinder arranged on the large arm mounting seat; the horizontal rotation angle of the large arm is adjusted by a horizontal adjusting oil cylinder arranged on the base mounting seat. In an absolute coordinate system XYZ, the hinge axis of the big arm and the big arm mounting seat is parallel to an X axis, and the hinge axis of the big arm and the rear support is parallel to a Z axis and extends and retracts along a Y axis direction.

Preferably, the guide rail support is of a sliding table structure, and a movable driving oil cylinder is arranged on the guide rail support; the movable driving oil cylinder is used for driving a third component arranged through the guide rail support. The third member accessible removes the drive cylinder drive and removes, and when the third member was step-by-step rock drill, can realize the whole longitudinal movement of rock drill for the guide rail support, can compensate the flexible length of big arm, makes things convenient for more that the position control of lifting a hole and make things convenient for the guide rail removal of the fixed process in guide rail front end to adjust the requirement.

In order to achieve the second object, the invention adopts the following technical scheme.

A tunnel construction rock drill comprises a stepping rock drill, wherein the stepping rock drill is arranged on a guide rail support of a universal arm for realizing the first purpose; and in the scheme that the guide rail support is of a sliding table structure, the stepping rock drilling mechanism is the third component.

According to the invention adopting the technical scheme, the two-stage turnover mounting seat is arranged on the front support, the bearing surface of the front support forms a UV plane relative to a coordinate system UVW, the guide rail sliding frame can rotate around a W shaft in the bearing surface, and the stepping rock drill is arranged on the guide rail support, so that the adjustment of the drilling direction can be realized; under the condition that the longitudinal direction of the guide rail of the rock drilling machine is consistent with the axis of the second pivot, the axis of the second pivot is parallel to the V shaft, and the rock drilling machine can longitudinally rotate along with the second pivot so as to meet the requirement of adjusting the drilling position of the peripheral hole on the tunnel face of the tunnel. The structure that it combines together through actuating cylinder and pivot replaces traditional hydraulic motor, makes simple structure, reduces occupation space, lightens weight, and the function is reliable, and application scope is wide. The front support hinge shaft, the first pivot and the second pivot form a UVW relative coordinate system relative to the large arm. And be the slip table structure at the guide rail support, marching type rock drilling mechanism becomes in the scheme of third component, can realize that the rock drill is for the whole longitudinal movement of guide rail support, can compensate the flexible length of big arm, make things convenient for more that the position control of pulling out a hole and make things convenient for the guide rail removal of the fixed process in guide rail front end to adjust the requirement.

Preferably, the stepping rock drill is provided with a drill clamping and withdrawing device; the drill clamping and withdrawing device comprises a locking sliding block and a driving mechanism with reciprocating movement output motion, the driving mechanism is connected between the rock drill bearing sliding table and the locking sliding block, and the locking sliding block is only longitudinally movably arranged on the rock drill bearing sliding table; the locking slide block can be matched with a locking hole on a guide rail of the stepping rock drill through a lock pin driven by the locking cylinder to form a locking state with the guide rail. The first locking device for bearing the sliding table by the rock drill is arranged between the sliding block and the guide rail, the sliding block can be movably arranged relative to the bearing guide rail of the rock drill, when the sliding block and the guide rail are locked by the first locking device, the bearing sliding table of the rock drill can longitudinally move under the action of the driving mechanism, so that when the drill needs to be retreated after the drill is stuck, the bearing sliding table of the rock drill retreats, the purpose of retreating the drill is achieved, the drill bit is retreated when the drill is stuck conveniently, the structure is simple, and the function of retreating the drill is reliable.

Preferably, the stepping rock drill has a front end positioning device; the guide rail of the rock drill is of a structure which can be elongated in the length direction; the front end positioning device is inserted into a rock body to form a guide rail front end positioning support; the guide rail forms a structure with variable length through the base section and the extension section; an extension positioning structure and an extension locking mechanism are arranged between the basic section and the extension section; the foundation section and the extension section are connected through an inclined joint surface; the joint surface is gradually inclined outwards from top to bottom on the base section; the lengthening positioning structure is used for preventing the base section and the lengthening section from being staggered left and right and up and down; lengthening and locking mechanism. So that the length of the guide rail can be increased and decreased according to different construction footage, and the lengthened guide rail has good rigidity, high strength, reliable connection, good stability and safe use.

Preferably, the stepping rock drill comprises an air leg, and an electric switch valve and an electric flow regulating valve which are arranged in parallel are arranged on an air inlet pipeline or an air outlet pipeline of the air leg. When the drilling is propelled, the gas leg supplies gas through the electric flow regulating valve and the bypass, so that the flow regulation is convenient, the drilling speed regulation is realized, and the drilling speed requirements of rock masses with different hardness are met; when the electric switch valve is in the open state, the first pipeline is ventilated, and the air leg is quickly stretched. When the drilling is stepped, the air leg retracts to pull the air leg bearing sliding table to advance quickly; when the drill bit is withdrawn, the air leg retracts to pull the bearing sliding table of the rock drill to retract quickly; the air leg extends out to push the air leg bearing sliding table to retract quickly.

The universal arm has the advantages of simple structure, small occupied space, light weight and reliable function. The tunnel construction rock drill is characterized in that the stepping rock drill is arranged on the universal arm, and the multi-degree of freedom and the characteristics of small occupied space and light weight of the universal arm are utilized, so that the adjustment of the position and the direction of various working conditions of the rock drill, such as the drilling position and angle, the installation and fixation of the rock drill and the like, can be conveniently realized. The automatic control system has the advantages of complete functions, high construction efficiency and low construction cost, is beneficial to realizing automatic control, and provides guarantee for mechanical operation of tunnel construction, and has the advantages of drill clamping and drill withdrawing, guide rail length increasing and decreasing and the like.

Drawings

FIG. 1 is a schematic perspective view of the construction of the gimbal arm of the present invention.

FIG. 2 is a schematic view of a part of the structure of the gimbal according to the present invention.

Fig. 3 is a partial structural schematic view of the universal arm of the present invention, wherein the guide rail support is in a turned state of a set angle.

FIG. 4 is a structural schematic isometric view of another perspective of the gimbal arm of the present invention.

Figure 5 is a schematic isometric view of the construction of the tunnel boring rock drill of the present invention.

Fig. 6 is a schematic perspective view of the construction of the stepping rock drill in the tunnel boring rock drill of the present invention.

Fig. 7 is a schematic view of a part of the construction of the jack-up device for the step rock drill in the present invention.

Fig. 8 is a schematic front view of the guide rail structure for the stepping rock drill of the present invention.

Fig. 9 is an enlarged view of the portion a of fig. 8 according to the present invention.

Fig. 10 is a top view of the invention as in fig. 9, with the elongated locking mechanism in a locked condition.

Fig. 11 is a schematic perspective view of the guide rail fixing apparatus for rock drilling machine of the present invention.

Fig. 12 is a front view schematically showing the structure of the guide rail fixing apparatus for a rock drill according to the present invention.

FIG. 13 is a schematic diagram of a portion of the gas circuit of the present invention.

Detailed Description

The present invention is further described with reference to the accompanying drawings, but the invention is not limited thereby within the scope of the described embodiments.

Embodiment 1, referring to fig. 1, fig. 2, fig. 3, and fig. 4, a universal arm includes a large arm 100, a front support 110 is disposed at a front end of the large arm 100, the front support 110 is rotatably disposed with a rail sliding frame 120 through a first pivot, and a rail sliding frame rotation driving cylinder 121 is connected between the rail sliding frame 120 and the front support 110; the guide rail sliding frame 120 is rotatably provided with a guide rail support 130 through a second pivot parallel to the bearing surface of the front support, and a turning driving device for driving the guide rail support 130 to turn is arranged between the guide rail support 130 and the guide rail sliding frame rotation driving oil cylinder 121. Referring to fig. 5, the guide rail support 130 is of a sliding table structure, and a moving driving cylinder 142 is provided on the guide rail support 130; the movement driving cylinder 142 is used to drive the third member provided through the rail housing 130; the carrier member 130 is connected to the third member in a rolling frictional connection to reduce frictional resistance to sliding movement of the third member on the carrier member 130.

The turnover driving device includes a turnover driving cylinder 141, and a cylinder body and a piston rod of the turnover driving cylinder 141 are respectively hinged to the guide rail sliding frame 120 and the guide rail support 130. The guide rail sliding frame 120 is in a long strip shape, and at least two guide rail supports 130 are distributed in the length direction of the guide rail sliding frame 120; the turnover driving cylinders 141 on the plurality of guide rail supports 130 are synchronously extended and contracted.

The front support 110 is hinged at the front end of the large arm 100, and a hydraulic support rod 111 is further arranged between the free end of the front support 110 and the large arm 100. The large arm 100 is of a two-stage telescopic structure, the large arm 100 is hinged on a large arm mounting seat 101, and the large arm mounting seat 101 is hinged on a rear support 102; a cross universal joint structure is formed between the large arm 100 and the rear support 102 through a horizontal joint shaft and a vertical joint shaft on the large arm mounting seat 101; wherein, the pitch angle of the big arm 100 is adjusted by a pitch adjusting oil cylinder 103 arranged on the big arm mounting seat 101; the horizontal rotation angle of the boom 100 is adjusted by a horizontal adjustment cylinder 104 mounted on the base mount 102.

In this embodiment, the boom 100 includes a base boom 100a, the base boom 100a is a rectangular tube structure, a first-stage telescopic boom 100b is installed in the base boom 100a, the first-stage telescopic boom 100b is driven by a first-stage telescopic cylinder 100c to move in a telescopic manner, and two ends of the first-stage telescopic cylinder 100c are respectively hinged to the base boom 100a and the first-stage telescopic boom 100 b; the first-stage telescopic boom 100b is also in a rectangular pipe structure, a second-stage telescopic boom 100d is arranged in the first-stage telescopic boom 100b, the free end of the second-stage telescopic boom 100d is connected with the front support 110, the second-stage telescopic boom 100d is driven by a second-stage telescopic oil cylinder 100e to telescopically move, two ends of the second-stage telescopic oil cylinder 100e are respectively hinged to the second-stage telescopic boom 100d and the first-stage telescopic boom 100b, a hinge support lug 100f hinged to the second-stage telescopic oil cylinder 100e is arranged on the first-stage telescopic boom 100b, and the hinge support lug 100f is positioned on the side wall of the first-stage telescopic; the side wall of the base arm 100a is provided with a strip-shaped waist groove, and the strip-shaped waist groove is used for avoiding the hinge lug 100f in the movement process of the first-stage telescopic arm 100 b.

The X axis, the Z axis and the Y axis in a basic coordinate system XYZ are respectively and correspondingly formed by the hinge axis of the large arm 100 and the large arm mounting seat 101, the hinge axis of the large arm mounting seat 101 and the rear support 102 and the telescopic axis of the large arm 100; the hinge axis, the first pivot axis and the second pivot axis of the front support 110 and the large arm 100 respectively form a U-axis, a W-axis and a V-axis in a relative coordinate system UVW, and the moving direction of the third member coincides with the V-axis.

Embodiment 2, refer to fig. 5 in combination with fig. 1 to 4, a tunnel construction rock drill includes a step rock drill 200, the step rock drill 200 is mounted on the guide rail support 130 of the universal arm of embodiment 1, and the guide rail support 130 is in a sliding table structure; the step rock drill 200 is longitudinally movably arranged on said guide rail mount 130, and a drill movement driving cylinder 142 is arranged between the guide rail mount 130 and said step rock drill 200. .

The hinge axis of the large arm 100 and the large arm mounting seat 101, the hinge axis of the large arm mounting seat 101 and the rear support 102, and the telescopic axis of the large arm 100 respectively and correspondingly form an X axis, a Z axis and a Y axis in an absolute coordinate system XYZ; the hinge axis, the first pivot axis and the second pivot axis of the front support 110 and the boom 100 respectively form a U-axis, a W-axis and a V-axis in a relative coordinate system UVW, and the overall moving direction of the stepping rock drill 200 coincides with the V-axis.

Referring to fig. 6, the stepping rock drill 200 comprises a rock drilling host 1, a guide rail 2, a drill bearing sliding table 3, an air leg 14 and an air leg bearing sliding table 18, wherein a first locking device is arranged between the drill bearing sliding table 3 and the guide rail 2; the drill bearing sliding table 3 is also provided with a drill withdrawing device; the drill withdrawal device comprises a locking slide block 5 and a driving mechanism 6 with reciprocating movement output motion, wherein the driving mechanism 6 is connected between the drill bearing sliding table 3 and the locking slide block 5, and the locking slide block 5 is only longitudinally movably arranged on the drill bearing sliding table 3; the first locking device is arranged between the locking slide block 5 and the guide rail 2; the air leg 14 is connected between the drill rig bearing sliding table 3 and the air leg bearing sliding table 18; a second locking device is arranged between the air leg bearing sliding table 18 and the guide rail 2.

The driving mechanism 6 is composed of an oil cylinder. The oil cylinder is connected to the drill bearing sliding table 3 through a cylinder body, and the locking sliding block 5 is fixedly connected with the far end of a piston rod of the oil cylinder; taking the drilling direction of the rock drill as the front, wherein the locking slide block 5 is positioned in front of the oil cylinder, and when the piston rod of the oil cylinder is in a retraction state, the locking slide block 5 is locked with the guide rail through the first locking device, and the piston rod extends out to implement bit withdrawal; by utilizing the characteristic that the extending thrust of the piston rod of the oil cylinder is larger than the retracting thrust, the drill withdrawal thrust can be increased under the condition that the cylinder diameter of the oil cylinder is the same, or the diameter of the oil cylinder can be reduced under the condition that the drill withdrawal thrust is the same. Two opposite guide grooves are formed in the drill bearing sliding table 3 through bumps, the locking sliding block 5 is located between the two guide grooves, and guide portions in sliding fit with the guide grooves are formed in two sides of the locking sliding block 5. The first locking device comprises a first locking cylinder 4 and a plurality of locking holes which are longitudinally distributed on the guide rail 2; a lock pin which is integrally formed or fixedly connected with a piston rod of the first locking cylinder 4 is matched with the locking hole to form a bolt type locking structure; and a long hole for the lock pin to translate along the guide groove is formed on the drill bearing sliding table 3. The second locking means is also formed by a plurality of locking holes distributed longitudinally on the guide rail 2 and a second locking spigot on the piston rod of a second locking cylinder 19.

The front end of the guide rail 2 is provided with a front end supporting sleeve 7 for supporting a drill rod, the middle section of the guide rail 2 is provided with an intermediate supporting sleeve 8, and the intermediate supporting sleeve 8 is arranged on the jacking device. Referring to fig. 7, the jacking device comprises a jacking base and a lifting block 11, the jacking base 39 is adjustably arranged on the guide rail 2 and fixedly connected with a jacking cylinder 9, the distal end of a piston rod of the jacking cylinder 9 is connected with a push block 10, and the front end of the push block 10 is provided with a jacking inclined plane; the lifting block 11 can only be vertically matched in the jacking cylinder 12 in a lifting way, the jacking cylinder 12 is fixed on the jacking base, the lower end of the lifting block 11 is provided with a roller 13, and the roller 13 is in rolling connection with the jacking inclined plane; the middle supporting sleeve 8 is fixedly connected to the upper end of the lifting block 11.

Referring to fig. 8, 9 and 10, the guide rail 2 is formed into a variable length structure by a base section 21 and an extension section 22; an extension positioning structure and an extension locking mechanism are arranged between the basic section 21 and the extension section 22; the foundation section 21 and the extension section 22 are connected through an inclined joint surface; the bonding surface is gradually inclined outwards from top to bottom on the base section 21; the extension positioning structure is used for preventing the base section 21 and the extension section 22 from being staggered left and right and up and down. The guide rail 2 comprises a guide rail main body and a track, wherein the track is made of a circular tube, and the guide rail main body is made of a square tube or a rectangular tube; the lengthening positioning structure comprises a positioning column 24 matched with a circular tube inner hole of the track, one part of the positioning column 24 is inserted into the circular tube track tube hole of the basic section 21, and the other part of the positioning column is inserted into the circular tube track tube hole of the lengthening section 22. The square pipe or the rectangular pipe can be a rolled or drawn section bar, and can also be formed by bending a steel plate and then welding; the guide rail main body is formed by combining two square tube welding machines in the height direction; the upper ends of two sides of the square steel pipe above are respectively welded with a round pipe, the round pipes form the track, two sides of the lower end of the square steel pipe below are respectively welded with a round pipe, a square pipe or a tube, flat steel or angle iron, and the round pipe, the square pipe or the tube, the flat steel or the angle iron below are used for installing and fixing the guide rail.

The guide rail main body is provided with two parallel rails; and the positioning columns 24 are arranged in the pipe holes of the joint parts of the two circular pipe tracks of the basic section 21 and the extension section 22. The base section 21 and the extension section 22 are connected through two connecting plates 25, the joint surfaces of the two connecting plates 25 form the joint surfaces of the base section 21 and the extension section 22, and the two connecting plates 25 are respectively welded and fixed on the guide rail main bodies of the base section 21 and the extension section 22. The connecting plate 25 is welded on the lower square tube, the end part of the upper square tube is welded with an end plate, and the end plate is welded with a positioning tube; the positioning pipes on the two end plates are inserted with a third positioning column 23, and the three positioning columns are distributed on three corners of the isosceles triangle.

The lengthening locking mechanism is an eccentric locking structure. The lengthening locking mechanism comprises a hook 26 and a ring buckle 27, and the hook 26 is fixedly arranged on the base section 21; the ring buckle 27 is hinged to the handle 28, and the handle 28 is hinged to the extension section 22. The ring buckle 27 is movably arranged on a ring buckle seat 29, the ring buckle seat 29 is hinged on the handle 28, and a loading spring 30 is arranged between the ring buckle seat 29 and the ring buckle 27. Wherein, one end of the ring buckle 27 is welded with a connecting rod 27a, and the free end of the connecting rod 27a is welded with a guide block 27 b; one end of the ring buckle seat 29 is provided with a rod-shaped structure, the ring buckle seat 29 is hinged with the handle 28 through one end of the rod-shaped structure, the other end of the ring buckle seat 29 is in a frame-shaped structure, the connecting rod 27a extends into the frame from one end of the frame-shaped structure, the frame walls on two sides of the frame-shaped structure are provided with sliding grooves 29a, and the guide blocks 27b are in sliding fit in the sliding grooves 29 a; the loading spring 30 abuts against the guide block 27b at one end and against the inner wall of one end of the frame-shaped structure at the other end. The hinged seat of the handle 28 is formed by two independent lugs 28a, and the connecting shaft is formed by two half shafts 8 b; in the locked state, the connection line between the hinge center of the buckle seat 29 and the handle 28 and the hinge center of the handle 28 and the connecting section 22 is coincident with the axis of the connecting rod 27 a. The hook 26 can also be arranged on the extension section 22, and the handle 28 is hinged on the base section 21.

In addition, the lower part of the front end of the guide rail 2 is provided with a guide rail fixing device 40 for supporting the guide rail 2 through a rock body. The front end fixing device forms a support for the overhanging part of the guide rail 2, and the support strength and rigidity of the guide rail are improved. Wherein the rail fixing device 40 provides support using a member insertable into the rock mass, and different structures can be provided according to the characteristics of the tunnel rock mass. For soft rock, the front end of the guide rail can be provided with a drill steel with a conical tip at the front end, and the drill steel keeps the firmness of inserting into the rock through a jacking spring; a drilling machine or a small rock drill can also be fixedly arranged at the front end of the guide rail, and after the drill rod is drilled into the guide rail, the drill rod is utilized to form the supporting member.

Referring to fig. 11 and 12, in the scheme that the guide rail fixing device 40 is formed by a small-sized rock drill, the guide rail fixing device comprises a positioning seat 41 fixed below the front end of a drill arm, a positioning rock drill 42 with a pneumatic mechanism is hung on the positioning seat 41 in a sliding manner, the front end of the positioning rock drill 42 is used for arranging a drill rod 47, and the rear end of the positioning rock drill 42 is provided with a pushing cylinder or oil cylinder 43; the tip 46 is fixedly connected to the front end of the positioning seat 41.

Wherein, a drill rod guide seat 48 is arranged in front of the positioning rock drill 42, a drill rod guide hole is arranged on the drill rod guide seat 48, and the drill rod guide seat 48 is fixedly connected to the positioning seat 41. The positioning seat 41 is tubular; a cross beam 49 is matched in the positioning seat 41 in a sliding way, and a lug seat 49a is arranged on the cross beam 49; a strip-shaped avoiding groove is formed in the lower side of the pipe wall of the positioning seat 41; the lifting lug seat 49a penetrates through the strip-shaped avoidance groove to be hinged with a lifting lug on the positioning rock drill 42; two supporting seats 44 are fixedly connected in the positioning seat 41, and the two supporting seats 44 are sleeved on the cross beam 49 in a sliding fit manner.

The pushing cylinder or oil cylinder 43 is fixedly arranged in a protection tube 45, and the protection tube 45 is fixedly connected to the rear part of the lower end of the positioning seat 41. A jacking cylinder or oil cylinder 43 is hinged with the rear end of the positioning rock drill 42. When the piston rod of the air cylinder or the oil cylinder retracts, the pneumatic rock drill is pulled to retract, and then the drill rod is withdrawn from the positioning hole, so that the position of the drill boom can be changed conveniently. Wherein, a guide sleeve 48a is arranged in the drill rod guide seat 48, and the guide hole is arranged in the guide sleeve 48 a. So that the guide sleeve 48a can be replaced independently after being worn, and the use cost is reduced.

Referring to fig. 13, when the air leg 14 pushes the rock drilling host 1 to drill, the air inlet and outlet pipelines of the air leg 14 are respectively composed of an air inlet pipeline 15 and an air outlet pipeline 34, and the air inlet pipeline 15 is provided with an electric switch valve 16 and an electric flow regulating valve 17 which are arranged in parallel. The rock drilling host 1 is connected with a drilling air supply pipe 32 and a slag blowing air supply pipe 33 through a rear cover of a drilling machine, and the drilling air supply pipe 32 and the slag blowing air supply pipe 33 are connected with the air supply main pipeline through electric control valves; the air inlet pipeline 15 and the exhaust pipeline 34 are connected to the electromagnetic directional valve 35, the air inlet of the electromagnetic directional valve 35 is connected with the air supply main pipe, and the air outlet of the electromagnetic directional valve 35 is communicated with the atmospheric environment.

The electric switch valve 16 is connected to the air inlet pipeline 15, the electric flow regulating valve 17 is connected to the air inlet bypass, the bypass is connected in parallel with the air inlet pipeline 15, and the pipe diameter of the bypass is smaller than that of the air inlet pipeline 15. The electric switch valve 16 is of a normally closed structure; the electromagnetic directional valve 35 is a three-position five-way valve with a middle sealing structure; the electric control valves for controlling the drilling gas supply pipe 32 and the slag blowing gas supply pipe 33 are composed of a first electromagnetic valve 36 and a second electromagnetic valve 37, and both the first electromagnetic valve 36 and the second electromagnetic valve 37 are switch valves; an oil pot 38 is also arranged on the main gas supply pipeline; the bore hole air supply pipe 32 has a larger pipe diameter than the slag blowing air supply pipe 33.

In this embodiment, when the guide rail support 130 does not adopt a sliding table structure, the stepping rock drill 200 is fixedly connected to the guide rail support 130. The stepping rock drill 200 of this solution cannot move integrally on the rail mount 130, and is firmly connected and rigid. The method is suitable for tunnel tunneling rock drills without longitudinal position adjustment.

In this embodiment, the electromagnetic directional valve 35 may also adopt a two-position five-way valve instead of a three-position five-way valve. Furthermore, the electric on-off valve 16 and the electric flow rate control valve 17 may be connected in parallel to the exhaust line 34 of the gas leg 14.

In this embodiment, the front support sleeve 7 and the middle support sleeve 8 both comprise a bushing and a bushing seat, the bushing can freely rotate relative to the bushing seat, and the bushing seat of the front support sleeve 7 is fixedly connected with the front end of the guide rail 2 through a front support; the bushing seat of the middle support sleeve 8 is fixedly connected with the upper end of the lifting block 11.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A universal arm comprises a large arm (100), wherein a front support (110) is arranged at the front end of the large arm (100), and the universal arm is characterized in that a guide rail sliding frame (120) is rotatably arranged on the front support (110) through a first pivot, and a guide rail sliding frame rotation driving oil cylinder (121) is connected between the guide rail sliding frame (120) and the front support (110); a guide rail support (130) is rotatably arranged on the guide rail sliding frame (120) through a second pivot parallel to the bearing surface of the front support, and a turnover driving device for driving the guide rail support (130) to turn over is arranged between the guide rail support (130) and the guide rail sliding frame rotation driving oil cylinder (121).

2. The gimbal arm according to claim 1, wherein the tilting drive device comprises a tilting drive cylinder (141), and a cylinder body and a piston rod of the tilting drive cylinder (141) are respectively hinged on the rail sliding frame (120) and the rail support (130).

3. The gimbal arm according to claim 2, wherein the rail sliding frame (120) is elongated, and at least two rail brackets (130) are distributed along the length direction of the rail sliding frame (120); the turnover driving oil cylinders (141) on the guide rail supports (130) synchronously extend and retract.

4. A cardan arm according to claim 1, characterised in that said front support (110) is hinged at the front end of said large arm (100), a hydraulic stay (111) being provided between the free end of the front support (110) and said large arm (100).

5. A cardan arm according to any of claims 1-4, characterized in that said large arm (100) is of a two-stage telescopic structure; the large arm (100) is hinged to the large arm mounting seat (101), and the large arm mounting seat (101) is hinged to the rear support (102); a cross universal joint structure is formed between the large arm (100) and the rear support (102) through a horizontal joint shaft and a vertical joint shaft on the large arm mounting seat (101); wherein the pitch angle of the big arm (100) is adjusted by a pitch adjusting oil cylinder (103) arranged on a big arm mounting seat (101); the horizontal rotation angle of the large arm (100) is adjusted by a horizontal adjusting oil cylinder (104) arranged on a base mounting seat (102).

6. The universal arm according to any one of claims 1 to 4, wherein the guide rail support (130) is of a sliding table structure, and a movable driving oil cylinder (142) is arranged on the guide rail support (130); the moving driving cylinder (142) is used for driving a third component arranged through the guide rail support (130).

7. A tunnel construction rock drill comprising a step rock drill, characterized in that the step rock drill is mounted on a guide rail support (130) of a universal arm according to any one of claims 1 to 6; and in the scheme that the guide rail support (130) is of a sliding table structure, the stepping rock drilling mechanism is the third component.

8. A tunnel construction rock drill according to claim 7, wherein the step drill has a stuck bit retract; the drill clamping and withdrawing device comprises a locking sliding block (5) and a driving mechanism (6) with reciprocating movement output motion, wherein the driving mechanism (6) is connected between the rock drill bearing sliding table (3) and the locking sliding block (5), and the locking sliding block (5) is only longitudinally movably arranged on the rock drill bearing sliding table (3); the locking sliding block (5) can be matched with a locking hole in a guide rail (2) of the stepping rock drill through a lock pin driven by the locking cylinder (4) to form a locking state with the guide rail (2).

9. A tunnel construction rock drill according to claim 7, wherein the step rock drill has a front end positioning device; the guide rail of the rock drill is of a structure which can be elongated in the length direction; the front end positioning device is inserted into a rock body to form a guide rail front end positioning support; the guide rail forms a structure with variable length through a base section (21) and an extension section (22); an extension positioning structure and an extension locking mechanism are arranged between the basic section (21) and the extension section (22); the foundation section (21) and the extension section (22) are connected through an inclined joint surface; the joint surface is gradually inclined outwards from top to bottom on the base section (21); the lengthening positioning structure is used for preventing the base section (21) and the lengthening section (22) from being staggered left and right and up and down; lengthening and locking mechanism.

10. The tunnel construction rock drill according to claim 7, characterized in that the step rock drill comprises an air leg (14), and that an electric on-off valve (16) and an electric flow regulating valve (17) are arranged in parallel on the air inlet line (15) or the air outlet line of the air leg (14).