CN111997667A - Roofbolter with guard bar manipulator for coal mine - Google Patents
Roofbolter with guard bar manipulator for coal mine Download PDFInfo
- Publication number
- CN111997667A CN111997667A CN202010813381.0A CN202010813381A CN111997667A CN 111997667 A CN111997667 A CN 111997667A CN 202010813381 A CN202010813381 A CN 202010813381A CN 111997667 A CN111997667 A CN 111997667A
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- China
- Prior art keywords
- frame
- oil cylinder
- rod
- temporary support
- feeding oil
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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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- 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
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
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- 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
- E21B7/024—Drilling rigs characterized by means for land transport with their own drive, e.g. skid mounting or wheel mounting having means for adapting to inclined terrain; having means for stabilizing the vehicle while drilling
Abstract
The invention belongs to anchor rod supporting equipment, and particularly relates to a coal mine anchor rod drilling machine with a rod protection mechanical arm. A frame component is arranged on the frame component, a long feeding oil cylinder is arranged at the bottom of the frame component, a cylinder barrel lug seat of the long feeding oil cylinder is connected with a long feeding oil cylinder fixing lug seat of the frame component, a cylinder rod lug seat of the long feeding oil cylinder is connected with a top plate of the frame component, a guide connecting plate which can slide relatively is arranged on the frame component, the guide connecting plate is fixedly connected with a drill box, a mandril hooking device which can realize the turnover of a mechanical paw is fixed on one side of the drill box, the manipulator guard arm and the manipulator claw are connected to the frame assembly, one end of the chain transmission device is connected with the guide connecting plate, the other end of the chain transmission device is connected with the sliding frame assembly, the chain transmission device is wound on the short feeding oil cylinder through the pulley assembly, and the short feeding oil cylinder extends to drive the movable pulley device formed by the chain transmission device and the guide connecting plate to realize multiplication lifting of the guide connecting plate.
Description
Technical Field
The invention belongs to anchor rod supporting equipment, and particularly relates to a coal mine anchor rod drilling machine with a rod protection mechanical arm.
Background
The support mode in the current roadway driving process is mainly anchor bolt support. In the anchor protection process of the anchor rod drilling machine, the phenomenon of rod swinging can be met sometimes, and even rod folding can occur, so that when the anchor rod drilling machine is used for anchor protection, workers often need to hold a drill rod by hands to move upwards to a jacking position, and the anchor rod drilling machine is very dangerous and greatly influences the drilling speed. How to realize automatic fender rod through the fender rod device in roofbolter is solved the anchor and bores the swing rod, ensures workman anchor and protects the problem that operation safety is waited to solve urgently. Meanwhile, in the current tunnel anchoring and protecting operation, the serious problems of unbalanced tunneling and anchoring and protecting exist, the anchoring and protecting operation time is 3 times of the tunneling operation time, the adverse effects of anchoring and protecting such as tunneling and the like are caused, and the realization of underground quick tunneling of a coal mine is seriously restricted, so that the realization of high-efficiency quick anchoring and protecting is urgent, the most direct way is to improve the anchoring and drilling speed, but the rod throwing phenomenon of the anchor rod drilling machine is more obvious along with the improvement of the anchoring and drilling speed, the resistance of the anchor rod drilling machine is greatly increased, even the phenomenon of rod folding or rod flying can occur, the anchor drilling speed is greatly influenced, meanwhile, the safety of operators is greatly threatened, and in order to solve the outstanding problems, the anchor rod drilling machine with the rod protecting manipulator for the coal mine is developed.
Disclosure of Invention
The invention discloses a coal mine jumbolter with a rod protection manipulator, which is specially developed for realizing the rod protection function in the drilling process of a drill rod, effectively solves the problem of rod throwing caused by overlong length of the drill rod in the anchoring and protecting process (especially under the working condition that a rod needs to be connected) of the coal mine jumbolter, and provides the coal mine jumbolter with the rod protection manipulator.
The invention adopts the following technical scheme: a coal mine jumbolter with a guard bar manipulator comprises a temporary support, a frame assembly, a short feeding oil cylinder, a sliding frame assembly, a drill box, a mandril hooking device, a guide connecting plate, a chain transmission device, a long feeding oil cylinder, a manipulator guard arm, a manipulator claw and a control valve group, wherein the control valve group is integrated at one side of the frame assembly, the frame assembly is provided with the temporary support for the roof of the jumbolter and the sliding frame assembly capable of relatively lifting, the bottom of the frame assembly is provided with the long feeding oil cylinder, a cylinder barrel lug of the long feeding oil cylinder is connected with a long feeding oil cylinder fixing lug of the frame assembly, a cylinder rod lug of the long feeding oil cylinder is connected with a top plate of the sliding frame assembly, the sliding frame assembly is provided with the guide connecting plate capable of relatively sliding, the guide connecting plate is fixedly connected with the drill box, and the mandril hooking device capable of realizing the turnover of the, the manipulator guard arm and the manipulator claw are connected to the frame assembly, one end of the chain transmission device is connected with the guide connecting plate, the other end of the chain transmission device is connected with the sliding frame assembly, the chain transmission device is wound on the short feeding oil cylinder through the pulley assembly, and the short feeding oil cylinder extends to drive the movable pulley device formed by the chain transmission device and the guide connecting plate to realize multiplication lifting of the guide connecting plate.
Further, the frame assembly comprises a frame body, a drill frame suspension lug seat, a front-back swing connecting lug, a liquid collecting block, a temporary support lifting track, a long feeding oil cylinder fixing lug seat, a guide copper bar and a slide frame assembly lifting track, wherein the drill frame suspension lug seat used for being fixedly connected with the anchor rod drill carriage and the front-back swing connecting lug used for being connected with the front-back swing oil cylinder to realize front-back swing of the drill frame are arranged on two sides of the frame body, the liquid collecting block used for fixing the control valve group is installed on one side of the upper portion of the frame body, the temporary support lifting track connected with the temporary support is arranged on the back face of the frame body, the guide copper bar and the slide frame assembly lifting track capable of realizing relative lifting of the slide frame assembly relative to the frame assembly are arranged on the front face of the frame body, and the long feeding oil cylinder fixing lug seat.
Further, the temporary support comprises an oil cylinder fixing seat, a temporary support oil cylinder, a temporary support frame and a support top plate assembly, the support top plate assembly is arranged at the top of the temporary support frame, the bottom of the temporary support frame is connected with the temporary support oil cylinder, the temporary support oil cylinder is fixed on the oil cylinder fixing seat, the oil cylinder fixing seat is fixed with the frame main body, and the temporary support frame is inserted into the temporary support lifting track and can slide along the temporary support lifting track.
Further, the sliding frame assembly comprises a short feeding oil cylinder fixing block, a rear guide rail groove, a front guide rail groove and a sliding frame main body, the lower portion of the sliding frame main body is provided with the short feeding oil cylinder fixing block used for connecting and fixing the short feeding oil cylinder, the back face of the sliding frame main body is provided with the rear guide rail groove, the rear guide rail groove is inserted into the lifting track of the sliding frame assembly and can relatively slide along the lifting track of the sliding frame assembly, the front face of the sliding frame main body is provided with the front guide rail groove connected with the guide connecting plate, and the guide connecting plate.
Furthermore, the guide connecting plate comprises a drill box connecting lug seat, a guide connecting plate main body, a guide rail groove and a chain connecting lug, one side of the guide connecting plate main body is provided with the drill box connecting lug seat, the other side of the guide connecting plate main body is provided with the guide rail groove which is connected with the front guide rail groove in a matched mode, and the middle of the guide rail groove is provided with the chain connecting lug.
Furthermore, the chain transmission device comprises a chain, a stay bar, an upper pulley and a lower pulley, wherein a wheel axle of the upper pulley is fixed with the short feeding oil cylinder, the lower pulley is a movable pulley, the stay bar is connected between the upper pulley and the lower pulley, one end of the chain is fixed on the sliding frame assembly, and the other end of the chain is fixed on the guide connecting plate.
Further, the manipulator armguard includes spring hangers I, mechanical gripper connecting seat, armguard main part and frame subassembly connecting seat, and armguard main part one end is passed through the frame subassembly connecting seat and is fixed with the frame main part, and armguard main part other end installation spring hangers, this tip upper surface are provided with the manipulator claw connecting seat that is used for fixed manipulator gripper, and spring hangers I is connected with spring one end, and the spring other end is connected with mechanical gripper.
Further, the gripper comprises a rubber ring, a rubber ring fixing shaft, a rubber ring fixing seat, a mechanical handle, a spring hanging lug II and a hook column, wherein the rubber ring is provided with 3 groups, the three groups of rubber rings form an inscribed circle capable of surrounding a drill rod, the rubber ring is installed on the rubber ring fixing shaft, the rubber ring fixing shaft is installed on the rubber ring fixing seat, the rubber ring fixing seat is installed on the mechanical handle, the mechanical handle is hinged on the frame main body, one side of the mechanical handle is provided with the spring hanging lug II connected with a spring, and the mechanical handle is further provided with the hook column.
Further, the ejector rod back-hooking device comprises a fixing block, an ejector column and a hook, the fixing block is fixedly connected with the drill box, the ejector column is fixedly connected to the left side of the fixing block, the upper portion of the left side of the ejector column is fixedly connected with the hook, the ejector column is located under the mechanical handle, and the hook can hook the hooking column in an ascending process.
Compared with the prior art, the invention has the following beneficial effects:
1. the coal mine jumbolter with the rod protection manipulator innovatively realizes full-process automation of the drill rod protection process in the drill rod anchoring and protecting process, saves dangerous and complex links of the traditional manual rod protection, effectively prevents the occurrence of the rod throwing phenomenon, prolongs the service life of the drill rod, improves the reliability and the efficiency of the anchor drill, and is an important component part for automation of the anchor drill.
2. Compared with the manual guard bar in the traditional anchor drilling process, the manual guard bar has the advantages that the hands of operators are liberated, the labor intensity of the operators is greatly reduced, and the manual guard bar belongs to the category of mechanical person changing and automatic person reducing.
3. The invention innovatively develops the manual grasping of the rubber ring inscribed circle guard bar, breaks through the technical problem of the cutting-in of the guard bar in the high-speed rotation of the drill rod, not only solves the problem of striking the rod when the mechanical hand grasps the rod, but also greatly reduces the resistance of the guard bar by utilizing rolling friction and improves the reliability of the guard bar.
4. The invention belongs to the field of high-speed anchoring and protecting drill frames, and aims to meet the requirement of rapid tunneling of coal mine tunnels at present, and solves the problem that how to effectively shorten anchoring and protecting time and improve anchoring and protecting efficiency is an urgent need to solve, wherein the high-speed anchoring and protecting drill frame is an effective solution. High-speed anchoring can be finished by improving the anchoring drilling speed, and the high-speed anchoring can be influenced by various factors such as anchoring drilling coal rock resistance, pole throwing problem and the like. The device can effectively solve the problem of throwing the rod, thereby eliminating an influence factor for improving the anchor drilling speed of the jumbolter.
5. The invention innovatively develops and designs the ejector rod back hook spring reset mechanism without increasing electro-hydraulic control
Under the premise of the system, the automatic rod protecting and releasing functions of the manipulator are realized.
6. The invention innovatively develops and designs the control valve group, realizes the integrated control of a hydraulic system, greatly simplifies a hydraulic pipeline and reduces the drilling machine faults caused by the hydraulic pipeline faults.
7. The invention innovatively adopts the special structural design of the stroke over dead point, and realizes automatic limit after switching of various states.
Drawings
FIG. 1 is a schematic structural diagram I of the present invention;
FIG. 2 is a schematic diagram II of the present invention;
fig. 3 is a schematic structural view of a temporary support;
FIG. 4 is a schematic structural view of a frame assembly;
FIG. 5 is a schematic view of the structure of the carriage assembly;
FIG. 6 is a schematic diagram of the construction of a drill box;
FIG. 7 is a schematic structural view of the ejector pin hooking device;
FIG. 8 is a schematic structural view I of the guide connecting plate;
FIG. 9 is a schematic structural view II of the guide link plate;
FIG. 10 is a schematic view of the chain drive arrangement;
FIG. 11 is a schematic view of a robot arm guard;
FIG. 12 is a schematic view of a gripper;
FIG. 13 is a schematic view of the valve manifold;
FIG. 14 is a schematic view of the distance adjustment principle of the guard bar robot;
FIG. 15 is a schematic view of a short feed cylinder connection;
FIG. 16 is a schematic view of a chain drive connection;
FIG. 17 is a schematic view of the upward movement of the ejector pin hooking device;
FIG. 18 is a schematic view of the lower part of the ejector pin hooking device;
FIG. 19 is a side elevational view of the chain drive;
FIG. 20 is a schematic view of an upward travel position of the guard bar;
FIG. 21 is a schematic view of an initial position of the trip lever;
FIG. 22 is a schematic view showing a state in which the lever is released;
FIG. 23 is a schematic view of the lever in a state after the lever is released;
FIG. 24 is a schematic view of an upward state after the lever is released;
FIG. 25 is a schematic view of the drill box in position;
FIG. 26 is a schematic view of the hook return reset state;
FIG. 27 is a schematic view of a drill box in a down reset state;
in the figure: 1-temporary support, 2-frame assembly, 3-short feed cylinder, 4-carriage assembly, 5-drill box, 6-ram hook back device, 7-guide connection plate, 8-chain drive, 9-long feed cylinder, 10-manipulator arm, 11-spring, 12-manipulator claw, 13-control valve group, 14-cylinder fixing seat, 15-temporary support cylinder, 16-temporary support frame, 17-support top plate assembly, 18-frame body, 19-drill hanging lug, 20-front and back swing connecting lug, 21-liquid collecting block, 22-temporary support lifting rail, 23-long feed cylinder fixing lug, 24-guide copper bar, 25-carriage assembly lifting rail, 26-short feed cylinder fixing block, 27-rear guide rail groove, 28-front guide rail groove, 29-carriage frame body, 30-drill box body, 31-hook device connecting block, 32-fixing block, 33-top column, 34-hook, 35-drill box connecting lug seat, 36-guide connecting plate main body, 37-guide rail groove, 38-chain connecting lug, 39-chain, 40-stay bar, 41-spring hanging lug I, 42-mechanical claw connecting seat, 43-arm protecting main body, 44-frame component connecting seat, 45-rubber ring, 46-rubber ring fixing shaft, 47-rubber ring fixing seat, 48-mechanical handle, 49-spring hanging lug II, 50-hook column, 51-upper pulley and 52-lower pulley.
Detailed Description
The embodiments of the invention will be further explained with reference to the accompanying drawings:
the invention relates to a coal mine jumbolter with a rod protection mechanical arm, which is specially developed for realizing the rod protection function in the drilling process of a drill rod, effectively solves the problem of rod throwing caused by overlong length of the drill rod in the anchoring and protecting process of the coal mine jumbolter, particularly under the working condition of needing a connecting rod, and greatly improves the reliability of high-speed anchor drilling of the drilling machine. Which can be matched with a related jumbolter truck carrying an onboard jumbolter.
As shown in fig. 1 and 2, the invention comprises a temporary support, a frame assembly, a short feeding oil cylinder, a carriage assembly, a drill box, a mandril hooking device, a guide connecting plate, a chain transmission device, a long feeding oil cylinder, a manipulator arm guard, a spring, a manipulator claw, an operating valve group and the like.
As shown in fig. 3, the temporary support 1 is composed of a cylinder fixing seat 14, a temporary support cylinder 15, a temporary support frame 16 and a support top plate assembly 17. The temporary support 1 is mainly used for supporting the roof of a jumbolter, before the jumbolter is subjected to anchor drilling, the temporary support oil cylinder 15 is firstly required to be used for pushing the temporary support frame 16 and the supporting top plate assembly 17 to support the roof, so that the reliability and the safety in the process of anchor drilling are ensured, and the rod is prevented from being held back due to the shaking of a drill rig.
As shown in fig. 4, the frame assembly 2 is composed of a frame body 18, a drill frame hanging lug seat 19, a front-back swinging connecting lug 20, a liquid collecting block 21, a temporary support lifting rail 22, a long feeding oil cylinder fixing lug seat 23, a guide copper bar 24 and a sliding frame assembly lifting rail 25. The drill stand suspension lug seat 19 is mainly used for connecting and fixing a drill stand and an anchor rod drill carriage, the front-back swing connecting lug 20 is mainly used for connecting a front-back swing oil cylinder to realize front-back swing of the drill stand, the liquid collecting block 21 integrates oil ways required by actions of the drill stand, so that pipelines are greatly simplified, the temporary support lifting track 22 is connected with the temporary support 1 to realize relative lifting of the temporary support 1 relative to the frame assembly 2, the long feeding oil cylinder fixing lug seat 23 is mainly used for fixing the long feeding oil cylinder 9, and the guide copper bar 24 is matched with the slide frame assembly lifting track 25 to realize relative lifting of the slide frame assembly 4 relative to the frame assembly 2.
As shown in fig. 5, the carriage assembly 4 is composed of a short feed cylinder fixing block 26, a rear rail groove 27, a front rail groove 28, and a carriage frame body 28. The short feeding oil cylinder fixing block 26 is used for connecting and fixing the short feeding oil cylinder 3, the rear guide rail groove 27 is used for realizing the relative sliding of the carriage assembly 4 relative to the frame assembly 2, and the front guide rail groove 28 is used for realizing the relative sliding of the guide connecting plate 7 relative to the carriage assembly 4.
As shown in fig. 6, the drill box 5 is composed of a drill box body 30 and a hooking means connecting block 31. The drill box main body 30 is mainly used for realizing an anchor drill of a drill rod, and the connecting block 31 of the hook device is used for realizing the fixed connection of the mandril hooking device 6 relative to the drill box 5.
As shown in fig. 7, the ejector rod hooking device 6 is composed of a fixed block 32, an ejector column 33 and a hook 34. The fixing block 32 is used for realizing the fixed connection of the ejector rod re-hooking device 6 relative to the drill box 5, the ejection column 33 is used for overturning the mechanical gripper 12 from the rod protection state of the horizontal position to the disengagement state of the vertical position, and the hook 34 is used for re-hooking the mechanical gripper 12 from the disengagement state of the vertical position to the rod protection state of the horizontal position.
As shown in fig. 8 and 9, the guide link plate 7 is composed of a drill box connecting lug seat 35, a guide link plate main body 36, a guide rail groove 37, and a chain connecting lug 38. The drill box connecting lug seat 35 is mainly used for realizing the connection of the guide connecting plate 7 and the drill box 5, the guide rail groove 37 is used for realizing the relative sliding of the guide connecting plate 7 relative to the carriage assembly 4, and the chain connecting lug 38 is mainly used for realizing the fixed connection of the guide connecting plate 7 and the chain transmission device 8.
As shown in fig. 10, the chain transmission 8 is composed of a chain 39 and a stay 40. A vertically large travel lifting of the drilling carriage 5 relative to the carriage assembly 4 is achieved by means of chains 39. The stay 40 is mainly used to support the chain 39.
As shown in fig. 11, the robot arm guard 10 is composed of a spring hanger 41, a robot claw coupling seat 42, a guard arm main body 43, and a frame assembly coupling seat 44. The spring hanging lug 41 is mainly used for connecting the spring 11 with the manipulator arm guard 10, the manipulator claw connecting seat 42 is mainly used for connecting the manipulator arm guard 10 with the rotating shaft of the manipulator claw 12, and the frame component connecting seat 44 is mainly used for fixedly connecting the manipulator arm guard 10 with the frame component 2.
As shown in fig. 12, the gripper 12 is composed of a rubber ring 45, a rubber ring fixing shaft 46, a rubber ring fixing seat 47, a mechanical handle 48 and a spring hanging lug 49. The three rubber rings 45 of the mechanical gripper 12 surround the inner cutting ring formed and can play a role of protecting the drill rod, the rubber ring fixing shaft 46 is used for fixing the rubber ring 45, the rubber ring fixing shaft is installed on the rubber ring fixing seat 47 and can drive the fixed rubber ring 45 to rotate relative to the drill rod when the drill rod rotates at a high speed, the mechanical handle 48 is used for being connected with the mechanical arm protecting arm 10 and can realize rotation relative to the mechanical arm protecting arm 10, and the spring hanging lug 49 is used for fixing the spring 11.
As shown in fig. 13, the valve assembly 13 is made of a modular integrated design, and excessively complex and large amount of pipelines for controlling the drilling rig are integrated on the valve assembly 13, so that the operation is more concise and convenient.
As shown in fig. 12, the gripper 12 includes a rubber ring 45, a rubber ring fixing shaft 46, a rubber ring fixing seat 47, a mechanical handle 48, a spring hanging lug II49 and a hook column 50, the rubber ring 45 is provided with 3 sets, three sets of rubber rings 45 form an inscribed circle which can surround the drill rod, the rubber ring 45 is installed on the rubber ring fixing seat 46, the rubber ring fixing shaft 46 is installed on the rubber ring fixing seat 47, the rubber ring fixing seat 47 is installed on the mechanical handle 48, the mechanical handle 48 is hinged on the frame main body 18, one side of the mechanical handle 48 is provided with a spring hanging lug II49 connected with the spring 11, and the mechanical handle 48 is further provided with the hook column 50. When the drill rod rotates at a high speed, the sliding friction between the three rubber rings 45 and the drill rod is changed into rolling friction, so that the friction resistance is greatly reduced. Rubber ring fixing base 47 is provided with inscribed circle regulation hole, can realize the regulation to the inscribed circle size that three rubber circle 45 formed to can adjust according to the internal tangent circle size of the drilling rod of different diameters, rubber ring fixing base 47 is provided with apart from the regulation hole simultaneously, can realize the level left and right sides position control of the inscribed circle that three rubber circle 45 formed. The adjustable guard bar has the advantages of simple structure, flexible adjustment and excellent guard bar effect.
The ejector rod back-hooking device 6 comprises a fixing block 32, an ejector column 33 and a hook 34, the fixing block 32 is fixedly connected with the drill box 5, the left side of the fixing block 32 is fixedly connected with the ejector column 33, the upper portion of the left side of the ejector column 33 is fixedly connected with the hook 34, the ejector column 33 is located under a mechanical handle 48, and the hook 34 can hook the hook column 50 in the uplink process.
As shown in fig. 17, the drill box 5 pushes the top pillar 33 of the jack rod hooking device 6 to go upwards, so as to push the mechanical handle 48 of the mechanical claw 12 to rotate around the mechanical claw connecting seat 42, thereby realizing the turnover of the manipulator.
As shown in fig. 18, the drill box 5 pushes the hook 34 of the jack rod hooking device 6 to move downward, and the hook 34 hooks the hook column 50 of the gripper 12, so as to drive the gripper 12 to rotate downward around the gripper connecting seat 42, and simultaneously move downward to the initial position under the action of the restoring force of the spring 11.
As shown in fig. 20-27, when the drilling box of the jumbolter is at the lowest position, firstly, the drilling box is temporarily supported under the action of the temporary supporting oil cylinder to support the roof, so as to ensure the stability of the jumbolter, the drilling rod is manually loaded, the rod protection manipulator is in the rod protection state at the moment, the drilling box rotates and is pushed to move upwards under the action of the chain transmission device, and the rod protection manipulator realizes the rod protection function of the drilling rod moving upwards because the rod protection manipulator is provided with the rod protection hand grip formed by three rubber ring inscribed circles; when the drill box moves upwards to the end point of the rod protection state, the ejector rod of the ejector rod back-hooking device arranged on the drill box pushes the rod protection mechanical arm to turn from the horizontal position to the vertical position, and the change from the rod protection state to the rod release state is realized through the limiting of a spring; the drill box continues to move upwards under the action of the chain transmission device and the long feeding oil cylinder until reaching the top anchor drill stop position, at the moment, under the action of the collision valve, the drill box moves downwards, the drill rod moves back, when the drill box moves downwards to the rod protection mechanical hand rod protection state trigger position, the rod ejection rod back hook device installed on the drill box turns over the rod protection mechanical hand from the vertical position to the horizontal position, the reset from the rod release state to the rod protection state is realized through the spring limitation, the drill box continues to move downwards until reaching the anchor drill initial position, the single drill rod anchor drill is completed, the next circulation is carried out again after the rod connection, and finally the anchor drill with the automatic rod protection is realized.
The invention relates to a coal mine jumbolter with a rod protection mechanical arm, which is specially developed for realizing the rod protection function in the drilling process of a drill rod, and compared with the traditional jumbolter, the jumbolter has the following remarkable advantages:
1) automatic guard bar for realizing anchor drilling process
The coal mine jumbolter with the rod protection manipulator innovatively realizes full-process automation of the drill rod protection process in the drill rod anchoring and protecting process, saves dangerous and complex links of the traditional manual rod protection, effectively prevents the occurrence of the rod throwing phenomenon, prolongs the service life of the drill rod, improves the reliability and the efficiency of the anchor drill, and is an important component part for automation of the anchor drill.
2) Greatly reduce the labor intensity of workers
Compared with the manual guard bar in the traditional anchor drilling process, the manual guard bar has the advantages that the hands of operators are liberated, the labor intensity of the operators is greatly reduced, and the manual guard bar belongs to the category of mechanical person changing and automatic person reducing.
3) Realize the state switching of the lower guard bar of the high-speed anchor drill
The invention innovatively develops the manual grasping of the rubber ring inscribed circle guard bar, breaks through the technical problem of the cutting-in of the guard bar in the high-speed rotation of the drill rod, not only solves the problem of striking the rod when the mechanical hand grasps the rod, but also greatly reduces the resistance of the guard bar by utilizing rolling friction and improves the reliability of the guard bar.
4) Belongs to the field of high-speed anchor drill
The invention belongs to the field of high-speed anchoring and protecting drill frames, and aims to meet the requirement of rapid tunneling of coal mine tunnels at present, and solves the problem that how to effectively shorten anchoring and protecting time and improve anchoring and protecting efficiency is an urgent need to solve, wherein the high-speed anchoring and protecting drill frame is an effective solution. High-speed anchoring can be finished by improving the anchoring drilling speed, and the high-speed anchoring can be influenced by various factors such as anchoring drilling coal rock resistance, pole throwing problem and the like. The device can effectively solve the problem of throwing the rod, thereby eliminating an influence factor for improving the anchor drilling speed of the jumbolter.
5) Spring reset type guard bar with ejector rod back hooked
The invention innovatively develops and designs the ejector rod back hook spring reset mechanism without increasing electro-hydraulic control
Under the premise of the system, the automatic rod protecting and releasing functions of the manipulator are realized.
6) Integrated control type control valve group
The invention innovatively develops and designs the control valve group, realizes the integrated control of a hydraulic system, greatly simplifies a hydraulic pipeline and reduces the drilling machine faults caused by the hydraulic pipeline faults.
) Automatic limiting of stroke position of guard bar
The invention innovatively adopts the special structural design of the stroke over dead point, and realizes automatic limit after switching of various states.
Claims (9)
1. The utility model provides a take roofbolter for coal mine of fender rod manipulator which characterized in that: comprises a temporary support (1), a frame component (2), a short feeding oil cylinder (3), a sliding frame component (4), a drilling box (5), a mandril back-hooking device (6), a guide connecting plate (7), a chain transmission device (8), a long feeding oil cylinder (9), a manipulator protective arm (10), a manipulator claw (12) and a control valve group (13), wherein the control valve group (13) is integrated on one side of the frame component (2), the frame component (2) is provided with the temporary support (1) for supporting the roof of the anchor rod drilling machine and the sliding frame component (4) capable of relatively lifting, the bottom of the frame component (2) is provided with the long feeding oil cylinder (9), a cylinder barrel ear seat of the long feeding oil cylinder (9) is connected with the frame component (2), a cylinder rod ear seat of the long feeding oil cylinder (9) is connected with a top plate of the sliding frame component (4), the sliding frame component (4) is provided with the guide connecting plate (7) capable of relatively, guide connection board (7) and bore case (5) fixed connection, bore case (5) one side and be fixed with the ejector pin that can realize gripper (12) upset and return and collude device (6), manipulator armguard (10) and gripper (12) connect on frame subassembly (2), the one end and the guide connection board (7) of chain drive (8) be connected, the other end of chain drive (8) is through being connected with carriage assembly (4), chain drive (8) twine on short feed cylinder (3) through pulley assembly, the multiplication promotion of guide connection board (7) is realized to the movable pulley gear that short feed cylinder (3) extension drove chain drive (8) and guide connection board (7) and constitute.
2. A coal mine jumbolter with a guard bar manipulator according to claim 1, wherein: the frame component (2) comprises a frame main body (18), a drill frame hanging lug seat (19), a front-back swing connecting lug (20), a liquid collecting block (21), a temporary support lifting track (22), a long-feed oil cylinder fixing lug seat (23), a guide copper bar (24) and a slide frame component lifting track (25), wherein the drill frame hanging lug seat (19) used for being fixedly connected with an anchor rod drill carriage and the front-back swing connecting lug (20) used for being connected with a front-back swing oil cylinder to realize the front-back swing of the drill frame are arranged on two sides of the frame main body (18), the liquid collecting block (21) used for fixing an operation valve set (13) is installed on one side of the upper portion of the frame main body (18), the temporary support lifting track (22) connected with a temporary support (1) is arranged on the back of the frame main body (18), the guide copper bar (24) and the slide frame component lifting track (25) capable of realizing the relative lifting of the slide frame component (4) relative to the, the lower part of the front surface of the frame main body (18) is provided with a long feeding oil cylinder fixing lug seat (23) for fixing a long feeding oil cylinder (9).
3. A coal mine jumbolter with a guard bar manipulator according to claim 2, wherein: temporary support (1) including hydro-cylinder fixing base (14), temporary support hydro-cylinder (15), temporary support frame (16) and supporting roof subassembly (17), temporary support frame (16) top is provided with supporting roof subassembly (17), temporary support frame (16) bottom is connected with temporary support hydro-cylinder (15), temporary support hydro-cylinder (15) are fixed on hydro-cylinder fixing base (14), hydro-cylinder fixing base (14) are fixed with frame main part (18), temporary support frame (16) are inserted and are established in temporary support lifting track (22) and can be followed temporary support lifting track (22) and slide.
4. A coal mine jumbolter with a guard bar manipulator according to claim 3, wherein: the sliding frame assembly (4) comprises a short feeding oil cylinder fixing block (26), a rear guide rail groove (27), a front guide rail groove (28) and a sliding frame body (29), the lower portion of the sliding frame body (29) is provided with the short feeding oil cylinder fixing block (26) used for connecting and fixing the short feeding oil cylinder (3), the back of the sliding frame body (29) is provided with the rear guide rail groove (27), the rear guide rail groove (27) is inserted into a sliding frame assembly lifting track (25) and can relatively slide along the sliding frame assembly lifting track (25), the front face of the sliding frame body (29) is provided with the front guide rail groove (28) connected with the guide connecting plate (7), and the guide connecting plate (7) relatively slides along the front guide rail groove (28).
5. A coal mine jumbolter with a guard bar manipulator according to claim 4, wherein: the guide connecting plate (7) comprises a drill box connecting lug seat (35), a guide connecting plate main body (36), a guide rail groove (37) and a chain connecting lug (38), wherein the drill box connecting lug seat (35) is arranged on one side of the guide connecting plate main body (36), the guide rail groove (37) which is connected with the front guide rail groove (28) in a matched mode is arranged on the other side of the guide connecting plate main body, and the chain connecting lug (38) is arranged in the middle of the guide rail groove (37).
6. A coal mine jumbolter with a guard bar manipulator according to claim 5, wherein: the chain transmission device (8) comprises a chain (39), a support rod (40), an upper pulley (51) and a lower pulley (52), a wheel shaft of the upper pulley (51) is fixed with the short feeding oil cylinder (3), the lower pulley (52) is a movable pulley, the support rod (40) is connected between the upper pulley (51) and the lower pulley (52), one end of the chain (39) is fixed on the sliding frame component (4), and the other end of the chain is fixed on the guide connecting plate (7).
7. A coal mine jumbolter with a guard bar manipulator according to claim 6, wherein: the manipulator guard arm (10) comprises a spring hanger I (41), a manipulator claw connecting seat (42), a guard arm main body (43) and a frame assembly connecting seat (44), one end of the guard arm main body (43) is fixed with the frame main body (18) through the frame assembly connecting seat (44), the spring hanger (41) is installed at the other end of the guard arm main body (43), the manipulator claw connecting seat (42) used for fixing the manipulator claw (12) is arranged on the upper surface of the end part, the spring hanger I (41) is connected with one end of a spring (11), and the other end of the spring (11) is connected with the manipulator claw (12).
8. A coal mine jumbolter with a guard bar manipulator as claimed in claim 7, wherein: mechanical gripper (12) include rubber circle (45), rubber circle fixed axle (46), rubber circle fixing base (47), mechanical handle (48), spring hangers II (49) and collude post (50), rubber circle (45) are provided with 3 groups, three rubber circles of group (45) form one and can be with the inscribed circle that the drilling rod surrounded, rubber circle (45) are installed on rubber circle fixed axle (46), rubber circle fixed axle (46) are installed on rubber circle fixing base (47), rubber circle fixing base (47) are installed on mechanical handle (48), mechanical handle (48) articulate on frame main part (18), mechanical handle (48) one side is provided with spring hangers II (49) of being connected with spring (11), still be provided with on mechanical handle (48) and collude post (50).
9. A coal mine jumbolter with a guard bar manipulator according to claim 8, wherein: ejector pin return collude device (6) include fixed block (32), fore-set (33) and couple (34), fixed block (32) and drill box (5) fixed connection, fixed block (32) left side fixed connection fore-set (33), fore-set (33) left side upper portion fixed connection couple (34), fore-set (33) are located under mechanical handle (48), couple (34) can hang and collude post (50) at the up-going in-process.
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| CN202010813381.0A CN111997667B (en) | 2020-08-13 | 2020-08-13 | Roofbolter with guard bar manipulator for coal mine |
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| CN112676799A (en) * | 2021-03-12 | 2021-04-20 | 三一重型装备有限公司 | Assembly fixture and assembly equipment |
| CN113090301A (en) * | 2021-04-30 | 2021-07-09 | 中煤科工开采研究院有限公司 | Anchor-grouting anchor rod support construction device |
| WO2022156085A1 (en) * | 2021-01-19 | 2022-07-28 | 中国煤炭科工集团太原研究院有限公司 | Anchor drilling rig |
| CN116335543A (en) * | 2023-01-28 | 2023-06-27 | 太原理工大学 | Translational locking mechanism of power head of jumbolter |
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|---|---|
| CN111997667B (en) | 2022-03-08 |
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