CN113090302A - Anchor rod drill carriage - Google Patents
Anchor rod drill carriage Download PDFInfo
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- CN113090302A CN113090302A CN202110481360.8A CN202110481360A CN113090302A CN 113090302 A CN113090302 A CN 113090302A CN 202110481360 A CN202110481360 A CN 202110481360A CN 113090302 A CN113090302 A CN 113090302A
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- vehicle body
- arm assembly
- sliding column
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- 238000005553 drilling Methods 0.000 claims abstract description 78
- 239000011435 rock Substances 0.000 claims abstract description 20
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 238000000926 separation method Methods 0.000 claims description 3
- 238000004873 anchoring Methods 0.000 abstract description 7
- 238000004080 punching Methods 0.000 abstract description 4
- 208000006011 Stroke Diseases 0.000 description 73
- 101100194816 Caenorhabditis elegans rig-3 gene Proteins 0.000 description 14
- 238000010276 construction Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 5
- 239000003245 coal Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000004804 winding Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000411 inducer Substances 0.000 description 1
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- 239000007858 starting material Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
- E21D20/006—Machines for drilling anchor holes and setting anchor bolts having magazines for storing and feeding anchoring-bolts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/003—Supports for the drilling machine, e.g. derricks or masts adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/024—Drilling rigs characterised 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/026—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting having auxiliary platforms, e.g. for observation purposes
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses an anchor rod drill carriage which comprises a vehicle body, a mechanical arm assembly, a drilling machine, a walking device and a power device, wherein one end of the mechanical arm assembly is connected with the vehicle body, the mechanical arm assembly has multiple degrees of freedom, the drilling machine comprises a drilling frame and a drilling box assembly, the drilling frame is connected with the other end of the mechanical arm assembly, the drilling box assembly is connected with the drilling frame, the drilling box can move along the length direction of the drilling frame, the walking device is arranged at the bottom of the vehicle body to drive the anchor rod drill carriage to walk along a roadway, and the power device is used for providing power for the mechanical arm assembly, the drilling machine and the walking device. According to the anchor rod drill carriage provided by the embodiment of the invention, the mechanical arm assembly has multiple degrees of freedom, so that the anchor rod drill carriage can perform operations such as punching, anchoring and the like on surrounding rocks at any position in a complex roadway environment, the mechanization degree is high, and the anchor rod supporting efficiency in the roadway is greatly improved.
Description
Technical Field
The invention relates to the technical field of coal roadway drilling and supporting equipment, in particular to an anchor rod drill carriage.
Background
In the related technology, the construction procedure of anchor rod support comprises the steps of punching, conveying an anchoring agent, stirring the anchoring agent, installing an anchor rod and an anchor cable, tensioning and pre-tightening the anchor rod and the like, the process is complicated, and the manual dependence degree is high. The complicated and fussy process flow limits the development of automation and intellectualization of anchor bolt support construction, and the low level of mechanization and automation leads to the low roadway forming speed of the coal roadway. In addition, with the improvement of the social and economic development level of China, the occupation of young technical workers is reduced. Therefore, automation of anchor rod support in the coal roadway is realized, mechanized man-saving and automatic man-changing are implemented, and the increase of roadway forming speed is the necessary requirement for high yield and high efficiency of the coal mine.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the anchor rod drill carriage is high in mechanization degree, and anchor rod supporting efficiency is improved.
The anchor rod drill carriage comprises a vehicle body, a mechanical arm assembly, a drilling machine, a walking device and a power device, wherein one end of the mechanical arm assembly is connected with the vehicle body, the mechanical arm assembly has multiple degrees of freedom, the drilling machine comprises a drilling frame and a drilling box assembly, the drilling frame is connected with the other end of the mechanical arm assembly, the drilling box assembly is connected with the drilling frame, the drilling box is movable along the length direction of the drilling frame, the walking device is arranged at the bottom of the vehicle body to drive the anchor rod drill carriage to walk along a roadway, and the power device is used for providing power for the mechanical arm assembly, the drilling machine and the walking device.
According to the anchor rod drill carriage provided by the embodiment of the invention, the mechanical arm assembly has multiple degrees of freedom, so that the anchor rod drill carriage can perform operations such as punching, anchoring and the like on surrounding rocks at any position in a complex roadway environment, the mechanization degree is high, and the anchor rod supporting efficiency in the roadway is greatly improved.
In some embodiments, the mechanical arm assembly comprises a mounting seat, a telescopic arm and a connecting device, the mounting seat is rotatably connected with the vehicle body, the telescopic arm is telescopic along the length direction of the telescopic arm, one end of the telescopic arm is rotatably connected with the mounting seat, one end of the connecting device is connected with the other end of the telescopic arm, the connecting device is movable along the length direction of the connecting device, and the drilling machine is rotatably connected with the connecting device.
In some embodiments, the telescoping arms include a first telescoping arm and a second telescoping arm, the first telescoping arm and the second telescoping arm being parallel to each other with a separation distance therebetween.
In some embodiments, the number of the robot arm assemblies is two, and the two robot arm assemblies are arranged at intervals in the width direction of the vehicle body.
In some embodiments, the drill frame comprises a framework and a supporting sliding column, wherein a first through hole and a second through hole are formed in the framework, the extending direction of the first through hole is parallel to the extending direction of the second through hole, the supporting sliding column penetrates through the first through hole, and the supporting sliding column is slidable along the first through hole.
In some embodiments, the drill box assembly comprises a plurality of travel spools, at least one of the travel spools extends through the second bore, at least one of the travel spools is slidable along the second bore, and the drill box is connected to at least one of the travel spools and the drill box is adapted to receive drill pipe and/or rock bolt.
In some embodiments, the roof bolt drill carriage further comprises a roof net device, the roof net device comprises a lifting column, a sliding column and support plates, the length of the lifting column is adjustable, one end of the lifting column is rotatably connected with the vehicle body, the other end of the lifting column is connected with the sliding column, the length of the sliding column is adjustable along the width direction of the vehicle body, and the support plates are arranged at two ends of the sliding column.
In some embodiments, the running gear is disposed under the vehicle body, and the running gear is a crawler wheel set.
In some embodiments, the roof bolt drill carriage further comprises a clearance plate rotatably connected with the vehicle body, the clearance plate is arranged in front of the walking device, and the clearance plate is inclined towards the rear end of the vehicle body in a direction from bottom to top.
In some embodiments, the jumbolter further comprises an operator platform removably coupled to the robotic arm assembly and a canopy coupled to the robotic arm assembly, the operator platform being adjacent the rig, the canopy being disposed above the operator platform, the canopy being adjustable in height.
Drawings
FIG. 1 is a schematic view of a rock bolt drill rig according to an embodiment of the present invention;
FIG. 2 is another schematic view of a rock bolt drill carriage according to an embodiment of the present invention;
FIG. 3 is a schematic view of a machine arm assembly and a drill rig of a jumbolter truck according to an embodiment of the present invention;
FIG. 4 is an elevation view of the robotic arm assembly and drilling machine shown in FIG. 3;
FIG. 5 is a schematic view of a drilling rig of the jumbolter truck according to an embodiment of the present invention;
fig. 6 is a front view of the drilling rig shown in fig. 5.
Reference numerals:
the body 1 of the vehicle is provided with a plurality of wheels,
the robot arm assembly 2, the mounting base 21, the telescopic arm 22, the first telescopic arm 221, the second telescopic arm 222, the connecting device 23, the mounting plate 231, the rotating cylinder 232, the third connecting member 233, the sixth telescopic cylinder 234, the first telescopic cylinder 24, the third telescopic cylinder 26, the fourth telescopic cylinder 27, the slideway 29,
the drilling machine 3, the drill frame 31, the framework 311, the vertical plate 3111, the first transverse plate 3112, the second transverse plate 3113, the first connecting piece 3114, the second connecting piece 3115, the supporting sliding column 312, the drill box assembly 32, the stroke sliding column 321, the first-stage stroke sliding column 3211, the second-stage stroke sliding column 3212, the drill box 322, the top plate 33, the positioning hole 331, the supporting oil cylinder 34, the first-stage stroke oil cylinder 35, the second-stage stroke oil cylinder 36,
the operation platform 4, the first pedal 41, the second pedal 42, the third pedal 43, the first connecting rod 44, the rail 45, the connecting pipe 451, the limiting member 452, the fourth connecting member 46,
the roof (5) is provided with a ceiling,
the walking device (6) is arranged on the upper portion of the frame,
the power device (7) is arranged on the frame,
the cable-winding device (8) is provided with a cable-winding device,
the net jacking device 9, a lifting column 91, a sliding column 92 and a supporting plate 93.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A rock bolt drill rig provided in accordance with some embodiments of the present invention is described below with reference to the accompanying drawings.
As shown in fig. 1 to 6, the jumbolter according to the embodiment of the present invention includes a vehicle body 1, a mechanical arm assembly 2, a drilling machine 3, a traveling device 6 and a power device 7, wherein the vehicle body 1 is a foundation structure of the jumbolter and is used for installing various components, the drilling machine 3 is used for drilling holes in a roadway and anchoring bolts, the drilling machine 3 is connected to the vehicle body 1 through the mechanical arm assembly 2, and the drilling machine 3 can move flexibly along with the mechanical arm assembly 2, so as to support the bolts at different positions in the roadway.
Specifically, one end of the robot arm assembly 2 is connected to the vehicle body 1, and the robot arm assembly 2 has a plurality of degrees of freedom so that the robot arm assembly 2 adjusts the position of the drilling machine 3.
The drilling machine 3 comprises a boom 31 and a drill box assembly 32, the boom 31 being connected to the other end of the robot arm assembly 2, the drill box assembly 32 being connected to the boom 31, and the drill box 322 being movable along the length of the boom 31. The mechanical arm assembly 2 firstly drives the drill frame 31 to move to a preset anchoring position, a drill rod or an anchor rod is connected to the drill box 322, and anchor rod supporting operation is carried out on surrounding rocks in a roadway.
It should be noted that the mechanical arm assembly 2 according to the embodiment of the present invention has six degrees of freedom, and can realize the construction of all top anchor rods, left side anchor rods and right side anchor rods in two roadway row distances without moving the anchor rod drill carriage. Thereby guaranteed that the stock drill carriage can punch, anchor the operation such as the surrounding rock of arbitrary position department in complicated tunnel environment.
Running gear 6 sets up in the bottom of automobile body 1 in order to drive the stock drill carriage along the tunnel walking, and power device 7 is used for providing power for robotic arm subassembly 2, rig 3 and running gear 6, and power device 7 includes parts such as oil tank, explosion-proof motor, hydraulic pump, electromagnetic starter, cooler and constitutes, provides the power supply of whole car by electric drive hydraulic power unit, and the power device 7 of stock drill carriage is ripe prior art, no longer gives unnecessary details.
According to the anchor rod drill carriage provided by the embodiment of the invention, the mechanical arm assembly 2 has multiple degrees of freedom, so that the anchor rod drill carriage can perform operations such as punching, anchoring and the like on surrounding rocks at any position in a complex roadway environment, the degree of mechanization is high, and the anchor rod supporting efficiency in the roadway is greatly improved.
In some embodiments, the robot arm assembly 2 includes a mounting base 21, a telescopic arm 22 and a connecting device 23, the mounting base 21 is rotatably connected with the vehicle body 1, the telescopic arm 22 is telescopic along the length direction thereof, one end of the telescopic arm 22 is rotatably connected with the mounting base 21, one end of the connecting device 23 is connected with the other end of the telescopic arm 22, the connecting device 23 is movable along the length direction thereof, and the drilling machine 3 is rotatably connected with the connecting device 23.
The mounting seat 21 is rotatable relative to the vehicle body 1, which means that the mounting seat 21 can swing left and right in the horizontal direction, so as to drive the telescopic arm 22 to swing; the telescopic arm 22 is rotatable relative to the mounting base 21, which means that the telescopic arm 22 can swing up and down in the vertical direction, so as to adjust the pitch angle of the telescopic arm 22; the telescopic arm 22 is telescopic, thereby adjusting the position of the drilling machine 3; the connecting device 23 can move along the length direction thereof, the position of the drilling machine 3 can be further adjusted to increase the maximum stroke of the drilling machine 3, and the position of the drilling machine 3 can be accurately adjusted by fine adjustment of the connecting device 23; further, rig 3 is rotatable for connecting device 23, means that rig 3 can follow connecting device 23 circumferential direction and rotate for rig 3 can be to the drilling and the anchor of different walls, if rig 3 is vertical to be set up, can punch to top country rock, rig 3 level sets up, can punch to the country rock of both sides, in addition, rig 3 can also rotate along the fore-and-aft direction for connecting device 23, and rig 3 leans forward or leans backward promptly, because the wall unevenness in tunnel, rig 3 slope sets up and can punch and anchor to the wall of different angles. Thereby, the drilling machine 3 can perform six different movements, i.e. with six degrees of freedom.
In some embodiments, the robot arm assembly 2 includes a first shaft and a second shaft, the first shaft is vertically disposed, the mounting base 21 is rotatably connected to the vehicle body 1 through the first shaft, so that the left and right swinging of the mounting base 21 is realized, the second shaft is horizontally disposed, and the telescopic arm 22 is rotatably connected to the mounting base 21 through the second shaft, so that the up and down swinging of the telescopic arm 22 is realized.
Further, the mechanical arm assembly 2 further comprises a first telescopic cylinder 24, the first telescopic cylinder 24 is horizontally arranged, one end of a cylinder body of the first telescopic cylinder 24 is rotatably connected with the vehicle body 1, and one end of a piston rod of the first telescopic cylinder 24 is rotatably connected with the telescopic arm 22. The piston rod of the first telescopic cylinder 24 moves along the cylinder body, and then the telescopic arm 22 can be driven to swing left and right.
In some embodiments, telescoping arm 22 includes a first telescoping arm 221 and a second telescoping arm 222, first telescoping arm 221 and second telescoping arm 222 being parallel to each other with a separation distance between first telescoping arm 221 and second telescoping arm 222.
So set up, mount pad 21, first flexible arm 221, connecting device 23 and second flexible arm 222 link to each other in proper order and constitute four-bar linkage, and four-bar linkage can play better supporting role to rig 3 to can be relatively fixed rig 3 and country rock when the jumbolter operation, prevent that rig 3 from taking place the skew at drilling in-process.
Further, a second telescopic cylinder (not shown) is further arranged in the first telescopic arm 221, the first telescopic arm 221 comprises a first section and a second section, the first section is sleeved outside the second section, the second section is telescopic along the first section, the second telescopic cylinder is arranged in the first section, one end of a cylinder body of the second telescopic cylinder is connected with one end, close to the mounting seat 21, of the first section, and one end of a piston rod of the second telescopic cylinder is connected with the second section.
Therefore, the piston rod of the second telescopic cylinder extends and retracts along the cylinder body, and then the first telescopic arm 221 can be driven to extend and retract, so that the length of the first telescopic arm 221 is adjusted, and the position of the drilling machine 3 is adjusted.
Similarly, the robot arm assembly 2 further includes a third telescopic cylinder 26, the second telescopic arm 222 includes a third section and a fourth section, the third section is disposed on the outer side of the fourth section, the fourth section is retractable along the third section, and the cross-sectional area of the second telescopic arm 222 is relatively small, so that the third telescopic cylinder 26 is disposed on the outer side of the second telescopic arm 222.
One end of the cylinder body of the third telescopic cylinder 26 is connected with one end of the third section, which is adjacent to the mounting seat 21, and one end of the piston rod of the third telescopic cylinder 26 is connected with the fourth section. The piston rod of the third telescopic cylinder 26 extends along the cylinder body, so as to drive the second telescopic arm 222 to extend, thereby adjusting the length of the second telescopic arm 222 and further adjusting the position of the drilling machine 3.
In adjusting the length of the telescopic arm 22, the second telescopic cylinder and the third telescopic cylinder 26 should be operated simultaneously, so that the first telescopic arm 221 and the second telescopic arm 222 can be extended or shortened simultaneously.
In some embodiments, the mechanical arm assembly 2 further comprises a fourth telescopic cylinder 27, wherein one end of the cylinder body of the fourth telescopic cylinder 27 is rotatably connected with the mounting seat 21, and one end of the piston rod of the fourth telescopic cylinder 27 is rotatably connected with the first telescopic arm 221.
The piston rod of the fourth telescopic cylinder 27 extends and retracts along the cylinder body, so as to drive the first telescopic arm 221 to swing up and down, and simultaneously drive the second telescopic arm 222 and the first telescopic arm 221 to swing up and down simultaneously, thereby adjusting the pitch angle of the telescopic arm 22,
the mechanical arm assembly 2 further comprises a slide way 29 and a fifth telescopic cylinder (not shown), the slide way 29 is connected with the telescopic arm 22, the connecting device 23 is arranged in the slide way 29, the connecting device 23 is connected with the telescopic arm 22 through the slide way 29, the connecting device 23 can slide in the slide way 29, and as the drilling machine 3 is connected with the connecting device 23, the connecting device 23 can slide to drive the drilling machine 3 to move so as to finely adjust the position of the drilling machine 3, and the drilling machine 3 has a larger stroke by matching with the telescopic arm 22.
One end of the cylinder body of the fifth telescopic cylinder is connected with the slideway 29, one end of the piston rod of the fifth telescopic cylinder is connected with the connecting device 23, and the piston rod of the fifth telescopic cylinder extends and retracts along the cylinder body, so that the connecting device 23 can be driven to slide along the slideway 29.
In some embodiments, the connection device 23 comprises a mounting plate 231 and a rotating cylinder 232, the mounting plate 231 is connected with the fifth telescopic cylinder, the rotating cylinder 232 is connected with the mounting plate 231, and an output shaft of the rotating cylinder 232 is connected with the drilling machine 3.
In other words, the connecting device 23 includes a mounting plate 231 and a rotating cylinder 232 disposed on the mounting plate 231, the rotating cylinder 232 is used to drive the drilling machine 3 to rotate, one end of a piston rod of the fifth telescopic cylinder is connected to the mounting plate 231, and the fifth telescopic cylinder acts to drive the mounting plate 231 to move, thereby driving the rotating cylinder 232 and the drilling machine 3 to move.
In addition, the connecting device 23 further comprises a third connecting member 233 and a sixth telescopic cylinder 234, the third connecting member 233 is used for connecting the drilling machine 3 and the connecting device 23, the third connecting member 233 is plate-shaped, one end of the third connecting member 233 is connected with the mounting plate 231, the other end of the third connecting member 233 is rotatably connected with the drilling machine 3, one end of the cylinder body of the sixth telescopic cylinder 234 is rotatably connected with the mounting plate 231 or the third connecting member 233, and one end of the piston rod of the sixth telescopic cylinder 234 is rotatably connected with the drilling machine 3.
With such an arrangement, the piston rod of the sixth telescopic cylinder 234 extends along the cylinder body, and then the drilling machine 3 can be driven to tilt forward or backward, so as to meet different angle requirements of the drilling machine 3.
According to the anchor drill carriage of the embodiment of the invention, the left-right swing angle of the telescopic arm 22 is designed to be 40 degrees, the pitch adjustment angle of the telescopic arm 22 is designed to be 55 degrees, the length telescopic distance of the telescopic arm 22 is designed to be 700 mm, the moving distance of the connecting device 23 is designed to be 400 mm, the left-right rotation angle of the drilling machine 3 is 125 degrees, and the front-back rotation angle of the drilling machine 3 is 30 degrees. When the design parameters are matched with the long-stroke hydraulic drilling machine 3 to enable the anchor rod drill carriage to be located in the middle of the roadway, the anchor rod drill carriage can not be moved to achieve construction of all top anchor rod anchor cables, left side anchor rod anchor cables and right side anchor rod anchor cables in two roadway row distances. Compared with the conventional anchor rod drill carriage, the left-right moving time is saved, and the supporting efficiency of the roadway is effectively improved.
In some embodiments, the number of the mechanical arm assemblies 2 is two, the two mechanical arm assemblies 2 are arranged at intervals in the width direction of the vehicle body 1, each mechanical arm assembly 2 is connected with one drilling machine 3, the two drilling machines 3 can be controlled by the two mechanical arm assemblies 2 simultaneously to drill holes or anchor bolts, and the working efficiency of the anchor rod drilling machines 3 can be effectively improved.
In some embodiments, the drill frame 31 includes a frame 311 and a support sliding pillar 312, the frame 311 is provided with a first through hole and a second through hole, an extending direction of the first through hole and an extending direction of the second through hole are parallel to each other, the support sliding pillar 312 penetrates through the first through hole, and the support sliding pillar 312 is slidable along the first through hole.
The drill box assembly 32 comprises a plurality of stroke sliding columns 321 and drill boxes 322, wherein at least one stroke sliding column 321 penetrates through the second through hole, the stroke sliding column 321 penetrating through the second through hole is slidable along the second through hole, the drill boxes 322 are connected with the at least one stroke sliding column 321, the drill boxes 322 are used for installing drill rods and/or anchor rods, and the drill boxes 322 can move along with the stroke sliding columns 321, so that the drill rods or the anchor rods are driven to move, and drilling or anchor rod supporting operation is carried out.
In the related art, the jumbolter 3 generally adopts a guide rail slider structure with a V-shaped groove, so as to adjust the position of the drill box 322, but the jumbolter 3 with such a structure has low motion matching precision and is easy to deform in the working process.
The drill frame 31 further comprises a top plate 33, the upper end of the supporting sliding column 312 is connected with the top plate 33, a positioning hole 331 is formed in the top plate 33, in the working process of the anchor rod drilling machine 3, the supporting sliding column 312 firstly slides upwards along the first through hole until the top plate 33 abuts against surrounding rocks, and then the drill box 322 is matched with the travel sliding column 321 to drive a drill rod or an anchor rod to penetrate through the positioning hole 331 to drill or anchor rod support the surrounding rocks.
In some embodiments, the jumbolter 3 further includes a support cylinder 34, one end of a cylinder body of the support cylinder 34 is connected to the frame 311, one end of a piston rod of the support cylinder 34 is connected to the top plate 33, and since the top plate 33 is connected to an upper end of the support sliding column 312, the piston rod of the support cylinder 34 extends and retracts along the cylinder body, so as to drive the support sliding column 312 to ascend or descend along the frame 311, thereby adjusting the position of the top plate 33.
In some embodiments, the stroke sliding column 321 includes a primary stroke sliding column 3211 and a secondary stroke sliding column 3212, the primary stroke sliding column 3211 and the secondary stroke sliding column 3212 are connected and parallel to each other, the primary stroke sliding column 3211 is slidable along the second through hole, the drill box 322 is connected with the secondary stroke sliding column 3212, and the drill box 322 is slidable along the secondary stroke sliding column 3212.
Firstly, the first-stage stroke sliding column 3211 can slide along the second through hole, the first-stage stroke sliding column 3211 can drive the second-stage stroke sliding column 3212 and the drill box 322 to move simultaneously while sliding, so that the drill box 322 moves in the first-stage stroke, further, the drill box 322 can slide along the second-stage stroke sliding column 3212, so that the drill box 322 moves in the second-stage stroke, and the first-stage stroke sliding column 3211 and the second-stage stroke sliding column 3212 are matched with each other, so that the maximum movement stroke of the drill box 322 is greatly increased, a longer drill hole can be drilled, and in practical application, the maximum stroke of the anchor rod drilling machine 3 can reach 2.6 meters. The one-time construction operation of the full-length anchor rod can be realized, and the anchor rod supporting efficiency is greatly improved.
So set up, when first order stroke traveller 3211 slided along first through-hole, can drive the second grade and form the traveller and remove simultaneously, there is the relevant description below the effect of second diaphragm 3113.
Further, skeleton 311 still includes first connecting piece 3114 and second connecting piece 3115, and first connecting piece 3114 is established on riser 3111's top, and first through-hole and second through-hole all establish on first connecting piece 3114, and the lower extreme of one-level stroke traveller 3211 and the lower extreme of second grade stroke traveller 3212 all link to each other with second connecting piece 3115.
First through-hole and second through-hole have been seted up on first connecting piece 3114, and first connecting piece 3114 links to each other with the top of riser 3111, one-level stroke traveller 3211 runs through the second through-hole of first connecting piece 3114, the structure of second connecting piece 3115 is similar with first connecting piece 3114, the through-hole has likewise been seted up, the lower extreme of one-level stroke traveller 3211 and second grade stroke traveller 3212 runs through behind the through-hole on the second connecting piece 3115 with nut threaded connection, therefore, the lower extreme of one-level stroke traveller 3211 and the lower extreme of second grade stroke traveller 3212 pass through second connecting piece 3115 and link to each other, the upper end of one-level stroke traveller 3211 and the upper end of second grade stroke traveller 3212 all link to each other with first diaphragm 3112, the relation of connection between one-level stroke traveller 3211 and the second grade stroke travel.
The jumbolter 3 further comprises a first-stage stroke oil cylinder 35 and a second-stage stroke oil cylinder 36, one end of a cylinder body of the first-stage stroke oil cylinder 35 is connected with the second transverse plate 3113, one end of a piston rod of the first-stage stroke oil cylinder 35 is connected with the first transverse plate 3112, the second transverse plate 3113 is used for supporting the first-stage stroke oil cylinder 35, the piston rod of the first-stage stroke oil cylinder 35 stretches and retracts along the cylinder body, and therefore the first transverse plate 3112 can be driven to ascend or descend, and meanwhile, the upper ends of the first-stage stroke sliding column 3211 and the second-stage stroke sliding column 3212 are connected with the first transverse plate 3112, so that the first-stage stroke sliding column 3211 and the second.
One end of a piston rod of the secondary stroke oil cylinder 36 is connected with the drill box 322, and one end of a cylinder body of the secondary stroke oil cylinder 36 is connected with the first transverse plate 3112 or the second transverse plate 3113, so that the piston rod of the secondary stroke oil cylinder 36 extends and retracts along the cylinder body to drive the drill box 322 to ascend or descend along the secondary stroke sliding column 3212.
It should be noted that, in some embodiments, a movable pulley assembly may be further added at the secondary stroke cylinder 36 to increase the maximum stroke of the drill box 322, specifically, the cylinder body of the secondary stroke cylinder 36 is connected to the second cross plate 3113, a movable pulley is installed at one end of the piston rod of the secondary stroke cylinder 36, and then one end of a chain or a cable is connected to the drill box 322, and the other end of the chain or the cable is connected to the cylinder body of the secondary stroke cylinder 36 after passing around the movable pulley. With the arrangement, the movement stroke of the secondary stroke cylinder 36 can be enlarged by two times, so that the maximum stroke of the jumbolter 3 is further improved.
The number of the support sliding columns 312, the number of the first-stage stroke sliding columns 3211, and the number of the second-stage stroke sliding columns 3212 are two, the two support sliding columns 312 are arranged at intervals in the width direction of the drill frame 31, the two first-stage stroke sliding columns 3211 are arranged at intervals in the width direction of the drill frame 31, and the two second-stage stroke sliding columns 3212 are arranged at intervals in the width direction of the drill frame 31, so that the structural strength of the drill frame 31 and the stroke sliding columns 321 can be increased.
In some embodiments, the anchor rod drill carriage further comprises a top net device 9, wherein the top net device 9 is used for laying a steel bar net, and the steel bar net is supported at the surrounding rocks at the top of the roadway to prevent falling rocks from causing injury to workers.
Specifically, the net jacking device 9 includes a lifting column 91, a sliding column 92 and a support plate 93, the length of the lifting column 91 is adjustable, one end of the lifting column 91 is rotatably connected with the vehicle body 1, the other end of the lifting column 91 is connected with the sliding column 92, the length of the sliding column 92 is adjustable along the width direction of the vehicle body 1, and the support plate 93 is arranged at two ends of the sliding column 92. During the use, through the position of the length adjustment traveller 92 of rotating lift post 91 and adjustment lift post 91, make the backup pad 93 that is located the both ends of traveller 92 offset with the country rock, can also be according to the width adjustment traveller 92's of tunnel length to lay the reinforcing bar net at the top in tunnel.
In some embodiments, running gear 6 is provided below body 1, and running gear 6 is preferably a track wheel set.
The crawler belt wheel set comprises a crawler belt and a wheel set for driving the crawler belt to advance, the wheel set comprises an active wheel, an inducer and a towing wheel, power is provided for the wheel set through a power device 7, and the crawler belt wheel set has the advantages of being large in driving force, small in contact pressure, good in cross-country performance and stability, large in climbing capacity, small in turning radius and good in flexibility.
The anchor rod drill carriage further comprises a barrier clearing plate, the barrier clearing plate is rotatably connected with the vehicle body 1, the angle of the barrier clearing device can be adjusted through the oil cylinder, the barrier clearing plate is arranged in the front of the walking device 6, and the barrier clearing plate inclines towards the rear end of the vehicle body 1 from the downward upward direction. When the roadway is not cleaned up by float coal, the obstacle removing mechanism can remove obstacles along with the forward movement of the drill carriage, and a relatively flat walking road is cleaned for the walking device 6.
In some embodiments, the jumbolter further comprises an operator platform 4 and a ceiling 5, the operator platform 4 being removably connected to the robotic arm assembly 2, the ceiling 5 being connected to the robotic arm assembly 2, the operator platform 4 being adjacent the rig 3, the ceiling 5 being disposed above the operator platform 4, the ceiling 5 being adjustable in height. Operation platform 4 is used for supplying the staff to trample, and ceiling 5 plays the guard action, and the staff is pounded to the thing that drops at wall tunnel top, has improved the security of stock drill carriage, and ceiling 5 highly can be adjusted for ceiling 5 can satisfy the operating personnel of different heights and use.
The operation platform 4 includes a first connecting rod 44 and a first pedal 41, wherein an upper end of the first connecting rod 44 is detachably connected to the robot arm assembly 2, and a lower end of the first connecting rod 44 is connected to the first pedal 41.
Alternatively, the upper end of the first connecting rod 44 is connected to the robot arm assembly 2 by a bolt, that is, a through hole is formed in the first connecting rod 44, a threaded hole is formed in the robot arm assembly 2, and a bolt is screwed into the robot arm assembly 2 through the through hole in the first connecting rod 44, so that the first connecting rod 44 is detachably connected to the robot arm assembly 2. The lower end of the first connecting rod 44 and the first pedal 41 may be detachably connected or non-detachably connected, and it is only necessary to ensure sufficient connecting strength.
The operation platform 4 further includes a second step 42, and the second step 42 is turnable with the first step 41 between a first position where the second step 42 is located on one side of the first step 41 in the width direction of the vehicle body 1 and a second position where the second step 42 is perpendicular to the first step 41.
The second pedal 42 is used for increasing the treadable area of the operating platform 4, so that the operation of workers is facilitated, the second pedal 42 is connected with the first pedal 41 in the width direction of the vehicle body 1, the first pedal 41 can be arranged at the position not exceeding the two sides of the vehicle body 1, the second pedal 42 exceeds the two sides of the vehicle body 1 when being arranged at the first position, when the anchor rod drill carriage needs to move, the second pedal 42 only needs to be rotated to rotate to the second position, the second pedal 42 is perpendicular to the first pedal 41, at the moment, the second pedal 42 and the first pedal 41 exceed the two sides of the vehicle body 1, and the anchor rod drill carriage can move normally.
Further, the operation platform 4 further includes a third step 43, the third step 43 is rotatably connected to the second step 42, and the third step 43 is turnable between a third position where the third step 43 is located on one side of the second step 42 in the length direction of the vehicle body 1 and a fourth position where the third step 43 overlaps the second step 42.
Similarly, the third pedal 43 can further increase the area of the operating platform 4, and the third pedal 43 and the second pedal 42 are connected in the length direction of the vehicle body 1, when the operator changes the drill rod or the anchor rod, the third pedal 43 is rotated to the first position, when the operator needs to move the drill, the third pedal 43 is rotated to the second position to be overlapped with the second pedal 42, and then the second pedal 42 is rotated to the second position, at this time, the third pedal 43 and the second pedal 42 are both perpendicular to the first pedal 41 and do not exceed two sides in the width direction of the vehicle body 1, and the anchor rod drill carriage can normally move.
In some embodiments, the operation platform 4 further includes a rail 45, the rail 45 is detachably connected to at least one of the first step 41, the second step 42 and the third step 43, the rail 45 is enclosed outside the first step 41, the second step 42 and the third step 43, the rail 45 protects the anchor rod drill carriage from falling down during operation, and the rail 45 is detachably connected to at least one of the three steps, when the operator operates on the operation platform 4, the rail 45 needs to be installed first, and when the steps need to be folded or detached from the anchor rod drill carriage, the rail 45 only needs to be detached.
Specifically, a fourth connecting member 46 is disposed on a peripheral side of at least one of the first pedal 41, the second pedal 42 and the third pedal 43, the fourth connecting member 46 has a through hole, an opening direction of the through hole is a vertical direction, the rail 45 includes a plurality of connecting pipes 451 and a limiting member 452 disposed on the connecting pipes 451, the connecting pipes 451 are inserted into the through holes of the fourth connecting member 46, and the limiting member 452 is clamped on a top of the fourth connecting member 46.
It can be understood that the rail 45 is a quick-insertion structure, and when it is installed, the connecting pipe 451 of the rail 45 is only required to be inserted into the through hole of the fourth connecting member 46, and the limiting member 452 prevents the rail 45 from being too far down. The quick-insertion structure saves the time for installing and disassembling the fence 45 and improves the working efficiency of the anchor rod drill carriage.
In some embodiments, the bolting drill rig further comprises a cable winder 8, the cable winder 8 is a cylindrical member, and the cable winder 8 is rotatably provided at the rear end of the vehicle body 1 for winding and unwinding the cable during the advance and retreat of the bolting drill rig.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A rock bolt drill carriage, comprising:
a vehicle body;
the mechanical arm assembly is connected with the vehicle body at one end and has multiple degrees of freedom;
the drilling machine comprises a drilling frame and a drilling box assembly, the drilling frame is connected with the other end of the mechanical arm assembly, the drilling box assembly is connected with the drilling frame, and the drilling box is movable along the length direction of the drilling frame;
the walking device is arranged at the bottom of the vehicle body so as to drive the anchor rod drill carriage to walk along the roadway;
a power plant for powering the robotic arm assembly, the drilling rig, and the walking device.
2. The jumbolter as recited in claim 1, wherein the robot assembly includes a mounting base, a telescopic arm, and a connecting device, the mounting base is rotatably connected to the body, the telescopic arm is retractable along a length direction thereof, one end of the telescopic arm is rotatably connected to the mounting base, one end of the connecting device is connected to the other end of the telescopic arm, the connecting device is movable along a length direction thereof, and the drilling machine is rotatably connected to the connecting device.
3. The jumbolter as recited in claim 2, wherein the telescopic boom comprises a first telescopic boom and a second telescopic boom, the first telescopic boom and the second telescopic boom being parallel to each other with a separation distance therebetween.
4. The roof bolting rig according to claim 1, wherein said robot arm assemblies are two, and two of said robot arm assemblies are arranged at intervals in a width direction of said vehicle body.
5. The rock-bolt drill carriage of claim 1, wherein the drill rig comprises a framework and a support sliding column, a first through hole and a second through hole are formed in the framework, the extending direction of the first through hole is parallel to the extending direction of the second through hole, the support sliding column penetrates through the first through hole, and the support sliding column is slidable along the first through hole.
6. A rock bolt drill carriage according to claim 5, wherein the drill box assembly includes a plurality of travel spools and a drill box, at least one of the travel spools extends through the second bore and at least one of the travel spools is slidable along the second bore, the drill box being connected to at least one of the travel spools, the drill box being adapted to receive drill pipe and/or rock bolts.
7. The roof bolt drill carriage of claim 1, characterized by further comprising a roof screen device, wherein the roof screen device comprises a lifting column, a sliding column and support plates, the length of the lifting column is adjustable, one end of the lifting column is rotatably connected with the vehicle body, the other end of the lifting column is connected with the sliding column, the length of the sliding column is adjustable along the width direction of the vehicle body, and the support plates are arranged at two ends of the sliding column.
8. The jumbolter as defined in claim 1, wherein the traveling device is provided under the vehicle body, the traveling device being a crawler wheel group.
9. The roof bolt drill carriage of claim 8, further comprising a clearance plate rotatably coupled to the vehicle body, the clearance plate being disposed forward of the running gear, the clearance plate being inclined in a downward-upward direction toward a rear end of the vehicle body.
10. The jumbolter as defined in claim 1, further comprising an operator platform removably coupled to the robotic arm assembly and a canopy coupled to the robotic arm assembly, the operator platform being adjacent the drill rig, the canopy being disposed above the operator platform, the canopy being adjustable in height.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110481360.8A CN113090302A (en) | 2021-04-30 | 2021-04-30 | Anchor rod drill carriage |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110481360.8A CN113090302A (en) | 2021-04-30 | 2021-04-30 | Anchor rod drill carriage |
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| CN113090302A true CN113090302A (en) | 2021-07-09 |
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| CN202110481360.8A Pending CN113090302A (en) | 2021-04-30 | 2021-04-30 | Anchor rod drill carriage |
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| CN113931669A (en) * | 2021-10-19 | 2022-01-14 | 中国煤炭科工集团太原研究院有限公司 | Anchor rod supporting method based on automatic drilling rig |
| CN113982662A (en) * | 2021-11-02 | 2022-01-28 | 中煤科工集团西安研究院有限公司 | Coal mine underground intelligent anchoring unit and dynamic control method thereof |
| WO2023093117A1 (en) * | 2021-11-25 | 2023-06-01 | 中国煤炭科工集团太原研究院有限公司 | Anchor protection vehicle |
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