CN113266406B

CN113266406B - Anchor cable trolley

Info

Publication number: CN113266406B
Application number: CN202110762781.8A
Authority: CN
Inventors: 李传宏; 刘再涛; 王华武; 周国俊; 刘鹏刚; 刘滨; 宋召法; 朱朋; 牟立见; 刘世永; 张庆; 王光明; 李振理; 周波; 李大东; 盖盛源; 滕舵; 宋万成; 王琳; 刘晓光
Original assignee: Xincheng Gold Mining Shandong Gold Mining Co ltd
Current assignee: Xincheng Gold Mining Shandong Gold Mining Co ltd
Priority date: 2021-07-06
Filing date: 2021-07-06
Publication date: 2022-09-13
Anticipated expiration: 2041-07-06
Also published as: CN113266406A

Abstract

The invention discloses an anchor cable trolley, which comprises a rock drill, a drill rod driven by the rock drill to rotate, a vehicle chassis, a grouting production device, a mechanical arm, a drill rod replacing mechanism and a grouting device, wherein the vehicle chassis is connected with the drill rod replacing mechanism; the vehicle chassis comprises a front chassis and a rear chassis which are connected together through a hinge mechanism; the grouting production device is arranged on the rear chassis and used for conveying cement slurry to the grouting device; the mechanical arm is arranged on the front chassis and has five degrees of freedom, and the tail end of the mechanical arm is provided with a sliding frame; the sliding frame is provided with the rock drill, the working drill rod, the drill rod replacing mechanism and the clamping rod device. The invention can realize the mechanized and automatic operation of a series of procedures of drilling, drill rod replacement and grouting, greatly improves the efficiency of anchor cable installation and reduces the labor intensity of operators.

Description

Anchor rope trolley

Technical Field

The invention relates to a trolley device for fixing an anchor cable.

Background

Anchor lines are one of the main downhole support means. The anchor cable is fixed on the rock wall through the processes of drilling, installation, grouting and the like.

By adopting the traditional solution scheme, the drilling and grouting of the anchor cable are both dependent on pure manual operation, and the efficiency is low. In order to improve efficiency, the mode that adopts the arm to drive the rock drill to carry out the drilling has been proposed in the field, and its defect lies in: (1) the conventional mechanical arm is generally formed by connecting a large arm and a small arm in series, has only one to two degrees of freedom, has great limitation, cannot carry out drilling operation at any position and angle, and cannot meet the drilling requirement of complex terrains underground; (2) the device can be subjected to large reverse impact force in the drilling process, and a conventional mechanical arm device is not stable enough, so that the accuracy of the drilling position cannot be ensured, and certain potential safety hazards also exist; (3) the drilling rods driven by the rock drilling machine are usually connected in series, when the drilling rods need to be replaced, manual intervention is still needed, and the mechanization degree is low.

In addition, in the grouting process, the hole opening needs to be plugged manually, cement slurry is injected into the hole at the same time, and whether the hole is filled with the cement slurry or not is difficult to judge, so that the grouting efficiency is low and the quality is poor.

Disclosure of Invention

The invention provides an anchor cable trolley, which aims to: (1) the requirement of omnibearing punching is met; (2) the stability of the device in the drilling process is ensured; (3) the mechanical replacement of the drill rod is realized, and the efficiency is further improved; (4) improve grouting efficiency and quality.

The technical scheme of the invention is as follows:

an anchor cable trolley comprises a rock drill and drill rods driven by the rock drill to rotate, wherein the drill rods comprise more than two working drill rods which are sequentially connected end to end in a thread mode, the working drill rod at the tail end is connected with a drill rod tail in a thread mode, the drill rod tail is arranged on an inner spline sleeve of a driven gear in the rock drill and serves as an output shaft of the rotary torque and the impact kinetic energy of the rock drill, and the anchor cable trolley also comprises a vehicle chassis, a grouting production device, an mechanical arm, a drill rod replacing mechanism and a grouting device;

the vehicle chassis comprises a front chassis and a rear chassis which are connected together through a hinge mechanism;

the grouting production device is arranged on the rear chassis and used for conveying cement slurry to the grouting device;

the mechanical arm is arranged on the front chassis and has five degrees of freedom, and the tail end of the mechanical arm is provided with a sliding frame;

the sliding frame is provided with the rock drill, the working drill rod, the drill rod replacing mechanism and a clamping rod device; the rock drill is positioned at the rear end of the sliding frame, the clamping rod device is positioned at the front end of the sliding frame, the working drill rod penetrates through the clamping rod device, and a drill bit is arranged at the foremost end of the working drill rod; the drill rod replacing mechanism is positioned beside the sliding frame;

the grouting device comprises a grouting head, a grouting pipe, a wood plug and an exhaust pipe; the grouting head is arranged at the drill shank or the front end of the foremost working drill rod and is used for fixing a wood plug, a grouting pipe and an anchor cable; the grouting pipe is connected with a grouting production device; the wood plug is used for plugging a drill hole for installing the anchor cable; the exhaust pipe penetrates through the grouting head and the wooden plug and is used for exhausting air and redundant cement slurry in the drill hole.

As a further improvement of the trolley: the mechanical arm comprises a rotary turntable, a main arm, a lifting oil cylinder, a turnover turntable, a pitching oil cylinder, a pitching frame, a swinging turntable and a sliding frame;

the rotary turntable is rotatably arranged on the front chassis and horizontally rotates relative to the front chassis under the action of the first rotary driving device; the lower end of the main arm is hinged with the rotary turntable, one end of the lifting oil cylinder is hinged with the rotary turntable, and the other end of the lifting oil cylinder is hinged with the main arm; the overturning turntable is rotatably arranged at the upper end of the main arm and rotates relative to the main arm under the action of the second rotary driving device; the rear end of the pitching frame is hinged with the overturning turntable, one end of a pitching oil cylinder is hinged with the overturning turntable, and the other end of the pitching oil cylinder is hinged with the pitching frame; the swing turntable is rotatably arranged on the pitching frame and rotates relative to the pitching frame under the action of the third rotary driving device; the sliding frame is arranged on the swinging turntable;

the front end of the sliding frame is provided with a tip, and the rear end of the sliding frame is provided with a supporting oil cylinder;

and a propulsion oil cylinder is also arranged on the sliding frame and used for pushing the rock drill to move back and forth along the sliding frame.

As a further improvement of the trolley: the clamping rod device comprises a first clamping oil cylinder, a first clamping arm, a second clamping oil cylinder, a second clamping arm and a clamping seat;

the clamping seat is arranged on the sliding frame; the first clamping arm and the second clamping arm are respectively positioned at the left side and the right side of the sliding frame and are respectively hinged with the clamping seat; the lower end of the first clamping oil cylinder is hinged with the sliding frame, and the upper end of the first clamping oil cylinder is hinged with the first clamping arm; the lower end of the second clamping oil cylinder is hinged with the sliding frame, and the upper end of the second clamping oil cylinder is hinged with the second clamping arm; the tail ends of the first clamping arm and the second clamping arm are respectively provided with a semicircular notch used for being matched with a drill rod.

As a further improvement of the trolley: the drill rod replacing mechanism comprises a clutch device, a drill rod transferring device and a bracket for placing a standby drill rod;

the drill bit shank is also connected with the tail-end working drill rod through the clutch device, and when the clutch device is in a joint state, the tail-end working drill rod synchronously rotates along with the drill bit shank;

the drill rod moving device is positioned on the side of the sliding frame and comprises a moving frame and a mechanical gripper arranged on the moving frame, and the mechanical gripper is used for clamping a standby drill rod;

when the drill rod is replaced, the clamping rod device clamps the second working drill rod from back to front.

As a further improvement of the trolley: the clutch device comprises a clutch oil cylinder and a clutch sleeve connected with an extension rod of the clutch oil cylinder, the clutch oil cylinder is fixedly arranged relative to the rock drill, the clutch sleeve is sleeved on the outer side of the drill shank and is in sliding connection with the drill shank, and the front end of the clutch sleeve is used for being connected with the tail-most working drill rod.

As a further improvement of the trolley: the drill rod moving device also comprises a sliding rod, a sliding sleeve and an advance and retreat oil cylinder; the sliding rod is fixedly arranged relative to the bracket and the sliding frame, and the sliding sleeve is arranged on the sliding rod in a sliding fit mode; the advancing and retreating oil cylinder is fixedly arranged relative to the sliding frame, and the extension rod is connected with the sliding sleeve; the movable frame is arranged on the sliding sleeve.

As a further improvement of the trolley: a push rod and a first tension spring are mounted on the bracket;

the standby drill rods are arranged on the bracket from left to right; one end of the first tension spring is connected with the support, the other end of the first tension spring is connected with the push rod, and the push rod is used for pushing the standby drill rod towards the direction of the sliding frame.

As a further improvement of the trolley: the mechanical paw comprises a lifting oil cylinder, an arm, a clamping oil cylinder and a movable jaw;

the arm is positioned above the standby drill rod and is rotationally connected with the movable frame; one end of the lifting oil cylinder is rotationally connected with the movable frame, and the other end of the lifting oil cylinder is rotationally connected with the arm; the bottom of the arm is provided with a fixed clamping jaw; the movable clamping jaw is installed at the outer end of the arm in a rotating connection mode, one end of the clamping oil cylinder is rotatably connected with the arm, and the other end of the clamping oil cylinder is rotatably connected with the movable clamping jaw; the fixed clamping jaw and the movable clamping jaw are respectively positioned at the outermost sides, namely the inner side and the outer side of the standby drill rod closest to the sliding frame;

the bracket is also provided with a limiting clamping jaw and a second tension spring;

the tail end of the limiting clamping jaw is provided with a bulge, and the bulge is positioned between the standby drill rod and the sliding frame; the limiting clamping jaw is rotatably connected with the support, one end of the second tension spring is connected with the limiting clamping jaw, and the other end of the second tension spring is connected with the support.

As a further improvement of the trolley: the wooden plug is in a circular truncated cone shape, and the diameter of the top surface of the wooden plug is smaller than that of the bottom surface of the wooden plug; the wooden plug is provided with a first fixing hole and a one-way conduction mechanism; the first fixing hole is used for being matched with the anchor cable; the upper end and the lower end of the one-way conduction mechanism are respectively communicated with the top surface and the bottom surface of the wood plug, and the lower end of the one-way conduction mechanism is communicated with the grouting pipe;

the grouting head is positioned below the wooden plug and used for supporting the wooden plug and comprises a cylinder body, a first flat plate and a second flat plate, wherein the first flat plate and the second flat plate are sequentially arranged in the cylinder body from top to bottom; a third fixing hole matched with the anchor cable and a fourth fixing hole matched with the grouting pipe are formed in the first flat plate; the second flat plate is used for contacting with the lower end of the anchor cable; the grouting pipe penetrates through the fourth fixing hole of the first flat plate and is welded with the first flat plate into a whole;

and after the exhaust pipe sequentially penetrates through the grouting head and the wood plug, the upper end of the exhaust pipe is fixed with the anchor cable.

As a further improvement of the trolley: the one-way conduction mechanism comprises a step hole which is communicated up and down, the step hole comprises a first hole section and a second hole section which are communicated in sequence from top to bottom, the diameter of the first hole section is larger than that of the second hole section, and the one-way conduction mechanism also comprises a steel ball which is arranged in the first hole section;

the unidirectional conduction mechanism further comprises a pin shaft horizontally arranged in the wooden plug, and the pin shaft penetrates through the first hole section and is located above the steel ball.

Compared with the prior art, the invention has the following beneficial effects:

(1) the device can realize mechanical and automatic operation of a series of procedures of drilling, drill rod replacement and grouting, greatly improves the efficiency of anchor cable installation and reduces the labor intensity of operators;

(2) the mechanical arm part adopts a five-axis linkage structure, the rotary turntable can realize large-angle rotation, the sliding frame can be moved to any position in space by matching with the lifting oil cylinder and the pitching oil cylinder, and the angle adjustment of the sliding frame is realized by combining the turnover turntable and the swing turntable, so that the positioning in all directions and without dead angles is realized, and the requirements of various drilling and grouting are met;

(3) the front end and the rear end of the sliding frame are respectively provided with the center and the supporting oil cylinder, when the sliding frame works, the supporting oil cylinder extends out to support the ground or the wall, the center supports against the rock wall, the sliding frame is stably supported, and the punching precision and the operation safety are ensured;

(4) when the working drill rods need to be disassembled, the clamping rod device clamps the second working drill rod, and meanwhile, the clutch device is connected, so that the tail end of the working drill rod can be ensured to synchronously and reversely rotate along with the drill shank, the threaded connection between the two working drill rods is loosened, and the mechanical disassembly is realized;

(5) a plurality of groups of drill rods can be placed on the bracket, and the standby drill rods can be quickly moved to the front side of the rock drill through the moving mechanical gripper to complete automatic assembly;

(6) the limiting clamping jaw, the fixed clamping jaw and the movable clamping jaw are matched, so that the standby drill rod on the outermost side can be accurately clamped;

(7) the mechanical gripper can also be matched with a rock drill to finish the disassembly of a working drill rod;

(8) the grouting device plugs the drilled hole by using the grouting head and the wooden plug, and directly injects cement slurry into the drilled hole through the grouting pipe, so that the grouting efficiency is improved, and the cement slurry is effectively prevented from overflowing;

(9) the grouting device can prevent injected cement slurry from flowing back from the grouting pipe through the one-way conduction mechanism;

(10) the exhaust pipe upper end is located near the anchor rope upper end, not only can discharge inside air fast when the slip casting, can also judge whether full through observing whether the exhaust pipe spills out grout.

Drawings

FIG. 1 is a schematic view of the overall structure of the apparatus;

FIG. 2 is an enlarged view of a portion A of FIG. 1;

fig. 3 is a schematic structural view of a support, a limit jaw, a carriage and a rock drill part in the drill rod changing mechanism, and the view direction of the figure is the left side view direction of fig. 2;

fig. 4 is a schematic structural view of the moving frame, the fixed jaw, the movable jaw, the carriage and the rock drill part of the drill rod changing mechanism, the view direction of the figure being the left side view direction of fig. 2;

FIG. 5 is a schematic top view of the drill rod changing mechanism between the carriage, the arm portion of the gripper, and the spare drill rod;

FIG. 6 is a schematic view of the clamping bar arrangement in an open position;

FIG. 7 is a schematic view of the clamping bar arrangement in a closed position;

FIG. 8 is a schematic view of a grouting apparatus used for grouting;

fig. 9 is a partial enlarged view of portion B of fig. 8;

FIG. 10 is a top view of the cork section;

figure 11 is a top view of the grouting head.

The main components in the figure include:

1. a vehicle chassis; 2. a stirring device; 3. grouting pump; 4. a rotary turntable; 5. lifting the oil cylinder; 6. a main arm; 7. turning over the turntable; 8. a pitching oil cylinder; 9. a pitching frame; 10. swinging the turntable; 11. a carriage; 12. a propulsion cylinder; 13. a tip; 14. a clamping bar device; 15. working the drill rod; 16. a clutch sleeve; 17. a drill shank; 18. a clutch oil cylinder; 19. a rock drill; 20. a support cylinder; 21. a slide bar; 22. a support; 23. a push rod; 24. a first tension spring; 25. a second tension spring; 26. a limiting jaw; 27. a drill rod is reserved; 28. an advancing and retreating oil cylinder; 29. a sliding sleeve; 30. a movable frame; 31. a lifting oil cylinder; 32. an arm; 33. clamping the oil cylinder; 34. fixing the clamping jaw; 35. a movable jaw; 36. an anchor cable; 37. an adhesive tape; 38. an exhaust pipe; 39. a wooden plug; 40. a grouting head; 41. a steel ball; 42. a grouting pipe; 43. a pin shaft; 44. a gasket; 1-1, a rear chassis; 1-2, a steering oil cylinder; 1-3, a hinge mechanism; 1-4, a front chassis; 1-5, a support oil cylinder; 14-1, a first clamping oil cylinder; 14-2, a first clamping arm; 14-3, clamping seats; 14-4, a second clamping arm; 14-5, a second clamping oil cylinder; 39-1, a second fixing hole; 39-2, a first fixing hole; 39-3, step holes; 40-1, third fixing hole; 40-2, a fourth fixing hole; 40-3, opening; 40-4, a first plate; 40-5, a second flat plate; 40-6 and fixing the threaded hole.

Detailed Description

The technical scheme of the invention is explained in detail in the following with the accompanying drawings:

referring to fig. 1, the anchor cable trolley comprises a vehicle chassis 1, a grouting production device, a mechanical arm, a drill rod replacing mechanism and a grouting device.

The vehicle chassis 1 comprises a front chassis 1-4 and a rear chassis 1-1 connected together by an articulation mechanism 1-3. The front chassis 1-4 and the rear chassis 1-1 are also connected through a steering oil cylinder 1-2, and the angle between the front chassis 1-4 and the rear chassis 1-1 can be controlled by controlling the extension and contraction of the steering oil cylinder 1-2.

The bottom of the front chassis 1-4 and the bottom of the rear chassis 1-1 are also provided with supporting leg oil cylinders 1-5, so that the stability of the trolley can be ensured during drilling.

The grouting production device is arranged on the rear chassis 1-1 and comprises a stirring device 2 and a grouting pump 3, and the grouting production device is used for conveying cement slurry for the grouting device.

The mechanical arm is arranged on the front chassis 1-4 and has five degrees of freedom, and the tail end of the mechanical arm is provided with a sliding frame 11.

As shown in fig. 1, the robot arm includes a rotary turntable 4, a main arm 6, a lift cylinder 5, a tilt turntable 7, a pitch cylinder 8, a pitch frame 9, and a swing turntable 10.

The rotary turntable 4 is rotatably arranged on the front chassis 1-4 and horizontally rotates relative to the front chassis 1-4 under the action of the first rotary driving device. The first rotary driving device comprises a driving hydraulic motor, a pinion and a bull gear, the driving hydraulic motor drives the pinion to rotate, the pinion drives the meshed bull gear to rotate, and the bull gear is connected with the rotary turntable 4 into a whole.

The lower end of the main arm 6 is hinged with the rotary turntable 4; meanwhile, one end of the lifting oil cylinder 5 is hinged with the rotary turntable 4, the other end of the lifting oil cylinder is hinged with the main arm 6, and the main arm 6 is driven to rotate relative to the rotary turntable 4 through stretching.

The overturning turntable 7 is rotatably mounted at the upper end of the main arm 6 and rotates relative to the main arm 6 under the action of the second rotary driving device. The structure of the second rotation driving device is the same as that of the first rotation driving device, and is not described in detail.

The rear end of the pitching frame 9 is hinged with the overturning turntable 7, one end of the pitching oil cylinder 8 is hinged with the overturning turntable 7, the other end of the pitching oil cylinder is hinged with the pitching frame 9, and the pitching frame 9 is driven to rotate relative to the overturning turntable 7 through stretching.

The swing turntable 10 is rotatably mounted on the pitching frame 9 and rotates relative to the pitching frame 9 under the action of a third rotary driving device.

The structure of the second swing driving device is the same as that of the first swing driving device, and is not described in detail.

The carriage 11 is mounted on the oscillating turntable 10.

The rotary turntable 4 can rotate 360 degrees, the sliding frame 11 can be moved to any position in space by matching with the lifting oil cylinder 5 and the pitching oil cylinder 8, and the angle adjustment of the sliding frame 11 is realized by combining the turnover turntable 7 and the swing turntable 10, so that the positioning in all directions and no dead angle is realized, and the requirements of various drilling and grouting are met.

The carriage 11 is provided with a rock drill 19, a working drill rod 15, a drill rod changing mechanism and a clamping bar device 14.

The rock drill 19 is positioned at the rear end of the sliding frame 11 and used for driving a drill rod to rotate and impact, the drill rod comprises more than two working drill rods 15 which are sequentially connected together end to end in a thread mode, the working drill rod 15 at the tail end is connected with a drill bit tail 17 in a thread mode, and the drill bit tail 17 is installed on an inner spline sleeve of a driven gear inside the rock drill 19 and serves as an output shaft of the rotation torque and the impact kinetic energy of the rock drill 19. The foremost working drill rod 15 is provided with a drill bit.

A clamping bar arrangement 14 is located at the front end of the carriage 11.

As shown in fig. 6 and 7, the clamping bar device 14 comprises a first clamping cylinder 14-1, a first clamping arm 14-2, a second clamping cylinder 14-5, a second clamping arm 14-4 and a clamping seat 14-3.

The clamping seat 14-3 is mounted on the carriage 11; the first clamping arm 14-2 and the second clamping arm 14-4 are respectively positioned at the left side and the right side of the sliding frame 11 and are respectively hinged with the clamping seat 14-3; the lower end of the first clamping oil cylinder 14-1 is hinged with the sliding frame 11, and the upper end of the first clamping oil cylinder is hinged with the first clamping arm 14-2; the lower end of a second clamping oil cylinder 14-5 is hinged with the sliding frame 11, and the upper end of the second clamping oil cylinder is hinged with a second clamping arm 14-4; the ends of the first clamping arm 14-2 and the second clamping arm 14-4 are provided with a semicircular notch for cooperation with a drill rod, respectively.

The first clamping cylinder 14-1 and the second clamping cylinder 14-5 synchronously act, when the two clamping cylinders retract, the first clamping arm 14-2 and the second clamping arm 14-4 are opened, at the moment, the drill rod can rotate at a high speed to carry out drilling operation, when the two clamping cylinders synchronously extend, the first clamping arm 14-2 and the second clamping arm 14-4 are closed to drive the two semicircular notches to clamp the tail flange of the drill rod at the foremost end, at the moment, other drill rods at the rear section can be rotated by means of the rock drill 19 or other external forces, and the thread fit between the drill rods is loosened to realize disassembly. When the drilling operation is performed, the first clamping oil cylinder 14-1 and the second clamping oil cylinder 14-5 are in synchronous extending states, at the moment, the two semicircular notches are in a closed state, supporting and positioning are performed on the rod position of the drill rod, and the situation that when the drilling operation is performed, a drill bit slides on a rock surface to influence the positioning accuracy of the eye position is prevented. While the positioning accuracy is ensured, the open-hole time is saved, and the rock drilling efficiency is improved. After the drilling is finished, the drill bit completely enters the rock surface and is in a stable rock drilling state, the first clamping cylinder 14-1 and the second clamping cylinder 14-5 retract synchronously, the semicircular notch is completely opened, and rock drilling can be carried out at full speed.

As shown in fig. 2, a propulsion cylinder 12 is further mounted on the carriage 11 for propelling the rock drill 19 to move back and forth along the carriage 11, so as to ensure that the drilling depth meets the requirement.

The front end of the sliding frame 11 is provided with a tip 13, and the rear end is provided with a supporting oil cylinder 20. During operation, the supporting oil cylinder 20 extends out to support the ground or the wall, the top 13 supports the rock wall, the sliding frame 11 is stably supported, and punching precision and operation safety are guaranteed.

In the aspect of hydraulic pressure, the main arm 6 part is controlled by adopting pilot oil pressure and controlled by a 9-way hydraulic control valve group, and the main arm 6 can be controlled to act by operating a pilot handle. The pilot control has the advantage that the operator does not need to pull the operating handle with great effort, so that the labor intensity can be reduced.

When the hydraulic station is connected with a main oil circuit of the hydraulic station, an electromagnetic valve is additionally arranged and is controlled by an emergency stop button on an operation table. In case of emergency, the oil supply circuit of the main arm 6 can be cut off in time by pressing the emergency stop button. When drilling is not needed, the electromagnetic valve keeps a closed state, and the main arm 6 is in an oil-cut state and cannot work. The design is mainly considered from the safety point of view, and can effectively prevent the main arm 6 from moving and causing accidents due to the fact that the operating rod is touched by mistake, and the main arm is opened only when needed.

A proportional flow divider is also installed on the branch oil path connected with the main oil path to better control the distribution and the direction of the oil path of the hydraulic oil.

The hydraulic control valve group of the hydraulic station mainly controls the actions of main arm 6 rotation, main arm 6 lifting, carriage 11 turning, carriage 11 swinging, pitching, drill rod clamping/loosening and the like.

The drill rod replacing mechanism comprises a drill rod replacing mechanism, wherein the drill rod comprises more than two working drill rods 15 which are sequentially connected together end to end in a thread mode, the working drill rod 15 at the tail end is connected with a drill bit tail 17 in a thread mode, the drill bit tail 17 is installed on an inner spline sleeve of a driven gear inside a rock drill 19 and serves as an output shaft of the rotary torque and the impact kinetic energy of the rock drill 19, the rock drill 19 is installed on a sliding frame 11, and a propelling oil cylinder 12 used for driving the rock drill 19 to move back and forth along the sliding frame 11 is installed on the sliding frame 11. During drilling, the rock drill 19 drives the drill rod to rotate and impact, and meanwhile, the drill rod is gradually pushed into the rock wall under the action of the pushing cylinder 12.

As shown in fig. 3 and 4, the drill rod changing mechanism is located beside the carriage 11 and includes a clutch device, a clamping bar device 14, a drill rod transfer device and a support 22 for placing a spare drill rod 27.

The shank adapter 17 is connected to the rearmost working drill rod 15 by means of the coupling device. Specifically, the clutch device comprises a clutch cylinder 18 and a clutch sleeve 16 connected with an extension rod of the clutch cylinder 18, the clutch cylinder 18 is fixedly arranged relative to a rock drill 19, the clutch sleeve 16 is sleeved on the outer side of a shank 17 and is in sliding connection with the shank 17 in a spline mode, and the front end of the clutch sleeve 16 is connected with the tail-end working drill rod 15 through a protrusion-groove (in the embodiment, the structure form of a mutually-embedded tooth).

When the clutch cylinder 18 extends, the projection and the groove are connected and in an engaged state, and the tail-most working drill rod 15 synchronously rotates (whether in a forward direction or a reverse direction) along with the drill shank 17.

Further, the drill rod moving device is located on the side of the carriage 11. As shown in fig. 3 and 4, includes a moving rack 30 and a gripper mounted on the moving rack 30 for gripping a spare drill rod 27.

Specifically, the drill rod moving device further comprises a sliding rod 21, a sliding sleeve 29 and an advancing and retreating oil cylinder 28; the sliding rod 21 is fixedly arranged relative to the bracket 22 and the sliding frame 11, and the sliding sleeve 29 is arranged on the sliding rod 21 in a sliding fit manner; the advancing and retreating oil cylinder 28 is fixedly arranged relative to the sliding frame 11, and an extension rod is connected with the sliding sleeve 29; the moving frame 30 is mounted on the sliding sleeve 29. The advancing and retreating oil cylinder 28 can drive the movable frame 30 to move left and right.

As shown in fig. 3 to 5, the spare drill rods 27 are arranged on the support frame 22 side by side. A push rod 23 and a first tension spring 24 are arranged on the bracket 22; one end of the first tension spring 24 is connected with the bracket 22, and the other end is connected with the push rod 23, and the push rod 23 is used for pushing the spare drill rod 27 towards the direction of the sliding frame 11.

And the support 22 is also provided with a limiting claw 26 and a second tension spring 25. The tail end of the limit jaw 26 is provided with a bulge, and the bulge is positioned between the spare drill rod 27 and the sliding frame 11; the limiting jaw 26 is rotatably connected with the support 22, one end of the second tension spring 25 is connected with the limiting jaw 26, and the other end of the second tension spring is connected with the support 22. And a limiting plate is also arranged on the bracket 22 and used for limiting the limit position of the limiting claw 26. Under the action of the second tension spring 25, the limit jaw 26 abuts against the limit plate to block the outermost spare drill rod 27, so that the position of the lower outermost spare drill rod 27 is determined.

The mechanical gripper comprises a lifting oil cylinder 31, an arm 32, a clamping oil cylinder 33 and a movable jaw 35.

The arm 32 is located above the spare drill pipe 27 and is rotatably connected to the movable frame 30. One end of the lifting oil cylinder 31 is rotatably connected with the movable frame 30, and the other end is rotatably connected with the arm 32. The bottom of the arm 32 is provided with a fixed claw 34; the outer end at arm 32 is installed through rotating the connected mode to activity jack catch 35, centre gripping hydro-cylinder 33 one end with arm 32 rotate to be connected, the other end with activity jack catch 35 rotates to be connected. The fixed jaw 34 and the movable jaw 35 are located outermost, i.e. inside and outside the spare drill rod 27 closest to the carriage 11, respectively.

As shown in fig. 8 and 9, the grouting apparatus includes a grouting head 40, a grouting pipe 42, a wooden plug 39, and an exhaust pipe 38.

The wooden plug 39 is in a round table shape, the diameter of the top surface of the wooden plug is smaller than that of the bottom surface of the wooden plug, and the outer conical surface can be better matched with a rock body drilled hole to realize sealing.

As shown in fig. 9 and 10, the wooden plug 39 is provided with a first fixing hole 39-2 and a one-way conduction mechanism. The first fixing hole 39-2 is adapted to be engaged with the anchor cable 36. The wood plug 39 is further provided with a second fixing hole 39-1 which is vertically penetrated and used for fixing the exhaust pipe 38.

The upper end and the lower end of the one-way conduction mechanism are respectively communicated with the top surface and the bottom surface of the wooden plug 39, and the lower end is communicated with the grouting pipe 42.

Specifically, the one-way conduction mechanism comprises a step hole 39-3 which is through from top to bottom, the step hole 39-3 comprises a first hole section and a second hole section which are communicated with each other from top to bottom, the diameter of the first hole section is larger than that of the second hole section, and a conical surface is arranged at the joint of the first hole section and the second hole section. The one-way conduction mechanism further comprises a steel ball 41 placed in the first bore section. The steel ball 41 can be better attached to the conical surface.

When cement slurry is injected upwards from the lower part, the steel ball 41 is jacked up by the cement slurry, and the cement slurry smoothly enters the drilled hole. When grouting is suspended or completed, the steel ball 41 falls down to block the upper end of the second hole section, and backflow of cement slurry is prevented. Further, the one-way conduction mechanism further comprises a pin shaft 43 horizontally installed in the wooden plug 39, and the pin shaft 43 penetrates through the first hole section and is located above the steel ball 41, so that the steel ball 41 can be prevented from being punched out of the step hole 39-3.

As shown in fig. 9 and 11, the grouting head 40 is located below the wooden plug 39, is used for supporting the wooden plug 39, is a metal welding part, and comprises a cylinder body, and a first flat plate 40-4 and a second flat plate 40-5 which are sequentially arranged in the cylinder body from top to bottom; a third fixing hole 40-1 matched with the anchor cable 36 and a fourth fixing hole 40-2 matched with the grouting pipe 42 are formed in the first flat plate 40-4; the second plate 40-5 is adapted to contact the lower end of the anchor line 36.

A sealing gasket 44 is arranged between the first flat plate 40-4 and the wooden plug 39, and the grouting pipe 42 penetrates through the sealing gasket 44. The gasket 44 serves to seal the area and also serves to support the wooden plug 39.

The first flat plate 40-4 is further provided with a notch 40-3, the side wall of the cylinder body is further provided with a window, and the window is located between the first flat plate 40-4 and the second flat plate 40-5.

The exhaust pipe 38 sequentially penetrates through a window and a notch 40-3 of the grouting head 40 and then penetrates through a second fixing hole 39-1 of the wood plug 39, and the upper end of the exhaust pipe is bound and fixed with the anchor cable 36 through an adhesive tape 37. The upper end of the exhaust tube 38 should be flush with the upper end of the anchor line 36.

In this embodiment, the grouting pipe 42 is curved, welded to the first plate 40-4, and has a lower end extending out of the window and connected to the grouting machine through a hose.

The side wall of the grouting head 40 is also provided with a fixing threaded hole 40-6, and the fixing threaded hole 40-6 is positioned below the second plate 40-5. The lower end of the grouting head 40 can be fixed on the shank 17 of the rock drill 19 or the front end of a drill rod connected with the shank 17, the grouting head 40 is fixed on the shank 17 of the rock drill 19 or the front end of a drill rod connected with the shank 17 by installing a jackscrew in the fixed threaded hole 40-6, and the wood plug 39 is sealed at the hole opening by the impact force of the rock drill 19.

The trolley can mainly realize three functions of drilling, drill rod replacement and grouting:

firstly, the drilling process is as follows:

referring to fig. 1 and 2, an operator controls the mechanical arm to move, and the mechanical arm is rotated to correct the position and angle, so that a drill bit at the front end of the working drill rod 15 is aligned with a drilling position, then the supporting cylinder 20 extends out to support the ground or a wall, the top 13 supports a rock wall, the sliding frame 11 is stably supported, and the drilling precision and the operation safety are ensured. Then the propulsion oil cylinder 12 pushes the rock drill 19 to move forwards, the rock drill 19 is started to rotate at a low speed, and the clamping rod device 14 clamps the front end of the drill rod to open the hole. After the opening is completed, the drill bit is fully advanced into the rock face, the clamping bar device 14 is released, and the drill rod is advanced at full speed.

Secondly, the drill rod replacing process is as follows:

as shown in fig. 2 to 4, when the rearmost working drill rod 15 needs to be removed, the clamping rod device 14 clamps the second working drill rod 15, and the clutch device is in the engaged state, so that the rearmost working drill rod 15 is ensured to synchronously rotate in the reverse direction along with the rock drilling machine 19, and the threaded connection between the rearmost working drill rod 15 and the second working drill rod 15 is released by the power of the rock drilling machine 19. Then, the lifting cylinder 31 and the clamping cylinder 33 are retracted, the mechanical gripper is opened, the advancing and retreating cylinder 28 is operated, the mechanical gripper moves to the tail-most working drill rod 15, the mechanical gripper is closed to clamp the working drill rod 15, meanwhile, the clutch device is disconnected, the rock drilling machine 19 continues to rotate reversely, the tail-most working drill rod 15 can be detached, the mechanical gripper moves to other positions, and finally the initial position is returned.

When the previously working drill rod 15 is removed and a new drill rod needs to be attached. Firstly, the lifting oil cylinder 31 extends, the fixed clamping jaws 34 are clamped between the two outermost spare drill rods 27, then the clamping oil cylinder 33 extends, the movable clamping jaws 35 and the fixed clamping jaws 34 clamp the outermost spare drill rods 27, then the advancing and retreating oil cylinder 28 acts, the outermost spare drill rods 27 are pulled out from the limiting clamping jaws 26, and the spare drill rods 27 are clamped and move towards the direction of the carriage 11 until the spare drill rods 27 reach between the drill rod tail 17 and the second working drill rod 15. In the process, the rear spare drill rod 27 is moved by the push rod 23 towards the carriage 11 until it is stopped by the stop dog 26. At the moment, the clamping rod device 14 is in a closed state, then the pushing oil cylinder 12 pushes the rock drilling machine 19 forwards, the rock drilling machine 19 is started to rotate forwards, the standby drill rod 27 serves as a new tail-end working drill rod 15, threaded connection with the drill rod tail 17 is completed under the action of the rock drilling machine 19, then the mechanical gripper is loosened, threaded connection with the second working drill rod 15 is completed, and finally assembly is completed. After the assembly is completed, the advance and retreat cylinder 28 is operated in reverse, and the gripper returns to the bracket 22 to wait for the next disassembly or assembly.

Thirdly, the grouting process is as follows:

referring to fig. 8, the anchor cable 36, the grouting pipe 42 and the exhaust pipe 38 are firstly installed on the grouting head 40 and the wood plug 39 respectively, then the rock drill 19 (or the working drill rod 15) is pushed against the lower end of the grouting head 40, the wood plug 39 is plugged in the hole through impact, and the grouting head 40 is used for bearing the wood plug 39 and the anchor cable 36. Then, the cement paste is injected from the grouting pipe 42 through the hose, the cement paste pushes up the steel ball 41 into the borehole, and the air in the borehole is discharged from the air discharge pipe 38. When the grout reaches the top end of the anchor cable 36, the exhaust pipe 38 is submerged, the grout flows out of the exhaust pipe 38, and the operator can determine that the interior is full in turn and stop grouting. The steel ball 41 falls down to seal the second hole section, so as to avoid backflow of cement slurry.

In the working process, an operator is mainly responsible for controlling the device to act and performing auxiliary connection operation, other operations are completed by the device in a mechanized mode, labor intensity is reduced, and working efficiency is greatly improved.

Claims

1. The utility model provides an anchor rope platform truck, includes rock drill (19) and by rock drill (19) drive pivoted drilling rod, the drilling rod includes two more, through the work drilling rod (15) that screw thread mode head and the tail linked together in proper order, and the work drilling rod (15) of tail end are connected with bore bit tail (17) through the screw thread mode, bore bit tail (17) are installed on the internal spline cover of the driven gear of rock drill (19) inside, as the rotary torque of rock drill (19) and the output shaft of assaulting kinetic energy, its characterized in that: the grouting machine also comprises a vehicle chassis (1), a grouting production device, a mechanical arm, a drill rod replacing mechanism and a grouting device;

the vehicle chassis (1) comprises a front chassis (1-4) and a rear chassis (1-1) which are connected together through a hinge mechanism (1-3);

the grouting production device is arranged on the rear chassis (1-1) and is used for conveying cement slurry for the grouting device;

the mechanical arm is arranged on the front chassis (1-4) and has five degrees of freedom, and the tail end of the mechanical arm is provided with a sliding frame (11);

the rock drill (19), the working drill rod (15), the drill rod replacing mechanism and the clamping rod device (14) are arranged on the sliding frame (11); the rock drill (19) is positioned at the rear end of the sliding frame (11), the clamping rod device (14) is positioned at the front end of the sliding frame (11), the working drill rod (15) penetrates through the clamping rod device (14), and a drill bit is arranged at the foremost end of the working drill rod; the drill rod replacing mechanism is positioned beside the sliding frame (11);

the grouting device comprises a grouting head (40), a grouting pipe (42), a wood plug (39) and an exhaust pipe (38); the grouting head (40) is arranged at the front end of the drill shank (17) or the foremost working drill rod (15) and is used for fixing a wood plug (39), a grouting pipe (42) and an anchor cable (36); the grouting pipe (42) is connected with a grouting production device; the wooden plug (39) is used for plugging a drill hole for installing the anchor cable (36); the exhaust pipe (38) passes through the grouting head (40) and the wooden plug (39) and is used for exhausting air and excess cement slurry in the drill hole;

the drill rod replacing mechanism comprises a clutch device, a drill rod transferring device and a bracket (22) for placing a standby drill rod (27);

the drill bit shank (17) is also connected with the tail-most working drill rod (15) through the clutch device, and when the clutch device is in an engaging state, the tail-most working drill rod (15) synchronously rotates along with the drill bit shank (17);

the drill rod moving device is positioned on the side of the sliding frame (11) and comprises a moving frame (30) and mechanical claws arranged on the moving frame (30), and the mechanical claws are used for clamping a standby drill rod (27);

when the drill rod is replaced, the clamping rod device (14) clamps a second working drill rod (15) from back to front;

the mechanical gripper comprises a lifting oil cylinder (31), an arm (32), a clamping oil cylinder (33) and a movable jaw (35);

the arm (32) is positioned above the spare drill rod (27) and is rotationally connected with the movable frame (30); one end of the lifting oil cylinder (31) is rotationally connected with the movable frame (30), and the other end of the lifting oil cylinder is rotationally connected with the arm (32); the bottom of the arm (32) is provided with a fixed claw (34); the movable clamping jaw (35) is mounted at the outer end of the arm (32) in a rotating connection mode, one end of the clamping oil cylinder (33) is rotatably connected with the arm (32), and the other end of the clamping oil cylinder is rotatably connected with the movable clamping jaw (35); the fixed clamping jaw (34) and the movable clamping jaw (35) are respectively positioned at the outermost side, namely the inner side and the outer side of the spare drill rod (27) closest to the sliding frame (11);

the bracket (22) is also provided with a limiting clamping jaw (26) and a second tension spring (25);

the tail end of the limiting jaw (26) is provided with a bulge, and the bulge is positioned between the standby drill rod (27) and the sliding frame (11); the limiting jaw (26) is rotatably connected with the support (22), one end of the second tension spring (25) is connected with the limiting jaw (26), and the other end of the second tension spring is connected with the support (22).

2. A cable line trolley as claimed in claim 1, wherein: the mechanical arm comprises a rotary turntable (4), a main arm (6), a lifting oil cylinder (5), a turnover turntable (7), a pitching oil cylinder (8), a pitching frame (9), a swinging turntable (10) and a sliding frame (11);

the rotary turntable (4) is rotatably arranged on the front chassis (1-4) and horizontally rotates relative to the front chassis (1-4) under the action of the first rotary driving device; the lower end of the main arm (6) is hinged with the rotary turntable (4), one end of the lifting oil cylinder (5) is hinged with the rotary turntable (4), and the other end of the lifting oil cylinder is hinged with the main arm (6); the overturning turntable (7) is rotatably arranged at the upper end of the main arm (6) and rotates relative to the main arm (6) under the action of the second rotary driving device; the rear end of the pitching frame (9) is hinged with the overturning turntable (7), one end of a pitching oil cylinder (8) is hinged with the overturning turntable (7), and the other end of the pitching oil cylinder is hinged with the pitching frame (9); the swing turntable (10) is rotatably arranged on the pitching frame (9) and rotates relative to the pitching frame (9) under the action of a third rotary driving device; the sliding frame (11) is arranged on the swinging turntable (10);

the front end of the sliding frame (11) is provided with a tip (13), and the rear end is provided with a supporting oil cylinder (20);

and a propulsion oil cylinder (12) is also arranged on the sliding frame (11) and used for pushing the rock drilling machine (19) to move back and forth along the sliding frame (11).

3. A cable line trolley as claimed in claim 1, wherein: the clamping rod device (14) comprises a first clamping oil cylinder (14-1), a first clamping arm (14-2), a second clamping oil cylinder (14-5), a second clamping arm (14-4) and a clamping seat (14-3);

the clamping seat (14-3) is arranged on the sliding frame (11); the first clamping arm (14-2) and the second clamping arm (14-4) are respectively positioned at the left side and the right side of the sliding frame (11) and are respectively hinged with the clamping seat (14-3); the lower end of the first clamping oil cylinder (14-1) is hinged with the sliding frame (11), and the upper end of the first clamping oil cylinder is hinged with the first clamping arm (14-2); the lower end of a second clamping oil cylinder (14-5) is hinged with the sliding frame (11), and the upper end of the second clamping oil cylinder is hinged with a second clamping arm (14-4); the tail ends of the first clamping arm (14-2) and the second clamping arm (14-4) are respectively provided with a semicircular notch used for being matched with a drill rod.

4. A cable line trolley as claimed in claim 1, wherein: the clutch device comprises a clutch oil cylinder (18) and a clutch sleeve (16) connected with an extension rod of the clutch oil cylinder (18), the clutch oil cylinder (18) is fixedly arranged relative to the rock drill (19), the clutch sleeve (16) is sleeved on the outer side of the drill shank (17) and is in sliding connection with the drill shank (17), and the front end of the clutch sleeve (16) is used for being connected with the tail-end working drill rod (15).

5. A cable line trolley as claimed in claim 1, wherein: the drill rod moving device also comprises a sliding rod (21), a sliding sleeve (29) and a driving and reversing oil cylinder (28); the sliding rod (21) is fixedly arranged relative to the bracket (22) and the sliding frame (11), and the sliding sleeve (29) is arranged on the sliding rod (21) in a sliding fit manner; the advancing and retreating oil cylinder (28) is fixedly arranged relative to the sliding frame (11), and the extension rod is connected with the sliding sleeve (29); the moving frame (30) is arranged on the sliding sleeve (29).

6. A cable line trolley as claimed in claim 1, wherein: a push rod (23) and a first tension spring (24) are arranged on the bracket (22);

the spare drill rods (27) are arranged on the bracket (22) from left to right; one end of the first tension spring (24) is connected with the support (22), the other end of the first tension spring is connected with the push rod (23), and the push rod (23) is used for pushing the spare drill rod (27) towards the direction of the sliding frame (11).

7. A cable bolt trolley according to any one of claims 1 to 6, wherein: the wooden plug (39) is in a circular truncated cone shape, and the diameter of the top surface of the wooden plug is smaller than that of the bottom surface of the wooden plug; the wooden plug (39) is provided with a first fixing hole (39-2) and a one-way conduction mechanism; the first fixing hole (39-2) is used for being matched with the anchor cable (36); the upper end and the lower end of the one-way conduction mechanism are respectively communicated with the top surface and the bottom surface of the wooden plug (39), and the lower end of the one-way conduction mechanism is communicated with the grouting pipe (42);

the grouting head (40) is positioned below the wooden plug (39) and used for supporting the wooden plug (39), and comprises a cylinder body, and a first flat plate (40-4) and a second flat plate (40-5) which are sequentially arranged in the cylinder body from top to bottom; a third fixing hole (40-1) matched with the anchor cable (36) and a fourth fixing hole (40-2) matched with the grouting pipe (42) are formed in the first flat plate (40-4); the second flat plate (40-5) is used for contacting the lower end of the anchor cable (36); the grouting pipe (42) penetrates through the fourth fixing hole (40-2) of the first flat plate (40-4) and is welded with the first flat plate (40-4) into a whole;

the exhaust pipe (38) penetrates through the grouting head (40) and the wood plug (39) in sequence, and the upper end of the exhaust pipe is fixed with the anchor cable (36).

8. A cable line trolley as claimed in claim 7, wherein: the one-way conduction mechanism comprises a stepped hole (39-3) which is through up and down, the stepped hole (39-3) comprises a first hole section and a second hole section which are communicated with each other from top to bottom in sequence, the diameter of the first hole section is larger than that of the second hole section, and the one-way conduction mechanism further comprises a steel ball (41) placed in the first hole section;

the unidirectional conduction mechanism further comprises a pin shaft (43) horizontally arranged in the wooden plug (39), and the pin shaft (43) penetrates through the first hole section and is located above the steel ball (41).