CN114718617B - Anchor rod conveying robot for tunnel support - Google Patents
Anchor rod conveying robot for tunnel support Download PDFInfo
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- CN114718617B CN114718617B CN202210548789.9A CN202210548789A CN114718617B CN 114718617 B CN114718617 B CN 114718617B CN 202210548789 A CN202210548789 A CN 202210548789A CN 114718617 B CN114718617 B CN 114718617B
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- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000006978 adaptation Effects 0.000 claims description 13
- 238000010276 construction Methods 0.000 abstract description 7
- 238000009434 installation Methods 0.000 abstract description 2
- 230000032258 transport Effects 0.000 description 14
- 238000005457 optimization Methods 0.000 description 6
- 230000007723 transport mechanism Effects 0.000 description 6
- 239000011435 rock Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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Abstract
The invention discloses a tunnel support anchor rod conveying robot which comprises a supporting table, wherein a moving mechanism is installed on the supporting table, the top end of the supporting table is fixedly connected with a working box, two anchor rod storage ports are formed in the top end of the working box, an anchor rod storage conveying mechanism, an anchor rod transfer mechanism and an anchor rod output mechanism are sequentially arranged in the working box from left to right, the anchor rod storage conveying mechanism and the anchor rod transfer mechanism are arranged correspondingly, the anchor rod transfer mechanism is in transmission connection with the anchor rod output mechanism, the two anchor rod storage ports are located above the anchor rod storage conveying mechanism and are arranged correspondingly to the anchor rod storage conveying mechanism, a conveying port is formed in the outer side wall of the working box, a mechanical arm is installed on the working box, and the anchor rod output mechanism and the mechanical arm are both arranged correspondingly to the conveying port. Aiming at tunnel construction, the invention realizes the storage, conveying and installation of the anchor rod, greatly reduces the workload of constructors and improves the construction efficiency.
Description
Technical Field
The invention relates to the technical field of tunnel support, in particular to a tunnel support anchor rod conveying robot.
Background
The anchor bolt support is a reinforcing support mode adopted in surface engineering such as side slopes, rock-soil deep foundation pits and the like and underground chamber construction such as tunnels, stopes and the like. The method is characterized in that a pole column is made of metal pieces, wood pieces, polymer pieces or other materials, and is driven into a hole which is drilled in advance in an earth surface rock mass or a rock mass around a chamber, and the special structure of the head part and the pole body and a tail supporting plate (which can be omitted) are utilized, or the surrounding rock and a stable rock mass are combined together by depending on the bonding action to generate a suspension effect, a combination beam effect and a reinforcing effect so as to achieve the purpose of supporting. Anchor rod conveying robot among the prior art generally can only load an anchor rod, and the anchor rod that will load needs constructor to add the anchor rod on manual conveyor to the robot after inserting the construction hole, adds and controls the robot again after accomplishing and inserts the anchor rod in the tunnel hole, and the required amount of labour of process is great, needs constructor to carry the anchor rod many times simultaneously, leads to the efficiency of construction low. Therefore, a tunnel support bolt conveying robot is needed to solve the above problems.
Disclosure of Invention
The invention aims to provide a tunnel support anchor rod conveying robot to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a tunnel support anchor rod conveying robot which comprises a supporting table, wherein a moving mechanism is installed on the supporting table, a working box is fixedly connected to the top end of the supporting table, two anchor rod storage ports are formed in the top end of the working box, an anchor rod storage and conveying mechanism, an anchor rod transfer mechanism and an anchor rod output mechanism are sequentially arranged in the working box from left to right, the anchor rod storage and conveying mechanism and the anchor rod transfer mechanism are correspondingly arranged, the anchor rod transfer mechanism is in transmission connection with the anchor rod output mechanism, the two anchor rod storage ports are located above the anchor rod storage and conveying mechanism and are correspondingly arranged with the anchor rod storage and conveying mechanism, a conveying port is formed in the outer side wall of the working box, a mechanical arm is installed on the working box, and the anchor rod output mechanism and the mechanical arm are both correspondingly arranged with the conveying port.
Preferably, stock storage conveying mechanism includes fixed connection and is in two sets of slide rails on the work box inner wall, and is two sets of slide rail parallel arrangement, be provided with a plurality of stocks in the slide rail, it is connected with two axis of rotation, two to rotate on the work box inner wall axis of rotation parallel arrangement, two respectively two first delivery wheels of fixedly connected with and two second delivery wheels in the axis of rotation, first delivery wheel with second delivery wheel clearance fit, first delivery wheel with the second delivery wheel respectively with two sets of the slide rail corresponds the setting, first delivery wheel with the conveyer trough has all been seted up on the second delivery wheel, the conveyer trough with stock looks adaptation, be provided with the driving medium in the work box, two the axis of rotation all with the driving medium transmission is connected, be provided with transport portion in the work box, stock transport mechanism first delivery wheel with the second delivery wheel all with transport portion corresponds the setting.
Preferably, the transmission part comprises a first motor fixedly connected to the inner wall of the working box, an output shaft of the first motor is fixedly connected to any one of the rotating shafts, gears are fixedly connected to both of the two rotating shafts, and the two gears are meshed.
Preferably, the conveying part includes fixed connection and is in two delivery tracks on the lateral wall in the work box, the delivery track slope sets up, the delivery track is located first delivery wheel with second delivery wheel below, and with stock looks adaptation, work box inside bottom fixedly connected with carriage, carriage one side top with delivery track minimum butt, the carriage opposite side with stock transport mechanism corresponds the setting, fixedly connected with second motor on the carriage, fixedly connected with disc on the output shaft of second motor, along four conveying poles of circumference equidistant fixedly connected with on the disc, the stock is located adjacent two between the conveying pole.
Preferably, the stock transport mechanism includes fixed connection and is in two first support frames of the inside bottom of work box, two first support frame parallel arrangement, first support frame top is rotated and is connected with the primary junction axle, the one end of the equal fixedly connected with head rod in primary junction axle both ends, the other end of head rod articulates there is the U type and transports the frame, the spout has all been seted up on U type transports the frame both sides wall, two second support frames of the inside bottom fixedly connected with of work box, second support frame top articulates there is the slider, the slider with spout sliding connection, stock output mechanism with the carriage all with the U type transports the frame and corresponds the setting, the primary junction axle with the transmission of stock output mechanism is connected.
Preferably, the stock output mechanism includes fixed connection and is in two third support frames of the inside bottom of work box, it is connected with the second connecting axle to rotate on the third support frame, fixedly connected with is prismatic on the second connecting axle, along the first draw-in groove of the equidistant first group of fixedly connected with of circumference on the prismatic lateral wall, the U type is transported the frame and is kept away from a set of second draw-in groove of one side fixedly connected with of spout, first draw-in groove with the second draw-in groove corresponds the setting, the third support frame is kept away from the first electric telescopic handle of one side fixedly connected with of prism, first electric telescopic handle with the delivery port all with the second draw-in groove corresponds the setting, the circular carousel of second connecting axle one end fixedly connected with, be provided with the drive division on the third support frame, circular carousel with first connecting axle all with the drive division transmission is connected.
Preferably, the drive division is including rotating the connection and being in third connecting axle on the third support frame, the one end of third connecting axle one end fixedly connected with fan-shaped slider and gag lever post, gag lever post other end fixedly connected with stopper, a plurality of spacing grooves and arc spout have been seted up along circumference equidistant on the circular carousel, the arc spout is located adjacent two between the spacing groove, fan-shaped slider with arc spout looks adaptation, the stopper with spacing groove looks adaptation, the one end of third connecting axle other end fixedly connected with second connecting rod, the other end of second connecting rod articulates the one end of third connecting rod, the other end of third connecting rod articulates the one end of fourth connecting rod, the other end of fourth connecting rod with first connecting axle one end fixed connection, fixedly connected with third motor on the work box inner wall, the output shaft of third motor with third connecting axle fixed connection.
Preferably, the moving mechanism comprises a plurality of moving wheels mounted on two side walls of the support table.
Preferably, the first clamping groove and the second clamping groove are both arc-shaped clamping grooves, and the arc-shaped clamping grooves are matched with the anchor rod.
Preferably, an arc-shaped limiting groove is formed in the top end of the conveying frame, the arc-shaped limiting groove is matched with the anchor rod, and the arc-shaped limiting groove corresponds to the second clamping groove.
The invention discloses the following technical effects:
1. according to the tunnel support anchor rod conveying robot, due to the fact that the anchor rod storage and conveying mechanism is arranged, a certain number of anchor rods are stored in the robot, manual work or conveying appliances are not needed for carrying the anchor rods for multiple times, and efficiency of tunnel support anchor rod installation is improved.
2. According to the tunnel support anchor rod conveying robot, the anchor rod transfer mechanism is arranged, so that transfer of an internal anchor rod is achieved, the anchor rod is conveyed in a mechanical and self-conveying mode, the labor amount of constructors is reduced, and meanwhile the construction efficiency is improved.
3. According to the tunnel support anchor rod conveying robot, the output of the anchor rod in the device is realized by arranging the anchor rod output mechanism, and the output anchor rod is inserted into the fixing hole in the tunnel by matching with the mechanical arm.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic diagram of the front structure of the apparatus of the present invention;
FIG. 2 is a schematic view of the internal structure of the work box of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2;
FIG. 4 is an enlarged view of a portion of FIG. 2 at B in accordance with the present invention;
FIG. 5 is an enlarged view of a portion of the invention at C of FIG. 2;
FIG. 6 is a schematic view of the transmission member of the present invention;
FIG. 7 is a side view of the driving portion of the present invention;
FIG. 8 is a schematic view of the top surface of the U-shaped transporting frame of the present invention;
wherein, 1, supporting table; 2. a work box; 3. an anchor rod storage port; 4. a delivery port; 5. a manipulator; 6. a slide rail; 7. an anchor rod; 8. a rotating shaft; 9. a first delivery wheel; 10. a second delivery wheel; 11. a conveying trough; 12. a first motor; 13. a gear; 14. a conveying track; 15. a conveying frame; 16. a second motor; 17. a disc; 18. a conveying rod; 19. a first support frame; 20. a first connecting shaft; 21. a first connecting rod; 22. a U-shaped transfer frame; 23. a chute; 24. a second support frame; 25. a slider; 26. a third support frame; 27. a second connecting shaft; 28. a prism; 29. a first card slot; 30. a second card slot; 31. a first electric telescopic rod; 32. a circular turntable; 33. a third connecting shaft; 34. a sector-shaped sliding block; 35. a limiting rod; 36. a limiting block; 37. a limiting groove; 38. an arc-shaped chute; 39. a second connecting rod; 40. a third connecting rod; 41. a fourth connecting rod; 42. a moving wheel; 43. an arc-shaped limiting groove; 44. a third motor; 45. and the second electric telescopic rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
The invention provides a tunnel support anchor rod conveying robot, which comprises a support table 1, wherein a moving mechanism is installed on the support table 1, the top end of the support table 1 is fixedly connected with a working box 2, two anchor rod storage ports 3 are formed in the top end of the working box 2, an anchor rod storage and conveying mechanism, an anchor rod transfer mechanism and an anchor rod output mechanism are sequentially arranged in the working box 2 from left to right, the anchor rod storage and conveying mechanism and the anchor rod transfer mechanism are correspondingly arranged, the anchor rod transfer mechanism is in transmission connection with the anchor rod output mechanism, the two anchor rod storage ports 3 are positioned above the anchor rod storage and conveying mechanism and are correspondingly arranged with the anchor rod storage and conveying mechanism, a conveying port 4 is formed in the outer side wall of the working box 2, a manipulator 5 is installed on the working box 2, and the anchor rod output mechanism and the manipulator 5 are both correspondingly arranged with the conveying port 4.
Further optimization scheme, in order to realize that stock box of stock 7 carries, stock storage conveying mechanism includes two sets of slide rails 6 of fixed connection on 2 inner walls of work box, two sets of slide rail 6 parallel arrangement, be provided with a plurality of stock 7 in the slide rail 6, it is connected with two axis of rotation 8 to rotate on 2 inner walls of work box, 8 parallel arrangement of two axis of rotation, respectively two first delivery wheel 9 and two second delivery wheel 10 of fixedly connected with on two axis of rotation 8, first delivery wheel 9 and 10 clearance fit of second delivery wheel, first delivery wheel 9 corresponds the setting with two sets of slide rails 6 respectively with second delivery wheel 10, conveyer trough 11 has all been seted up on first delivery wheel 9 and the second delivery wheel 10, conveyer trough 11 and 7 looks adaptations of stock, be provided with the driving medium in the work box 2, two axis of rotation all are connected with the driving medium transmission, be provided with the transport portion in the work box 2, stock transport mechanism, first delivery wheel 9 and second delivery wheel 10 all correspond the setting with the transport portion.
Further optimization scheme, in order to realize the synchronous rotation of two axis of rotation 8, the driving medium includes first motor 12 of fixed connection on 2 inner walls of work box, the output shaft and arbitrary axis of rotation 8 fixed connection of first motor 12, equal fixedly connected with gear 13 on two axis of rotation 8, two gear 13 meshes.
Further optimization scheme, in order to realize the transport of stock 7, the transport portion includes two delivery track 14 of fixed connection on 2 inside walls of work box, delivery track 14 slope sets up, delivery track 14 is located first delivery wheel 9 and second delivery wheel 10 below, and with stock 7 looks adaptation, 2 inside bottom fixedly connected with carriage 15 of work box, 15 one side tops of carriage and 14 minimum butt of delivery track, carriage 15 opposite side corresponds the setting with the stock transport mechanism, fixedly connected with second motor 16 on the carriage 15, fixedly connected with disc 17 on the output shaft of second motor 16, four transfer bars 18 of equidistant fixedly connected with along circumference on disc 17, stock 7 is located between two adjacent transfer bars 18.
Further optimization scheme, in order to realize the transportation of stock 7, the stock transport mechanism includes two first support frames 19 of fixed connection in the inside bottom of work box 2, two first support frame 19 parallel arrangement, first support frame 19 top is rotated and is connected with first connecting axle 20, the equal fixedly connected with one end of head rod 21 in first connecting axle 20 both ends, the other end of head rod 21 articulates there is U type transport frame 22, spout 23 has all been seted up on U type transport frame 22 both sides wall, the inside bottom fixedly connected with two second support frames 24 of work box 2, second support frame 24 top articulates there is slider 25, slider 25 and spout 23 sliding connection, stock output mechanism and carriage 15 all correspond the setting with U type transport frame 22, first connecting axle 20 is connected with stock output mechanism transmission.
Further optimize the scheme, in order to realize the output of stock 7, the stock output mechanism includes two third support frames 26 of fixed connection in the inside bottom of work box 2, it is connected with second connecting axle 27 to rotate on the third support frame 26, fixedly connected with prism 28 on the second connecting axle 27, along the first draw-in groove 29 of a plurality of groups of circumference equidistant fixedly connected with on the lateral wall of prism 28, U type transport frame 22 keeps away from one side fixedly connected with a set of second draw-in groove 30 of spout 23, first draw-in groove 29 corresponds the setting with second draw-in groove 30, one side fixedly connected with first electric telescopic handle 31 of prism 28 is kept away from to third support frame 26, first electric telescopic handle 31 and delivery port 4 all correspond the setting with second draw-in groove 30, second connecting axle 27 one end fixedly connected with circular carousel 32, be provided with the drive division on the third support frame 26, circular carousel 32 and first connecting axle 20 all are connected with the drive division transmission, fixedly connected with second electric telescopic handle 45 on the U type transport frame 22, be used for propelling movement stock 7 joint on second draw-in the first draw-in groove 29 with second draw-in.
Further optimize the scheme, in order to realize the drive to circular carousel 32 and first connecting axle 20, the drive division is including rotating the third connecting axle 33 of connection on third support frame 26, the one end of third connecting axle 33 one end fixedly connected with fan-shaped slider 34 and gag lever post 35, gag lever post 35 other end fixedly connected with stopper 36, a plurality of spacing grooves 37 and arc spout 38 have been seted up along circumference equidistant on the circular carousel 32, arc spout 38 is located between two adjacent spacing grooves 37, fan-shaped slider 34 and arc spout 38 looks adaptation, stopper 36 and spacing groove 37 looks adaptation, the one end of third connecting axle 33 other end fixedly connected with second connecting rod 39, the other end of second connecting rod 39 articulates there is the one end of third connecting rod 40, the other end of third connecting rod 40 articulates there is the one end of fourth connecting rod 41, the other end and the first connecting axle 20 one end fixed connection of fourth connecting rod 41, fixedly connected with third motor 44 on the work box 2 inner wall, the output shaft and the third connecting axle 33 fixed connection of third motor 44.
In a further preferred embodiment, the moving mechanism includes a plurality of moving wheels 42 mounted on two side walls of the supporting table 1, in order to facilitate the movement of the apparatus.
Further optimization scheme, in order to guarantee that the transportation of stock 7 is stable, avoids dropping, and first draw-in groove 29 is the arc draw-in groove with second draw-in groove 30, arc draw-in groove and stock 7 looks adaptation, and the metal material of arc draw-in groove for possessing certain elasticity, the arc draw-in groove shrink plays limiting displacement to stock 7 behind the 7 top-opening arc draw-in grooves of stock.
Further optimize the scheme, stock 7 rocks when avoiding second draw-in groove 30 grafting stock 7, and arc spacing groove 43 has been seted up on carriage 15 top, and arc spacing groove 43 and stock 7 looks adaptation, arc spacing groove 43 correspond the setting with second draw-in groove 30.
Further optimization scheme, in order to facilitate the control robot to realize the stock propelling movement, install camera and remote control system on the work box 2, first motor 12, second motor 16, third motor 44, first electric telescopic handle 31, second electric telescopic handle 45 and manipulator 5, it all with remote control system electric connection to remove wheel 42, remote control system, the manipulator can be realized according to prior art for technical staff in the field, adopt intelligent control, realized inserting the stock in the tunnel cave, realize the tunnel is strutted, constructor's work load has been reduced simultaneously, the efficiency of construction is improved.
The invention provides a tunnel support anchor rod conveying robot, when in use, a plurality of anchor rods 7 are put into the device through an anchor rod storage opening 3, the anchor rods 7 are vertically arranged through a slide rail 6, a rotating shaft 8 is driven to rotate through a first motor 12, two gears 13 on the rotating shaft 8 are meshed, the first motor 12 synchronously drives two rotating shafts 8 to rotate, the rotating shaft 8 rotates to drive a first conveying wheel 9 and a second conveying wheel 10 to rotate, the anchor rods 7 in the slide rail 6 are conveyed into a conveying track 14 below one by one, the conveying track 14 is obliquely arranged, the anchor rods 7 roll onto the conveying frame 15, a disc 17 is driven to rotate through a second motor 16, the disc 17 drives a conveying rod 18 to rotate, the anchor rods 7 are conveyed into arc-shaped limiting grooves 43 on the conveying frame 15 one by one, meanwhile, the third motor 44 drives a third connecting shaft 33 to rotate, the third connecting shaft 33 drives a second connecting rod 39 to rotate, the second connecting rod 39 drives a hinged third connecting rod 40 to rotate, the third connecting rod 40 drives a fourth connecting rod 41 to rotate, the fourth connecting rod 41 to drive a fixedly connected first connecting shaft 20 to rotate, the first connecting shaft 20, the second connecting rod 21 drives a second connecting rod 21 to drive a hinged U-shaped connecting rod 22 to rotate, a second connecting rod 22 which is inserted into a U-shaped groove 32 in the U-shaped rotating groove 22 which is connected with a U-shaped rotating slide block 30 in the second connecting groove 30 in the U-shaped rotating rack, and a second connecting groove 22, the U-shaped rotating groove 30, the U-shaped rotating limiting groove 22 is connected with a second connecting rod rotating slide block 30 in the U-shaped rack, the U-shaped rotating groove 22, the second connecting rod 7, the U-shaped rotating groove 22 is inserted into a U-shaped rotating groove 32 in the U-shaped rotating rack, the U-shaped rotating groove 22, the U-shaped rotating groove 32 in the U-shaped rotating rack, the U-shaped rotating groove 22, the U-shaped rotating rack, the second connecting groove 22, the U-shaped rotating rack 22, the U-shaped rotating groove 22 is connected U-shaped rotating rack 22, the second connecting rod 30, the second connecting groove 22, the second connecting rod 22 is connected with a second connecting groove 30, the U-shaped rotating limiting groove 30, the second connecting rod 30, the U-shaped rotating rack 22, the U-shaped rotating groove 32, the round turntable 32 rotates to drive the prism 28 to rotate, the anchor rod 7 in the first clamping groove 29 on the leftmost side rotates to the top end of the prism 28 when the prism 28 rotates, the anchor rod 7 is sent out from the conveying port 4 through the first electric telescopic rod 31, and the anchor rod 7 is inserted into a hole which is drilled in the tunnel in advance through the grabbing of the manipulator 5.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (5)
1. The tunnel supporting anchor rod conveying robot is characterized by comprising a supporting table (1), wherein a moving mechanism is installed on the supporting table (1), a working box (2) is fixedly connected to the top end of the supporting table (1), two anchor rod storage ports (3) are formed in the top end of the working box (2), an anchor rod storage conveying mechanism, an anchor rod transfer mechanism and an anchor rod output mechanism are sequentially arranged in the working box (2) from left to right, the anchor rod storage conveying mechanism corresponds to the anchor rod transfer mechanism, the anchor rod transfer mechanism is in transmission connection with the anchor rod output mechanism, the two anchor rod storage ports (3) are located above the anchor rod storage conveying mechanism and correspond to the anchor rod storage conveying mechanism, a conveying port (4) is formed in the outer side wall of the working box (2), a mechanical hand (5) is installed on the working box (2), and the anchor rod output mechanism and the mechanical hand (5) are both arranged corresponding to the conveying port (4);
the anchor rod storage and conveying mechanism comprises two groups of slide rails (6) fixedly connected to the inner wall of the working box (2), the two groups of slide rails (6) are arranged in parallel, a plurality of anchor rods (7) are arranged in the slide rails (6), the inner wall of the working box (2) is rotatably connected with two rotating shafts (8), the two rotating shafts (8) are arranged in parallel, the two rotating shafts (8) are respectively and fixedly connected with two first conveying wheels (9) and two second conveying wheels (10), the first conveying wheels (9) are in clearance fit with the second conveying wheels (10), the first conveying wheels (9) and the second conveying wheels (10) are respectively arranged corresponding to the two groups of slide rails (6), conveying grooves (11) are respectively formed in the first conveying wheels (9) and the second conveying wheels (10), the conveying grooves (11) are matched with the anchor rods (7), a transmission part is arranged in the working box (2), the two rotating shafts (8) are respectively connected with the transmission part, a conveying part is arranged in the working box (2), and the first conveying wheels (9) and the second conveying part are respectively arranged corresponding to the conveying part;
the conveying part comprises two conveying tracks (14) fixedly connected to the inner side wall of the working box (2), the conveying tracks (14) are obliquely arranged, the conveying tracks (14) are located below the first conveying wheel (9) and the second conveying wheel (10) and are matched with the anchor rods (7), a conveying frame (15) is fixedly connected to the bottom end of the inner part of the working box (2), the top end of one side of the conveying frame (15) is abutted to the lowest point of the conveying tracks (14), the other side of the conveying frame (15) is correspondingly arranged with the anchor rod transfer mechanism, a second motor (16) is fixedly connected to the conveying frame (15), a disc (17) is fixedly connected to an output shaft of the second motor (16), four conveying rods (18) are fixedly connected to the disc (17) at equal intervals in the circumferential direction, and the anchor rods (7) are located between two adjacent conveying rods (18);
the anchor rod transfer mechanism comprises two first support frames (19) fixedly connected to the bottom end inside the working box (2), wherein the two first support frames (19) are arranged in parallel, the top end of each first support frame (19) is rotatably connected with a first connecting shaft (20), two ends of each first connecting shaft (20) are fixedly connected with one end of a first connecting rod (21), the other end of each first connecting rod (21) is hinged to a U-shaped transfer frame (22), sliding grooves (23) are formed in two side walls of each U-shaped transfer frame (22), two second support frames (24) are fixedly connected to the bottom end inside the working box (2), sliding blocks (25) are hinged to the top ends of the second support frames (24), the sliding blocks (25) are connected with the sliding grooves (23) in a sliding mode, the anchor rod output mechanism and the conveying frame (15) are arranged corresponding to the U-shaped transfer frames (22), and the first connecting shafts (20) are in transmission connection with the anchor rod output mechanism;
the anchor rod output mechanism comprises two third support frames (26) fixedly connected to the bottom end inside the working box (2), a second connecting shaft (27) is connected to the third support frames (26) in a rotating mode, a prism (28) is fixedly connected to the second connecting shaft (27), a plurality of groups of first clamping grooves (29) are fixedly connected to the outer side wall of the prism (28) at equal intervals along the circumferential direction, a group of second clamping grooves (30) are fixedly connected to one side, away from the sliding groove (23), of the U-shaped transport frame (22), the first clamping grooves (29) are arranged corresponding to the second clamping grooves (30), a first electric telescopic rod (31) is fixedly connected to one side, away from the prism (28), of each third support frame (26), the first electric telescopic rod (31) and the conveying port (4) are arranged corresponding to the second clamping grooves (30), a circular rotary disc (32) is fixedly connected to one end of each second support frame (27), a driving portion is arranged on each third support frame (26), and the circular rotary disc (32) and the first connecting shaft (20) are connected with the driving portion;
the drive part is connected including rotating third connecting axle (33) on third support frame (26), third connecting axle (33) one end fixedly connected with fan-shaped slider (34) and the one end of gag lever post (35), gag lever post (35) other end fixedly connected with stopper (36), a plurality of spacing grooves (37) and arc spout (38) have been seted up along circumference equidistant on circular carousel (32), arc spout (38) are located adjacent two between spacing grooves (37), fan-shaped slider (34) with arc spout (38) looks adaptation, stopper (36) with spacing groove (37) looks adaptation, the one end of third connecting axle (33) other end fixedly connected with second connecting rod (39), the other end of second connecting rod (39) articulates the one end that has third connecting rod (40), the other end of third connecting rod (40) articulates the one end of fourth connecting rod (41), the other end of fourth connecting rod (41) with first connecting axle (20) one end fixed connection, work box (2) are gone up fixed connection and are connected with third connecting axle (44), motor (33) output shaft (44) and third connecting axle (44).
2. A tunnel support bolt conveying robot according to claim 1, characterized in that: the transmission part comprises a first motor (12) fixedly connected to the inner wall of the working box (2), an output shaft of the first motor (12) is fixedly connected with any one of the rotating shafts (8), and two gears (13) are fixedly connected to the rotating shafts (8) and meshed with the gears (13).
3. A tunnel support bolt conveying robot according to claim 1, characterized in that: the moving mechanism comprises a plurality of moving wheels (42) arranged on two side walls of the supporting platform (1).
4. A tunnel support bolt conveying robot according to claim 1, characterized in that: the first clamping groove (29) and the second clamping groove (30) are arc-shaped clamping grooves, and the arc-shaped clamping grooves are matched with the anchor rods (7).
5. A tunnel support bolt conveying robot according to claim 1, characterized in that: arc spacing groove (43) have been seted up on carriage (15) top, arc spacing groove (43) with stock (7) looks adaptation, arc spacing groove (43) with second draw-in groove (30) correspond the setting.
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| CN202210548789.9A CN114718617B (en) | 2022-05-20 | 2022-05-20 | Anchor rod conveying robot for tunnel support |
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| CN202210548789.9A CN114718617B (en) | 2022-05-20 | 2022-05-20 | Anchor rod conveying robot for tunnel support |
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| CN114718617B true CN114718617B (en) | 2023-02-17 |
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| US5720582A (en) * | 1996-06-27 | 1998-02-24 | Cannon Industries, Inc. | Bolt delivery system with linear bolt magazine |
| WO2001011193A1 (en) * | 1999-08-05 | 2001-02-15 | Jama Mining Equipment Ab | Arrangement for fixing rock bolts during rock reinforcement |
| CN108104853A (en) * | 2017-12-22 | 2018-06-01 | 中国矿业大学(北京) | A kind of full-automation Zuan Mao Operation Vans |
| CN108756969A (en) * | 2018-07-15 | 2018-11-06 | 西安科技大学 | A kind of coal mine bores the robot autonomous brill anchor device of anchor and method |
| CN108756968A (en) * | 2018-07-15 | 2018-11-06 | 西安科技大学 | A kind of coal mine Zuan Mao robots and method for protecting support |
| CN111828063A (en) * | 2020-08-13 | 2020-10-27 | 三一重型装备有限公司 | Stock bin |
| CN212867600U (en) * | 2020-06-09 | 2021-04-02 | 中铁工程装备集团隧道设备制造有限公司 | Anchor rod taking and delivering device for tunnel construction |
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2022
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5720582A (en) * | 1996-06-27 | 1998-02-24 | Cannon Industries, Inc. | Bolt delivery system with linear bolt magazine |
| WO2001011193A1 (en) * | 1999-08-05 | 2001-02-15 | Jama Mining Equipment Ab | Arrangement for fixing rock bolts during rock reinforcement |
| CN108104853A (en) * | 2017-12-22 | 2018-06-01 | 中国矿业大学(北京) | A kind of full-automation Zuan Mao Operation Vans |
| CN108756969A (en) * | 2018-07-15 | 2018-11-06 | 西安科技大学 | A kind of coal mine bores the robot autonomous brill anchor device of anchor and method |
| CN108756968A (en) * | 2018-07-15 | 2018-11-06 | 西安科技大学 | A kind of coal mine Zuan Mao robots and method for protecting support |
| CN212867600U (en) * | 2020-06-09 | 2021-04-02 | 中铁工程装备集团隧道设备制造有限公司 | Anchor rod taking and delivering device for tunnel construction |
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| Publication number | Publication date |
|---|---|
| CN114718617A (en) | 2022-07-08 |
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