CN205036293U - Automatic drill jumbo in tunnel - Google Patents

Abstract

The utility model discloses an automatic rock drilling jumbo for tunnels, which solves the problem of many disadvantages in the prior art that excavation is performed by manpower. The tunnel automatic rock drilling jumbo includes a trolley frame structure, a working platform is arranged on the trolley frame structure, and a mechanical arm system is arranged on the working platform; , and a holding device arranged at the end of the mechanical arm for installing the drill bit; the rotating seat structure can drive the mechanical arm to rotate along the cross-section of the frame structure of the trolley, and the mechanical arm can drive the holding device to move along the height direction of the frame structure of the trolley; The platform includes a sliding rail system and a feeding system. The mechanical arm system is installed on the sliding rail system through the rotating seat structure and can move along the length of the trolley frame structure through the sliding rail system; the feeding system is used to provide the mechanical arm system on the sliding rail. Momentum to move on the system.

Description

A tunnel automatic rock drilling rig

technical field

The utility model relates to a trolley, in particular to an automatic rock drilling trolley for tunnels.

Background technique

At present, the excavation of tunnels is mainly carried out by workers holding pneumatic drills and standing on the excavation trolley after drilling and then blasting. Drilling is carried out in groups, and the path of the drilling hole needs to have a certain angle with the axis of the tunnel according to the layout of the hole; after the hole is drilled, the detonator is put into the drilled hole to blast the rock wall, and then the slag is cleaned to complete the excavation of the tunnel.

The excavation trolley is mainly a frame structure welded by I-beams, and a layer of steel mesh is laid on it. Drilling workers stand on the excavation trolley, use the pneumatic drill air legs as support, and hold the pneumatic drill to drill. For example, excavating a one-way two-lane tunnel section in V-level surrounding rock requires about 13-15 drillers, the number of drilling holes is about 140, and the drilling depth is about 5m. On the one hand, the labor intensity of workers is high, and dust The pollution and noise pollution are serious, and the health of the workers is bound to be affected in the long run. On the other hand, the work efficiency is very low, and the labor cost is added, and the expenditure is relatively large.

Utility model content

The purpose of the utility model is to overcome the above defects and provide an automatic tunnel drilling jumbo with simple structure and convenient realization.

In order to achieve the above object, the technical scheme adopted by the utility model is as follows:

An automatic rock drilling jumbo for tunnels, comprising a trolley frame structure, a working platform is set on the trolley frame structure, and a mechanical arm system is set on the working platform;

Further, the mechanical arm system includes a rotating seat structure, a mechanical arm arranged on the rotating seat structure, and a holding device arranged at the end of the mechanical arm for installing a drill bit; the rotating seat structure can drive the The mechanical arm rotates along the cross-section of the frame structure of the trolley, and the mechanical arm can drive the holding device to move along the height direction of the frame structure of the trolley; wherein the cross-section rotation means that the mechanical arm can move along the height direction of the trolley frame structure; Horizontal plane rotation, the methods are: the rotating platform rotates along its axis, or the rotating platform rotates along a rotation point; the combination of the rotating seat structure and the mechanical arm can realize the movement of the mechanical arm in three-dimensional space, so that the working mode of the mechanical arm is more flexible , The application is more convenient.

Further, the working platform includes a slide rail system and a feed system, the mechanical arm system is installed on the slide rail system through the rotating seat structure and can move along the trolley frame structure through the slide rail system Moving along the length direction; the feeding system is used to provide power for the mechanical arm system to move on the slide rail system. The slide rail system includes two matching slide rails, one is a fixed slide rail, and the other is a sliding slide rail that slides on the fixed slide rail, or, the bottom surface of the base is set as a slide rail structure that matches the fixed slide rail, preferably Yes, the slide rail system includes a first slide rail arranged along the length direction of the frame structure of the trolley, and a second slide rail that cooperates with the first slide rail and can slide along the length direction of the first slide rail, so A platform is provided on the second slide rail, and the base is fixed on the platform; the feeding system includes a telescopic stretching device, which can provide telescopic power by hydraulic pressure, thereby realizing the mechanical arm system in the slide rail system. It can also be powered by electric power; or, the feed system includes a screw support seat, a wire guide device, a coupling, a stepping motor, and a screw rod; the wire guide device is connected to the platform, and the The screw rod and the wire guide device are connected through threads, and the stepping motor drives the screw rod to rotate through the coupling.

Further, the rotating seat structure includes a base and a rotating platform mounted on the base and rotatable relative to the base, the mechanical arm is installed on the rotating platform, and the rotating platform can move along the frame structure of the trolley The cross-section of the robot rotates, thereby driving the rotation of the mechanical arm, and the mechanical arm system is installed on the slide rail system through the base. The rotating seat structure can also be set as an integrated rotating structure.

Further, the mechanical arm includes an upper arm and a lower arm, the end of the upper arm is installed with the holding device, and the other end is rotatably connected with the upper end of the lower arm, and the lower end of the lower arm is installed on the rotating platform . The mechanical arm drives the supporting device to move in the height direction of the trolley, which is realized by the above-mentioned technical means.

Further, the mechanical arm also includes a pull rod with one end fixed and the other end connected to the upper arm for pulling the upper arm to rotate relative to the lower arm. The position where the pull rod is connected to the upper arm can be the end of the upper arm relative to the end, or the middle part of the upper arm.

Further, more than two working platforms and manipulator systems are arranged on the trolley frame structure, and each work platform and manipulator system are located at different positions of the trolley frame structure. That is to say, it is equivalent to setting multiple working planes on the trolley, and each working plane is equipped with a matching working platform and a mechanical arm system. According to the working face of the tunnel section that needs to be drilled, different numbers of working planes can be set to facilitate The entire section can be worked.

Further, it also includes a lifting hydraulic rod that can be used to lift the working platform. It is preferably a jack, through which the trolley can be lifted, thereby realizing the lifting of the trolley and moving up and down along the height direction of the trolley to meet the needs of drilling.

The working method of the tunnel automatic rock drilling rig comprises the following steps:

(1) The step of installing the drill bit on the holding device on the mechanical arm system;

(2) Steps of adjusting the platform of the working platform to the construction position;

(3) The step of adjusting the angle of the mechanical arm so that the front end of the drill bit is attached to the surface of the rock formation;

(4) The feed system drives the platform to move to realize the step of forward feeding of the mechanical arm;

(5) Start the equipment and complete the step of punching.

Further, the mechanical arm performs angle adjustment while feeding, so that the angle between the drill bit and the tunnel section is always kept constant.

Compared with the prior art, the utility model has the following beneficial effects:

(1) The utility model is not only simple in structure, convenient to implement, but also low in cost.

(2) The utility model combines the excavation trolley, the working platform, and the mechanical arm to realize the mechanical excavation of the tunnel. The excavation efficiency is fast, the quality is high, and the construction cost is greatly saved. In the prior art, rely on various drawbacks of manual excavation.

(3) In the utility model, the mechanical arm can realize movement in three-dimensional space by rotating and moving in the vertical direction, so that the mechanical arm is more flexible when manipulating the drill bit, can cope with more working conditions, and is more convenient to use.

(4) The utility model is provided with several working planes on the trolley, and each working plane can cooperate with the working platform and the mechanical arm system to carry out tunnel excavation work, thus facilitating the work of the entire section and ensuring the construction efficiency.

Description of drawings

Fig. 1 is the structural representation of the utility model.

Fig. 2 is a partial schematic diagram of the manipulator system and the working platform in the utility model.

Fig. 3 is a partial schematic diagram of the working platform in the utility model.

In the above drawings, the names of the parts corresponding to the reference signs are as follows: 1-holding device, 2-upper arm, 3-lower arm, 4-pull rod, 5-rotary platform, 6-base, 7-platform, 8-second slide rail, 9-the first slide rail, 10-the trolley frame structure, 12-lifting hydraulic rod, 13-screw support seat, 14-guide wire device, 15-coupling, 16-stepping motor.

detailed description

The utility model will be further described below in conjunction with the accompanying drawings and examples. The implementation of the utility model includes but not limited to the following examples.

Example

As shown in Figures 1-3, this embodiment provides an automatic rock drilling jumbo for tunnels. The main body of the jumbo is a trolley frame structure, and the trolley frame structure is welded by I-shaped steel, which is a cubic frame Body or rectangular frame body, according to the needs of actual tunnel excavation conditions, can also be designed in other structural forms, which are not particularly limited here. In this embodiment, the frame structure of the trolley is provided with; six work surfaces: ①～⑥, and each work platform is provided with a work platform and a mechanical arm system (only the mechanical arm system on the work surface ① is shown in Fig. 1 ). arm system and working platform). The layout of the six workbenches is as follows: one workbench is set on the top of the trolley frame structure, two workbenches are set on each side of the trolley frame structure, and one workbench is set in the middle area of the trolley frame structure, wherein, The worktable in the middle area of the frame structure of the trolley can be designed as a lift-type worktable, which is realized by setting a jack or a lift-type hydraulic rod at the bottom of the workbench. By this means, it can move up and down along the height of the trolley to meet the drilling requirements. demand. Each of the above-mentioned working planes can cooperate with the working platform and the mechanical arm system to carry out tunnel excavation work, so that the entire section can be worked easily and the construction efficiency is ensured.

The mechanical arm system is used to perform specific rock drilling operations, on which a drill bit is installed, and the working platform realizes the movement and feeding of the mechanical arm system. In this embodiment, a mechanical arm is used to replace the traditional artificial rock drilling. The mechanical arm includes a base, a rotating platform, an upper arm, a lower arm, a holding device and a pull rod. The rotating platform is connected to the base, and the connection between the two is a rotating connection. This realizes that the rotating platform can rotate relative to the base, and the connection point between the two is the rotating point, which can be located at the axis of the rotating platform or at an off-axis center of the rotating platform. The mechanical arm rotates on the horizontal plane through the rotating platform. The horizontal plane refers to the cross section of the trolley; the upper arm and the lower arm are connected by rotation, and the connection is realized by hinges or pins. The upper arm can rotate around the connection point to realize the upper arm in the For the movement in the height direction of the trolley, the holding device is installed at the end of the upper arm to install the drill bit. Through the above means, the three-dimensional movement of the mechanical arm on the horizontal and vertical planes can be realized, thereby realizing a more flexible working mode of the drill bit. Specifically, a holding device is installed at the end of the upper arm, and the other end is rotatably connected with the upper end of the lower arm, and the lower end of the lower arm is installed on the rotating platform. The rotation of the upper arm relative to the lower arm is realized by the pull rod, which can be a hydraulically driven telescopic rod, or other action execution rods. Set it in other positions, as long as the upper arm can be pulled to rotate relative to the lower arm.

The working platform works with the manipulator system, and it is mainly used to provide feeding, moving track and power for the manipulator system. In this embodiment, the working platform is mainly composed of a slide rail system and a feed system, wherein the slide rail The system is used by the robotic arm system to slide on it, and the feed system is used to provide power. Specifically, the slide rail system includes a first slide rail arranged along the length direction of the trolley frame structure, and a second slide rail that cooperates with the first slide rail and can slide along the length direction of the first slide rail. A platform is provided, and the base is fixed on the platform. During implementation, the second slide rail slides on the first slide rail, thereby driving the platform fixedly connected to the second slide rail to slide, and the base of the manipulator system is set on the platform, so finally drives the entire manipulator system along the first slide. One rail slides. There are many ways to realize the slide rail system, such as: sliding groove matching structure, but these structures are all realized based on the principle of the slide rail system, so they should also be within the protection scope of the utility model application.

The feed system is equivalent to pushing or pulling back the mechanical arm system to act on the slide rail system, which can be a telescopic working rod, such as a hydraulic rod; as a preference, in this embodiment, the feed system includes a screw support Seat, wire guide device, coupling, stepping motor, screw rod; the connection method of the above components is as follows: the wire guide device is connected to the platform, the screw rod and the wire guide device are connected through thread fit, and the stepping motor is driven by the coupling The screw rod rotates, and the rotation of the screw rod drives the platform to move forward or backward to realize the feed movement of the mechanical arm. The second slide rail is placed on the first slide rail, and the platform moves left to right through the first slide rail and the second slide rail.

The working process of the utility model is as follows: first, the worker installs the drill bit on the drill bit holding device, then adjusts the platform to the position that needs to be worked, adjusts the angle of the mechanical arm, makes the front end of the drill bit stick to the surface of the rock formation, starts the motor, and the mechanical arm rotates to drive The drill bit starts to drill, and the stepper motor drives the screw through the coupling to move the platform forward. At the same time, the mechanical arm needs to adjust its own angle while feeding, and always maintain a constant angle with the tunnel drill bit and the tunnel section. When the required depth is reached, reverse the stepper motor to move the platform backward, pull the drill bit out of the rock formation, and complete the drilling action of a hole. Repeat the above steps to continue with the next hole. Wherein, the power of the mechanical arm rotating to drive the drill bit to drill can be powered by an external power supply or by a built-in power supply.

According to above-mentioned embodiment, just can realize the utility model well. It is worth noting that, based on the premise of the above-mentioned design principles, in order to solve the same technical problem, even if some insubstantial changes or modifications are made on the basis of the structure disclosed in the utility model, the essence of the technical solution adopted Still the same as the utility model, so it should also be within the protection scope of the utility model.

Claims (8)

1. A tunnel automatic rock drilling jumbo, comprising a trolley frame structure (10), characterized in that a working platform is set on the trolley frame structure (10), and a mechanical arm system is set on the working platform ; The mechanical arm system includes a rotating seat structure, a mechanical arm arranged on the rotating seat structure, and a holding device (1) arranged at the end of the mechanical arm for installing a drill bit; the rotating seat structure can drive the The mechanical arm rotates along the cross section of the trolley frame structure (10), and the mechanical arm can drive the holding device (1) to move along the height direction of the trolley frame structure (10); The working platform includes a slide rail system and a feed system, the mechanical arm system is installed on the slide rail system through the rotating seat structure and can move along the trolley frame structure (10) through the slide rail system Moving along the length direction; the feeding system is used to provide power for the mechanical arm system to move on the slide rail system. 2. The tunnel automatic rock drilling jumbo according to claim 1, characterized in that, the rotating seat structure includes a base (6) and a A rotating platform (5), the mechanical arm is installed on the rotating platform (5), the rotating platform (5) can rotate along the cross section of the trolley frame structure (10), thereby driving the mechanical arm Rotate, the mechanical arm system is installed on the slide rail system through the base (6). 3. The tunnel automatic rock drilling jumbo according to claim 2, characterized in that, the mechanical arm includes an upper arm (2) and a lower arm (3), and the end of the upper arm (2) is installed with the holding device ( 1), the other end of which is rotationally connected to the upper end of the lower arm (3), and the lower end of the lower arm (3) is installed on the rotating platform (5). 4. The tunnel automatic rock drilling jumbo according to claim 3, characterized in that, the mechanical arm also includes one end fixed, and the other end connected to the upper arm (2) and used to pull the upper arm (2) relative to The lower arm (3) rotates the pull rod (4). 5. The tunnel automatic rock drilling jumbo according to claim 4, characterized in that the slide rail system includes a first slide rail (9) arranged along the length direction of the trolley frame structure (10), and The first slide rail (9) cooperates with the second slide rail (8) that can slide along the length direction of the first slide rail (9), and the second slide rail (8) is provided with a platform (7) , the base (6) is fixed on the platform (7). 6. The tunnel automatic rock drilling jumbo according to claim 5, characterized in that, the feeding system includes a screw support seat (13), a wire guide device (14), a coupling (15), a stepping Motor (16), screw rod; the wire guide device (14) is connected to the platform (7), the screw rod and the wire guide device (14) are connected through screw threads, and the stepping motor (16 ) drives the screw to rotate through the coupling (15). 7. The tunnel automatic rock drilling jumbo according to any one of claims 1-6, characterized in that more than two working platforms and robotic arm systems are arranged on the trolley frame structure (10), and Each working platform and mechanical arm system are located at different positions of the trolley frame structure (10). 8. The tunnel automatic rock drilling jumbo according to claim 7, characterized in that it further comprises a lifting hydraulic rod (12) that can be used to lift the working platform.