CN207261026U - A kind of intelligent anchor rod drill carriage - Google Patents
A kind of intelligent anchor rod drill carriage Download PDFInfo
- Publication number
- CN207261026U CN207261026U CN201720768927.9U CN201720768927U CN207261026U CN 207261026 U CN207261026 U CN 207261026U CN 201720768927 U CN201720768927 U CN 201720768927U CN 207261026 U CN207261026 U CN 207261026U
- Authority
- CN
- China
- Prior art keywords
- manipulator
- working arm
- oil cylinder
- hinged
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Earth Drilling (AREA)
Abstract
The utility model belongs to mine top plate, side wall maintenance device technical field, to solve existing mine top plate, side wall is safeguarded severe there are operating environment using anchor pole maintenance is manually carried out, danger coefficient is high, the low technical problem of work efficiency, provide a kind of intelligent anchor rod drill carriage, including rack, it is arranged on the frequency control walking mechanism of frame lower and is arranged on the electric control system of upper rack, flexible working arm, lapping manipulator, intelligent drilling cramp, hydraulic system, driver behavior and monitor control mechanism and orientation cruise control and step pitch measuring system, the intelligence drilling cramp is connected by flexible working arm with gantry rotation, one end of the lapping manipulator is connected with gantry rotation, the other end is equipped with the electromagnet for being used for drawing chain link fence.The utility model realizes automatic lapping, automatic anchor bores, sprays powder stick and autonomous heading cruise control automatically, reduces the labor intensity of staff, improves work situation, improves top plate, the safety coefficient that side wall is safeguarded.
Description
Technical field
The utility model belongs to mine top plate, side wall maintenance device technical field, and in particular to a kind of intelligent anchor rod drill carriage.
Background technology
Mine top plate, side wall safeguard as technological procedure important in tunnelling have in safe working field huge
Meaning.
Safety in production is the cardinal task of mining, and safety plays the work of guarantee, support and promotion for mining
With the safety in production in mine is the important component of national security production.Since the mining geology condition in China is poor, mine is many
More, difference is big, and mechanical drivage is low with recovery percent, and safety technical equipment wretched insufficiency, practitioner's overall qualities are poor, cause
The mine safety situation in China allows of no optimist.
Mine top plate, side wall are using manually carrying out anchor pole maintenance when safeguarding at present, and there are operating environment is severe, danger coefficient
Height, the technical problems such as work efficiency is low.
The content of the invention
The utility model is solves existing mine top plate, side wall is safeguarded and safeguards that there are operating environment using the artificial anchor pole that carries out
Badly, a kind of technical problem that danger coefficient is high, work efficiency is low, there is provided intelligent anchor rod drill carriage.
The technical solution adopted in the utility model is as follows：
A kind of intelligent anchor rod drill carriage, including rack, be arranged on the frequency control walking mechanism of frame lower and be arranged on machine
The electric control system on frame top, flexible working arm, lapping manipulator, intelligent drilling cramp, hydraulic system, driver behavior and monitoring equipment
Structure and orientation cruise control and step pitch measuring system, the intelligence drilling cramp is connected by flexible working arm with gantry rotation, described
One end of lapping manipulator is connected with gantry rotation, and the other end is equipped with the electromagnet for being used for drawing chain link fence, described flexible
Working arm and lapping manipulator by HYDRAULIC CONTROL SYSTEM, frequency control walking mechanism, driver behavior and the monitor control mechanism and
Orientation cruise control is connected with electric control system respectively with step pitch measuring system.
The flexible working arm includes working arm side-sway oil cylinder, working arm revolving bed, working arm outer sleeve, working arm lifting
Oil cylinder, working arm inner sleeve, leveling cyclinder, working arm hydraulic steering gear adopting cross piece, rotary oil cylinder seat and the first rotary oil cylinder, the working arm return
Swivel base is hinged with rack, and one end of working arm outer sleeve is arranged in working arm revolving bed and is hinged with working arm revolving bed, work
Make the side that arm side-sway oil cylinder is arranged on working arm revolving bed, one end of working arm side-sway oil cylinder is hinged with working arm revolving bed,
The other end is hinged with rack, and working arm elevating ram is arranged on the lower section of working arm outer sleeve, one end of working arm elevating ram
It is hinged with working arm outer sleeve, the other end is hinged with rack, and working arm inner sleeve is set in working arm outer sleeve, in working arm
Sleeve can be stretched along working arm outer sleeve length direction by built-in oil cylinder pushing, and the front end of working arm inner sleeve hingedly works
Arm hydraulic steering gear adopting cross piece, the leveling cyclinder are arranged on the top of working arm inner sleeve, and one end and the working arm hydraulic steering gear adopting cross piece of leveling cyclinder are cut with scissors
Connect, the other end is hinged with working arm inner sleeve, and first rotary oil cylinder is fixed in rotary oil cylinder seat, rotary oil cylinder seat and work
Make arm hydraulic steering gear adopting cross piece to be hinged.
The lapping machinery hand includes manipulator side-sway oil cylinder, manipulator revolving bed, manipulator large arm, manipulator lifting oil
Cylinder, oil cylinder, manipulator outer sleeve, manipulator inner sleeve and electromagnet, the manipulator revolving bed are hinged with rack, manipulator side
Pendulum oil cylinder is arranged on the side of manipulator revolving bed, and one end and the manipulator revolving bed of manipulator side-sway oil cylinder are hinged, the other end
It is hinged with rack, one end of manipulator large arm is arranged in manipulator revolving bed and is hinged with manipulator revolving bed, and manipulator is big
The other end of arm and one end of manipulator outer sleeve are hinged, and oil cylinder is arranged on the lower section of manipulator large arm and manipulator outer sleeve,
One end of oil cylinder is hinged with manipulator large arm, and the other end is hinged with manipulator outer sleeve, and manipulator inner sleeve is set in manipulator
In outer sleeve, manipulator inner sleeve can be stretched along manipulator outer sleeve length direction by built-in oil cylinder pushing, in manipulator
The front end of sleeve is hinged electromagnet.
It is described intelligence drilling cramp, including drilling rod, bore case, hoisting mechanism, powder stick spraying system, manipulator, drilling rod clamping mechanism,
Frame, electric control system I, anchor pole storehouse, hydraulic system I, Jia Qian mechanism and connection swing mechanism, the connection swing mechanism are set
Put in the outside of frame, drilling rod clamping mechanism, powder stick spraying system, anchor pole storehouse, manipulator, electric control system I and hydraulic pressure system
System I is arranged in frame, and the drilling rod is fixed in drilling rod clamping mechanism, and the lower part of drilling rod sets external screw thread, the brill case
Upper surface the threaded hole to match with the external screw thread of drilling rod lower part is set, some anchor poles of setting in the anchor pole storehouse, the anchor
The lower part of bar sets the external screw thread to match with boring the threaded hole of case upper surface, the manipulator be arranged on drilling rod clamping mechanism with
Between anchor pole storehouse, manipulator is connected with hydraulic system I, and manipulator is rotatable under the action of hydraulic system I to be used to capture drilling rod
Or anchor pole, the brill case are connected with hoisting mechanism, hoisting mechanism is connected with electric control system I, and hoisting mechanism, which drives, to be bored on case
Lower movement, the Jia Qian mechanisms are arranged on frame top, including two leading arms, every leading arm have half of guide cone
Hole.
The hoisting mechanism includes lift cylinder, lifting chain, lead and is oriented to chain connecting plate, the cylinder tube of lift cylinder
There is cylinder rod stretching at both ends, and cylinder rod both ends are fixed on frame, and cylinder tube can slide up and down on cylinder rod, lifting chain
One end is fixed on frame, and the other end is around the lifting ear on the cylinder tube of lift cylinder and is fixed on guiding chain connecting plate, leads
There are two leads to pass through among to chain connecting plate.
The powder stick spraying system includes powder stick nozzle, hose, powder stick storehouse and powder stick, and the powder stick is arranged on powder stick storehouse
Interior, one end of the hose is connected with powder stick, and the other end is connected with powder stick nozzle, and powder stick nozzle is connected with one end of oil cylinder, oil
The other end of cylinder is fixed on frame.
The manipulator includes the second rotary oil cylinder, column, arm, grabber and manipulator base, and the lower end of column is hung down
Directly it is rotatably provided in manipulator base, one end of arm is vertically fixed on the upper end of column, and the other end of arm, which is set, grabs
Device is taken, one end and the manipulator base of the second rotary oil cylinder are hinged, and the lower end of the other end and column is hinged, and control is set in arm
Grabber closes the control cylinder with opening.
The anchor pole storehouse include stepper motor, active rotating shaft, tooth form belt wheel, toothed belt, Flexible clamp, anchor pole, by turn
Axis and anchor pole Hatch Coaming frame, stepper motor are installed on anchor pole storehouse base of frame, and active rotating shaft is arranged on one end in anchor pole Hatch Coaming frame,
Passive rotating shaft is arranged on the other end in anchor pole Hatch Coaming frame, and the upper end of stepper motor is connected with the lower end of active rotating shaft, actively turns
A tooth form belt wheel is respectively installed in the top and the bottom of axis and passive rotating shaft respectively, the tooth form belt wheel on active rotating shaft and passive rotating shaft top and
It is connected respectively by toothed belt between the tooth form belt wheel of lower part, is corresponded respectively in the toothed belt and some elastic clips are set
Son, the anchor pole are arranged between corresponding Flexible clamp up and down.
The beneficial effects of the utility model：
1. the intelligent anchor rod drill carriage of the utility model realizes automatic lapping, automatic in mine top plate, side wall area of maintenance
Anchor bores, automatic injection powder stick and autonomous heading cruise control, eliminate artificial lapping, anchor brill, loaded resin powder stick, array pitch and
Away from determining, reduce workload, improve work situation, improve top plate, the safety coefficient that side wall is safeguarded.
2. with the increase of bargh's tunnelling, the demand safeguarded to top plate, side wall can be increased increasingly, this practicality
The application of new intelligent anchor rod drill carriage also can be increasingly wider, and the utility model has higher practical value and economic value,
The security risk of underground construction is greatly reduced at the same time, realizes the main trend substituted with technology.
3. the intelligent drilling cramp of the utility model is connected by revolute and translation pair with rack, it ensure that intelligent drilling cramp exists
The tunnel of different height and different in width, which can be realized, carries out it top plate, side wall maintenance.
4. the lapping manipulator of the utility model realizes metal protection by the way that revolute and translation are secondary with electromagnet cooperation
Crawl, upset and the positioning of net, ensure that can realize that to carry out top plate to it automatic in the tunnel of different height and different in width
Lapping.
5. the gyroscope orientation cruise control and space distance measurement system of the utility model can ensure that intelligent anchor rod bores
Car and tunnel relative position automatic measurement travel distance, ensure that often row's anchor pole spacing is consistent with setting production practice parameter.
Brief description of the drawings
Fig. 1 is the main structure diagram of the utility model；
Fig. 2 is Roof schematic diagram；
Fig. 3 safeguards schematic diagram for side wall；
Fig. 4 is flexible working arm schematic diagram；
Fig. 5 is lapping manipulator schematic diagram；
Fig. 6 is orientation cruise control and step pitch measuring system principle schematic；
Fig. 7 is intelligent drilling cramp structure diagram one；
Fig. 8 is intelligent drilling cramp structure diagram two；
Fig. 9 is hoisting mechanism structure diagram；
Figure 10 is powder stick spraying system structure diagram；
Figure 11 is robot manipulator structure schematic diagram；
Figure 12 is anchor pole chamber structure schematic diagram；
In figure：1- frequency control walking mechanisms, 2- electric control systems, 3- stretch working arm, 4- lapping manipulators, 5- intelligence
Energy drilling cramp, 6- hydraulic systems, 7- racks, 8- driver behaviors and monitor control mechanism, 9- orientation cruise controls and step pitch measuring system,
10- chain link fences, 31- working arm side-sway oil cylinders, 32- working arm revolving beds, 33-- working arm outer sleeves, 34- working arms are lifted
Oil-lifting jar, 35- working arm inner sleeves, 36- leveling cyclinders, 37- working arm hydraulic steering gear adopting cross pieces, 38- rotary oil cylinder seats, 39- first rotate
Oil cylinder, 41- manipulator side-sway oil cylinders, 42- manipulator revolving beds, 43-- manipulator large arm, 44- manipulator elevating rams, 45- oil
Cylinder, 46- manipulator outer sleeves, 47- manipulator inner sleeves, 48- electromagnet, 51- drilling rods, 52- bore case, 53- hoisting mechanisms, 54-
Powder stick spraying system, 55- manipulators, 56- drilling rod clamping mechanisms, 57- frames, 58- electric control systems I, 59- anchor pole storehouse,
510- hydraulic systems I, 511- Jia Qian mechanisms, 512- connection swing mechanisms, 531- lift cylinders, 532- lifting chains, 533- are led
Xiang Zhu, 534- guiding chain connecting plate, 541- powder stick nozzles, 542- hoses, 543-- powder sticks storehouse, 544- powder sticks, 551- second rotate oil
Cylinder, 552- columns, 553-- arms, 554- grabbers, 555- manipulator bases, 591- stepper motors, 592- active rotating shafts,
593-- tooth form belt wheels, 594- toothed belts, 595- Flexible clamps, 596- anchor poles, 597- passive rotating shafts, 598- anchor pole Hatch Coaming framves.
Embodiment
As shown in Figure 1, a kind of intelligent anchor rod drill carriage, including bored for automatic anchor, automatic fastening anchor pole and injection powder stick
Intelligent drilling cramp 5, for the lapping manipulator 4 of automatic lapping, the flexible work switched for the positioning of intelligent drilling cramp 5 and top plate, side wall
Make arm 3, for realizing the orientation cruise control and step pitch measuring system 9 that automatically determine anchor pole array pitch, and realize above-mentioned function
System of attaching troops to a unit, it is described such as electric control system 2, frequency control walking mechanism 1, rack 7 and driver behavior and monitor control mechanism 8
Frequency control walking mechanism 1 is arranged on the lower part of rack 7, electric control system 2, flexible working arm 3, lapping manipulator 4, intelligence
Drilling cramp 5, hydraulic system 6, driver behavior and monitor control mechanism 8 and orientation cruise control and step pitch measuring system 9 are arranged at rack 7
Top, the intelligence drilling cramp 5 is rotatablely connected by flexible working arm 3 with rack 7, one end of the lapping manipulator 4 and machine
Frame 7 is rotatablely connected, and the other end is equipped with the electromagnet 48 for being used for drawing chain link fence 10, the flexible working arm 3 and lapping machine
Tool hand 4 is by HYDRAULIC CONTROL SYSTEM, the frequency control walking mechanism 1, driver behavior and monitor control mechanism 8 and orientation cruise control
It is connected respectively with electric control system 2 with step pitch measuring system 9.
As shown in figure 4, the flexible working arm 3 includes working arm side-sway oil cylinder 31, working arm revolving bed 32, outside working arm
Sleeve 33, working arm elevating ram 34, working arm inner sleeve 35, leveling cyclinder 36, working arm hydraulic steering gear adopting cross piece 37, rotary oil cylinder seat 38
With the first rotary oil cylinder 39, the working arm revolving bed 32 is hinged with rack 7, and one end of working arm outer sleeve 33 is arranged on work
In revolution of arm seat 32 and hinged with working arm revolving bed 32, working arm side-sway oil cylinder 31 is arranged on the one of working arm revolving bed 32
Side, one end of working arm side-sway oil cylinder 31 is hinged with working arm revolving bed 32, and the other end is hinged with rack 7, working arm lifting oil
Cylinder 34 is arranged on the lower section of working arm outer sleeve 33, and one end of working arm elevating ram 34 and working arm outer sleeve 33 are hinged, separately
One end is hinged with rack 7, and working arm inner sleeve 35 is set in working arm outer sleeve 33, and working arm inner sleeve 35 can be along working arm
33 length direction of outer sleeve is stretched by built-in oil cylinder pushing, and the front end of working arm inner sleeve 35 is hinged working arm hydraulic steering gear adopting cross piece
37, the leveling cyclinder 36 is arranged on the top of working arm inner sleeve 35, one end and the working arm hydraulic steering gear adopting cross piece 37 of leveling cyclinder 36
Hinged, the other end is hinged with working arm inner sleeve 35, and first rotary oil cylinder 39 is fixed in rotary oil cylinder seat 38, rotation oil
Cylinder seat 38 is hinged with working arm hydraulic steering gear adopting cross piece 37.
Intelligent drilling cramp 5 is connected with flexible working arm 3 by the first rotary oil cylinder 39 realizes that 5 relative telescopic of intelligent drilling cramp works
The rotation of arm 3, realizes the switching that top plate, side wall are safeguarded, the working arm 3 that stretches is by working arm inner sleeve 35 and working arm outer sleeve 33
Composition realizes the back-and-forth motion of intelligent drilling cramp 5, and working arm outer sleeve 33 is rotatably connected with working arm revolving bed 32 and is lifted by working arm
Oil-lifting jar 34 promotes realization to swing up and down, and realizes swinging up and down for intelligent drilling cramp 5, working arm revolving bed 32 is rotated with rack 7
Connection promotes realization to swing by working arm side-sway oil cylinder 31, realizes swinging for intelligent drilling cramp 5, ensure that intelligent brill
Frame 5 can realize that top plate, side wall are safeguarded in the tunnel of different height and different in width.
As shown in figure 5, the lapping manipulator 4 is big including manipulator side-sway oil cylinder 41, manipulator revolving bed 42, manipulator
Arm 43, manipulator elevating ram 44, oil cylinder 45, manipulator outer sleeve 46, manipulator inner sleeve 47 and electromagnet 48, the machinery
Hand revolving bed 42 is hinged with rack 7, and manipulator side-sway oil cylinder 41 is arranged on the side of manipulator revolving bed 42, manipulator side-sway oil
One end of cylinder 41 is hinged with manipulator revolving bed 42, and the other end is hinged with rack 7, and one end of manipulator large arm 43 is arranged on machinery
It is in hand revolving bed 42 and hinged with manipulator revolving bed 42, the other end of manipulator large arm 43 and one end of manipulator outer sleeve 46
Hinged, oil cylinder 45 is arranged on the lower section of manipulator large arm 43 and manipulator outer sleeve 46, one end and the manipulator large arm of oil cylinder 45
43 is hinged, and the other end is hinged with manipulator outer sleeve 46, and manipulator inner sleeve 47 is set in manipulator outer sleeve 46, manipulator
Inner sleeve 47 can be stretched along 46 length direction of manipulator outer sleeve by built-in oil cylinder pushing, the front end of manipulator inner sleeve 47
Hinged electromagnet 48.
Lapping manipulator revolving bed 42 is rotatably connected with rack 7 promotes realization to swing by manipulator side-sway oil cylinder 41,
Manipulator large arm 43 is rotatably connected with manipulator revolving bed 42 promotes realization to swing up and down by manipulator elevating ram 44, lapping machine
Tool hand stretches inner sleeve 47 by manipulator and manipulator outer sleeve 46 forms realization and moves back and forth, the installation of 47 front end of manipulator inner sleeve
Have electromagnet 48 can adsorbing metal protection network 10, realize can be realized in the tunnel of different height and different in width top plate spread
Net.
As shown in Figure 7,8, the intelligent drilling cramp, including drilling rod 51, bore case 52, hoisting mechanism 53, powder stick spraying system 54,
Manipulator 55, drilling rod clamping mechanism 56, frame 57, electric control system I58, anchor pole storehouse 59, hydraulic system I510, Jia Qian mechanism
511 are arranged on the outside of frame 57, drilling rod clamping mechanism 56, medicine with connection swing mechanism 512, the connection swing mechanism 512
Volume spraying system 54, anchor pole storehouse 59, manipulator 55, electric control system I58 and hydraulic system I510 are arranged in frame 57,
The drilling rod 51 is fixed in drilling rod clamping mechanism 56, and the lower part of drilling rod 51 sets external screw thread, and the upper surface for boring case 52 is set
The threaded hole to match with the external screw thread of 51 lower part of drilling rod is put, some anchor poles 96, the anchor pole 96 are set in the anchor pole storehouse 59
Lower part the external screw thread to match with boring the threaded hole of case 52 upper surface is set, the manipulator 55 is arranged on drilling rod clamping mechanism
Between 56 and anchor pole storehouse 59, manipulator 55 is connected with hydraulic system I510, and manipulator 55 can under the action of hydraulic system I510
Rotate and be used to capture drilling rod 51 or anchor pole 96, the brill case 52 is connected with hoisting mechanism 53, hoisting mechanism 53 and electrical control system
System I58 is connected, and hoisting mechanism 53 drives brill case 52 to move up and down, and the Jia Qian mechanisms 511 are arranged on 57 top of frame, by two
Leading arm is formed, and every leading arm be provided with half of guiding taper hole, can guide drilling rod 51 and anchor pole 96 along being correctly oriented
Feeding.
As shown in figure 9, the hoisting mechanism 53 include being fixed on lift cylinder 531 on frame 57, lifting chain 532,
Lead 533 and chain connecting plate 534 is oriented to, lift cylinder 531 is the two-way cylinder of double rods, the cylinder tube of lift cylinder 531
There is cylinder rod stretching at both ends, and cylinder rod both ends are fixed on frame 57, and cylinder tube can slide up and down on cylinder rod, lift chain
532 one end of bar is fixed on frame 57, and the other end is around the lifting ear on the cylinder tube of lift cylinder 531 and is fixed on drag chain
On fishplate bar 534, being oriented among chain connecting plate 534 has two leads 533 to pass through, and when the cylinder tube of lift cylinder 531 slides, carries
Rising chain 532 will drive guiding chain connecting plate 534 to be moved along lead 533, be moved so as to drive and bore case 52.
As shown in Figure 10, the powder stick spraying system 54 includes powder stick nozzle 541, hose 542, powder stick storehouse 543 and powder stick
544, the powder stick 544 is arranged in powder stick storehouse 543, and one end of the hose 542 is connected with powder stick 544, the other end and powder stick
Nozzle 541 is connected, and powder stick nozzle 541 is connected with one end of oil cylinder, and the other end of oil cylinder is fixed on frame 57, oil cylinder during work
Powder stick nozzle 541 is promoted to rotate to borehole, high pressure water sprays into powder stick 544 in powder stick storehouse 543 in drilling by hose 542
After positioning, oil cylinder pushing powder stick nozzle 541 resets.
As shown in figure 11, the manipulator 55 includes the second rotary oil cylinder 551, column 552, arm 553, grabber 554
With manipulator base 555, the lower end of column 552 is vertically rotatably provided in manipulator base 555, and one end of arm 553 is hung down
The straight upper end for being fixed on column 552, the other end of arm 553 set grabber 554, one end of the second rotary oil cylinder 551 and machine
At hand seat 555 is hinged for tool, and the lower end of the other end and column 552 is hinged, and the control closure of grabber 554 is set in arm 553 with beating
The control cylinder opened.Second rotary oil cylinder 551 of manipulator 55 can make 90 degree of rotations of arm, when grabber 554 opens completely
When do not contacted during rolling over any object.The closure of grabber 554 in zero degree of arm 553, which can capture, is fixed on brill
The drilling rod 51 of bar clamping device 56, arm 553 drilling rod 51 or anchor pole 596 can be moved on at 45 degree bore case 52 just on
Face, the grabber 554 at 90 degree of arm 553 close the anchor pole 596 that can be captured and be fixed in anchor pole storehouse 59.
As shown in figure 12, the anchor pole storehouse 59 includes stepper motor 591, active rotating shaft 592, tooth form belt wheel 593, toothed belt
594th, Flexible clamp 595, anchor pole 596, passive rotating shaft 597 and anchor pole Hatch Coaming frame 598, stepper motor 591 are installed on anchor pole Hatch Coaming
598 bottom of frame, active rotating shaft 592 are arranged on one end in anchor pole Hatch Coaming frame 598, and passive rotating shaft 597 is arranged on anchor pole Hatch Coaming frame
The other end in 598, the upper end of stepper motor 591 are connected with the lower end of active rotating shaft 592, active rotating shaft 592 and passive rotating shaft
597 top and the bottom are respectively installed by one tooth form belt wheel 593, active rotating shaft 592 and the tooth form belt wheel on 597 top of passive rotating shaft respectively
593 and lower part tooth form belt wheel 593 between be connected respectively by toothed belt 594, it is described up and down in toothed belt 594 respectively one by one
Some Flexible clamps 595 are correspondingly arranged, the anchor pole 596 is arranged between corresponding Flexible clamp 595 up and down.Manipulator 55
After rotating to 59 side of anchor pole storehouse crawl anchor pole 596, electric 591 machines of stepping in anchor pole storehouse 59 receive electric control system I58's
Instruction, drives toothed belt 594 to rotate next anchor pole 596 and arrives 55 crawl position of manipulator.
The specific works step of the utility model intelligence drilling cramp is as follows：
（1）Manipulator 55 captures the drilling rod 51 being fixed in drilling rod clamping mechanism 56, moves on to and bores case 52 just above, bores case 52
Side rising edge rotation, drilling rod 51 are threadedly coupled fixation with boring case 52, and then manipulator 55 unclamps drilling rod 51, returns to initial bit.
（2）Boring case 52 drives 51 high-speed rotation of the drilling rod brill case 52 of the drive of hoisting mechanism 53 at the same time to be moved up along guide rail, bores
Bar 51 pierces rock pore-forming by the pilot hole among Jia Qian mechanisms 511, and hoisting mechanism 53, which drives, after completing to drill bores case 52
The starting position for returning to drilling is exited with drilling rod 51, manipulator 55 catches the drilling rod 51 for being fixed on and boring in case 52, and it is reverse to bore case 52
Rotating and moving down makes screw thread between brill case 52 and drilling rod 51 thread off, and drilling rod 51 is fixed on drilling rod clamping mechanism 56 by manipulator 55.
（3）Jia Qian mechanisms 511 are separated to both sides, and oil cylinder pushing powder stick nozzle 541 rotates to borehole, and high pressure water is by medicine
Roll up powder stick 544 in storehouse 543 to spray into drilling after positioning by hose 542, oil cylinder pushing powder stick nozzle 541 resets.
（4）After manipulator 55 rotates to 59 side of anchor pole storehouse crawl anchor pole 596,591 band of stepper motor in anchor pole storehouse 59
Dynamic toothed belt 594 rotates next anchor pole 596 and arrives 55 crawl position of manipulator, and anchor pole 596 is moved on to and boring case 52 just by manipulator 55
Above, 52 side rising edge rotation of case is bored, anchor pole 596 is threadedly coupled fixation with boring case 52, and then manipulator 55 resets.
（5）Boring case 52 drives 596 high-speed rotation of the anchor pole brill case 52 of the drive of hoisting mechanism 53 at the same time to be moved up along guide rail, high
The anchor pole 596 that speed rotates is uniform by the bar coagulant whisk in drilling, and case 52 is bored after anchor pole 596 is moved to top and exports drilling speed drop
Low torque increase fastens anchor pole 596, and boring case 52 and reversely rotating makes screw thread between brill case 52 and anchor pole 596 thread off, and bores case 52 and returns
Original position, Jia Qian mechanisms 511 close, and whole workflow operation finishes.
The course of work of the intelligent anchor rod drill carriage of the utility model：
As shown in Fig. 2, when Roof works, flexible working arm 3, which stretches out, ensures that intelligent drilling cramp 5 props up top plate positioning, bores
Case beats bolthole, and intelligent drilling cramp 5 is removed, and lapping manipulator 4 captures chain link fence 10 and puts it to intelligent 5 drill hole of drilling cramp,
Then intelligent drilling cramp 5 returns to former punch position by resin explosive roll（Anchor Agent powder stick）Automatically it is ejected into drilling, intelligent drilling cramp 5
Anchor pole is fitted into drilling and the solidification of agitating resin powder stick, bores case and fastens anchor pole, finally according to the program of setting by metal protection
The required entire row anchor pole of net 10 has been beaten.
As shown in figure 3, during side wall maintenance work, flexible working arm 3 stretches out, and rotary intelligent drilling cramp 5 is to vertical with side wall,
Adjustment 5 angle of intelligent drilling cramp ensures that intelligent drilling cramp 5 props up side wall positioning, bores case and beats bolthole, and then intelligent drilling cramp 5 returns to former beat
Hole site is by resin explosive roll（Anchor Agent powder stick）Automatically it is ejected into drilling, intelligent drilling cramp 5 is fitted into anchor pole in drilling and stirs
Resin explosive roll solidifies, and bores case and fastens anchor pole, has finally beaten the required entire row anchor pole of side wall according to the program of setting.
After the completion of top plate, side wall are safeguarded, intelligent anchor rod drill carriage moves forward automatically, and cruise control is oriented by vehicle-mounted gyroscope
It is crosslinked with space distance measurement system and frequency control walking mechanism, electric control system, intelligent anchor rod brill can be measured in real time
Car and tunnel relative position, and travel distance is measured, it is automatic stopping to the lower position for making a call to row's anchor pole is needed, ensures anchor pole row
Away from, work repeat before consistent with setting production practice parameter.
The intelligent anchor rod drill carriage minimum transport condition complete machine width of the utility model is 1.4 meters, and whole length is 5.5 meters,
It can be arranged in parallel with development machine, realize pick anchor concurrent working.
Stretch working arm and lapping manipulator of the intelligent drilling cramp of the utility model can outwards put 60 degree, and arm exhibition is reachable
6.0 meters, intelligent drilling cramp working arm and lapping manipulator expansion height of stretching is 6.0 meters, can meet 4 to 6 meters of roadway maintenance.
Claims (8)
- A kind of 1. intelligent anchor rod drill carriage, it is characterised in that：Including rack（7）, be arranged on rack（7）The frequency control walking of lower part Mechanism（1）Be arranged on rack（7）The electric control system on top（2）, flexible working arm（3）, lapping manipulator（4）, intelligence Drilling cramp（5）, hydraulic system（6）, driver behavior and monitor control mechanism（8）And orientation cruise control and step pitch measuring system（9）, it is described Intelligent drilling cramp（5）Pass through the working arm that stretches（3）With rack（7）Rotation connection, the lapping manipulator（4）One end and rack （7）Rotation connection, the other end, which is equipped with, to be used to draw chain link fence（10）Electromagnet（48）, the flexible working arm（3）With Lapping manipulator（4）By HYDRAULIC CONTROL SYSTEM, the frequency control walking mechanism（1）, driver behavior and monitor control mechanism（8）With Orient cruise control and step pitch measuring system（9）Respectively with electric control system（2）It is connected.
- A kind of 2. intelligent anchor rod drill carriage according to claim 1, it is characterised in that：The flexible working arm（3）Including work Make arm side-sway oil cylinder（31）, working arm revolving bed（32）, working arm outer sleeve（33）, working arm elevating ram（34）, working arm Inner sleeve（35）, leveling cyclinder（36）, working arm hydraulic steering gear adopting cross piece（37）, rotary oil cylinder seat（38）With the first rotary oil cylinder（39）, institute State working arm revolving bed（32）With rack（7）It is hinged, working arm outer sleeve（33）One end be arranged on working arm revolving bed（32） It is interior and with working arm revolving bed（32）It is hinged, working arm side-sway oil cylinder（31）It is arranged on working arm revolving bed（32）Side, work Make arm side-sway oil cylinder（31）One end and working arm revolving bed（32）It is hinged, the other end and rack（7）It is hinged, working arm lifting oil Cylinder（34）It is arranged on working arm outer sleeve（33）Lower section, working arm elevating ram（34）One end and working arm outer sleeve（33） It is hinged, the other end and rack（7）It is hinged, working arm inner sleeve（35）It is set in working arm outer sleeve（33）It is interior, working arm inner sleeve Cylinder（35）Can be along working arm outer sleeve（33）Length direction is stretched by built-in oil cylinder pushing, working arm inner sleeve（35）Before The hinged working arm hydraulic steering gear adopting cross piece in end（37）, the leveling cyclinder（36）It is arranged on working arm inner sleeve（35）Top, leveling cyclinder （36）One end and working arm hydraulic steering gear adopting cross piece（37）It is hinged, the other end and working arm inner sleeve（35）It is hinged, the first rotation oil Cylinder（39）It is fixed on rotary oil cylinder seat（38）It is interior, rotary oil cylinder seat（38）With working arm hydraulic steering gear adopting cross piece（37）It is hinged.
- A kind of 3. intelligent anchor rod drill carriage according to claim 1 or 2, it is characterised in that：The lapping manipulator（4）Including Manipulator side-sway oil cylinder（41）, manipulator revolving bed（42）, manipulator large arm（43）, manipulator elevating ram（44）, oil cylinder （45）, manipulator outer sleeve（46）, manipulator inner sleeve（47）And electromagnet（48）, the manipulator revolving bed（42）With rack （7）It is hinged, manipulator side-sway oil cylinder（41）It is arranged on manipulator revolving bed（42）Side, manipulator side-sway oil cylinder（41）One End and manipulator revolving bed（42）It is hinged, the other end and rack（7）It is hinged, manipulator large arm（43）One end be arranged on manipulator Revolving bed（42）It is interior and with manipulator revolving bed（42）It is hinged, manipulator large arm（43）The other end and manipulator outer sleeve（46） One end be hinged, oil cylinder（45）It is arranged on manipulator large arm（43）With manipulator outer sleeve（46）Lower section, oil cylinder（45）One End and manipulator large arm（43）It is hinged, the other end and manipulator outer sleeve（46）It is hinged, manipulator inner sleeve（47）It is set in machine Tool hand outer sleeve（46）It is interior, manipulator inner sleeve（47）Can be along manipulator outer sleeve（46）Length direction by built-in oil cylinder pushing into Row is flexible, manipulator inner sleeve（47）Front end be hinged electromagnet（48）.
- A kind of 4. intelligent anchor rod drill carriage according to claim 3, it is characterised in that：The intelligence drilling cramp（5）Including drilling rod （51）, bore case（52）, hoisting mechanism（53）, powder stick spraying system（54）, manipulator（55）, drilling rod clamping mechanism（56）, frame （57）, electric control system I（58）, anchor pole storehouse（59）, hydraulic system I（510）, Jia Qian mechanisms（511）With connection swing mechanism （512）, the connection swing mechanism（512）It is arranged on frame（57）Outside, drilling rod clamping mechanism（56）, powder stick spraying system （54）, anchor pole storehouse（59）, manipulator（55）, electric control system I（58）And hydraulic system I（510）It is arranged at frame（57） It is interior, the drilling rod（51）It is fixed on drilling rod clamping mechanism（56）In, drilling rod（51）Lower part set external screw thread, the brill case（52） Upper surface set and drilling rod（51）The threaded hole that the external screw thread of lower part matches, the anchor pole storehouse（59）It is interior that some anchor poles are set （596）, the anchor pole（596）Lower part set with bore case（52）The external screw thread that the threaded hole of upper surface matches, the machinery Hand（55）It is arranged on drilling rod clamping mechanism（56）With anchor pole storehouse（59）Between, manipulator（55）With hydraulic system I（510）It is connected, Manipulator（55）In hydraulic system I（510）Under the action of rotatable be used to capture drilling rod（51）Or anchor pole（596）, the brill case （52）With hoisting mechanism（53）It is connected, hoisting mechanism（53）With electric control system I（58）It is connected, hoisting mechanism（53）Drive and bore Case（52）Move up and down, the Jia Qian mechanisms（511）It is arranged on frame（57）Top, including two leading arms, every leading arm Have half of guiding taper hole.
- A kind of 5. intelligent anchor rod drill carriage according to claim 4, it is characterised in that：The hoisting mechanism（53）Including lifting Oil cylinder（531）, lifting chain（532）, lead（533）With guiding chain connecting plate（534）, lift cylinder（531）Cylinder tube two There is cylinder rod stretching at end, and cylinder rod both ends are fixed on frame（57）On, cylinder tube can slide up and down on cylinder rod, lift chain Bar（532）One end is fixed on frame（57）On, the other end bypasses lift cylinder（531）Cylinder tube on lifting ear and be fixed on It is oriented to chain connecting plate（534）On, it is oriented to chain connecting plate（534）There are two leads in centre（533）Pass through.
- A kind of 6. intelligent anchor rod drill carriage according to claim 4 or 5, it is characterised in that：The powder stick spraying system（54） Including powder stick nozzle（541）, hose（542）, powder stick storehouse（543）And powder stick（544）, the powder stick（544）It is arranged on powder stick storehouse （543）It is interior, the hose（542）One end and powder stick（544）It is connected, the other end and powder stick nozzle（541）It is connected, powder stick nozzle （541）It is connected with one end of oil cylinder, the other end of oil cylinder is fixed on frame（57）On.
- A kind of 7. intelligent anchor rod drill carriage according to claim 6, it is characterised in that：The manipulator（55）Including the second rotation Turn oil cylinder（551）, column（552）, arm（553）, grabber（554）And manipulator base（555）, column（552）Lower end Vertically it is rotatably provided in manipulator base（555）On, arm（553）One end be vertically fixed on column（552）Upper end, hand Arm（553）The other end set grabber（554）, the second rotary oil cylinder（551）One end and manipulator base（555）It is hinged, The other end and column（552）Lower end be hinged, arm（553）It is middle that control grabber is set（554）Closure and the control oil opened Cylinder.
- A kind of 8. intelligent anchor rod drill carriage according to claim 7, it is characterised in that：The anchor pole storehouse（59）Including stepping electricity Machine（591）, active rotating shaft（592）, tooth form belt wheel（593）, toothed belt（594）, Flexible clamp（595）, anchor pole（596）, it is passive Shaft（597）With anchor pole Hatch Coaming frame（598）, stepper motor（591）Installed in anchor pole Hatch Coaming frame（598）Bottom, active rotating shaft （592）It is arranged on anchor pole Hatch Coaming frame（598）Interior one end, passive rotating shaft（597）It is arranged on anchor pole Hatch Coaming frame（598）Interior is another End, stepper motor（591）Upper end and active rotating shaft（592）Lower end be connected, active rotating shaft（592）With passive rotating shaft（597） Top and the bottom respectively respectively install a tooth form belt wheel（593）, active rotating shaft（592）With passive rotating shaft（597）The toothed belt on top Wheel（593）And the tooth form belt wheel of lower part（593）Between pass through toothed belt respectively（594）It is connected, the toothed belt（594）Upper point Some Flexible clamps Yi Yiduiying be set（595）, the anchor pole（596）It is arranged on corresponding Flexible clamp up and down（595） Between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720768927.9U CN207261026U (en) | 2017-06-29 | 2017-06-29 | A kind of intelligent anchor rod drill carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720768927.9U CN207261026U (en) | 2017-06-29 | 2017-06-29 | A kind of intelligent anchor rod drill carriage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207261026U true CN207261026U (en) | 2018-04-20 |
Family
ID=61926202
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720768927.9U Withdrawn - After Issue CN207261026U (en) | 2017-06-29 | 2017-06-29 | A kind of intelligent anchor rod drill carriage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207261026U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107165663A (en) * | 2017-06-29 | 2017-09-15 | 中国煤炭科工集团太原研究院有限公司 | A kind of intelligent anchor rod drill carriage |
| CN109488232A (en) * | 2018-11-30 | 2019-03-19 | 中国有色金属长沙勘察设计研究院有限公司 | A kind of boring sample drilling machine take linkage |
| CN110219684A (en) * | 2019-06-27 | 2019-09-10 | 江西鑫通机械制造有限公司 | A kind of mine anchor rod drill carriage |
| CN112412504A (en) * | 2020-11-04 | 2021-02-26 | 中国煤炭科工集团太原研究院有限公司 | Automatic charging control system and control method for intelligent anchor rod drill carriage |
| CN113250722A (en) * | 2021-05-21 | 2021-08-13 | 肖晓荣 | Automatic quick lapping device of anchor rod drill carriage for coal mine |
-
2017
- 2017-06-29 CN CN201720768927.9U patent/CN207261026U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107165663A (en) * | 2017-06-29 | 2017-09-15 | 中国煤炭科工集团太原研究院有限公司 | A kind of intelligent anchor rod drill carriage |
| CN107165663B (en) * | 2017-06-29 | 2023-09-12 | 中国煤炭科工集团太原研究院有限公司 | Intelligent anchor rod drill carriage |
| CN109488232A (en) * | 2018-11-30 | 2019-03-19 | 中国有色金属长沙勘察设计研究院有限公司 | A kind of boring sample drilling machine take linkage |
| CN110219684A (en) * | 2019-06-27 | 2019-09-10 | 江西鑫通机械制造有限公司 | A kind of mine anchor rod drill carriage |
| CN112412504A (en) * | 2020-11-04 | 2021-02-26 | 中国煤炭科工集团太原研究院有限公司 | Automatic charging control system and control method for intelligent anchor rod drill carriage |
| CN113250722A (en) * | 2021-05-21 | 2021-08-13 | 肖晓荣 | Automatic quick lapping device of anchor rod drill carriage for coal mine |
| CN113250722B (en) * | 2021-05-21 | 2024-02-09 | 魏学勇 | Automatic quick lapping device of anchor rod drill carriage for coal mine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107165663A (en) | A kind of intelligent anchor rod drill carriage | |
| CN207261026U (en) | A kind of intelligent anchor rod drill carriage | |
| CN107178317B (en) | Intelligent drill frame | |
| CN108104853A (en) | A kind of full-automation Zuan Mao Operation Vans | |
| CN105275415B (en) | Full-automatic continuous drilling rig | |
| CN205259940U (en) | Four arms top anchor rod drilling carriage | |
| CN205259938U (en) | Anchor rod drilling carriage of four arms group | |
| CN205259939U (en) | Six arms top anchor rod drilling carriage | |
| CN108756965A (en) | A kind of roofboltier | |
| CN206785394U (en) | A kind of heading and anchoring integrated machine | |
| CN109209452A (en) | A kind of multiple arch clamping manipulator | |
| CN110939384B (en) | Working method of jumbolter for high slope anchoring | |
| CN206830084U (en) | A kind of automatic grab of mine drill stem send device | |
| CN212898509U (en) | Airborne automatic anchoring and protecting mechanism | |
| CN102155161A (en) | Novel omnibearing drill boom of drill loader | |
| CN107401418A (en) | A kind of tunnel rock bolting jumbo | |
| CN109989763A (en) | A kind of rock tunnel(ling) machine detection tool changing robot and its application method | |
| CN107575225A (en) | The high prominent unattended automatic driving system in tunnel of gas | |
| CN101832103A (en) | Movable two-arm hanging wall anchor rod and anchor cable construction drill carriage | |
| CN207017940U (en) | A kind of intelligent drilling cramp | |
| CN110080680A (en) | A kind of automatically controlled automated drilling rig of underground coal mine | |
| CN202055821U (en) | Two-arm top slope anchor rod and anchor rope construction drill wagon with movable lifting platform | |
| CN105756678A (en) | Cantilever-mounted auxiliary device and working method as well as application thereof | |
| CN203488122U (en) | Vertically pipe-arranging system | |
| CN112196577B (en) | Double-power-driven intelligent tunnel maintenance train |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180420 Effective date of abandoning: 20230912 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180420 Effective date of abandoning: 20230912 |