CN208502812U - A kind of coal mine drilling anchor robot is crept into automatically and anchor - Google Patents
A kind of coal mine drilling anchor robot is crept into automatically and anchor Download PDFInfo
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- CN208502812U CN208502812U CN201821115238.9U CN201821115238U CN208502812U CN 208502812 U CN208502812 U CN 208502812U CN 201821115238 U CN201821115238 U CN 201821115238U CN 208502812 U CN208502812 U CN 208502812U
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Abstract
It is crept into automatically the utility model discloses a kind of coal mine drilling anchor robot and anchor, including control module, anchor pole library, anchor pole conveying mechanism and drilling anchor mechanism, drilling anchor mechanism includes hydraulic telescopic machanism, borehole drill construction and anchor pole frame, and upper bolt mechanism and dress anchor pole mechanism, the borehole drill construction includes drilling rod feed mechanism, drilling machine, drilling rod regulating mechanism, drilling rod and hydraulic holding mechanism.The utility model is designed reasonably realizes robotic drill, upper bolt and installation anchor pole, effectively improves underground coal mine support efficiency, reduce underground work personnel labor intensity, it liberates the productive forces to greatest extent, and realizes the automation of excavation face in coal mine supporting, it is practical.
Description
Technical field
The utility model belongs to coal mine drilling anchor technical field, and in particular to a kind of coal mine drilling anchor robot is crept into automatically and anchor
It is fixedly mounted with and sets.
Background technique
In order to improve underground coal mine driving speed, underground coal mine heading equipment is all actively being developed in countries in the world, in coal mine
First have to solve in tunneling process is exactly Rock Bolting Problems.Existing the mode of the bolt support is most of all to use Pneumatic outrigger
Formula jumbolter, airborne hydraulic jumbolter, alternate work with development machine, are unable to concurrent job.It is united according to related data
It counts, the time used in this working method suspension roof support accounts for 2/3rds of total driving time, therefore, improves suspension roof support work
Efficiency is the key that improve tunnelling efficiency.
Drilling anchor machine that fully mechanized workface uses at present is single leg pneumatic type, single leg fluid pressure type, airborne hydraulic anchor pole brill mostly
Machine and digging and anchoring integrated machine etc..Drilling anchor prow of these types first needs worker operation drilling machine in drilling, changes brill, dress anchor pole
Deng, there are security risk height, large labor intensity, drilling anchor low efficiency, working environment is poor the problems such as.
In order to effectively improve underground coal mine support efficiency, underground work personnel labor intensity is reduced, is liberated to greatest extent
Productivity realizes the automation of excavation face in coal mine supporting, needs a kind of automatic drill anchor device.
Utility model content
The technical problem to be solved by the utility model is in view of the deficiency of the prior art, provide a kind of coal mine
Drilling anchor robot is crept into automatically rationally, realizes robotic drill, upper bolt and installation anchor pole, effectively with drilling anchor device, design
Underground coal mine support efficiency is improved, underground work personnel labor intensity is reduced, liberates the productive forces to greatest extent, and realizes coal mine
The automation of fully mechanized workface supporting, it is practical.
In order to solve the above technical problems, the technical solution adopted in the utility model is: a kind of coal mine drilling anchor robot is automatic
Drilling and drilling anchor device, it is characterised in that: carried out including control module, anchor pole library, the anchor pole slid out to the anchor pole library defeated
The anchor pole conveying mechanism that send and drilling anchor mechanism that supporting position is drilled and installs anchor pole is treated, drilling anchor mechanism includes liquid
Telescoping mechanism, the borehole drill construction being mounted on the hydraulic telescopic machanism and the anchor pole frame being mounted on the borehole drill construction are pressed,
And upper bolt mechanism that the anchor pole on the anchor pole conveying mechanism is installed on anchor pole frame and by the anchor on the anchor pole frame
Bar bore the dress anchor pole mechanism of dress, and the hydraulic telescopic machanism includes pedestal, the hydraulic arm being mounted on the base and driving liquid
The hydraulic arm driving mechanism of pressure arm rotation, the borehole drill construction are rotatably installed on hydraulic arm, are provided with drive on the anchor pole frame
The anchor pole frame driving mechanism of dynamic anchor pole frame rotation；
The inclined surface pushing mechanism for pushing anchor pole to slide out, the bottom surface setting in the anchor pole library are provided in the anchor pole library
There is discharge port, the anchor pole conveying mechanism includes chassis and the sliding block conveying mechanism and chain conveyer that are arranged on chassis
Structure, the sliding block conveying mechanism include the positioning sliding block positioned to the anchor pole slid out from discharge port and driving positioning sliding block
Close to the slider-actuated mechanism of chain transfer mechanism sliding, one end on the remotely located sliding block of chassis is provided with anchor pole
Slot, the borehole drill construction includes the drilling rod feed mechanism being mounted on hydraulic arm, the brill that is mounted on the drilling rod feed mechanism
Machine and drilling rod regulating mechanism, and the drilling rod that is mounted on the drilling rod regulating mechanism and be mounted on the drilling rod feed mechanism
Hydraulic holding mechanism, the control module includes controller and the liquid crystal touch screen that connects with controller, the controller
Input be terminated with photoelectric sensor, angle sensor device assembly and displacement sensor component, it is the inclined surface pushing mechanism, described
Slider-actuated mechanism, the chain transfer mechanism, the anchor pole frame driving mechanism, the upper bolt mechanism, the hydraulic arm drive
Motivation structure, the drilling rod regulating mechanism, hydraulic arm, the hydraulic holding mechanism and drilling machine are controlled by controller.
A kind of above-mentioned coal mine drilling anchor robot is crept into and drilling anchor device automatically, it is characterised in that: the anchor pole library includes
Anchor pole case, the supporting leg that anchor pole bottom portion is set and anchor pole box top is set and can be slided up and down along anchor pole case short transverse
Anchor pole gland, the discharge port is located at the bottom surface of anchor pole case at the positioning sliding block, and the discharge port is along the anchor pole
The sole length direction of case is laid, and is provided in the anchor pole case gradually acclivitous from discharge port to separate discharge port direction
Bottom of the inclined surface far from discharge port is arranged in inclined surface, the inclined surface pushing mechanism.
A kind of above-mentioned coal mine drilling anchor robot is crept into and drilling anchor device automatically, it is characterised in that: the chain conveyer
Structure includes two gear shafts for being arranged in chassis and laying in horizontal parallel, multiple uniformly distributed along gear shaft length direction
Chain pitch wheel mechanism and the gear shaft driving mechanism for driving gear shaft rotation, the gear shaft driving mechanism by controller into
Row control, one end of the remotely located sliding block of chassis are provided with recessed portion, and the anchor pole slot is by the recessed portion and baffle structure
At；
The quantity of the chassis is two, and two chassis are located at the both ends of gear shaft, the positioning sliding block
Quantity is two, and two positioning sliding blocks are located at two chassis top surfaces, is provided in the positioning sliding block to from out
The U-shaped through slot that the end for the anchor pole that material mouth slides out is accommodated, the chassis top surface are provided with for positioning sliding block close to institute
The sliding rail of chain pitch wheel mechanism sliding is stated, and the medial surface of the sliding rail matches installation with the lateral surface of positioning sliding block.
A kind of above-mentioned coal mine drilling anchor robot is crept into and drilling anchor device automatically, it is characterised in that: the anchor pole frame includes
Central axis and two anchor pole chucks being arranged on center shaft are evenly equipped with multiple anchor pole clamping opening on the circumference of the anchor pole chuck,
The anchor pole frame driving mechanism is connect with central shaft driven；
The upper bolt mechanism includes that upper bolt shaft, two upper bolts for being separately positioned on upper bolt both ends of the shaft are mechanical
The upper bolt driving mechanism of hand and driving upper bolt shaft rotation, the upper bolt driving mechanism are controlled by controller.
A kind of above-mentioned coal mine drilling anchor robot is crept into and drilling anchor device automatically, it is characterised in that: the drilling rod adjusts machine
Structure includes drilling rod adjustment axis, two drilling rod manipulators for being separately positioned on drilling rod adjustment axis both ends and holding drill pipe and driving drilling rod
The drilling rod of adjustment axis rotation adjusts driving mechanism；
The drilling rod feed mechanism includes the uncovered drill rod box being mounted on hydraulic arm, along uncovered drill rod box length direction cloth
If piston rod and installation feeding hydrocylinder on the piston rod, sliding is provided with drilling machine pallet, institute on the uncovered drill rod box
The bottom for stating drilling machine pallet is fixedly connected with the feeding hydrocylinder, and the drilling machine is located on drilling machine pallet, the hydraulic clamping
Mechanism is located at the one end of uncovered drill rod box far from the hydraulic arm, and the drilling rod adjusts driving mechanism and feeding hydrocylinder by control
Device processed is controlled.
A kind of above-mentioned coal mine drilling anchor robot is crept into and drilling anchor device automatically, it is characterised in that: the dress anchor pole mechanism
Quantity be two, two dress anchor pole mechanisms are installed in the drilling rod feed mechanism close to the upper bolt mechanism one
The structure of side, two dress anchor pole mechanisms is identical, and two dress anchor pole mechanisms include dress anchor pole shaft, are sleeved on dress anchor
In bar shaft dress anchor manipulator and driving dress anchor pole shaft rotation dress anchor pole driving mechanism, the dress anchor pole driving mechanism by
Controller is controlled；
Two vertical plates are set on the pedestal and is mounted on the vertical plate and turns for the hydraulic arm of hydraulic arm suit
Axis, the hydraulic arm are provided with connector close to one end of borehole drill construction and are arranged on connector and drive the borehole drill construction
The drilling rod rotating drive mechanism of rotation, the drilling rod rotating drive mechanism are controlled by controller.
A kind of above-mentioned coal mine drilling anchor robot is crept into and drilling anchor device automatically, it is characterised in that: the angular transducer
Component includes first angle sensor, second angle sensor, third angle sensor and fourth angle sensor, and described first
Angular transducer, second angle sensor, third angle sensor and fourth angle sensor output end with controller
Input terminal connects；
The displacement sensor component includes the first displacement sensor, second displacement sensor, third displacement sensor, the
Four displacement sensors and the 5th displacement sensor, first displacement sensor, second displacement sensor, third displacement sensing
The output end of device, the 4th displacement sensor and the 5th displacement sensor connects with the input terminal of controller.
Compared with the prior art, the utility model has the following advantages:
1, the robot autonomous drilling anchor apparatus structure of used coal mine drilling anchor is simple, design is reasonable and installation laying is easy,
Input cost is lower.
2, the anchor pole in the robot autonomous drilling anchor device of used coal mine drilling anchor in anchor pole library is slid out by discharge port
Later, and by anchor pole conveying mechanism it being delivered in anchor pole slot, upper bolt mechanism is installed on anchor pole frame the anchor pole in anchor pole slot,
Upper bolt movement is completed, it is easy to operate, and staff's participation is not needed, labor intensity is small.
3, it is adjusted in the robot autonomous drilling anchor device of used coal mine drilling anchor by drilling rod regulating mechanism in borehole drill construction
After drilling rod to boring requirement position, drilling rod feed mechanism drives drilling machine and drilling rod feeding, realizes the drilling to supporting position, operation
It is easy.
4, the robot autonomous drilling anchor device dress anchor pole of used coal mine drilling anchor feeds rockbolt installation to be installed in drilling rod
In mechanism, anchor pole feeding is driven by drilling rod feed mechanism, the installation of anchor pole is completed, saves manpower, improve underground coal mine supporting
Efficiency.
In conclusion the utility model is designed reasonably and at low cost, easy to use, realization robotic drill, upper anchor
Bar and installation anchor pole, effectively improve underground coal mine support efficiency, reduce underground work personnel labor intensity, liberate to greatest extent
Productivity, and realize the automation of excavation face in coal mine supporting, it is practical.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the robot autonomous drilling anchor device of the utility model coal mine drilling anchor.
Fig. 2 is that Fig. 1 removes the left view after anchor pole case left plate.
Fig. 3 shows for the structure of the robot autonomous drilling anchor device anchor pole library of the utility model coal mine drilling anchor and anchor pole conveying mechanism
It is intended to.
Fig. 4 is the structural schematic diagram of the robot autonomous drilling anchor device anchor pole frame of the utility model coal mine drilling anchor.
Fig. 5 is the robot autonomous drilling anchor device borehole drill construction of the utility model coal mine drilling anchor, upper bolt mechanism, dress roof-bolter
The structural schematic diagram of structure and hydraulic holding mechanism.
Fig. 6 is the structural schematic diagram of the robot autonomous drilling anchor device positioning sliding block of the utility model coal mine drilling anchor.
Fig. 7 is the structural schematic diagram of the robot autonomous drilling anchor device hydraulic holding mechanism of the utility model coal mine drilling anchor.
Fig. 8 is the schematic block circuit diagram of the robot autonomous drilling anchor device of the utility model coal mine drilling anchor.
Description of symbols:
1-anchor pole gland；2-anchor pole casees；3-inclined surface；
4-inclined surface hydraulic cylinders；5-hydraulic arm shafts；6-positioning sliding blocks；
6-1-sliding protrusion；The second blocking portion of 6-2-；The first blocking portion of 6-3-；
6-4-U-shaped through slot；6-5-sliding block interconnecting piece；7-chassis；
9-carrier chains；10-anchor pole slots；11-baffles；
12-bearings；13-photoelectric sensors；14-discharge ports；
16-sliding rails；17-gear shafts；18-gears；
20-anchor pole chucks；21-upper bolt shafts；22-central axises；
23-anchor pole framves；25-drilling machines；24-anchor pole frame driving mechanisms；
26-drilling machine pallets；27-piston rods；29-drilling rod manipulators；
30-drilling rods；31-hydraulic holding mechanisms；31-1-first clamping member；
The second clamping piece of 31-2-；31-3-clamping receiving portion；32-clamping hydraulic cylinders；
33-upper bolt manipulators；35-hydraulic arms；36-grooves；
37-pedestals；38-uncovered drill rod box；40-supporting legs；
41-borehole drill constructions；43-drilling rod adjustment axis；44-dress anchor manipulators；
45-dress anchor pole shafts；46-connectors；47-support rods；
48-limit sleeves；50-controllers；51-liquid crystal touch screens；
55-first angle sensors；56-second angle sensors；57-third angle sensors；
58-fourth angle sensors；60-the first displacement sensor；61-second displacement sensors；
62-third displacement sensors；63-the four displacement sensor；64-the five displacement sensor；
68-the first frequency converter；69-the first fire-proof motor；70-the second frequency converter；
71-the second fire-proof motor；72-third frequency converters；73-third fire-proof motors；
74-the four frequency converter；75-the four fire-proof motor；76-the five frequency converter；
77-the five fire-proof motor；78-the six frequency converter；79-the six fire-proof motor；
80-the seven frequency converter；81-the seven fire-proof motor；82-inclined surface solenoid valves；
84-sliding block solenoid valves；85-slide block hydraulic cylinders；86-feeding solenoid valves；
87-feeding hydrocylinders；88-clamping solenoid valves；90-telescoping electromagnetic valves；
91-telescopic hydraulic cylinders；92-drilling machine solenoid valves；93-drilling machine hydraulic cylinders.
Specific embodiment
As Fig. 1, Fig. 3 and a kind of coal mine drilling anchor robot shown in Fig. 8 are crept into and drilling anchor device, including control mould automatically
It block, anchor pole library, the anchor pole conveying mechanism that the anchor pole that the anchor pole library slides out is conveyed and treats supporting position and bores
Hole and drilling anchor mechanism for installing anchor pole, drilling anchor mechanism include hydraulic telescopic machanism, are mounted on the hydraulic telescopic machanism
Borehole drill construction 41 and the anchor pole frame 23 that is mounted on the borehole drill construction 41, and by the anchor pole on the anchor pole conveying mechanism
The upper bolt mechanism that is installed on anchor pole frame 23 and the dress anchor pole mechanism that the anchor pole on the anchor pole frame 23 bore dress, it is described
Hydraulic telescopic machanism includes the hydraulic arm driving that pedestal 37, the hydraulic arm being mounted on pedestal 37 35 and driving hydraulic arm 35 rotate
Mechanism, the borehole drill construction 41 are rotatably installed on hydraulic arm 35, and driving anchor pole frame 23 is provided on the anchor pole frame 23 and is rotated
Anchor pole frame driving mechanism 24；
The inclined surface pushing mechanism for pushing anchor pole to slide out, the bottom surface setting in the anchor pole library are provided in the anchor pole library
There is discharge port 14, the anchor pole conveying mechanism includes chassis 7 and the transmission of the sliding block conveying mechanism and chain that are arranged on chassis 7
Mechanism, the sliding block conveying mechanism include that the positioning sliding block 6 positioned to the anchor pole slid out from discharge port 14 and driving are fixed
The slider-actuated mechanism that is slid close to the chain transfer mechanism of position sliding block 6, one end on the remotely located sliding block 6 of the chassis 7
It is provided with anchor pole slot 10, the borehole drill construction 41 includes the drilling rod feed mechanism being mounted on hydraulic arm 35, is mounted on the brill
Drilling machine 25 and drilling rod regulating mechanism on rod feeding mechanism, and the drilling rod 30 being mounted on the drilling rod regulating mechanism and installation
Hydraulic holding mechanism 31 on the drilling rod feed mechanism, the control module include controller 50 and with 50 phase of controller
The liquid crystal touch screen 51 connect, the input of the controller 50 are terminated with photoelectric sensor 13, angle sensor device assembly and displacement and pass
Sensor component, the inclined surface pushing mechanism, the slider-actuated mechanism, the chain transfer mechanism, anchor pole frame driving
Mechanism 24, the upper bolt mechanism, the hydraulic arm driving mechanism, the drilling rod regulating mechanism, hydraulic arm 35, the hydraulic clip
It holds mechanism 31 and drilling machine 25 is controlled by controller 50.
As shown in Fig. 2, the anchor pole library includes anchor pole case 2, the supporting leg 40 that 2 bottom of anchor pole case is arranged and is arranged in anchor pole
At the top of case 2 and the bottom surface of anchor pole case 2 can be located at along the anchor pole gland 1 that 2 short transverse of anchor pole case slides up and down, the discharge port 14
At the positioning sliding block 6, and the discharge port 14 is laid along the sole length direction of the anchor pole case 2, the anchor pole case 2
It is inside provided with from discharge port 14 to far from 14 direction of discharge port gradually acclivitous inclined surface 3, the inclined surface pushing mechanism
Bottom of the inclined surface 3 far from discharge port 14 is set.
In the present embodiment, the photoelectric sensor 13 is arranged in positioning sliding block 6.
In the present embodiment, photoelectric sensor 13 includes infrared transmission module and infrared receiving module, if in positioning sliding block 6
There is anchor pole, then the anchor pole in positioning sliding block 6 blocks the infrared light of infrared transmission module transmitting, and infrared receiving module does not receive red
The infrared light of outer transmitting module transmitting, then infrared receiving module output have anchor pole signal to controller 50；Infrared receiving module connects
The infrared light of infrared transmission module transmitting is received, then infrared receiving module output is without anchor pole signal to controller 50.
In the present embodiment, further, the infrared transmission module is PS-56T infrared transmission module, the infrared receiver
Module is PS-56R infrared receiving module.
In the present embodiment, the inclined surface pushing mechanism is inclined surface hydraulic cylinder 4, and the output of the controller 50 is terminated with
Control the inclined surface solenoid valve 82 of 4 oil inlet of inclined surface hydraulic cylinder.
In the present embodiment, inclined surface hydraulic cylinder 4 is set, is to be risen to inclined surface 3 far from one end of discharge port 14
Drop, so that the inclination angle of inclined surface 3 becomes larger, convenient for the anchor pole on inclined surface 3 because self weight slides out anchor pole case 2 from discharge port 14.
In the present embodiment, the broadside of the anchor pole gland 1 is symmetrically arranged with convex block, the medial surface of the anchor pole case 2
The groove 36 being slidably installed for the convex block is provided with along short transverse.
In the present embodiment, groove 36 and convex block cooperation are set, are in order to which anchor pole gland 1 can be along the height of anchor pole case 2
Square upward sliding, to supplement the quantity of anchor pole；And in order to which anchor pole gland 1 can be along the short transverse lower slider of anchor pole case 2, so that right
The anchor pole being contained in anchor pole case 2 is squeezed, and entanglement in anchor pole placement is prevented, and is not easy to carry out automatic charging to anchor pole.
As shown in Figures 2 and 3, in the present embodiment, the chain transfer mechanism includes two and is arranged in chassis 7 and is in water
Gear shaft 17, multiple chain pitch wheel mechanisms uniformly distributed along 17 length direction of gear shaft and the driving tooth that average row is laid
The gear shaft driving mechanism that wheel shaft 17 rotates, the gear shaft driving mechanism are controlled by controller 50, and the chassis 7 is separate
One end of positioning sliding block 6 is provided with recessed portion, and the anchor pole slot 10 is made of the recessed portion and baffle 11；
The quantity of the chassis 7 is two, and two chassis 7 are located at the both ends of gear shaft 17, and the positioning is slided
The quantity of block 6 is two, and two positioning sliding blocks 6 are located at two 7 upper surfaces of chassis, setting in the positioning sliding block 6
The U-shaped through slot 6-4 for having the end to the anchor pole slid out from discharge port 14 to be accommodated, 7 upper surface of chassis is provided with confession
The sliding rail 16 that positioning sliding block 6 slides close to the chain pitch wheel mechanism, and the medial surface of the sliding rail 16 and positioning sliding block 6 is outer
Side matches installation.
In the present embodiment, the slider-actuated mechanism is slide block hydraulic cylinder 85, and the output of the controller 50 is terminated with control
The sliding block solenoid valve 84 of 85 oil inlet of slide block hydraulic cylinder processed.
In the present embodiment, the gear shaft driving mechanism is the first fire-proof motor 69 being sequentially connected with gear shaft 17, institute
The output for stating controller 50 is terminated with the first frequency converter 68 controlled the first fire-proof motor 69.
In the present embodiment, the bearing 12 being set with for gear shaft 17 is provided in the chassis 7.
In the present embodiment, the quantity of the chain pitch wheel mechanism is three, and three chain pitch wheel mechanisms are along gear shaft
17 length direction is laid, and the chain pitch wheel mechanism includes two gears being fixedly mounted on two gear shafts 17 18 and passes
The carrier chain 9 being connected between two gears 18 is moved, the spacing in the carrier chain 9 between two neighboring chain hook is equal to anchor pole
Diameter, the height of the chain hook are greater than the diameter of anchor pole.
As shown in fig. 6, the positioning sliding block 6 includes the first blocking portion 6-3, the second blocking portion 6-2 and company in the present embodiment
It is connected to sliding block interconnecting piece 6-5, the first blocking portion 6-3 between the first blocking portion 6-3 and the second blocking portion 6-2, the second resistance
U-shaped through slot 6-4 is formed between stopper 6-2, the first blocking portion 6-3, the second blocking portion 6-2 and sliding block interconnecting piece 6-5 are close
The side of sliding rail 16 is provided with the sliding protrusion 6-1 for being coupled sliding rail 16.
In the present embodiment, first blocking portion 6-3 and the second blocking portion 6-2 form U-shaped through slot 6-4 in positioning sliding block 6, be for
Convenient for accommodating the end for the anchor pole for sliding out anchor pole case 2, and convenient for carrying out in the anchor pole moving process for sliding out anchor pole case 2
Positioning avoids the anchor pole for sliding out anchor pole case 2 from rolling；Setting sliding protrusion 6-1 in positioning sliding block 6 is to move along sliding rail 16
It is dynamic, and convenient for driving the anchor pole in U-shaped through slot 6-4 to be moved, because the bottom of U-shaped through slot 6-4 has opening portion, work as
When U-shaped through slot 6-4 moves out chassis 7, the anchor pole of U-shaped through slot 6-4 fall out U-shaped through slot 6-4 and enter in carrier chain 9 carry out into
The conveying of one step.
In the present embodiment, the setting of anchor pole slot 10 is in order to carry out storage storage to the anchor pole on carrier chain 9, so that anchor
The position of bar is capable of fixing, and is accurately grabbed convenient for the anchor pole that the dress anchor manipulator 44 conveys carrier chain 9.
As shown in Figure 4 and Figure 5, in the present embodiment, the anchor pole frame 23 includes that central axis 22 and two are set in central axis
Anchor pole chuck 20 on 22 is evenly equipped with multiple anchor pole clamping opening, the anchor pole frame driving mechanism on the circumference of the anchor pole chuck 20
24 are sequentially connected with central axis 22；
The upper bolt mechanism includes upper bolt shaft 21, two upper bolts for being separately positioned on 21 both ends of upper bolt shaft
Manipulator 33 and driving upper bolt shaft 21 rotate upper bolt driving mechanism, the upper bolt driving mechanism by controller 50 into
Row control.
In the present embodiment, the anchor pole frame driving mechanism 24 is the second fire-proof motor 71 being sequentially connected with central axis 22,
The output of the controller 50 is terminated with the second frequency converter 70 to the control of the second fire-proof motor 71.
In the present embodiment, the upper bolt driving mechanism is the third fire-proof motor being sequentially connected with upper bolt shaft 21
73, the output of the controller 50 is terminated with the third frequency converter 72 controlled third fire-proof motor 73.
As shown in figure 5, the drilling rod regulating mechanism includes drilling rod adjustment axis 43, two and is separately positioned in the present embodiment
The drilling rod that the drilling rod manipulator 29 of 43 both ends of drilling rod adjustment axis and holding drill pipe 30 and driving drilling rod adjustment axis 43 rotate, which is adjusted, to be driven
Motivation structure；
The drilling rod feed mechanism includes the uncovered drill rod box 38 being mounted on hydraulic arm 35, along 38 length of uncovered drill rod box
The piston rod 27 that direction is laid and the feeding hydrocylinder 87 that is mounted on piston rod 27 slide setting on the uncovered drill rod box 38
There is drilling machine pallet 26, the bottom of the drilling machine pallet 26 is fixedly connected with the feeding hydrocylinder 87, and the drilling machine 25, which is located at, to be bored
On machine pallet 26, the hydraulic holding mechanism 31 is located at the one end of uncovered drill rod box 38 far from the hydraulic arm 35, the drilling rod
It adjusts driving mechanism and feeding hydrocylinder 87 is controlled by controller 50.
In the present embodiment, the drilling machine 25 is hydraulic drill rig, is provided with drilling machine hydraulic cylinder 93, the control in the drilling machine 25
The output of device 50 processed is terminated with the drilling machine solenoid valve 92 of control 93 oil inlet of drilling machine hydraulic cylinder.
In the present embodiment, it is the 5th fire-proof motor being sequentially connected with drilling rod adjustment axis 43 that the drilling rod, which adjusts driving mechanism,
77, the output of the controller 50 is terminated with the 5th frequency converter 76 to the control of the 5th fire-proof motor 77.
In the present embodiment, the output end of the controller 50 has the feeding solenoid valve 86 of control 87 oil inlet of feeding hydrocylinder.
As shown in fig. 7, the hydraulic holding mechanism 31 includes first clamping member 31-1, the second clamping piece in the present embodiment
31-2 and the clamping hydraulic cylinder 32 being connected between first clamping member 31-1, the second clamping piece 31-2, the controller 50 it is defeated
It is terminated with the clamping solenoid valve 88 of control 32 oil inlet of clamping hydraulic cylinder out.
In the present embodiment, the arc groove of cooperation is provided in first clamping member 31-1 and the second clamping piece 31-2,
It is bored to make the arc groove of arc groove and the second clamping piece 31-2 on first clamping member 31-1 form receiving
The clamping receiving portion 31-3 of bar 30 or anchor pole, and it is set as arc groove, it is to cooperate drilling rod 30 or anchor pole arc
Outer surface, make it possible to holding drill pipe 30 perhaps anchor pole and can push drilling rod 30 or anchor pole to feed under the action of drilling machine 25.
In the present embodiment, clamping hydraulic cylinder 32 is set, is to be mentioned to first clamping member 31-1 and the second clamping piece 31-2
For chucking power, drilling rod 30 or anchor pole are clamped so that first clamping member 31-1 and the second clamping piece 31-2 is shunk.
As shown in figure 5, the quantity of the dress anchor pole mechanism is two, and two dress anchor pole mechanisms are equal in the present embodiment
The drilling rod feed mechanism is mounted on close to upper bolt mechanism side, the structure of two dress anchor pole mechanisms is identical, and
Two dress anchor pole mechanisms include filling anchor pole shaft 45, the dress anchor manipulator 44 being sleeved in dress anchor pole shaft 45 and driving dress
The dress anchor pole driving mechanism that anchor pole shaft 45 rotates, the dress anchor pole driving mechanism are controlled by controller 50；
Two vertical plates are set on the pedestal 37 and is mounted on the vertical plate and is set with for hydraulic arm 35 hydraulic
Arm shaft 5, the hydraulic arm 35 are provided with connector 46 close to one end of borehole drill construction 41 and are arranged on connector 46 and drive
The drilling rod rotating drive mechanism that the borehole drill construction 41 rotates is moved, the drilling rod rotating drive mechanism is controlled by controller 50
System.
In the present embodiment, telescopic hydraulic cylinder 91 is provided in the hydraulic arm 35, the output of the controller 50 is terminated with
Control the telescoping electromagnetic valve 90 of 91 oil inlet of telescopic hydraulic cylinder.
In the present embodiment, the dress anchor pole driving mechanism is the 4th fire-proof motor being sequentially connected with dress anchor pole shaft 45
75, the output of the controller 50 is terminated with the 4th frequency converter 74 to the control of the 4th fire-proof motor 75.
In the present embodiment, the hydraulic arm driving mechanism is the 6th fire-proof motor 79 being sequentially connected with hydraulic arm shaft 5,
The output of the controller 50 is terminated with the 6th frequency converter 78 to the control of the 6th fire-proof motor 79.
In the present embodiment, the bottom of the uncovered drill rod box 38 is provided with drilling rod connecting shaft, and the drilling rod connecting shaft protrudes into
In connector 46.
In the present embodiment, setting is set on each support rod 47 there are two support rod 47 on the uncovered drill rod box 38
It is equipped with the limit sleeve 48 for being set with and stretching out for central axis 22, the spacing between two limit sleeves 48 is less than the length of anchor pole.
The drilling rod rotating drive mechanism is the 7th fire-proof motor 81 being sequentially connected with the drilling rod connecting shaft, the control
The output of device 50 processed is terminated with the 7th frequency converter 80 to the control of the 7th fire-proof motor 81.
It is multiple to coal mine to carry out drilling anchor supporting to supporting position when the utility model is specifically used, supporting is waited for any one
When position carries out drilling anchor, controller 50 controls inclined surface hydraulic cylinder 4 by inclined surface solenoid valve 82 and extends, and the inclined surface is hydraulic
The elongation of cylinder 4 pushes the anchor pole in the anchor pole library to slide from discharge port 14 to the positioning sliding block 6；Meanwhile photoelectric sensor
Anchor pole in 13 pairs of positioning sliding blocks 6 detects, and will test that whether there is or not anchor pole signals to be sent to controller 50；Work as photoelectric sensing
When device 13 has detected anchor pole signal, controller 50 controls the elongation of slide block hydraulic cylinder 85 by sliding block solenoid valve 84 and positioning is pushed to slide
Block 6 drives the anchor pole in positioning sliding block 6 to be moved on carrier chain 9；Controller 50 is explosion-proof by the control first of the first frequency converter 68
Motor 69 rotates, and 69 rotation driven gear axis 17 of the first fire-proof motor rotation, the rotation of gear shaft 17 drives carrier chain 9 to rotate, defeated
The rotation of chain 9 is sent to drive the anchor pole conveying on the carrier chain 9, until falling into anchor pole slot 10；Controller 50 controls the upper bolt
Mechanism grabs the anchor pole in anchor pole slot 10, meanwhile, controller 50 controls the rotation of the second fire-proof motor 71 by the second frequency converter 70,
The rotation of second fire-proof motor 71 drives central axis 22 to rotate, so that the anchor pole of upper bolt mechanism crawl is installed in anchor pole frame 23
On, until filling anchor pole on anchor pole frame 23, complete upper bolt operation；
Controller 50 controls the rotation of the 6th fire-proof motor 79,79 rotational hydraulic of the 6th fire-proof motor by the 6th frequency converter 78
Arm 35 rotates, and controller 50 controls telescopic hydraulic cylinder 91 by telescoping electromagnetic valve 90 and extends, and the elongation of telescopic hydraulic cylinder 91 drives
Hydraulic arm 35 extends, so that drilling anchor mechanism is moved to supporting position；Controller 50 passes through the 5th frequency converter 76 control the
The rotation of five fire-proof motors 77, the rotation of the 5th fire-proof motor 77 drive drilling rod manipulator 29 to rotate, and drilling rod manipulator 29 is rotated and adjusted
Drilling rod 30 is saved, until one end of drilling rod 30 is contacted with drilling machine 25, drilling rod 30 and the central axis of drilling machine 25 are located along the same line；
Later, controller 50 controls the drilling rod manipulator 29 and unclamps far from drilling rod 30, and controller 50 is controlled by clamping solenoid valve 88
Clamping hydraulic cylinder 32, which is shunk, clamps drilling rod 30；Controller 50 controls feeding hydrocylinder 87 along piston rod by feeding solenoid valve 86
27 is mobile, to drive drilling machine 25 and drilling rod 30 to supporting position feeding drilling, forms rockbolt installation hole；Controller 50 passes through
It feeds solenoid valve 86 and controls feeding hydrocylinder 87 along the reverse movement of piston rod 27, drilling machine 25 and drilling rod 30 is driven to be moved to initial bit
It sets, controller 50 controls clamping hydraulic cylinder 32 by clamping solenoid valve 88 and opens, and later, controller 50 controls drilling rod manipulator 29
Drilling rod 30 is adjusted to initial position；
Finally, controller 50 controls the rotation of the 4th fire-proof motor 75, the 4th 75 turns of fire-proof motor by the 4th frequency converter 74
It is dynamic that the dress rotation of anchor manipulator 44 is driven to clamp the anchor pole on the anchor pole frame 23, and will be pressed from both sides on the dress anchor manipulator 44
The rockbolt installation taken is and referred to as to be installed by the anchor pole on the drilling rod feed mechanism is placed on the drilling rod feed mechanism
Anchor pole makes the anchor pole to be installed and the central axis of drilling machine 25 be located along the same line；Later, controller 50 controls the dress
The release of anchor pole mechanism controls the contraction pair of clamping hydraulic cylinder 32 by clamping solenoid valve 88 far from the anchor pole to be installed, controller 50
The anchor pole clamping to be installed；Controller 50 controls feeding hydrocylinder 87 by feeding solenoid valve 86 and moves along piston rod 27, from
And drilling machine 25 and the anchor pole feeding to be installed are driven, until the rockbolt installation to be installed is in the rockbolt installation hole, it is complete
At the installation of anchor pole, rockbolt installation is carried out to supporting position to next.
In the present embodiment, the angle sensor device assembly includes first angle sensor 55, second angle sensor 56,
Three angular transducers 57 and fourth angle sensor 58, the first angle sensor 55, second angle sensor 56, the third angle
The output end of degree sensor 57 and fourth angle sensor 58 connects with the input terminal of controller 50；
The displacement sensor component includes the first displacement sensor 60, second displacement sensor 61, third displacement sensing
Device 62, the 4th displacement sensor 63 and the 5th displacement sensor 64, first displacement sensor 60, second displacement sensor
61, the output end of third displacement sensor 62, the 4th displacement sensor 63 and the 5th displacement sensor 64 with controller 50
Input terminal connects.
In the present embodiment, during the inclined surface hydraulic cylinder 4 elongation, first displacement sensor 60 is to described
Inclined surface hydraulic cylinder 4 elongation displacement detected so that the inclined surface hydraulic cylinder 4 elongation displacement meet it is preset
Inclined surface pushing mechanism extends setting value；During the inclined surface hydraulic cylinder 4 continues elongation, the first displacement sensor 60
The elongation displacement of the inclined surface hydraulic cylinder 4 is detected, so that the elongation displacement of the inclined surface hydraulic cylinder 4 meets in advance
Next inclined surface pushing mechanism of setting extends setting value, and next inclined surface pushing mechanism elongation setting value is greater than institute
State inclined surface pushing mechanism elongation setting value；
During the slider-actuated mechanism elongation, sliding position of the second displacement sensor 61 to the positioning sliding block 6
Shift-in row detection is completed positioning and is slided so that the sliding displacement of the positioning sliding block 6 meets preset sliding displacement setting value
The conveying of anchor pole in block 6；
During the drilling rod feed mechanism feeding, feeding of the third displacement sensor 62 to the feeding hydrocylinder 87
Displacement is detected, so that the feeding displacement of the feeding hydrocylinder 87 meets preset feeding displacement setting value, then it is complete
At drilling；
During the hydraulic holding mechanism 31 is shunk, receipts of the 4th displacement sensor 63 to the clamping hydraulic cylinder 32
It condenses and is moved into capable detection, so that the contraction displacement of the clamping hydraulic cylinder 32 meets preset contraction displacement setting value, then
The hydraulic holding mechanism 31 clamps drilling rod 30 and the anchor pole to be installed；
During the hydraulic arm 35 extends, the 5th displacement sensor 64 is displaced the elongation of the hydraulic arm 35 and carries out
Detection, so that the elongation displacement of the hydraulic arm 35 meets preset hydraulic arm elongation setting value, so that drilling anchor machine
Structure is moved to supporting position.
In the present embodiment, first angle sensor 55 detects the rotational angle of the upper bolt manipulator 33, with
The rotational angle of the upper bolt manipulator 33 is set to meet preset upper bolt angle setpoint, then the upper bolt mechanism
Grab the anchor pole in anchor pole slot 10；
Second angle sensor 56 detects the rotational angle of hydraulic arm 35, so that the angle of rotation of the hydraulic arm 35
Degree meets preset hydraulic arm angle setpoint, then the rotation for completing hydraulic arm 35 is adjusted；
Third angle sensor 57 detects the rotational angle of the drilling rod manipulator 29, so that the drilling rod is mechanical
The rotational angle of hand 29 meets preset drill pipe angle setting value, then completes the adjusting of drilling rod 30, makes drilling rod 30 and drilling machine
25 central axis is located along the same line；
Fourth angle sensor 58 detects the rotational angle of the dress anchor manipulator 44, when the dress anchor manipulator
44 rotational angle meets preset folder anchor angle setpoint, then the dress anchor manipulator 44 is on the anchor pole frame 23
Anchor pole is clamped, when it is described dress anchor manipulator 44 rotational angle meet preset dress anchor angle setpoint, then described in
Dress anchor manipulator 44 is by the rockbolt installation on the dress anchor manipulator 44 on the drilling rod feed mechanism.
In the present embodiment, it should be noted that it is separate that initial position, that is, drilling rod 30 of drilling rod 30 is located at uncovered drill rod box 38
The side of upper bolt manipulator 33 and dress anchor manipulator 44.
In the present embodiment, it should be noted that the inclined surface pushing mechanism extends setting value, next inclined surface
Pushing mechanism extends setting value, the sliding displacement setting value, the feeding displacement setting value, the upper bolt angle initialization
Value, the hydraulic arm angle setpoint, the drill pipe angle setting value and the dress anchor angle setpoint are pre- to first pass through liquid crystal
What touch screen 51 was arranged, and can require to be adjusted in real time according to practical supporting.
In the present embodiment, liquid crystal touch screen 51 can be to the sliding position for extending displacement, positioning sliding block 6 of inclined surface hydraulic cylinder 4
It moves, the feeding displacement of feeding hydrocylinder 87, the contraction of clamping hydraulic cylinder 32 displacement, the elongation displacement of hydraulic arm 35, upper bolt machine
The rotational angle of tool hand 33, the rotational angle of hydraulic arm 35, drilling rod manipulator 29 rotational angle and dress anchor manipulator 44 turn
Dynamic angle is shown, feedback regulation is convenient for.
In the present embodiment, the controller 50 is FX3GA-60MT-CM Mitsubishi PLC module.
In the present embodiment, the first frequency converter 68, the second frequency converter 70, third frequency converter 72, the 4th frequency converter the 74, the 5th become
Frequency device 76, the 6th frequency converter 78 and the 7th frequency converter 80 are MicroMaster440 SIEMENS S7-200.
In the present embodiment, the first fire-proof motor 69, the second fire-proof motor 71, third fire-proof motor 73, the 4th fire-proof motor
75, the 5th fire-proof motor 77, the 6th fire-proof motor 79 and the 7th fire-proof motor 81 are DSB series explosion-proof three-phase asynchronous electricity
Machine.
In the present embodiment, first angle sensor 55, second angle sensor 56, third angle sensor 57 and fourth angle
Spending sensor 58 is QKJ-A series of angles sensor, uses Hall sensing element, the angle position of non-contact measurement shaft
Set sensor, 0~359.9 ° of full scale angle measurement range, have the non-contact, long-life, Low Drift Temperature, high frequency sound, it is anti-interference,
Vibration anti-impact, is applicable in a variety of severe industrial environments such as water, oil, gas, vibration, impact.
In the present embodiment, the first displacement sensor 60, second displacement sensor 61, third displacement sensor 62, the 4th
Displacement sensor 63 and the 5th displacement sensor 64 are GB-S/GB-N displacement sensor.
In conclusion the utility model is designed reasonably, realizes robotic drill, upper bolt and installation anchor pole, effectively improves
Underground coal mine support efficiency reduces underground work personnel labor intensity, liberates the productive forces to greatest extent, and realizes the comprehensive pick of coal mine
The automation of face timbering, it is practical.
The above is only the preferred embodiment of the utility model, not imposes any restrictions to the utility model, all
According to any simple modification to the above embodiments of the utility model technical spirit, change and equivalent structural changes, still
Belong in the protection scope of technical solutions of the utility model.
Claims (7)
1. a kind of coal mine drilling anchor robot is crept into automatically and anchor, it is characterised in that: including control module, anchor pole library, right
It anchor pole conveying mechanism that the anchor pole that the anchor pole library slides out is conveyed and treats supporting position and is drilled and anchor pole is installed
Drilling anchor mechanism, drilling anchor mechanism includes hydraulic telescopic machanism, the borehole drill construction that is mounted on the hydraulic telescopic machanism
(41) and the anchor pole frame (23) that is mounted on the borehole drill construction (41), and the anchor pole on the anchor pole conveying mechanism is clamped
On anchor pole frame (23) upper bolt mechanism and by the anchor pole on the anchor pole frame (23) carry out bore dress dress anchor pole mechanism, it is described
Hydraulic telescopic machanism includes the liquid of pedestal (37), the hydraulic arm (35) being mounted on pedestal (37) and driving hydraulic arm (35) rotation
Pressure arm driving mechanism, the borehole drill construction (41) are rotatably installed on hydraulic arm (35), are provided with drive on the anchor pole frame (23)
The anchor pole frame driving mechanism (24) of dynamic anchor pole frame (23) rotation；
The inclined surface pushing mechanism for pushing anchor pole to slide out is provided in the anchor pole library, the bottom surface in the anchor pole library is provided with out
Material mouth (14), the anchor pole conveying mechanism include that chassis (7) and the sliding block conveying mechanism being arranged on chassis (7) and chain pass
Send mechanism, the sliding block conveying mechanism include the positioning sliding block (6) that the anchor pole slid out from discharge port (14) is positioned and
Drive positioning sliding block (6) close to the slider-actuated mechanism of chain transfer mechanism sliding, the remotely located sliding block of the chassis (7)
(6) one end on is provided with anchor pole slot (10), and the borehole drill construction (41) includes the drilling rod feeding being mounted on hydraulic arm (35)
Mechanism, the drilling machine (25) being mounted on the drilling rod feed mechanism and drilling rod regulating mechanism, and be mounted on the drilling rod and adjust
Drilling rod (30) in mechanism and the hydraulic holding mechanism (31) being mounted on the drilling rod feed mechanism, the control module include
Controller (50) and the liquid crystal touch screen (51) to connect with controller (50), the input of the controller (50) are terminated with photoelectricity
Sensor (13), angle sensor device assembly and displacement sensor component, the inclined surface pushing mechanism, the slider-actuated machine
Structure, the chain transfer mechanism, the anchor pole frame driving mechanism (24), the upper bolt mechanism, the hydraulic arm driving mechanism,
The drilling rod regulating mechanism, hydraulic arm (35), the hydraulic holding mechanism (31) and drilling machine (25) are carried out by controller (50)
Control.
2. a kind of coal mine drilling anchor robot described in accordance with the claim 1 is crept into automatically and anchor, it is characterised in that: described
Anchor pole library includes anchor pole case (2), the supporting leg (40) that anchor pole case (2) bottom is arranged and setting on anchor pole case (2) top and energy edge
The anchor pole gland (1) that anchor pole case (2) short transverse slides up and down, the bottom surface that the discharge port (14) is located at anchor pole case (2) are close
At the positioning sliding block (6), and the discharge port (14) is laid along the sole length direction of the anchor pole case (2), the anchor pole
It is provided in case (2) from discharge port (14) to far from discharge port (14) direction gradually acclivitous inclined surface (3), the inclination
Pushing mechanism setting in face is in the bottom of inclined surface (3) far from discharge port (14).
3. a kind of coal mine drilling anchor robot described in accordance with the claim 1 is crept into automatically and anchor, it is characterised in that: described
Chain transfer mechanism includes two and is arranged interior in chassis (7) and is in the gear shaft (17) of horizontal parallel laying, multiple along gear shaft
(17) the uniformly distributed chain pitch wheel mechanism of length direction and the gear shaft driving mechanism for driving the gear shaft (17) to rotate, institute
It states gear shaft driving mechanism to be controlled by controller (50), one end of the remotely located sliding block of the chassis (7) (6) is provided with recessed
Concave portion, the anchor pole slot (10) are made of the recessed portion and baffle (11)；
The quantity of the chassis (7) is two, and two chassis (7) are located at the both ends of gear shaft (17), the positioning
The quantity of sliding block (6) is two, and two positioning sliding blocks (6) are located at two chassis (7) upper surfaces, the positioning sliding block
(6) the U-shaped through slot (6-4) accommodated to the end of the anchor pole slid out from discharge port (14), the chassis (7) are provided in
Upper surface is provided with the sliding rail (16) for positioning sliding block (6) close to the sliding of described chain pitch wheel mechanism, and the sliding rail (16)
Medial surface matches installation with the lateral surface of positioning sliding block (6).
4. a kind of coal mine drilling anchor robot described in accordance with the claim 1 is crept into automatically and anchor, it is characterised in that: described
Anchor pole frame (23) includes central axis (22) and two anchor pole chucks (20) being set on central axis (22), the anchor pole chuck
(20) multiple anchor pole clamping opening are evenly equipped on circumference, the anchor pole frame driving mechanism (24) and central axis (22) are sequentially connected；
The upper bolt mechanism includes upper bolt shaft (21), two upper bolts for being separately positioned on upper bolt shaft (21) both ends
The upper bolt driving mechanism of manipulator (33) and driving upper bolt shaft (21) rotation, the upper bolt driving mechanism is by controller
(50) it is controlled.
5. a kind of coal mine drilling anchor robot described in accordance with the claim 1 is crept into automatically and anchor, it is characterised in that: described
Drilling rod regulating mechanism include drilling rod adjustment axis (43), two be separately positioned on drilling rod adjustment axis (43) both ends and holding drill pipe (30)
Drilling rod manipulator (29) and driving drilling rod adjustment axis (43) rotation drilling rod adjust driving mechanism；
The drilling rod feed mechanism includes the uncovered drill rod box (38) being mounted on hydraulic arm (35), along uncovered drill rod box (38) length
The degree direction piston rod (27) laid and the feeding hydrocylinder (87) being mounted on piston rod (27), the uncovered drill rod box (38)
Upper sliding is provided with drilling machine pallet (26), and the bottom of the drilling machine pallet (26) is fixedly connected with the feeding hydrocylinder (87),
The drilling machine (25) is located on drilling machine pallet (26), and the hydraulic holding mechanism (31) is located at uncovered drill rod box (38) far from described
One end of hydraulic arm (35), the drilling rod adjusts driving mechanism and feeding hydrocylinder (87) is controlled by controller (50).
6. a kind of coal mine drilling anchor robot described in accordance with the claim 1 is crept into automatically and anchor, it is characterised in that: described
The quantity for filling anchor pole mechanism is two, and two dress anchor pole mechanisms are installed in the drilling rod feed mechanism close to the upper anchor
The structure of linkage side, two dress anchor pole mechanisms is identical, and two dress anchor pole mechanisms include dress anchor pole shaft
(45), the dress anchor pole of the dress anchor manipulator (44) and driving dress anchor pole shaft (45) rotation that are sleeved on dress anchor pole shaft (45) drives
Motivation structure, the dress anchor pole driving mechanism are controlled by controller (50)；
Two vertical plates are set on the pedestal (37) and are mounted on the vertical plate and for the hydraulic of hydraulic arm (35) suit
Arm shaft (5), the hydraulic arm (35) are provided with connector (46) close to the one end of borehole drill construction (41) and are arranged in connector
(46) on and the drilling rod rotating drive mechanism of the driving borehole drill construction (41) rotation, the drilling rod rotating drive mechanism is by controlling
Device (50) is controlled.
7. a kind of coal mine drilling anchor robot described in accordance with the claim 1 is crept into automatically and anchor, it is characterised in that: described
Angle sensor device assembly include first angle sensor (55), second angle sensor (56), third angle sensor (57) and
Fourth angle sensor (58), the first angle sensor (55), second angle sensor (56), third angle sensor
(57) connect with the input terminal of controller (50) with the output end of fourth angle sensor (58)；
The displacement sensor component includes the first displacement sensor (60), second displacement sensor (61), third displacement sensing
Device (62), the 4th displacement sensor (63) and the 5th displacement sensor (64), first displacement sensor (60), second displacement
Sensor (61), third displacement sensor (62), the 4th displacement sensor (63) and the 5th displacement sensor (64) output end
Connect with the input terminal of controller (50).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821115238.9U CN208502812U (en) | 2018-07-15 | 2018-07-15 | A kind of coal mine drilling anchor robot is crept into automatically and anchor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821115238.9U CN208502812U (en) | 2018-07-15 | 2018-07-15 | A kind of coal mine drilling anchor robot is crept into automatically and anchor |
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|---|---|
| CN208502812U true CN208502812U (en) | 2019-02-15 |
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ID=65284544
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110454205A (en) * | 2019-07-31 | 2019-11-15 | 太原理工大学 | A kind of jumbolter of coal mine send lever apparatus automatically |
| CN111594239A (en) * | 2020-06-05 | 2020-08-28 | 中国铁建重工集团股份有限公司 | Automatic anchor rod construction control method of hard rock heading machine |
| CN113550769A (en) * | 2021-06-03 | 2021-10-26 | 太原理工大学 | Automatic drilling and anchoring mechanism integrating drilling and anchoring |
| CN116971808A (en) * | 2023-09-19 | 2023-10-31 | 晋城宏圣科威矿用材料有限公司 | Coal mine tunnel anchor rod screwing device |
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2018
- 2018-07-15 CN CN201821115238.9U patent/CN208502812U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108756969B (en) * | 2018-07-15 | 2023-05-05 | 西安科技大学 | Autonomous drilling and anchoring device and method for coal mine drilling and anchoring robot |
| CN110454205A (en) * | 2019-07-31 | 2019-11-15 | 太原理工大学 | A kind of jumbolter of coal mine send lever apparatus automatically |
| CN111594239A (en) * | 2020-06-05 | 2020-08-28 | 中国铁建重工集团股份有限公司 | Automatic anchor rod construction control method of hard rock heading machine |
| CN111594239B (en) * | 2020-06-05 | 2021-08-27 | 中国铁建重工集团股份有限公司 | Automatic anchor rod construction control method of hard rock heading machine |
| CN113550769A (en) * | 2021-06-03 | 2021-10-26 | 太原理工大学 | Automatic drilling and anchoring mechanism integrating drilling and anchoring |
| CN113550769B (en) * | 2021-06-03 | 2022-11-29 | 太原理工大学 | Automatic drilling and anchoring mechanism integrating drilling and anchoring |
| CN116971808A (en) * | 2023-09-19 | 2023-10-31 | 晋城宏圣科威矿用材料有限公司 | Coal mine tunnel anchor rod screwing device |
| CN116971808B (en) * | 2023-09-19 | 2023-12-12 | 晋城宏圣科威矿用材料有限公司 | Coal mine tunnel anchor rod screwing device |
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