SU1208221A1 - Manipulator of drilling machine - Google Patents

Description

The invention relates to the mining industry, in particular to manipulators for drilling machines.

The purpose of the invention is to simplify the design and increase the reliability of the manipulator of the boring machine.

The drawing shows a hydrokinematic scheme of the proposed manipulator of a boring machine.

A manipulator of a boring machine, including a boom 1, one end of which is connected by means of a support 2 with a guide of the feeder 3, and the other end with a bracket 4 rotating around an axis 0-0 of the rotator 5.

The cylinder 6 is fixed to the bracket 4 by the housing, and the rod 7 is connected to the boom 1. In the front part of the boom 1 there is a cylinder-corrector 8, including a piston 9 with a rod 10 connected pivotally to the bearing 2, the piston cavity of the cylinder-corrector 8 is divided by a sleeve 11, in the hole of which plunger 12 with pistons 13 and 14 is placed. at the ends, one of the pistons (13) forms a cavity, and between the sleeve and the piston there is a cavity S between the piston and the bottom of the corrector cylinder 8, and the second - the cavity between the sleeve and the piston and the cavity 1 between the piston of the plunger 12 and the piston 9 cylinder 8. -korrektora cavities a and & are connected by hydraulic lines 15 and 16 to the spool 17 connected to the arrow 18 of the protractor 19. The cavity B and the rod cavity J of the cylinder corrector 8 are connected by hydraulic lines 20 and 21 to the distributor 22. The rod of the cylinder 6 is connected by a hydraulic line 23 the cavity 1 of the cylinder-corrector 8, and the piston cavity - by the hydraulic line 24 with the distributor 25. The rod q of the cylinder-corrector 8 is connected to the same distributor by the hydraulic line 26, the cylinders 6 and 8 are equipped with hydraulic locks 27 and 28. 1

The principle of operation of the manipulator with the hydraulic connection of the cylinder of inclination and cylinder-corrector is based on the similarity method of triangular systems ABC and A (B, Cf, whose side lengths differ by the ratio ABC. AC. Bi-e, ----- D ; ----- L; A, B, A, C,

y. In triangular systems

Sun B, C,

ABC and A, B, C, the two sides are constant, a third is changed in the process of tilting the boom. When connecting the rod, the cavity of the cylinder 6 with the piston cavity 1 of the cylinder-corrector 8 with equal internal diameters (D), the position of the guide of the feeder 3 is parallel to the parameters of the rod 7, whose diameter is related to the ratio

liken Ad

,)

 J u

in the initial position of the manipulator arrow 18 of the protractor 19 is occupied by the neutral O

O-position, t, e. Shows O, B cavities a, S and B is oil. When oil is supplied from distributor 25 through hydraulic line 24, the piston moves with rod 7 by L value, while oil from rod cavity of cylinder 6 through hydraulic line 23 enters the cavity g, and impact on the piston 9, moves it by the value of L and

the ABC system and, when the boom 1 deviates, the guide of the feeder 3 maintains its horizontal position i On the protractor 19, the arrow 18 shows 0 °,

Thanks geometrically to whom

To tilt the feeder guide 3, the oil from the distributor 22 is supplied to the hydraulic line 20 into the cavity 6, and acting on the piston 14, moves the plunger 12 relative to the fixed sleeve 11. When the plunger 12 moves, the piston 9 moves with the piston 10 of the corrector cylinder 8. As a result of this movement, a geometric similarity mismatch occurs and the guide of the feeder 3 deviates from the parallel position. When moving the plunger 12, the oil from the chamber q flows through the hydraulic line 16 to the spool 17 and moves it, moving the spool 17 causes the deflection of the arrow 18 of the protractor 19.

The tilting of the feeder guide 3 in the opposite direction is carried out by supplying oil from the distributor 22 through the hydraulic main line 21 to the rod end of the 9th displacement corrector. Fluid, voz- I act on the piston 9, moves it (to the right in the drawing). When the piston 9 moves, the plunger 12 moves with the pistons 14 and 13, while the oil from the cavity 8 goes through the main line 15 to the spool 17 and mixes it, causing a deflection of the arrow 18.

As a result of separation of the piston cavity of the cylinder-corrector by a partition (sleeve) with a hole in which the plunger with the pistons at the ends was mounted, it was possible to tilt the boring machine. The accuracy of the installation of the sensor guide is achieved by the hydraulic connection of the cavities formed between the baffle, the piston and the bottom of the cylinder-corrector with the protractor. The operator directs the guide of the feeder not visually, but precisely at a certain degree according to the readings of the protractor.

Editor Y. Sereda

Compiled by Yu.Strelov

Tehred M. Parotsay Corrector li, But ha

Order 213/41. Circulation 470 Subscription VNIIPI USSR State Committee

for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab. 4/5

Branch PPP Patent, Uzhgorod, Project.St.,

As a result of improving drilling accuracy, drilling technology is improved, an even development of output is ensured by positioning the contour holes at the same angle, the stability of the roof is improved, and the additional volume of rock mass to be loaded is improved. These factors can increase the productivity and safety of working conditions of the drifter.

The proposed design of the manipulator of the boring machine is simple

The device (there are two cylinders against six in the prototype) is convenient in operation, since the operator from the control panel can set the required angle of the guide

feeder.

The reliability of the system is achieved by reducing additional hinges and actuators, as well as through the use of well-worked and tested cylinders and a steering system that have been ropHoinipoMNiii.

Claims (1)

A DRILLING MANIPULATOR, including an arrow pivotally connected to the feeder guide and support, a rotation cylinder, a corrector cylinder, an angle meter and hydraulic lines, characterized in that, in order to simplify the design while increasing reliability, the piston cavity of the corrector cylinder is divided by a partition with a hole, in which a plunger with pistons at the ends is installed with the possibility of movement, and the rod and piston cavities between the bottom of the cylinder corrector and the baffle are connected through the hydraulic piston floor styami goniometer, which is designed as a slide valve with two pistons and rod connected to the directional arrow. SU,., 1208221>