CN106869976B - Full-automatic tunnel anchor rod installation equipment - Google Patents
Full-automatic tunnel anchor rod installation equipment Download PDFInfo
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- CN106869976B CN106869976B CN201710201223.8A CN201710201223A CN106869976B CN 106869976 B CN106869976 B CN 106869976B CN 201710201223 A CN201710201223 A CN 201710201223A CN 106869976 B CN106869976 B CN 106869976B
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- oil cylinder
- mechanical arm
- anchor rod
- mechanical
- sliding block
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- 238000009434 installation Methods 0.000 title claims abstract description 37
- 210000000078 claw Anatomy 0.000 claims description 15
- 230000000694 effects Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 6
- 230000000903 blocking effect Effects 0.000 description 5
- 239000012535 impurity Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 2
- 238000004873 anchoring Methods 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of tunnel construction machinery, and mainly relates to full-automatic tunnel anchor rod installation equipment. The fully-automatic tunnel anchor rod mounting equipment comprises a support (1); a guide rod (11) which is vertical to the bracket is fixed at the lower end of the bracket (1); the lower end of the guide rod (11) is connected with a guide rod wear-resisting plate (12) with a through hole for the anchor rod (18) to pass through in the middle; two sides of the bracket (1) are respectively provided with a guide rail I (26) and a guide rail II (27); a sliding block I (5) is arranged on the guide rail I (26), and a sliding block II (8) is arranged on the guide rail II (27); the full-automatic tunnel anchor rod installation equipment further comprises a manipulator I and a manipulator II, wherein the manipulator I and the manipulator II are used for grabbing the anchor rod; the manipulator I and the manipulator II are arranged in a staggered mode. The invention realizes the convenient, rapid and efficient installation of the anchor rod by mechanical assistance and manual work, and solves the problem of installation of the tunnel anchor rod.
Description
Technical Field
The invention belongs to the technical field of tunnel construction machinery, and mainly relates to full-automatic tunnel anchor rod installation equipment.
Background
The anchoring and protecting operation is one of the key links of the tunnel construction by the drilling and blasting method, and has the characteristics of convenience, rapidness, safety, high efficiency and the like. In the process of anchor protection operation, the installation of the anchor rod is an important component, and the installation of the anchor rod mainly has two operation modes, wherein firstly, the anchor rod is installed in the anchor rod hole by adopting a drill boom propelling mode, and secondly, the anchor rod is manually penetrated into the anchor rod hole. The drill boom is adopted to push and install the anchor rod, so that the anchor rod has the advantage of good installation effect, but the installation efficiency is low, and the requirement of the progress of the construction period cannot be met; artifical installation has convenient and fast's advantage, but in its installation, the resistance is great, is difficult to put into the stock hole with the stock is whole, and the workman often can directly cut the stock, can not reach corresponding anchor and protect the effect, and artifical installation has with high costs, dangerous big drawback. Corresponding tunnel anchor rod installation professional equipment has not been inquired at present at home and abroad, and based on this, design a full-automatic tunnel anchor rod installation manipulator, can realize tunnel anchor rod simple to operate, swift, high-quality, automatic operation, practice thrift construction cost.
Disclosure of Invention
The invention aims to provide a full-automatic tunnel anchor rod installing manipulator which can cover anchor rod installing operations with different construction working conditions, different lengths and different diameters and meet the requirements of convenience, rapidness, high quality and economy for tunnel anchor rod installing operations.
The invention adopts the following technical scheme for completing the invention task:
the full-automatic tunnel anchor rod mounting device is provided with a support; the lower end of the bracket is fixed with a guide rod which plays a role in guiding when the anchor rod is installed; the two guide rods are arranged perpendicular to the support, one guide rod is positioned at one end of the support, and the other guide rod is fixed in the middle of the support; the lower end of the guide rod is connected with a detachable guide rod wear-resisting plate, and the middle part of the guide rod wear-resisting plate is provided with a through hole for an anchor rod to pass through; guide rails, namely a guide rail I and a guide rail II, are respectively arranged on two sides of the bracket; the guide rail I and the guide rail II are positioned between the two guide rods on the plane position, the guide rail I is provided with a sliding block I, and two ends of the guide rail I are provided with a limit switch I and a limit switch II for limiting the stroke of the sliding block I; a sliding block II is arranged on the guide rail II, and a limit switch III and a limit switch IV for limiting the stroke of the sliding block II are arranged at the two ends of the guide rail II; the limit switch I, the limit switch II, the limit switch III and the limit switch IV are all fixed on the bracket; a pushing oil cylinder I for pushing the sliding block I to horizontally slide on the guide rail I is arranged corresponding to the sliding block I; a pushing oil cylinder II for pushing the sliding block II to horizontally slide on the guide rail II is arranged corresponding to the sliding block II; the cylinder barrels of the propulsion oil cylinder I and the propulsion oil cylinder II are fixed at the other end of the support; the full-automatic tunnel anchor rod installation equipment further comprises a manipulator I and a manipulator II, wherein the manipulator I and the manipulator II are used for grasping the anchor rod; the mechanical hand I and the mechanical hand II are arranged in a staggered mode; the mechanical arm I is hinged to the sliding block I; the manipulator II is hinged to the sliding block II; under the action of the propulsion oil cylinder I and the propulsion oil cylinder II, the sliding block I and the sliding block II drive the mechanical arm I and the mechanical arm II to alternately slide along the guide rail I and the guide rail II to complete the installation of the anchor rod; when the anchor rod conveying device works, the mechanical arm I and the mechanical arm II are arranged in a staggered mode, if the mechanical arm I is arranged at the front end of an anchor rod, the mechanical arm II is arranged at the rear end of the anchor rod, the device is started, the mechanical arm I and the mechanical arm II grasp the anchor rod and convey the anchor rod forwards under the action of the propulsion oil cylinder I and the propulsion oil cylinder II respectively, when the sliding block I touches the limit switch II, the electric control system is started to control the corresponding electromagnetic valve to act, the control oil cylinder I and the control oil cylinder II are matched with each other, the mechanical arm I is loosened to be away from the anchor rod, the propulsion oil cylinder I is withdrawn, the mechanical arm I is withdrawn under the action of the; when the sliding block I touches the limit switch I, the sliding block II does not reach the limit position, the electric control system acts to control the corresponding electromagnetic valve to act, the control oil cylinder I and the control oil cylinder II are matched with each other, the mechanical arm I grasps the anchor rod, the propulsion oil cylinder I extends out, the mechanical arm I extends out again under the action of the propulsion oil cylinder I, and the mechanical arm I and the mechanical arm II convey the anchor rod under the action of the propulsion oil cylinder I and the propulsion oil cylinder II respectively; when the sliding block II touches the limit switch IV, the electric control system acts to control the corresponding electromagnetic valve to act, the control oil cylinder III and the control oil cylinder IV are matched with each other, the manipulator II is loosened to be away from the anchor rod, the propulsion oil cylinder II is retracted, the manipulator II is retracted under the action of the propulsion oil cylinder II, and the manipulator I continues to convey the anchor rod under the action of the propulsion oil cylinder I; when the sliding block II touches the limit switch III, the sliding block I does not reach the limit position, the electric control system acts to control the corresponding electromagnetic valve to act, the control oil cylinder III and the control oil cylinder IV are matched with each other, the mechanical arm II tightly grasps the anchor rod, the propulsion oil cylinder II extends out again, the mechanical arm II extends out under the action of the propulsion oil cylinder II, the mechanical arm I and the mechanical arm II convey the anchor rod under the action of the propulsion oil cylinder I and the propulsion oil cylinder II respectively, and the operation is repeated until the anchor rod is installed.
The extension speed of the propulsion oil cylinder is less than the retraction speed, so that the device can be ensured to be uninterruptedly provided with the anchor rod, and the strokes of the control oil cylinder I and the control oil cylinder III are adjusted, so that the two mechanical mechanisms are ensured not to collide.
The mechanical arm I comprises a mechanical arm I and a mechanical paw I; the mechanical arm I and the mechanical paw I are matched to form a mechanical arm I used for clamping the anchor rod; the mechanical arm I is hinged with the sliding block I through a pin shaft; a control oil cylinder I for driving the mechanical arm I to swing relative to the sliding block I is arranged corresponding to the mechanical arm I; a cylinder barrel of the control oil cylinder I is hinged with the sliding block I; the end part of a piston rod of the control oil cylinder I is hinged with the mechanical arm I; the mechanical paw I is hinged with the mechanical arm I through a pin shaft; a control oil cylinder II for driving the mechanical gripper I to swing relative to the mechanical arm I is arranged corresponding to the mechanical gripper I; a cylinder barrel of the control oil cylinder II is hinged with the mechanical arm I; the end part of a piston rod of the control oil cylinder II is hinged with the mechanical paw I; the mechanical arm I and the mechanical claw I grasp or loosen the anchor rod under the action of the control oil cylinder I and the control oil cylinder II.
The mechanical gripper I is connected with the end part of a piston rod of the control oil cylinder II through a pin shaft; one end of the blocking cover of the pin shaft is aligned to the tunnel wall when the pin shaft is installed, so that impurities can be effectively prevented from entering between the pin shaft and the installation hole.
The mechanical arm II comprises a mechanical arm II and a mechanical paw II; the mechanical arm II is matched with the mechanical paw II to form a mechanical arm for clamping the anchor rod; the mechanical arm II is hinged with the sliding block II through a pin shaft; a control oil cylinder III for driving the mechanical arm II to swing relative to the sliding block II is arranged corresponding to the mechanical arm II; a cylinder barrel of the control oil cylinder III is hinged with the sliding block II; the end part of a piston rod of the control oil cylinder III is hinged with the mechanical arm II; the mechanical paw II is hinged with the mechanical arm II through a pin shaft; a control oil cylinder IV for driving the mechanical gripper II to swing relative to the mechanical arm II is arranged corresponding to the mechanical gripper II; a cylinder barrel of the control oil cylinder IV is hinged with the mechanical arm II; the end part of a piston rod of the control oil cylinder IV is hinged with the mechanical paw II; and the mechanical arm II and the mechanical claw II grasp or loosen the anchor rod under the action of the control oil cylinder III and the control oil cylinder IV.
The mechanical gripper II is connected with the end part of a piston rod of the control oil cylinder IV through a pin shaft; one end of the blocking cover of the pin shaft is aligned to the tunnel wall when the pin shaft is installed, so that impurities can be effectively prevented from entering between the pin shaft and the installation hole.
The guide rod wear-resisting plates connected to the lower end of each guide rod are two guide rod wear-resisting plates clamped on two sides of each guide rod, and the two guide rod wear-resisting plates are connected into a whole through mounting bolts to form a guide rod wear-resisting plate with a detachable structure; the guide bar wear-resisting plate is used for preventing the anchor rod from wearing the guide bar, and plays a role in protection.
The inner wall surfaces of the mechanical arm I, the mechanical claw I, the mechanical arm II and the mechanical claw II are all connected with mechanical arm wear-resisting plates; the mechanical arm is prevented from being worn and the friction force between the mechanical arm and the anchor rod is improved.
And the two ends of the guide rail are provided with baffles for preventing the sliding block from being separated from the guide rail.
According to the full-automatic tunnel anchor rod mounting equipment provided by the invention, the anchor rod is continuously mounted in a mode of designing two pushing cylinders and a mechanical arm, and the mounting speed is high; guide rod wear-resisting plates are arranged on the front side and the rear side of each guide rod and used for protecting the guide rods from being worn by the anchor rods, so that the service life of equipment is prolonged, and the use cost is saved; the guide rods are arranged in a front and a back direction, so that the anchor rod can be supported to prevent the anchor rod from deforming; the mechanical arm and the mechanical paw are provided with the mechanical arm wear-resisting plates, so that the friction force between the mechanical arm and the anchor rod is improved, the applicable geological range is wide, the mechanical arm can be prevented from being worn, and the use cost is saved; hydraulic is used as a power source, automatic control is achieved, the mounting force of the anchor rod is improved or reduced by adjusting the mounting speed, the anchor rod can adapt to different geological working conditions, the installation of the anchor rod with different diameters is met by adopting the design of a profiling type mechanical arm, and the application range is wide; when the pin shaft is designed, one end of the blocking cover is aligned to the tunnel wall, so that impurities can be effectively prevented from entering between the pin shaft and the mounting hole, the equipment failure rate is reduced, and the use cost is saved.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
FIG. 2 is a schematic view of a connecting device of a propulsion cylinder II in the invention.
Fig. 3 is a schematic diagram of the position structure of the anchor rod grabbed by the manipulator in the invention.
In the figure: 1. the support, 2, propulsion cylinder I, 3, limit switch III, 4, limit switch I, 5, slider I, 6, robotic arm I, 7, control cylinder I, 8, slider II, 9, limit switch IV, 10, limit switch II, 11, guide bar, 12, guide bar antifriction plate, 13, mounting bolt, 14, control cylinder IV, 15, gripper II, 16, control cylinder II, 17, gripper I, 18, stock, 19, robotic arm II, 20, control cylinder III, 21, propulsion cylinder II, 22, round pin axle mounting bolt, 23, round pin axle, 24, manipulator antifriction plate, 25, manipulator antifriction plate mounting screw, 26, guide rail I, 27, guide rail II.
Detailed Description
The invention is further illustrated with reference to the accompanying drawings and specific embodiments:
as shown in fig. 1 to 3, the full-automatic tunnel anchor rod installation equipment comprises a bracket 1; a guide rod 11 for guiding when the anchor rod is installed is fixed at the lower end of the bracket 1; the two guide rods 11 are arranged perpendicular to the support, one guide rod 11 is positioned at one end of the support 1, and the other guide rod 11 is fixed in the middle of the support; the lower end of the guide rod 11 is connected with a detachable guide rod wear-resisting plate 12, and the middle part of the guide rod wear-resisting plate 12 is provided with a through hole for the anchor rod 18 to pass through; guide rails, namely a guide rail I26 and a guide rail II 27, are respectively arranged on two sides of the bracket 1; the guide rail I26 and the guide rail II 27 are located between the two guide rods 11 on the plane position, a sliding block I5 is arranged on the guide rail I26, and a limit switch I4 and a limit switch II 10 which are used for limiting the stroke of the sliding block I5 are arranged at the two ends of the guide rail I26; a sliding block II 8 is arranged on the guide rail II 27, and a limit switch III 3 and a limit switch IV 9 for limiting the stroke of the sliding block II 8 are arranged at two ends of the guide rail II 27; the limit switch I4, the limit switch II 10, the limit switch III 3 and the limit switch IV 9 are all fixed on the bracket 1; a pushing oil cylinder I2 used for pushing the sliding block I5 to horizontally slide on the guide rail I26 is arranged corresponding to the sliding block I5; a propelling oil cylinder II 21 used for pushing the sliding block II 8 to horizontally slide on the guide rail II 27 is arranged corresponding to the sliding block II 8; the cylinder barrels of the propulsion oil cylinder I2 and the propulsion oil cylinder II 21 are fixed at the other end of the bracket 1; the full-automatic tunnel anchor rod installation equipment further comprises a manipulator I and a manipulator II, wherein the manipulator I and the manipulator II are used for grasping the anchor rod; the mechanical hand I and the mechanical hand II are arranged in a staggered mode; the mechanical arm I is hinged with the sliding block I5; the mechanical arm II is hinged with the sliding block II 8; under the action of a propulsion oil cylinder I2 and a propulsion oil cylinder II 21, the sliding blocks I5 and II 8 drive the mechanical arm I and the mechanical arm II to alternately slide along the guide rail I26 and the guide rail II 27 to complete the installation of the anchor rod; when the device works, the mechanical arm I and the mechanical arm II are arranged in a staggered mode, if the mechanical arm I is arranged at the front end of the anchor rod installation, the mechanical arm II is arranged at the rear end of the anchor rod installation, the device is started, the mechanical arm I and the mechanical arm II grasp the anchor rod and convey the anchor rod 18 forwards under the action of the push oil cylinder I2 and the push oil cylinder II 21 respectively, when the slide block I5 touches the limit switch II 10, the electric control system is started to control the corresponding electromagnetic valve to act, the control oil cylinder I7 and the control oil cylinder II 16 are matched with each other, the mechanical arm I is loosened to be away from the anchor rod 18, the push oil cylinder I2 is withdrawn, the mechanical arm I is withdrawn under the action of the push oil cylinder I2; when the sliding block I5 touches the limit switch I4, the sliding block II 8 does not reach the limit position, the electric control system acts to control the corresponding electromagnetic valve to act, the control oil cylinder I7 and the control oil cylinder II 16 are matched with each other, the mechanical arm I grasps the anchor rod 18, the propulsion oil cylinder I2 extends out, the mechanical arm I extends out again under the action of the propulsion oil cylinder I2, and the mechanical arm I and the mechanical arm II convey the anchor rod 18 under the action of the propulsion oil cylinder I2 and the propulsion oil cylinder II 21 respectively; when the sliding block II 8 touches the limit switch IV 9, the electric control system acts to control the corresponding electromagnetic valve to act, the control oil cylinder III 20 and the control oil cylinder IV 14 are matched with each other, the manipulator II is loosened to be away from the anchor rod 18, the propulsion oil cylinder II 21 is retracted, the manipulator II is retracted under the action of the propulsion oil cylinder II 21, and the manipulator I continues to convey the anchor rod 18 under the action of the propulsion oil cylinder I2; when the sliding block II 8 touches the limit switch III 3, the sliding block I5 does not reach the limit position, the electric control system acts to control the corresponding electromagnetic valve to act, the control oil cylinder III 20 and the control oil cylinder IV 14 are matched with each other, the manipulator II grasps the anchor rod, the propulsion oil cylinder II 21 extends out again, the manipulator II extends out under the action of the propulsion oil cylinder II 21, the manipulator I and the manipulator II convey the anchor rod under the action of the propulsion oil cylinder I2 and the propulsion oil cylinder II 21 respectively, and the operation is repeated until the anchor rod is installed.
The extension speeds of the propulsion oil cylinder I2 and the propulsion oil cylinder II 21 are smaller than the retraction speed, so that the device can be ensured to be uninterruptedly provided with the anchor rod, and the strokes of the control oil cylinder I7 and the control oil cylinder III 20 are adjusted, so that the two mechanical mechanisms are ensured not to collide.
The mechanical arm I comprises a mechanical arm I6 and a mechanical paw I17; the mechanical arm I6 and the mechanical claw I17 are matched to form a mechanical arm I for clamping the anchor rod; the mechanical arm I6 is hinged with the sliding block I5 through a pin shaft; a control oil cylinder I7 for driving the mechanical arm I6 to swing relative to the sliding block I5 is arranged corresponding to the mechanical arm I6; the cylinder barrel of the control oil cylinder I7 is hinged with the sliding block I5; the end part of a piston rod of the control oil cylinder I7 is hinged with the mechanical arm I6; the mechanical paw I17 is hinged with the mechanical arm I6 through a pin shaft; a control oil cylinder II 16 for driving the mechanical gripper I17 to swing relative to the mechanical arm I6 is arranged corresponding to the mechanical gripper I17; the cylinder barrel of the control oil cylinder II 16 is hinged with the mechanical arm I6; the end part of a piston rod of the control oil cylinder II 16 is hinged with the mechanical paw I17; the mechanical arm I6 and the mechanical claw I17 grasp or release the anchor rod 18 under the action of the control oil cylinder I7 and the control oil cylinder II 16; when the pin shaft 23 is installed, one end of the blocking cover of the pin shaft is aligned to the tunnel wall, so that impurities can be effectively prevented from entering between the pin shaft 23 and the installation hole.
The manipulator II comprises a mechanical arm II 19 and a mechanical gripper II 15; the mechanical arm II 19 and the mechanical paw II 15 are matched to form a mechanical arm II for clamping the anchor rod; the mechanical arm II 19 is hinged with the sliding block II 8 through a pin shaft; a control oil cylinder III 20 for driving the mechanical arm II 19 to swing relative to the sliding block II 8 is arranged corresponding to the mechanical arm II 19; the cylinder barrel of the control oil cylinder III 20 is hinged with the sliding block II 8; the end part of a piston rod of the control oil cylinder III 20 is hinged with the mechanical arm II 19; the mechanical paw II 15 is hinged with the mechanical arm II 19 through a pin shaft; a control oil cylinder IV 14 for driving the mechanical gripper II 15 to swing relative to the mechanical arm II 19 is arranged corresponding to the mechanical gripper II 15; the cylinder barrel of the control oil cylinder IV 14 is hinged with the mechanical arm II 19; the end part of a piston rod of the control oil cylinder IV 14 is hinged with the mechanical gripper II 15; the mechanical arm II 19 and the mechanical claw II 15 grasp or release the anchor rod 18 under the action of the control oil cylinder III 20 and the control oil cylinder IV 14; when the pin shaft 23 is installed, one end of the blocking cover of the pin shaft is aligned to the tunnel wall, so that impurities can be effectively prevented from entering between the pin shaft 23 and the installation hole.
The guide rod wear-resisting plates 12 connected to the lower end of each guide rod 11 are two pieces clamped on two sides of the guide rod 11, and the two guide rod wear-resisting plates 12 are connected into a whole through mounting bolts 13 to form a guide rod wear-resisting plate with a detachable structure; the guide rod wear-resisting plate 12 is used for preventing the anchor rod from being worn and protecting the guide rod.
And manipulator wear-resisting plates 24 for increasing the friction between the manipulator and the anchor rod 18 and protecting the manipulator and the manipulator claw from being worn are arranged on the inner wall surfaces of the mechanical arm I6, the mechanical claw I17, the mechanical arm II 19 and the mechanical claw II 15, and are used for preventing the manipulator from being worn and improving the friction between the manipulator and the anchor rod 18.
And the two ends of the guide rail are provided with baffles for preventing the sliding block from being separated from the guide rail.
Claims (6)
1. The utility model provides a full-automatic tunnel stock erection equipment which characterized in that: the full-automatic tunnel anchor rod mounting equipment is provided with a bracket (1); a guide rod (11) which plays a role in guiding when the anchor rod is installed is fixed at the lower end of the bracket (1); the two guide rods (11) are arranged perpendicular to the support, one guide rod is positioned at one end of the support (1), and the other guide rod is fixed in the middle of the support (1); the lower end of the guide rod (11) is connected with a detachable guide rod wear-resisting plate (12), and the middle part of the guide rod wear-resisting plate (12) is provided with a through hole for the anchor rod (18) to pass through; guide rails, namely a guide rail I (26) and a guide rail II (27), are respectively arranged on two sides of the bracket (1); the guide rail I (26) and the guide rail II (27) are located between the two guide rods (11) on the plane position, a sliding block I (5) is arranged on the guide rail I (26), and a limit switch I (4) and a limit switch II (10) which are used for limiting the stroke of the sliding block I (5) are arranged at the two ends of the guide rail I (26); a sliding block II (8) is arranged on the guide rail II (27), and a limit switch III (3) and a limit switch IV (9) for limiting the stroke of the sliding block II (8) are arranged at the two ends of the guide rail II (27); the limit switch I (4), the limit switch II (10), the limit switch III (3) and the limit switch IV (9) are all fixed on the bracket (1); a pushing oil cylinder I (2) used for pushing the sliding block I (5) to horizontally slide on the guide rail I (26) is arranged corresponding to the sliding block I (5); a pushing oil cylinder II (21) used for pushing the sliding block II (8) to horizontally slide on the guide rail II (27) is arranged corresponding to the sliding block II (8); the cylinder barrels of the propulsion oil cylinder I (2) and the propulsion oil cylinder II (21) are fixed at the other end of the bracket (1); the full-automatic tunnel anchor rod installation equipment further comprises a manipulator I and a manipulator II, wherein the manipulator I and the manipulator II are used for grabbing the anchor rod (18); the mechanical hand I and the mechanical hand II are arranged in a staggered mode; the mechanical arm I is hinged with the sliding block I (5); the mechanical arm II is hinged with the sliding block II (8); under the action of a pushing oil cylinder I (2) and a pushing oil cylinder II (21), the sliding block I (5) and the sliding block II (8) drive the mechanical arm I and the mechanical arm II to alternately slide along the guide rail I (26) and the guide rail II (27) to complete the installation of the anchor rod; when the device works, the mechanical arm I and the mechanical arm II are arranged in a staggered mode, if the mechanical arm I is arranged at the front end of the anchor rod installation, the mechanical arm II is arranged at the rear end of the anchor rod installation, the device is started, the mechanical arm I and the mechanical arm II grasp the anchor rod, the anchor rod (18) is conveyed forwards under the action of the push oil cylinder I (2) and the push oil cylinder II (21) respectively, when the slide block I (5) touches the limit switch II (10), the electric control system is started to control the corresponding electromagnetic valve to act, the control oil cylinder I (7) and the control oil cylinder II (16) are matched with each other, the mechanical arm I is loosened to be far away from the anchor rod (18), the push oil cylinder I (2) is withdrawn, the mechanical arm I is withdrawn under the action of the push oil cylinder I (2); when the sliding block I (5) touches the limit switch I (4), the sliding block II (8) does not reach the limit position, the electric control system acts to control the corresponding electromagnetic valve to act, the control oil cylinder I (7) and the control oil cylinder II (16) are matched with each other, the mechanical arm I grasps the anchor rod (18), the propulsion oil cylinder I (2) extends out, the mechanical arm I extends out again under the action of the propulsion oil cylinder I (2), and the mechanical arm I and the mechanical arm II convey the anchor rod (18) under the action of the propulsion oil cylinder I (2) and the propulsion oil cylinder II (21) respectively; when the sliding block II (8) touches the limit switch IV (9), the electric control system acts to control the corresponding electromagnetic valve to act, the control oil cylinder III (20) and the control oil cylinder IV (14) are matched with each other, the manipulator II is loosened to be away from the anchor rod (18), the propulsion oil cylinder II (21) is retracted, the manipulator II is retracted under the action of the propulsion oil cylinder II (21), and the manipulator I continues to convey the anchor rod (18) under the action of the propulsion oil cylinder I (2); when the slide block II (8) touches the limit switch III (3), the slide block I (5) does not reach the limit position yet, the electric control system acts to control the corresponding electromagnetic valve to act, the control oil cylinder III (20) and the control oil cylinder IV (14) are matched with each other, the manipulator II grasps the anchor rod (18), the propulsion oil cylinder II (21) stretches out again, the manipulator II stretches out under the action of the propulsion oil cylinder II (21), the manipulator I and the manipulator II convey the anchor rod under the action of the propulsion oil cylinder I (2) and the propulsion oil cylinder II (21) respectively, and the operation is repeated until the anchor rod is installed.
2. The full-automatic tunnel anchor rod installation device of claim 1, wherein: the extension speeds of the propulsion oil cylinder I (2) and the propulsion oil cylinder II (21) are smaller than the retraction speed, so that the device is ensured to be uninterruptedly provided with the anchor rod, and the strokes of the control oil cylinder I (7) and the control oil cylinder III (20) are adjusted, so that the two mechanical mechanisms are ensured not to collide.
3. The full-automatic tunnel anchor rod installation device of claim 1, wherein: the mechanical hand I comprises a mechanical arm I (6) and a mechanical gripper I (17); the mechanical arm I (6) and the mechanical claw I (17) are matched to form a mechanical arm I for clamping the anchor rod; the mechanical arm I (6) is hinged with the sliding block I (5) through a pin shaft; a control oil cylinder I (7) for driving the mechanical arm I (6) to swing relative to the sliding block I (5) is arranged corresponding to the mechanical arm I (6); a cylinder barrel of the control oil cylinder I (7) is hinged with the sliding block I (5); the end of a piston rod of the control oil cylinder I (7) is hinged with the mechanical arm I (6); the mechanical paw I (17) is hinged with the mechanical arm I (6) through a pin shaft; a control oil cylinder II (16) for driving the mechanical gripper I (17) to swing relative to the mechanical arm I (6) is arranged corresponding to the mechanical gripper I (17); the cylinder barrel of the control oil cylinder II (16) is hinged with the mechanical arm I (6); the end part of a piston rod of the control oil cylinder II (16) is hinged with the mechanical gripper I (17); the mechanical arm I (6) and the mechanical claw I (17) grasp or release the anchor rod (18) under the action of the control oil cylinder I (7) and the control oil cylinder II (16); and mechanical arm wear-resisting plates (24) used for increasing the friction force between the mechanical arm I (6) and the anchor rod (18) and protecting the mechanical arm and the mechanical claw from being worn are arranged on the inner wall surfaces of the mechanical arm I (6) and the mechanical claw I (17).
4. The full-automatic tunnel anchor rod installation device of claim 1, wherein: the manipulator II comprises a mechanical arm II (19) and a mechanical paw II (15); the mechanical arm II (19) and the mechanical paw II (15) are matched to form a mechanical arm II for clamping the anchor rod; the mechanical arm II (19) is hinged with the sliding block II (8) through a pin shaft; a control oil cylinder III (20) for driving the mechanical arm II (19) to swing relative to the sliding block II (8) is arranged corresponding to the mechanical arm II (19); the cylinder barrel of the control oil cylinder III (20) is hinged with the sliding block II (8); the end part of a piston rod of the control oil cylinder III (20) is hinged with the mechanical arm II (19); the mechanical paw II (15) is hinged with the mechanical arm II (19) through a pin shaft; a control oil cylinder IV (14) used for driving the mechanical gripper II (15) to swing relative to the mechanical gripper II (19) is arranged corresponding to the mechanical gripper II (15); the cylinder barrel of the control oil cylinder IV (14) is hinged with the mechanical arm II (19); the end part of a piston rod of the control oil cylinder IV (14) is hinged with the mechanical gripper II (15); the mechanical arm II (19) and the mechanical claw II (15) grasp or release the anchor rod (18) under the action of the control oil cylinder III (20) and the control oil cylinder IV (14); and the inner wall surfaces of the mechanical arm II (19) and the mechanical paw II (15) are respectively provided with a mechanical hand wear-resisting plate (24) which is used for increasing the friction force between the mechanical arm II and the anchor rod (18) and protecting the mechanical arm and the mechanical paw from being worn.
5. The full-automatic tunnel anchor rod installation device of claim 1, wherein: the guide rod wear-resisting plates (12) connected to the lower end of each guide rod (11) are two guide rod wear-resisting plates clamped on two sides of each guide rod (11), and the two guide rod wear-resisting plates (12) are connected into a whole through mounting bolts (13) to form a guide rod wear-resisting plate with a detachable structure; the guide rod wear-resisting plate (12) is used for preventing the anchor rod from wearing the guide rod (11) and has a protection effect.
6. The full-automatic tunnel anchor rod installation device of claim 1, wherein: and the two ends of the guide rail are provided with baffles for preventing the sliding block from being separated from the guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710201223.8A CN106869976B (en) | 2017-03-30 | 2017-03-30 | Full-automatic tunnel anchor rod installation equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710201223.8A CN106869976B (en) | 2017-03-30 | 2017-03-30 | Full-automatic tunnel anchor rod installation equipment |
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| Publication Number | Publication Date |
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| CN106869976A CN106869976A (en) | 2017-06-20 |
| CN106869976B true CN106869976B (en) | 2020-03-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020155104A1 (en) | 2019-02-01 | 2020-08-06 | 河南理工大学 | Anchoring device and working method thereof |
| CN110185483B (en) * | 2019-06-19 | 2023-11-03 | 四川新筑智能工程装备制造有限公司 | Multifunctional anchor rod feeding mechanism for anchor rod trolley and operation method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2190943B (en) * | 1986-05-22 | 1990-10-03 | Gta Gruben Transport Ausbautec | Gallery lining machine for use in driving operations in mines |
| CN103397894B (en) * | 2013-07-29 | 2015-05-13 | 三一重型装备有限公司 | Anchor mechanism and engineering machinery with same |
| CN103670425B (en) * | 2013-12-23 | 2015-12-02 | 郑东风 | Formula lifting migration rack mechanical hand is carried in an a kind of pick integral method and development machine holder |
| CN105350992B (en) * | 2015-11-13 | 2018-09-21 | 中国煤炭科工集团太原研究院有限公司 | A kind of double brill full-automatic jumbolters of case suitching type |
| CN205532385U (en) * | 2016-01-21 | 2016-08-31 | 六盘水师范学院 | A roof -bolter for mining |
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