CN107165663A - A kind of intelligent anchor rod drill carriage - Google Patents
A kind of intelligent anchor rod drill carriage Download PDFInfo
- Publication number
- CN107165663A CN107165663A CN201710511686.4A CN201710511686A CN107165663A CN 107165663 A CN107165663 A CN 107165663A CN 201710511686 A CN201710511686 A CN 201710511686A CN 107165663 A CN107165663 A CN 107165663A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- working arm
- oil cylinder
- hinged
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005553 drilling Methods 0.000 claims abstract description 89
- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 239000000843 powder Substances 0.000 claims abstract description 51
- 241001074085 Scophthalmus aquosus Species 0.000 claims description 17
- 230000003028 elevating effect Effects 0.000 claims description 12
- 238000005507 spraying Methods 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 7
- 239000007921 spray Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000006399 behavior Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 239000011347 resin Substances 0.000 description 5
- 229920005989 resin Polymers 0.000 description 5
- 239000002360 explosive Substances 0.000 description 3
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000005065 mining Methods 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000701 coagulant Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
- E21D20/006—Machines for drilling anchor holes and setting anchor bolts having magazines for storing and feeding anchoring-bolts
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/003—Supports for the drilling machine, e.g. derricks or masts adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/14—Lining predominantly with metal
- E21D11/15—Plate linings; Laggings, i.e. linings designed for holding back formation material or for transmitting the load to main supporting members
- E21D11/152—Laggings made of grids or nettings
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/02—Setting anchoring-bolts with provisions for grouting
- E21D20/025—Grouting with organic components, e.g. resin
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Geochemistry & Mineralogy (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention belongs to mine top plate, side wall attending device technical field, to solve existing mine top plate, to there is operating environment in side wall maintenance severe using artificial progress anchor pole maintenance, danger coefficient is high, ineffective technical problem, there is provided a kind of intelligent anchor rod drill carriage, including frame, it is arranged on the frequency control walking mechanism of frame lower and is arranged on the electric control system of upper rack, flexible working arm, lapping manipulator, intelligent drilling cramp, hydraulic system, driver behavior and monitor control mechanism and orientation cruise control and step pitch measuring system, the intelligent drilling cramp is connected by flexible working arm with gantry rotation, one end of the lapping manipulator is connected with gantry rotation, the other end is provided with the electromagnet for being used for drawing Chain Link Fence.The present invention realizes automatic lapping, automatic anchor and bores, sprays powder stick and autonomous heading cruise control automatically, reduces the labor intensity of staff, improves work situation, improves the safety coefficient that top plate, side wall are safeguarded.
Description
Technical field
The invention belongs to mine top plate, side wall attending device technical field, and in particular to a kind of intelligent anchor rod drill carriage.
Background technology
Mine top plate, side wall are safeguarded as technological procedure important in tunnelling, are had in safe working field huge
Meaning.
Safety in production is the cardinal task of mining, and safety plays guarantee, support and the work promoted for mining
With the safety in production in mine is the important component of national security production.Because the mining geology condition of China is poor, mine is many
Many, difference is big, and mechanical drivage is low with recovery percent, and safety technical equipment wretched insufficiency, practitioner's overall qualities are poor, cause
The mine safety situation of China allows of no optimist.
Anchor pole maintenance is carried out using artificial when current mine top plate, side wall are safeguarded, there is that operating environment is severe, danger coefficient
Height, the low technical problem of operating efficiency.
The content of the invention
The present invention safeguards there is operating environment evil to solve existing mine top plate, the maintenance of side wall using the artificial anchor pole that carries out
Bad, danger coefficient is high, there is provided a kind of intelligent anchor rod drill carriage for ineffective technical problem.
The technical solution adopted by the present invention is as follows：
A kind of intelligent anchor rod drill carriage, including frame, be arranged on the frequency control walking mechanism of frame lower and be arranged in frame
The electric control system in portion, flexible working arm, lapping manipulator, intelligent drilling cramp, hydraulic system, driver behavior and monitor control mechanism and
Cruise control and step pitch measuring system are oriented, the intelligent drilling cramp is connected by flexible working arm with gantry rotation, the lapping
One end of manipulator is connected with gantry rotation, and the other end is provided with the electromagnet for being used for drawing Chain Link Fence, the flexible work
Arm and lapping manipulator are by HYDRAULIC CONTROL SYSTEM, the frequency control walking mechanism, driver behavior and monitor control mechanism and orientation
Cruise control is connected with electric control system respectively with step pitch measuring system.
The flexible working arm includes working arm side-sway oil cylinder, working arm revolving bed, working arm outer sleeve, working arm lifting
Oil cylinder, working arm inner sleeve, leveling cyclinder, working arm hydraulic steering gear adopting cross piece, rotary oil cylinder seat and rotary oil cylinder, the working arm revolving bed
It is hinged with frame, one end of working arm outer sleeve is arranged in working arm revolving bed and is hinged with working arm revolving bed, working arm
Side-sway oil cylinder is arranged on the side of working arm revolving bed, and one end and the working arm revolving bed of working arm side-sway oil cylinder are hinged, another
End is hinged with frame, and working arm elevating ram is arranged on the lower section of working arm outer sleeve, one end of working arm elevating ram and work
Make arm outer sleeve to be hinged, the other end is hinged with frame, working arm inner sleeve is set in working arm outer sleeve, working arm inner sleeve
It can be stretched along working arm outer sleeve length direction by built-in oil cylinder pushing, the front end of working arm inner sleeve is hinged working arm ten
Block, the leveling cyclinder is arranged on the top of working arm inner sleeve, and one end and the working arm hydraulic steering gear adopting cross piece of leveling cyclinder are hinged, separately
One end is hinged with working arm inner sleeve, and the rotary oil cylinder is fixed in rotary oil cylinder seat, rotary oil cylinder seat and working arm cross
Block is hinged.
The mechanical hand of the lapping includes manipulator side-sway oil cylinder, manipulator revolving bed, manipulator large arm, manipulator lifting oil
Cylinder, oil cylinder, manipulator outer sleeve, manipulator inner sleeve and electromagnet, the manipulator revolving bed are hinged with frame, manipulator side
Pendulum oil cylinder is arranged on the side of manipulator revolving bed, and one end and the manipulator revolving bed of manipulator side-sway oil cylinder are hinged, the other end
It is hinged with frame, one end of manipulator large arm is arranged in manipulator revolving bed and is hinged with manipulator revolving bed, and manipulator is big
One end of the other end of arm and manipulator outer sleeve is hinged, and oil cylinder is arranged on the lower section of manipulator large arm and manipulator outer sleeve,
One end of oil cylinder is hinged with manipulator large arm, and the other end is hinged with manipulator outer sleeve, and manipulator inner sleeve is set in manipulator
In outer sleeve, manipulator inner sleeve can be stretched along manipulator outer sleeve length direction by built-in oil cylinder pushing, in manipulator
The front end of sleeve is hinged electromagnet.
The intelligent drilling cramp, including drilling rod, bore case, hoisting mechanism, powder stick spraying system, manipulator, drilling rod clamping mechanism,
Framework, electric control system I, anchor pole storehouse, hydraulic system I, Jia Qian mechanism and connection swing mechanism, the connection swing mechanism are set
Put in the outside of framework, drilling rod clamping mechanism, powder stick spraying system, anchor pole storehouse, manipulator, electric control system I and hydraulic pressure system
System I is arranged in framework, and the drilling rod is fixed in drilling rod clamping mechanism, and the bottom of drilling rod sets external screw thread, the brill case
Upper surface some anchor poles of setting, the anchor in the screwed hole matched with the external screw thread of drilling rod bottom, the anchor pole storehouse are set
The bottom of bar sets and bores the external screw thread that the screwed hole of case upper surface matches, the manipulator be arranged on drilling rod clamping mechanism with
Between anchor pole storehouse, manipulator is connected with hydraulic system I, and manipulator is rotatable in the presence of hydraulic system I to be used to capture drilling rod
Or anchor pole, the brill case is connected with hoisting mechanism, and hoisting mechanism is connected with electric control system I, and hoisting mechanism, which drives, to be bored on case
Lower movement, the Jia Qian mechanisms are arranged on framework top, including two leading arms, and every leading arm has half of guide cone
Hole.
The hoisting mechanism includes lift cylinder, lifting chain, lead and is oriented to chain connecting plate, the cylinder tube of lift cylinder
There is cylinder rod stretching at two ends, and cylinder rod two ends are fixed on framework, and cylinder tube can be slided up and down on cylinder rod, lifting chain
One end is fixed on framework, and the other end bypasses the lifting ear on the cylinder tube of lift cylinder and is fixed on guiding chain connecting plate, leads
There are two leads to pass through in the middle of to chain connecting plate.
The powder stick spraying system includes powder stick nozzle, flexible pipe, powder stick storehouse and powder stick, and the powder stick is arranged on powder stick storehouse
Interior, one end of the flexible pipe is connected with powder stick, and the other end is connected with powder stick nozzle, and powder stick nozzle is connected with one end of oil cylinder, oil
The other end of cylinder is fixed on framework.
The manipulator includes rotary oil cylinder, column, arm, grabber and manipulator base, and the lower end of column vertically may be used
It is rotatably arranged in manipulator base, one end of arm is vertically fixed on the upper end of column, and the other end of arm sets grabber,
One end of rotary oil cylinder is hinged with manipulator base, and the lower end of the other end and column is hinged, and sets control grabber to close in arm
Close the control cylinder with opening.
The anchor pole storehouse includes stepper motor, active rotating shaft, tooth form belt wheel, cog belt, Flexible clamp, anchor pole, passive turned
Axle and anchor pole Hatch Coaming frame, stepper motor are arranged on anchor pole storehouse base of frame, and active rotating shaft is arranged on one end in anchor pole Hatch Coaming frame,
Passive rotating shaft is arranged on the other end in anchor pole Hatch Coaming frame, and the upper end of stepper motor is connected with the lower end of active rotating shaft, actively turns
The top and the bottom of axle and passive rotating shaft are respectively respectively mounted a tooth form belt wheel, the tooth form belt wheel on active rotating shaft and passive rotating shaft top and
It is connected respectively by cog belt between the tooth form belt wheel of bottom, is corresponded respectively on the cog belt up and down and some bullets are set
Property clip, the anchor pole is arranged between corresponding Flexible clamp up and down.
Beneficial effects of the present invention：
1. the intelligent anchor rod drill carriage of the present invention realizes automatic lapping, automatic anchor in mine top plate, side wall area of maintenance and bored, certainly
Dynamic injection powder stick and autonomous heading cruise control, eliminate artificial lapping, anchor brill, loaded resin powder stick, array pitch and spacing and determine,
Workload is reduced, improves work situation, the safety coefficient that top plate, side wall are safeguarded is improved.
2. with the increase of bargh's tunnelling, the demand that top plate, side wall are safeguarded can be increased increasingly, the present invention
The application of intelligent anchor rod drill carriage also can be increasingly wider, the present invention has higher practical value and economic value, while greatly
The security risk of underground construction is reduced, the main trend substituted with technology is realized.
3. the intelligent drilling cramp of the present invention is connected by revolute and translation pair with frame, it is ensured that intelligent drilling cramp is in difference
The tunnel of height and different in width can realize that top plate, side wall are carried out to it to be safeguarded.
4. the lapping manipulator of the present invention is coordinated by revolute and translation pair with electromagnet realizes Chain Link Fence
Crawl, upset and positioning, it is ensured that can be realized in the tunnel of different height and different in width and the automatic lapping of top plate is carried out to it.
5. gyroscope orientation cruise control and the space distance measurement system of the present invention ensure that intelligent anchor rod drill carriage with
Tunnel relative position automatic measurement travel distance, it is ensured that often arrange anchor pole spacing consistent with setting production practice parameter.
Brief description of the drawings
Fig. 1 is main structure diagram of the invention；
Fig. 2 is Roof schematic diagram；
Fig. 3 is that side wall safeguards schematic diagram；
Fig. 4 is flexible working arm schematic diagram；
Fig. 5 is lapping manipulator schematic diagram；
Fig. 6 is orientation cruise control and step pitch measuring system principle schematic；
Fig. 7 is intelligent drilling cramp structural representation one；
Fig. 8 is intelligent drilling cramp structural representation two；
Fig. 9 is hoisting mechanism structural representation；
Figure 10 is powder stick spraying system structural representation；
Figure 11 is robot manipulator structure schematic diagram；
Figure 12 is anchor pole chamber structure schematic diagram；
In figure：1- frequency control walking mechanisms, 2- electric control systems, 3- is stretched working arm, 4- lapping manipulators, and 5- is intelligently bored
Frame, 6- hydraulic systems, 7- frames, 8- driver behaviors and monitor control mechanism, 9- orientation cruise controls and step pitch measuring system, 10- gold
Belong to protection network, 31- working arm side-sway oil cylinders, 32- working arm revolving beds, 33-- working arm outer sleeves, 34- working arms lifting oil
Cylinder, 35- working arm inner sleeves, 36- leveling cyclinders, 37- working arm hydraulic steering gear adopting cross pieces, 38- rotary oil cylinders seat, 39- rotary oil cylinders, 41-
Manipulator side-sway oil cylinder, 42- manipulator revolving beds, 43-- manipulator large arm, 44- manipulator elevating rams, 45- oil cylinders, 46- machines
Tool hand outer sleeve, 47- manipulator inner sleeves, 48- electromagnet, 51- drilling rods, 52- bores case, 53- hoisting mechanisms, the injection of 54- powder sticks
System, 55- manipulators, 56- drilling rod clamping mechanisms, 57- frameworks, 58- electric control systems I, 59- anchor pole storehouse, 510- hydraulic pressure systems
Unite I, 511- Jia Qian mechanisms, 512- connection swing mechanisms, 531- lift cylinders, 532- lifting chains, 533- leads, 534-
Guiding chain connecting plate, 541- powder stick nozzles, 542- flexible pipes, 543-- powder sticks storehouse, 544- powder sticks, 551- rotary oil cylinders, 552- columns,
553-- arms, 554- grabbers, 555- manipulator bases, 591- stepper motors, 592- active rotating shafts, 593-- tooth form belt wheels,
594- cog belts, 595- Flexible clamps, 596- anchor poles, 597- passive rotating shafts, 598- anchor pole Hatch Coaming framves.
Embodiment
As shown in figure 1, a kind of intelligent anchor rod drill carriage, including bored for automatic anchor, automatic fastening anchor pole and injection powder stick
Intelligent drilling cramp 5, for the lapping manipulator 4 of automatic lapping, is positioned and top plate, the flexible work of side wall switching for intelligent drilling cramp 5
Make arm 3, for realizing the orientation cruise control and step pitch measuring system 9 that automatically determine anchor pole array pitch, and realize above-mentioned functions
System of attaching troops to a unit, such as electric control system 2, frequency control walking mechanism 1, frame 7 and driver behavior and monitor control mechanism 8 are described
Frequency control walking mechanism 1 is arranged on the bottom of frame 7, electric control system 2, flexible working arm 3, lapping manipulator 4, intelligence
Drilling cramp 5, hydraulic system 6, driver behavior and monitor control mechanism 8 and orientation cruise control and step pitch measuring system 9 are arranged at frame 7
Top, the intelligent drilling cramp 5 is connected by flexible working arm 3 with the rotation of frame 7, one end of the lapping manipulator 4 and machine
Frame 7 rotates connection, and the other end is provided with the electromagnet 48 for being used for drawing Chain Link Fence 10, the flexible working arm 3 and lapping machine
Tool hand 4 is by HYDRAULIC CONTROL SYSTEM, the frequency control walking mechanism 1, driver behavior and monitor control mechanism 8 and orientation cruise control
It is connected respectively with electric control system 2 with step pitch measuring system 9.
As shown in figure 4, the flexible working arm 3 includes working arm side-sway oil cylinder 31, working arm revolving bed 32, outside working arm
Sleeve 33, working arm elevating ram 34, working arm inner sleeve 35, leveling cyclinder 36, working arm hydraulic steering gear adopting cross piece 37, rotary oil cylinder seat 38
With rotary oil cylinder 39, the working arm revolving bed 32 is hinged with frame 7, and one end of working arm outer sleeve 33 is arranged on working arm and returned
It is hinged in swivel base 32 and with working arm revolving bed 32, working arm side-sway oil cylinder 31 is arranged on the side of working arm revolving bed 32, work
The one end and working arm revolving bed 32 for making arm side-sway oil cylinder 31 are hinged, and the other end is hinged with frame 7, and working arm elevating ram 34 is set
Put in the lower section of working arm outer sleeve 33, one end and the working arm outer sleeve 33 of working arm elevating ram 34 are hinged, the other end with
Frame 7 is hinged, and working arm inner sleeve 35 is set in working arm outer sleeve 33, and working arm inner sleeve 35 can be along working arm outer sleeve
33 length directions are stretched by built-in oil cylinder pushing, and the front end of working arm inner sleeve 35 is hinged working arm hydraulic steering gear adopting cross piece 37, described
Leveling cyclinder 36 is arranged on the top of working arm inner sleeve 35, and one end and the working arm hydraulic steering gear adopting cross piece 37 of leveling cyclinder 36 are hinged, separately
One end is hinged with working arm inner sleeve 35, and the rotary oil cylinder 39 is fixed in rotary oil cylinder seat 38, rotary oil cylinder seat 38 and work
Make arm hydraulic steering gear adopting cross piece 37 to be hinged.
Intelligent drilling cramp 5 is connected with flexible working arm 3 by rotary oil cylinder 39 realizes the intelligent relative telescopic working arm 3 of drilling cramp 5
Rotation, realize top plate, side wall safeguard switching, stretch working arm 3 by 33 groups of working arm inner sleeve 35 and working arm outer sleeve
Into the movable of intelligent drilling cramp 5 is realized, working arm outer sleeve 33 is rotatably connected with working arm revolving bed 32 and lifted by working arm
Oil cylinder 34 promotes realization to swing up and down, and realizes swinging up and down for intelligent drilling cramp 5, and working arm revolving bed 32 rotates with frame 7 to be connected
Connect and promote realization to swing by working arm side-sway oil cylinder 31, realize swinging for intelligent drilling cramp 5, it is ensured that intelligent drilling cramp
5 can realize that top plate, side wall are safeguarded in the tunnel of different height and different in width.
As shown in figure 5, the lapping manipulator 4 is big including manipulator side-sway oil cylinder 41, manipulator revolving bed 42, manipulator
Arm 43, manipulator elevating ram 44, oil cylinder 45, manipulator outer sleeve 46, manipulator inner sleeve 47 and electromagnet 48, the machinery
Hand revolving bed 42 is hinged with frame 7, and manipulator side-sway oil cylinder 41 is arranged on the side of manipulator revolving bed 42, manipulator side-sway oil
One end of cylinder 41 is hinged with manipulator revolving bed 42, and the other end is hinged with frame 7, and one end of manipulator large arm 43 is arranged on machinery
It is hinged in hand revolving bed 42 and with manipulator revolving bed 42, the other end of manipulator large arm 43 and one end of manipulator outer sleeve 46
It is hinged, oil cylinder 45 is arranged on the lower section of manipulator large arm 43 and manipulator outer sleeve 46, one end and the manipulator large arm of oil cylinder 45
43 are hinged, and the other end is hinged with manipulator outer sleeve 46, and manipulator inner sleeve 47 is set in manipulator outer sleeve 46, manipulator
Inner sleeve 47 can be stretched along the length direction of manipulator outer sleeve 46 by built-in oil cylinder pushing, the front end of manipulator inner sleeve 47
It is hinged electromagnet 48.
Lapping manipulator revolving bed 42 is rotatably connected with frame 7 promotes realization to swing by manipulator side-sway oil cylinder 41,
Manipulator large arm 43 is rotatably connected with manipulator revolving bed 42 promotes realization to swing up and down by manipulator elevating ram 44, lapping machine
Tool hand stretches inner sleeve 47 by manipulator and manipulator outer sleeve 46 constitutes realization and moved forward and backward, and the front end of manipulator inner sleeve 47 is installed
Have electromagnet 48 can adsorbing metal protection network 10, realize can be realized in the tunnel of different height and different in width top plate spread
Net.
As shown in Figure 7,8, the intelligent drilling cramp, including drilling rod 51, bore case 52, hoisting mechanism 53, powder stick spraying system 54,
Manipulator 55, drilling rod clamping mechanism 56, framework 57, electric control system I58, anchor pole storehouse 59, hydraulic system I510, Jia Qian mechanism
511 are arranged on the outside of framework 57, drilling rod clamping mechanism 56, medicine with connection swing mechanism 512, the connection swing mechanism 512
Volume spraying system 54, anchor pole storehouse 59, manipulator 55, electric control system I58 and hydraulic system I510 are arranged in framework 57,
The drilling rod 51 is fixed in drilling rod clamping mechanism 56, and the bottom of drilling rod 51 sets external screw thread, and the upper surface of the brill case 52 is set
Put and some anchor poles 96, the anchor pole 96 are set in the screwed hole matched with the external screw thread of the bottom of drilling rod 51, the anchor pole storehouse 59
Bottom set with boring the external screw thread that the screwed hole of case 52 upper surface matches, the manipulator 55 is arranged on drilling rod clamping mechanism
Between 56 and anchor pole storehouse 59, manipulator 55 is connected with hydraulic system I510, and manipulator 55 can in the presence of hydraulic system I510
Rotate for capturing drilling rod 51 or anchor pole 96, the brill case 52 is connected with hoisting mechanism 53, hoisting mechanism 53 and electrical control system
The I58 that unites is connected, and hoisting mechanism 53 drives brill case 52 to move up and down, and the Jia Qian mechanisms 511 are arranged on the top of framework 57, by two
Leading arm is constituted, and every leading arm be provided with half of guiding taper hole, can guide drilling rod 51 and anchor pole 96 along being correctly oriented
Feeding.
As shown in figure 9, the hoisting mechanism 53 include being fixed on lift cylinder 531 on framework 57, lifting chain 532,
Lead 533 and guiding chain connecting plate 534, lift cylinder 531 are the two-way cylinder of double rods, the cylinder tube of lift cylinder 531
There is cylinder rod stretching at two ends, and cylinder rod two ends are fixed on framework 57, and cylinder tube can be slided up and down on cylinder rod, lift chain
The one end of bar 532 is fixed on framework 57, and the other end bypasses the lifting ear on the cylinder tube of lift cylinder 531 and is fixed on drag chain
On fishplate bar 534, being oriented in the middle of chain connecting plate 534 has two leads 533 to pass through, and when the cylinder tube of lift cylinder 531 is slided, carries
Rising chain 532 will drive guiding chain connecting plate 534 to be moved along lead 533, so as to drive brill case 52 to move.
As shown in Figure 10, the powder stick spraying system 54 includes powder stick nozzle 541, flexible pipe 542, powder stick storehouse 543 and powder stick
544, the powder stick 544 is arranged in powder stick storehouse 543, and one end of the flexible pipe 542 is connected with powder stick 544, the other end and powder stick
Nozzle 541 is connected, and powder stick nozzle 541 is connected with one end of oil cylinder, and the other end of oil cylinder is fixed on framework 57, oily during work
Cylinder promotes powder stick nozzle 541 to rotate to borehole, and powder stick 544 in powder stick storehouse 543 is sprayed into drilling by water under high pressure by flexible pipe 542
After middle positioning, oil cylinder pushing powder stick nozzle 541 resets.
As shown in figure 11, the manipulator 55 includes rotary oil cylinder 551, column 552, arm 553, grabber 554 and machine
Tool at hand seat 555, the lower end of column 552 is vertically rotatably provided in manipulator base 555, and one end of arm 553 is vertically solid
The upper end of column 552 is scheduled on, the other end of arm 553 sets grabber 554, one end of rotary oil cylinder 551 and manipulator base
555 are hinged, and the lower end of the other end and column 552 is hinged, and control grabber 554 closure and the control opened are set in arm 553
Oil cylinder.The rotary oil cylinder 551 of manipulator 55 can make 90 degree of rotations of arm, rolled over when grabber 554 opens completely
During do not contacted with any object.The closure of grabber 554 in zero degree of arm 553, which can be captured, is fixed on drilling rod clamping mechanism 56
Drilling rod 51, arm 553 drilling rod 51 or anchor pole 596 can be moved on at 45 degree brill case 52 just above, arm 553 is nine
Grabber 554, which is closed, at ten degree can capture the anchor pole 596 being fixed in anchor pole storehouse 59.
As shown in figure 12, the anchor pole storehouse 59 includes stepper motor 591, active rotating shaft 592, tooth form belt wheel 593, cog belt
594th, Flexible clamp 595, anchor pole 596, passive rotating shaft 597 and anchor pole Hatch Coaming frame 598, stepper motor 591 are arranged on anchor pole Hatch Coaming
The bottom of frame 598, active rotating shaft 592 is arranged on one end in anchor pole Hatch Coaming frame 598, and passive rotating shaft 597 is arranged on anchor pole Hatch Coaming frame
The other end in 598, the upper end of stepper motor 591 is connected with the lower end of active rotating shaft 592, active rotating shaft 592 and passive rotating shaft
597 top and the bottom are respectively respectively mounted a tooth form belt wheel 593, active rotating shaft 592 and the tooth form belt wheel on the top of passive rotating shaft 597
593 and bottom tooth form belt wheel 593 between be connected respectively by cog belt 594, it is described up and down on cog belt 594 respectively one by one
Some Flexible clamps 595 are correspondingly arranged, the anchor pole 596 is arranged between Flexible clamp 595 corresponding up and down.Manipulator 55
Rotate to anchor pole storehouse 59 to capture after anchor pole 596 sideways, electric 591 machines of the stepping in anchor pole storehouse 59 receive electric control system I58's
Instruction, drives cog belt 594 to rotate next anchor pole 596 to the crawl position of manipulator 55.
The specific works step of intelligence drilling cramp of the invention is as follows：
（1）Manipulator 55 captures the drilling rod 51 being fixed in drilling rod clamping mechanism 56, moves on to brill case 52 just above, bores on the side of case 52
Side rotation is risen, drilling rod 51 is threadedly coupled fixation with boring case 52, and then manipulator 55 unclamps drilling rod 51, returns to initial bit.
（2）Boring case 52 drives the high-speed rotation of the drilling rod 51 brill case 52 of the drive of hoisting mechanism 53 simultaneously to be moved up along guide rail, bores
Bar 51 pierces rock pore-forming by the pilot hole in the middle of Jia Qian mechanisms 511, and hoisting mechanism 53, which drives, after drilling is completed bores case 52
The starting position for returning to drilling is exited with drilling rod 51, manipulator 55 catches the drilling rod 51 for being fixed on and boring in case 52, bores case 52 reverse
Rotating and moving down makes screw thread between brill case 52 and drilling rod 51 thread off, and drilling rod 51 is fixed on drilling rod clamping mechanism 56 by manipulator 55.
（3）Jia Qian mechanisms 511 are separated to both sides, and oil cylinder pushing powder stick nozzle 541 rotates to borehole, and water under high pressure is by medicine
Roll up powder stick 544 in storehouse 543 to spray into drilling after positioning by flexible pipe 542, oil cylinder pushing powder stick nozzle 541 resets.
（4）Manipulator 55 rotates to anchor pole storehouse 59 and captured sideways after anchor pole 596, the band of stepper motor 591 in anchor pole storehouse 59
Dynamic cog belt 594 rotates next anchor pole 596 to the crawl position of manipulator 55, and anchor pole 596 is being moved on to brill case 52 just by manipulator 55
Above, the side rising edge rotation of case 52 is bored, anchor pole 596 is threadedly coupled fixation with boring case 52, and then manipulator 55 resets.
（5）Boring case 52 drives the high-speed rotation of the anchor pole 596 brill case 52 of the drive of hoisting mechanism 53 simultaneously to be moved up along guide rail, high
The anchor pole 596 that speed is rotated is uniform by the bar coagulant whisk in drilling, and the output drilling speed drop of case 52 is bored after anchor pole 596 is moved to top
Low torque increase fastens anchor pole 596, and boring case 52 and reversely rotating makes screw thread between brill case 52 and anchor pole 596 thread off, and bores case 52 and returns
Original position, Jia Qian mechanisms 511 are closed, and whole workflow operation is finished.
The course of work of the intelligent anchor rod drill carriage of the present invention：
As shown in Fig. 2 during Roof work, flexible working arm 3, which stretches out, ensures that intelligent drilling cramp 5 props up top plate positioning, bores case and beats
Bolthole, intelligent drilling cramp 5 is removed, and the crawl Chain Link Fence 10 of lapping manipulator 4 puts it to the intelligent drill hole of drilling cramp 5, then
Intelligent drilling cramp 5 returns to former punch position by resin explosive roll（Anchor Agent powder stick）Automatic to be ejected into drilling, intelligent drilling cramp 5 is anchor pole
It is fitted into drilling and the solidification of agitating resin powder stick, bores case and fasten anchor pole, finally according to the program of setting by Chain Link Fence 10
Required entire row anchor pole has been beaten.
As shown in figure 3, during the wall maintenance work of side, flexible working arm 3 stretches out, and rotary intelligent drilling cramp 5 is to vertical with side wall,
The intelligent angle of drilling cramp 5 of adjustment ensures that intelligent drilling cramp 5 props up side wall positioning, bores case and beats bolthole, then intelligent drilling cramp 5 returns to original and beaten
Hole site is by resin explosive roll（Anchor Agent powder stick）Automatic to be ejected into drilling, intelligent drilling cramp 5 is fitted into anchor pole in drilling and stirred
Resin explosive roll solidifies, and bores case and fastens anchor pole, has finally beaten the entire row anchor pole required for the wall of side according to the program of setting.
After the completion of top plate, side wall are safeguarded, intelligent anchor rod drill carriage is moved forward automatically, and cruise control is oriented by vehicle-mounted gyroscope
It is crosslinked with space distance measurement system and frequency control walking mechanism, electric control system, intelligent anchor rod brill can be measured in real time
Car and tunnel relative position, and travel distance is measured, it is automatic stopping to the lower position for making a call to row's anchor pole is needed, it is ensured that anchor pole is arranged
Away from, work repeat before consistent with setting production practice parameter.
The minimum transport condition complete machine width of the intelligent anchor rod drill carriage of the present invention is 1.4 meters, and whole length is 5.5 meters, can
It is arranged in parallel with development machine, realizes pick anchor concurrent working.
The flexible working arm of the intelligent drilling cramp of the present invention can outwards put 60 degree with lapping manipulator, and arm exhibition is reachable 6.0 meters,
The flexible working arm of intelligent drilling cramp is 6.0 meters with lapping manipulator expansion height, can meet 4 to 6 meters of roadway maintenance.
Claims (8)
1. a kind of intelligent anchor rod drill carriage, it is characterised in that：Including frame（7）, be arranged on frame（7）The frequency control walking of bottom
Mechanism（1）Be arranged on frame（7）The electric control system on top（2）, flexible working arm（3）, lapping manipulator（4）, intelligence
Drilling cramp（5）, hydraulic system（6）, driver behavior and monitor control mechanism（8）And orientation cruise control and step pitch measuring system（9）, it is described
Intelligent drilling cramp（5）Pass through the working arm that stretches（3）With frame（7）Rotate connection, the lapping manipulator（4）One end and frame
（7）Connection is rotated, the other end, which is provided with, to be used to draw Chain Link Fence（10）Electromagnet（48）, the flexible working arm（3）With
Lapping manipulator（4）By HYDRAULIC CONTROL SYSTEM, the frequency control walking mechanism（1）, driver behavior and monitor control mechanism（8）With
Orient cruise control and step pitch measuring system（9）Respectively with electric control system（2）It is connected.
2. a kind of intelligent anchor rod drill carriage according to claim 1, it is characterised in that：The flexible working arm（3）Including work
Make arm side-sway oil cylinder（31）, working arm revolving bed（32）, working arm outer sleeve（33）, working arm elevating ram（34）, working arm
Inner sleeve（35）, leveling cyclinder（36）, working arm hydraulic steering gear adopting cross piece（37）, rotary oil cylinder seat（38）And rotary oil cylinder（39）, the work
Make revolution of arm seat（32）With frame（7）It is hinged, working arm outer sleeve（33）One end be arranged on working arm revolving bed（32）Inside simultaneously
With working arm revolving bed（32）It is hinged, working arm side-sway oil cylinder（31）It is arranged on working arm revolving bed（32）Side, working arm
Side-sway oil cylinder（31）One end and working arm revolving bed（32）It is hinged, the other end and frame（7）It is hinged, working arm elevating ram
（34）It is arranged on working arm outer sleeve（33）Lower section, working arm elevating ram（34）One end and working arm outer sleeve（33）Hinge
Connect, the other end and frame（7）It is hinged, working arm inner sleeve（35）It is set in working arm outer sleeve（33）It is interior, working arm inner sleeve
（35）Can be along working arm outer sleeve（33）Length direction is stretched by built-in oil cylinder pushing, working arm inner sleeve（35）Front end
It is hinged working arm hydraulic steering gear adopting cross piece（37）, the leveling cyclinder（36）It is arranged on working arm inner sleeve（35）Top, leveling cyclinder
（36）One end and working arm hydraulic steering gear adopting cross piece（37）It is hinged, the other end and working arm inner sleeve（35）It is hinged, the rotary oil cylinder
（39）It is fixed on rotary oil cylinder seat（38）It is interior, rotary oil cylinder seat（38）With working arm hydraulic steering gear adopting cross piece（37）It is hinged.
3. a kind of intelligent anchor rod drill carriage according to claim 1 or 2, it is characterised in that：The lapping manipulator（4）Including
Manipulator side-sway oil cylinder（41）, manipulator revolving bed（42）, manipulator large arm（43）, manipulator elevating ram（44）, oil cylinder
（45）, manipulator outer sleeve（46）, manipulator inner sleeve（47）And electromagnet（48）, the manipulator revolving bed（42）With frame
（7）It is hinged, manipulator side-sway oil cylinder（41）It is arranged on manipulator revolving bed（42）Side, manipulator side-sway oil cylinder（41）One
End and manipulator revolving bed（42）It is hinged, the other end and frame（7）It is hinged, manipulator large arm（43）One end be arranged on manipulator
Revolving bed（42）It is interior and with manipulator revolving bed（42）It is hinged, manipulator large arm（43）The other end and manipulator outer sleeve（46）
One end be hinged, oil cylinder（45）It is arranged on manipulator large arm（43）With manipulator outer sleeve（46）Lower section, oil cylinder（45）One
End and manipulator large arm（43）It is hinged, the other end and manipulator outer sleeve（46）It is hinged, manipulator inner sleeve（47）It is set in machine
Tool hand outer sleeve（46）It is interior, manipulator inner sleeve（47）Can be along manipulator outer sleeve（46）Length direction is entered by built-in oil cylinder pushing
Row is flexible, manipulator inner sleeve（47）Front end be hinged electromagnet（48）.
4. a kind of intelligent anchor rod drill carriage according to claim 3, it is characterised in that：The intelligent drilling cramp（5）Including drilling rod
（51）, bore case（52）, hoisting mechanism（53）, powder stick spraying system（54）, manipulator（55）, drilling rod clamping mechanism（56）, framework
（57）, electric control system I（58）, anchor pole storehouse（59）, hydraulic system I（510）, Jia Qian mechanisms（511）With connection swing mechanism
（512）, the connection swing mechanism（512）It is arranged on framework（57）Outside, drilling rod clamping mechanism（56）, powder stick spraying system
（54）, anchor pole storehouse（59）, manipulator（55）, electric control system I（58）And hydraulic system I（510）It is arranged at framework（57）
It is interior, the drilling rod（51）It is fixed on drilling rod clamping mechanism（56）In, drilling rod（51）Bottom set external screw thread, the brill case（52）
Upper surface set and drilling rod（51）The screwed hole that the external screw thread of bottom matches, the anchor pole storehouse（59）It is interior that some anchor poles are set
（596）, the anchor pole（596）Bottom set with bore case（52）The external screw thread that the screwed hole of upper surface matches, the machinery
Hand（55）It is arranged on drilling rod clamping mechanism（56）With anchor pole storehouse（59）Between, manipulator（55）With hydraulic system I（510）It is connected,
Manipulator（555）In hydraulic system I（510）In the presence of rotatable be used to capture drilling rod（51）Or anchor pole（596）, the brill case
（52）With hoisting mechanism（53）It is connected, hoisting mechanism（53）With electric control system I（58）It is connected, hoisting mechanism（53）Drive and bore
Case（52）Move up and down, the Jia Qian mechanisms（511）It is arranged on framework（57）Top, including two leading arms, every leading arm
Have half of guiding taper hole.
5. a kind of intelligent anchor rod drill carriage according to claim 4, it is characterised in that：The hoisting mechanism（53）Including lifting
Oil cylinder（531）, lifting chain（532）, lead（533）With guiding chain connecting plate（534）, lift cylinder（531）Cylinder tube two
There is cylinder rod stretching at end, and cylinder rod two ends are fixed on framework（57）On, cylinder tube can be slided up and down on cylinder rod, lift chain
Bar（532）One end is fixed on framework（57）On, the other end bypasses lift cylinder（531）Cylinder tube on lifting ear and be fixed on
It is oriented to chain connecting plate（534）On, it is oriented to chain connecting plate（534）There are two leads centre（533）Pass through.
6. a kind of intelligent anchor rod drill carriage according to claim 4 or 5, it is characterised in that：The powder stick spraying system（54）
Including powder stick nozzle（541）, flexible pipe（542）, powder stick storehouse（543）And powder stick（544）, the powder stick（544）It is arranged on powder stick storehouse
（543）It is interior, the flexible pipe（542）One end and powder stick（544）It is connected, the other end and powder stick nozzle（541）It is connected, powder stick nozzle
（541）It is connected with one end of oil cylinder, the other end of oil cylinder is fixed on framework（57）On.
7. a kind of intelligent anchor rod drill carriage according to claim 6, it is characterised in that：The manipulator（55）Including rotation oil
Cylinder（551）, column（552）, arm（553）, grabber（554）And manipulator base（555）, column（552）Lower end it is vertical
It is rotatably provided in manipulator base（555）On, arm（553）One end be vertically fixed on column（552）Upper end, arm
（553）The other end set grabber（554）, rotary oil cylinder（551）One end and manipulator base（555）It is hinged, the other end
With column（552）Lower end be hinged, arm（553）It is middle that control grabber is set（554）Closure and the control cylinder opened.
8. a kind of intelligent anchor rod drill carriage according to claim 7, it is characterised in that：The anchor pole storehouse（59）Including stepping electricity
Machine（591）, active rotating shaft（592）, tooth form belt wheel（593）, cog belt（594）, Flexible clamp（595）, anchor pole（596）, it is passive
Rotating shaft（597）With anchor pole Hatch Coaming frame（598）, stepper motor（591）Installed in anchor pole Hatch Coaming frame（598）Bottom, active rotating shaft
（592）It is arranged on anchor pole Hatch Coaming frame（598）Interior one end, passive rotating shaft（597）It is arranged on anchor pole Hatch Coaming frame（598）Interior is another
End, stepper motor（591）Upper end and active rotating shaft（592）Lower end be connected, active rotating shaft（592）With passive rotating shaft（597）
Top and the bottom be respectively respectively mounted a tooth form belt wheel（593）, active rotating shaft（592）With passive rotating shaft（597）The cog belt on top
Wheel（593）And the tooth form belt wheel of bottom（593）Between pass through cog belt respectively（594）It is connected, the cog belt up and down（594）
Upper correspond respectively sets some Flexible clamps（595）, the anchor pole（596）It is arranged on Flexible clamp corresponding up and down
（595）Between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710511686.4A CN107165663B (en) | 2017-06-29 | 2017-06-29 | Intelligent anchor rod drill carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710511686.4A CN107165663B (en) | 2017-06-29 | 2017-06-29 | Intelligent anchor rod drill carriage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107165663A true CN107165663A (en) | 2017-09-15 |
| CN107165663B CN107165663B (en) | 2023-09-12 |
Family
ID=59826363
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710511686.4A Active CN107165663B (en) | 2017-06-29 | 2017-06-29 | Intelligent anchor rod drill carriage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107165663B (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108222986A (en) * | 2018-02-13 | 2018-06-29 | 北京新能正源环境科技有限公司 | Jumbolter operating system |
| CN108756965A (en) * | 2018-06-01 | 2018-11-06 | 中国神华能源股份有限公司 | A kind of roofboltier |
| CN109681117A (en) * | 2018-12-05 | 2019-04-26 | 中国煤炭科工集团太原研究院有限公司 | A kind of automatic anchor cable drill carriage of coal mine hydraulic single-arm |
| CN109707310A (en) * | 2019-02-01 | 2019-05-03 | 中煤科工集团重庆研究院有限公司 | Quick moving assembly for coal mine drilling machine |
| CN110424994A (en) * | 2019-07-31 | 2019-11-08 | 太原理工大学 | A kind of coal Full-automatic mine jumbolter |
| 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 |
| CN110566526A (en) * | 2019-08-27 | 2019-12-13 | 中国煤炭科工集团太原研究院有限公司 | Full-hydraulic automatic leveling control device and control system for intelligent anchor rod drilling frame |
| CN112112564A (en) * | 2020-10-09 | 2020-12-22 | 廊坊景隆重工机械有限公司 | Full-automatic drill boom for anchor rod drill carriage |
| CN112392522A (en) * | 2020-11-23 | 2021-02-23 | 中铁隧道局集团有限公司 | Three-station tunnel anchor rod installation equipment |
| CN112682035A (en) * | 2021-01-15 | 2021-04-20 | 中国煤炭科工集团太原研究院有限公司 | But push anchor drilling platform formula unstable roof is with digging anchor all-in-one |
| CN113494302A (en) * | 2021-07-08 | 2021-10-12 | 中煤科工开采研究院有限公司 | Anchor rod drilling machine |
| CN113530586A (en) * | 2021-08-13 | 2021-10-22 | 中国煤炭科工集团太原研究院有限公司 | Mechanism for automatically drilling, pushing, feeding anchor cable and tensioning, fixedly connecting and cutting off |
| RU2765002C1 (en) * | 2021-06-23 | 2022-01-24 | Закрытое Акционерное Общество "Солигорский Институт Проблем Ресурсосбережения С Опытным Производством" | Self-propelled anchoring rig |
| CN114278345A (en) * | 2021-11-25 | 2022-04-05 | 中国煤炭科工集团太原研究院有限公司 | Net laying method based on anchor net anchoring operation vehicle |
| CN114294031A (en) * | 2021-11-25 | 2022-04-08 | 中国煤炭科工集团太原研究院有限公司 | Anchor spraying operation mechanism |
| CN114320384A (en) * | 2021-11-25 | 2022-04-12 | 中国煤炭科工集团太原研究院有限公司 | Lapping actuating mechanism and anchor rod drill carriage |
| CN114352324A (en) * | 2021-11-25 | 2022-04-15 | 中国煤炭科工集团太原研究院有限公司 | Anchor robot |
| CN115596485A (en) * | 2022-12-16 | 2023-01-13 | 山西潞安环保能源开发股份有限公司（Cn） | Filling and remote injection device for anchoring agent cartridge |
| WO2023093117A1 (en) * | 2021-11-25 | 2023-06-01 | 中国煤炭科工集团太原研究院有限公司 | Anchor protection vehicle |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU30839U1 (en) * | 2002-11-10 | 2003-07-10 | Закрытое акционерное общество "Пермский проектно-конструкторский и экспериментальный институт горного и нефтяного машиностроения" | Device for attaching mine workings with anchors |
| US20060272862A1 (en) * | 2005-06-03 | 2006-12-07 | J.H. Fletcher & Co., Inc. | Automated, low profile drilling/bolting module with carousel |
| US20090114446A1 (en) * | 2005-11-30 | 2009-05-07 | Comacchio S.R.L. | Well drilling machine with new drill pipe loader |
| CN201953311U (en) * | 2011-01-28 | 2011-08-31 | 武汉市天宝工程机械有限责任公司 | All-hydraulic rubber-tyred rock drilling anchoring boring rig |
| DE102011112740A1 (en) * | 2011-09-07 | 2013-03-07 | Prime Drilling Gmbh | Pipe linkage weft manipulator for handling linkage wefts located in open cage-like magazine for laying pipeline strings in underground, has basic frame, stroke slide and linkage gripper arranged at horizontal carriage |
| CN104806277A (en) * | 2015-04-14 | 2015-07-29 | 王发秀 | Automatic rod feeding device for mine anchor rod drilling machine |
| CN104847386A (en) * | 2015-04-14 | 2015-08-19 | 王发秀 | Automatic net paving device of anchor rod drill carriage for coal mine |
| CN104912484A (en) * | 2015-04-21 | 2015-09-16 | 王发秀 | Fully automatic anchor rod drill carriage for coal mine |
| CN105370305A (en) * | 2015-11-11 | 2016-03-02 | 中国煤炭科工集团太原研究院有限公司 | Automatic subpackage and injection device of anchoring agent cartridge |
| CN105422148A (en) * | 2015-11-11 | 2016-03-23 | 中国煤炭科工集团太原研究院有限公司 | Rotary type high-capacity automatic positioning anchor rod bin |
| CN105443037A (en) * | 2015-12-24 | 2016-03-30 | 蒲长晏 | Anchor rod jacking drilling machine and anchor rod jacking drilling carriage with same |
| CN205172608U (en) * | 2015-11-13 | 2016-04-20 | 中国煤炭科工集团太原研究院有限公司 | Two brill casees switch full -automatic roofbolter of formula |
| CN205259938U (en) * | 2015-12-24 | 2016-05-25 | 蒲长晏 | Anchor rod drilling carriage of four arms group |
| AU2016213888A1 (en) * | 2006-06-07 | 2016-09-01 | Joy Global Underground Mining Llc | Improved Drill Rig |
| CN106703724A (en) * | 2017-01-11 | 2017-05-24 | 张朝纯 | Intelligent upper and lower pipe sorting system |
| CN207261026U (en) * | 2017-06-29 | 2018-04-20 | 中国煤炭科工集团太原研究院有限公司 | A kind of intelligent anchor rod drill carriage |
-
2017
- 2017-06-29 CN CN201710511686.4A patent/CN107165663B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU30839U1 (en) * | 2002-11-10 | 2003-07-10 | Закрытое акционерное общество "Пермский проектно-конструкторский и экспериментальный институт горного и нефтяного машиностроения" | Device for attaching mine workings with anchors |
| US20060272862A1 (en) * | 2005-06-03 | 2006-12-07 | J.H. Fletcher & Co., Inc. | Automated, low profile drilling/bolting module with carousel |
| US20090114446A1 (en) * | 2005-11-30 | 2009-05-07 | Comacchio S.R.L. | Well drilling machine with new drill pipe loader |
| AU2016213888A1 (en) * | 2006-06-07 | 2016-09-01 | Joy Global Underground Mining Llc | Improved Drill Rig |
| CN201953311U (en) * | 2011-01-28 | 2011-08-31 | 武汉市天宝工程机械有限责任公司 | All-hydraulic rubber-tyred rock drilling anchoring boring rig |
| DE102011112740A1 (en) * | 2011-09-07 | 2013-03-07 | Prime Drilling Gmbh | Pipe linkage weft manipulator for handling linkage wefts located in open cage-like magazine for laying pipeline strings in underground, has basic frame, stroke slide and linkage gripper arranged at horizontal carriage |
| CN104806277A (en) * | 2015-04-14 | 2015-07-29 | 王发秀 | Automatic rod feeding device for mine anchor rod drilling machine |
| CN104847386A (en) * | 2015-04-14 | 2015-08-19 | 王发秀 | Automatic net paving device of anchor rod drill carriage for coal mine |
| CN104912484A (en) * | 2015-04-21 | 2015-09-16 | 王发秀 | Fully automatic anchor rod drill carriage for coal mine |
| CN105370305A (en) * | 2015-11-11 | 2016-03-02 | 中国煤炭科工集团太原研究院有限公司 | Automatic subpackage and injection device of anchoring agent cartridge |
| CN105422148A (en) * | 2015-11-11 | 2016-03-23 | 中国煤炭科工集团太原研究院有限公司 | Rotary type high-capacity automatic positioning anchor rod bin |
| CN205172608U (en) * | 2015-11-13 | 2016-04-20 | 中国煤炭科工集团太原研究院有限公司 | Two brill casees switch full -automatic roofbolter of formula |
| CN105443037A (en) * | 2015-12-24 | 2016-03-30 | 蒲长晏 | Anchor rod jacking drilling machine and anchor rod jacking drilling carriage with same |
| CN205259938U (en) * | 2015-12-24 | 2016-05-25 | 蒲长晏 | Anchor rod drilling carriage of four arms group |
| CN106703724A (en) * | 2017-01-11 | 2017-05-24 | 张朝纯 | Intelligent upper and lower pipe sorting system |
| CN207261026U (en) * | 2017-06-29 | 2018-04-20 | 中国煤炭科工集团太原研究院有限公司 | A kind of intelligent anchor rod drill carriage |
Non-Patent Citations (3)
| Title |
|---|
| 刘鹏;赵宏强;胡志新;林宏武;: "露天液压钻车", 凿岩机械气动工具, no. 02, pages 18 - 22 * |
| 李军;: "我国地下矿山锚杆安装设备的发展现状", 有色金属, no. 03, pages 121 - 123 * |
| 柴敬等: "机载锚杆钻机实现掘锚一体化的几点思考", 《煤矿机械》, no. 05, pages 5 - 7 * |
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108222986A (en) * | 2018-02-13 | 2018-06-29 | 北京新能正源环境科技有限公司 | Jumbolter operating system |
| CN108222986B (en) * | 2018-02-13 | 2024-05-10 | 北京新能正源智能装备有限公司 | Roof bolter operating system |
| CN108756965A (en) * | 2018-06-01 | 2018-11-06 | 中国神华能源股份有限公司 | A kind of roofboltier |
| CN109681117A (en) * | 2018-12-05 | 2019-04-26 | 中国煤炭科工集团太原研究院有限公司 | A kind of automatic anchor cable drill carriage of coal mine hydraulic single-arm |
| CN109707310A (en) * | 2019-02-01 | 2019-05-03 | 中煤科工集团重庆研究院有限公司 | Quick moving assembly for coal mine drilling machine |
| CN110424994B (en) * | 2019-07-31 | 2021-05-11 | 太原理工大学 | Full-automatic anchor rod drilling machine for coal mine |
| 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 |
| CN110424994A (en) * | 2019-07-31 | 2019-11-08 | 太原理工大学 | A kind of coal Full-automatic mine jumbolter |
| CN110566526A (en) * | 2019-08-27 | 2019-12-13 | 中国煤炭科工集团太原研究院有限公司 | Full-hydraulic automatic leveling control device and control system for intelligent anchor rod drilling frame |
| CN110566526B (en) * | 2019-08-27 | 2024-05-17 | 中国煤炭科工集团太原研究院有限公司 | Full-hydraulic automatic leveling control device and control system for intelligent anchor rod drilling frame |
| CN112112564A (en) * | 2020-10-09 | 2020-12-22 | 廊坊景隆重工机械有限公司 | Full-automatic drill boom for anchor rod drill carriage |
| CN112392522A (en) * | 2020-11-23 | 2021-02-23 | 中铁隧道局集团有限公司 | Three-station tunnel anchor rod installation equipment |
| CN112392522B (en) * | 2020-11-23 | 2022-04-19 | 中铁隧道局集团有限公司 | Three-station tunnel anchor rod installation equipment |
| CN112682035A (en) * | 2021-01-15 | 2021-04-20 | 中国煤炭科工集团太原研究院有限公司 | But push anchor drilling platform formula unstable roof is with digging anchor all-in-one |
| CN112682035B (en) * | 2021-01-15 | 2024-05-14 | 中国煤炭科工集团太原研究院有限公司 | But anchor drill platform formula unstable roof of pushing away is with tunneling anchor all-in-one |
| RU2765002C1 (en) * | 2021-06-23 | 2022-01-24 | Закрытое Акционерное Общество "Солигорский Институт Проблем Ресурсосбережения С Опытным Производством" | Self-propelled anchoring rig |
| CN113494302A (en) * | 2021-07-08 | 2021-10-12 | 中煤科工开采研究院有限公司 | Anchor rod drilling machine |
| CN113494302B (en) * | 2021-07-08 | 2024-01-30 | 中煤科工开采研究院有限公司 | Roof bolter |
| CN113530586A (en) * | 2021-08-13 | 2021-10-22 | 中国煤炭科工集团太原研究院有限公司 | Mechanism for automatically drilling, pushing, feeding anchor cable and tensioning, fixedly connecting and cutting off |
| CN113530586B (en) * | 2021-08-13 | 2024-01-30 | 中国煤炭科工集团太原研究院有限公司 | Mechanism for automatically drilling, pushing medicine, delivering anchor cable and tensioning and fixedly connecting and cutting off |
| CN114278345A (en) * | 2021-11-25 | 2022-04-05 | 中国煤炭科工集团太原研究院有限公司 | Net laying method based on anchor net anchoring operation vehicle |
| WO2023093117A1 (en) * | 2021-11-25 | 2023-06-01 | 中国煤炭科工集团太原研究院有限公司 | Anchor protection vehicle |
| CN114320384B (en) * | 2021-11-25 | 2023-08-04 | 中国煤炭科工集团太原研究院有限公司 | Lapping actuating mechanism and stock drill carriage |
| CN114278345B (en) * | 2021-11-25 | 2023-08-08 | 中国煤炭科工集团太原研究院有限公司 | Net laying method based on anchor net anchoring operation vehicle |
| CN114352324B (en) * | 2021-11-25 | 2023-08-08 | 中国煤炭科工集团太原研究院有限公司 | Anchor robot |
| CN114294031B (en) * | 2021-11-25 | 2023-08-25 | 中国煤炭科工集团太原研究院有限公司 | Anchor spraying operation mechanism |
| CN114352324A (en) * | 2021-11-25 | 2022-04-15 | 中国煤炭科工集团太原研究院有限公司 | Anchor robot |
| CN114320384A (en) * | 2021-11-25 | 2022-04-12 | 中国煤炭科工集团太原研究院有限公司 | Lapping actuating mechanism and anchor rod drill carriage |
| CN114294031A (en) * | 2021-11-25 | 2022-04-08 | 中国煤炭科工集团太原研究院有限公司 | Anchor spraying operation mechanism |
| CN115596485B (en) * | 2022-12-16 | 2023-03-10 | 山西潞安环保能源开发股份有限公司 | Filling and remote injection device for anchoring agent cartridge |
| CN115596485A (en) * | 2022-12-16 | 2023-01-13 | 山西潞安环保能源开发股份有限公司（Cn） | Filling and remote injection device for anchoring agent cartridge |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107165663B (en) | 2023-09-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107165663A (en) | A kind of intelligent anchor rod drill carriage | |
| CN207261026U (en) | A kind of intelligent anchor rod drill carriage | |
| CN107178317B (en) | Intelligent drill frame | |
| CN108104853A (en) | A kind of full-automation Zuan Mao Operation Vans | |
| CN205259938U (en) | Anchor rod drilling carriage of four arms group | |
| CN105275415B (en) | Full-automatic continuous drilling rig | |
| CN205259940U (en) | Four arms top anchor rod drilling carriage | |
| CN205259939U (en) | Six arms top anchor rod drilling carriage | |
| CN108756965A (en) | A kind of roofboltier | |
| CN202402045U (en) | Mounting equipment for steel tunnel arches | |
| CN206625782U (en) | A kind of colliery automatic liquid drilol press | |
| CN207686728U (en) | Constructing tunnel equipment | |
| CN101832103A (en) | Movable two-arm hanging wall anchor rod and anchor cable construction drill carriage | |
| CN107575225A (en) | The high prominent unattended automatic driving system in tunnel of gas | |
| CN110939384A (en) | Working method of jumbolter for high slope anchoring | |
| CN206830084U (en) | A kind of automatic grab of mine drill stem send device | |
| CN103707034B (en) | Overturning machine for assembling and engineering machinery base assembling device | |
| CN207017940U (en) | A kind of intelligent drilling cramp | |
| CN202055821U (en) | Two-arm top slope anchor rod and anchor rope construction drill wagon with movable lifting platform | |
| CN203488122U (en) | Vertically pipe-arranging system | |
| CN103624468A (en) | Welding positioner special for upper and lower square butt joint welding seams of excavator movable arms and using method of welding positioner | |
| CN101845952B (en) | Movable three-arm top-assisting anchor rod and anchor cable construction drill carriage | |
| CN107780948A (en) | Constructing tunnel equipment | |
| CN201635656U (en) | Side-propping anchor rod-anchor cable construction drill carriage with three movable arms | |
| CN209308713U (en) | A kind of arch trolley manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |