CN107575161A - A kind of intelligent drill jumbo - Google Patents
A kind of intelligent drill jumbo Download PDFInfo
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- CN107575161A CN107575161A CN201710961682.6A CN201710961682A CN107575161A CN 107575161 A CN107575161 A CN 107575161A CN 201710961682 A CN201710961682 A CN 201710961682A CN 107575161 A CN107575161 A CN 107575161A
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- forward beam
- arm support
- oil cylinder
- rotational deceleration
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- 239000011435 rock Substances 0.000 claims abstract description 26
- 238000005553 drilling Methods 0.000 claims abstract description 23
- 238000010276 construction Methods 0.000 claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- 238000004804 winding Methods 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 4
- 238000004880 explosion Methods 0.000 abstract description 4
- 239000003921 oil Substances 0.000 description 19
- 239000004744 fabric Substances 0.000 description 6
- 238000004080 punching Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The invention discloses a kind of intelligent drill jumbo, including：Chassis, support, an at least drill boom, controller, drill boom includes base, swing seat, arm support, arm support oscillating oil cylinder, arm support pitching oil cylinder, boom frame telescopic oil cylinder, forward beam, forward beam slide, the propelling cylinder that control forward beam slides on forward beam slide, rock drill, the drilling oil cylinder that control rock drill slides on forward beam, the the first rotational deceleration machine for controlling forward beam slide to swing, with the second rotational deceleration machine of the first rotational deceleration machine pitching of control and then drive forward beam slide pitching, support the reductor bearing of the first rotational deceleration machine and the second rotational deceleration machine.Using intelligent drill jumbo provided by the invention, the angle and the distributing position of depth and hole position of drilling are accurately controlled, therefore the precision of explosion rear end face can be effectively improved, and then improves construction quality and efficiency of construction.
Description
Technical field
The present invention relates to technical field of engineering machinery, more particularly to a kind of intelligent drill jumbo.
Background technology
When carrying out tunneling construction to tunnel, it is necessary to open up blast hole in tunnel.
Current perforate mode is mainly constructed by man-hour manually hand-held air pressure gun or manual operation hydraulic drill ring, is required for
Workmen measures and marks bore position in advance, therefore it is low easily borehole accuracy occur, surpasses, owes to dig the problem of serious.Wherein
There is the problems such as labor intensity is big, and working environment is severe, low construction efficiency in the drilling of man-hour manually hand-held air pressure gun, hydraulic pressure of manually doing exercises in addition
Drill jumbo, positioning precision is poor, and every drill boom is required to an operating personnel to control, therefore cost of labor is higher.
Therefore, how the drill jumbo that a kind of drilling quality is high, construction effect is high is provided, is that those skilled in the art are badly in need of
The technical problem of solution.
The content of the invention
It is an object of the invention to provide a kind of intelligent drill jumbo, the precision that can effectively solve to punching is low, low construction efficiency
The problems such as.
In order to solve the above technical problems, the invention provides following technical scheme：
A kind of intelligent drill jumbo, including：Chassis, it is arranged on the chassis upper bracket, sets on the bracket extremely
The controller of few a drill boom, the posture for controlling the drill boom and drilling depth, the drill boom include base, swing seat,
Arm support, arm support oscillating oil cylinder, arm support pitching oil cylinder, boom frame telescopic oil cylinder, forward beam, forward beam slide, the control forward beam
The brill that propelling cylinder, rock drill, the control rock drill slided on the forward beam slide slides on the forward beam
Enter oil cylinder, the first rotational deceleration machine that the control forward beam slide is swung and control the first rotational deceleration machine pitching to enter
And drive the second rotational deceleration machine of the forward beam slide pitching, support the first rotational deceleration machine and second rotation
The reductor bearing of reductor；
The base is fixed on the bracket, and the arm support is hinged by horizontally hinged axle and the swing seat, described
Swing seat is hinged by vertical jointed shaft and the base, the both ends of the arm support oscillating oil cylinder respectively with the arm support and institute
State base to be hinged, the both ends of the arm support pitching oil cylinder are hinged with the arm support and the swing seat respectively, the vertical hinge
One end of spindle is provided with the angle sensor for being used for detecting the arm support swing angle, and one end of the horizontally hinged axle, which is provided with, to be used
It is additionally provided with the pitch reference for detecting the arm support luffing angle, the arm support for detecting the boom frame telescopic amount
Arm support displacement transducer, the angle sensor and the pitch reference and the arm support displacement transducer with it is described
Controller connects；
The reductor bearing, which is provided with, to be used to detect the first rotational deceleration machine and the second rotational deceleration machine is each
The rotary angle transmitter of kind rotational angle, the first rotational deceleration machine and the second rotational deceleration machine and the rotation angular sensing
Device connects with the controller；
The forward beam slide is provided with the forward beam displacement transducer for being used for detecting the propulsion Liang Sicheng, the propulsion
Beam is provided with the rock drill displacement transducer for being used for detecting the rock drill displacement, the forward beam displacement transducer, the chisel
Rock seat in the plane displacement sensor and the propelling cylinder and the drilling oil cylinder are connected with the controller.
Preferably, the tray bottom is provided with telescopic outrigger vertically.
Preferably, the support is provided with three drill booms, and three drill booms fix position on the bracket
Line forms del, and workbench support arm is connected with the middle part of the del.
Preferably, liftable driver's cabin is additionally provided with the chassis.
Preferably, coil of cable drum and water pipe winding roll are additionally provided with the chassis, the coil of cable drum and described
Water pipe winding roll, which can flip over, is hinged on the chassis both sides.
Preferably, the both sides on the chassis are provided with two and fix the coil of cable drum and the water pipe winding roll respectively
Wire coil bracket, the wire coil bracket is hinged on the chassis vertically.
Preferably, covering is provided with the chassis, two prisms are provided with the covering, the two prisms are used for
Total powerstation is measured to determine the position of the intelligent drill jumbo at the construction field (site).
Preferably, the drilling display connected with the controller is provided with the driver's cabin, the drilling display is used
In the bore state information for showing the drill boom.
Preferably, it is additionally provided with the driver's cabin for showing that the road conditions of the intelligent drill jumbo ambient condition information show
Show device.
Compared with prior art, above-mentioned technical proposal has advantages below：
A kind of intelligent drill jumbo provided by the present invention, controller control drill boom to carry out according to the cloth hole pattern of storage inside
Corresponding action, you can realize the purpose of automatic drilling, the number of the position in each hole, bore angle and hole in its central holing figure
The program that amount, punching order, the gesture stability of drill boom and mobile route can be finished in advance in controller is automatically controlled, and is led to
The angle and the distributing position of depth and hole position of accurate keyhole are crossed, the precision of explosion rear end face can be effectively improved, and then
Improve construction quality and efficiency of construction.
Brief description of the drawings
, below will be to embodiment or prior art in order to illustrate more clearly of technical scheme of the invention or of the prior art
The required accompanying drawing used is briefly described in description, it should be apparent that, drawings in the following description are some of the present invention
Embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also be attached according to these
Figure obtains other accompanying drawings.
A kind of side structure schematic view for intelligent drill jumbo that Fig. 1 is provided for a kind of embodiment of the present invention；
A kind of structural representation of the front end for intelligent drill jumbo that Fig. 2 is provided for a kind of embodiment of the present invention
Figure；
A kind of structural representation of the rear end for intelligent drill jumbo that Fig. 3 is provided for a kind of embodiment of the present invention
Figure；
A kind of structural representation of the drill boom for intelligent drill jumbo that Fig. 4 is provided for a kind of embodiment of the present invention
Figure.
Reference is as follows：
1 is chassis, and 2 be support, and 3 be drill boom, and 31 be arm support, and 311 be base, and 312 be arm support oscillating oil cylinder, and 313 be arm
Frame pitching oil cylinder, 314 be swing seat, and 32 be forward beam, and 321 be reductor bearing, and 322 be forward beam slide, and 323 be rock drilling
Machine, 324 be the first rotational deceleration machine, and 325 be the second rotational deceleration machine, and 4 be workbench support arm, and 5 be driver's cabin, and 6 be to stretch
Contracting supporting leg, 7 be coil of cable drum, and 8 be water pipe winding roll, and 9 be wire coil bracket, and 10 be covering, and 11 be two prisms.
Embodiment
Just as described in the background section, the borehole accuracy of drill jumbo is relatively low at present, and operating efficiency is low.
On the basis of the studies above, the embodiments of the invention provide a kind of intelligent drill jumbo, controller is in
The cloth hole pattern control drill boom of portion's storage is acted accordingly, you can the purpose of automatic drilling is realized, it is each in its central holing figure
The position in hole, the quantity of bore angle and hole, punching order, the gesture stability of drill boom and mobile route can be in controllers in advance
The program finished is automatically controlled, can be effective by the angle and depth of accurate keyhole and the distributing position of hole position
The precision of explosion rear end face is improved, and then improves construction quality and efficiency of construction.
In order that the above objects, features and advantages of the present invention can become apparent it is understandable, below in conjunction with the accompanying drawings to this hair
Bright embodiment is described in detail.
Detail is elaborated in the following description in order to fully understand the present invention.But the present invention can with it is a variety of not
Other manner described here is same as to implement, those skilled in the art can do class in the case of without prejudice to intension of the present invention
Like popularization.Therefore the present invention is not limited by following public embodiment.
It refer to Fig. 1-Fig. 4, a kind of side for intelligent drill jumbo that Fig. 1 is provided for a kind of embodiment of the present invention
Depending on structural representation；A kind of structure of the front end for intelligent drill jumbo that Fig. 2 is provided for a kind of embodiment of the present invention
Schematic diagram；A kind of structural representation of the rear end for intelligent drill jumbo that Fig. 3 is provided for a kind of embodiment of the present invention；
A kind of structural representation of the drill boom for intelligent drill jumbo that Fig. 4 is provided for a kind of embodiment of the present invention.
A kind of embodiment of the present invention provides a kind of intelligent drill jumbo, including：Chassis 1, it is arranged on chassis 1
On support 2, the controller of at least drill boom 3, the posture for controlling drill boom 3 and drilling depth that are arranged on support 2,
Drill boom 3 includes base 311, swing seat 314, arm support 31, arm support oscillating oil cylinder 312, arm support pitching oil cylinder 313, boom frame telescopic oil
Propelling cylinder, the rock drill that cylinder, forward beam 32, forward beam slide 322, control forward beam 32 slide on forward beam slide 322
323rd, the first rotation that drilling oil cylinder, the control forward beam slide 322 for controlling rock drill 323 to be slided on forward beam 32 are swung subtracts
Fast machine 324 and the control pitching of the first rotational deceleration machine 324 and then the second rotational deceleration machine for driving the pitching of forward beam slide 322
325th, the reductor bearing 321 of the first rotational deceleration machine 324 and the second rotational deceleration machine 325 is supported；Base 311 is fixed on support
On 2, arm support 31 is be hinged by horizontally hinged axle and swing seat 314, and swing seat 314 is be hinged by vertical jointed shaft and base 311,
The both ends of arm support oscillating oil cylinder 312 are be hinged with arm support 31 and base 311 respectively, the both ends of arm support pitching oil cylinder 313 respectively and
Arm support 31 and swing seat 314 are be hinged, and one end of vertical jointed shaft is provided with the pivot angle sensing for being used to detect the swing angle of arm support 31
Device, one end of horizontally hinged axle are provided with the pitch reference for being used for detecting the luffing angle of arm support 31, use are additionally provided with arm support 31
In the displacement transducer of arm support 31 of the detection stroke of arm support 31, angle sensor and pitch reference and the displacement of arm support 31 pass
Sensor is connected with controller；Reductor bearing 321, which is provided with, to be used to detect the first rotational deceleration machine 324 and the second rotational deceleration
The rotary angle transmitter of 325 various rotational angles of machine, the first rotational deceleration machine 324 and the second rotational deceleration machine 325 and corner pass
Sensor connects with controller；Forward beam slide 322 is provided with the forward beam displacement transducer for being used for detecting the displacement of forward beam 32,
Forward beam is provided with the rock drill displacement transducer for being used for detecting the displacement of rock drill 323, forward beam displacement transducer, rock drill
323 displacement transducers and propelling cylinder and drilling oil cylinder are connected with controller.
In the present embodiment, technical staff carries out cloth hole G- Design in work computer, and cloth hole pattern then is stored into control
In device processed, wherein controller can be the vehicle-mounted computer being arranged on intelligent drill jumbo, and controller is controlled according to cloth hole pattern and bored
Arm 3 is acted accordingly, you can realize the purpose of automatic drilling, the position in each hole in its central holing figure, bore angle and
The program that the quantity in hole, punching order, the gesture stability of drill boom 3 and mobile route can number in advance in controller carries out automatic
Control, in controller can also installment work condition diagnosing and false alarm system, provide accurate fault message for maintenance work,
The step of to reduce the difficulty of maintenance work and maintenance time, wherein automatic drilling, is specific as follows：
Controller enters according to cloth hole pattern, control arm support telescopic oil cylinder, arm support pitching oil cylinder 313 and arm support oscillating oil cylinder 312
Action is made, and arm support 31 is moved to position and the angle of needs；
Controller control propelling cylinder stretches out, and forward beam 32 is held out against rock；
Controller control rock drill 323 holds out against rock；
Hole depth as needed, rock drill 323 is controlled to move forward by controller；
After being drilled into the hole depth of needs, control rock drill 323 is contracted to the tail end of forward beam 32, and control forward beam 32 by rock
The working face of stone is retracted；
The first step is returned, is drilled in next hole position, all hole positions can be drilled by then being circulated successively by above-mentioned steps.
Importantly, by measurement of each sensor to rotational angle and straight-line displacement accurately control drilling angle and
The distributing position of depth and hole position, the precision of explosion rear end face can be effectively improved, and then improve construction quality and efficiency of construction.
Wherein intelligent drill jumbo may also include hydraulic system, electrical system, water system, water system etc..In addition may be used
Chassis 1 is driven to walk using tire, the preferred H types structure in chassis 1, the support 2 of support drill boom 3 is arranged on the front end on chassis 1, drives
Room 5 is arranged on the middle part on chassis 1, and the rear end of chassis 1 sets the parts such as engine, hydraulic oil container, electrical control cabinet, except rock drill
It is outer that the power of 323 work has motor to provide, and the power of other work can be provided by engine.
Further, the bottom of chassis 1 is provided with telescopic outrigger 6 vertically.Wherein one can be respectively set in the corner on chassis 1 to stretch
Supporting leg 6, intelligent drill jumbo lifting and can be supported by telescopic outrigger 6, to improve stability during its work.
In order to further improve operating efficiency, in the present embodiment, support 2 is provided with three drill booms 3, and three drill booms 3 are solid
The position line being scheduled on support 2 forms del, and workbench support arm 4 is connected with the middle part of del.Wherein in order to
Collision is produced when avoiding drill boom 3 and workbench support arm 4 from moving, coordination control can be carried out by controller, in order to avoid produce interference.
It should be noted that three drill booms 3 set in del are simply preferred, can also set as the case may be
The different quantity of drill boom 3 and arrangement mode, the present embodiment are not limited this.
For the visual field of open driver, in order to operate intelligent drill jumbo, liftable drive is additionally provided with chassis 1
Sail room 5.
Further, coil of cable drum 7 and water pipe winding roll 8, coil of cable drum 7 and water pipe volume are additionally provided with chassis 1
Drum 8, which can flip over, is hinged on the both sides of chassis 1.By overturning coil of cable drum 7 and water pipe winding roll 8, it is easy to intelligent chisel
Rock bench in-car portion is overhauled.
Specifically, the both sides on chassis 1 are provided with two drum branch for fixing coil of cable drum 7 and water pipe winding roll 8 respectively
Frame 9, wire coil bracket 9 are hinged on chassis 1 vertically.
In one embodiment provided by the invention, covering 10 is provided with chassis 1, is provided with covering 10 digonous
Mirror 11, two prisms 11 determine the position of intelligent drill jumbo at the construction field (site) for the measurement of total powerstation.It can wherein cover
Multiple two prisms 11 are set on part 10, in order to the measurement of total powerstation.
Further, the drilling display connected with controller is provided with driver's cabin 5, drilling display is used to show drill boom
3 bore state information.By the display that drills staff can be easy to intuitively to connect current bore state information, such as bored
The position in hole and depth etc..
Further, it is additionally provided with driver's cabin 5 for showing that the road conditions of intelligent drill jumbo ambient condition information are shown
Device.By road conditions display, it is easy to driver's driving intelligent drill jumbo.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
A kind of intelligent drill jumbo provided by the present invention is described in detail above.It is used herein specifically individual
Example is set forth to the principle and embodiment of the present invention, and the explanation of above example is only intended to help to understand the present invention's
Method and its core concept.It should be pointed out that for those skilled in the art, the principle of the invention is not being departed from
On the premise of, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into the claims in the present invention
Protection domain in.The foregoing description of the disclosed embodiments, professional and technical personnel in the field is realized or use this
Invention.A variety of modifications to these embodiments will be apparent for those skilled in the art, institute herein
The General Principle of definition can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore,
The present invention is not intended to be limited to the embodiments shown herein, and is to fit to special with principles disclosed herein and novelty
The consistent most wide scope of point.
Claims (9)
- A kind of 1. intelligent drill jumbo, it is characterised in that including：Chassis, it is arranged on the chassis upper bracket, is arranged on the branch The controller of at least a drill boom, the posture for controlling the drill boom and drilling depth on frame, the drill boom include base, Swing seat, arm support, arm support oscillating oil cylinder, arm support pitching oil cylinder, boom frame telescopic oil cylinder, forward beam, forward beam slide, control described in Propelling cylinder that forward beam slides on the forward beam slide, rock drill, the control rock drill are sliding on the forward beam Dynamic creeps into oil cylinder, the first rotational deceleration machine and control the first rotational deceleration machine of the control forward beam slide swing Pitching and then drive the second rotational deceleration machine of the forward beam slide pitching, support the first rotational deceleration machine and described the The reductor bearing of two rotational deceleration machines；The base is fixed on the bracket, and the arm support is hinged by horizontally hinged axle and the swing seat, the swing Seat is hinged by vertical jointed shaft and the base, the both ends of the arm support oscillating oil cylinder respectively with the arm support and the bottom Seat is be hinged, and the both ends of the arm support pitching oil cylinder are hinged with the arm support and the swing seat respectively, the vertical jointed shaft One end be provided with and be used to detect the angle sensor of the arm support swing angle, one end of the horizontally hinged axle, which is provided with, to be used to examine The pitch reference of the arm support luffing angle is surveyed, the arm support for detecting the boom frame telescopic amount is additionally provided with the arm support Displacement transducer, the angle sensor and the pitch reference and the arm support displacement transducer with the control Device connects；The reductor bearing, which is provided with, to be used to detect the first rotational deceleration machine and various turns of the second rotational deceleration machine The rotary angle transmitter of dynamic angle, the first rotational deceleration machine and the second rotational deceleration machine and the rotary angle transmitter are equal Connected with the controller；The forward beam slide is provided with the forward beam displacement transducer for being used for detecting the propulsion Liang Sicheng, on the forward beam Provided with the rock drill displacement transducer for detecting the rock drill displacement, the forward beam displacement transducer, the rock drill Displacement transducer and the propelling cylinder and the drilling oil cylinder are connected with the controller.
- 2. intelligent drill jumbo according to claim 1, it is characterised in that the tray bottom is provided with flexible branch vertically Leg.
- 3. intelligent drill jumbo according to claim 2, it is characterised in that the support is provided with three drill booms, The position line that three drill booms are fixed on the bracket forms del, and work is connected with the middle part of the del Platform support arm.
- 4. intelligent drill jumbo according to claim 3, it is characterised in that liftable drive is additionally provided with the chassis Sail room.
- 5. intelligent drill jumbo according to claim 4, it is characterised in that coil of cable drum is additionally provided with the chassis With water pipe winding roll, the coil of cable drum and the water pipe winding roll can flip over and be hinged on the chassis both sides.
- 6. intelligent drill jumbo according to claim 5, it is characterised in that the both sides on the chassis are provided with two difference The wire coil bracket of the fixed coil of cable drum and the water pipe winding roll, the wire coil bracket are hinged on the chassis vertically On.
- 7. intelligent drill jumbo according to claim 6, it is characterised in that covering is provided with the chassis, it is described Two prisms are provided with covering, the two prisms determine that the intelligent drill jumbo is existing in construction for the measurement of total powerstation The position of field.
- 8. intelligent drill jumbo according to claim 7, it is characterised in that be provided with and the controller in the driver's cabin The drilling display of connection, the drilling display are used for the bore state information for showing the drill boom.
- 9. intelligent drill jumbo according to claim 8, it is characterised in that be additionally provided with the driver's cabin for showing institute State the road conditions display of intelligent drill jumbo ambient condition information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710961682.6A CN107575161A (en) | 2017-10-16 | 2017-10-16 | A kind of intelligent drill jumbo |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710961682.6A CN107575161A (en) | 2017-10-16 | 2017-10-16 | A kind of intelligent drill jumbo |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109505608A (en) * | 2018-11-02 | 2019-03-22 | 中铁工程装备集团有限公司 | Guidance system and all-hydraulic three arm rock drilling jumbo based on guidance system and localization method of constructing |
| CN109630013A (en) * | 2019-01-23 | 2019-04-16 | 湖南五新隧道智能装备股份有限公司 | A kind of hydraulic drill ring |
| CN109653680A (en) * | 2019-01-23 | 2019-04-19 | 四川大学 | A kind of drill jumbo mechanical arm of hydraulic gusseted and universal turning structure |
| CN109882191A (en) * | 2019-04-02 | 2019-06-14 | 许和翔 | A kind of all-hydraulic cleave-cracking bench vehicle |
| CN109915016A (en) * | 2019-04-03 | 2019-06-21 | 中国铁建重工集团有限公司 | Drill jumbo and drill jumbo control method |
| CN110685594A (en) * | 2018-07-05 | 2020-01-14 | 中国矿业大学(北京) | Automatic drill carriage for coal mine rock roadway and construction method thereof |
| CN111485915A (en) * | 2020-04-15 | 2020-08-04 | 高军 | Mechanical pre-reinforcing method and positioning device for tunnel face based on weak crushing surrounding rock |
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| 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 |
| SE2251370A1 (en) * | 2021-11-29 | 2023-05-30 | Jiangsu Xcmg Construction Machinery Res Institute Ltd | Geotechnical engineering machine, and method of controlling a working arm thereof |
| CN117365375A (en) * | 2023-12-01 | 2024-01-09 | 云南途腾智能装备有限公司 | High-precision regulation and control type rock drilling trolley |
| RU2820441C2 (en) * | 2021-11-29 | 2024-06-03 | Цзянсу Скмг Констракшн Машинери Рисерч Инститьют Лтд. | Machine for geotechnical works and manipulator control method thereof |
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