CN109404022B - Automatic anchor drilling device for anchor rod machine - Google Patents
Automatic anchor drilling device for anchor rod machine Download PDFInfo
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- CN109404022B CN109404022B CN201811322402.8A CN201811322402A CN109404022B CN 109404022 B CN109404022 B CN 109404022B CN 201811322402 A CN201811322402 A CN 201811322402A CN 109404022 B CN109404022 B CN 109404022B
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- anchor rod
- manipulator
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- 238000005553 drilling Methods 0.000 title claims abstract description 71
- 238000004873 anchoring Methods 0.000 claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims description 36
- 239000011347 resin Substances 0.000 claims description 21
- 229920005989 resin Polymers 0.000 claims description 21
- 230000003287 optical effect Effects 0.000 claims description 17
- 238000002347 injection Methods 0.000 claims description 8
- 239000007924 injection Substances 0.000 claims description 8
- 239000011435 rock Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 28
- 230000008569 process Effects 0.000 description 22
- 230000032258 transport Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 239000003245 coal Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
-
- 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
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Earth Drilling (AREA)
Abstract
The invention provides an automatic drilling and anchoring device for an anchor rod machine, which comprises a drilling arm device, an anchor rod storage and transportation device and a posture adjusting device, wherein the drilling arm device is connected with the anchor rod storage and transportation device; the drill boom device comprises a drill boom base, a drill boom lifting rod, a clamp and a drill box; the drill boom lifting rod is arranged on the drill boom base in a matching way; the clamp is fixed at the top end of the drill boom lifting rod and is provided with a drill rod clamping opening for clamping a drill rod; the drill box is fixed at the position, corresponding to the drill rod clamping opening, of one side of the drill boom base in a lifting manner; the anchor rod storage and transportation device comprises an anchor rod manipulator assembly and an anchor rod storage and transportation bin; the anchor rod storage and transportation bin is used for storing and transporting anchor rods to supply to the drill arm device, and the anchor rod manipulator assembly is used for placing the anchor rods at the positions of the clamping openings of the centering drill rods; the posture adjusting device comprises a connecting plate and a posture adjusting structure. The automatic drilling and anchoring device is simple in structure and convenient to operate, automatic drilling and anchoring can be achieved, labor intensity of workers is reduced, drilling and anchoring work can be completed by fewer workers, supporting standards are consistent, and high safety guarantee is achieved.
Description
Technical Field
The invention belongs to the field of coal mines, and particularly relates to an automatic anchor drilling device for an anchor rod machine.
Background
At present, a large number of roof bolters are used for supporting roadways in coal mines, and the working procedures of supporting roadways by the equipment mainly comprise net laying, drilling, resin injection, anchor rod fastening and the like. At present, the drilling process and the anchor rod mounting and fastening process can be completed only by manual operation of workers on an anchor rod machine, the operation steps are complicated, the labor intensity is high, the number of required personnel is large, the support standards are inconsistent, and certain potential safety hazards exist.
Disclosure of Invention
The automatic drilling and anchoring device for the anchor rod machine is simple in structure and convenient to operate, automatic drilling and anchoring can be achieved, labor intensity of workers is reduced, drilling and anchoring can be completed by fewer workers, supporting standards are consistent, and high safety guarantee is achieved.
The technical scheme of the invention is as follows:
an automatic anchor drilling device for an anchor rod machine comprises a drill boom device, an anchor rod storage and transportation device and a posture adjusting device;
the drill arm device comprises a drill arm base, a drill arm lifting rod, a clamp and a drill box; the drill boom lifting rod is arranged on the drill boom base in a matched mode and used for lifting to drive the clamp to ascend to a roadway top plate; the clamp is fixed at the top end of the drill boom lifting rod and is provided with a drill rod clamping opening for clamping a drill rod; the drill box is fixed at a position, corresponding to the drill rod clamping opening, of one side of the drill boom base in a lifting manner, and is used for lifting the drill rod to a roadway top plate through the drill rod clamping opening to drill a hole;
the anchor rod storage and transportation device comprises an anchor rod manipulator assembly and an anchor rod storage and transportation bin; the anchor rod storage and transportation bin is used for storing and transporting anchor rods to supply the anchor rods to the drill arm device, the anchor rod manipulator assembly is used for placing the anchor rods from the anchor rod storage and transportation bin at a position centering the drill rod clamping opening in the drill arm device, and the drill box drives the anchor rods to ascend into the drill hole to be anchored;
the posture adjusting device comprises a connecting plate and a posture adjusting structure, the connecting plate comprises a first surface and a second surface which are oppositely arranged, and the posture adjusting structure comprises a push-pull oil cylinder and a rotary oil cylinder; the drill boom base, the anchor rod manipulator base and the bin body are sequentially arranged on the first surface of the connecting plate at intervals along the length direction of the connecting plate; the posture adjusting structure is detachably arranged on the second surface of the connecting plate along the length direction of the connecting plate, and the push-pull oil cylinder and the rotating oil cylinder are respectively arranged in the posture adjusting structure in a driving mode and used for driving the connecting plate to be far away from the posture adjusting structure, so that the drill boom device and the anchor rod storage and transportation device move in the horizontal direction and adjust the moving direction of the drill boom device and the anchor rod storage and transportation device.
Preferably, the drill boom device further comprises a drill boom fixing plate and a pressure-proof plate, wherein the drill boom fixing plate, the clamp and the pressure-proof plate are sequentially fixed at the top end of the drill boom lifting rod from bottom to top and used for following the drill boom lifting rod to ascend so as to press the roadway roof.
Preferably, the drill arm device further comprises a drill rod manipulator, a first light bar and a second light bar, wherein the length of the first light bar is greater than that of the second light bar; the first light bar and the second light bar are respectively fixed on the bottom surface of the drill boom fixing plate, and the second light bar is used for installing a resin injection assembly so as to inject resin into a drill hole after the drill hole is drilled; the drill rod manipulator comprises a first drill rod manipulator, a second drill rod manipulator and a first electro-hydraulic control system; the first drill rod manipulator is sleeved at the bottom end of the first polished rod, and the first electro-hydraulic control system and the first drill rod manipulator are arranged in a driving mode and used for automatically driving the first drill rod manipulator to rotate around the first polished rod; the second drill rod manipulator is used for grabbing a drill rod, and the first drill rod manipulator is fixedly connected with the second drill rod manipulator and used for driving the drill rod to rotate to a position corresponding to the drill rod clamping opening.
Preferably, the anchor rod manipulator assembly sequentially comprises an anchor rod manipulator base, a second hydraulic cylinder body, an anchor rod manipulator lifting rod and an anchor rod manipulator structure from bottom to top, wherein the second hydraulic cylinder body is fixed on the anchor rod manipulator base, and the anchor rod manipulator lifting rod is installed in the second hydraulic cylinder body in a matching mode and used for lifting; the anchor rod manipulator structure has relative first end and the second end that sets up, the first end of anchor rod manipulator structure is rotationally fixed in the top of anchor rod manipulator lifter is used for changing the direction of anchor rod manipulator structure, the second end of anchor rod manipulator structure is provided with the gripping structure and is used for the gripping stock, anchor rod manipulator lifter drives the anchor rod rises in order to break away from step mechanism, anchor rod manipulator structure winds the rotation of anchor rod manipulator lifter is so that the anchor rod centering the drilling rod presss from both sides the mouth, the drill box drives the anchor rod rises to in the drilling hole.
Preferably, the anchor rod storage and transportation bin comprises a bin body and a stepping mechanism, and the stepping mechanism is arranged in the bin body; and a plurality of anchor rods are fixed on the stepping mechanism at intervals and used for stepping operation in the bin body so as to convey the anchor rods step by step for the second end of the anchor rod manipulator structure to grasp.
Preferably, in the drill arm device, the clamp comprises a first structure and a second structure which are arranged oppositely, the first structure is provided with a first clamping opening, the second structure is provided with a second clamping opening, and the first clamping opening and the second clamping opening form the drill rod clamping opening when the first structure and the second structure are closed.
Preferably, in the drill boom device, the first optical rod is fixed on the bottom surface of the drill boom fixing plate and corresponds to the position of the first structure; the second feed rod is fixed on the bottom surface of the drill boom fixing plate and corresponds to the position of the second structure; the drill boom base comprises two first hydraulic cylinder bodies, the drill boom lifting rod comprises a first drill boom lifting rod and a second drill boom lifting rod, and the first drill boom lifting rod and the second drill boom lifting rod are respectively installed in the two first hydraulic cylinder bodies in a matched mode and used for simultaneously doing lifting motion so as to enable the pressure-proof plate, the clamp and the drill boom fixing plate to stably lift.
Preferably, the drill boom device further comprises a first fixing piece, a second fixing piece and a second electro-hydraulic control system; the drill boom fixing plate is provided with a first through hole and a second through hole, the pressure-proof plate is provided with a third through hole and a fourth through hole, the first structure is provided with a fifth through hole, and the second structure is provided with a sixth through hole;
the first through hole, the fifth through hole and the third through hole are correspondingly arranged, the first fixing piece sequentially penetrates through the third through hole, the fifth through hole and the first through hole from top to bottom, and the pressure-proof plate, the first structure and the drill boom fixing plate are sequentially fixed at the top end of the first drill boom lifting rod from top to bottom; the second through hole, the sixth through hole and the fourth through hole are correspondingly arranged, a first fixing piece penetrates through the fourth through hole, the sixth through hole and the second through hole from top to bottom in sequence, and the pressure-proof plate, the second structure and the drill boom fixing plate are fixed to the top end of the second drill boom lifting rod from top to bottom in sequence;
the second electro-hydraulic control system is respectively arranged in a driving mode with the first structure and the second structure and used for automatically driving the first structure to rotate around the first fixing piece and the second structure to rotate around the second fixing piece in the opposite direction.
Preferably, among the stock storage and transportation device, the stock manipulator structure still includes third electricity liquid control system, third electricity liquid control system with the drive of stock manipulator structure sets up for automatic drive the stock manipulator structure winds the rotation of stock manipulator lifter.
Preferably, in the anchor rod storage and transportation device, the stepping mechanism comprises a motor, a gear train structure and a crawler; a plurality of fixing holes are formed in the track at intervals and used for fixing the anchor rods; the motor is in driving connection with the gear train structure and is used for driving the gear train structure to run; the gear train structure with the track drive is connected, is used for the drive the track is in step-by-step operation is in order to step-by-step transportation in the storehouse the stock.
The invention has the beneficial effects that:
the automatic drilling and anchoring device for the roof bolter is simple in structure and convenient to operate, can realize automatic drilling and anchoring, thereby reducing the labor intensity of workers, completing the drilling and anchoring work by fewer workers, ensuring consistent support standards and having higher safety guarantee.
Drawings
Fig. 1 is a schematic structural view of an automatic anchor drilling device for a bolting machine according to an embodiment of the present invention;
fig. 2 is a schematic view of the construction of the drill arm assembly of the automatic drill-anchor assembly of fig. 1 for use in a bolting machine;
fig. 3 is a schematic view of the construction of the rock bolt storage and transportation device of the automatic drilling and anchoring device for the rock bolt machine of fig. 1;
fig. 4 is a schematic structural view of a posture adjusting device in the automatic drill-anchor device for the bolter of fig. 1.
Detailed Description
The terms of orientation of up, down, left, right, front, back, top, bottom, and the like as referred to or as may be referred to in this specification are defined with respect to the configuration shown in the drawings, and the terms "inner" and "outer" refer to directions toward and away from the geometric center of a particular component and are relative terms, and thus may be changed accordingly depending on the position and the state of use of the particular component. Therefore, these and other directional terms should not be construed as limiting terms.
The technical solution and effects of the present invention will be further described below by way of specific embodiments. The following embodiments are merely illustrative of the present invention, and the present invention is not limited to the following embodiments or examples. Simple modifications of the invention applying the inventive concept are within the scope of the invention as claimed.
The invention provides an automatic anchor drilling device for an anchor rod machine, which comprises a drill boom device, an anchor rod storage and transportation device and a posture adjusting device, wherein the drill boom device is connected with the anchor rod storage and transportation device through a bolt; the drill arm device is used for automatically drilling and automatically spraying resin into the obtained drilled hole, the anchor rod storage and transportation device is used for transporting an anchor rod into the drilled hole sprayed with the resin to realize automatic anchoring of the anchor rod, and the posture adjusting device is used for adjusting the directions of the drill arm device and the anchor rod storage and transportation device to realize automatic drilling and automatic anchoring in different directions of a roadway roof, so that the automatic drill and anchor device can automatically drill and automatically anchor on the whole;
the drill boom device comprises a drill boom base 2, a drill boom lifting rod 1, a clamp 3 and a drill box 10; the drill boom lifting rod 1 is arranged on the drill boom base 2 in a matched mode and used for lifting to drive the clamp 3 to ascend to a roadway roof; the clamp 3 is fixed at the top end of the drill boom lifting rod 1 and is provided with a drill rod clamping opening for clamping a drill rod 6; the drill box 10 is fixed at a position, corresponding to the drill rod clamping opening, on one side of the drill boom base 2 in a lifting manner, and is used for lifting the drill rod 6 to a roadway top plate through the drill rod clamping opening to drill a hole; the anchor rod storage and transportation device comprises an anchor rod manipulator assembly and an anchor rod storage and transportation bin; the anchor rod storage and transportation bin is used for storing and transporting anchor rods 21 to supply the anchor rod storage and transportation bin to the drill arm device, the anchor rod manipulator assembly is used for placing the anchor rods 21 from the anchor rod storage and transportation bin at a position centering the drill rod clamping opening in the drill arm device, and the drill box 10 drives the anchor rods 21 to ascend into the drill hole to be anchored; the posture adjusting device comprises a connecting plate 14 and a posture adjusting structure 13, the connecting plate 14 comprises a first surface and a second surface which are oppositely arranged, and the posture adjusting structure 13 comprises a push-pull oil cylinder and a rotary oil cylinder; the drill boom base 2, the anchor rod manipulator base 15 and the bin body 19 are sequentially arranged on the first surface of the connecting plate 14 at intervals along the length direction of the connecting plate 14; the posture adjusting structure 13 is detachably arranged on the second surface of the connecting plate 14 along the length direction of the connecting plate 14, and the push-pull oil cylinder and the rotating oil cylinder are respectively arranged inside the posture adjusting structure 13 in a driving mode and used for driving the connecting plate 14 to be far away from the posture adjusting structure 13, so that the drill boom device and the anchor rod storage and transportation device move in the horizontal direction and the moving direction of the drill boom device and the anchor rod storage and transportation device is adjusted.
The automatic drilling and anchoring device for the roof bolter realizes automatic drilling on a tunnel roof through the drill boom device, conveys the anchor rod into the drill hole through the anchor rod storage and transportation device to realize automatic anchoring on the anchor rod, and realizes direction adjustment of the drill boom device and the anchor rod storage and transportation device through the posture adjusting device to realize automatic drilling and automatic anchoring on different directions of the tunnel roof.
The automatic drilling and anchoring device for the roof bolter is simple in structure and convenient to operate, almost no manual operation is needed in the whole process, automation of drilling and anchoring can be achieved, the labor amount of workers is reduced, the labor intensity of the workers is reduced, the drilling and anchoring work can be completed by fewer workers, the supporting standards are consistent, and high safety guarantee is achieved.
In one embodiment, in the drill boom device, the drill box 10 includes a speed-multiplying travel mechanism, and the drill box 10 is liftably fixed on one side of the drill boom base 2 at a position corresponding to the drill pipe clamping opening through the speed-multiplying travel mechanism.
The speed-multiplying stroke mechanism is generally composed of a pressure cylinder and a speed-multiplying chain, the whole stroke of the speed-multiplying stroke mechanism is a multiple of the stroke of the pressure cylinder, and the speed-multiplying stroke mechanism is a mechanism for obtaining the long stroke of a transported target structure by using the short stroke of the pressure cylinder. For example, the speed-multiplying stroke mechanism comprises two hydraulic cylinders and two pairs of speed-multiplying chains, and the hydraulic cylinders and the speed-multiplying chains can enable the transported target structure to have the stroke which is several times that of the hydraulic cylinders through the cooperation. In this application, can utilize doubly fast journey mechanism will the drill box 10 rises with the fast speed to drive drilling rod 6 transports to the tunnel roof faster in order to accomplish the drilling.
In one embodiment, the drill boom device further comprises a drill boom fixing plate 4 and a pressure-proof plate 5, wherein the drill boom fixing plate 4, the clamp 3 and the pressure-proof plate 5 are sequentially fixed at the top end of the drill boom lifting rod 1 from bottom to top and used for following the drill boom lifting rod 1 to ascend so as to press the roadway roof. Drill boom fixed plate 4 is used for fixing drill boom lifter 1, pressure-proof plate 5 set up in the top of anchor clamps 3 is used for keeping apart anchor clamps 3 with the tunnel roof prevents anchor clamps 3 are in die on the tunnel roof.
In one embodiment, the drill boom device further comprises a drill pipe manipulator, a first optical bar 11 and a second optical bar 12, the length of the first optical bar 11 being greater than the length of the second optical bar 12; the first optical lever 11 and the second optical lever 12 are respectively fixed on the bottom surface of the drill boom fixing plate 4, and the second optical lever 12 is used for installing a resin injection assembly to inject resin into a drill hole after the drill hole is drilled; the drill rod manipulator comprises a first drill rod manipulator 7, a second drill rod manipulator 8 and a first electro-hydraulic control system; the first drill rod manipulator 7 is sleeved at the bottom end of the first polished rod 11, and the first electro-hydraulic control system and the first drill rod manipulator 7 are arranged in a driving mode and used for automatically driving the first drill rod manipulator 7 to rotate around the first polished rod 11; the second drill rod manipulator 8 is used for grabbing a drill rod 6, and the first drill rod manipulator 7 is fixedly connected with the second drill rod manipulator 8 and used for driving the drill rod 6 to rotate to a position corresponding to the drill rod clamping opening.
As is known to those skilled in the art, an electro-hydraulic control system generally includes a hydraulic system unit and an electronic control system unit; the electric control system unit is set through a program, the hydraulic system unit is controlled to start in corresponding steps, and then the action object is driven to act through the hydraulic system unit. For example, in the present application, the first electro-hydraulic control system is used to control the first drill rod manipulator 7, and then the electronic control system unit in the first electro-hydraulic control system controls the first drill rod manipulator 7 to rotate around the first polished rod 11 through the hydraulic system unit. Further, the hydraulic pressure of the hydraulic system unit can be controlled through the program setting of the electronic control system unit, so as to further control the rotation angle of the first drill rod manipulator 7.
In one embodiment, in the drill arm device, a drill rod fixing seat 16 is arranged on the drill box 10, and the drill rod fixing seat 16 is used for fixing the drill rod 6 so as to drive the drill rod 6 to move upwards when the drill box 10 moves upwards. It will be appreciated that the rod holder 16 may also hold the anchor rod 21 so that the drill box 10 travels upward to move the anchor rod 21 upward. The arrangement can ensure that the drill rod 6 or the anchor rod 10 is always in the vertical direction without deviation in the process that the drill box 10 drives the drill rod 6 or the anchor rod 21 to rise, prevent the deviation of the drilling position and ensure that the anchor rod 21 can be smoothly sent into the drill hole. The jig 3 can also prevent the drill hole position from being deviated.
In one embodiment, the drill arm device includes a first structure 31 and a second structure 32, which are oppositely arranged, wherein the first structure 31 has a first clamping opening, the second structure 32 has a second clamping opening, and the first clamping opening and the second clamping opening form the drill rod clamping opening when the first structure 31 and the second structure 32 are closed. This arrangement enables the drill rod 6 or the anchor rod 21 to be gripped by the rod grip to ensure that the drill rod 6 or the anchor rod 10 is in a vertical direction without deviation, to prevent deviation of the drilling position, and to ensure that the anchor rod 21 can be smoothly fed into the drill hole.
In one embodiment, in the drill boom device, the first lever 11 is fixed on the bottom surface of the drill boom fixing plate 4 at a position corresponding to the first structure 31; the second feed rod 12 is fixed on the bottom surface of the drill boom fixing plate 4 and corresponds to the position of the second structure 32, so that the drill rod manipulator can conveniently grasp the drill rod 6 by rotating the position corresponding to the drill rod clamping opening; the drill boom base 2 comprises two first hydraulic cylinder bodies, the drill boom lifting rod 1 comprises a first drill boom lifting rod and a second drill boom lifting rod, the first drill boom lifting rod and the second drill boom lifting rod are respectively installed in the two first hydraulic cylinder bodies and used for simultaneously performing lifting motion so as to enable the pressure-proof plate 5, the clamp 3 and the drill boom fixing plate 4 to stably lift and prevent the lifting process from inclining, and meanwhile, the pressure-proof plate 5, the clamp 3 and the drill boom fixing plate 4 can also disperse the pressure of the drill boom lifting rod 1, so that the damage caused by overlarge pressure is avoided.
In one embodiment, the drill boom apparatus further comprises a first fixture, a second fixture, and a second electro-hydraulic control system; a first through hole and a second through hole are oppositely arranged on the drill boom fixing plate 4, a third through hole and a fourth through hole are oppositely arranged on the pressure-proof plate 5, a fifth through hole is arranged on the first structure 31, and a sixth through hole is arranged on the second structure 32; the first through hole, the fifth through hole and the third through hole are correspondingly arranged, the first fixing piece sequentially penetrates through the third through hole, the fifth through hole and the first through hole from top to bottom, and the pressure-proof plate 5, the first structure 31 and the drill boom fixing plate 4 are sequentially fixed at the top end of the first drill boom lifting rod from top to bottom; the second through hole, the sixth through hole and the fourth through hole are correspondingly arranged, a first fixing piece penetrates through the fourth through hole, the sixth through hole and the second through hole from top to bottom in sequence, and the pressure-proof plate 5, the second structure 32 and the drill boom fixing plate 4 are fixed at the top end of the second drill boom lifting rod from top to bottom in sequence; the second electro-hydraulic control system is respectively arranged in a driving manner with the first structure 31 and the second structure 32, and is used for automatically driving the first structure 31 to rotate around the first fixed member and the second structure 32 to rotate around the second fixed member in the opposite direction.
The automatic drilling and anchoring device for the roof bolter realizes automatic drilling on a roadway roof through a drill boom device, mainly comprises the steps that a drill boom lifting rod 1 makes ascending motion to the roadway roof to flatten a net laid on the roadway roof, then a clamp 3 is opened, a second drill rod manipulator 8 grasps a drill rod 6, a first electro-hydraulic control system automatically drives a first drill rod manipulator 7 to rotate around a first polished rod 11 to drive the second drill rod manipulator 8 and the drill rod 6 grasped in the second drill rod manipulator 8 to rotate (generally rotate 90 degrees), so that the drill rod 6 rotates to a position corresponding to a drill rod clamping opening (the upper surface corresponds to the drill rod clamping opening, the lower surface naturally corresponds to the drill box 10), the drill rod 6 ascends to the drill rod clamping opening by utilizing the ascending motion of the drill box 10, then the clamp 3 is closed, the drill rod 6 is fixed through the drill rod clamping opening, when the drill box 10 continuously rises to a position close to the drill rod manipulator, the second drill rod manipulator 8 is opened, the drill rod manipulator reversely rotates around the first polished rod 11 to the original position, and the drill box 10 continuously rises to a roadway top plate to finish drilling action and then descends; during the lowering process of the drill box 10, when the drill box is lowered to the same plane as the top surface of the drill rod 6 and the clamp 3, the clamp 3 is opened, the drill rod manipulator rotates around the first optical rod 11 again (at the same angle as the first rotation, for example, 90 °), then the second drill rod manipulator 8 is opened to grasp the drill rod 6, and then the drill rod manipulator rotates around the first optical rod 11 in the reverse direction to the original position to remove the drill rod 6, and the drill box 10 is lowered to the original position, thereby realizing a drilling process. The resin injection assembly mounted in the second beam 12 then injects resin into the bore hole, completing one resin injection process in preparation for a subsequent anchoring process.
In one embodiment, in the anchor rod storing and transporting device, the anchor rod manipulator assembly sequentially comprises an anchor rod manipulator base 15, a second hydraulic cylinder 20, an anchor rod manipulator lifting rod 17 and an anchor rod manipulator structure from bottom to top, the second hydraulic cylinder 20 is fixed on the anchor rod manipulator base 15, and the anchor rod manipulator lifting rod 17 is installed in the second hydraulic cylinder 20 in a matching manner and used for lifting; the anchor rod manipulator structure has relative first end and the second end that sets up, the first end of anchor rod manipulator structure is rotationally fixed in the top of anchor rod manipulator lifter 17 is used for changing the direction of anchor rod manipulator structure, the second end of anchor rod manipulator structure is provided with the gripping structure and is used for gripping stock 21, anchor rod manipulator lifter 17 drives stock 21 rises in order to break away from step mechanism, the anchor rod manipulator structure winds anchor rod manipulator lifter 17 is rotatory so that stock 21 centering the drilling rod presss from both sides the mouth, the drill box 10 drives stock 21 rises to in the drilling hole.
In one embodiment, in the anchor rod storage and transportation device, the anchor rod storage and transportation bin comprises a bin body 19 and a stepping mechanism, wherein the stepping mechanism is arranged in the bin body 19; a plurality of anchor rods 21 are fixed on the stepping mechanism at intervals and used for stepping operation in the bin body 19 so as to transport the anchor rods 21 step by step for the second end of the anchor rod manipulator structure to grasp.
Those skilled in the art understand that a step mechanism is a mechanism in which the output motion is characterized by a step motion. In the stepping mechanism, when the driving member continuously moves, the driven member periodically moves and stops, and such a mechanism is also called an intermittent mechanism. In this application, step mechanism can transport the stock step by step, the convenience to the automation mechanized operation of stock and the continuity of operation to it.
The automatic drilling and anchoring device for the anchor rod machine of the invention transports anchor rods into the drill holes sprayed with resin through the anchor rod storage and transportation device to realize automatic anchoring of the anchor rods, and mainly realizes stepping transportation of the anchor rods 21 through stepping operation of the stepping mechanism in the cabin body 19, so that the anchor rods 21 in the cabin body 19 are transported to the vicinity of the anchor rod manipulator assembly step by step for being gripped by the second end of the anchor rod manipulator structure, the anchor rod manipulator structure and the anchor rods 21 gripped at the second end of the anchor rod manipulator structure are lifted to be separated from the stepping mechanism through the matching of the second hydraulic cylinder 20 and the anchor rod manipulator lifting rod 17, and then the anchor rod manipulator structure rotates 180 degrees around the anchor rod manipulator lifting rod 17 until the anchor rods 21 and the drill rod clamping openings are aligned ((upper surface aligning the drill rod clamping openings, below naturally centering the drill box 10)); then the drill box 10 rises and drives the anchor rod 21 to rise to be in contact with the clamp 3, then the clamp 3 is closed, the anchor rod 21 is fixed in the drill rod clamping opening, then the second end of the anchor rod manipulator structure is opened, the drill box 10 continues to rise to send the anchor rod 21 into a drilled hole which is well drilled and is sprayed with resin, and after the drill box 10 rises to a roadway top plate, the anchor rod 21 can be fastened to meet the torque requirement, so that one-time anchoring process is realized. The second end of the anchor manipulator structure is then opened and rotated to the home position to grasp the second anchor 21 delivered step by the stepper mechanism.
The automatic drilling and anchoring device for the roof bolter realizes direction adjustment of a drilling arm device and an anchor rod storage and transportation device through the attitude adjusting device so as to realize automatic drilling and automatic anchoring in different directions of a roadway roof, and particularly drives the connecting plate 14 to be far away from the attitude adjusting structure 13 through the push-pull oil cylinder and the rotary oil cylinder so as to enable the drilling arm device and the anchor rod storage and transportation device to move in the horizontal direction, and adjusts the moving direction through mutual matching of the push-pull oil cylinder and the rotary oil cylinder so as to realize automatic drilling and automatic anchoring in different directions of the roadway roof within the range of the automatic drilling and anchoring device in the one-time stopping process of the roof bolter.
After the automatic drilling, the automatic anchoring and the posture adjusting procedures are completed, the anchor rod machine drives the automatic drilling and anchoring device to move forwards (generally to move forwards by 1 meter at a time), and then the drilling procedure, the resin spraying procedure, the anchoring procedure and the posture adjusting procedure are repeated.
In one embodiment, in the anchor rod storage and transportation device, the anchor rod manipulator structure comprises an anchor rod manipulator 18 and an anchor rod manipulator 9, a first connecting end of the anchor rod manipulator 18 is provided with a mounting hole, and the first connecting end of the anchor rod manipulator 18 is rotatably fixed at the top end of the anchor rod manipulator lifting rod 17 through the mounting hole; the anchor manipulator 9 is fixed to a second connection end of the anchor manipulator 18 for gripping the anchor 21. After the anchor rod 21 rises and is separated from the stepping mechanism, the first connecting end of the anchor rod mechanical arm 18 rotates around the anchor rod mechanical arm lifting rod 17 to enable the anchor rod 21 to center the drill rod clamping opening, and then the anchor rod 21 is lifted and sent into the drill hole by using the drill box 10.
In one embodiment, in the anchor rod storage and transportation device, the anchor rod manipulator structure further comprises a third electro-hydraulic control system, and the third electro-hydraulic control system is in driving arrangement with the anchor rod manipulator structure and is used for automatically driving the anchor rod manipulator structure to rotate around the anchor rod manipulator lifting rod 17.
In a preferred embodiment, in the anchor rod storage and transportation device, the third electro-hydraulic control system is arranged in a driving manner with the anchor rod mechanical arm 18 in the anchor rod manipulator structure, and is used for automatically driving the anchor rod mechanical arm 18 to rotate around the anchor rod manipulator lifting rod 17.
In one embodiment, the bolt handling apparatus, the bolt robot 18 is bent at a right angle to facilitate the transfer of the bolt 21 from the bolt handling apparatus to the position of the drill pipe clamp centering in the drill arm apparatus by rotation, so that the bolt 21 is raised and fed into the borehole using the drill box 10.
In one embodiment, in the bolt storage and transportation device, the stepping mechanism comprises a motor, a wheel train structure and a crawler; a plurality of fixing holes are formed in the track at intervals and used for fixing the anchor rods 21; the motor is in driving connection with the gear train structure and is used for driving the gear train structure to run; the gear train structure is in driving connection with the crawler and is used for driving the crawler to move in the bin body 19 in a stepping mode so as to transport the anchor rod 21 in a stepping mode.
In one embodiment, the distance between adjacent fixing holes on the track is 20-40cm, such as 30cm, in the bolt storage and transportation device.
As shown in fig. 1 to 4, the process of automatic drilling and anchoring using the automatic drilling and anchoring apparatus for a bolter of the present invention is as follows:
firstly, automatically drilling a hole on a roadway top plate through a drill boom device; specifically, the drill boom lifting rod 1 moves upwards and drives the pressure-proof plate 5, the clamp 3 and the drill boom fixing plate 4 to ascend to a roadway roof to flatten a lapping on the roadway roof through the pressure-proof plate 5, then the first structure 31 and the second structure 32 in the clamp 3 are opened, the second drill pipe manipulator 8 grips the drill pipe 6, the first drill pipe manipulator 7 is automatically controlled by the first electro-hydraulic control system to rotate around the first light bar 11 to drive the second drill pipe manipulator 8 and the drill pipe 6 gripped in the second drill pipe manipulator 8 to rotate (generally rotate 90 degrees), the drill pipe 6 is rotated to a position corresponding to the drill pipe clamping opening (the upper surface corresponds to the drill pipe clamping opening, the lower surface naturally corresponds to the drill pipe fixing seat 16 on the drill box 10), and the bottom of the drill pipe 6 is fixed in the drill pipe fixing seat 16 and ascends to be positioned in the drill pipe fixing seat 16 by the ascending movement of the drill box 10 and the drill pipe fixing seat 16 The drill rod clamping opening at the roadway top plate is closed, then a first structure 31 and a second structure 32 in the clamp 3 are closed, the drill rod 6 is fixed through the drill rod clamping opening, when the drill box 10 continuously rises to a position close to the drill rod manipulator, the second drill rod manipulator 8 is opened, the first electro-hydraulic control system controls the drill rod manipulator to reversely rotate around the first polished rod 11 to the original position, and the drill box 10 continuously rises to the roadway top plate to complete a drilling action and then descends; during the descending process of the drill box 10, when the drill box descends to the same plane as the top surface of the drill rod 6 and the clamp 3, the first structure 31 and the second structure 32 in the clamp 3 are opened, under the automatic control of the first electro-hydraulic control system, after the drill rod manipulator rotates around the first polished rod 11 again (the same angle as the first rotation, such as 90 degrees), the second drill rod manipulator 8 is opened to grasp the drill rod 6, and then rotates around the first polished rod 11 reversely to the original position to take off the drill rod 6, and the drill box 10 descends to the original position, so that a drilling process is realized. The resin injection assembly mounted in the second beam 12 then injects resin into the bore hole, completing one resin injection process in preparation for a subsequent anchoring process.
Secondly, transporting the anchor rod into the drilled hole sprayed with the resin through the anchor rod storage and transportation device to realize automatic anchoring of the anchor rod; specifically, the step-by-step transportation of the anchor rods 21 is realized by the step-by-step operation of the step-by-step mechanism in the cabin body 19, so that the anchor rods 21 in the cabin body 19 are step-by-step transported to the vicinity of the anchor rod manipulator assembly for the gripping of the anchor rod manipulator 9, the anchor rod manipulator structure and the anchor rods 21 gripped by the anchor rod manipulator 9 are lifted to be separated from the step-by-step mechanism by the cooperation of the second hydraulic cylinder 20 and the anchor rod manipulator lifting rod 17, and then the anchor rod manipulator structure automatically rotates 180 degrees around the anchor rod manipulator lifting rod 17 under the control of a third electro-hydraulic control system until the anchor rods 21 are aligned with the drill rod clamping openings and the drill rod fixing seats 16 on the drill box 10; then the drill box 10 and the drill rod fixing seat 16 thereof are lifted, the anchor rod 21 is fixed in the drill rod fixing seat 16, the anchor rod 21 is driven to ascend to be in contact with the clamp 3, then the first structure 31 and the second structure 32 in the clamp 3 are closed, the anchor rod 21 is fixed in the drill rod clamping opening, then the anchor rod manipulator 9 is opened, the drill box 10 is continuously lifted to send the anchor rod 21 into a drilled hole which is drilled and sprayed with resin, and the anchor rod 21 can be fastened after the drill box 10 is lifted to a roadway roof, so that one-time anchoring process is realized. The anchor manipulator 9 is then opened and rotated into position under the control of a third electro-hydraulic control system to grasp a second anchor 21 delivered in steps by the stepper mechanism. Wherein the anchor rod 21 is fastened to the torque requirement, i.e. 140 NM, 160NM, such as 150 NM.
Thirdly, the direction adjustment of the drill arm device and the anchor rod storage and transportation device is realized through the attitude adjusting device, so that automatic drilling and automatic anchoring are realized in different directions of the roadway roof; specifically, the push-pull oil cylinder and the rotary oil cylinder drive the connecting plate 14 to be far away from the posture adjusting structure 13, so that the drill boom device and the anchor rod storage and transportation device move in the horizontal direction, and the movement directions of the push-pull oil cylinder and the rotary oil cylinder are adjusted through mutual matching, and automatic drilling and automatic anchoring in different directions of the roadway roof within the range of the automatic drilling and anchoring device are realized in the one-time stopping process of the anchor rod machine.
And fourthly, the bolting machine drives the automatic drilling and anchoring device to move forwards (generally to move forwards by 1 meter once), and then the drilling process, the resin spraying process, the anchoring process and the posture adjusting process in the third step are repeated.
The automatic drilling and anchoring device for the roof bolter is simple in structure and convenient to operate, can realize automatic drilling and anchoring, thereby reducing the labor intensity of workers, completing the drilling and anchoring work by fewer workers, ensuring consistent support standards and having higher safety guarantee.
Claims (9)
1. An automatic anchor drilling device for an anchor rod machine is characterized by comprising a drill boom device, an anchor rod storage and transportation device and a posture adjusting device;
the drill boom device comprises a drill boom base (2), a drill boom lifting rod (1), a clamp (3) and a drill box (10); the drill boom lifting rod (1) is installed on the drill boom base (2) in a matched mode and used for lifting to drive the clamp (3) to ascend to a roadway top plate; the clamp (3) is fixed at the top end of the drill boom lifting rod (1) and is provided with a drill rod clamping opening for clamping a drill rod (6); the drill box (10) is fixed at the position, corresponding to the drill rod clamping opening, of one side of the drill boom base (2) in a lifting manner and is used for lifting the drill rod (6) to a roadway top plate through the drill rod clamping opening to drill a hole;
the anchor rod storage and transportation device comprises an anchor rod manipulator assembly and an anchor rod storage and transportation bin; the anchor rod storage and transportation bin is used for storing and transporting anchor rods (21) to supply the anchor rod storage and transportation bin to the drill arm device, the anchor rod manipulator assembly is used for placing the anchor rods (21) from the anchor rod storage and transportation bin at the position of the drill arm device centering the drill rod clamping opening, and the drill box (10) drives the anchor rods (21) to ascend into the drill hole to be anchored;
the posture adjusting device comprises a connecting plate (14) and a posture adjusting structure (13), the connecting plate (14) comprises a first surface and a second surface which are oppositely arranged, and the posture adjusting structure (13) comprises a push-pull oil cylinder and a rotary oil cylinder; the anchor rod storage and transportation bin comprises a bin body (19), and the drill boom base (2), the anchor rod manipulator base (15) and the bin body (19) are sequentially arranged on the first surface of the connecting plate (14) at intervals along the length direction of the connecting plate (14); the posture adjusting structure (13) is detachably arranged on the second surface of the connecting plate (14) along the length direction of the connecting plate (14), and the push-pull oil cylinder and the rotating oil cylinder are respectively arranged inside the posture adjusting structure (13) in a driving mode and used for driving the connecting plate (14) to be away from the posture adjusting structure (13) so that the drill boom device and the anchor rod storage and transportation device can move in the horizontal direction and adjust the moving direction of the drill boom device and the anchor rod storage and transportation device;
the drill boom device further comprises a drill boom fixing plate (4) and a pressure-proof plate (5), wherein the drill boom fixing plate (4), the clamp (3) and the pressure-proof plate (5) are sequentially fixed at the top end of the drill boom lifting rod (1) from bottom to top and used for following the drill boom lifting rod (1) to ascend so as to press the roadway roof.
2. The automatic drill and anchor device for roof bolters according to claim 1, characterized in that the drill arm device further comprises a drill rod manipulator, a first optical bar (11) and a second optical bar (12), the length of the first optical bar (11) being greater than the length of the second optical bar (12); the first optical lever (11) and the second optical lever (12) are respectively fixed on the bottom surface of the drill boom fixing plate (4), and the second optical lever (12) is used for installing a resin injection assembly so as to inject resin into a drill hole after the drill hole is drilled; the drill rod manipulator comprises a first drill rod manipulator (7), a second drill rod manipulator (8) and a first electro-hydraulic control system; the first drill rod manipulator (7) is sleeved at the bottom end of the first polished rod (11), and the first electro-hydraulic control system and the first drill rod manipulator (7) are arranged in a driving mode and used for automatically driving the first drill rod manipulator (7) to rotate around the first polished rod (11); the second drill rod manipulator (8) is used for grabbing a drill rod (6), and the first drill rod manipulator (7) is fixedly connected with the second drill rod manipulator (8) and used for driving the drill rod (6) to rotate to a position corresponding to the drill rod clamping opening.
3. The automatic drilling and anchoring device for roof bolters according to claim 2, characterized in that said storage and transportation cabin of the roof bolters further comprises a step mechanism, said step mechanism being arranged in said cabin (19); in the anchor rod storage and transportation device, the anchor rod manipulator assembly sequentially comprises an anchor rod manipulator base (15), a second hydraulic cylinder body (20), an anchor rod manipulator lifting rod (17) and an anchor rod manipulator structure from bottom to top, the second hydraulic cylinder body (20) is fixed on the anchor rod manipulator base (15), and the anchor rod manipulator lifting rod (17) is installed in the second hydraulic cylinder body (20) in a matched mode and used for lifting; the anchor rod manipulator structure has relative first end and the second end that sets up, the first end of anchor rod manipulator structure is rotationally fixed in the top of anchor rod manipulator lifter (17) is used for changing the direction of anchor rod manipulator structure, the second end of anchor rod manipulator structure is provided with the gripping structure and is used for gripping stock (21), anchor rod manipulator lifter (17) drive stock (21) rise in order to break away from step mechanism, the anchor rod manipulator structure winds anchor rod manipulator lifter (17) is rotatory so that stock (21) centering the mouth is pressed from both sides to the drilling rod, drill box (10) drive stock (21) rise to in the drilling hole.
4. The automatic anchor drilling device for the bolter as recited in claim 3, wherein a plurality of the anchor rods (21) are fixed on the step mechanism at intervals for step-by-step operation in the cabin body (19) to step-transport the anchor rods (21) for the second end of the anchor rod manipulator structure to grasp.
5. The automatic drill and anchor device for roof bolters according to claim 4, characterized in that the drill arm device, the clamp (3) comprises a first structure (31) and a second structure (32) which are arranged oppositely, the first structure (31) has a first clamping mouth, the second structure (32) has a second clamping mouth, and the first clamping mouth and the second clamping mouth form the drill rod clamping mouth when the first structure (31) and the second structure (32) are closed.
6. The automatic drilling and anchoring device for roof bolters according to claim 5, characterized in that the first lever (11) is fixed on the bottom surface of the drill arm fixing plate (4) and corresponds to the position of the first structure (31); the second feed rod (12) is fixed on the bottom surface of the drill boom fixing plate (4) and corresponds to the position of the second structure (32); the drill boom base (2) comprises two first hydraulic cylinder bodies, the drill boom lifting rod (1) comprises a first drill boom lifting rod and a second drill boom lifting rod, and the first drill boom lifting rod and the second drill boom lifting rod are respectively installed in the two first hydraulic cylinder bodies in a matched mode and used for simultaneously doing lifting motion so as to enable the pressure-proof plate (5), the clamp (3) and the drill boom fixing plate (4) to stably lift.
7. The automatic drill-anchor device for roof-bolters according to claim 6, characterized in that the drill boom device further comprises a first fixing member, a second fixing member and a second electro-hydraulic control system; a first through hole and a second through hole are oppositely arranged on the drill boom fixing plate (4), a third through hole and a fourth through hole are oppositely arranged on the pressure-proof plate (5), a fifth through hole is arranged on the first structure (31), and a sixth through hole is arranged on the second structure (32);
the first through hole, the fifth through hole and the third through hole are correspondingly arranged, the first fixing piece sequentially penetrates through the third through hole, the fifth through hole and the first through hole from top to bottom, and the pressure-proof plate (5), the first structure (31) and the drill boom fixing plate (4) are sequentially fixed at the top end of the first drill boom lifting rod from top to bottom; the second through hole, the sixth through hole and the fourth through hole are correspondingly arranged, a first fixing piece penetrates through the fourth through hole, the sixth through hole and the second through hole from top to bottom in sequence, and the pressure-proof plate (5), the second structure (32) and the drill boom fixing plate (4) are fixed to the top end of the second drill boom lifting rod from top to bottom in sequence;
the second electro-hydraulic control system is respectively arranged in a driving mode with the first structure (31) and the second structure (32) and used for automatically driving the first structure (31) to rotate around the first fixing piece and the second structure (32) to rotate around the second fixing piece in the opposite direction.
8. The automatic anchor drilling device for the roof bolter as recited in claim 7, wherein the anchor rod handling device further comprises a third electro-hydraulic control system, the third electro-hydraulic control system is in driving arrangement with the anchor rod manipulator structure for automatically driving the anchor rod manipulator structure to rotate around the anchor rod manipulator lifting rod (17).
9. The automatic drill and anchor device for roof bolters of claim 8, wherein the rock bolt storage device, the step mechanism includes a motor, a wheel train structure and a track; a plurality of fixing holes are formed in the track at intervals and used for fixing the anchor rods (21); the motor is in driving connection with the gear train structure and is used for driving the gear train structure to run; the gear train structure is in driving connection with the crawler and used for driving the crawler to move in the bin body (19) in a stepping mode so as to transport the anchor rods (21) in a stepping mode.
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| CN201811322402.8A CN109404022B (en) | 2018-11-08 | 2018-11-08 | Automatic anchor drilling device for anchor rod machine |
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| CN201811322402.8A CN109404022B (en) | 2018-11-08 | 2018-11-08 | Automatic anchor drilling device for anchor rod machine |
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| CN109404022B true CN109404022B (en) | 2020-12-11 |
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| CN109404022A (en) | 2019-03-01 |
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