CN115387720A - Anchor rod drill carriage, power system and control method - Google Patents
Anchor rod drill carriage, power system and control method Download PDFInfo
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- CN115387720A CN115387720A CN202210950405.6A CN202210950405A CN115387720A CN 115387720 A CN115387720 A CN 115387720A CN 202210950405 A CN202210950405 A CN 202210950405A CN 115387720 A CN115387720 A CN 115387720A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000010276 construction Methods 0.000 claims abstract description 44
- 238000004873 anchoring Methods 0.000 claims abstract description 37
- 238000012546 transfer Methods 0.000 claims abstract description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 39
- 239000010720 hydraulic oil Substances 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 20
- 238000005553 drilling Methods 0.000 claims description 18
- 239000003795 chemical substances by application Substances 0.000 claims description 11
- 239000011347 resin Substances 0.000 claims description 9
- 229920005989 resin Polymers 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 9
- 238000013461 design Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
- 238000012937 correction Methods 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000003756 stirring Methods 0.000 claims description 2
- 239000003921 oil Substances 0.000 description 19
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 18
- 239000003245 coal Substances 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 239000011435 rock Substances 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002283 diesel fuel Substances 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012905 input function Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000004801 process automation Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
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- 230000000087 stabilizing effect Effects 0.000 description 1
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- 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
- E21B3/00—Rotary drilling
- E21B3/02—Surface drives for rotary drilling
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- 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
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- 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
- E21B7/04—Directional drilling
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- 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
- E21D11/006—Lining anchored in the rock
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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
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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
- E21D20/02—Setting anchoring-bolts with provisions for grouting
- E21D20/025—Grouting with organic components, e.g. resin
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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
- E21D20/02—Setting anchoring-bolts with provisions for grouting
- E21D20/028—Devices or accesories for injecting a grouting liquid in a bore-hole
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- Structural Engineering (AREA)
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Abstract
The invention discloses an anchor rod drill carriage, a power system and a control method, wherein a diesel engine is arranged, and a generator is connected and arranged at the output end of one side of the diesel engine through a coupler; the output end of the other side of the diesel engine is connected with a transfer case, and the output shaft of the transfer case is respectively connected with a first hydraulic pump and a second hydraulic pump. The invention realizes double control of electric control and oil control through the arranged power system, and for devices with lower requirements on working strength, such as a working device which adopts motor drive, has high construction precision, full-automatic construction of each procedure, can carry out full-section anchoring construction operation, and remotely control the personnel far away from the operation area, thereby greatly improving the application range and the operation capability of the device; for devices with higher working strength, such as a vehicle body, an angle adjusting device and the like, hydraulic control is adopted, so that better power control is realized while energy is saved.
Description
Technical Field
The invention relates to the technical field of anchor rod drilling machines for coal mines, in particular to an anchor rod drilling vehicle, a power system and a control method.
Background
In recent years, along with the increase of coal mining intensity and depth, the difficulty of roadway surrounding rock control is increased day by day, coal mine safety accidents frequently occur, wherein a roadway roof accident accounts for 91%, a working face crossheading roof accident accounts for 90% of a total roadway accident, anchor rod support is taken as an effective roadway support mode at present, the anchor rod support mode becomes a main support mode of a coal mine roadway, the anchor rod support mode is an indispensable technology for realizing high-yield and high-efficiency production of coal mines, the aperture is 30mm during anchor rod construction, the hole depth is generally 2.4m, 4-6 roof anchor rods are arranged on a roadway section, and 6-8 anchor rods are arranged on two sides of a side part. After the coal mine tunnel appears partial stock anchor net and became invalid, probably lead to the tunnel country rock to warp, the safety of direct influence constructor and operation equipment needs the manual work to accomplish tunnel stock repair construction operation this moment, but lacks the professional equipment of mending the stock in the market.
At present, aiming at the construction requirements of repairing and driving anchor rod holes of a roadway roof and a high-position side wall, domestic coal mines generally depend on manual operation to carry out repairing and driving operation by using a single pneumatic anchor rod drill boom, although the movement is convenient and flexible, the capability is small, the construction range is limited, the automation degree is low, the safety performance is poor, the labor intensity is high, meanwhile, water receiving, wind receiving and an operation platform are needed, the construction is difficult, part of the coal mines are also constructed by adopting a traditional hydraulic drilling machine, the traditional hydraulic drilling machine is generally used for simple modification of a conventional tunnel drilling machine, the specialization degree is low, the construction efficiency is high, the problems that the equipment is inconvenient to transfer, the roadway condition adaptability is poor, the integral machine angle modulation range is limited and the like exist, meanwhile, the special multi-arm anchor rod drilling machine in the market is mainly used for matching with a heading machine to carry out large-batch anchor rod drilling construction, the characteristics of long field distribution distance and small number of single construction fields are realized, the equipment has the problems of difficult field transfer, the auxiliary adjustment time is long, the construction is not high, and the like. In addition, the equipment on the market at present generally adopts hydraulic transmission system to carry out stock construction, drilling construction, and each process construction efficiency such as anchor net, anchoring agent installation and stock installation is not high, and the precision is low, can't realize full process automation, needs artifical auxiliary operation, and the security performance is poor, can not satisfy colliery downhole safety efficient drilling construction requirement.
Disclosure of Invention
Aiming at the problems of the conventional anchor rod repairing and driving equipment, the invention provides the anchor rod drill carriage, the power system and the control method.
In order to realize the purpose, the invention is realized by the following technical scheme:
the anchor rod drill carriage power system is provided with a diesel engine, wherein an output end on one side of the diesel engine is connected with a generator through a coupler; the output end of the other side of the diesel engine is connected with a transfer case, and the output shaft of the transfer case is respectively connected with a first hydraulic pump and a second hydraulic pump.
Optionally, the output power of the diesel engine satisfies the following conditions:
in the formula: n is a radical of f The output power of the diesel engine is kW;
P H outputting power for the generator, kW;
P e kW is the calibration power of the diesel engine under the rated working condition;
eta is the efficiency of the generator;
k 1 the value of the power correction coefficient of the generator is 0.9-1;
k 2 the power correction coefficient of the hydraulic pump is 0.9-1;
p 1 the system pressure of the first hydraulic pump is MPa;
Q 1 the system flow of the first hydraulic pump is L/min;
p 2 the system pressure of the hydraulic pump II is MPa;
Q 2 the system flow of the hydraulic pump II is L/min;
η 1 the efficiency of the first hydraulic pump;
η 2 the efficiency of the hydraulic pump two.
Optionally, an electric control system is further provided, the electric control system is powered by a generator, a driver is provided, and a feeding motor, a rotary motor, an anchoring motor and a servo motor are arranged in parallel with the driver.
Optionally, a hydraulic system is further provided, the hydraulic system provides power through the first hydraulic pump and the second hydraulic pump, and a hydraulic oil tank is provided and comprises a first hydraulic circuit, the first hydraulic circuit is provided with power through the first hydraulic pump, and the first hydraulic circuit transmits hydraulic oil to the first hydraulic valve group; the hydraulic valve group II is powered by a hydraulic pump II and transmits hydraulic oil to a hydraulic valve group II.
An anchor rod drill carriage is provided with a carriage body, wherein the carriage body is provided with a working device, an angle adjusting device, a power system and an auxiliary system; the power system is any one of the power systems of the anchor rod drilling machine.
Optionally, the power system is installed in the vehicle body, and the generator provides power for the working device; the first hydraulic pump and the second hydraulic pump provide power for the angle adjusting device and the vehicle body.
Optionally, a pneumatic system is further provided, the pneumatic system comprises an air compressor, an air storage tank, a filtering dryer, an anchoring agent bin and an air transmission pipeline, and air is compressed by the air compressor and then is injected into the air storage tank; after the high-pressure gas in the gas storage tank is dried and filtered by the filter dryer, the resin cartridges stored in the anchoring agent bin are pushed into the gas transmission pipeline.
Optionally, the angle adjusting device is provided with a main working arm, the lower end of the main working arm is hinged with a second rotary speed reducer, and the second rotary speed reducer is hinged with a hydraulic oil cylinder; the piston end of the hydraulic oil cylinder is hinged with the middle part of the main working arm; the upper end of the main working arm is hinged with a secondary working arm, and a third rotary speed reducer is arranged at the hinged position; and a first rotary speed reducer is arranged at the end part of the secondary working arm.
Optionally, the working device comprises a feeding machine body, and the lower part of the feeding machine body is connected with the angle adjusting device through a first rotary speed reducer; one end of the feeding machine body is provided with a feeding device, a rotating device and an anchoring device, and the feeding machine body is provided with an anchor rod bin and a side pushing device; the other end of the feeding machine body is provided with an orifice device and a centralizer.
The control method of the anchor rod drill carriage comprises the following steps:
the method comprises the following steps: after determining the position of the roadway anchor rod failure, a constructor operates an anchor rod drill carriage to walk and transport in place, and checks the safety condition and the construction condition of a working place;
step two: the anchor rod drill carriage is stabilized, the working device is subjected to angle modulation through the angle modulation device, the working range of the working device is ensured to meet the design requirement, and the anchor net is installed in a roadway failure area and fixed through the working device;
step three: moving the slewing device to a proper position, completing one-time drilling construction of the drill rod by utilizing the cooperation of the slewing device and the feeding device, and then returning the slewing device to an initial position;
step four: after the orifice device rotates, the head of the drill rod is pressed into the lower part from the orifice position, the feeding machine body is inserted into the orifice position, a plurality of resin cartridges are driven into the drill hole by using a pneumatic system, the head of the drill rod is connected with the orifice device, and the rotary device is laterally moved by matching with a lateral pushing device;
step five: the side pushing device moves the anchoring device to the right position laterally, the anchor rod bin conveys the anchor rod to the corresponding axial direction of the anchoring device, the anchoring device connects the anchor rod well, and meanwhile, the feeding device is matched to complete anchor rod construction, so that the anchor rod rotates to stir the resin explosive roll to the bottom of the hole, and the anchor rod is ensured to be bonded with the hole wall;
step six: and (5) completing anchor rod construction at other positions of the anchor net by adopting the third to fifth steps to meet the installation design requirement of the anchor net.
The invention has the following beneficial effects:
the anchor rod drill carriage changes the dilemma of the prior specialized construction equipment lacking a repairing anchor rod, has the functions of quick moving capability, independent water and air supply, integrated installation of an anchor net and an anchoring agent and the like, adopts the motor to drive the working device, has high construction precision, fully-automatic construction of each process, can carry out full-section anchoring construction operation, and is remotely controlled by a person far away from an operation area, thereby greatly improving the application range and the operation capability of the equipment.
Drawings
FIG. 1 is a schematic structural view of the jumbolter of the present invention;
FIG. 2 is a schematic illustration of the power system configuration of FIG. 1;
FIG. 3 is a schematic diagram of a power transmission route of the electronic control system;
FIG. 4 is a schematic diagram of a hydraulic system power transmission path;
FIG. 5 is a schematic view of the working device of FIG. 1;
FIG. 6 is a schematic diagram of a pneumatic anchoring agent delivery system;
fig. 7 is a schematic structural diagram of the recliner in fig. 1;
the reference numerals of the drawings have the following meanings:
1-a vehicle body, 2-a power system, 3-an angle adjusting device, 4-a working device and 5-an auxiliary system;
20-a first hydraulic valve group, 21-a driver, 22-a second hydraulic valve group, 23-a controller, 24-a generator, 25-a diesel engine, 251-a coupler, 252-a transfer case, 26-a first hydraulic pump, 27-a second hydraulic pump, 28-a remote controller, 29-a hydraulic oil tank, an a-feeding motor, a b-a rotary motor c-an anchoring motor and a d-a servo motor;
41-feeding device, 42-rotating device, 43-anchoring device, 44-side pushing device, 45-anchor rod bin, 46-feeding machine body, 47-orifice device and 48-centralizer;
31-a second rotary speed reducer, 32-a main working arm, 33-a hydraulic oil cylinder, 34-a first rotary speed reducer, 35-a secondary working arm and 36-a third rotary speed reducer;
6-gas transmission pipeline, 7-anchoring agent bin, 8-filtering drier, 9-gas storage tank and 10-air compressor.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings so that the advantages and features of the invention will be more readily understood by those skilled in the art, and the scope of the invention will be clearly and clearly defined by the following detailed description of the invention with reference to the accompanying drawings.
With reference to fig. 2-4, the power system of the anchor rod drill carriage of the present invention is provided with a diesel engine 25, and an output end on one side of the diesel engine 25 is connected with a generator 24 through a coupling 251; the other side output end of the diesel engine 25 is connected with a transfer case 252, and the output shaft of the transfer case 252 is respectively connected with a first hydraulic pump 26 and a second hydraulic pump 27. The diesel engine 25 is installed in the vehicle body 1 and used for providing total power for the jumbolter, the output end of one side is connected with the generator 24, the output end of the other side is connected with the input end of the transfer case 252, the input shaft of the first hydraulic pump 26 and the input shaft of the second hydraulic pump 27 are respectively connected with the output shaft of the transfer case 252, the first hydraulic pump 26 is connected with the first hydraulic valve bank 20 through a hydraulic rubber pipe, the second hydraulic pump 27 is connected with the second hydraulic valve bank 22 through a hydraulic rubber pipe, the controller 23 and the driver 21 are respectively fixed on the vehicle body 1, and the remote controller 28 is placed in a cab. The diesel engine 25 cancels the conventional fan end connection, the two ends of the crankshaft are respectively provided with the generator and the hydraulic pump station, the output of the two ends can ensure that the electric control system and the hydraulic system can work normally, the equipment arrangement space is saved, meanwhile, the output power of the generator can realize closed-loop control, the adjustment can be carried out according to the feedback of an external load, the output torque and the rotating speed of the rotary motor, the feeding motor, the anchoring drilling machine and the rotating motor are controlled, the stepless adjustment construction capability of a working mechanism according to the size of the external load is ensured, the energy utilization rate is high, and meanwhile, when the equipment is in standby state, the diesel engine can carry out idling output with smaller power.
In the embodiment of the present disclosure, in order to ensure that the electric control system and the hydraulic system work normally and improve the output efficiency of the diesel engine 25, the output power of the diesel engine 25 should be efficiently matched with the output powers of the electric control system and the hydraulic system on both sides, and the output power of the diesel engine 25 satisfies:
in the formula: n is a radical of f kW is the output power of the diesel engine;
P H outputting power for the generator, kW;
P e kW is the calibration power of the diesel engine under the rated working condition;
η is the efficiency of the generator;
k 1 the value of the power correction coefficient of the generator is 0.9-1;
k 2 the power correction coefficient of the hydraulic pump is 0.9-1;
p 1 the system pressure of the first hydraulic pump is MPa;
Q 1 the system flow of the first hydraulic pump is L/min;
p 2 the system pressure of the hydraulic pump II is MPa;
Q 2 the system flow of the hydraulic pump II is L/min;
η 1 the efficiency of the first hydraulic pump;
η 2 the efficiency of the hydraulic pump two.
The power system matching is carried out according to the formula, when the diesel engine is started to work, the total output power of the diesel engine is adjusted in real time according to the formula, the total output power of the diesel engine is guaranteed to meet the design requirement, and the energy utilization rate and the working efficiency are improved. The method comprises the steps that input power of an electric control system and output voltage signals of a sensing unit are collected in real time through the sensing unit, the input power and the output voltage signals are calibrated to obtain a corresponding relation between the input power and the output voltage signals, the voltage signals of the sensing unit act on an electromagnetic pressure reducing valve of a hydraulic system, output pressure oil of the electromagnetic pressure reducing valve acts on inner swash plate cylinder rods of a first hydraulic pump and a second hydraulic pump, output flow of the hydraulic system is changed by changing swash plate angles of the first hydraulic pump and the second hydraulic pump, and finally the input power of the hydraulic system is changed. The electric control system and the hydraulic system adopt power feedback control, when the required input function of the electric control system is increased, the rotating speed of diesel oil is increased, the flow and the power of the hydraulic system are inevitably increased, at the moment, the output power of the hydraulic system is reduced through power feedback, the power of the electric control system is ensured to be dominant in the total output power of the diesel engine, and the intelligent matching of the electric control system and the hydraulic system is realized. When the electric control system is in standby, the voltage signal of the generator sensing unit approaches zero, the output pressure oil pressure of the electromagnetic pressure reducing valve approaches zero, at the moment, the hydraulic system is only influenced by the load sensitive signal of the hydraulic valve and outputs according to the load, and the output power is completely determined by the load of the hydraulic system.
In the embodiment of the present disclosure, an electric control system is further provided, the electric control system is powered by the generator 24, the driver 21 is provided, and the feeding motor a, the rotating motor b, the anchoring motor c and the servo motor d are arranged in parallel with the driver 21. As shown in fig. 3, the electronic control system is mainly used for controlling the electronic control loop transmission of the jumbolter; the electric control system is mainly powered by a generator 24 and transmits the power to a driver 21, the driver 21 transmits the power to a feeding motor a, a rotary motor b, an anchoring motor c and a servo motor d respectively to ensure the matching of voltage and current, a controller 23 mainly controls the action of each actuating mechanism, and a remote controller 28 is used for transmitting signals to the controller 23.
In the embodiment of the disclosure, a hydraulic system is further provided, the hydraulic system is powered by the first hydraulic pump 26 and the second hydraulic pump 27 together, and a hydraulic oil tank 29 is provided and comprises a first hydraulic circuit, the first hydraulic circuit is powered by the first hydraulic pump 26 and transfers hydraulic oil to the first hydraulic valve group 20; and a second hydraulic circuit powered by a second hydraulic pump 27 for delivering hydraulic oil to the second hydraulic valve block 22. As shown in fig. 4, the hydraulic system is mainly used for controlling the hydraulic circuit transmission of the jumbolter; the hydraulic system adopts double hydraulic pumps to provide power, shares a hydraulic oil tank 29 and comprises 2 hydraulic loops, the first hydraulic loop is powered by a first hydraulic pump 26 and transmits hydraulic oil to a first hydraulic valve group 20, and the first hydraulic valve group 20 transmits the hydraulic oil to two wheel-side hydraulic motors and four groups of hydraulic support legs of the vehicle body 1 respectively. The second hydraulic loop is powered by a second hydraulic pump 27, and transmits hydraulic oil to a second hydraulic valve group 22, and the second hydraulic valve group 22 transmits the hydraulic oil to power parts needing the hydraulic oil, such as a first rotary speed reducer, a second rotary speed reducer, a third rotary speed reducer, a hydraulic oil cylinder, a side-push oil cylinder, a rotary oil cylinder, a gripper swing oil cylinder, a gripper gripping oil cylinder, a feeding oil cylinder, a swing oil cylinder, a water pump, a hydraulic motor and the like.
As shown in fig. 1, the anchor rod drill carriage is provided with a carriage body 1, wherein the carriage body 1 is provided with a working device 4, an angle adjusting device 3 and a power system 2; the power system 2 is a jumbolter power system according to any of the present invention. In order to enrich the working content of the drill carriage, an auxiliary system 5 is further arranged, a power system 2 and the auxiliary system 5 are arranged in a chassis system of a vehicle body 1, an angle adjusting device 3 is installed on the chassis system of the vehicle body 1 through a first rotary speed reducer 31, and a working device 4 is connected with the angle adjusting device 3 through a first rotary speed reducer 34.
As shown in fig. 5, the working device 4 comprises a feeding machine body 46, and the lower part of the feeding machine body 46 is connected with the angle adjusting device 3 through a first slewing reducer 34; one end of the feeding machine body 46 is provided with a feeding device 41, a rotating device 42 and an anchoring device 43, and the feeding machine body 46 is provided with an anchor rod bin 45 and a side pushing device 44; the other end of the feeding body 46 is provided with an orifice device 47 and a centralizer 48; the feeding machine body 46 is connected with the angle adjusting device 3 through a first rotary speed reducer 34 and comprises a double-cylinder guide rail, a ball screw device, a supporting plate, a machine body and a front jacking device, the double-cylinder guide rail is fixed in the machine body, the ball screw device is installed on the machine body, the supporting plate is connected with the ball screw device through a nut installation seat and slides in a reciprocating mode through the double-cylinder guide rail, the front jacking device is mainly used for jacking the feeding machine body into a top plate or a side wall of a roadway, meanwhile, the front end of the front jacking device is provided with a permanent magnet, and single-piece sequential picking of an anchor net can be carried out.
The rotating device 42 comprises a rotating motor, a first speed reducer, a first power head and a drill rod, an output shaft of the rotating motor b is connected with an input end of the first speed reducer for transmission, the first speed reducer is fixed on the side pushing device 44, an output end of the first speed reducer is connected with an input end of the first power head for transmission, an output shaft of the first power head is connected with the drill rod through threads for transmission, the length of the drill rod can be customized according to construction conditions, and drilling construction is completed through one feeding stroke;
the anchoring device 43 comprises an anchoring motor, a second speed reducer and a second power head, an output shaft of the anchoring motor c is connected with an input end of the second speed reducer for transmission, the second speed reducer is fixed on the side pushing device 44, an output end of the second speed reducer is connected with an input end of the second power head for transmission, an output shaft of the second power head is connected with the anchor rod through a hexagon for transmission, and anchor rod construction is completed by one-time anchoring stroke;
the side pushing device 44 is arranged at the rear end of the feeding machine body 46, the switching between the rotating device 42 and the anchoring device 43 can be completed through the side pushing oil cylinder, and the rotating device 42 or the anchoring device 43 is fixed on the supporting plate;
the feeding device 41 comprises a feeding motor and a third speed reducer, an output shaft of the feeding motor a is connected with an input end of the third speed reducer for transmission, the third speed reducer is fixed on the feeding machine body 46, and an output end of the third speed reducer is connected with the ball screw device for transmission;
a centralizer 48 is mounted to the front of the feeder body 46 for stabilizing the bolt and rod construction;
the anchor rod bin 45 comprises a bin body, a rotating oil cylinder, a gripper swinging oil cylinder, a gripper gripping oil cylinder and a plurality of anchor rods, wherein the bin body is fixed on the side edge of the machine body and adopts a left-wheel structure and is used for storing the plurality of anchor rods;
the orifice device 47 comprises a servo motor d, a feeding oil cylinder, a swinging oil cylinder, a machine base and a feeding mechanism, wherein the servo motor d is connected with the machine base and can complete the rotation of the machine base and press the head of the drill rod into the lower part from the orifice position, the feeding oil cylinder is connected with the feeding mechanism and is used for inserting the feeding mechanism into the orifice position, the swinging oil cylinder is connected with the machine base and is used for fixing the drill rod with the machine base,
the auxiliary system 5 comprises a pneumatic system and a waterway system;
as shown in fig. 6, the pneumatic system includes an air compressor 10, an air tank 9, a filter dryer 8, an anchoring agent bin 7 and an air transmission pipeline 6, and air is compressed by the air compressor 10 and then injected into the air tank 9; after the high-pressure gas in the gas storage tank 9 is dried and filtered by the filter dryer 8, the resin cartridges stored in the anchoring agent bin 7 are pushed into the gas transmission pipeline 6. The air compressor 10 is driven by a hydraulic motor, air is collected through an air inlet of the air compressor 10, and after being compressed by the air compressor 10, the air is sprayed into the air storage tank 9 from an air outlet of the air compressor 10. Because the air collected by the air inlet and the compressed air ejected by the air outlet after doing work have temperature difference, most condensed water is inevitably separated out and contains a small amount of oil and impurities, most oil and dust are separated out by the filtering dryer 8, the pure air can be relatively filtered by the filtering dryer 8 to prevent the separation of water, the anchoring agent bin 7 stores resin cartridges, and the gas transmission pipeline 6 is connected with the orifice device 47. The waterway system comprises a water tank, a water pump and a water pipe, wherein the water tank is fixed in the vehicle body platform and used for storing static pressure water, the water pump is used for spraying water out of the water tank, one end of the water pipe is connected with the water tank, and the other end of the water pipe is connected with the power head I to provide construction water.
As shown in fig. 7, the angle adjusting device 3 is provided with a main working arm 32, the lower end of the main working arm 32 is hinged with a second slewing reducer 31, and the second slewing reducer 31 is hinged with a hydraulic oil cylinder 33; the piston end of the hydraulic oil cylinder 33 is hinged with the middle part of the main working arm 32; the upper end of the main working arm 32 is hinged with a secondary working arm 35, and a third rotary speed reducer 36 is arranged at the hinged position; a first rotary speed reducer 34 is arranged at the end part of the secondary working arm 35; the lower end of the main working arm 32 is connected with one end of the second rotary speed reducer 31, the other end of the second rotary speed reducer 31 is connected with the vehicle body 1, the steering function of the main working arm 32 is achieved, one end of the hydraulic oil cylinder 33 is connected with the vehicle body 1 or the second rotary speed reducer 31, the other end of the hydraulic oil cylinder is connected with the middle of the main working arm 32, the angle adjusting function of the main working arm 32 is achieved, the upper end of the main working arm 32 is connected with the secondary working arm 35 through the third rotary speed reducer 36, and the angle adjusting function of the secondary working arm 35 is achieved.
A method of controlling a rock bolt drill carriage, comprising:
the method comprises the following steps: after determining the failure position of the roadway anchor rod, a constructor operates an anchor rod drill carriage to walk and transport in place, checks the safety condition and the construction condition of a working place, cleans the failed anchor rod, an anchor net, a surface crushed coal rock block and the like, timely treats potential safety hazards and ensures the operation safety;
step two: the electric intelligent jumbolter is stabilized by four groups of hydraulic support legs, the working device 4 is subjected to angle modulation through the angle modulation device 3, the working range of the working device 4 is ensured to meet the design requirement, a constructor performs remote control construction outside a safe distance by using a remote controller 28, and an anchor net is installed to a roadway failure area and fixed by using a front jacking device of the working device 4;
step three: the constructor operates the remote controller 28 to move the rotating device 42 to the right position and fix the rotating device 42 on the supporting plate, the rotating device 42 and the feeding device 41 are matched to complete drilling construction of a drill rod for one time, slag discharge and dust fall can be carried out through a water path system according to construction requirements, then the rotating device 42 returns to an initial position, the output capacities of the rotating motor b and the feeding motor a can be adjusted steplessly according to the internal and external load changes of drilling, the control is accurate, different construction roadway conditions are adapted, the construction efficiency is guaranteed, and the drilling construction is completed automatically;
step four: after the orifice device 47 rotates, the head of the drill rod is pressed into the lower part from the orifice position, meanwhile, the feeding mechanism is inserted into the orifice position, a plurality of resin cartridges are driven into the drill hole by using a pneumatic system, then, the head of the drill rod is connected with the orifice device by swinging the oil cylinder, the slewing device 42 is laterally moved by matching with a lateral pushing mechanism, and the construction of feeding the cartridges is automatically completed;
step five: the side pushing device 44 laterally moves the anchoring device 43 to the position and fixes the anchoring device on the supporting plate; the anchor rod bin 45 conveys the anchor rod to the center of the power head II, the anchor rod is connected well by the anchoring device 43 and is fixedly connected with the anchor rod nut through the power head II, and meanwhile, the power head II is matched with the feeding device 41 to complete anchor rod construction;
step six: and (5) completing anchor rod construction at other positions of the anchor net by adopting the third to fifth steps to meet the installation design requirement of the anchor net.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent variations and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (10)
1. The power system of the anchor rod drill carriage is characterized in that a diesel engine (25) is arranged, and an output end on one side of the diesel engine (25) is connected with a generator (24) through a coupling (251);
the other side output end of the diesel engine (25) is connected with a transfer case (252), and the output shaft of the transfer case (252) is respectively connected with a first hydraulic pump (26) and a second hydraulic pump (27).
2. The jumbolter power system as claimed in claim 1, wherein the output power of the diesel engine (25) satisfies:
in the formula: n is a radical of f The output power of the diesel engine is kW;
P H outputting power for the generator, kW;
P e the calibration power of the diesel engine under a rated working condition is kW;
eta is the efficiency of the generator;
k 1 the value of the power correction coefficient of the generator is 0.9-1;
k 2 the power correction coefficient of the hydraulic pump is 0.9 to1；
p 1 The system pressure of the first hydraulic pump is MPa;
Q 1 the system flow of the first hydraulic pump is L/min;
p 2 the system pressure of the hydraulic pump II is MPa;
Q 2 the system flow of the hydraulic pump II is L/min;
η 1 the efficiency of the first hydraulic pump;
η 2 the efficiency of the hydraulic pump two.
3. A roof-bolter rig power system according to claim 1 or 2, characterized in that an electric control system is provided, which is powered by a generator (24), that a drive (21) is provided, and that a feed motor (a), a rotary motor (b), an anchor motor (c) and a servo motor (d) are arranged in parallel with the drive (21).
4. A roof bolt drill carriage power system according to claim 1 or 2, characterized in that a hydraulic system is provided, said hydraulic system being powered by both the first hydraulic pump (26) and the second hydraulic pump (27), a hydraulic oil tank (29) is provided, comprising a first hydraulic circuit powered by the first hydraulic pump (26) for transferring hydraulic oil to the first hydraulic valve block (20);
the hydraulic system comprises a second hydraulic circuit, wherein the second hydraulic circuit is powered by a second hydraulic pump (27) and transmits hydraulic oil to a second hydraulic valve bank (22).
5. The anchor rod drill carriage is characterized by comprising a carriage body (1), wherein the carriage body (1) is provided with a working device (4), an angle adjusting device (3) and a power system (2);
the power system (2) is the power system of the anchor rod drilling machine as claimed in any one of claims 1-4.
6. A roof-bolter rig according to claim 5, characterized in that the power system (2) is mounted in the vehicle body (1), and the generator (24) powers the working device (4);
the first hydraulic pump (26) and the second hydraulic pump (27) provide power for the angle adjusting device (3) and the vehicle body (1).
7. The anchor rod drill carriage as recited in claim 5, characterized in that a pneumatic system is further provided, the pneumatic system comprises an air compressor (10), an air storage tank (9), a filter dryer (8), an anchoring agent bin (7) and an air conveying pipeline (6), and air is compressed by the air compressor (10) and then is injected into the air storage tank (9); after the high-pressure gas in the gas storage tank (9) is dried and filtered by the filtering dryer (8), the resin cartridges stored in the anchoring agent bin (7) are pushed into the gas transmission pipeline (6).
8. The rock-bolt drill carriage according to claim 5, characterized in that the angle adjusting device (3) is provided with a main working arm (32), the lower end of the main working arm (32) is hinged with a second slewing reducer (31), and the second slewing reducer (31) is hinged with a hydraulic oil cylinder (33);
the piston end of the hydraulic oil cylinder (33) is hinged with the middle part of the main working arm (32); the upper end of the main working arm (32) is hinged with a secondary working arm (35), and a third rotary speed reducer (36) is arranged at the hinged position; the end part of the secondary working arm (35) is provided with a first rotary speed reducer (34).
9. The jumbolter as claimed in claim 8, wherein said working means (4) comprises a feed body (46), and a lower portion of said feed body (46) is connected to said angle adjusting means (3) through a first slewing gear (34);
one end of the feeding machine body (46) is provided with a feeding device (41), a rotating device (42) and an anchoring device (43), and the feeding machine body (46) is provided with an anchor rod bin (45) and a side pushing device (44);
the other end of the feeding machine body (46) is provided with an orifice device (47) and a centralizer (48).
10. The method of controlling a roof bolt drill carriage of claim 9, including:
the method comprises the following steps: after determining the failure position of the roadway anchor rod, operating the anchor rod drill carriage by constructors to walk and transport in place, and checking the safety condition and the construction condition of a working place;
step two: the anchor rod drill carriage is stabilized, the working device (4) is subjected to angle modulation through the angle modulation device (3), the working range of the working device (4) is ensured to meet the design requirement, and the anchor net is installed in a roadway failure area and fixed through the working device (4);
step three: moving the rotating device (42) to the right position, completing one drilling construction of the drill rod by utilizing the cooperation of the rotating device (42) and the feeding device (41), and then retracting the rotating device (42) to the initial position;
step four: after the orifice device (47) rotates, the drill rod head is pressed into the lower part from the orifice position, the feeding machine body (46) is inserted into the orifice position, a plurality of resin cartridges are driven into the drill hole by using a pneumatic system, the drill rod head is connected with the orifice device (47), and the rotary device (42) is laterally moved by matching with the lateral pushing device (44);
step five: the side pushing device (44) laterally moves the anchoring device (43) to the proper position, the anchor rod bin (45) conveys the anchor rod to the anchoring device (43) in the corresponding axial direction, the anchoring device (43) connects the anchor rods, and meanwhile, the feeding device (41) is matched to complete anchor rod construction, so that the anchor rods rotate to stir resin cartridges to the bottom of the hole, and the bonding of the anchor rods and the hole wall is ensured;
step six: and completing the anchor rod construction of the rest positions of the anchor net by adopting the third to fifth steps to meet the installation design requirement of the anchor net.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210950405.6A CN115387720A (en) | 2022-08-09 | 2022-08-09 | Anchor rod drill carriage, power system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210950405.6A CN115387720A (en) | 2022-08-09 | 2022-08-09 | Anchor rod drill carriage, power system and control method |
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| CN115387720A true CN115387720A (en) | 2022-11-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210950405.6A Pending CN115387720A (en) | 2022-08-09 | 2022-08-09 | Anchor rod drill carriage, power system and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN116378727A (en) * | 2023-06-02 | 2023-07-04 | 太原理工大学 | Automatic motor switching device of drilling and anchoring integrated machine |
-
2022
- 2022-08-09 CN CN202210950405.6A patent/CN115387720A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN116378727A (en) * | 2023-06-02 | 2023-07-04 | 太原理工大学 | Automatic motor switching device of drilling and anchoring integrated machine |
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