CN217055224U

CN217055224U - Anchor cable drilling manipulator

Info

Publication number: CN217055224U
Application number: CN202121526115.6U
Authority: CN
Inventors: 李传宏; 周国俊; 朱朋; 牟立见; 张庆; 刘晓光; 丛金坤; 李大东; 盖盛源; 刘滨; 滕舵; 宋万成; 林玉辉; 王新涛; 闫绍洋; 赵泽; 任建义; 任明
Original assignee: Xincheng Gold Mining Shandong Gold Mining Co ltd
Current assignee: Xincheng Gold Mining Shandong Gold Mining Co ltd
Priority date: 2021-07-06
Filing date: 2021-07-06
Publication date: 2022-07-26
Anticipated expiration: 2031-07-06

Abstract

The utility model discloses an anchor cable drilling manipulator, which comprises a base, a rotary turntable, a main arm, a lifting oil cylinder, a turnover turntable, a pitching oil cylinder, a pitching frame, a swinging turntable and a sliding frame; the sliding frame is also provided with a rock drill, a drill rod and a clamping rod device; the rock drill is located at the rear end of the sliding frame, the clamping rod device is located at the front end of the sliding frame, an output shaft of the rock drill is connected with a drill rod, the drill rod penetrates through the clamping rod device, and a drill bit is arranged at the front end of the drill rod. This device uses five-axis linkage structure, can remove the balladeur train optional position in the space to realize the angular adjustment of balladeur train, thereby realized all-round, the location at no dead angle, satisfied various needs of holing, still guaranteed the firm support of balladeur train through upper prop lower bearing structure simultaneously, guaranteed the security of precision and operation of punching.

Description

Anchor cable drilling manipulator

Technical Field

The utility model relates to a manipulator device for boring anchor rope hole.

Background

The mechanical arm structure adopted by the current anchor cable drilling device is generally formed by connecting a large arm and a small arm in series, only has one to two degrees of freedom, can only control the lifting and pitching, and can change the angle and the front and back positions when the height is adjusted. The structure has great limitation, can not carry out drilling operation at any position and angle, and can not meet the drilling requirement of complex terrains underground.

On the other hand, the device can receive very big reverse impact force in the drilling process, and this can lead to whole device to appear squinting, can not guarantee the drilling position accuracy, also has certain potential safety hazard.

SUMMERY OF THE UTILITY MODEL

The utility model provides an anchor rope drilling manipulator, its purpose: (1) the requirement of omnibearing punching is met; (2) the steadiness of the device in the drilling process is guaranteed.

The utility model discloses technical scheme as follows:

an anchor cable drilling manipulator comprises a base, a rotary turntable, a main arm, a lifting oil cylinder, a turnover turntable, a pitching oil cylinder, a pitching frame, a swinging turntable and a sliding frame;

the rotary turntable is rotatably arranged on the base and horizontally rotates relative to the base under the action of the first rotary driving device; the lower end of the main arm is hinged with the rotary turntable, one end of the lifting oil cylinder is hinged with the rotary turntable, and the other end of the lifting oil cylinder is hinged with the main arm; the turnover turntable is rotatably arranged at the upper end of the main arm and rotates relative to the main arm under the action of the second rotary driving device; the rear end of the pitching frame is hinged with the overturning turntable, one end of a pitching oil cylinder is hinged with the overturning turntable, and the other end of the pitching oil cylinder is hinged with the pitching frame; the swing turntable is rotatably arranged on the pitching frame and rotates relative to the pitching frame under the action of the third rotary driving device; the sliding frame is arranged on the swinging turntable;

the sliding frame is also provided with a rock drill, a drill rod and a clamping rod device; the rock drill is located at the rear end of the sliding frame, the clamping rod device is located at the front end of the sliding frame, an output shaft of the rock drill is connected with the drill rod, and the drill rod penetrates through the clamping rod device and the front end of the drill rod device to be provided with a drill bit.

As a further improvement of the manipulator: the front end of the sliding frame is provided with a tip, and the rear end of the sliding frame is provided with a supporting oil cylinder.

As a further improvement of the manipulator: and a propulsion oil cylinder is also arranged on the sliding frame and used for pushing the rock drill to move back and forth along the sliding frame.

As a further improvement of the manipulator: the clamping rod device comprises a first clamping oil cylinder, a first clamping arm, a second clamping oil cylinder, a second clamping arm and a clamping seat;

the clamping seat is arranged on the sliding frame; the first clamping arm and the second clamping arm are respectively positioned at the left side and the right side of the sliding frame and are respectively hinged with the clamping seat; the lower end of the first clamping oil cylinder is hinged with the sliding frame, and the upper end of the first clamping oil cylinder is hinged with the first clamping arm; the lower end of the second clamping oil cylinder is hinged with the sliding frame, and the upper end of the second clamping oil cylinder is hinged with the second clamping arm; the tail ends of the first clamping arm and the second clamping arm are respectively provided with a semicircular notch used for being matched with a drill rod.

Compared with the prior art, the utility model discloses following beneficial effect has: (1) the device adopts a five-axis linkage structure, the rotary turntable can realize large-angle rotation, the sliding frame can be moved to any position in space by matching with the lifting oil cylinder and the pitching oil cylinder, and the angle adjustment of the sliding frame is realized by combining the turnover turntable and the swing turntable, so that the positioning in all directions and without dead angles is realized, and various drilling requirements are met; (2) the centre and the supporting oil cylinder are arranged at the front end and the rear end of the sliding frame respectively, when the sliding frame works, the supporting oil cylinder extends out to support the ground or a wall, the centre supports against a rock wall, the sliding frame is stably supported, and the punching precision and the operation safety are guaranteed.

Drawings

FIG. 1 is a schematic structural view of the apparatus;

FIG. 2 is a schematic view of the clamping bar arrangement in an open state;

fig. 3 is a schematic view of the clamping bar arrangement in a closed state.

Detailed Description

The technical scheme of the utility model is explained in detail below with the attached drawings:

referring to fig. 1, the anchor cable drilling manipulator comprises a base 1, a rotary turntable 2, a main arm 3, a lifting cylinder 4, a turnover turntable 5, a pitching cylinder 6, a pitching frame 7, a swinging turntable 8 and a sliding frame 16.

The base 1 can be fixedly arranged or arranged on a trolley. In order to facilitate rapid movement between construction sites, it is preferable to mount the base 1 on a trolley, or to directly use the body of the trolley as the base 1.

The rotary turntable 2 is rotatably installed on the base 1 and horizontally rotates relative to the base 1 under the action of the first rotary driving device. The first rotary driving device comprises a driving hydraulic motor, a pinion and a bull gear, the driving hydraulic motor drives the pinion to rotate, the pinion drives the meshed bull gear to rotate, and the bull gear is connected with the rotary turntable 2 into a whole.

The lower end of the main arm 3 is hinged with the rotary turntable 2; meanwhile, one end of the lifting oil cylinder 4 is hinged with the rotary turntable 2, the other end of the lifting oil cylinder is hinged with the main arm 3, and the main arm 3 is driven to rotate relative to the rotary turntable 2 through stretching.

The overturning turntable 5 is rotatably mounted at the upper end of the main arm 3 and rotates relative to the main arm 3 under the action of the second rotary driving device. The structure of the second rotation driving device is the same as that of the first rotation driving device, and is not described in detail.

The rear end of the pitching frame 7 is hinged with the overturning turntable 5, one end of the pitching oil cylinder 6 is hinged with the overturning turntable 5, the other end of the pitching oil cylinder is hinged with the pitching frame 7, and the pitching frame 7 is driven to rotate relative to the overturning turntable 5 through stretching.

The swing turntable 8 is rotatably mounted on the pitching frame 7 and rotates relative to the pitching frame 7 under the action of the third rotary driving device.

The structure of the second swing driving device is the same as that of the first swing driving device, and is not described in detail.

The carriage 16 is mounted on the oscillating turntable 8.

The rotary turntable 2 can rotate 360 degrees, the sliding frame 16 can be moved to any position in space by matching with the lifting oil cylinder 4 and the pitching oil cylinder 6, and the angle adjustment of the sliding frame 16 is realized by combining the turnover turntable 5 and the swing turntable 8, so that the positioning in all directions and without dead angles is realized, and various drilling requirements are met.

A rock drill 10, a drill rod 11 and a clamping rod device 12 are further arranged on the sliding frame 16; the rock drilling machine 10 is located at the rear end of the sliding frame 16, the clamping rod device 12 is located at the front end of the sliding frame 16, an output shaft of the rock drilling machine 10 is connected with the drill rod 11, and the drill rod 11 penetrates through the clamping rod device 12 and is provided with a drill bit 13 at the front end.

The rock drill 10 drives the drill rod 11 to rotate at a high speed and perform impact action, so as to drill a hole in the rock wall.

Referring to fig. 2 and 3, the clamping bar device 12 comprises a first clamping cylinder 12-1, a first clamping arm 12-2, a second clamping cylinder 12-5, a second clamping arm 12-4 and a clamping seat 12-3.

The clamping seat 12-3 is arranged on the sliding frame 16; the first clamping arm 12-2 and the second clamping arm 12-4 are respectively positioned at the left side and the right side of the sliding frame 16 and are respectively hinged with the clamping seat 12-3; the lower end of the first clamping oil cylinder 12-1 is hinged with the sliding frame 16, and the upper end of the first clamping oil cylinder is hinged with the first clamping arm 12-2; the lower end of the second clamping oil cylinder 12-5 is hinged with the sliding frame 16, and the upper end of the second clamping oil cylinder is hinged with the second clamping arm 12-4; the ends of the first clamping arm 12-2 and the second clamping arm 12-4 are provided with semi-circular notches, respectively, for cooperation with the drill rod 11.

The first clamping cylinder 12-1 and the second clamping cylinder 12-5 act synchronously, when the two clamping cylinders retract, the first clamping arm 12-2 and the second clamping arm 12-4 are opened, the drill rod 11 can rotate at a high speed at the moment to perform drilling operation, when the two clamping cylinders extend synchronously, the first clamping arm 12-2 and the second clamping arm 12-4 are closed to drive the two semicircular notches to clamp the tail flange of the section of the drill rod 11 at the foremost end, at the moment, other drill rods at the rear section can be rotated by means of the rock drill 10 or other external forces, and thread matching between the drill rods is loosened to realize disassembly. When the drilling operation is performed, the first clamping oil cylinder 12-1 and the second clamping oil cylinder 12-5 are in synchronous extending states, at the moment, the two semicircular notches are in a closed state, supporting and positioning are performed on the rod position of the drill rod, and the situation that when the drilling operation is performed, a drill bit slides on a rock surface to influence the positioning accuracy of the hole position is prevented. The positioning accuracy is guaranteed, meanwhile, the open-hole time is saved, and the rock drilling efficiency is improved. After the drilling is finished, the drill bit completely enters the rock surface and is in a stable rock drilling state, the first clamping cylinder 12-1 and the second clamping cylinder 12-5 retract synchronously, the semicircular notch is completely opened, and rock drilling can be carried out at full speed.

As shown in fig. 1, a propulsion cylinder 15 is further mounted on the carriage 16 for propelling the rock drilling machine 10 to move back and forth along the carriage 16, so as to ensure that the drilling depth meets the requirements.

The front end of the sliding frame 16 is provided with a tip 14, and the rear end is provided with a supporting oil cylinder 9. During operation, the supporting oil cylinder 9 extends out to support the ground or the wall, the tip 14 supports the rock wall, the sliding frame 16 is stably supported, and punching precision and operation safety are guaranteed.

In the aspect of hydraulic pressure, the main arm 3 part is controlled by adopting pilot oil pressure and controlled by a 9-way hydraulic control valve group, and the main arm 3 can be controlled to act by operating a pilot handle. The pilot control has the advantage that the operator does not need to pull the operating handle with great effort, so that the labor intensity can be reduced.

When the hydraulic station is connected with a main oil circuit of the hydraulic station, an electromagnetic valve is additionally arranged and is controlled by an emergency stop button on an operation table. When an emergency occurs, the oil supply circuit of the main arm 3 can be cut off in time by pressing the emergency stop button. When drilling is not needed, the electromagnetic valve keeps a closed state, and the main arm 3 is in an oil cut-off state and cannot work. The design is mainly considered from the safety point of view, and can effectively prevent the main arm 3 from moving and causing accidents due to the fact that the operating rod is touched by mistake, and the main arm is opened only when needed.

A proportional flow divider is also installed on the branch oil path connected with the main oil path to better control the distribution and the direction of the oil path of the hydraulic oil.

The hydraulic control valve group of the hydraulic station mainly controls the actions of main arm 3 rotation, main arm 3 lifting, sliding frame 16 turning, sliding frame 16 swinging and pitching, drill rod 11 clamping/loosening and the like.

Claims

1. The utility model provides an anchor rope drilling manipulator which characterized in that: comprises a base (1), a rotary turntable (2), a main arm (3), a lifting oil cylinder (4), a turnover turntable (5), a pitching oil cylinder (6), a pitching frame (7), a swinging turntable (8) and a sliding frame (16);

the rotary turntable (2) is rotatably arranged on the base (1) and horizontally rotates relative to the base (1) under the action of the first rotary driving device; the lower end of the main arm (3) is hinged with the rotary turntable (2), one end of a lifting oil cylinder (4) is hinged with the rotary turntable (2), and the other end of the lifting oil cylinder is hinged with the main arm (3); the overturning turntable (5) is rotatably arranged at the upper end of the main arm (3) and rotates relative to the main arm (3) under the action of the second rotary driving device; the rear end of the pitching frame (7) is hinged with the overturning turntable (5), one end of a pitching oil cylinder (6) is hinged with the overturning turntable (5), and the other end of the pitching oil cylinder is hinged with the pitching frame (7); the swing turntable (8) is rotatably arranged on the pitching frame (7) and rotates relative to the pitching frame (7) under the action of a third rotary driving device; the sliding frame (16) is arranged on the swinging turntable (8);

the sliding frame (16) is also provided with a rock drill (10), a drill rod (11) and a clamping rod device (12); the rock drill (10) is located at the rear end of the sliding frame (16), the clamping rod device (12) is located at the front end of the sliding frame (16), an output shaft of the rock drill (10) is connected with the drill rod (11), and the drill rod (11) penetrates through the clamping rod device (12) and the front end of the drill rod device is provided with a drill bit (13).

2. The anchor rope drilling robot of claim 1, wherein: the front end of the sliding frame (16) is provided with a tip (14), and the rear end is provided with a supporting oil cylinder (9).

3. The anchor cable drilling manipulator of claim 1, wherein: and a propulsion oil cylinder (15) is also arranged on the sliding frame (16) and used for pushing the rock drilling machine (10) to move back and forth along the sliding frame (16).

4. An anchor line drilling manipulator as claimed in any one of claims 1 to 3, wherein: the clamping rod device (12) comprises a first clamping oil cylinder (12-1), a first clamping arm (12-2), a second clamping oil cylinder (12-5), a second clamping arm (12-4) and a clamping seat (12-3); the clamping seat (12-3) is arranged on the sliding frame (16); the first clamping arm (12-2) and the second clamping arm (12-4) are respectively positioned at the left side and the right side of the sliding frame (16) and are respectively hinged with the clamping seat (12-3); the lower end of the first clamping oil cylinder (12-1) is hinged with the sliding frame (16), and the upper end of the first clamping oil cylinder is hinged with the first clamping arm (12-2); the lower end of the second clamping oil cylinder (12-5) is hinged with the sliding frame (16), and the upper end of the second clamping oil cylinder is hinged with the second clamping arm (12-4); the tail ends of the first clamping arm (12-2) and the second clamping arm (12-4) are respectively provided with a semicircular notch used for being matched with the drill rod (11).