CN108104853B - Full-automatic drilling and anchoring operation vehicle - Google Patents
Full-automatic drilling and anchoring operation vehicle Download PDFInfo
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- CN108104853B CN108104853B CN201711404835.3A CN201711404835A CN108104853B CN 108104853 B CN108104853 B CN 108104853B CN 201711404835 A CN201711404835 A CN 201711404835A CN 108104853 B CN108104853 B CN 108104853B
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- 238000005553 drilling Methods 0.000 title claims abstract description 74
- 238000004873 anchoring Methods 0.000 title claims abstract description 72
- 230000007246 mechanism Effects 0.000 claims abstract description 81
- 239000003795 chemical substances by application Substances 0.000 claims abstract description 29
- 238000002347 injection Methods 0.000 claims abstract description 15
- 239000007924 injection Substances 0.000 claims abstract description 15
- 210000000078 claw Anatomy 0.000 claims description 13
- 238000012423 maintenance Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims description 4
- 238000012857 repacking Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 19
- 230000005641 tunneling Effects 0.000 abstract description 13
- 230000008569 process Effects 0.000 abstract description 10
- 239000003245 coal Substances 0.000 abstract description 8
- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract description 3
- 238000011161 development Methods 0.000 description 6
- 238000005065 mining Methods 0.000 description 4
- 239000011435 rock Substances 0.000 description 4
- 238000011160 research Methods 0.000 description 3
- 239000011347 resin Substances 0.000 description 3
- 229920005989 resin Polymers 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 241001584775 Tunga penetrans Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000009046 primary transport Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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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
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
- E21B15/045—Hydraulic, pneumatic or electric circuits for their positioning
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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
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
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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
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/16—Connecting or disconnecting pipe couplings or joints
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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
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D19/00—Provisional protective covers for working space
- E21D19/04—Provisional protective covers for working space for use in drifting galleries
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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
- E21D20/006—Machines for drilling anchor holes and setting anchor bolts having magazines for storing and feeding anchoring-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
- E21D20/028—Devices or accesories for injecting a grouting liquid in a bore-hole
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
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- Earth Drilling (AREA)
Abstract
The invention discloses the field of underground roadway support of a coal mine, in particular to a full-automatic anchor drilling operation vehicle integrating anchor net laying, anchor hole drilling, anchoring agent injection and anchor rod installation procedures, and solves the problems of digging and support imbalance caused by complex and low efficiency of the existing roadway support operation process. The method is characterized in that: the automatic drilling and anchoring device is composed of a vehicle body, a self-walking mechanism, a temporary supporting mechanism, an automatic drilling and anchoring device and an anchor net storage and conveying mechanism. The anchor net is grabbed and conveyed to the upper surface of the temporary support frame by the anchor net conveying mechanism from the anchor net storage vehicle, and is supported by the temporary support frame to finish the laying work of the anchor net; the drilling and anchoring automation device is driven by a double-acting hydraulic cylinder in a sliding chute of the vehicle body to realize the left-right and up-down displacement movement, and the rotation of the drilling and anchoring automation device is realized by a swing motor. The invention can complete the automatic laying of the tunnel roof anchor net, the mechanized and automatic supporting of the top and side anchor rods, and realize the parallel operation of digging and supporting anchors by matching with the tunneling equipment.
Description
Technical Field
The invention relates to the field of mine roadway support, in particular to a full-automatic anchor drilling operation vehicle which integrates anchor net laying, anchor hole drilling, anchor agent injecting and anchor rod mounting procedures and is matched with tunneling equipment such as a tunneling machine, an anchor driving machine, a continuous miner and the like.
Background
The unbalanced tunneling and anchoring is a main factor for restricting the mining efficiency of underground development machines, most of domestic mine development roadways are still subjected to manual supporting and anchoring operation, a single pneumatic or single hydraulic jumbolter is matched with the development machines, the mechanical degree is low, the labor intensity is high, the safety is poor, the speed is low, the noise is high, the working environment is severe, particularly for hard rock development, the manual supporting intensity is high, and the bolting time accounts for over 2/3 of the development time of the roadways.
In recent years, with the continuous improvement and development of the foreign bolting theory and technology, new bolting jiggers are developed successively by coal equipment companies represented by the united states longyi (JOY), FLETCHER (FLETCHER), langai-AIRDOX (LONG-air), JOHNFI NLAY (JOHNFI NLAY), alto-motek (HYDRAMATIC), and the like, and the automation and intelligence degree is higher and higher, and the safety and reliability are greatly enhanced. However, the advanced anchor rod drill carriage is suitable for the roadway with small mining depth, simple geological condition and large operation space in the foreign coal mine, and basically cannot adapt to the complex roadway condition of the coal mine in China. Therefore, the method only obtains good application effect in shortwall mining and multi-lane tunneling with good surrounding rock conditions and large roadway section of Shendong company in China.
The anchor rod drill carriage is used as efficient supporting equipment required by a cantilever type tunneling machine widely applied in China, a Taiyuan research institute of the coal institute adopts a method of digesting, absorbing and re-innovating introduced machine types to research, and successfully develops the CMM10-30 type ten-arm anchor rod drill carriage which is used for double-lane tunneling of a continuous coal mining machine and single lane tunneling of the tunneling and anchoring machine, and is mainly characterized in that the supporting efficiency is improved by increasing the number of the drill anchor automation devices, the supporting speed is high, and the supporting requirement of quick tunneling can be met. The method has the defects that the anchor net still needs to be laid manually, the anchoring agent is filled, the anchor rod is filled, the drilling and anchoring automation device is added, meanwhile, the number of operators is increased, and the method is only suitable for tunneling the large-section coal roadway in the nearly horizontal coal seam with stable top plate side walls, so that the method is only popularized in mines with good geological conditions of Shendong companies. Therefore, the important significance is achieved in the research of the full-automatic drilling and anchoring operation vehicle which can adapt to complex geological conditions in China, is high in automation level and few in operators.
Disclosure of Invention
The invention provides a full-automatic drilling and anchoring operation vehicle which is characterized in that: the automatic tunneling and supporting device comprises a vehicle body, a self-walking mechanism, a temporary supporting mechanism, an automatic anchor drilling device and an anchor net storage and conveying mechanism, and can realize continuous mechanization and automatic operation of anchor net laying, anchor hole drilling, anchor agent loading and anchor rod loading in supporting operation, and solve the problems of low supporting efficiency and long occupied time caused by complicated supporting operation in actual production and serious imbalance of tunneling and supporting.
The drilling and anchoring automation device is divided into 4 parts, two parts are vertically and upwards arranged at the front end of the vehicle body, and two parts are horizontally and oppositely arranged at the rear end of the vehicle body; the two top drilling anchor automation devices in the front are connected with a swing hydraulic motor, and the swing hydraulic motor is matched with a sliding guide rail of the vehicle body and is connected with a double-acting hydraulic cylinder; the two back drilling anchor automation devices are connected through a swing hydraulic motor. The swing hydraulic motor is matched with a sliding guide rail at the rear of the vehicle body to slide, is connected with the lifting feed chain and moves up and down under the action of the double-acting hydraulic cylinder. The anchor net storage vehicle is positioned at the rear end of the vehicle body and is rigidly connected with the vehicle body. The anchor net secondary conveying mechanism is positioned above the vehicle body square arch mechanism and is connected with the vehicle body in a matching way through a secondary conveying guide rail.
The drill anchor automation device comprises: the device comprises a drill frame pose switching mechanism, a drill frame mechanism, an anchor rod storage and reloading mechanism, a drill rod loading and unloading mechanism and an anchoring agent injection mechanism. The drill stand posture switching mechanism includes: the device comprises a swing hydraulic motor, a double-acting hydraulic cylinder, a double-acting lifting hydraulic cylinder, a lifting feed chain and a sliding guide rail; the drill frame mechanism comprises: the device comprises a drill frame, a long feeding oil cylinder, a prismatic sliding frame, a feeding chain, a connecting rod assembly, a drill box fixing seat, a positioning top plate, a support frame feeding oil cylinder, a positioning hydraulic clamping lug and a short feeding oil cylinder; the drill rod loading and unloading mechanism comprises: the drilling rod loading and unloading manipulator and the drilling rod loading and unloading manipulator frame; stock storage and repacking mechanism includes: the anchor rod replacing and storing device comprises an anchor rod replacing and storing manipulator, an anchor rod storing bin, a stepping mechanism and an anchor rod replacing and storing manipulator frame; the anchor injection mechanism includes: the anchoring agent injection nozzle, the conveying pipe, the anchoring agent storage bin and the high-pressure air pump are arranged on the conveying pipe; the drill rod assembling and disassembling manipulator frame is rigidly connected with the drill frame, and the two drill rod manipulators are coaxially connected and can rotate around the joint of the drill rod manipulator frame. The reloading anchor rod manipulator frame is rigidly connected with the drill frame, and the reloading anchor rod manipulator is coaxially connected and can rotate around the joint of the reloading anchor rod manipulator frame.
The anchor net storing and conveying mechanism comprises: the anchor net storage vehicle comprises an anchor net primary conveying mechanism, an anchor net secondary conveying mechanism and an anchor net storage vehicle. The anchor net primary conveying mechanism comprises: the device comprises a primary conveying guide rail, a primary conveying trolley, an anchor net grabbing claw and a lifting frame; anchor net secondary conveyor constructs includes: a secondary conveying guide rail, a secondary conveying trolley and a one-way anchor net conveying claw.
The chassis of the vehicle body belongs to a gantry structure and can straddle a reversed loader or a belt conveyor, and the front end of the chassis is provided with a sliding guide rail for the horizontal movement of the top drilling anchor automation device. The rear end of the vehicle body belongs to an arch structure, and two sliding guide rails in the arch upright post are symmetrically arranged and used for moving the drilling and anchoring automation device (4) up and down.
The self-walking mechanism is of a crawler-type structure.
The full-automatic drilling and anchoring operation vehicle is characterized in that four telescopic platforms are installed in a chassis of the vehicle body, and the front telescopic platform and the rear telescopic platform are respectively used as maintenance working platforms of the automatic device for jacking and assisting drilling and anchoring.
The front part of the vehicle body belongs to a column type structure, and forms a temporary supporting structure with a temporary supporting frame lining, and the vehicle body has the functions of anchor net laying and temporary supporting.
Compared with the prior art, the full-automatic drilling and anchoring operation vehicle has the following beneficial effects:
the drilling and anchoring automation device 4 is symmetrically arranged, so that the interference between an anchor rod storage bin and the roadway boundary can be reduced; the drilling and anchoring automation device 4 integrates a drill rod loading and unloading manipulator, an anchoring agent injection mechanism and an anchor rod reloading manipulator on one drilling frame, and is more compact compared with a double drilling frame, so that the volume of the drilling and anchoring automation device is reduced, the inertia of parts is reduced, and the error caused by vibration in the work process is reduced; the position and pose switching mechanism of the drill stand on the automatic drill anchor device can adjust the position and pose of the drill stand in real time according to working conditions; the rotation angle of a drill rod assembling and disassembling manipulator on the drilling and anchoring automation device is mechanically positioned, and the drill rod is not only clamped to prevent the drill rod from rotating in the process of grabbing the drill rod, but also grabbed and removed from a station; the anchor rod replacing and installing manipulator of the invention also plays a dual role in clamping the anchor rod and replacing and installing the anchor rod; the anchor rod storage bin is driven by the stepping mechanism to rotate, the anchor rod in the anchor rod storage bin is inserted with the tray and is provided with the nut in a pre-tightening state, the whole set of installation simplifies the installation process of the anchor rod, and the installation efficiency of the anchor rod is improved; the feeding chain and the connecting rod assembly of the invention realize the advancing and withdrawing of the drill box; the positioning top plate is mainly used for positioning the drilling position, the conical head is arranged at the head of the positioning top plate and is better inserted into the inner wall of a roadway, the deviation of the support frame caused by vibration in the working process is reduced, and meanwhile, the positioning hydraulic clamping lugs in a closed state on the positioning top plate are used as the guide of initial drilling, so that the drilling position deviation caused by the slippage of a drill bit on the surface of a rock body and the rigidity of a drill rod in the initial drilling process is prevented; the support frame feeding oil cylinder realizes the extension and retraction of the support frame; the drill box is propelled by two stages, so that the working space of the drilling and anchoring automation device is ensured, and the occupied space of the drilling and anchoring automation device is reduced; the feeding chain and connecting rod assembly ensures the advancing and withdrawing stroke of the drill box; the anchoring agent injection mechanism is arranged on the drill rod loading and unloading manipulator, and mechanical positioning of a part structure is used for ensuring that the anchoring agent injection nozzle is aligned with the anchor rod hole. The resin anchoring agent is filled in the anchoring agent storage bin, and then under the aerodynamic action of the high-pressure air pump, the resin anchoring agent is quickly, accurately and cleanly injected into the anchor rod hole through the delivery pipe, so that the reliability and the efficiency of the working procedure are improved.
The anchor net conveying mechanism can not only finish the conveying of the anchor net from the anchor net storage vehicle to the temporary support frame, but also finish the filling of the anchor net in the anchor net storage vehicle; the anchor net grabbing claw can guarantee that one anchor net is grabbed in the anchor nets piled in the same direction every time, and the reliability in working is guaranteed; the anchor net storage vehicle can store the anchor net 20 blocks at one time; the anchor net conveying mechanism integrally realizes the filling of the anchor net, the mechanical grabbing of the anchor net and the mechanical laying of the anchor net.
The vehicle body is of a gantry structure, so that the interference between the vehicle body and a transport machine in the process of drilling and anchoring operation is eliminated, and meanwhile, personnel passing spaces are reserved around the anchor net storage vehicle and the vehicle body.
The front part of the vehicle body belongs to a column type structure, and forms a temporary supporting structure with a temporary supporting frame lining, so that the vehicle body has the functions of anchor net laying and temporary supporting.
Four telescopic platforms are arranged in a chassis of the vehicle body, and the front telescopic platform and the rear telescopic platform are respectively arranged at the front and the rear. The automatic device is used as a maintenance working platform for the top and side drilling anchor automatic device.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of a fully automatic drilling and anchoring operation vehicle of the invention;
FIG. 2 is a schematic structural diagram of an automatic drilling and anchoring device of the full-automatic drilling and anchoring operation vehicle of the invention;
the notation in the figures means: 1-a vehicle body; 2-self-walking mechanism; 4-drilling and anchoring automation device; 6-a flexible platform; 301-
Detailed Description
The invention is further illustrated below with reference to figures 1 and 2 and examples. The examples should not be construed as limiting the scope of the invention.
The full-automatic drilling and anchoring operation vehicle is suitable for rapid supporting of a roadway of a driving face, and comprises the following components in part by weight as shown in figure 1: the device comprises a vehicle body 1, a self-walking mechanism 2, a temporary supporting mechanism, a drilling and anchoring automation device 4 and an anchor net storage and conveying mechanism.
The drill anchor automation device 4 includes: the device comprises a drill frame pose switching mechanism, a drill frame mechanism, an anchor rod storage and replacement mechanism, a drill rod loading and unloading mechanism and an anchoring agent injection mechanism. The continuous operation of the main function of the device, namely the anchor hole positioning, anchor hole drilling, anchor agent adding and anchor rod adding processes.
1. The drill-roof anchor automation device 4 drill stand pose switching mechanism comprises: a swing hydraulic motor 40101, a double acting hydraulic cylinder 40102, and a sliding guide. The swing hydraulic motor 40101 is used for realizing the rotary deflection of the drill rig 40201, adjusting the posture of the drill rig 40201 according to working conditions, accurately adjusting the posture of the drill rig through hydraulic servo control, improving the construction precision of the angle of the anchor rod and mainly playing a role in the anchoring and protecting work of the anchor rod with the top and the side required by the angle; the double-acting hydraulic cylinder 40102 has the effects of realizing the translational displacement of the drill rig 40201, adjusting the position of the drill rig 40201 according to working conditions, accurately adjusting the position of the drill rig through hydraulic servo control, improving the construction precision of the position of an anchor rod, and mainly playing a role in the anchoring work of the anchor rod at the top and the side of the same row of different positions; the main function of the sliding guide rail is to provide guidance for the displacement of the drill frame and improve the construction precision of the whole row of anchor rods. Group bores anchor automation equipment drill carriage position appearance and adorns and trade the mechanism and include: a swing hydraulic motor 40101, a double-acting hydraulic lift cylinder, a lift feed chain, and a sliding guide. The double-acting hydraulic lifting cylinder and the lifting feed chain form a stroke multiplication mechanism, the operation range of the upper drilling and anchoring automation device 4 is enlarged, and the single-side upper drilling and anchoring automation device 4 can complete all anchor rod supporting work from upper top to upper bottom.
2. The drill frame mechanism comprises: the drilling machine comprises a drilling frame 40201, a long feeding oil cylinder, a prismatic sliding frame 40203, a feeding chain and connecting rod assembly, a drilling box 40205, a drilling box fixing seat 40206, a positioning top plate 40207, a supporting frame 40208, a supporting frame feeding oil cylinder, a positioning hydraulic clamping lug 40210 and a short feeding oil cylinder. The drill stand 40201 is a base body of the drilling and anchoring automation device and provides support for other mechanisms of the drilling and anchoring automation device; in the drilling and anchoring operation, the long feeding oil cylinder pushes the prismatic sliding frame 40203 to complete the primary propulsion of the drill box fixing seat 40206, and the short feeding oil cylinder drives the drill box fixing seat 40206 to complete the secondary propulsion through the feeding chain and the connecting rod assembly. The secondary propulsion design reduces the overall size of the drill rig and increases the conversion space of the pose of the drill rig; the drill box is arranged on the drill box fixing seat and is driven to rotate by a hydraulic motor; the positioning top plate 40207 is mainly used for positioning the position of an anchor hole, and the head part is provided with a conical head which is better inserted into the inner wall of a roadway, so that the offset of the support frame 40208 caused by vibration in the working process is reduced; the positioning hydraulic clamp 40210 in a closed state is used for guiding an initial drilling hole, so that the drilling position deviation caused by the slippage of a drill bit on the surface of a rock body and the rigidity of a drill rod in the initial drilling process is prevented.
In the embodiment, the supporting frame feeding oil cylinder drives the positioning top plate 40207 and the supporting frame 40208 to extend out, the positioning top plate 40207 is inserted into the inner wall of the roadway, and the supporting frame feeding oil cylinder maintains pressure; the drill box 40205 advances to bring the drill bit into contact with the roadway wall and to rotate the drill to begin drilling.
3. The drill rod loading and unloading mechanism comprises: a drill rod handler 40401 and a drill rod handler rack 40402. The drill rod loading and unloading manipulator frame 40402 is arranged on the right side of the drill frame 40201, and the two drill rod loading and unloading manipulators 40401 are connected with the drill rod loading and unloading manipulator frame 40402 through rotating shafts and can rotate around shaft joints. After the drill box 40205 is retracted, the drill rod loading and unloading manipulator 40401 clamps the drill rod to prevent the drill rod from rotating, the drill box 40205 rotates reversely and slowly retracts, the hydraulic positioning clamping lug 40210 is opened, and the drill rod is pressed on the drill frame 40201 through the rotation of the drill rod loading and unloading manipulator 40401; after the anchoring agent is injected, the drill rod is moved to the right of the drill rig 40201; after the bolt is installed, the drill rod is rotated to align with the joint of the drill box 40205 by rotating the drill rod handling robot 40401, the hydraulic locating clamp ears 40210 are closed, the drill box 40205 is advanced and rotated forward, and the drill rod is reinstalled on the drill box.
4. Stock storage and repacking mechanism includes: the reloading anchor rod manipulator 40301, the anchor rod storage bin 40302, the stepping mechanism 40303 and the reloading anchor rod manipulator bracket 40304. The reloading anchor rod manipulator bracket 40304 is arranged on the left side of the drill frame 40201, and the two reloading anchor rod manipulators 40301 are connected with the reloading anchor rod manipulator bracket 40304 through rotating shafts and can rotate around a connecting shaft joint. The reloading anchor rod manipulator 40301 has the functions that after a drill rod moves to the right of the drill stand 40201, an anchor rod is grabbed from the anchor rod storage bin 40302 to rotate so that the anchor rod is aligned with the joint of the drill box 40205, the hydraulic positioning clamping lugs 40210 are closed, the reloading anchor rod manipulator 40301 retracts to the original position, and the stepping mechanism 40303 drives the anchor rod storage bin 40302 to rotate for one anchor rod process step; the anchor rod storage bin 40302 can store various types of resin anchor rods with trays and anchor rod end nuts installed; the step mechanism 40303 has the function of driving the internal structure of the anchor rod storage bin 40302 to rotate step by step after the reloading anchor rod manipulator 40301 resets.
5. The anchor injection mechanism includes: an anchoring agent injection nozzle 40501, a delivery pipe 40502, an anchoring agent storage bin, and a high-pressure air pump. The anchoring agent injection nozzle 40501 is aligned with the anchor hole when the drill rod loading and unloading manipulator 40401 rotates to press the drill rod on the drill rig; the conveying pipe 40502 is a rubber hose and is mainly used as a conveying channel for high-pressure air and encapsulated anchoring agent; the anchoring agent storage bin has the functions of packaging anchoring agent storage and filling; the high-pressure air pump is mainly used as a power source for conveying high-pressure air and the anchoring agent. During operation, the anchoring agent injection nozzle 40501 is aligned with the anchor hole, and the anchoring agent is filled from the anchoring agent storage bin and injected to the bottom end of the anchor hole through the delivery pipe 40502 under the action of the high-pressure air pump.
The anchor net storing and conveying mechanism comprises: an anchor net primary conveying mechanism, an anchor net secondary conveying mechanism and an anchor net storage vehicle 503. The anchor net conveying mechanism has the function of completing the mechanical filling and laying of the anchor net.
1. The anchor net primary conveying mechanism comprises: the device comprises a primary conveying guide rail 50101, a primary conveying trolley 50102, an anchor net grabbing claw and a lifting frame 50104. When the anchor net storage vehicle 503 is filled with anchor nets, the primary conveying guide rail 50101 is retracted to the rear end of the lifting frame 50104, and the lifting frame 50104 is lowered to the lowest point, so that the design is convenient for the integral filling of a plurality of anchor nets; during anchor net transport, the lift 50104 will extend out and support the roof and the primary transport rail 50101 will extend out at the foremost end of the lift 50104. The primary conveying trolley 50102 can extend out of and retract into the primary conveying guide rail 50101; an anchor net grabbing claw is arranged on the primary conveying trolley 50102; the anchor net grabbing claw has the function of grabbing one anchor net from the anchor net piles arranged in the same direction. The specific working process is that the lifting frame 50104 descends, the primary conveying trolley 50102 contacts the anchor net, the lifting frame 50104 stops descending, the anchor net grabbing claws are spread, the anchor net is grabbed, the lifting frame 50104 ascends to prop, the primary anchor net conveying trolley 50102 stretches out, the anchor net grabbing claws are retracted, the anchor net is placed on the anchor net secondary conveying trolley 50202, and then the anchor net primary conveying trolley 50102 retracts.
2. Anchor net secondary conveyor constructs includes: a secondary conveying guide rail 50201, a secondary conveying trolley 50202 and a one-way anchor net conveying claw. The secondary conveying guide rail 50201 is arranged at the top end of an arch structure of the vehicle body 1; the secondary conveying trolley 50202 can slide back and forth on a secondary conveying guide rail 50201; the one-way anchor net conveying claw has the function of gradually pushing the anchor net forward. The specific work flow is that when the anchor net is placed on the anchor net secondary conveying trolley 50201, the one-way anchor net conveying claw is supported, and the anchor net is conveyed forwards to the temporary support under the driving of the secondary conveying trolley 50201.
The chassis of the vehicle body 1 belongs to a gantry structure and can straddle a reversed loader or a belt conveyor, and a sliding guide rail for horizontal movement of the drill-jacking anchor automation device 4 is arranged in a sliding groove at the front end of the chassis. The rear end of the vehicle body belongs to an arch structure, and two sliding grooves and guide rails 40105 which are used for enabling the drilling and anchoring automation device 4 to move up and down are symmetrically arranged in the arch-shaped upright post. Four telescopic platforms 6 are arranged in the chassis of the vehicle body, and the front telescopic platform and the rear telescopic platform are respectively arranged at the front and the rear of the chassis of the vehicle body and are used as maintenance working platforms of the automatic device 4 for supporting and assisting the drilling and anchoring, so that the convenience and the safety of maintenance work are ensured.
The temporary support mechanism comprises a vertical column type mechanism at the front part of the vehicle body 1 and a temporary support frame 301. The temporary support frame 301 is lifted and pressure-maintaining supports the top plate, and has the functions of anchor net laying and temporary support.
The self-walking mechanism 2 is a steel crawler-type mechanism, has strong bearing capacity, has the functions of advancing and retreating, turning and walking, and is suitable for various severe underground working conditions.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (4)
1. The utility model provides a full automatization bores anchor operation car which characterized in that: the device consists of a vehicle body (1), a self-walking mechanism (2), a temporary supporting mechanism, a drilling and anchoring automation device (4) and an anchor net storage and conveying mechanism;
the drilling and anchoring automation devices (4) are divided into 4 parts, two parts are vertically and upwards arranged at the front end of the vehicle body (1), and the two parts are horizontally and oppositely arranged at the rear end of the vehicle body (1); the two top drilling anchor automation devices (4) in the front are connected with a swing hydraulic motor (40101), and the swing hydraulic motor (40101) is matched with a sliding guide rail of the vehicle body (1) and is connected with a double-acting hydraulic cylinder (40102); the two rear side drilling and anchoring automation devices (4) are connected through a swing hydraulic motor (40101); the swing hydraulic motor (40101) is matched with a sliding guide rail at the rear part of the vehicle body (1) to slide, is connected with the lifting feed chain, and moves up and down under the action of a double-acting hydraulic cylinder (40102); the anchor net storage vehicle (503) is positioned at the rear end of the vehicle body (1) and is rigidly connected with the vehicle body (1); the anchor net secondary conveying mechanism is positioned above the square arch mechanism of the vehicle body (1) and is in matched connection with the vehicle body (1) through a secondary conveying guide rail (50201);
the drill anchor automation device (4) comprises: the device comprises a drill frame pose switching mechanism, a drill frame mechanism, an anchor rod storing and replacing mechanism, a drill rod dismounting mechanism and an anchoring agent injection mechanism; the drill stand posture switching mechanism includes: a swing hydraulic motor (40101), a double-acting hydraulic cylinder (40102), a double-acting hydraulic lift cylinder, a lift feed chain and a sliding guide; the drill frame mechanism comprises: the drilling machine comprises a drilling frame (40201), a long feeding oil cylinder, a prismatic sliding frame (40203), a feeding chain and connecting rod assembly, a drilling box (40205), a drilling box fixing seat (40206), a positioning top plate (40207), a supporting frame (40208), a supporting frame feeding oil cylinder, a positioning hydraulic clamping lug (40210) and a short feeding oil cylinder; the drill rod uninstallation mechanism includes: a drill rod loading and unloading manipulator (40401) and a drill rod loading and unloading manipulator frame (40402); stock storage and repacking mechanism includes: the device comprises a reloading anchor rod manipulator (40301), an anchor rod storage bin (40302), a stepping mechanism (40303) and a reloading anchor rod manipulator frame; the anchor injection mechanism includes: the anchoring agent injection nozzle (40501), the conveying pipe (40502), the anchoring agent storage bin and the high-pressure air pump; the drill rod loading and unloading manipulator frame (40402) is rigidly connected with the drill frame (40201), and the two drill rod loading and unloading manipulators (40401) are coaxially connected and can rotate around joints of the drill rod loading and unloading manipulator frame (40402); the reloading anchor rod manipulator frame (40304) is rigidly connected with the drill frame (40201), and the reloading anchor rod manipulator (40301) is coaxially connected and can rotate around the joint of the reloading anchor rod manipulator frame (40304);
the anchor net storing and conveying mechanism comprises: the anchor net storage vehicle comprises an anchor net primary conveying mechanism, an anchor net secondary conveying mechanism and an anchor net storage vehicle (503); the anchor net primary conveying mechanism comprises: the device comprises a primary conveying guide rail (50101), a primary conveying trolley (50102), an anchor net grabbing claw and a lifting frame (50104); anchor net secondary conveyor constructs includes: a secondary conveying guide rail (50201), a secondary conveying trolley (50202) and a one-way anchor net conveying claw;
the chassis of the vehicle body (1) belongs to a gantry structure and can straddle a reversed loader or a belt conveyor, and the front end of the chassis is provided with a sliding guide rail for horizontal movement of the top drilling anchor automation device (4); the rear end of the vehicle body (1) belongs to an arch structure, and two sliding guide rails in an arch upright post are symmetrically arranged and used for moving the drilling and anchoring automation device (4) up and down.
2. A fully automated drill and anchor work vehicle according to claim 1, characterized in that the self-travelling mechanism (2) is of a crawler-type construction.
3. The full-automatic drilling and anchoring operation vehicle is characterized in that four telescopic platforms (40302) are installed in a chassis of the vehicle body (1), and the front telescopic platform and the rear telescopic platform are respectively two and are used as maintenance working platforms of a top and side drilling and anchoring automation device (4).
4. The full-automatic drilling and anchoring operation vehicle is characterized in that the front part of the vehicle body (1) is of a column type structure, and a temporary supporting structure is formed by lining with a temporary supporting frame (301) so as to have the functions of anchor net laying and temporary supporting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711404835.3A CN108104853B (en) | 2017-12-22 | 2017-12-22 | Full-automatic drilling and anchoring operation vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711404835.3A CN108104853B (en) | 2017-12-22 | 2017-12-22 | Full-automatic drilling and anchoring operation vehicle |
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| Publication Number | Publication Date |
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| CN108104853A CN108104853A (en) | 2018-06-01 |
| CN108104853B true CN108104853B (en) | 2021-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711404835.3A Active CN108104853B (en) | 2017-12-22 | 2017-12-22 | Full-automatic drilling and anchoring operation vehicle |
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