阅读说明：本技术 一种适用于锚杆车的凿岩机械臂及其控制方法 (Rock drilling mechanical arm suitable for anchor rod vehicle and control method thereof ) 是由 张�林 黎博文 毛闻雯 蔡文杰 于 2020-08-11 设计创作，主要内容包括：本发明提供了一种适用于锚杆车的凿岩机械臂,包括翻转梁机构和设置于翻转梁机构一侧的凿岩机进给机构,所述翻转机构包括设置在翻转机构与凿岩机进给机构之间的送杆机和设置于送杆机下侧的送杆机补偿梁,所述送杆机包括注浆管、设置于送杆机远离钻孔一端附近的送杆机扭紧机构和设置于送杆机靠近钻孔一端附近的锚杆夹紧机构,所述凿岩机进给机构的一侧设置有凿岩机补偿梁,一种适用于锚杆车的凿岩机械臂的控制方法,包括钻孔、夹取锚杆、推送锚杆、注浆、扭紧,通过一系列动作自动化完成,降低了操作难度,提高了安装效率。(The invention provides a rock drilling mechanical arm suitable for an anchor rod vehicle, which comprises an overturning beam mechanism and a rock drilling machine feeding mechanism arranged on one side of the overturning beam mechanism, wherein the overturning mechanism comprises a rod conveying machine arranged between the overturning mechanism and the rock drilling machine feeding mechanism and a rod conveying machine compensation beam arranged on the lower side of the rod conveying machine, the rod conveying machine comprises a grouting pipe, a rod conveying machine screwing mechanism arranged near one end, far away from a drill hole, of the rod conveying machine and an anchor rod clamping mechanism arranged near one end, near the drill hole, of the rod conveying machine, one side of the rock drilling machine feeding mechanism is provided with the rock drilling machine compensation beam, and the control method of the rock drilling mechanical arm suitable for the anchor rod vehicle comprises the steps of drilling, clamping and taking an anchor rod, pushing the anchor rod, grouting and screwing.)

1. The rock drilling mechanical arm suitable for the anchor rod vehicle is characterized by comprising an overturning beam mechanism (1) and a rock drilling machine feeding mechanism (2) arranged on one side of the overturning beam mechanism (1), wherein the overturning mechanism (1) comprises a rod conveying machine (11) arranged between the overturning mechanism (1) and the rock drilling machine feeding mechanism (2) and a rod conveying machine compensation beam (12) arranged on the lower side of the rod conveying machine (2), the rod conveying machine (2) comprises an injection pipe (113), a rod conveying machine screwing mechanism (111) arranged near one end, far away from a drilling hole, of the rod conveying machine (11) and an anchor rod clamping mechanism (112) arranged near one end, close to the drilling hole, of the rod conveying machine (11), one side of the rock drilling machine feeding mechanism (2) is provided with a rock drilling machine compensation beam (21), and stay wire displacement sensors are arranged on the rock drilling machine compensation beam (12), the rod conveying machine (11) and the rod conveying machine compensation beam (12), the automatic drilling machine is characterized in that two proximity switches used for limiting the rotation angle of the turnover beam mechanism (1) are arranged on the turnover beam mechanism, the two ends of the rod conveying machine (11) are respectively provided with the proximity switches, an encoder used for measuring the drilling depth is arranged on the rock drill feeding mechanism (2), and pressure sensors are arranged on the rod conveying machine screwing mechanism (111), the rod conveying machine (11) and the anchor rod clamping mechanism (112).

2. A rock drilling robot arm adapted for use in a jumbolter vehicle and a method of controlling the same as claimed in claim 1, characterized in that the rock drilling machine compensating beam (21) is used to adjust the position of the rock drilling machine feed mechanism (2).

3. A rock drilling robot arm adapted for use in a jumbolter vehicle and a method of controlling the same as claimed in claim 1, characterised in that the feed rod machine compensation beam (12) is used to adjust the position of the feed rod machine (11).

4. A method of controlling a rock drilling boom adapted for use in a rock bolt vehicle according to any one of claims 1 to 3, characterised by the steps of:

s1, moving the rock drill feeding mechanism (2) to a position to be drilled under the assistance of the rock drill compensating beam (21);

s2, drilling holes in the rock drill feeding mechanism (2), moving the rod feeding machine (11) to an anchor rod storage position of the turnover beam mechanism (1), and clamping the anchor rod by the anchor rod clamping mechanism (112);

s3, when the drilling depth is set, the rock drill feed mechanism (2) moves downwards to the initial position with the aid of the rock drill compensating beam (21);

s4, the turnover beam mechanism (1) starts to rotate to a construction position, the compensation beam (12) of the rod feeding machine moves to a preset position, the anchor rod clamping mechanism (112) is loosened, and the rod feeding machine (11) pushes the anchor rod to enter a drilled hole;

s5, after the anchor rod is pushed to the preset position by the rod feeding machine (11), the locking nut of the anchor rod is tightly screwed by a rod feeding machine tightening mechanism (111) on the rod feeding machine (11);

and S6, the grouting pipe (113) advances along the drill hole, grouting is started when the advancing pressure reaches a set pressure, the grouting pipe (113) retreats to the initial position after the grouting pressure reaches the set pressure, the rod conveying machine (11) and the rod conveying machine compensation beam (12) are pushed to the initial position, and the beam overturning mechanism (1) rotates back to the original position.

Technical Field

The invention relates to the technical field of tunnel construction equipment, in particular to a rock drilling mechanical arm suitable for an anchor rod vehicle and a control method thereof.

Background

At present, the matching technical level, construction equipment and localization of rapid construction equipment for railway and highway tunnel soft rock tunnel construction in China are still in the mechanical initial stage of tunnel construction, and the overall technology is still behind developed countries. A mechanical rapid construction technology system based on a drilling and blasting method is not completed, key technical problems of equipment matching are not broken through, construction progress is greatly different, and accident potential is more in the construction process. The main construction equipment on the operating line is introduced from foreign countries, the varieties of independent development are less, the quality is poorer, the failure rate is higher, the main technical performance parameters are not matched with the existing construction conditions of the tunnel, and the like. Most of the domestic equipment is transformed by an excavator and the like, so that the professional degree is low, the operation efficiency is influenced, and a comprehensive mechanical construction operation line is not easy to form. Particularly on the working procedures of excavation, construction, anchor spraying, supporting, secondary concrete lining and the like. For soft surrounding rock and soil tunnels, manual operation is still adopted mostly, the process cycle time is long, the surrounding rock disturbance is large, the safety risk is high, the supporting is difficult, and the soft rock tunnel cannot be constructed quickly and cannot be subjected to mechanical operation.

Wherein installation anchor bolt support needs to use the rock drilling arm, and current rock drilling arm structure is complicated, and the function is single, can not accomplish anchor bolt support's complete work flow.

Disclosure of Invention

The invention aims to provide a rock drilling mechanical arm suitable for an anchor rod vehicle and a control method thereof, and solves the problem that the existing rock drilling mechanical arm is single in function.

The invention is realized by the following technical scheme:

a rock drilling mechanical arm suitable for a rock bolt vehicle comprises a turnover beam mechanism and a rock drill feeding mechanism arranged on one side of the turnover beam mechanism, wherein the turnover mechanism comprises a rod conveying machine arranged between the turnover mechanism and the rock drill feeding mechanism and a rod conveying machine compensation beam arranged on the lower side of the rod conveying machine, the rod conveying machine comprises an injection pipe, a rod conveying machine screwing mechanism arranged near one end, far away from a drilling hole, of the rod conveying machine and a rock bolt clamping mechanism arranged near one end, near the drilling hole, of the rod conveying machine, the rock drill compensation beam is arranged on one side of the rock drill feeding mechanism, stay wire displacement sensors are arranged on the rock drill compensation beam, the rod conveying machine and the rod conveying machine compensation beam, two proximity switches used for limiting the rotation angle of the turnover beam mechanism are arranged on the turnover beam mechanism, proximity switches are respectively arranged at the two ends of the rod conveying machine, and an encoder used for measuring the drilling depth is arranged on the rock drill, and pressure sensors are arranged on the tightening mechanism of the rod conveying machine, the rod conveying machine and the grouting pipe.

The stay wire displacement sensor on the compensation beam of the rock drill is used for measuring the position of the compensation beam of the rock drill.

The stay wire displacement sensor on the rod conveying machine is used for measuring the position of the rod conveying machine.

The stay wire displacement sensor on the compensation beam of the rod feeder is used for measuring the position of the compensation beam of the rod feeder.

The turnover beam mechanism is provided with two proximity switches for limiting the rotation angle of the turnover beam mechanism, and the proximity switches are used for realizing that the turnover beam mechanism rotates to a construction station and the turnover beam mechanism rotates to an initial position.

Proximity switches are respectively arranged at two ends of the rod feeding machine, wherein the proximity switch close to one end of the grouting pipe is used for resetting the grouting pipe, and the proximity switch close to one end of the anchor rod clamping mechanism is used for loosening the anchor rod by the anchor rod clamping mechanism when the compensation beam of the rod feeding machine moves to a preset position, namely the position of the proximity switch.

The pressure sensor arranged on the tightening mechanism of the rod feeding machine is used for measuring the locking pressure of the locking nut of the anchor rod.

The pressure sensor arranged on the rod conveying machine measures the advancing pressure of the grouting pipe when the grouting pipe advances along the drill hole.

The pressure sensor arranged on the grouting pipe is arranged at the advancing end of the grouting pipe and used for measuring grouting pressure.

Further, the rock drill compensating beam is used for adjusting the position of the rock drill feeding mechanism.

Further, the compensation beam of the rod feeding machine is used for adjusting the position of the rod feeding machine.

Further, a control method of a rock drilling mechanical arm suitable for a rock-bolter comprises the following steps:

s1, moving the rock drill feeding mechanism to the position to be drilled under the assistance of the rock drill compensating beam;

s2, drilling holes by the feeding mechanism of the rock drill, moving the rod feeding machine to the anchor rod storage position of the turnover beam mechanism, and clamping the anchor rod by the anchor rod clamping mechanism;

s3, when the drilling depth is set, the rock drill feed mechanism moves down to the initial position with the help of the rock drill compensating beam;

s4, the beam overturning mechanism starts to rotate to a construction position, the compensation beam of the rod feeding machine moves to a preset position, the anchor rod clamping mechanism is loosened, and the rod feeding machine pushes the anchor rod to enter a drilled hole;

s5, after the rod feeding machine pushes the anchor rod to a preset position, a rod feeding machine screwing mechanism on the rod feeding machine screws the anchor rod locking nut;

and S6, advancing the grouting pipe along the drill hole, starting grouting when the advancing pressure reaches the set pressure, retreating the grouting pipe to the initial position when the grouting pressure reaches the set pressure, simultaneously pushing the compensation beams of the rod conveying machine and the rod conveying machine to the initial position, and rotating the beam overturning mechanism to the original position.

Compared with the prior art, the invention has the following advantages and beneficial effects:

1. according to the rock drilling mechanical arm suitable for the anchor rod vehicle and the control method of the rock drilling mechanical arm, a series of actions of drilling, clamping the anchor rod, pushing the anchor rod, grouting and screwing are automatically completed, the operation difficulty is reduced, and the installation efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a perspective view of the structure of the present invention.

FIG. 2 is a top view of the structure of the present invention.

Reference numbers and corresponding part names in the drawings:

1-beam overturning mechanism, 2-rock drill feeding mechanism, 11-rod feeding machine, 12-rod feeding machine compensating beam, 21-rock drill compensating beam, 111-rod feeding machine screwing mechanism, 112-anchor rod clamping mechanism and 113-grouting pipe.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

The invention will be further described with reference to the accompanying drawings, but the scope of the invention is not limited to the following.