阅读说明：本技术 一种锚杆臂精确引导系统及使用该系统的锚杆台车 (Anchor rod arm accurate guide system and anchor rod trolley using same ) 是由 孙胜喜 石修灯 梅益平 于 2021-09-02 设计创作，主要内容包括：本发明公开了一种锚杆臂精确引导系统及使用该系统的锚杆台车,包括锚杆臂和钻孔臂,所述锚杆臂和钻孔臂上均设置有驱动连接臂,所述锚杆臂、钻孔臂和驱动连接臂上均安装有若干组用于钻孔臂定位、锚杆臂定位以及连接驱动的驱动油缸,驱动油缸内安装有用于感应油缸伸出长度的磁致传感器；所述钻孔臂和锚杆臂上安装有用于测量钻孔相对于车架的方向的三维电子罗盘和用于校正传感器的积累误差,引导锚杆臂最终精确定位立体摄像头；本发明可以同时对隧道进行钻孔和装锚杆加工,避免了传统机构的钻孔和装锚杆分步进行,从而极大的提高了对锚杆的安装效率。(The invention discloses an anchor rod arm accurate guiding system and an anchor rod trolley using the same, wherein the anchor rod arm accurate guiding system comprises an anchor rod arm and a drilling arm, the anchor rod arm and the drilling arm are respectively provided with a driving connecting arm, the anchor rod arm, the drilling arm and the driving connecting arm are respectively provided with a plurality of groups of driving oil cylinders for positioning the drilling arm, positioning the anchor rod arm and connecting the driving oil cylinders, and the driving oil cylinders are internally provided with magnetic sensors for sensing the extending length of the oil cylinders; the drilling arm and the anchor rod arm are provided with a three-dimensional electronic compass for measuring the direction of a drill hole relative to the frame and an accumulated error for correcting a sensor, so as to guide the anchor rod arm to finally and accurately position the stereo camera; the invention can simultaneously drill holes and install anchor rods in the tunnel, thereby avoiding the drilling and the anchor rod installation of the traditional mechanism from being carried out step by step, and greatly improving the installation efficiency of the anchor rods.)

1. An accurate guide system of an anchor rod arm comprises the anchor rod arm (2) and a drilling arm (3), wherein the anchor rod arm (2) and the drilling arm (3) are respectively provided with a driving connecting arm (4), and the accurate guide system is characterized in that a plurality of groups of driving oil cylinders for positioning the drilling arm, positioning the anchor rod arm and connecting the driving oil cylinders are respectively arranged on the anchor rod arm (2), the drilling arm (3) and the driving connecting arm (4), and a magnetic sensor (14) for sensing the extending length of the oil cylinders is arranged in each driving oil cylinder;

and a three-dimensional electronic compass (24) for measuring the direction of the drill hole relative to the vehicle frame and a stereo camera (25) for correcting the accumulated error of the sensor and guiding the anchor rod arm (2) to accurately position are arranged on the anchor rod arm (2) and the drill hole arm (3).

2. An accurate guide system for an anchor rod arm according to claim 1, wherein the drive cylinder comprises a cylinder body (12), a cylinder rod (13) is mounted on the cylinder body (12), and the magneto sensor (14) is connected to the cylinder rod (13).

3. The precise guide system of the anchor rod arm according to claim 1, characterized in that two sets of stereo cameras (25) are arranged, and the two sets of stereo cameras (25) are symmetrically distributed on two sides of the three-dimensional electronic compass (24).

4. The anchor rod arm accurate guiding system as claimed in claim 3, wherein the stereo camera (25) comprises a camera housing (251) and a lens cover (254), a camera cover body (252) is fixedly installed on the camera housing (251), a sensor (257) is installed in the camera cover body (252) through an adjusting screw (258), and a lens sheet (256) is arranged on one side of the camera cover body (252) far away from the camera housing (251);

the lens cover (254) is rotatably mounted on the camera housing (251).

5. The anchor arm precision guide system of claim 4, wherein a lens cover drive mechanism (255) is mounted on the camera housing (251), and the lens cover drive mechanism (255) is configured to drive the lens cover (254) to rotate.

6. The anchor arm accurate guide system of claim 5, wherein the lens cover driving mechanism (255) comprises a driving motor (2551) and a turbine (2553), the driving motor (2551) is fixedly installed in the camera housing (251), and an output end of the driving motor (2551) is fixedly connected with a worm (2552); the worm wheel (2553) is fixedly connected to the lens cover (254), and the worm wheel (2553) is meshed and connected to the worm (2552).

7. The anchor arm precision guide system of claim 6, wherein a seal ring (259) is disposed between the lens sheet (256) and the camera head housing (252).

8. The anchor arm precision guide system of claim 7, wherein the camera head cover body (252) is provided with a cleaning cover (253) near one end of the lens sheet (256), and the cleaning cover (253) is used for cleaning and protecting the lens sheet (256).

9. The anchor rod arm accurate guiding system of claim 8, wherein the cleaning cover (253) is provided with an air inlet joint (2531) on the side wall, the air inlet joint (2531) is connected with an external air tank through an air pipe, and the cleaning cover (253) is provided with an air jet opening (2532) in the middle.

10. A rock bolt trolley, characterized in that it comprises a trolley body (1), on which trolley body (1) a rock bolt arm precision guide system according to any one of claims 1-9 is mounted.

Technical Field

The invention relates to the technical field of anchor rod trolleys for tunnel machining, in particular to an anchor rod arm accurate guiding system and an anchor rod trolley using the same.

Background

The existing anchor rod trolley in the market integrates a drill rod and an anchor rod propelling mechanism by using a single arm. Because the final guiding and positioning error of the anchor rod arm is large due to the error of a hydraulic oil cylinder stroke sensor and the deflection of the arm support if the double arms are used, the anchor rod cannot be inserted into the hole. The single-arm structure has the disadvantages that the weight of the arm support is large, and the load of an arm support oil cylinder is large, so that the working range of the arm support is limited; the arm support structure is overstaffed and has limited activity in some narrow areas; drilling and anchor rod installation can not be carried out simultaneously, and work efficiency is lower.

Disclosure of Invention

The invention aims to provide an anchor rod arm accurate guiding system and an anchor rod trolley using the same, which can simultaneously drill a tunnel and install an anchor rod, and avoid the drilling and the anchor rod installation of the traditional mechanism from being carried out step by step, thereby greatly improving the installation efficiency of the anchor rod.

The purpose of the invention can be realized by the following technical scheme:

an anchor rod arm accurate guiding system comprises an anchor rod arm and a drilling arm, wherein driving connecting arms are arranged on the anchor rod arm and the drilling arm respectively, a plurality of groups of driving oil cylinders used for positioning the drilling arm, positioning the anchor rod arm and connecting driving are arranged on the anchor rod arm, the drilling arm and the driving connecting arms respectively, and a magnetic sensor used for sensing the extending length of the oil cylinders is arranged in each driving oil cylinder;

and the drilling arm and the anchor rod arm are provided with a three-dimensional electronic compass for measuring the direction of the drill hole relative to the frame and a stereo camera for correcting the accumulated error of the sensor and guiding the anchor rod arm to finally and accurately position.

As a further scheme of the invention: the driving oil cylinder comprises an oil cylinder main body, an oil cylinder rod is mounted on the oil cylinder main body, and the magnetic sensor is connected with the oil cylinder rod.

As a further scheme of the invention: the stereo cameras are arranged in two groups, and the two groups of stereo cameras are symmetrically distributed on two sides of the three-dimensional electronic compass.

As a further scheme of the invention: the stereo camera comprises a camera shell and a lens cover, wherein a camera cover body is fixedly arranged on the camera shell, a sensor is arranged in the camera cover body through an adjusting screw, and a lens sheet is arranged on one side of the camera cover body, which is far away from the camera shell;

the lens cap is rotatably mounted on the camera housing.

As a further scheme of the invention: the camera shell is provided with a lens cover driving mechanism, and the lens cover driving mechanism is used for driving the lens cover to rotate.

As a further scheme of the invention: the lens cap driving mechanism comprises a driving motor and a turbine, the driving motor is fixedly arranged in the camera shell, and the output end of the driving motor is fixedly connected with a worm; the worm wheel is fixedly connected to the lens cover, and the worm wheel is meshed and connected to the worm.

As a further scheme of the invention: and a sealing ring is arranged between the lens sheet and the camera cover body.

As a further scheme of the invention: the camera head is characterized in that a cleaning cover is arranged at one end, close to the lens sheet, of the camera head cover body, and the cleaning cover is used for cleaning and protecting the lens sheet.

As a further scheme of the invention: be provided with air inlet connector on the clean cover lateral wall, air inlet connector passes through the trachea and links to each other with outside gas pitcher, and clean cover middle part is provided with the air jet.

As a further scheme of the invention: the anchor rod trolley comprises a trolley main body, and an anchor rod arm accurate guiding system is installed on the trolley main body.

The invention has the beneficial effects that:

(1) according to the accurate guide system for the anchor rod arm, the magnetic sensor is arranged in the driving oil cylinder, so that the measurement accuracy and the durability are extremely high; the top ends of the anchor rod arms are respectively provided with a three-dimensional electronic compass, and the directions of the drill holes relative to the frame are accurately measured; after the preliminary guide of stock arm is accomplished, start the three-dimensional camera on stock arm top, rectify the accumulated error of sensor, guide the final accurate positioning of stock arm, insert the stock accuracy in the drilling.

(2) The anchor rod trolley can be used for simultaneously drilling the tunnel and installing the anchor rod, so that the drilling and the anchor rod installing of the traditional mechanism are avoided being carried out step by step, the installation efficiency of the anchor rod is greatly improved, the accurate guide system arranged on the anchor rod arm is used for accurately positioning the drilling hole, and the anchor rod is ensured to be rapidly and accurately inserted into the drilling hole.

(3) The stereo camera disclosed by the invention is provided with the alloy shell, the switchable lens cover and the high-pressure air cleaning cover structure, so that the stereo camera has high structural strength, can be used in the environment of tunnel water spraying and dust collection, and has high positioning precision on drilling holes and long service life.

Drawings

The invention will be further described with reference to the accompanying drawings.

FIG. 1 is a schematic structural view of the present invention as a whole;

FIG. 2 is a schematic view of the mounting structure of the driving cylinder according to the present invention;

FIG. 3 is a schematic illustration of the construction of the anchor rod arm of the present invention;

FIG. 4 is a schematic view showing the mounting structure of the three-dimensional electronic compass according to the present invention;

FIG. 5 is a schematic view of the mounting structure of the magnetic sensor of the present invention;

FIG. 6 is a schematic view of the working structure of the stereo camera of the present invention;

FIG. 7 is a schematic perspective view of a stereo camera according to the present invention;

FIG. 8 is a schematic cross-sectional view of a stereo camera of the present invention;

fig. 9 is a schematic view of the structure of the cleaning cover of the present invention.

In the figure: 1. a trolley main body; 2. an anchor rod arm; 21. an anchor rod arm locator; 22. a hollow anchor rod; 23. an anchor rod bracket; 24. a three-dimensional electronic compass; 25. a stereo camera; 251. a camera housing; 252. a camera cover body; 253. a cleaning hood; 2531. an air inlet joint; 2532. an air jet; 254. a lens cover; 255. a lens cap drive mechanism; 2551. a drive motor; 2552. a worm; 2553. a turbine; 256. lens sheets; 257. a sensor; 258. adjusting the screw; 259. a seal ring; 3. drilling a hole arm; 4. a drive link arm; 5. a lift cylinder; 6. a telescopic oil cylinder; 7. a translation oil cylinder; 8. a rotary oil cylinder; 9. a pitching oil cylinder; 10. a propulsion cylinder; 11. a feed beam compensation cylinder; 12. a cylinder body; 13. a cylinder rod; 14. a magneto sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 6, the invention relates to an anchor arm accurate guiding system, which comprises an anchor arm 2 and a drilling arm 3, wherein the anchor arm 2 and the drilling arm 3 are respectively provided with a driving connecting arm 4, the anchor arm 2, the drilling arm 3 and the driving connecting arm 4 are respectively provided with a plurality of groups of driving oil cylinders for positioning the drilling arm, positioning the anchor arm and connecting driving, and the driving oil cylinders are internally provided with a magnetic sensor 14 for sensing the extending length of the oil cylinders; the driving oil cylinder comprises an oil cylinder body 12, an oil cylinder rod 13 is installed on the oil cylinder body 12, a magnetic sensor 14 is connected with the oil cylinder rod 13, the magnetic sensor 14 is used for sensing the distance moved by the oil cylinder rod 13, the collection of oil cylinder moving distance data is achieved, the displacement data of each driving oil cylinder is collected, the approximate position of a drilled hole in the drilling arm 3 is determined, corresponding data are reflected to each driving oil cylinder of the anchor rod arm 2, the anchor rod arm 2 is conveniently and quickly adjusted to the approximate position where the drilled hole is located, and the positioning efficiency of the anchor rod arm 2 to the drilled hole is further improved. The driving oil cylinder comprises a lifting oil cylinder 5, a telescopic oil cylinder 6, a translation oil cylinder 7, a rotary oil cylinder 8, a pitching oil cylinder 9, a propelling oil cylinder 10 and a propelling beam compensation oil cylinder 11, the lifting oil cylinder 5, the telescopic oil cylinder 6 and the translation oil cylinder 7 are all installed on the driving connecting arm 4 and are respectively used for driving power driving of lifting, stretching and translation of the connecting arm 4, the rotary oil cylinder 8 is respectively used for controlling rotation driving of the anchor rod arm 2 and the drilling arm 3, and the pitching oil cylinder 9, the propelling oil cylinder 10 and the propelling beam compensation oil cylinder 11 are respectively installed on the anchor rod arm 2 and the drilling arm 3 and are used for driving working of the anchor rod arm 2 and the drilling arm 3.

An anchor rod arm positioner 21 is installed on an anchor rod arm 2, a hollow anchor rod 22 for grouting is arranged on the anchor rod arm positioner 21, the anchor rod arm positioner 21 is used for driving the hollow anchor rod 22 to rotate and perform grouting, an anchor rod support 23 for supporting the hollow anchor rod 22 is installed on the anchor rod arm 2, the anchor rod support 23 plays a role in positioning and protecting the hollow anchor rod 22, a three-dimensional electronic compass 24 for measuring the direction of a drilled hole relative to a vehicle frame is installed on one side of the anchor rod arm 2 close to the anchor rod head of the hollow anchor rod 22, two sets of three-dimensional cameras 25 which are symmetrically distributed are installed on one side of the anchor rod arm 2 close to the anchor rod head of the hollow anchor rod 22, the two sets of three-dimensional cameras 25 are symmetrically distributed on two sides of the three-dimensional electronic compass 24, after the three-dimensional electronic compass 24 performs primary positioning on the position of the drilled hole and guides the anchor rod arm 2 to rotate, the drilled hole is accurately positioned through the two sets of the three-dimensional cameras 25 which are symmetrically distributed, thereby adjusting the accurate position of the anchor rod arm 2 and ensuring that the hollow anchor rod 22 is accurately inserted into the borehole for grouting.

Referring to fig. 7-9, the stereo camera 25 includes a camera housing 251 and a lens cover 254, the camera housing 251 is used for being fixedly installed on the anchor rod arm 2, a camera cover 252 is fixedly installed on the camera housing 251, an image sensor 257 is installed in the camera cover 252 through an adjusting screw 258, the camera cover 252 is used for protecting the image sensor 257, a lens sheet 256 is disposed on one side of the camera cover 252 away from the camera housing 251, and the lens sheet 256 protects the sensor in the camera cover 252 to prevent the image sensor 257 from being damaged by broken stones and the like in the tunnel.

The lens cover 254 is rotatably mounted on the camera housing 251, the lens cover 254 is used for protecting the lens of the lens sheet 256, and the lens cover 254 covers the lens sheet 256 to protect the lens sheet 256 when not in use, so as to prevent the lens sheet 256 from being damaged.

A lens cap driving mechanism 255 is mounted on the camera housing 251, and the lens cap driving mechanism 255 is used for driving the lens cap 254 to rotate. The lens cap driving mechanism 255 comprises a driving motor 2551 and a turbine 2553, the driving motor 2551 is fixedly installed in the camera housing 251, and the output end of the driving motor 2551 is fixedly connected with a worm 2552; turbine 2553 fixed connection is on lens lid 254, turbine 2553 meshing connection is on worm 2552, it rotates to drive worm 2552 through driving motor 2551, utilize the meshing transmission effect of turbine 2553 and worm 2552 to drive lens lid 254 and rotate, thereby realize opening the automatic control who closes lens lid 254, control lens lid 254 opens when needs carry out the drilling location, ensure the normal work of stereo camera 25, lens lid 254 closes under driving motor 2551's effect when not carrying out the drilling location, thereby play the effect of protection to camera casing 251 inner structure and lens piece 256.

A sealing ring 259 is arranged between the lens sheet 256 and the camera cover body 252, and the sealing ring 259 effectively improves the sealing performance of the connection between the lens sheet 256 and the camera cover body 252, so as to protect the camera structure in the camera cover body 252.

The camera cover body 252 is provided with a cleaning cover 253 near one end of the lens sheet 256, and the cleaning cover 253 is used for cleaning and protecting the lens sheet 256 to prevent the lens sheet 256 from falling off. Be provided with on the clean cover 253 lateral wall and admit air and connect 2531, admit air and connect 2531 and link to each other with outside gas pitcher through the trachea, clean cover 253 middle part is provided with jet opening 2532, high-pressure gas in the outside gas pitcher flows into through the trachea and connects 2531 in to blow in clean cover 253 clean lens piece 256, thereby ensure that the cleanliness factor of camera lens improves the positioning accuracy to drilling, gaseous clean cover 253 of discharging through jet opening 2532.

Referring to fig. 1-9, the present embodiment further includes an anchor rod trolley, the accurate guiding system of the anchor rod arm is installed on the trolley body 1 of the anchor rod trolley, the trolley body 1 is respectively installed with a drilling arm 3 and an anchor rod arm 2 through two sets of driving connecting arms 4, the drilling arm 3 is used for drilling a tunnel, the anchor rod arm 2 is used for installing an anchor rod in a drilled hole processed by the drilling arm 3, different from the conventional single-arm integrated drilling rod and anchor rod propelling mechanism, the conventional single-arm integrated mechanism is used for drilling and installing an anchor rod separately, so that the processing efficiency is low, the anchor rod trolley of the present invention can simultaneously drill a tunnel and install an anchor rod, the drilling and installing of an anchor rod of the conventional mechanism are avoided, thereby greatly improving the installation efficiency of the anchor rod, and the accurate guiding system installed on the anchor rod arm 2 realizes the accurate positioning of the drilled hole, ensure that the anchor rod is inserted into the drill hole quickly and accurately.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through two or more elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.