An automatic rod changing device suitable for variable frequency slow disturbance rod mechanism

Abstract

An automatic rod-changing device suitable for a variable-frequency slow-speed disturbance rod mechanism belongs to the technical field of rock indoor mechanical testing, and includes a rod storage assembly, a rod transfer assembly, and a rod pick-up assembly; the rod storage assembly and the rod transfer assembly are arranged side by side on the side of the variable-frequency slow-speed disturbance rod mechanism, and the rod storage assembly and the rod transfer assembly are distributed on the same side; the rod pick-up assembly is mounted astride the variable-frequency slow-speed disturbance rod mechanism and the rod storage assembly. The automatic rod-changing device suitable for a variable-frequency slow-speed disturbance rod mechanism of the present invention abandons the traditional method that the hoisting operation of the incident rod and the bullet is completely completed manually by a gantry crane, and the binding, lifting, transfer, falling and unbinding processes of the incident rod and the bullet can be completed automatically, saving manpower input, improving work efficiency, enhancing the reliability and accuracy of the hoisting operation, reducing the risk of the incident rod and the bullet falling, and thus improving the safety of the hoisting operation.

Description

Technical Field

[0001] The invention belongs to the technical field of rock indoor mechanical testing, and in particular relates to an automatic rod changing device suitable for a variable frequency slow disturbance rod mechanism. Background Art

[0002] During the construction of deep engineering projects, the surrounding rock of the project is prone to instability due to excavation unloading, often causing disasters such as rock bursts and landslides. Among the existing excavation technologies, the drilling and blasting method is currently the most commonly used excavation method because of its advantages of convenient construction and good economy. However, the drilling and blasting method also has the characteristics of strong disturbance in the near area. Depending on the strength of the surrounding rock disturbance effect, the stress characteristics it produces are also different, which can be further divided into blasting shock waves, blasting stress waves and blasting elastic waves. Existing research results show that the frequency range of blasting stress waves is about 100Hz to 500Hz. Carrying out quantitative research on the effects of blasting stress waves on rock mechanical properties in indoor rock mechanics experiments not only has important theoretical value, but also provides a scientific basis for further understanding of disturbance-triggered engineering rock instability.

[0003] The Chinese patent application with the announcement number CN111006940A discloses a variable frequency slow disturbance rod mechanism that meets the requirements of blasting stress wave simulation. This scheme realizes the simulation of low-amplitude characteristic disturbance stress waves in different frequency ranges in the laboratory, and solves the problem of difficulty in site selection caused by the excessive length of the equipment. However, during the use of the above-mentioned variable frequency slow disturbance rod mechanism, the hoisting operation of the incident rod and the bullet is completely completed manually by the gantry crane. The binding, lifting, transfer, falling and unbinding of the incident rod and the bullet require the cooperation of multiple people for manual operation, resulting in low efficiency of the hoisting operation process. In addition, since the weight of the incident rod and the bullet is heavy, once the manual lifting operation is improper, there is a risk of the incident rod and the bullet falling, so there are certain safety hazards. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides an automatic rod changing device suitable for a variable frequency slow disturbance rod mechanism, which abandons the traditional method in which the lifting operation of the incident rod and the bullet is completely dependent on the manual operation of the gantry crane. The binding, lifting, transfer, lowering and unbinding processes of the incident rod and the bullet can be completed automatically, saving manpower input, improving work efficiency, enhancing the reliability and accuracy of the lifting operation, reducing the risk of the incident rod and the bullet falling, and thereby improving the safety of the lifting operation.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an automatic rod changing device suitable for a variable frequency slow disturbance rod mechanism, comprising a rod storage assembly, a rod transfer assembly and a rod picking and placing assembly; the rod storage assembly and the rod transfer assembly are arranged side by side on the side of the variable frequency slow disturbance rod mechanism, and the rod storage assembly and the rod transfer assembly are distributed on the same side; the rod picking and placing assembly is installed astride the variable frequency slow disturbance rod mechanism and the rod storage assembly.

[0006] The rod storage assembly includes a rod storage bracket, a first rod supporting seat and a second rod supporting seat; the rod storage bracket is fixedly placed on the ground; there are a plurality of first rod supporting seats, and the plurality of first rod supporting seats are arranged on the rod storage bracket at equal intervals along the vertical direction; there are a plurality of second rod supporting seats, and the number of second rod supporting seats is the same as the number of first rod supporting seats, and the plurality of second rod supporting seats are arranged on the rod storage bracket at equal intervals along the vertical direction.

[0007] In the same horizontal plane, the number of the first rod supporting seat and the number of the second rod supporting seat are both one.

[0008] There are two rod body picking and placing assemblies, which are respectively recorded as the front rod body picking and placing assembly and the rear rod body picking and placing assembly. The front rod body picking and placing assembly and the rear rod body picking and placing assembly are sequentially distributed along the length direction of the variable frequency slow disturbance rod mechanism.

[0009] The rod picking and placing assembly includes a gantry bracket, a horizontal slide rail, a translational electric slider, a Z-direction telescopic arm and a rod picking and placing clamping claw; the gantry bracket is mounted astride the variable frequency slow disturbance rod mechanism and the rod storage assembly; the horizontal slide rail is embedded in the bottom of the crossbeam of the gantry bracket; the translational electric slider is arranged on the horizontal slide rail; the Z-direction telescopic arm is vertically arranged, the upper end of the Z-direction telescopic arm is fixedly connected to the translational electric slider, and the rod picking and placing clamping claw is installed at the lower end of the Z-direction telescopic arm.

[0010] There are two translation electric sliders on the horizontal slide rail, each of which is equipped with a Z-direction telescopic arm, and a rod body picking and placing clamping claw is installed at the lower end of each Z-direction telescopic arm.

[0011] Electric walking wheels are installed at the bottom of the gantry support.

[0012] The rod transfer assembly includes a rod transfer bracket, a vertical slide rail, a lifting electric slider, a first Y-axis telescopic arm, a first X-axis telescopic arm, a first rod transfer clamping claw, a second Y-axis telescopic arm, a second X-axis telescopic arm and a second rod transfer clamping claw; the rod transfer bracket is installed between the gantry bracket of the front rod pick-up and place assembly and the gantry bracket of the rear rod pick-up and place assembly; the vertical slide rail is embedded in the rod transfer bracket; the lifting electric slider is arranged on the vertical slide rail; the first Y-axis telescopic arm is horizontally arranged, and one end of the first Y-axis telescopic arm is fixedly connected to the lifting electric slider; the first X-axis telescopic arm is horizontally arranged, and one end of the first X-axis telescopic arm is fixedly connected to the other end of the first Y-axis telescopic arm end, the first X-direction telescopic arm is vertically distributed with the first Y-direction telescopic arm; the first rod transport clamping claw is installed at the other end of the first X-direction telescopic arm; the second Y-direction telescopic arm is horizontally arranged, one end of the second Y-direction telescopic arm is fixedly connected to the lifting electric slider, and the second Y-direction telescopic arm and the first Y-direction telescopic arm are mirror-symmetrically distributed relative to the lifting electric slider; the second X-direction telescopic arm is horizontally arranged, one end of the second X-direction telescopic arm is fixedly connected to the other end of the second Y-direction telescopic arm, the second X-direction telescopic arm is vertically distributed with the second Y-direction telescopic arm, and the second X-direction telescopic arm and the first X-direction telescopic arm are mirror-symmetrically distributed relative to the lifting electric slider; the second rod transport clamping claw is installed at the other end of the second X-direction telescopic arm.

[0013] Beneficial effects of the present invention:

[0014] The automatic rod changing device suitable for the variable frequency slow disturbance rod mechanism of the present invention abandons the traditional method that the lifting operation of the incident rod and the bullet is completely completed manually by the gantry crane. The binding, lifting, transfer, falling and unbinding processes of the incident rod and the bullet can be completed automatically, which saves manpower input, improves work efficiency, enhances the reliability and accuracy of the lifting operation, reduces the risk of the incident rod and the bullet falling, and thus improves the safety of the lifting operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of an automatic rod changing device suitable for a variable frequency slow disturbance rod mechanism of the present invention;

[0016] Figure 2 It is a structural schematic diagram of the rod storage assembly of the present invention;

[0017] Figure 3 It is a structural schematic diagram of the rod transport assembly of the present invention;

[0018] Figure 4 It is a structural schematic diagram of a variable frequency slow-speed disturbance rod mechanism equipped with an automatic rod-changing device;

[0019] In the figure, 1—rod storage bracket, 2—first rod supporting seat, 3—second rod supporting seat, 4—gantry bracket, 5—Z-axis telescopic arm, 6—rod picking and placing clamping claw, 7—rod transfer bracket, 8—vertical slide rail, 9—lifting electric slider, 10—first Y-axis telescopic arm, 11—first X-axis telescopic arm, 12—first rod transfer clamping claw, 13—second Y-axis telescopic arm, 14—second X-axis telescopic arm, 15—second rod transfer clamping claw, 16—electric walking wheel, 17—variable frequency slow disturbance rod mechanism, 18—automatic rod changing device. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] like Figures 1 to 4 As shown, an automatic rod changing device suitable for a variable frequency slow disturbance rod mechanism includes a rod storage assembly, a rod transfer assembly and a rod picking and placing assembly; the rod storage assembly and the rod transfer assembly are arranged side by side on the side of the variable frequency slow disturbance rod mechanism 17, and the rod storage assembly and the rod transfer assembly are distributed on the same side; the rod picking and placing assembly is mounted astride the variable frequency slow disturbance rod mechanism 17 and the rod storage assembly.

[0022] The rod storage assembly includes a rod storage bracket 1, a first rod supporting seat 2 and a second rod supporting seat 3; the rod storage bracket 1 is fixedly placed on the ground; there are a plurality of first rod supporting seats 2, and a plurality of first rod supporting seats 2 are arranged on the rod storage bracket 1 at equal intervals along the vertical direction; there are a plurality of second rod supporting seats 3, and the number of second rod supporting seats 3 is the same as the number of first rod supporting seats 2, and a plurality of second rod supporting seats 3 are arranged on the rod storage bracket 1 at equal intervals along the vertical direction.

[0023] In the same horizontal plane, the number of the first rod supporting seat 2 and the number of the second rod supporting seat 3 are both one.

[0024] There are two rod body picking and placing assemblies, which are respectively recorded as a front rod body picking and placing assembly and a rear rod body picking and placing assembly. The front rod body picking and placing assembly and the rear rod body picking and placing assembly are sequentially distributed along the length direction of the variable frequency slow disturbance rod mechanism 17.

[0025] The rod body picking and placing assembly includes a gantry bracket 4, a horizontal slide rail, a translational electric slider, a Z-direction telescopic arm 5 and a rod body picking and placing clamping claw 6; the gantry bracket 4 is mounted astride the variable frequency slow disturbance rod mechanism 17 and the rod body storage assembly; the horizontal slide rail is embedded in the bottom of the crossbeam of the gantry bracket 4; the translational electric slider is arranged on the horizontal slide rail; the Z-direction telescopic arm 5 is vertically arranged, the upper end of the Z-direction telescopic arm 5 is fixedly connected to the translational electric slider, and the rod body picking and placing clamping claw 6 is installed at the lower end of the Z-direction telescopic arm 5.

[0026] There are two electric translational slide blocks on the horizontal slide rail, each of which is equipped with a Z-direction telescopic arm 5 , and a rod body picking and placing clamping claw 6 is installed at the lower end of each Z-direction telescopic arm 5 .

[0027] An electric travel wheel 16 is installed at the bottom of the gantry support 4 .

[0028] The rod body transfer assembly includes a rod body transfer bracket 7, a vertical slide rail 8, a lifting electric slider 9, a first Y-axis telescopic arm 10, a first X-axis telescopic arm 11, a first rod body transfer clamping claw 12, a second Y-axis telescopic arm 13, a second X-axis telescopic arm 14 and a second rod body transfer clamping claw 15; the rod body transfer bracket 7 is installed between the gantry bracket 4 of the front rod body pick-up and placement assembly and the gantry bracket 4 of the rear rod body pick-up and placement assembly; the vertical slide rail 8 is embedded in the rod body transfer bracket 7; the lifting electric slider 9 is arranged on the vertical slide rail 8; the first Y-axis telescopic arm 10 is horizontally arranged, and one end of the first Y-axis telescopic arm 10 is fixedly connected to the lifting electric slider 9; the first X-axis telescopic arm 11 is horizontally arranged, and one end of the first X-axis telescopic arm 11 is fixedly connected to the other end of the first Y-axis telescopic arm 10, The first X-axis telescopic arm 11 is vertically distributed with the first Y-axis telescopic arm 10; the first rod transport clamping claw 12 is installed at the other end of the first X-axis telescopic arm 11; the second Y-axis telescopic arm 13 is horizontally arranged, and one end of the second Y-axis telescopic arm 13 is fixedly connected to the lifting electric slider 9, and the second Y-axis telescopic arm 13 and the first Y-axis telescopic arm 10 are mirror-symmetrically distributed relative to the lifting electric slider 9; the second X-axis telescopic arm 14 is horizontally arranged, and one end of the second X-axis telescopic arm 14 is fixedly connected to the other end of the second Y-axis telescopic arm 13, and the second X-axis telescopic arm 14 and the second Y-axis telescopic arm 13 are vertically distributed, and the second X-axis telescopic arm 14 and the first X-axis telescopic arm 11 are mirror-symmetrically distributed relative to the lifting electric slider 9; the second rod transport clamping claw 15 is installed at the other end of the second X-axis telescopic arm 14.

[0029] The following describes a one-time use process of the present invention in conjunction with the accompanying drawings:

[0030] When the variable frequency slow disturbance rod mechanism 17 is equipped with the automatic rod changing device 18, the incident rods and bullets used in the test are stored layer by layer between the first rod body supporting seat 2 and the second rod body supporting seat 3.

[0031] When bullets need to be installed, first start the lifting electric slider 9 to adjust the height of the electric slider 9 along the vertical slide rail 8 until the height of the first rod transport clamping claw 12 and the second rod transport clamping claw 15 are at the same height as the bullets on the first rod support seat 2 and the second rod support seat 3.

[0032] The first Y-axis telescopic arm 10 and the second Y-axis telescopic arm 13 are started synchronously to adjust the elongation of the two, thereby adjusting the clamping position of the first rod body transport clamping claw 12 and the second rod body transport clamping claw 15 relative to the bullet.

[0033] The first X-axis telescopic arm 11 and the second X-axis telescopic arm 14 are started synchronously to increase the elongation of the two, and then the first rod body transport clamping claw 12 and the second rod body transport clamping claw 15 are moved synchronously until the bullet is completely in the first rod body transport clamping claw 12 and the second rod body transport clamping claw 15.

[0034] The first rod transport clamping claw 12 and the second rod transport clamping claw 15 are started synchronously to completely clamp the bullet, and then the lifting electric slider 9 is moved upward until the bullet is completely lifted off the first rod support seat 2 and the second rod support seat 3.

[0035] The first X-direction telescopic arm 11 and the second X-direction telescopic arm 14 are started synchronously to reduce the elongation of the two arms, so that the bullet is away from the first rod body supporting seat 2 and the second rod body supporting seat 3.

[0036] The electric translation slide blocks in the front rod body pick-up and place assembly and the rear rod body pick-up and place assembly are started synchronously, so that the electric translation slide blocks move horizontally along the horizontal slide rail until the rod body pick-up and place clamping claw 6 moves to just above the bullet.

[0037] The Z-direction telescopic arms 5 in the front rod body pick-and-place assembly and the rear rod body pick-and-place assembly are started synchronously to increase the elongation of the Z-direction telescopic arms 5 until the bullet is completely in the front and rear rod body pick-and-place clamping claws 6.

[0038] The front and rear rod-body pick-up and placement clamping claws 6 are synchronously started to completely clamp the bullet, and then the first rod-body transport clamping claw 12 and the second rod-body transport clamping claw 15 are synchronously released from clamping the bullet, and then the elongation of the first X-axis telescopic arm 11 and the second X-axis telescopic arm 14 are synchronously reduced to keep the first rod-body transport clamping claw 12 and the second rod-body transport clamping claw 15 away from the bullet.

[0039] The Z-direction telescopic arms 5 in the front rod body pick-up and placement assembly and the rear rod body pick-up and placement assembly are started synchronously to reduce the elongation of the Z-direction telescopic arms 5 until the bullet is lifted to a set height.

[0040] Synchronously start the translation electric sliders in the front rod body pick-up and placement assembly and the rear rod body pick-up and placement assembly, so that the translation electric sliders move horizontally along the horizontal slide rail until the bullet moves to the top of the variable frequency slow disturbance rod mechanism 17;

[0041] The Z-direction telescopic arm 5 in the front rod body pick-and-place assembly and the rear rod body pick-and-place assembly is started synchronously to increase the extension of the Z-direction telescopic arm 5 until the bullet drops to a height position coaxial with the barrel of the variable frequency slow disturbance rod mechanism 17.

[0042] The electric running wheels 16 in the front rod body pick-up and placement assembly and the rear rod body pick-up and placement assembly are started synchronously to move the front and rear gantry brackets 4 backward along the central axis of the gun barrel until the rear end rod body of the bullet extends into the gun barrel.

[0043] Start the rod body picking and placing clamping claw 6 in the rear rod body picking and placing assembly, release the clamping of the rod body picking and placing clamping claw 6 on the bullet in the rear rod body picking and placing assembly, retain the clamping of the rod body picking and placing clamping claw 6 in the front rod body picking and placing assembly on the bullet, and then lift the rod body picking and placing clamping claw 6 in the rear rod body picking and placing assembly to a set height.

[0044] The electric walking wheels 16 in the front rod body pick-up and placement assembly and the rear rod body pick-up and placement assembly are started synchronously to move the rear two gantry brackets 4 backward along the central axis of the gun barrel, and continue to insert the bullet into the gun barrel until the rod body pick-up and placement clamping claw 6 in the front rod body pick-up and placement assembly moves to the front of the gun barrel.

[0045] Start the rod body picking and placing clamping claw 6 in the front rod body picking and placing assembly to release the clamping of the bullet by the rod body picking and placing clamping claw 6 in the front rod body picking and placing assembly, and then lift the rod body picking and placing clamping claw 6 in the front rod body picking and placing assembly to a set height, and the bullet installation is completed at this time.

[0046] Similarly, the installation method of the incident rod is the same as that of the bullet, the only difference is that the bullet needs to be installed in the barrel, while the incident rod needs to be installed on the incident rod support seat of the variable frequency slow disturbance rod mechanism 17.

[0047] The solutions in the embodiments are not intended to limit the protection scope of the present invention. All equivalent implementations or changes that do not deviate from the present invention are included in the protection scope of the present invention.

Claims

1. An automatic rod changing device suitable for a variable frequency slow disturbance rod mechanism, characterized in that: It includes a rod storage assembly, a rod transfer assembly and a rod pick-up assembly; the rod storage assembly and the rod transfer assembly are arranged side by side on the side of the variable frequency slow disturbance rod mechanism, and the rod storage assembly and the rod transfer assembly are distributed on the same side; the rod pick-up assembly is mounted across the variable frequency slow disturbance rod mechanism and the rod storage assembly; there are two rod pick-up assemblies, which are respectively recorded as the front rod pick-up assembly and the rear rod pick-up assembly, and the front rod pick-up assembly and the rear rod pick-up assembly are arranged along the variable frequency slow disturbance rod mechanism. The mechanism is sequentially distributed in the length direction; the rod transport component includes a rod transport bracket, a vertical slide rail, a lifting electric slider, a first Y-direction telescopic arm, a first X-direction telescopic arm, a first rod transport clamping claw, a second Y-direction telescopic arm, a second X-direction telescopic arm and a second rod transport clamping claw; the rod transport bracket is installed between the gantry bracket of the front rod pick-up and place component and the gantry bracket of the rear rod pick-up and place component; the vertical slide rail is embedded in the rod transport bracket; the lifting electric slider is arranged on the vertical On a straight slide rail; the first Y-direction telescopic arm is horizontally arranged, and one end of the first Y-direction telescopic arm is fixedly connected to the lifting electric slider; the first X-direction telescopic arm is horizontally arranged, and one end of the first X-direction telescopic arm is fixedly connected to the other end of the first Y-direction telescopic arm, and the first X-direction telescopic arm is vertically distributed with the first Y-direction telescopic arm; the first rod body transport clamping claw is installed at the other end of the first X-direction telescopic arm; the second Y-direction telescopic arm is horizontally arranged, and one end of the second Y-direction telescopic arm is fixedly connected to the lifting electric slider, and the second Y-direction telescopic arm and the first Y-direction telescopic arm are mirror-symmetrically distributed relative to the lifting electric slider; the second X-direction telescopic arm is horizontally arranged, and one end of the second X-direction telescopic arm is fixedly connected to the other end of the second Y-direction telescopic arm, and the second X-direction telescopic arm is vertically distributed with the second Y-direction telescopic arm, and the second X-direction telescopic arm and the first X-direction telescopic arm are mirror-symmetrically distributed relative to the lifting electric slider; the second rod body transport clamping claw is installed at the other end of the second X-direction telescopic arm; an electric walking wheel is installed at the bottom of the gantry bracket.

2. The automatic rod changing device suitable for variable frequency slow disturbance rod mechanism according to claim 1, characterized in that: The rod storage assembly includes a rod storage bracket, a first rod supporting seat and a second rod supporting seat; the rod storage bracket is fixedly placed on the ground; there are a plurality of first rod supporting seats, and the plurality of first rod supporting seats are arranged on the rod storage bracket at equal intervals along the vertical direction; there are a plurality of second rod supporting seats, and the number of second rod supporting seats is the same as the number of first rod supporting seats, and the plurality of second rod supporting seats are arranged on the rod storage bracket at equal intervals along the vertical direction.

3. The automatic rod changing device suitable for variable frequency slow disturbance rod mechanism according to claim 2, characterized in that: In the same horizontal plane, the number of the first rod supporting seat and the number of the second rod supporting seat are both one.

4. The automatic rod changing device suitable for variable frequency slow disturbance rod mechanism according to claim 1, characterized in that: The rod picking and placing assembly includes a gantry bracket, a horizontal slide rail, a translational electric slider, a Z-direction telescopic arm and a rod picking and placing clamping claw; the gantry bracket is mounted astride the variable frequency slow disturbance rod mechanism and the rod storage assembly; the horizontal slide rail is embedded in the bottom of the crossbeam of the gantry bracket; the translational electric slider is arranged on the horizontal slide rail; the Z-direction telescopic arm is vertically arranged, the upper end of the Z-direction telescopic arm is fixedly connected to the translational electric slider, and the rod picking and placing clamping claw is installed at the lower end of the Z-direction telescopic arm.

5. The automatic rod changing device suitable for variable frequency slow disturbance rod mechanism according to claim 4, characterized in that: There are two translation electric sliders on the horizontal slide rail, each of which is equipped with a Z-direction telescopic arm, and a rod body picking and placing clamping claw is installed at the lower end of each Z-direction telescopic arm.

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