Intelligent anchor rod drill arm

Abstract

The invention discloses an intelligent anchor rod drill arm, and belongs to the technical field of coal mine anchor drill equipment. Comprising a control part used for controlling operation of the anchor rod drilling machine, an intelligent drilling rig, an anchor rod drilling machine, a multi-directional telescopic arm and an automatic rod replacing device, and the anchor rod drilling machine is arranged on the intelligent drilling rig and can slide in the length direction of an anchor rod; the multi-directional telescopic arm is located at the lower end of the intelligent drilling rig and used for supporting and adjusting the direction of the intelligent drilling rig and the anchor drilling position and angle, and the automatic rod replacing device is arranged on one side of the intelligent drilling rig and can achieve automatic replacement of anchor rods on the anchor rod drilling machine. The intelligent anchor rod drill arm further comprises a vibration sensor, a sound pressure sensor, a torque sensor, a pressure sensor and a displacement sensor which are used for collecting drilling parameters and feeding the drilling parameters back to the control part. Automatic rod replacement and automatic drilling parameter acquisition are realized, the anchor drilling operation time is shortened, the labor intensity of workers is reduced, the working safety is improved, and the lithologic characteristics of the working face are accurately acquired in real time.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine anchor drilling equipment, and in particular relates to an intelligent anchor drill arm. Background Art

[0002] In the field of coal mine anchor support, although various support procedures have basically achieved mechanized construction, when hydraulic anchor drill vehicles operate in working faces with complex geological conditions, they often face the safety issue of whether the anchor support scheme is reasonable. If the same scheme is adopted when supporting soft roofs and hard roofs, on the one hand, the anchoring cost is increased, and on the other hand, the construction process is slowed down. For this reason, an intelligent anchor drill arm is proposed. Summary of the invention

[0003] In view of the deficiencies in the prior art, the purpose of the present invention is to provide an intelligent anchor drill arm to solve the problems in the prior art.

[0004] The purpose of the present invention can be achieved by the following technical solutions:

[0005] An intelligent anchor drill arm includes a control unit for controlling its operation, an intelligent drill frame, an anchor drill rig, a multi-directional telescopic arm, and an automatic rod changing device. The anchor drill rig is arranged on the intelligent drill frame and can slide along the length direction of the anchor rod; the multi-directional telescopic arm is located at the lower end of the intelligent drill frame and is used to support and adjust the orientation of the intelligent drill frame and the anchor drill position and angle; the automatic rod changing device is arranged on one side of the intelligent drill frame and can realize automatic replacement of anchor rods on the anchor drill rig;

[0006] The intelligent anchor drill arm also includes: a vibration sensor, a sound pressure sensor, a torque sensor, a pressure sensor and a displacement sensor to collect drilling parameters and feed them back to the control unit.

[0007] Furthermore, the multi-directional telescopic arm includes a first fixed support, a second driver, a crossbeam, a third driver, a second fixed support and a fourth driver; the first fixed support is fixed to the lower end of the intelligent drilling rig, and is hinged to the crossbeam and one end of the second driver respectively, the other end of the second driver is hinged to the crossbeam, the tail end of the first fixed support is hinged to the second fixed support, the lower part of the tail end of the first fixed support is hinged to one end of the third driver, the other end of the third driver is hinged to the lower end of the second fixed support, and the second fixed support is fixed to the fourth driver.

[0008] Furthermore, the anchor drilling rig includes a sliding base that can slide on the intelligent drilling frame, and a rotary drilling rig is fixed to the sliding base by bolt connection, and the anchor rod used by the rotary drilling rig is used for anchor drilling.

[0009] Furthermore, the intelligent drilling rig includes a first driver and a base, one end of the first driver is fixed to the base by bolt connection, and the other end of the first driver is fixed to the sliding base by bolt connection.

[0010] Furthermore, a first limiter and a second limiter are provided on the base, the first limiter is provided at the front end of the base, the second limiter is provided between the first limiter and the sliding base, at a distance of / from the base, the first limiter can align the anchor drill bit with the designated hole position, and the second limiter limits the vibration amplitude of the anchor.

[0011] Furthermore, the automatic rod-changing device comprises a rotary motor, an anchor rod bin, an anchor rod clamp, a fifth driver and a sixth driver; the anchor rod bin is fixed to one side of the intelligent drilling frame and stores a plurality of anchor rods distributed circumferentially; the rotary motor is arranged on the anchor rod bin and can drive the plurality of anchor rods to rotate and switch;

[0012] When the drilling operation starts, the fifth driver drives the anchor clamp to move to the position of the anchor, the sixth driver drives the anchor clamp to clamp the anchor, and then the fifth driver drives the anchor clamp to drop the anchor to the designated position of the anchor drilling rig.

[0013] Furthermore, a positioning wheel, a transmission shaft and a protective cover are provided in the anchor rod bin. The transmission shaft is coaxially fixed with the driving shaft of the rotary motor. The positioning wheel is fixed to the end of the transmission shaft. The positioning wheel is provided with a plurality of axially evenly distributed slots to limit the plurality of anchor rods respectively. The protective cover is fixed to the outside of the transmission shaft and the positioning wheel to protect the transmission shaft and the positioning wheel.

[0014] Furthermore, a jaw is provided on the anchor rod clamp, a pressure block is hinged at the end of the driving shaft of the sixth driver, the pressure block is hinged to the anchor rod clamp through a connecting pin, and the sixth driver drives the pressure block to rotate around the connecting pin, thereby clamping the anchor rod.

[0015] Furthermore, the vibration sensor is installed at the front end of the base, the sound pressure sensor is installed on the side of the front end of the base, the torque sensor is installed between the pressure sensor and the anchor, the pressure sensor is installed on the anchor drilling rig, and one end of the displacement sensor is installed on the sliding base and the other end is installed on the base.

[0016] A tunnel anchor drilling method, using the above-mentioned intelligent anchor drill arm, comprises the following steps:

[0017] S1, the control unit controls the multi-directional telescopic arm to drive the intelligent drilling rig to rise to a predetermined position;

[0018] S2, waiting for the automatic rod changing device to place the anchor rod at the designated position of the intelligent drilling rig, starting the drilling operation, and the pressure sensor, the torque sensor, the vibration sensor, the sound pressure sensor, and the displacement sensor to record the drilling parameters and feed them back to the control unit;

[0019] S3, the control unit identifies and processes the drilling parameters, determines the lithological characteristics of the working face, optimizes the support parameters, and displays them on the control unit;

[0020] S4, waiting for the automatic rod changing device to place a new drill rod on the intelligent drilling frame, and continuing the drilling operation according to the optimized support parameters;

[0021] S5, repeat S2-S4 to complete the drilling operation.

[0022] Beneficial effects of the present invention:

[0023] 1. The present invention realizes automatic rod changing by arranging an automatic rod changing device on one side of the intelligent drilling frame, thereby shortening the anchor drilling operation time and reducing the labor intensity of the staff.

[0024] 2. The present invention collects a large number of drilling parameters during the anchor drilling process, optimizes support parameters, and realizes the functions of optimizing drilling arrangement and automatically installing anchor rods through an intelligent drill arm and an automatic rod changing device; therefore, the present invention clarifies the rock properties of the surrounding rock of the working face, optimizes support parameters, shortens operation time, improves efficiency, and increases the safety factor of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 It is a schematic diagram of the overall structure of the intelligent anchor drill arm of the present invention;

[0027] Figure 2 It is a schematic diagram of the structure of the multi-directional telescopic arm of the present invention;

[0028] Figure 3 It is a schematic diagram of the structure of the intelligent drill arm of the present invention;

[0029] Figure 4 It is a structural schematic diagram of the automatic rod changing device of the present invention;

[0030] Figure 5 It is a schematic diagram of the structure of the anchor bar bin of the present invention;

[0031] Figure 6 It is a structural schematic diagram of the anchor rod clamp of the present invention;

[0032] In the figure: 1-multi-directional telescopic arm, 2-intelligent drill frame, 3-displacement sensor, 4-anchor drilling rig, 5-automatic rod changing device, 6-first driver, 7-vibration sensor, 8-sound pressure sensor, 9-torque sensor, 10-pressure sensor; 101-first fixed support, 102-second driver, 103-crossbeam, 104-third driver, 105-second fixed support, 106-fourth driver; 201-first limiter, 202-second limiter, 204-base; 401-sliding base, 402-rotary drilling rig; 501-rotary motor, 502-anchor magazine, 503-anchor clamp, 504-fifth driver, 505-sixth driver; 5021-positioning wheel, 5022-transmission shaft, 5023-protective cover. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Example 1

[0035] like Figure 1 As shown, an intelligent anchor drill arm includes an intelligent drill frame 2, an anchor drill rig 4, a multi-directional telescopic arm 1 and an automatic rod changing device 5. The anchor drill rig 4 is arranged on the intelligent drill frame 2, and can slide along the length direction of the anchor to perform anchor drilling operations; the multi-directional telescopic arm 1 is located at the lower end of the intelligent drill frame 2, and is used to support and adjust the orientation of the intelligent drill frame 2 and the anchor drilling position and angle; the automatic rod changing device 5 is arranged on one side of the intelligent drill frame 2, and can realize automatic rod changing of the anchor on the anchor drill rig 4; and the intelligent anchor drill arm can be controlled by the equipped control unit.

[0036] like Figure 2As shown, the multi-directional telescopic arm 1 includes: a first fixed support 101, a second driver 102, a crossbeam 103, a third driver 104, a second fixed support 105 and a fourth driver 106; the first fixed support 101 is fixed to the lower end of the intelligent drilling frame 2, and is hinged to the crossbeam 103 and one end of the second driver 102 through a pin shaft respectively, the other end of the second driver 102 is hinged to the crossbeam 103 through a pin shaft, the tail end of the first fixed support 101 is hinged to the second fixed support 105 through a pin shaft, the lower part of the tail end of the first fixed support 101 is hinged to one end of the third driver 104 through a pin shaft, the other end of the third driver 104 is hinged to the lower end of the second fixed support 105 through a pin shaft, and the second fixed support 105 is fixedly connected to the fourth driver 106 through a bolt; the control unit can control the second driver 102 and the third driver 104 to extend and retract, and the fourth driver 106 to rotate, so as to adjust the intelligent drilling frame 2 to reach the specified working position.

[0037] like Figure 3 As shown, the intelligent drilling frame 2 includes a first driver 6 and a base 204, one end of the first driver 6 is fixed to the center of the front section of the base 204 by bolts; the anchor drill 4 includes a rotary drill 402 and a sliding base 401, the sliding base 401 is slidably connected to the base 204, the rotary drill 402 is fixed to the sliding base 401 by bolts, and the other end of the first driver 6 is fixed to the front of the sliding base 401 by bolts, and the first driver 6 can drive the anchor drill 4 to slide forward and backward, so as to adjust the anchor drilling depth;

[0038] In addition, a first limiter 201 and a second limiter 202 are provided on the base 204. The first limiter 201 is provided at the front end of the base 204, and the second limiter 202 is provided between the first limiter 201 and the sliding base 401, at 2 / 5 of the distance from the base 204. The first limiter 201 can align the anchor drill bit with the designated hole position, and the second limiter 202 limits the vibration amplitude of the anchor.

[0039] like Figure 4 As shown, the automatic rod changing device 5 includes: a rotary motor 501, an anchor rod bin 502, an anchor rod clamp 503, a fifth driver 504 and a sixth driver 505; the anchor rod bin 502 is fixed on one side of the intelligent drilling rig 2, in which a plurality of circumferentially distributed anchor rods are stored, and the rotary motor 501 is arranged on the anchor rod bin 502 to drive the anchor rod to rotate and switch; the sixth driver 505 is arranged on the anchor rod clamp 503 to drive the anchor rod clamp to grab the anchor rod; the fifth driver 504 is arranged on one side of the intelligent drilling rig 2, and can drive the anchor rod clamp 503 to put the anchor rod into the specified position of the anchor drilling rig 4.

[0040] The automatic rod changing device 5 pre-installs anchor rods in the anchor rod bin 502 before entering the working surface. When the drilling operation starts, the rotary motor 501 drives the gear structure in the anchor rod bin 502 to operate, and the fifth driver 504 drives the anchor rod clamp 503 to move to the position of the anchor rod. The sixth driver 505 drives the anchor rod clamp 503 to clamp the anchor rod. Then, the fifth driver 504 drives the anchor rod clamp 503 to drop the anchor rod to the specified position of the anchor drilling rig 4, and the rotary drilling rig 402 is started, and the anchor rod passes through the first limiter 201 and the second limiter 202 and enters the waiting state.

[0041] like Figure 5 As shown, the anchor bar bin 502 is provided with a positioning wheel 5021, a transmission shaft 5022, and a protective cover 5023. The transmission shaft 5022 is fixed to the rotary motor 501 and can rotate under the drive of the rotary motor 501. The positioning wheel 5021 is fixed to the outside of the transmission shaft 5022 and rotates under the drive of the transmission shaft 5022. The protective cover is fixed to the outside of the transmission shaft 5022 and the positioning wheel 5021 to protect the transmission shaft 5022 and the positioning wheel 5021. The positioning wheel 5021 is provided with a plurality of slots evenly distributed in the axial direction to limit the plurality of anchor bars respectively, so that under the drive of the rotary motor 501, the positioning wheel 5021 rotates to realize the switching of the anchor bars.

[0042] like Figure 6 As shown, the anchor rod clamp 503 is provided with a jaw, and a pressure block is hinged at the end of the driving shaft of the sixth driver 505. The pressure block is hinged to the anchor rod clamp 503 through a connecting pin. The sixth driver 505 drives the pressure block to rotate around the connecting pin, thereby clamping the anchor rod.

[0043] After the control unit issues a drilling operation command, the anchor drill 4 starts drilling. At the same time, the vibration sensor 7 is installed at the front end of the base 204, the sound pressure sensor 8 is installed on the side of the front end of the base 204, the torque sensor 9 is installed between the pressure sensor 10 and the anchor, the pressure sensor 10 is installed on the anchor drill 4, one end of the displacement sensor 3 is installed on the sliding base 401, and the other end is installed on the base 204. The vibration sensor 7 collects vibration signals during rock drilling, the sound pressure sensor 8 collects noise signals, the torque sensor 9 collects torque signals received during anchor drilling, the pressure sensor 10 collects pressure signals received during anchor drilling, and the displacement sensor 3 collects displacement signals of the anchor. At the same time, all drilling parameters are recorded and fed back to the control unit. When the drilling work is completed, the anchor drill 4 is returned, and the rock characteristics of the working face are identified according to the drilling parameter information recorded in the previous round of drilling operations, and the support parameters are automatically optimized. According to the optimized structure, the next round of drilling operations is carried out.

[0044] Example 2

[0045] In this embodiment, a method for performing anchor drilling operations in a tunnel using the intelligent anchor drill arm described in Embodiment 1 is disclosed, comprising the following steps:

[0046] S1, the control unit controls the multi-directional telescopic arm 1 to drive the intelligent drilling frame 2 to rise to a predetermined position;

[0047] S2, waiting for the automatic rod changing device 5 to place the anchor rod at the specified position of the intelligent drilling frame 2, starting the drilling operation, and the pressure sensor 10, the torque sensor 9, the vibration sensor 7, the sound pressure sensor 8, and the displacement sensor 3 record the drilling parameters and feed them back to the control unit;

[0048] S3, the control unit identifies and processes the drilling parameters, determines the lithological characteristics of the working face, optimizes the support parameters, and displays them on the control unit;

[0049] S4, waiting for the automatic rod changing device 5 to place a new drill rod on the intelligent drilling frame 2, and continuing the drilling operation according to the optimized support parameters;

[0050] S5, repeat S2-S4 to complete the drilling operation.

[0051] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0052] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. An intelligent anchor drill arm, comprising a control unit for controlling its operation, characterized in that: It also includes an intelligent drilling frame (2), an anchor drilling machine (4), a multi-directional telescopic arm (1) and an automatic rod changing device (5); the anchor drilling machine (4) is arranged on the intelligent drilling frame (2) and can slide along the length direction of the anchor rod; the multi-directional telescopic arm (1) is located at the lower end of the intelligent drilling frame (2) and is used to support and adjust the orientation of the intelligent drilling frame (2) and the anchor drilling position and angle; the automatic rod changing device (5) is arranged on one side of the intelligent drilling frame (2) and can realize automatic replacement of the anchor rod on the anchor drilling machine (4); The intelligent anchor drill arm also includes: a vibration sensor (7), a sound pressure sensor (8), a torque sensor (9), a pressure sensor (10) and a displacement sensor (3) to collect drilling parameters and feed them back to the control unit.

2. The intelligent anchor drill arm according to claim 1, characterized in that: The multi-directional telescopic arm (1) comprises a first fixed support (101), a second driver (102), a crossbeam (103), a third driver (104), a second fixed support (105) and a fourth driver (106); the first fixed support (101) is fixed to the lower end of the intelligent drilling frame (2), and is respectively hinged to the crossbeam (103) and one end of the second driver (102); the other end of the second driver (102) is hinged to the crossbeam (103); the tail end of the first fixed support (101) is hinged to the second fixed support (105); the lower part of the tail end of the first fixed support (101) is hinged to one end of the third driver (104); the other end of the third driver (104) is hinged to the lower end of the second fixed support (105); the second fixed support (105) is fixed to the fourth driver (106).

3. The intelligent anchor drill arm according to claim 1, characterized in that: The anchor drilling rig (4) comprises a sliding base (401) that can slide on the intelligent drilling frame (2), a rotary drilling rig (402) is fixed to the sliding base (401) by bolt connection, and the rotary drilling rig (402) uses an anchor rod for anchor drilling.

4. The intelligent anchor drill arm according to claim 3, characterized in that: The intelligent drilling frame (2) comprises a first driver (6) and a base (204), one end of the first driver (6) is fixed to the base (204) by means of a bolt connection, and the other end of the first driver (6) is fixed to the sliding base (401) by means of a bolt connection.

5. The intelligent anchor drill arm according to claim 4, characterized in that: The base (204) is provided with a first stopper (201) and a second stopper (202), wherein the first stopper (201) is provided at the front end of the base (204), and the second stopper (202) is provided between the first stopper (201) and the sliding base (401), at a distance of 2 / 5 from the base (204); the first stopper (201) can align the anchor drill bit with the designated hole position, and the second stopper (202) limits the vibration amplitude of the anchor.

6. The intelligent anchor drill arm according to claim 5, characterized in that: The automatic rod-changing device (5) comprises a rotary motor (501), an anchor rod bin (502), an anchor rod clamp (503), a fifth driver (504) and a sixth driver (505); the anchor rod bin (502) is fixed to one side of the intelligent drilling frame (2) and stores a plurality of anchor rods distributed in a circumferential direction; the rotary motor (501) is arranged on the anchor rod bin (502) and can drive the plurality of anchor rods to rotate and switch; When the drilling operation starts, the fifth driver (504) drives the anchor clamp (503) to move to the location of the anchor, the sixth driver (505) drives the anchor clamp (503) to clamp the anchor, and then the fifth driver (504) drives the anchor clamp (503) to drop the anchor to the designated location of the anchor drilling machine (4).

7. The intelligent anchor drill arm according to claim 6, characterized in that: The anchor rod bin (502) is provided with a positioning wheel (5021), a transmission shaft (5022) and a protective cover (5023); the transmission shaft (5022) is coaxially fixed with the drive shaft of the rotary motor (501); the positioning wheel (5021) is fixed to the end of the transmission shaft (5022); the positioning wheel (5021) is provided with a plurality of slots evenly distributed in the axial direction to limit the plurality of anchor rods respectively; the protective cover is fixed to the outside of the transmission shaft (5022) and the positioning wheel (5021) to protect the transmission shaft (5022) and the positioning wheel (5021).

8. The intelligent anchor drill arm according to claim 6, characterized in that: The anchor rod clamp (503) is provided with a jaw, and a pressure block is hinged at the end of the driving shaft of the sixth driver (505). The pressure block is hinged to the anchor rod clamp (503) through a connecting pin. The sixth driver (505) drives the pressure block to rotate around the connecting pin, thereby clamping the anchor rod.

9. The intelligent anchor drill arm according to claim 6, characterized in that: The vibration sensor (7) is mounted on the front end of the base (204), the sound pressure sensor (8) is mounted on the side of the front end of the base (204), the torque sensor (9) is mounted between the pressure sensor (10) and the anchor, the pressure sensor (10) is mounted on the anchor drilling rig (4), and one end of the displacement sensor (3) is mounted on the sliding base (401) and the other end is mounted on the base (204).

10. A tunnel anchor drilling method, characterized in that: Using the intelligent anchor drill arm according to any one of claims 1 to 9 comprises the following steps: S1, the control unit controls the multi-directional telescopic arm (1) to drive the intelligent drilling frame (2) to rise to a predetermined position; S2, waiting for the automatic rod changing device (5) to place the anchor rod at the designated position of the intelligent drilling frame (2), starting the drilling operation, and the pressure sensor (10), the torque sensor (9), the vibration sensor (7), the sound pressure sensor (8), and the displacement sensor (3) to record the drilling parameters and feed them back to the control unit; S3, the control unit identifies and processes the drilling parameters, determines the lithological characteristics of the working face, optimizes the support parameters, and displays them on the control unit; S4, waiting for the automatic rod changing device (5) to place a new drill rod on the intelligent drilling frame (2), and continuing the drilling operation according to the optimized support parameters; S5, repeat S2-S4 to complete the drilling operation.

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