Device for automatically replacing anchor rod

Abstract

The invention discloses an automatic anchor rod replacing device which comprises a frame, a manipulator and conveying rollers, storage bins are arranged on the frame in a bilateral symmetry mode and used for storing anchor rods, a conveying shaft and a grabbing shaft are rotatably arranged on the frame, the conveying rollers are installed at the two ends of the conveying shaft, and the conveying rollers are located at the lower ends of the storage bins. An upper mounting groove and a lower mounting groove are formed in each conveying roller, fixing blocks are mounted in the mounting grooves, grooves are formed in the fixing blocks and matched with the anchor rods, V-shaped sliding grooves are formed in the frame, the upper ends of the sliding grooves are located on the lower sides of the conveying rollers, and the lower ends of the sliding grooves are located on the front side of the frame. The anchor rod storage device has the beneficial effects that the anchor rod storage bin is large in capacity, the rod storage disc does not need to be manually rotated to store anchor rods, and the anchor rod storage efficiency is greatly improved; the device can be conveniently adjusted according to different types of anchor rods and different diameters; the anchor rod taking process is efficient and flexible, meanwhile, the motion path of the mechanical arm for grabbing the anchor rod is shortened, and compared with the prior art, the anchor rod taking process is simplified.

Description

Technical Field

[0001] The present invention belongs to the technical field of mining machinery, and particularly relates to a device for automatically replacing anchor bolts. Background Art

[0002] Anchor bolt support is a key support method for strengthening surrounding rocks in coal mine rock tunnels, tunnel construction, and underground roadway projects. At present, automatic anchor bolt drill rigs are generally used for anchor bolt support operations in China. First, the drilling operation is completed, then the anchor bolts are taken out from the anchor bolt bin and loaded into the drill box, and finally the cartridges are loaded and the anchor bolts are sent into the holes. The anchor bolt bin can not only store anchor bolts in batches but also has the function of grasping anchor bolts. In the current relatively mature anchor bolt support technology, the anchor bolt bin has become the most direct and active factor in improving the efficiency of anchor bolt support. At present, the anchor bolt bins applied in industry mainly have two forms: rotary type and chain type. The rotary anchor bolt bin drives the rod storage disc to rotate through a transmission shaft, and grooves are arranged at fixed angles at intervals on the rod storage disc to store anchor bolts. The anchor bolts of the chain type anchor bolt bin are distributed on the chain, and the movement of the anchor bolts in the anchor bolt bin is realized by arranging two chain drive mechanisms up and down. The United States has also proposed the design of a push-type anchor bolt bin, which has two upper and lower channels for the movement of anchor bolts and has a trapezoidal structure as a whole, which is particularly suitable for operating in narrow environments. The inventor has developed a "rotary large-capacity automatic positioning anchor bolt bin (CN202110773714.6)", which adopts a rotary anchor bolt replacement mechanism, and each anchor bolt is distributed on the rod storage disc at a fixed angle.

[0003] However, the above technologies each have some problems: The rod storage disc of the rotary anchor bolt bin has limitations. First, the number of anchor bolts it can store is limited, and the anchor bolts need to be replenished frequently. Second, when the anchor bolts are used up, the rod storage disc must be rotated manually for replenishment, which is both cumbersome and time-consuming. Finally, once the rod storage disc is processed and formed, its structure is relatively fixed, and its adaptability to different specifications of anchor bolts is limited. Due to the complex structure of the chain type anchor bolt bin, the wear of the chain and U-shaped clamp during use will shorten its service life, and each anchor bolt needs to be fixed manually, which reduces the degree of automation. Summary of the Invention

[0004] A device for automatically replacing anchor bolts is provided to solve the problems in the prior art.

[0005] A device for automatically replacing anchor bolts includes a frame, a manipulator, and a conveyor roller. A storage bin is arranged on the frame, and the storage bin is symmetrically arranged left and right for storing anchor bolts. A conveyor shaft and a grasping shaft are rotatably arranged on the frame. Conveyor rollers are installed at both ends of the conveyor shaft, and the conveyor rollers are located at the lower end of the storage bin. Two upper and lower mounting grooves are formed on the conveyor roller, fixing blocks are installed in the mounting grooves, and grooves are formed on the fixing blocks, and the grooves are adapted to the anchor bolts. The manipulator is installed on the grasping shaft. A V-shaped chute is opened on the frame. The upper end of the chute is located below the conveying roller, and the lower end of the chute is located in the front side position of the frame. The conveying shaft is driven to rotate by a power source, and the power source can be a servo motor.

[0006] Among them, the device for automatically changing anchor bolts A limiting groove is also opened on the frame. The front end of the limiting groove is partially communicated with the upper end of the chute. A limiting pin shaft is inserted into the limiting groove. A limiting retaining disk is arranged at the end of the limiting pin shaft. A limiting fixing seat is arranged on the frame. One end of the telescopic rod is connected to the limiting fixing seat, and the other end is connected to the limiting retaining disk. A limiting spring is sleeved on the telescopic rod; A rotating shaft is rotatably arranged on the frame. An eccentric wheel is arranged on the rotating shaft. The outer edge of the eccentric wheel is in pressing fit with the limiting retaining disk. When the rotating shaft rotates under the action of a power source, it will push the limiting retaining disk to move. During the movement of the limiting retaining disk, the limiting pin shaft can move forward to the maximum in the chute, blocking the way for the anchor bolt to slide down, playing a role in limiting. The limiting pin shaft can slide backward out of the chute and into the limiting groove, and the anchor bolt can slide down along the chute to the bottom position of the chute and wait to be grasped; The rotating shaft is driven to rotate by a power source, and the power source can be a servo motor.

[0007] Among them, for the device for automatically changing anchor bolts, a magnet is arranged at the bottom of the groove.

[0008] Among them, for the device for automatically changing anchor bolts, the manipulator includes a bracket, a fixed jaw, a movable jaw, and a clamping oil cylinder. The fixed jaw is fixed on the bracket. One end of the movable jaw is hinged to the bracket. The clamping oil cylinder is hinged to the bracket. The rod end of the clamping oil cylinder is hinged to the movable jaw. One end of the rotating arm is coaxially connected to the grasping shaft, and the other end is hinged to the rod end of the grasping oil cylinder. The other end of the grasping oil cylinder is rotatably arranged on the frame.

[0009] Among them, for the device for automatically changing anchor bolts, the bracket is clamped on the grasping shaft by a pipe clamp and fixed by bolts and nuts.

[0010] The beneficial effects of the present invention: 1. The capacity of the anchor bolt storage bin is large. There is no need for manual rotation of the rod storage disc to store anchor bolts, and the efficiency of storing anchor bolts is greatly improved; 2. It can be conveniently adjusted for different types of anchor bolts and different diameters; 3. The process of taking anchor bolts is efficient and flexible. At the same time, the movement path of the manipulator to grasp the anchor bolt is shortened. Compared with the prior art, the process of taking anchor bolts is simplified. Description of the Drawings

[0011] Figure 1 It is the overall schematic diagram of the embodiment of the present invention; Figure 2Schematic diagram of removing the cover plate in the embodiment of the present invention; Figure 3 Schematic diagram of the end part in the embodiment of the present invention; Figure 4 Schematic diagram of the manipulator in the embodiment of the present invention; Figure 5 Schematic diagram of the conveyor roller in the embodiment of the present invention; Figure 6 Schematic diagram of the card slot in the embodiment of the present invention; Figure 7 Schematic diagram of the locking pin in the embodiment of the present invention. Detailed implementation manners

[0012] To make the technical problems solved by the present invention, the technical solutions adopted and the achieved technical effects clearer, the technical solutions of the present invention will be further described below with reference to the accompanying drawings and through specific implementation manners. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that for the sake of description, only parts related to the present invention are shown in the drawings rather than all.

[0013] See Figure 1 - Figure 7 , this embodiment provides a device for automatically replacing anchor bolts, including a frame 1, a manipulator 2, and a conveyor roller 3. A storage bin 11 is provided on the frame 1. The storage bin 11 is symmetrically arranged left and right and is used to store anchor bolts 9. A rotating shaft 13, a transmission shaft 14, and a grasping shaft 15 are rotatably provided on the frame 1. Transmission rollers 3 are installed at both ends of the transmission shaft 14, and the transmission rollers 3 are located at the lower end position of the storage bin 11.

[0014] As Figure 5 shown, two upper and lower mounting grooves 31 are formed on the conveyor roller 3. A fixing block 32 is installed in the mounting groove 31. A groove 33 is formed on the fixing block 32. The groove 33 is adapted to the anchor bolt 9, and a magnet 34 is provided at the bottom of the groove 33. Due to the presence of the magnet 34, the anchor bolt 9 can be better adsorbed and fixed.

[0015] The fixing block 32 can be fixed in the mounting groove 31 by bolts, and fixing blocks 32 with different diameters of the groove 33 can be made. When the diameter size of the anchor bolt 9 changes, the fixing block 32 with a groove 33 diameter adapted to it can be replaced.

[0016] The manipulator 2 is installed on the grasping shaft 15. A V-shaped chute 12 is formed on the frame 1. The upper end of the chute 12 is located below the conveyor roller 3, and the lower end of the chute 12 is located in the front side position of the frame 1.

[0017] As Figure 2As shown, one end of the swing arm 52 is coaxially connected to the grasping shaft 15, and the other end is hinged to the rod end of the grasping oil cylinder 51. The other end of the grasping oil cylinder 51 is rotatably arranged on the frame 1.

[0018] As Figure 3 , 7 shown, a limiting groove 46 is also formed on the frame 1. The front end of the limiting groove 46 is communicated with the upper end part of the sliding groove 12. The limiting pin shaft 47 is inserted into the limiting groove 46. A limiting retaining disc 45 is arranged at the end of the limiting pin shaft 47. The limiting fixing seat 42 is arranged on the frame 1. One end of the telescopic rod 43 is connected to the limiting fixing seat 42, and the other end is connected to the limiting retaining disc 45. A limiting spring 44 is sleeved on the telescopic rod 43.

[0019] One set of the limiting fixing seat 42, the telescopic rod 43, the limiting spring 44, the limiting retaining disc 45, the limiting groove 46, and the limiting pin shaft 47 is arranged at each of the left and right positions of the frame 1.

[0020] An eccentric wheel 41 is arranged on the rotating shaft 13. The outer edge of the eccentric wheel 41 is in pressing fit with the limiting retaining disc 45. When the rotating shaft 13 rotates under the action of the power source, it will push the limiting retaining disc 45 to move. During the movement of the limiting retaining disc 45, the limiting pin shaft 47 can move forward to the maximum in the sliding groove 12 to block the downward sliding path of the anchor rod 9, playing a limiting role. The limiting pin shaft 47 can slide backward out of the sliding groove 12 and into the limiting groove 46, and the anchor rod 9 can slide down along the sliding groove 12 to the bottom position of the sliding groove 12 and wait to be grasped.

[0021] As Figure 4 shown, the manipulator 2 includes a bracket 20, a fixed jaw 21, a movable jaw 22, and a clamping oil cylinder 23. The fixed jaw 21 is fixed on the bracket 20. One end of the movable jaw 22 is hinged to the bracket 20. The clamping oil cylinder 23 is hinged to the bracket. The rod end of the clamping oil cylinder 23 is hinged to the movable jaw 22. The bracket 20 is clamped on the grasping shaft by a pipe clamp and fixed by bolts and nuts.

[0022] The usage method of the present invention is as follows: The anchor rods to be used are stored in the anchor rod storage bin. The power source drives the conveyor roller to rotate through the transmission shaft. When the conveyor roller passes by the anchor rod storage bin, the anchor rods automatically fall into the anchor rod card slots under the action of gravity; The conveyor roller continues to rotate. When it passes by the lower V-shaped sliding groove, the anchor rod falls out of the anchor rod card slot under the action of gravity, contacts the limiting pin shaft, and stops moving; the conveyor roller continues to rotate, and one anchor rod is taken off; The power source drives the rotating shaft and the eccentric wheel to rotate through the transmission shaft. The eccentric wheel forms a kinematic pair with the bolt limit pin shaft, causing the bolt limit pin shaft to move on the frame, simultaneously compressing the limit spring and the limit telescopic rod. When the compression amount reaches the maximum, the bolt limit pin shaft loses its restraint on the bolt, and the bolt moves along the bolt chute and stops at the lowest end of the bolt chute, waiting to be grasped by the manipulator. The piston rod of the clamping oil cylinder extends, driving the manipulator jaw to rotate, and the two jaws approach to clamp the bolt. The piston rod of the grasping oil cylinder extends to drive the oil cylinder connecting arm to move. The oil cylinder connecting arm drives the grasping shaft to rotate through the spline, driving the manipulator to rotate clockwise, and conveying the clamped bolt from the initial position a to the working position b, waiting to be docked with the bolt drill box.

[0023] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "clockwise" and "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0024] The above embodiments only illustrate the basic principles and characteristics of the present invention. The present invention is not limited by the above embodiments. Without departing from the spirit and scope of the present invention, there are various changes and modifications to the present invention, and these changes and modifications all fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A device for automatically changing anchor rods, characterized in that: The invention comprises a frame (1), a manipulator (2), and a conveying roller (3). The frame (1) is provided with a storage bin (11), which is symmetrically arranged on the left and right and is used to store anchor rods (9). The frame (1) is rotatably provided with a conveying shaft (14) and a grabbing shaft (15). Conveying rollers (3) are installed at both ends of the conveying shaft (14). The conveying rollers (3) are located at the lower end of the storage bin (11). The conveying roller (3) is provided with two upper and lower mounting grooves (31), a fixing block (32) is installed in the mounting groove (31), a groove (33) is provided on the fixing block (32), and the groove (33) is adapted to the anchor rod (9). The manipulator (2) is mounted on the grabbing shaft (15), a V-shaped chute (12) is provided on the frame (1), the upper end of the chute (12) is located below the conveying roller (3), and the lower end of the chute (12) is located at the front side of the frame (1). The transmission shaft (14) is driven to rotate by a power source.

2. The automatic anchor rod replacement device according to claim 1, characterized in that: The frame (1) is also provided with a limit groove (46), the front end of the limit groove (46) is communicated with the upper end of the slide groove (12), a limit pin shaft (47) is inserted into the limit groove (46), a limit stop plate (45) is provided at the end of the limit pin shaft (47), a limit fixing seat (42) is provided on the frame (1), one end of the telescopic rod (43) is connected to the limit fixing seat (42), and the other end is connected to the limit stop plate (45), and a limit spring (44) is sleeved on the telescopic rod (43); The frame (1) is rotatably provided with a rotating shaft (13), and an eccentric wheel (41) is provided on the rotating shaft (13). The outer edge of the eccentric wheel (41) is pressed and matched with the limit stop plate (45). When the rotating shaft (13) rotates under the action of the power source, it will push the limit stop plate (45) to move. During the movement of the limit stop plate (45), the limit pin shaft (47) can move forward to the maximum extent in the slide groove (12), blocking the path of the anchor rod (9) sliding downward, playing a limiting role. The limit pin shaft (47) can leave the slide groove (12) and slide into the limit groove (46) backward, and the anchor rod (9) can slide along the slide groove (12) to the bottom position of the slide groove (12) to wait for being grabbed; The rotating shaft (13) is driven to rotate by a power source.

3. The automatic anchor rod replacement device according to claim 1, characterized in that: A magnet (34) is arranged at the bottom of the groove (33).

4. The automatic anchor rod replacement device according to claim 1, characterized in that: The manipulator (2) comprises a bracket (20), a fixed clamping jaw (21), a movable clamping jaw (22), and a clamping cylinder (23); the fixed clamping jaw (21) is fixed on the bracket (20); one end of the movable clamping jaw (22) is hinged to the bracket (20); the clamping cylinder (23) is hinged to the bracket; the rod end of the clamping cylinder (23) is hinged to the movable clamping jaw (22); one end of the rotating arm (52) is coaxially connected to the grabbing shaft (15); the other end is hinged to the rod end of the grabbing cylinder (31); and the other end of the grabbing cylinder (31) is rotatably arranged on the frame (1).

5. The automatic anchor rod replacement device according to claim 4, characterized in that: The bracket (20) is clamped on the grabbing shaft by a pipe clamp and fixed by bolts and nuts.

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