Multi-degree-of-freedom operation table and operation trolley

Abstract

The utility model relates to the technical field of underground roadway operation equipment, in particular to a multi-degree-of-freedom operation table and an operation trolley, the multi-degree-of-freedom operation table comprises a sliding platform, a lifting mechanism, a first slewing mechanism, a second slewing mechanism and a third slewing mechanism; the lifting mechanism is arranged on the sliding platform; the first slewing mechanism is hinged between the sliding platform and the lifting mechanism, and the first slewing mechanism can drive the lifting mechanism to rotate along the horizontal plane; the second slewing mechanism is connected with the output end of the lifting mechanism, the output end of the second slewing mechanism is connected with the third slewing mechanism, and the second slewing mechanism can drive the third slewing mechanism to rotate along the horizontal plane; and the third slewing mechanism can drive the mechanical equipment to rotate along the vertical plane. Front-back sliding, up-down lifting, left-right rotation, horizontal rotation and vertical rotation of mechanical equipment are achieved, various requirements of underground roadway operation can be met, and multi-angle operation of the mechanical equipment is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to underground roadway operation equipment technical field especially, relates to a kind of multi-degree-of-freedom operation platform and operation platform car. BACKGROUND

[0002] Anchor rod drilling machine as the important component of underground roadway supporting operation, its actual working environment will face various different working conditions, various complex anchor angles, so it needs to be able to achieve various poses anchor rod drilling machine working device to meet the complex multi-angle anchor working condition in actual working condition.

[0003] With the rapid development of coal mining technology, the design and research of anchor rod drilling machine working device capable of realizing multi-angle drilling operation in large underground roadway are as follows:

[0004] One is to realize the anchor rod drilling machine working device that the drilling range of anchor rod drilling machine is no longer limited to the swing range of drilling frame, but has certain limit to the width and height of working roadway, and cannot realize top and side integrated anchor operation.

[0005] One is to realize the anchor rod drilling machine working device that front and back, up and down, left and right slip and rotate around left and right direction as axis, but cannot realize advanced support, and the structural strength of the anchor rod drilling machine working device is low.

[0006] One is to realize the electro-hydraulic gas control anchor protection platform car that multiple anchor rod drilling machines are simultaneously operated by relying on limited swing of up and down, left and right angle of anchor rod drilling machine, to realize multi-degree-of-freedom anchoring of anchor rod drilling machine, but anchor pose is limited, cannot realize advanced support, and cannot realize top and side integrated anchor operation.

[0007] Therefore, it is necessary to provide a new multi-degree-of-freedom operation platform and operation platform car to solve the above technical problems. UTILITY MODEL CONTENT

[0008] The main purpose of the utility model is to provide a kind of multi-degree-of-freedom operation platform and operation platform car, to solve the problem that the freedom degree of existing operation equipment is low, and the adaptation range is small.

[0009] To achieve the above objectives, the present invention proposes a multi-degree-of-freedom operating platform, comprising a sliding platform, a lifting mechanism, a first rotary mechanism, a second rotary mechanism, and a third rotary mechanism; the connecting end of the lifting mechanism is hinged to the sliding platform; the first rotary mechanism is hinged between the sliding platform and the lifting mechanism, and the first rotary mechanism can drive the lifting mechanism to swing along a horizontal plane; the second rotary mechanism is connected to the output end of the lifting mechanism, and the output end of the second rotary mechanism is connected to the third rotary mechanism, and the second rotary mechanism can drive the third rotary mechanism to rotate along a horizontal plane; the output shaft of the third rotary mechanism is used to connect to mechanical equipment, and the third rotary mechanism can drive the mechanical equipment to rotate along a vertical plane.

[0010] Optionally, the lifting mechanism includes a lifting hinge seat and a lifting drive arm. The lifting hinge seat is hinged to the sliding platform via a first hinge shaft, the axis of which is arranged along a vertical plane. The connecting end of the lifting drive arm is hinged to the lifting hinge seat via a second hinge shaft, the axis of which is arranged along a horizontal plane. The second rotation mechanism is located at the output end of the lifting drive arm.

[0011] The first rotary mechanism includes a rotary hinge seat and a first rotary drive member. The rotary hinge seat is hinged to the sliding platform via a third hinge shaft, and the axis of the first hinge shaft is arranged along a vertical plane. The connecting end of the first rotary drive member is hinged to the rotary hinge seat via a fourth hinge shaft, and the axis of the second hinge shaft is arranged along a horizontal plane. The output end of the first rotary drive member is hinged to the lifting drive arm.

[0012] Optionally, the lifting mechanism further includes two ear plates spaced apart on the lifting drive arm, and the ear plates are arranged along the length direction of the lifting drive arm; the first slewing mechanism further includes an adapter seat, the adapter seat is hinged between the two ear plates, and the end of the first slewing drive member away from the sliding platform is hinged to the adapter seat.

[0013] Optionally, the second slewing mechanism includes a base, a second slewing drive member, and a transition plate, wherein the base is hinged to the lifting drive arm; the second slewing drive member is disposed on the base, and the transition plate is connected to the output shaft of the second slewing drive member; the third slewing mechanism is disposed on the transition plate.

[0014] Optionally, the multi-degree-of-freedom operating platform further includes a pedal, which is disposed on the base and is used for the operator to stand on.

[0015] Optionally, the multi-degree-of-freedom operating platform further includes a leveling mechanism hinged between the base and the lifting drive arm.

[0016] Optionally, the lifting drive arm includes a telescopic drive member and a lifting drive member, wherein the telescopic drive member is hinged between the lifting hinge seat and the second slewing mechanism; and the lifting drive member is hinged between the lifting hinge seat and the telescopic drive member.

[0017] Optionally, the sliding platform includes a primary sliding assembly and a secondary sliding assembly. The primary sliding assembly is mounted on the frame, and the secondary sliding assembly is slidably mounted on the primary sliding assembly. The primary sliding assembly can drive the secondary sliding assembly to slide along a first direction. The lifting mechanism and the first slewing mechanism are hinged to the secondary sliding assembly, and the secondary sliding assembly can drive the lifting mechanism and the first slewing mechanism to slide along the first direction.

[0018] Optionally, the number of the secondary sliding components is two or more, and each of the secondary sliding components is stacked in the vertical direction, and the lower secondary sliding component can drive the upper secondary sliding component to slide in the first direction.

[0019] In addition, this utility model also provides a work trolley, which includes a frame, a multi-degree-of-freedom operating platform as described above, and mechanical equipment. The multi-degree-of-freedom operating platform is mounted on the frame, and the mechanical equipment is mounted on the third rotary mechanism of the multi-degree-of-freedom operating platform.

[0020] In this utility model, the sliding platform, lifting mechanism and first slewing mechanism work together to realize the forward and backward sliding, up and down lifting and left and right rotation of the mechanical equipment on the multi-degree-of-freedom operating platform. The second slewing mechanism and third slewing mechanism work together to realize the horizontal and vertical rotation of the mechanical equipment. This can adapt to the various needs of underground tunnel operations, realize multi-angle operation of the mechanical equipment, effectively improve the degree of freedom and expand the scope of application. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of the multi-degree-of-freedom operating table in an embodiment of this utility model;

[0023] Figure 2 This is a structural schematic diagram of the multi-degree-of-freedom operating platform from another perspective in an embodiment of this utility model;

[0024] Figure 3 This is a partial enlarged view of the multi-degree-of-freedom operating stage in an embodiment of this utility model.

[0025] Explanation of icon numbers:

[0026] 1. Sliding platform; 1.1 Primary sliding assembly; 1.2 Secondary sliding assembly; 2. Lifting mechanism; 2.1 Lifting articulation seat; 2.2 Telescopic drive component; 2.3 Lifting drive component; 2.4 Ear plate; 3. First slewing mechanism; 3.1 Slewing articulation seat; 3.2 First slewing drive component; 3.3 Adapter seat; 4. Second slewing mechanism; 4.1 Base; 4.2 Second slewing drive component; 4.3 Transition plate; 5. Third slewing mechanism; 6. Mechanical equipment; 7. Leveling mechanism; 8. Pedal.

[0027] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0028] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered by the claims.

[0029] This utility model proposes a multi-degree-of-freedom operating platform and work trolley, aiming to solve the problems of low degree of freedom and limited adaptability of existing work equipment.

[0030] Example 1

[0031] like Figure 1 and Figure 3 As shown, the multi-degree-of-freedom operating platform includes a sliding platform 1, a lifting mechanism 2, a first rotary mechanism 3, a second rotary mechanism 4, and a third rotary mechanism 5. The connecting end of the lifting mechanism 2 is hinged to the sliding platform 1. The first rotary mechanism 3 is hinged between the sliding platform 1 and the lifting mechanism 2, and the first rotary mechanism 3 can drive the lifting mechanism 2 to swing in the horizontal plane. The second rotary mechanism 4 is connected to the output end of the lifting mechanism 2, and the output end of the second rotary mechanism 4 is connected to the third rotary mechanism 5, and the second rotary mechanism 4 can drive the third rotary mechanism 5 to rotate in the horizontal plane. The output shaft of the third rotary mechanism 5 is used to connect to the mechanical equipment 6, and the third rotary mechanism 5 can drive the mechanical equipment 6 to rotate in the vertical plane. In actual operation, the sliding platform 1, lifting mechanism 2 and first slewing mechanism 3 work together to realize the forward and backward sliding, up and down lifting and left and right rotation of mechanical equipment 6 on the multi-degree-of-freedom operating platform. Furthermore, the cooperation of second slewing mechanism 4 and third slewing mechanism 5 realizes the horizontal and vertical rotation of mechanical equipment 6. It can adapt to the various needs of underground tunnel operation, realize multi-angle operation of mechanical equipment 6, effectively improve the degree of freedom and expand the scope of application.

[0032] The multi-degree-of-freedom operating platform in this embodiment is suitable for large underground working roadways. The mechanical equipment 6 is a rock bolt drilling rig. Through the cooperation of the sliding platform 1, the lifting mechanism 2 and the first rotation mechanism 3, the mechanical equipment 6 on the multi-degree-of-freedom operating platform can slide forward and backward, lift up and down, and rotate left and right. Furthermore, through the cooperation of the second rotation mechanism 4 and the third rotation mechanism 5, the mechanical equipment 6 can rotate horizontally and vertically. It can realize the movement of the rock bolt drilling rig in six directions (up, down, left, right, forward and backward) and double-stage 360° rotation, realize the rock bolt drilling rig to perform multi-angle anchoring operations, achieve top and side wall integrated anchoring operations, realize the diverse anchoring operation posture of the rock bolt drilling rig, integrated top and side wall support and large support range, and adapt to multi-angle anchoring operations.

[0033] The lifting mechanism 2 includes a lifting hinge seat 2.1 and a lifting drive arm. The lifting hinge seat 2.1 is hinged to the sliding platform 1 via a first hinge shaft, the axis of which is arranged along a vertical plane. The connecting end of the lifting drive arm is hinged to the lifting hinge seat 2.1 via a second hinge shaft, the axis of which is arranged along a horizontal plane. The second rotation mechanism 4 is located at the output end of the lifting drive arm.

[0034] The first rotary mechanism 3 includes a rotary hinge seat 3.1 and a first rotary drive member 3.2. The rotary hinge seat 3.1 is hinged to the sliding platform 1 via a third hinge shaft, the axis of which is arranged along a vertical plane. The connecting end of the first rotary drive member 3.2 is hinged to the rotary hinge seat 3.1 via a fourth hinge shaft, the axis of which is arranged along a horizontal plane. The output end of the first rotary drive member 3.2 is hinged to the lifting drive arm. The lifting drive arm can drive the second rotary mechanism 4 and the third rotary mechanism 5 to rotate along the vertical plane around the first hinge shaft, and the lifting drive arm can also rotate horizontally around the second hinge shaft via the lifting hinge seat 2.1 to adapt to the movement of the first rotary drive member 3.2, thereby adjusting the position of the mechanical equipment 6 relative to the sliding platform 1, providing high flexibility.

[0035] Furthermore, the lifting mechanism 2 also includes two ear plates 2.4 spaced apart on the lifting drive arm, with the ear plates 2.4 arranged along the length of the lifting drive arm; the first slewing mechanism 3 also includes a transition seat 3.3, which is hinged between the two ear plates 2.4, and the end of the first slewing drive member 3.2 away from the sliding platform is hinged to the transition seat 3.3. The first slewing drive member 3.2 drives the lifting drive arm to rotate around the lifting hinge seat 2.1 through the ear plates 2.4, so as to realize the left and right rotation of the mechanical equipment 6 on the multi-degree-of-freedom operating platform along the horizontal plane, and the first slewing drive member 3.2 realizes the lifting action of the lifting drive arm through the transition seat 3.3, so as to ensure the stability of the overall structure.

[0036] Furthermore, the second rotary mechanism 4 includes a base 4.1, a second rotary drive 4.2, and a transition plate 4.3. The base 4.1 is hinged to the lifting drive arm; the second rotary drive 4.2 is mounted on the base 4.1, and the transition plate 4.3 is connected to the output shaft of the second rotary drive 4.2; the third rotary mechanism 5 is mounted on the transition plate 4.3. The second rotary drive 4.2 can drive the third rotary mechanism 5 to rotate horizontally via the transition plate 4.3 to achieve left and right rotation of the mechanical equipment 6 relative to the second rotary mechanism 4, while the third rotary mechanism 5 can drive the mechanical equipment 6 to rotate vertically to achieve vertical rotation of the mechanical equipment 6, thus adapting to various operational needs. In this embodiment, both the second rotary drive 4.2 and the third rotary mechanism 5 employ a motor + reducer drive structure.

[0037] In this embodiment, mechanical equipment 6 is an anchor drilling machine. The anchor drilling machine can perform anchoring in various positions through the multi-degree-of-freedom operating table of this embodiment, and can also perform advanced support, so as to realize the drilling and anchoring needs of the anchor drilling machine in different positions and postures in actual coal roadways or rock roadways, and realize the integrated anchoring operation of roof and sidewall.

[0038] In addition, the multi-degree-of-freedom control panel also includes a foot pedal 8, which is mounted on the base 4.1 and is used for the operator to stand on. The multi-degree-of-freedom control panel also includes a leveling mechanism 7, which is hinged between the base 4.1 and the lifting drive arm. The leveling mechanism 7 can adjust the setting angle of the base 4.1 in real time during operation to ensure that the foot pedal 8 on the base 4.1 is always in a horizontal state, so that the operator can stand comfortably.

[0039] In this embodiment, the lifting drive arm includes a telescopic drive component 2.2 and a lifting drive component 2.3. The telescopic drive component 2.2 is hinged between the lifting hinge seat 2.1 and the second slewing mechanism 4; the lifting drive component 2.3 is hinged between the lifting hinge seat 2.1 and the telescopic drive component 2.2. The sliding platform 1 includes a primary sliding assembly 1.1 and a secondary sliding assembly 1.2. The primary sliding assembly 1.1 is mounted on the frame, and the secondary sliding assembly 1.2 is slidably mounted on the primary sliding assembly 1.1. The primary sliding assembly 1.1 can drive the secondary sliding assembly 1.2 to slide along a first direction. The lifting mechanism 2 and the first slewing mechanism 3 are hinged to the secondary sliding assembly 1.2, and the secondary sliding assembly 1.2 can drive the lifting mechanism 2 and the first slewing mechanism 3 to slide along the first direction. The telescopic drive component 2.2 and the sliding platform 1 cooperate to realize the three-stage sliding of the multi-degree-of-freedom operating platform, thereby enabling advanced support in support operations. In this embodiment, both the telescopic drive component 2.2 and the first rotary drive component 3.2 are driven by telescopic hydraulic cylinders.

[0040] In this embodiment, there are two or more secondary sliding components 1.2, which are stacked along a vertical plane, and the lower secondary sliding component 1.2 can drive the upper secondary sliding component 1.2 to slide along a first direction. By adding secondary sliding components 1.2, ultra-long-distance advance support can be achieved, and zero ceiling distance can be achieved for poor working conditions. In this embodiment, the advance sliding distance can be up to 6 meters, truly achieving advance support. Multiple rows of anchor bolts can be installed in a single shutdown, and the position and distance of adjacent anchor bolts can be adjusted.

[0041] In this embodiment, each mechanism is equipped with hardware such as stroke sensors and angle sensors, and is equipped with an electro-hydraulic controlled intelligent automatic drilling anchor bolt drilling machine. By matching the data collected by the system with the roadway parameters, the unmanned and intelligent drilling needs in the mine can be met.

[0042] Example 2

[0043] This embodiment provides a work trolley, which includes a frame, a multi-degree-of-freedom operating platform as described above, and mechanical equipment 6. The multi-degree-of-freedom operating platform is mounted on the frame, and the mechanical equipment 6 is mounted on the third rotary mechanism 5 of the multi-degree-of-freedom operating platform.

[0044] Since the work trolley includes the multi-degree-of-freedom operating platform as described above, it possesses all the beneficial effects of the aforementioned multi-degree-of-freedom operating platform, which will not be elaborated upon here.

[0045] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A multi-degree-of-freedom operating stage, characterized in that, The multi-degree-of-freedom operating platform includes a sliding platform (1), a lifting mechanism (2), a first rotary mechanism (3), a second rotary mechanism (4), and a third rotary mechanism (5); the connecting end of the lifting mechanism (2) is hinged to the sliding platform (1); the first rotary mechanism (3) is hinged between the sliding platform (1) and the lifting mechanism (2), and the first rotary mechanism (3) can drive the lifting mechanism (2) to swing in the horizontal plane; the second rotary mechanism (4) is connected to the output end of the lifting mechanism (2), and the output end of the second rotary mechanism (4) is connected to the third rotary mechanism (5), and the second rotary mechanism (4) can drive the third rotary mechanism (5) to rotate in the horizontal plane; the output shaft of the third rotary mechanism (5) is used to connect to the mechanical equipment (6), and the third rotary mechanism (5) can drive the mechanical equipment (6) to rotate in the vertical plane.

2. The multi-degree-of-freedom operating stage as described in claim 1, characterized in that, The lifting mechanism (2) includes a lifting hinge seat (2.1) and a lifting drive arm. The lifting hinge seat (2.1) is hinged to the sliding platform (1) via a first hinge shaft, the axis of which is arranged along a vertical plane. The connecting end of the lifting drive arm is hinged to the lifting hinge seat (2.1) via a second connecting shaft, the axis of which is arranged along a horizontal plane. The second rotation mechanism (4) is located at the output end of the lifting drive arm. The first rotary mechanism (3) includes a rotary hinge seat (3.1) and a first rotary drive member (3.2). The rotary hinge seat (3.1) is hinged to the sliding platform (1) via a third hinge shaft, and the axis of the first hinge shaft is arranged along a vertical plane. The connecting end of the first rotary drive member (3.2) is hinged to the rotary hinge seat (3.1) via a fourth hinge shaft, and the axis of the second hinge shaft is arranged along a horizontal plane. The output end of the first rotary drive member (3.2) is hinged to the lifting drive arm.

3. The multi-degree-of-freedom operating stage as described in claim 2, characterized in that, The lifting mechanism (2) further includes two ear plates (2.4) spaced apart on the lifting drive arm, and the ear plates (2.4) are arranged along the length direction of the lifting drive arm; the first slewing mechanism (3) further includes a transition seat (3.3), the transition seat (3.3) is hinged between the two ear plates (2.4), and the end of the first slewing drive member (3.2) away from the sliding platform (1) is hinged to the transition seat (3.3).

4. The multi-degree-of-freedom operating stage as described in claim 3, characterized in that, The second slewing mechanism (4) includes a base (4.1), a second slewing drive (4.2), and a transition plate (4.3). The base (4.1) is hinged to the lifting drive arm. The second slewing drive (4.2) is disposed on the base (4.1), and the transition plate (4.3) is connected to the output shaft of the second slewing drive (4.2). The third slewing mechanism (5) is disposed on the transition plate (4.3).

5. The multi-degree-of-freedom operating stage as described in claim 4, characterized in that, The multi-degree-of-freedom operating platform also includes a pedal (8), which is mounted on the base (4.1) and is used for the operator to stand on.

6. The multi-degree-of-freedom operating stage as described in claim 5, characterized in that, The multi-degree-of-freedom operating platform also includes a leveling mechanism (7), which is hinged between the base (4.1) and the lifting drive arm.

7. The multi-degree-of-freedom operating stage as described in any one of claims 2 to 6, characterized in that, The lifting drive arm includes a telescopic drive (2.2) and a lifting drive (2.3). The telescopic drive (2.2) is hinged between the lifting hinge seat (2.1) and the second slewing mechanism (4). The lifting drive (2.3) is hinged between the lifting hinge seat (2.1) and the telescopic drive (2.2).

8. The multi-degree-of-freedom operating stage as described in claim 7, characterized in that, The sliding platform (1) includes a primary sliding assembly (1.1) and a secondary sliding assembly (1.2). The primary sliding assembly (1.1) is mounted on the frame, and the secondary sliding assembly (1.2) is slidably mounted on the primary sliding assembly (1.1). The primary sliding assembly (1.1) can drive the secondary sliding assembly (1.2) to slide along a first direction. The lifting mechanism (2) and the first slewing mechanism (3) are hinged on the secondary sliding assembly (1.2), and the secondary sliding assembly (1.2) can drive the lifting mechanism (2) and the first slewing mechanism (3) to slide along a first direction.

9. The multi-degree-of-freedom operating stage as described in claim 8, characterized in that, The number of the secondary sliding components (1.2) is two or more, and each of the secondary sliding components (1.2) is stacked in the vertical direction, and the lower secondary sliding component (1.2) can drive the upper secondary sliding component (1.2) to slide in the first direction.

10. A work trolley, characterized in that, The work trolley includes a frame, a multi-degree-of-freedom operating platform as described in any one of claims 1 to 9, and mechanical equipment (6). The multi-degree-of-freedom operating platform is mounted on the frame, and the mechanical equipment (6) is mounted on the third rotary mechanism (5) of the multi-degree-of-freedom operating platform.

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