Posture monitoring system for propelling beam of drill jumbo
By installing rock drill and propulsion beam rope sensors and encoders on the rock drilling rig, the attitude of the propulsion beam can be monitored in real time, solving the problem of blind spots in propulsion beam attitude monitoring, realizing digital visualization operation, and improving safety and accuracy.
Patent Information
- Application Number
- CN202423259795.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-30
- Publication Date
- 2025-12-02
- Estimated Expiration
- 2034-12-30
Smart Images
Figure CN223623625U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of rock drilling rig technology, and in particular to a rock drilling rig propulsion beam attitude monitoring system. Background Technology
[0002] A rock drilling rig, also known as a drilling rig, is a type of rock drilling equipment used in tunnel and underground engineering projects employing the drill-and-blast method. A rock drilling rig can move and support multiple rock drills simultaneously performing drilling operations.
[0003] During the operation of the rock drilling rig, the boom posture is relatively complex, requiring the operator to observe it in real time. Due to the harsh on-site environment and the presence of many blind spots in the propulsion beam, the operation is highly risky. Utility Model Content
[0004] One objective of this application is to provide a rock drilling rig propulsion beam attitude monitoring system that can monitor the extension and retraction distance of the propulsion beam.
[0005] The technical solution adopted in this application is: a rock drilling rig propulsion beam attitude monitoring system, including a rock drill, a propulsion beam, a slide seat, an attitude acquisition device, and a detection operation device. The attitude acquisition device includes a rock drill telescopic rope sensor and a propulsion beam telescopic rope sensor. The rope end of the rock drill telescopic rope sensor is connected to the rock drill, the body end of the rock drill telescopic rope sensor is connected to the propulsion beam, the rope end of the propulsion beam telescopic rope sensor is connected to the propulsion beam, and the body end of the propulsion beam telescopic rope sensor is connected to the slide seat. Both the rock drill telescopic rope sensor and the propulsion beam telescopic rope sensor are connected to the detection operation device for data transmission.
[0006] Compared with the prior art, the advantages of this application are that the rock drill telescopic rope sensor is used to detect the telescopic distance of the rock drill, and the propulsion beam telescopic rope sensor is used to detect the telescopic distance of the propulsion beam. This can effectively determine the overall telescopic distance of the propulsion beam, prevent the propulsion beam from colliding in the telescopic direction, realize digital visualization operation, and improve operational safety.
[0007] In some embodiments of this application, a forearm is also included, which is rotatably connected to the carriage seat via a first rotating shaft. A first pitch cylinder is provided between the forearm and the carriage seat, with both ends of the first pitch cylinder hinged to the forearm and the carriage seat, respectively. The attitude acquisition device includes a propulsion beam pitch encoder, which is connected to the first rotating shaft.
[0008] Furthermore, it also includes a large arm, one end of which is rotatably connected to the forearm via a second rotating shaft. A second pitch cylinder is provided between the large arm and the forearm, with both ends of the second pitch cylinder hinged to the large arm and the forearm respectively. The second pitch cylinder is used to drive the forearm to pitch up and down. The attitude acquisition device includes a single-action pitch encoder for the propulsion beam, which is connected to the second rotating shaft.
[0009] Furthermore, the forearm is provided with a first yaw seat, one end of the second pitch cylinder is hinged to the first yaw seat, the first yaw seat and the forearm are rotatably connected through a third rotating shaft, a first swing cylinder is provided between the upper arm and the forearm, the two ends of the first swing cylinder are respectively hinged to the upper arm and the forearm, the first swing cylinder is used to drive the forearm to swing left and right; the plane of the first swing cylinder and the plane of the forearm and the plane of the second pitch cylinder are perpendicular to each other; the attitude acquisition device includes a single-action yaw encoder for the propulsion beam, the single-action yaw encoder for the propulsion beam is connected to the third rotating shaft.
[0010] Furthermore, a rotary motor is provided between the upper arm and the lower arm, with both ends of the rotary motor connected to the upper arm and the lower arm respectively; the attitude acquisition device includes a rotary encoder, which is connected to the lower arm.
[0011] Furthermore, it also includes a frame, with the other end of the boom rotatably connected to the frame via a fourth rotating shaft. A third pitch cylinder is provided between the boom and the frame, with both ends of the third pitch cylinder hinged to the boom and the frame respectively. The third pitch cylinder is used to drive the boom to pitch up and down. The attitude acquisition device includes a boom pitch encoder, which is connected to the fourth rotating shaft.
[0012] Furthermore, the frame is provided with a second yaw seat, one end of the third pitch cylinder is hinged to the second yaw seat, the second yaw seat is rotatably connected to the boom via a fifth rotating shaft, a second swing cylinder is provided between the boom and the frame, the two ends of the second swing cylinder are respectively hinged to the boom and the frame, the second swing cylinder is used to drive the boom to swing left and right; the attitude acquisition device includes a boom yaw encoder, the boom yaw encoder is connected to the fifth rotating shaft.
[0013] Furthermore, the boom is telescopic, and the posture acquisition device includes a boom telescopic tension sensor. The pull rope end of the boom telescopic tension sensor is connected to the outermost section of the boom, and the body end of the boom telescopic tension sensor is connected to the innermost section of the boom.
[0014] In some embodiments of this application, a vehicle frame is also included, and the attitude acquisition device includes a dual-axis tilt sensor connected to the vehicle frame.
[0015] In some embodiments of this application, the detection operation device includes a display, a controller, and an operation key group. The controller is electrically connected to the display and the operation key group respectively. The display is used to display the attitude data of the propulsion beam. The operation key group includes a propulsion beam single-action yaw calibration key, a propulsion beam rotation calibration key, a propulsion beam lifting calibration key, and a propulsion beam telescopic calibration key. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of this utility model;
[0017] Figure 2 This is a schematic diagram of the display of the display according to Embodiment 1 of this utility model.
[0018] In the diagram: 1. Rock drill; 2. Propeller beam; 3. Slide seat; 4. Rock drill telescopic rope sensor; 5. Propeller beam telescopic rope sensor; 6. Boom; 7. First shaft; 8. First pitch cylinder; 9. Propeller beam pitch encoder; 10. Boom; 11. Second shaft; 12. Second pitch cylinder; 13. Propeller beam single-action pitch encoder; 14. First yaw seat; 15. Third shaft; 16. Propeller beam single-action yaw encoder; 17. Rotary motor 18. Rotary encoder; 19. Frame; 20. Fourth pivot; 21. Third pitch cylinder; 22. Boom pitch encoder; 23. Second yaw mount; 24. Fifth pivot; 26. Boom yaw encoder; 27. Boom telescopic tension sensor; 28. Dual-axis tilt sensor; 29. Display; 30. Push beam single-action yaw calibration key; 31. Push beam rotation calibration key; 32. Push beam lifting calibration key; 33. Push beam telescopic calibration key. Detailed Implementation
[0019] To further illustrate the technical means and effects adopted by this utility model in order to achieve the intended utility model purpose, the following detailed description of the specific implementation methods, structure, features and effects of this utility model is provided in conjunction with the accompanying drawings and preferred embodiments.
[0020] Example 1:
[0021] This embodiment provides a rock drilling rig propulsion beam attitude monitoring system, such as... Figure 1As shown, the system includes a rock drill 1, a propulsion beam 2, a carriage base 3, an attitude acquisition device, and a detection and operation device. The attitude acquisition device includes a rock drill telescopic rope sensor 4 and a propulsion beam telescopic rope sensor 5. The rope end of the rock drill telescopic rope sensor 4 is connected to the rock drill 1, and the body end of the rock drill telescopic rope sensor 4 is connected to the propulsion beam 2. The rope end of the propulsion beam telescopic rope sensor 5 is connected to the propulsion beam 2, and the body end of the propulsion beam telescopic rope sensor 5 is connected to the carriage base 3. Both the rock drill telescopic rope sensor 4 and the propulsion beam telescopic rope sensor 5 are connected to the detection and operation device for data transmission. The rock drill 1 is slidably connected to the propulsion beam 2, and the propulsion beam 2 is slidably connected to the carriage base 3.
[0022] The rock drill telescopic rope sensor 4 is used to detect the telescopic distance of the rock drill 1, and the propulsion beam telescopic rope sensor 5 is used to detect the telescopic distance of the propulsion beam. It can effectively determine the overall telescopic distance of the propulsion beam 2, prevent the propulsion beam 2 from colliding in the telescopic direction, realize digital visualization operation, and improve operational safety.
[0023] To adjust the pitch angle of the propulsion beam 2, a forearm 6 is also included. The forearm 6 is rotatably connected to the carriage seat 3 via a first rotating shaft 7. A first pitch cylinder 8 is provided between the forearm 6 and the carriage seat 3. The two ends of the first pitch cylinder 8 are hinged to the forearm 6 and the carriage seat 3 respectively. The first pitch cylinder 8 is used to drive the carriage seat 3 to swing up and down, thereby adjusting the pitch angle of the propulsion beam 2. The attitude acquisition device includes a propulsion beam pitch encoder 9, which is connected to the axis of the first rotating shaft 7. The propulsion beam pitch encoder 9 is used to detect the pitch angle of the carriage seat 3, thereby measuring the pitch angle of the propulsion beam 2. The propulsion beam pitch encoder 9 is electrically connected to the controller.
[0024] To adjust the pitch angle of the forearm 6, a main arm 10 is also included. One end of the main arm 10 is rotatably connected to the forearm 6 via a second rotating shaft 11. A second pitch cylinder 12 is provided between the main arm 10 and the forearm 6. The two ends of the second pitch cylinder 12 are hinged to the main arm 10 and the forearm 6 respectively. The second pitch cylinder 12 is used to drive the forearm 6 to pitch up and down. The forearm 6 will simultaneously drive the propulsion beam 2 to pitch up and down. When used in conjunction with the first pitch cylinder 8, it can make the pitch angle adjustment more flexible and the pitch range larger, and at the same time, it can fine-tune the height of the propulsion beam 2. The attitude acquisition device includes a propulsion beam single-action pitch encoder 13. The propulsion beam single-action pitch encoder 13 is connected to the axis of the second rotating shaft 11. The propulsion beam single-action pitch encoder 13 is used to detect the pitch angle of the forearm 6, and then measure the pitch angle of the propulsion beam 2. The propulsion beam single-action pitch encoder 13 is electrically connected to the controller.
[0025] To adjust the swing angle of the forearm 6, a first sway seat 14 is provided on the forearm 6. One end of the second pitch cylinder 12 is hinged to the first sway seat 14. The first sway seat 14 and the forearm 6 are rotatably connected via a third rotating shaft 15. A first swing cylinder is provided between the upper arm 10 and the forearm 6. The two ends of the first swing cylinder are hinged to the upper arm 10 and the forearm 6 respectively. The first swing cylinder is used to drive the forearm 6 to swing left and right, thereby adjusting the swing angle of the push beam 2. The plane containing the first swing cylinder and the forearm 6, and the plane containing the second pitch cylinder 12 and the forearm 6 are perpendicular to each other. The first swing cylinder is blocked by the upper arm 10. Figure 1 The attitude acquisition device includes a single-action yaw encoder 16 for the propulsion beam. The single-action yaw encoder 16 for the propulsion beam is connected to the shaft of the third rotating shaft 15. The single-action yaw encoder 16 for the propulsion beam is used to detect the yaw angle of the forearm 6, and then to measure the yaw angle of the propulsion beam 2. The single-action yaw encoder 16 for the propulsion beam is electrically connected to the controller.
[0026] To enable the propulsion beam 2 to rotate, a rotary motor 17 is provided between the upper arm 10 and the lower arm 6. The two ends of the rotary motor 17 are connected to the upper arm 10 and the lower arm 6 respectively. The rotary motor 17 is used to drive the lower arm 6 to rotate, thereby driving the propulsion beam 2 to rotate. The attitude acquisition device includes a rotary encoder 18, which is connected to the shaft of the lower arm 6. The rotary encoder 18 is used to detect the rotation angle of the lower arm 6, thereby measuring the rotation angle of the propulsion beam 2. The rotary encoder 18 is electrically connected to the controller.
[0027] To adjust the pitch angle of the boom 10, a frame 19 is also included. The other end of the boom 10 is rotatably connected to the frame 19 via a fourth rotating shaft 20. A third pitch cylinder 21 is provided between the boom 10 and the frame 19. The two ends of the third pitch cylinder 21 are hinged to the boom 10 and the frame 19 respectively. The third pitch cylinder 21 is used to drive the boom 10 to pitch up and down, thereby adjusting the pitch angle and height of the push beam 2, enabling rapid adjustment of the height of the push beam 2. The attitude acquisition device includes a boom pitch encoder 22, which is connected to the axis of the fourth rotating shaft 20. The boom pitch encoder 22 is used to detect the pitch angle of the boom 10, thereby measuring the height of the push beam 2. The boom pitch encoder 22 is electrically connected to the controller.
[0028] To adjust the sway angle of the boom 10, a second sway seat 23 is provided on the frame 19. One end of the third pitch cylinder 21 is hinged to the second sway seat 23. The second sway seat 23 and the boom 10 are rotatably connected via a fifth rotating shaft 24. A second swing cylinder is provided between the boom 10 and the frame 19. The two ends of the second swing cylinder are hinged to the boom 10 and the frame 19, respectively. The second swing cylinder is used to drive the boom 10 to sway left and right, thereby driving the push beam 2 to sway left and right. In conjunction with the first swing cylinder, the second swing cylinder can swing rapidly while the first swing cylinder makes fine adjustments, ensuring both adjustment speed and accuracy. The plane containing the second swing cylinder and the boom 10, and the plane containing the third pitch cylinder and the boom 10, are perpendicular to each other. The second swing cylinder is blocked by the boom 10. Figure 1 The attitude acquisition device includes a boom sway encoder 26, which is connected to the axis of the fifth rotating shaft 24. The boom sway encoder 26 is used to detect the sway angle of the boom 10, and then measure the sway angle of the push beam 2. The boom sway encoder 26 is electrically connected to the controller.
[0029] In order to adjust the working range of the propulsion beam 2, the boom 10 is telescopic. The attitude acquisition device includes a boom telescopic tension sensor 27. The pull rope end of the boom telescopic tension sensor 27 is connected to the outermost part of the boom 10, and the body end of the boom telescopic tension sensor 27 is connected to the innermost part of the boom 10. The boom telescopic tension sensor 27 is used to detect the telescopic distance of the boom 10, and then measure the telescopic distance of the propulsion beam 2. The boom telescopic tension sensor 27 is electrically connected to the controller.
[0030] To reduce the impact of vehicle body tilt on the detection data, a frame 19 is also included. The attitude acquisition device includes a dual-axis tilt sensor 28, which is connected to the frame 19. The dual-axis tilt sensor 28 is used to detect the tilt angle of the frame 19. The detection data of the dual-axis tilt sensor 28 can be used for noise reduction processing of other detection data to reduce the impact of the rock drilling rig's vehicle body tilt. The dual-axis tilt sensor 28 is electrically connected to the controller.
[0031] For ease of operation, such as Figure 2As shown, the detection operation device includes a display 29, a controller, and an operation key group. The controller is electrically connected to the display 29 and the operation key group respectively. The display 29 is used to display the attitude data of the propulsion beam, including the actual and calibrated values of the propulsion beam's single-action yaw, rotation, lifting, and extension. The operation key group includes a single-action yaw calibration key 30, a rotation calibration key 31, a lifting calibration key 32, and an extension calibration key 33. Separate calibration keys are provided for the single-action yaw, rotation, lifting, and extension of the propulsion beam to facilitate the calibration of individual data. In this embodiment, the display 29 is an industrial tablet PC, which is installed in the cab, and the controller is located inside the industrial tablet PC. The display 29 is a touch screen. The single-action yaw calibration key 30, the propulsion beam rotation calibration key 31, the propulsion beam lifting calibration key 32, and the propulsion beam telescopic calibration key 33 are each provided with a touch area on the display 29. Of course, the single-action yaw calibration key 30, the propulsion beam rotation calibration key 31, the propulsion beam lifting calibration key 32, and the propulsion beam telescopic calibration key 33 can also adopt the structure of physical buttons.
[0032] During operation, the encoder and sensor transmit data to the controller. After processing, the controller outputs the data to the display 29. One column shows the actual value, which represents the actual value measured after the sensor or encoder is installed. The other column shows the calibration value. The current state of the propulsion beam 2 can be set to zero using the calibration key, which facilitates subsequent measurement of the attitude change of the propulsion beam 2 based on the current position.
[0033] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.
Claims
1. A rock drilling rig propulsion beam attitude monitoring system, characterized in that, The device includes a rock drill (1), a propulsion beam (2), a slide seat (3), an attitude acquisition device, and a detection and operation device. The attitude acquisition device includes a rock drill telescopic rope sensor (4) and a propulsion beam telescopic rope sensor (5). The rope end of the rock drill telescopic rope sensor (4) is connected to the rock drill (1), and the body end of the rock drill telescopic rope sensor (4) is connected to the propulsion beam (2). The rope end of the propulsion beam telescopic rope sensor (5) is connected to the propulsion beam (2), and the body end of the propulsion beam telescopic rope sensor (5) is connected to the slide seat (3). Both the rock drill telescopic rope sensor (4) and the propulsion beam telescopic rope sensor (5) are connected to the detection and operation device for data transmission.
2. The rock drilling rig propulsion beam attitude monitoring system according to claim 1, characterized in that: It also includes a forearm (6), which is rotatably connected to the carriage seat (3) via a first rotating shaft (7). A first pitch cylinder (8) is provided between the forearm (6) and the carriage seat (3), and the two ends of the first pitch cylinder (8) are respectively hinged to the forearm (6) and the carriage seat (3). The attitude acquisition device includes a propulsion beam pitch encoder (9), which is connected to the first rotating shaft (7).
3. The rock drilling rig propulsion beam attitude monitoring system according to claim 2, characterized in that: It also includes a large arm (10), one end of which is rotatably connected to the forearm (6) via a second rotating shaft (11). A second pitch cylinder (12) is provided between the large arm (10) and the forearm (6). The two ends of the second pitch cylinder (12) are respectively hinged to the large arm (10) and the forearm (6). The second pitch cylinder (12) is used to drive the forearm (6) to pitch up and down. The attitude acquisition device includes a single-action pitch encoder (13) for the propulsion beam, which is connected to the second rotating shaft (11).
4. The rock drilling rig propulsion beam attitude monitoring system according to claim 3, characterized in that: The forearm (6) is provided with a first sway seat (14), one end of the second pitch cylinder (12) is hinged to the first sway seat (14), the first sway seat (14) and the forearm (6) are rotatably connected by a third rotating shaft (15), the upper arm (10) and the forearm (6) are provided with a first swing cylinder, the two ends of the first swing cylinder are respectively hinged to the upper arm (10) and the forearm (6), the first swing cylinder is used to drive the forearm (6) to swing left and right; the plane where the first swing cylinder and the forearm (6) are located and the plane where the second pitch cylinder (12) and the forearm (6) are located are perpendicular to each other; the attitude acquisition device includes a single-action sway encoder (16) of the propulsion beam, the single-action sway encoder (16) of the propulsion beam is connected to the third rotating shaft (15).
5. The rock drilling rig propulsion beam attitude monitoring system according to claim 3, characterized in that: A rotary motor (17) is provided between the upper arm (10) and the lower arm (6), with the two ends of the rotary motor (17) connected to the upper arm (10) and the lower arm (6) respectively; the attitude acquisition device includes a rotary encoder (18), which is connected to the lower arm (6).
6. The rock drilling rig propulsion beam attitude monitoring system according to claim 3, characterized in that: It also includes a frame (19), and the other end of the boom (10) is rotatably connected to the frame (19) via a fourth rotating shaft (20). A third pitch cylinder (21) is provided between the boom (10) and the frame (19). The two ends of the third pitch cylinder (21) are respectively hinged to the boom (10) and the frame (19). The third pitch cylinder (21) is used to drive the boom (10) to pitch up and down. The attitude acquisition device includes a boom pitch encoder (22), which is connected to the fourth rotating shaft (20).
7. The rock drilling rig propulsion beam attitude monitoring system according to claim 6, characterized in that: The frame (19) is provided with a second sway seat (23), one end of the third pitch cylinder (21) is hinged to the second sway seat (23), the second sway seat (23) is rotatably connected to the boom (10) through a fifth rotating shaft (24), a second swing cylinder is provided between the boom (10) and the frame (19), the two ends of the second swing cylinder are respectively hinged to the boom (10) and the frame (19), and the second swing cylinder is used to drive the boom (10) to swing left and right; the attitude acquisition device includes a boom sway encoder (26), the boom sway encoder (26) is connected to the fifth rotating shaft (24).
8. The rock drilling rig propulsion beam attitude monitoring system according to claim 3, characterized in that: The upper arm (10) is telescopic, and the posture acquisition device includes an upper arm telescopic tension sensor (27). The pull rope end of the upper arm telescopic tension sensor (27) is connected to the outermost part of the upper arm (10), and the body end of the upper arm telescopic tension sensor (27) is connected to the innermost part of the upper arm (10).
9. The rock drilling rig propulsion beam attitude monitoring system according to claim 1, characterized in that: It also includes a frame (19), and the attitude acquisition device includes a dual-axis tilt sensor (28), which is connected to the frame (19).
10. The rock drilling rig propulsion beam attitude monitoring system according to claim 1, characterized in that: The detection operation device includes a display (29), a controller and an operation key group. The controller is electrically connected to the display (29) and the operation key group respectively. The display (29) is used to display the attitude data of the propulsion beam. The operation key group includes a propulsion beam single-action yaw calibration key (30), a propulsion beam rotation calibration key (31), a propulsion beam lifting calibration key (32) and a propulsion beam telescopic calibration key (33).