Multifunctional drilling and blasting integrated jumbo apparatus, and method

Abstract

Disclosed in the present invention are a multifunctional drilling and blasting integrated jumbo apparatus, and a method. The apparatus comprises a steel arch frame, and a plurality of crawler mechanisms driven by motors and connected to the bottom of the steel arch frame. Further comprised is a plurality of drilling and explosive conveying apparatuses, each comprises a guide rod arranged in parallel with an upper cross beam, wherein the two ends of each guide rod are connected with guide rod wheels. Each guide rod is connected to a drill rod groove by means of a bearing. A main arm is hinged in each drill rod groove. An auxiliary arm is hinged to the end part of each main arm. A variable-amplitude oil cylinder is hinged between each main arm and each auxiliary arm. A supporting platform is hinged to the end part of each auxiliary arm. A variable-amplitude oil cylinder is further hinged between each supporting platform and each auxiliary arm. Each supporting platform is connected to a drilling apparatus and an explosive-mounting apparatus. On the basis of using a drilling and blasting jumbo, the present invention innovatively uses automatic drilling, mechanical explosive conveying, and an automatic management and control system, thus preventing existing problems of low tunneling working efficiency, low automation degree, poor safety, poor operation environment, dust and other health hazards to personnel.

Description

A multifunctional integrated drilling and blasting trolley device and method Technical Field

[0001] The present invention belongs to the technical field of tunnel construction, and in particular relates to a multifunctional integrated drilling and blasting trolley device and method. Background Art

[0002] Tunnel drilling and blasting is a commonly used tunnel excavation construction method, but this method currently uses personnel to use a drilling rig on a drilling and blasting trolley to manually drill holes, charge explosives, and blast. This method has low work efficiency, low degree of automation, poor safety, poor working environment, and dust that poses a great threat to personnel health.

[0003] Summary of the Invention

[0004] The purpose of the present invention is to provide a multifunctional integrated drilling and blasting trolley device and method. The present invention innovatively adopts automated drilling, mechanized explosives transportation, and automated control system on the basis of the drilling and blasting trolley, thereby avoiding the above-mentioned problems.

[0005] The first aspect of the present invention provides a multifunctional integrated drilling and blasting trolley device, comprising a steel arch frame and a plurality of crawler walking mechanisms driven by a motor connected to the bottom of the steel arch frame, wherein the steel arch frame comprises a front arch beam, a rear arch beam and an upper cross beam and a bottom beam connected to the front arch beam and the rear arch beam; the invention is characterized in that it also includes multiple sets of drilling and explosives conveying devices, wherein the drilling and explosives conveying devices include guide rods arranged parallel to the upper cross beam, both ends of the guide rods are connected to guide rod wheels, a plurality of first magnetic suction plates are provided at intervals around the wheel circumference of the guide rod wheels, the guide rod wheels are magnetically connected to the first magnetic guide rails arranged on the front arch beam and the rear arch beam, and the first magnetic guide rails are connected to the guide rod wheels. A plurality of first contacts are arranged on the rail at intervals that are compatible with the first magnetic plate. When the plurality of first contacts are controlled to be energized or de-energized, the energized first contacts are attracted to the first magnetic plate, thereby realizing the movement of the guide rod wheel on the first magnetic guide rail. The guide rod is connected to the drill rod slot through a bearing, a main arm is hinged in the drill rod slot, a secondary arm is hinged at the end of the main arm, a boom cylinder is hinged between the middle part of the main arm and the drill rod slot, a boom cylinder is hinged between the main arm and the secondary arm, the end of the secondary arm is hinged to a support, a boom cylinder is also hinged between the support and the secondary arm, and a drilling device and a charging device are connected to the support.

[0006] First side stop wheels are provided on both sides of the guide rod wheel. The first side stop wheels are used to abut against the two side plates of the first magnetic guide rail to limit the movement track of the guide rod wheel.

[0007] Preferably, the drilling device includes a drill sleeve, a drill is provided in the drill sleeve, the bottom of the drill is connected to a drill wheel, a plurality of second magnetic plates are connected to the drill wheel at circumferential intervals, a second magnetic guide rail is also provided at the bottom of the drill sleeve, and a plurality of second contacts are arranged at intervals that are adapted to the second magnetic guide rail and the second magnetic plate. When the plurality of second contacts are controlled to be energized or de-energized, the energized second contacts are attracted to the magnetic plate, thereby realizing the movement of the drill wheel on the second magnetic guide rail.

[0008] Preferably, a positioning wheel is further provided in the drilling rig sleeve, and the positioning wheel abuts against the drilling rig.

[0009] Preferably, the charging device includes a charging cartridge and an explosive bag arranged in the charging cartridge, one end of the charging cartridge is connected to a return spring, the other end of the return spring is fixedly connected to the plug plate, one end of the explosive bag is provided with a suction cup, the suction cup is adsorbed and connected to the plug plate, one end of the charging cartridge is provided with an inflation port, the inflation port is connected to a pressure relief valve, the inflation port is used to inflate the charging cartridge to push the plug plate and move the explosive bag toward the target direction, the pressure relief valve is used to deflate the charging cartridge so that the plug plate returns to its original position under the elastic force of the return spring after the charging is completed.

[0010] Preferably, the support platform is an arc-shaped plate, and the drilling device and the charging device are arranged side by side on the support platform.

[0011] Preferably, the axis of the support platform is parallel to the axis of the guide rod.

[0012] Preferably, it also includes support shoe devices arranged on both sides and the rear side of the steel arch frame, and the support shoe devices are used to abut against the tunnel side wall or the ground during drilling operations or charging operations to provide reaction force to ensure the stability of the operation.

[0013] Preferably, the support shoe device includes a support arm hinged to the steel arch frame, the end of the support arm is hinged to a support plate, a variable amplitude cylinder is hinged between the support arm and the steel arch frame, the bottom of the support plate is connected to a resistance-enhancing plate and a magnetic plate, and one end of the support plate is also provided with a wedge nail.

[0014] Preferably, it also includes an explosives networking and inspection device, which is used for operators to perform explosives networking and inspection on multiple blasting points.

[0015] Preferably, the explosive networking and inspection device includes a magnetic tape track and a basket vertical plate arranged on the front arch beam, the basket vertical plate is provided with a walking wheel, a plurality of third magnetic plates are provided at intervals around the walking wheel, the walking wheel is magnetically connected to the magnetic tape track, the basket vertical plate is L-shaped, a star wheel motor is provided at the bottom of the basket vertical plate, a drive gear is connected to the star wheel motor, a working basket is also slidably provided on the basket vertical plate, and a rack meshing with the drive gear is provided at the bottom of the working basket.

[0016] Preferably, second side stop wheels are provided on both sides of the traveling wheel, and the second side stop wheels are used to abut against two side plates of the magnetic tape track to limit the movement track of the traveling wheel.

[0017] Preferably, the two parallel front arch beams are provided with magnetic tape rails and basket vertical plates, the working basket includes a left basket, a middle basket and a right basket, the middle basket is slidably connected between the left basket and the right basket through guide rails on both sides and the bottom, and the rack is arranged at the bottom of the left basket and the right basket.

[0018] Preferably, flange-type adjustment mechanisms are provided at the bottoms of the front arch beam and the rear arch beam.

[0019] Preferably, the flange-type adjustment mechanism includes an upper flange connected to the bottom of the front arch beam and the rear arch beam, and a lower flange connected to the top of the crawler walking mechanism. The upper flange and the lower flange are connected by wedge blocks. An adjustment cylinder is provided in the front arch beam and the rear arch beam. The adjustment cylinder is used to extend or shorten when needed to adjust the height of the front arch beam and the rear arch beam.

[0020] Preferably, a level and a camera are provided on the upper crossbeam.

[0021] Preferably, the crawler walking mechanism includes a column connected to the front arch beam and the rear arch beam, and four track wheels connected to the bottom of the column, the track wheels are externally connected to the track, one of the track wheels is driven by a motor, the column includes an upper column and a lower column, the upper column and the lower column are rotatably connected by a thrust bearing, a gear ring is provided on the outer wall of the lower column, a connecting plate is provided on the bottom beam, a steering motor is fixed on the connecting plate, the output shaft of the steering motor is connected to a changing gear, and the changing gear is meshed with the gear ring.

[0022] Preferably, the guide rod is further provided with a fixed gear, the bottom of the drill rod slot is connected to an adjusting gear meshing with the fixed gear via a fixed rod, and the adjusting gear is transmission-connected to the adjusting motor.

[0023] Preferably, it also includes a power system and a control system, wherein the power system includes a battery and a power cabinet, the battery is electrically connected to the power cabinet, and the power cabinet is electrically connected to the first magnetic guide rail and the crawler walking mechanism, and the control system is used to control the power on and off of the first magnetic guide rail and the crawler walking mechanism.

[0024] A second aspect of the present invention provides a method for using a multifunctional integrated drilling and blasting trolley device, which uses the multifunctional integrated drilling and blasting trolley device described above, specifically comprising the following steps:

[0025] S1. Transfer the steel arch to the tunnel face to be blasted;

[0026] S2. Adjust the shoe device to a stable connection with the ground and / or side wall to ensure the overall stability of the trolley before drilling and aligning the holes.

[0027] S3. When aligning the drilling hole, the drilling rig or the cartridge is aligned with the drill hole by adjusting the variable amplitude cylinder of the drilling and explosive delivery device. When the level needs to be adjusted, it is adjusted by adjusting the cylinder up and down;

[0028] S4, after the alignment is completed, drilling is performed, and after the drilling is completed, another set of drilling and explosive delivery devices are adjusted to load the cartridges for charging;

[0029] S5. When all blasting holes in the excavation face are drilled, all charging tubes are loaded and out of contact with the explosive rods, the operator enters the work basket, adjusts the position of the work basket, installs detonators for the explosives, establishes the network connection and conducts testing, thus completing all preparatory work before blasting.

[0030] Preferably, S3 also includes a rotation adjustment method, in which the adjustment motor drives the adjustment gear to rotate, and the adjustment gear drives the drill rod slot to rotate with the guide rod as the axis under the reaction force of the fixed gear.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The invention is highly innovative. The invention breaks through the traditional inherent thinking and makes significant optimization and innovation in equipment structure, multi-functional application and other aspects, forming a new type of multi-purpose construction equipment.

[0033] 2. The present invention has strong versatility. The present invention can be applied to the construction of various tunnels and cavern excavation surfaces, and has a wide range of applications. The present invention cleverly combines multiple functions effectively, has strong versatility, and realizes multiple uses of one machine.

[0034] 3. The present invention has a high degree of automation. The present invention has effectively improved the degree of automation and work efficiency by using sophisticated design, which has replaced the original manual operation method. It provides new ideas, new equipment and new methods for drilling and blasting construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] FIG1 is a schematic diagram of the three-dimensional structure of a multifunctional integrated drilling and blasting trolley device according to the present invention.

[0037] FIG2 is a schematic diagram of the main structure of a multifunctional integrated drilling and blasting trolley device according to the present invention.

[0038] FIG3 is a schematic diagram of the main top view of the structure of a multifunctional integrated drilling and blasting trolley device of the present invention.

[0039] FIG4 is a side structural diagram of a multifunctional integrated drilling and blasting trolley device according to the present invention.

[0040] FIG5 is an enlarged structural diagram of portion H in FIG4 .

[0041] FIG6 is a cross-sectional view taken along line AA in FIG4 .

[0042] FIG7 is a cross-sectional view taken along line BB in FIG6 .

[0043] FIG8 is a schematic diagram of the front structure of the drilling and explosive delivery device of the present invention.

[0044] FIG9 is a side view of the structure of the drilling and explosive delivery device of the present invention.

[0045] FIG10 is a schematic diagram of the three-dimensional structure of the drilling and explosive delivery device of the present invention.

[0046] FIG11 is a schematic top view of the structure of the drilling and explosive delivery device of the present invention.

[0047] FIG12 is a cross-sectional view taken along the line CC in FIG11 .

[0048] Figure 13 is a schematic diagram of the enlarged structure of part F in Figure 12.

[0049] FIG14 is a cross-sectional view taken along the line DD in FIG11 .

[0050] FIG15 is a schematic diagram of the three-dimensional structure of the crawler walking mechanism of the present invention.

[0051] FIG. 16 is a schematic structural diagram of the shoe device of the present invention.

[0052] FIG17 is a schematic diagram of the motion state of the traveling wheel in the present invention.

[0053] FIG18 is a schematic diagram of the enlarged structure of portion E in FIG14 .

[0054] FIG19 is a schematic diagram of the main structure of the crawler walking mechanism of the present invention.

[0055] FIG20 is a partial side view of the structure of the drilling and explosive delivery device of the present invention.

[0056] FIG21 is a schematic top view of the structure of the drilling and explosive delivery device of the present invention.

[0057] FIG22 is a schematic diagram of the internal structure of section H in FIG4 .

[0058] In the above drawings:

[0059] 10. Steel arch frame; 11. Front arch beam; 12. Rear arch beam; 13. Upper cross beam; 14. Bottom beam; 15. First magnetic guide rail; 16. First contact point;

[0060] 20. Crawler travel mechanism; 21. Column; 21-1. Upper column; 21-2. Lower column; 22. Track wheel; 23. Track; 24. Ring gear; 25. Connecting plate; 26. Steering motor; 27. Direction change gear;

[0061] 30. Drilling and explosives conveying device; 31. Guide rod; 32. Guide rod wheel; 33. First magnetic plate; 34. Drill rod slot; 35. Main boom; 36. Auxiliary boom; 37. Luffing cylinder; 38. Support platform; 39. Fixed gear;

[0062] 40. Drilling device; 41. Drilling rig sleeve; 42. Drilling rig; 43. Drilling rig wheel; 44. Positioning wheel; 45. Fixing rod; 46. Adjusting gear; 47. Adjusting motor; 48. Wheel frame; 49. First side stop wheel;

[0063] 50. Charge device; 51. Charge cartridge; 52. Explosive bag; 53. Return spring; 54. Stopper plate; 55. Suction cup; 56. Inflating port; 57. Pressure relief valve;

[0064] 60. Gripper device; 61. Gripper arm; 62. Gripper plate; 63. Drag plate; 64. Wedge; 65. Gripper magnetic plate;

[0065] 70. Explosives networking and inspection device; 71. Magnetic tape track; 72. Basket riser; 73. Travel wheel; 74. Star gear motor; 75. Working basket; 75-1. Left basket; 75-2. Center basket; 75-3. Right basket; 76. Rack; 77. Drive gear;

[0066] 80. Flange-type adjustment mechanism; 81. Upper flange; 82. Lower flange; 83. Wedge block;

[0067] 90. Battery; 91. Power cabinet. DETAILED DESCRIPTION

[0068] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0069] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0070] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0071] Referring to Figures 1 to 22, as a preferred embodiment of the present invention, this embodiment provides a multifunctional integrated drilling and blasting trolley device, including a steel arch frame 10 and a plurality of crawler walking mechanisms 20 driven by a motor connected to the bottom of the steel arch frame 10, the steel arch frame 10 includes a front arch beam 11, a rear arch beam 12 and an upper cross beam 13 and a bottom beam 14 connected to the front arch beam 11 and the rear arch beam 12, the front and rear arch beams are similar to the I-shaped cross-section structure, the steel arch frame 10 of the present invention is designed according to the size of the tunnel hole. Frame; also includes multiple sets of drilling and explosives delivery devices 30, the drilling and explosives delivery device 30 includes a guide rod 31 arranged parallel to the upper crossbeam 13, both ends of the guide rod 31 are connected to the guide rod wheel 32, the guide rod wheel can be circular or polygonal, the guide rod wheel 32 is provided with a plurality of first magnetic plates 33 at intervals around the wheel, the guide rod wheel 32 is magnetically connected to the first magnetic guide rail 15 provided on the front arch beam 11 and the rear arch beam 12, the magnetic guide rail is arranged circumferentially on the front arch beam and the rear arch beam, and the first magnetic guide A plurality of first contacts 16 are arranged on the rail 15 at intervals adapted to the first magnetic plate 33. When the plurality of first contacts 16 are controlled to be energized or de-energized, the energized first contacts 16 are attracted to the first magnetic plate 33, and the de-energized first contacts have no attraction to the first magnetic plate 33, thereby realizing the movement of the guide rod wheel 32 on the first magnetic guide rail 15. The guide rod 31 is connected to the drill rod slot 34 through a bearing. A main arm 35 is hinged in the drill rod slot 34. The end of the main arm 35 is hinged to the auxiliary arm 36. A luffing cylinder 37 is hinged between 35 and the auxiliary arm 36, and a support platform 38 is hinged at the end of the auxiliary arm 36. A luffing cylinder is also hinged between the support platform 38 and the auxiliary arm 36. A drilling device 40 and a charging device 50 are connected to the support platform 38. A luffing cylinder is hinged between the middle part of the main arm 35 and the drill rod slot 34. The above-mentioned luffing cylinders are all hydraulic cylinders. The luffing cylinder between the middle part of the main arm 35 and the drill rod slot 34 drives the main arm 35 to perform luffing movement around the hinge point between the drill rod slot 34 and the drill rod slot 34.

[0072] As shown in Figures 8-12, a hinge is fixedly set in the guide rod groove 34 to connect the main arm 35, and another hinge is set to connect the boom cylinder 37, which can drive the main arm 35 to perform boom movement. The other end of the main arm 35 is hingedly connected to the auxiliary arm 36, and the main arm 35 and the auxiliary arm 36 drive the auxiliary arm 36 to perform boom movement around the hinge point at the end of the main arm through the boom cylinder. The other end of the auxiliary arm 36 is connected to the support platform 38 through a hinge point, and the boom 36 and the support platform 38 are driven by the boom cylinder to perform boom movement.

[0073] As shown in FIG9 , the support platform 38 preferably has an arc-shaped structure, and the central axis of the arc-shaped structure of the support platform 38 is parallel to the axis of the guide rod 31. In this way, the radius of the axis of the guide rod 31 can be kept unchanged when rotating around the guide rod 31. After the drilling is completed, the operation of loading explosives can be achieved by swinging a small angle, and there is no need to adjust the distance from the axis of the guide rod 31 through the variable amplitude cylinders of the main arm 35 and the auxiliary arm 36, which simplifies the operation and fully improves the efficiency.

[0074] When in use, the main arm 35 and the auxiliary arm 36 can be retracted into the drill pipe groove 34 in a non-working state by folding the various luffing cylinders, thereby effectively utilizing the space while avoiding structural damage.

[0075] In some preferred embodiments, as shown in Figures 10 and 11, the guide rod wheel 32 is connected to the wheel frame 48, and the wheel frame 48 is also connected to a first side stop wheel 49. The first side stop wheel is used to abut against the two side plates of the first magnetic guide rail 15 to limit the movement trajectory of the guide rod wheel.

[0076] In the present invention, under the action of the control program, the first contact 16 in the forward direction of the guide rod wheel 32 is continuously energized through the first magnetic guide rail 15, the previous first contact is energized, and the first contact away from the forward direction is randomly de-energized at the same time as the previous first contact is energized. The energized first contact attracts the first magnetic plate 33 on the guide rod wheel 32, thereby driving the guide rod wheel 32 to move in the forward direction. The faster the first energized contact switches forward, the faster the guide rod wheel runs; the slower the first energized contact switches, the slower the guide rod wheel runs, and the same applies to the movement in the opposite direction. The side stop wheels 49 on both sides of the guide rod wheel 32 are fixed in position by the wheel frame 48, and slide in contact with the side plates of the front arch frame 11 and the rear arch frame 12, ensuring that the position of the guide rod wheel 32 is directly above the contact, so that the first contact and the first magnetic plate are accurately aligned and can be well attracted, further ensuring that the guide rod wheel 32 moves stably on the first magnetic guide rail 15. When the guide rod wheel 32 needs to be braked or stopped at a certain position, the magnetic contact does not change the power on and off under program control, and the first contact corresponding to the guide rod wheel 32 remains energized.

[0077] Each first magnetic guide rail can accurately position the corresponding working mechanism according to the specific position of the contact point on the first magnetic plate and the guide rod, walking wheel and other attraction points under the information acquisition of the control system and control program, so as to achieve precise and automated work.

[0078] Specifically, as shown in Figures 10 and 14, the drilling device 40 includes a drill sleeve 41, in which a drill 42 is provided. The bottom of the drill rig 42 is connected to a drill wheel 43, and the drill wheel 43 is circumferentially spaced apart and connected to a plurality of second magnetic plates. A second magnetic guide rail is also provided at the bottom of the drill sleeve 41, and a plurality of second contacts are arranged at intervals that are adapted to the second magnetic plates. When the plurality of second contacts are controlled to be energized or de-energized, the energized second contacts are attracted to the second magnetic plates, thereby realizing the movement of the drill wheel on the second magnetic guide rail. The working principle of the second magnetic guide rail here is similar to that of the first magnetic guide rail on the front arch beam and the rear arch beam. Under the joint action of the second magnetic guide rail and the drill wheel 43 arranged at the lower part of the drill rig, the drill rig 42 can move back and forth along the drill sleeve 41.

[0079] In some embodiments, the drill housing 41 is further provided with a positioning wheel 44 that abuts the drill rig 42. Multiple positioning wheels 44 are fixedly mounted on the top surface of the drill housing 41 to provide positioning and stability for the drill rig 42 as it moves back and forth within the housing 41. Driven by a motor, the drill rig 42 rotates to drill a hole in the rock surface. During drilling, multiple drilling wheels 43 located below the drill rig 42 engage simultaneously to ensure stability during the drilling operation.

[0080] Specifically, as shown in Figures 10 and 13, the charging device 50 includes a charging barrel 51 and an explosive bag 52 arranged in the charging barrel, one end of the charging barrel 51 is connected to a return spring 53, the other end of the return spring 53 is fixedly connected to a plug plate 54, one end of the explosive bag 52 is provided with a suction cup 55, and the suction cup 55 is adsorbed and connected to the plug plate 54, one end of the charging barrel 51 is provided with an inflation port 56, and the inflation port 56 is connected to a pressure relief valve 57, the inflation port 56 is used to inflate the charging barrel 51 to push the plug plate 54 and move the explosive bag 52 toward the target direction, and the pressure relief valve 57 is used to deflate the charging barrel 51 so that the plug plate 54 returns to its original position under the elastic force of the return spring 53 after the charging is completed.

[0081] When the drilling is completed, explosives need to be loaded. Under program control, the program automatically calculates the angle value to be rotated according to the distance between the axis of the drilling rig 42 and the axis of the guide rod 31. The adjustment motor 47 drives the adjustment gear to drive the drill rod slot 34 and its upper structure to deflect a small angle. This ensures that the pipe mouth of the charging cartridge 51 is aligned with the hole mouth to be loaded with explosives. The charging cartridge 51 is pre-loaded with an explosive bag 52. The tail of the explosive bag 52 and the suction cup 55 fixed on the plug plate 54 are pressed tightly to squeeze out the air and then the negative pressure is sucked in to fix the explosive bag 52. The link that needs to push the explosive bag 52 into the hole is to fill the plug cylinder with air through the air supply pipe through the inflation port 56, push the plug plate 54 forward, and the explosive bag 52 enters the hole under the guidance of the charging cartridge 51. When the suction cup 55 needs to be disengaged from the explosive bag 52, the adjustment gear 46 and fixed gear 39 are driven to rotate a slight angle to achieve disengagement. The pressure is then released by the pressure relief valve 57, and the plug plate 54, under the action of the return spring 53, retracts to its original position, allowing the explosive bag to be reloaded and repeating the above working cycle. Magnetic guide rails and multiple sets of drilling and charging devices are arranged in the upward and downward directions of the front and rear arch beams of the steel arch frame. This allows each set of drilling and charging devices to operate simultaneously, ensuring maximum efficiency. A control program automatically allocates working holes according to the excavation face blasting design, efficiently completing the drilling and charging tasks.

[0082] In some preferred embodiments, the support platform 38 is an arc-shaped plate, and the drilling device 40 and the charging device 50 are arranged side by side on the support platform.

[0083] In some preferred embodiments, the axis of the support platform is parallel to the axis of the guide rod, which is more conducive to adjusting the drilling device 40 and the charging device 50.

[0084] In some preferred embodiments, as shown in Figures 1-4, a support shoe device 60 is further included on both sides and the rear side of the steel arch frame 10. The support shoe device 60 is used to abut against the tunnel side wall or the ground during drilling operations or charging operations to provide a reaction force to ensure the stability of the operation.

[0085] Specifically, as shown in Figures 1 and 16, the support shoe device 60 includes a support arm 61 hinged to the steel arch frame 10, and the end of the support arm 51 is hinged to a support plate 62. A variable amplitude cylinder is hinged between the support arm 61 and the steel arch frame 10. The bottom of the support plate 62 is connected to a resistance-enhancing plate 63 and a support shoe magnetic plate 65, and one end of the support plate 62 is also provided with a wedge nail 64.

[0086] Multiple gripper devices 60 are installed on both sides and the rear of the steel arch 10. These grippers can be pressed against the ground during drilling and other operations, providing greater stability. The side gripper devices 60 press against the ground or sidewall, while the rear gripper devices press against the ground. The side and rear gripper devices have essentially the same structure. The underside of the support plate 62 is equipped with a resistance plate 63 made of a wear-resistant, soft material. A gripper magnetic plate 65 is also provided. A wedge 64 is also installed in the support bracket at one end. If the ground is a hard non-metallic ground such as concrete, the resistance-increasing plate 63 can provide support for the steel arch frame 10 through the squeezing force with the ground; if the ground is a metal ground, the support shoe magnetic plate 65 is energized to generate suction, and is firmly attracted to the metal ground, which can provide support for the steel arch frame 10; if the ground is a soft mud or gravel ground, on the one hand, the resistance-increasing plate presses 63, and on the other hand, the wedge nail 64 is wedged into the ground to provide support for the steel arch frame 10.

[0087] In some preferred embodiments, as shown in Figures 3 and 6, an explosive networking and inspection device 70 is also included. The explosive networking and inspection device 70 is used for operators to perform explosive networking and inspection on multiple blasting points. The explosive networking and inspection device 70 includes a magnetic tape track 71 and a basket vertical plate 72 arranged on the front arch beam 11. The basket vertical plate 72 is provided with a walking wheel 73, and a plurality of third magnetic plates are arranged at intervals around the wheel circumference of the walking wheel 73. The walking wheel 73 is magnetically connected to the magnetic tape track 71. The basket vertical plate 72 is L-shaped, and a star wheel motor 74 is provided at the bottom of the basket vertical plate 72. A drive gear 77 is connected to the star wheel motor 74. A working basket 75 is also provided on the basket vertical plate 72 through a horizontal track sliding. A rack 76 meshing with the drive gear 77 is provided at the bottom of the working basket 75.

[0088] Explosives networking and inspection are delicate tasks currently only suited for manual operation and completion. In the explosives networking and inspection device 70, the operating principles and methods of operation, as well as the operating principles of operation and stopping, of the running wheels 73 and magnetic track 71 are identical to those of the guide rod wheels 32 on the guide rod 31 and the first magnetic guide rail 15, and therefore will not be further described here.

[0089] In some embodiments, second side stop wheels are provided on both sides of the traveling wheel 73 , and the second side stop wheels are used to abut against two side plates of the magnetic tape track to limit the movement trajectory of the traveling wheel.

[0090] In some preferred embodiments, as shown in Figures 3, 6 and 7, the two parallel front arch beams 11 are provided with magnetic tape rails 71 and basket risers 72, and the working baskets include a left basket 75-1, a middle basket 75-2 and a right basket 75-3. The middle basket 75-2 is slidably connected between the left basket 75-1 and the right basket 75-3 through a guide rail, and the rack 76 is arranged at the bottom of the left basket 75-1 and the right basket 75-3.

[0091] In this embodiment, the working basket utilizes a retractable, multi-stage structure, enabling the overall length of the working basket 75 to be extended. The retractable length of the working basket 75 can adapt to changes in tunnel width and the need to avoid obstacles within the tunnel, further enhancing the adaptability of the device of the present invention. The cross-sectional dimensions of the center basket 75-2 are slightly smaller than those of the left and right baskets 75-1 and 75-3. Preferably, three guide wheels are provided on both sides and the bottom of the center basket 75-2, forming the same motion cross-section. Furthermore, a motion cross-section is provided on each of the left and right ends of the center basket 75-2. Three guide wheel grooves are provided at corresponding locations on the inside of the left and right baskets 75-1 and 75-3, allowing the guide wheels to roll within the grooves. This allows the center basket to telescope and slide within the left and right baskets 75-1 and 75-3 at either end. A control cabinet is also provided on the working basket, allowing personnel on the hanging basket to operate the telescopic and vertical movement of the working basket. Preferably, the left basket 75-1 and the right basket 75-3 are driven by a motor at the bottom of the star wheel, and the star wheel drives the bottom rack of the side basket to drive the left basket 75-1 and the right basket 75-3 to move toward the middle basket 75-2 in the middle, so as to shorten the overall length of the hanging basket; on the contrary, if the left basket 75-1 and the right basket 75-3 move away from the middle basket under the action of the bottom drive device, the overall length of the hanging basket can be extended.

[0092] When all blasting holes in the excavation face have been drilled, all charge cartridges 51 have been loaded and are out of contact with the explosive bags 52, personnel go up to the work basket 75, control the position through the control cabinet on the work basket 75, install detonators for the explosives, and conduct tests after networking. This completes all preparations before blasting.

[0093] In some preferred embodiments, as shown in FIG1 , flange-type adjustment mechanisms 80 are provided at the bottoms of the front arch beam 11 and the rear arch beam 12 .

[0094] Specifically, as shown in Figure 5, in order to ensure that the device of the present invention does not tilt as a whole due to obstacles encountered by the walking wheels during operation, which may further lead to the risk of tipping over, a flange-type adjustment mechanism 80 is provided at the lower part of the four vertical main beams. The flange-type adjustment mechanism 80 includes an upper flange 81 connected to the bottom of the front arch beam 11 and the rear arch beam 12 and a lower flange 82 connected to the top of the crawler walking mechanism 20. The upper flange 81 and the lower flange 82 are connected by a wedge block 83. Adjustment cylinders are provided in the front arch beam 11 and the rear arch beam 12, and a spirit level is provided on the upper cross beam 13.

[0095] The wedge-shaped block 83 with a width at the top and a narrowness at the bottom is inserted into the pin hole of the flange between the external flanges of the main beam. A plurality of wedge-shaped blocks 83 and pin holes are arranged on the circumference of each flange, and an adjustment cylinder is also arranged inside the main beam. The use environment of the equipment of the present invention is inside a cave or other excavation construction area. The road surface of such a working environment is often a non-cast-into-place road surface, and the road conditions are often poor. When the steel arch frame is moving, one side encounters soil and rocks, slopes or pits spilled by vehicles, which may cause the top surface of the steel arch frame to be too level, resulting in abnormal movement and even causing the equipment to overturn. Therefore, a spirit level is arranged on the upper surface of the upper crossbeam to reflect the deflection. Feed control system, when the deviation is within the allowable range, the control system does not perform action control, but once the levelness exceeds the tolerance, the control system will automatically extend the adjustment cylinder in the main beam that needs to be adjusted after calculation, and its corresponding flange will also change from a closed state to an open state. In order to avoid the flange from being misaligned after the adjustment cylinder is retracted, a wedge block 83 and a pin hole are provided. When the upper flange moves upward under the drive of the adjustment cylinder, the wedge block 83 is also driven to move upward. When the adjustment cylinder returns to its position, the upper flange also falls back to a state of being in contact with the lower flange, and the wedge block 83 can guide and promote its correct return.

[0096] In addition, the lower end of the main beam is connected to the main beam shaft, which extends into the walking column above the belt-unfolding walking wheel. The main beam shaft and the walking column are connected for relative movement through side bearings and bottom bearings.

[0097] The steel arch frame is in a walking and moving working condition, such as the steel arch frame moving to the excavation surface before excavation or leaving to avoid blasting before blasting, which belongs to this working condition, but is not limited to these working conditions. The present invention can adjust the levelness automatically or manually according to the levelness data measured by the system.

[0098] In some preferred embodiments, as shown in Figures 1 and 15, the crawler walking mechanism 20 includes a column 21 connected to the front arch beam 11 and the rear arch beam 12 and four track wheels 22 connected to the bottom of the column 21, the track wheel 22 is externally connected to the track 23, one of the track wheels 22 is driven by a motor, the column 21 includes an upper column 21-1 and a lower column 21-2, the upper column 21-1 and the lower column 21-2 are rotatably connected through a thrust bearing, a gear ring 24 is provided on the outer wall of the lower column 21-2, a connecting plate 25 is provided on the bottom beam 14, a steering motor 26 is fixed on the connecting plate 25, and a changing gear 27 is connected to the output shaft of the steering motor 26, and the changing gear 27 is meshed with the gear ring 24.

[0099] Among them, the four track wheels 22 are connected to a driving wheel driven by a motor on the upper part of the structural plate inside the track wheel, and a follower wheel is also arranged at the other end of the internal structural plate. The driving wheel and the follower wheel both play the role of shock absorption of the track wheel through the shock-absorbing cylinder and the shock-absorbing spring sleeved on the piston rod of the shock-absorbing cylinder. A plurality of bottom wheels are arranged at the lower part of the structural plate. All kinds of track wheels drive the track to rotate and run through the gear teeth arranged on the outer periphery of the wheel and the meshing inside of the track, thereby promoting the overall operation of the track wheel and the equipment.

[0100] In some preferred embodiments, as shown in Figures 1 and 5, in order to facilitate the function of on-site position adjustment and even steering in a narrow space such as a cave, the changing gear 27 and the ring gear 24 are preferably helical gears and helical ring gears, and the changing gear 27 driven by the steering motor 26 arranged on the connecting plate 25 at the bottom end of the main beam is engaged with the ring gear 24 to drive the crawler walking mechanism to adjust the direction or even turn.

[0101] In the present invention, the lower part of the steel arch is preferably a crawler-type walking mode, so as to better adapt to the walking conditions of the uneven roads inside and outside the tunnel. Not only can it adapt to the uneven conditions on one side, but it can also realize the independent or overall adjustment or steering of the direction of each crawler wheel.

[0102] In some preferred embodiments, a crawler walking mechanism is used as a commonly used walking mechanism for engineering machinery; it can also be adopted that: a driving wheel driven by a motor is connected to the upper part of the structural plate inside the crawler walking wheel, and a follower wheel is also provided at the other end of the internal structural plate. Both the driving wheel and the follower wheel play the role of shock absorption of the crawler walking wheel through a shock-absorbing cylinder and a shock-absorbing spring sleeved on the piston rod of the shock-absorbing cylinder. A plurality of bottom wheels are provided at the lower part of the structural plate, and various crawler wheels drive the crawler to rotate by engaging with the inside of the crawler through the gear teeth arranged on the outer periphery of the wheel, thereby promoting the overall operation of the crawler walking wheel and the equipment.

[0103] In addition, the walking mechanism can be in the form of crawler tracks, or various suitable methods such as tires and spiral wheels can be selected.

[0104] In some preferred embodiments, as shown in Figures 12 and 13, a fixed gear 39 is further provided on the guide rod 31, and the bottom of the drill rod slot 34 is connected to an adjusting gear 46 that meshes with the fixed gear 39 through a fixed rod 45, and the adjusting gear 46 is in transmission connection with an adjusting motor 47.

[0105] The support point of the drill rod slot 34 is connected to the guide rod 31 through a bearing. The upper structure of the support point cannot slide on the guide rod 31, but can rotate around the guide rod 31. The lower part of one end of the drill rod slot is driven by the adjusting motor 47 to drive the adjusting gear 46 to engage with the fixed gear 39 fixed on the guide rod 31. Under the meshing movement of the adjusting gear 46 driven by the adjusting motor 47, the drill rod slot 34 and its upper structure rotate around the guide rod 31 through two support points.

[0106] In some preferred embodiments, as shown in Figure 4, a power system and a control system are also included. The power system includes a battery 90 and a power cabinet 91. The battery 90 is electrically connected to the power cabinet 91. The power cabinet 91 is electrically connected to the first magnetic guide rail 15, the crawler walking mechanism 20 and the magnetic tape track 71. The control system is used to control the power on and off of the first magnetic guide rail 15 and the magnetic tape track 71, and to control the movement and steering of the crawler walking mechanism 20. That is, the control cabinet, power cabinet and battery are arranged on the bottom beam of the steel arch frame or other suitable positions. The control cabinet is responsible for sending or receiving control instructions for each device of the entire patent through built-in programs and hardware, and performing dynamic joint control.

[0107] The power cabinet is an access and regulation cabinet for external power transmission. It can transform, modulate, demodulate and perform other operations on the external power supply as needed to ensure reliable and stable power supply. The battery provides reserve power for the entire system, ensuring that it is fully charged at all times and can be used under emergency conditions.

[0108] As another preferred embodiment of the present invention, this embodiment provides a method for using a multifunctional integrated drilling and blasting trolley device, which specifically includes the following steps:

[0109] S1. Transfer the steel arch 10 to the tunnel face to be blasted;

[0110] S2. Adjust the gripper device 60 to be stably connected to the ground and / or side wall to ensure the overall stability of the trolley, and then perform drilling alignment;

[0111] S3, when drilling, the drilling rig 42 or the charge cartridge 51 is aligned with the drill hole by adjusting the amplitude cylinder 37 of the drilling and explosive delivery device 30. When the level needs to be adjusted, it is adjusted by adjusting the cylinder lift;

[0112] S4, after the alignment is completed, drilling is performed, and after the drilling is completed, another set of drilling and explosive delivery device 30 is adjusted to load the cartridge for charging;

[0113] S5. When all blast holes in the excavation face are drilled, all charge tubes are loaded and out of contact with the explosive rods, the operator enters the working basket 75, adjusts the position of the working basket 75, installs detonators for the explosives, and conducts testing after networking. This completes all preparatory work before blasting.

[0114] The S3 also includes a rotation adjustment method, in which the adjustment motor drives the adjustment gear to rotate, and the adjustment gear drives the drill rod slot to rotate with the guide rod as the axis under the reaction force of the fixed gear.

[0115] In addition to the on-site control system provided on the device of the present invention, cameras provided at multiple locations of the steel arch frame can be used by personnel under the control of a remote controller to perform visual remote control or local wireless control, so as to ensure the safety of operators in dangerous environments where geological disasters may occur.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that it is not necessary and impossible to enumerate all implementation methods here. The technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A multifunctional integrated drilling and blasting trolley device, comprising a steel arch frame and a plurality of crawler walking mechanisms driven by motors connected to the bottom of the steel arch frame, wherein the steel arch frame comprises a front arch beam, a rear arch beam, and an upper cross beam and a bottom beam connected to the front arch beam and the rear arch beam; characterized in that: The invention also comprises a plurality of groups of drilling and explosive conveying devices, wherein the drilling and explosive conveying devices comprise guide rods arranged in parallel with the upper cross beam, both ends of the guide rods are connected to guide rod wheels, a plurality of first magnetic attraction plates are arranged at intervals around the guide rod wheels, the guide rod wheels are magnetically connected to first magnetic guide rails arranged on the front arch beam and the rear arch beam, a plurality of first contacts are arranged at intervals on the first magnetic guide rails that are adapted to the first magnetic attraction plates, when the plurality of first contacts are controlled to be energized or de-energized so that the energized first contacts are attracted to the first magnetic attraction plates, the movement of the guide rod wheels on the first magnetic guide rails is realized, the guide rods are connected to a drill rod slot via a bearing, a main arm is hinged in the drill rod slot, a secondary arm is hinged at the end of the main arm, a variable amplitude oil cylinder is hinged between the middle part of the main arm and the drill rod slot, a variable amplitude oil cylinder is hinged between the main arm and the secondary arm, a support is hinged at the end of the secondary arm, a variable amplitude oil cylinder is also hinged between the support and the secondary arm, a drilling device and a charging device are connected on the support.

2. The multifunctional integrated drilling and blasting trolley device according to claim 1, characterized in that: First side stop wheels are provided on both sides of the guide rod wheel, and the first side stop wheels are used to abut against two side plates of the first magnetic guide rail to limit the movement track of the guide rod wheel.

3. The multifunctional integrated drilling and blasting trolley device according to claim 1, characterized in that: The drilling device includes a drill sleeve, a drill is arranged inside the drill sleeve, a drill wheel is connected to the bottom of the drill rig, a plurality of second magnetic plates are connected to the drill wheel at circumferential intervals, a second magnetic guide rail is also provided at the bottom of the drill sleeve, a plurality of second contacts are arranged at intervals matching the second magnetic guide rail and the second magnetic plate, and when the plurality of second contacts are controlled to be powered on or off, the powered second contacts are attracted to the magnetic plate, thereby realizing the movement of the drill wheel on the second magnetic guide rail.

4. The multifunctional integrated drilling and blasting trolley device according to claim 3, characterized in that: A positioning wheel is also provided in the drilling rig sleeve, and the positioning wheel abuts against the drilling rig.

5. The multifunctional integrated drilling and blasting trolley device according to claim 3, characterized in that: The charging device includes a charging cartridge and an explosive bag arranged in the charging cartridge, one end of the charging cartridge is connected to a return spring, the other end of the return spring is fixedly connected to a plug plate, one end of the explosive bag is provided with a suction cup, the suction cup is adsorbed and connected to the plug plate, one end of the charging cartridge is provided with an inflation port, the inflation port is connected to a pressure relief valve, the inflation port is used to inflate the charging cartridge to push the plug plate and move the explosive bag toward the target direction, the pressure relief valve is used to deflate the charging cartridge so that the plug plate returns to its original position under the elastic force of the return spring after charging is completed.

6. The multifunctional integrated drilling and blasting trolley device according to claim 1, characterized in that: The support platform is an arc-shaped plate, and the drilling device and the charging device are arranged in parallel on the support platform.

7. The multifunctional integrated drilling and blasting trolley device according to claim 1, characterized in that: The axis of the support platform is parallel to the axis of the guide rod.

8. The multifunctional integrated drilling and blasting trolley device according to claim 1, characterized in that: It also includes support shoe devices arranged on both sides and the rear side of the steel arch frame. The support shoe devices are used to abut against the tunnel side wall or the ground during drilling operations or charging operations to provide reaction force to ensure the stability of the operation.

9. The multifunctional integrated drilling and blasting trolley device according to claim 8, characterized in that: The support shoe device includes a support arm hinged to the steel arch frame, the end of the support arm is hinged to a support plate, a variable amplitude cylinder is hinged between the support arm and the steel arch frame, a resistance-enhancing plate and a magnetic attraction plate are connected to the bottom of the support plate, and a wedge nail is also provided at one end of the support plate.

10. The multifunctional integrated drilling and blasting trolley device according to claim 5, characterized in that: It also includes an explosive networking and inspection device, which is used for operators to conduct explosive networking and inspection on multiple blasting points.

11. The multifunctional integrated drilling and blasting trolley device according to claim 10, characterized in that: The explosive networking and inspection device includes a magnetic tape track and a basket vertical plate arranged on the front arch beam, the basket vertical plate is provided with a walking wheel, a plurality of third magnetic suction plates are arranged at intervals around the walking wheel, the walking wheel is magnetically connected to the magnetic tape track, the basket vertical plate is L-shaped, a star wheel motor is provided at the bottom of the basket vertical plate, a driving gear is connected to the star wheel motor, a working basket is also slidably provided on the basket vertical plate, and a rack meshing with the driving gear is provided at the bottom of the working basket.

12. The multifunctional integrated drilling and blasting trolley device according to claim 11, characterized in that: Second side stop wheels are provided on both sides of the traveling wheel, and the second side stop wheels are used to abut against two side plates of the magnetic tape track to limit the movement track of the traveling wheel.

13. The multifunctional integrated drilling and blasting trolley device according to claim 11, characterized in that: The two parallel front arch beams are both provided with magnetic tape rails and basket vertical plates. The working basket includes a left basket, a middle basket and a right basket. The middle basket is slidably connected between the left basket and the right basket through guide rails on both sides and the bottom. The rack is arranged at the bottom of the left basket and the right basket.

14. The multifunctional integrated drilling and blasting trolley device according to claim 1, characterized in that: The bottoms of the front arch beam and the rear arch beam are provided with flange-type adjustment mechanisms.

15. The multifunctional integrated drilling and blasting trolley device according to claim 14, characterized in that: The flange-type adjustment mechanism includes an upper flange connected to the bottom of the front arch beam and the rear arch beam, and a lower flange connected to the top of the crawler walking mechanism. The upper flange and the lower flange are connected by wedge blocks. Adjustment cylinders are provided in the front arch beam and the rear arch beam. The adjustment cylinders are used to extend or shorten when necessary to adjust the height of the front arch beam and the rear arch beam.

16. The multifunctional integrated drilling and blasting trolley device according to claim 14, characterized in that: A level ruler and a camera are arranged on the upper crossbeam.

17. The multifunctional integrated drilling and blasting trolley device according to claim 14, characterized in that: The crawler walking mechanism includes a column connected to the front arch beam and the rear arch beam, and a plurality of track wheels connected to the bottom of the column, the track wheels are externally connected to the track, one of the track wheels is driven by a motor, the column includes an upper column and a lower column, the upper column and the lower column are rotatably connected by a thrust bearing, a gear ring is provided on the outer wall of the lower column, a connecting plate is provided on the bottom beam, a steering motor is fixedly provided on the connecting plate, a direction changing gear is connected to the output shaft of the steering motor, and the direction changing gear is meshed with the gear ring.

18. The multifunctional integrated drilling and blasting trolley device according to claim 11, characterized in that: The guide rod is also provided with a fixed gear, and the bottom of the drill rod groove is connected to an adjusting gear meshing with the fixed gear through a fixed rod, and the adjusting gear is transmission-connected to the adjusting motor.

19. The multifunctional integrated drilling and blasting trolley device according to claim 18, characterized in that: It also includes a power system and a control system. The power system includes a battery and a power cabinet. The battery is electrically connected to the power cabinet. The power cabinet is electrically connected to the first magnetic guide rail and a crawler walking mechanism. The control system is used to control the on and off of the first magnetic guide rail and the crawler walking mechanism.

20. A method for using a multifunctional integrated drilling and blasting trolley device, characterized in that: Using the multifunctional integrated drilling and blasting trolley device according to claim 19 specifically comprises the following steps: S1. Transfer the steel arch to the tunnel face to be blasted; S2. Adjust the shoe device to be stably connected to the ground and / or side wall, ensure the overall stability of the trolley, and then perform drilling alignment; S3, when drilling, the drilling rig or the cartridge is aligned with the drill hole by adjusting the variable amplitude cylinder of the drilling and explosive delivery device. When the horizontality needs to be adjusted, it is adjusted by adjusting the lifting of the cylinder; S4, after the alignment is completed, drilling is performed, and after the drilling is completed, another set of drilling and explosive delivery device cartridges are adjusted to load the explosives; S5. When all blasting holes are drilled on the excavation surface, all charging tubes are loaded and out of contact with the explosive rods, the operator enters the working basket, adjusts the position of the working basket, installs detonators for the explosives, and conducts tests after networking. This completes all preparations before blasting.

21. The method for using the multifunctional integrated drilling and blasting trolley device according to claim 20, characterized in that: The S3 also includes a rotation adjustment method, in which the adjustment motor drives the adjustment gear to rotate, and the adjustment gear drives the drill rod slot to rotate with the guide rod as the axis under the reaction force of the fixed gear.

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