JPS6364599B2 - - Google Patents

Description

[Detailed Description of the Invention] (a) Technical field The present invention is useful in underground mining, tunnel construction, etc., in addition to moving and assembling support frames, cutting and shaping rock, drilling holes for support bolts, driving bolts, and loading explosives. This invention relates to a self-propelled multi-purpose mechanical arm device that can perform various tasks such as drilling holes.

(b) Background technology Conventionally, when constructing underground structures in underground mines or tunnel construction, loaders, rock drilling jumbo, support frame erectors, support bolt setters,
Since a wide variety of work machines such as scalers for rock shaping were required, construction costs were high due to the burden of introduction and maintenance costs, and when considering the replacement and installation location of these machines, space was limited. It was difficult to fully equip these machines unless the workshop was very large underground, and small and medium-sized workshops in particular had to rely on manual labor for various tasks.

(c) Purpose of the Invention The present invention is capable of not only moving and assembling a support frame (erector function), but also cutting and shaping rock (scaler function), drilling support bolt holes, and driving bolts (bolt setter function). We provide working machines that can be equipped with various functions such as drilling explosive loading holes (rock drilling jumbo function), which enables mechanization in small and medium-sized workshops, and significantly reduces costs even in large-scale workshops. reduction is possible.

Embodiments of the apparatus of the present invention will be described below with reference to the drawings.

(D) Embodiment Figure 1 is a side view of the present mechanical arm device. The turntable is installed in a turret and rotates in the horizontal direction by an electric, hydraulic, or pneumatic drive device 3. For example, the turntable can be rotated infinitely by gear transmission from the drive device 3 and can be stopped at any position.

Reference numeral 4 denotes an outer cylinder made of a square steel pipe whose base end is pivotally supported by a support 5 fixed on the table 2 and which can freely turn in the vertical direction. The tip of a piston rod 7 of a hydraulic or pneumatic cylinder 6 whose base end is pivotally supported on the table 2 is pivoted, and is rotated by the operation of the cylinder 6.

Reference numeral 8 denotes an inner cylinder made of a square steel pipe that is inserted into the outer cylinder 4 and can slide freely on the inner surface of the outer cylinder 4;
A cylinder 9 whose base end is attached to the lower part of the inner surface of the outer cylinder 4 is provided therein, and the tip of a piston rod 10 of the cylinder 9 is attached to the upper part of the inside of the inner cylinder 8, and the inner cylinder 8 is expanded and contracted from the inside of the outer cylinder 4 by the cylinder 9. There is a structure.

A mounting plate 11 is attached to the upper end of the inner cylinder 8,
A rotary actuator 12 having a built-in cylinder is fixed on the mounting plate 11, and when the actuator 12 is operated, a donut-shaped sliding plate 13 mounted on the actuator 12 is moved into an inner cylinder. It is designed to rotate around 8 axes. In addition,
Although this rotation mechanism is not shown, for example, a pinion gear may be attached to the lower surface of the sliding plate 13 or the outer periphery of the cylinder 18 that opens and closes the claw plates 14 and 15 (described later), and meshed with a rack provided on the piston rod of the actuator 12. , it has been considered to use a hydraulic vane mechanism for the actuator 12.

14 and 15 are sliding plates 13 as shown in FIG.
There are two large and small claw plates that are pivotally supported by a bracket 16 fixed on the upper surface and can be rotated in the vertical direction.
The tips of links 17 are pivotally supported inside the pivot bases of 4 and 15, and the base ends of both links 17 are overlapped with each other, with the upper portions fixedly supported by the sliding plate 13 and the lower portions inside the actuator 12. The piston rod is pivotally attached to the tip of a piston rod of a cylinder 18 which is suspended in the space of the cylinder 18. Therefore, the cylinder 18 allows the claw plates 14 and 15 to open and close simultaneously via the link 17, thereby making it possible to clamp a pillar or the like.

Next, the case of assembling the shoring frame using this device will be explained with reference to Fig. 2.
The left and right pillars 20 constitute a three-pile wooden frame,
It holds the roof (ceiling) of the tunnel. The assembling work of this three-clasp frame is performed by moving the cap 19 and pillar 20, which have been placed on the loading platform of the vehicle 1 and transported, into the two claw plates 14 and 15 by the operation of the cylinder 18.
Turntable 2, cylinder 6, and
9 and the actuator 12 while moving them to a predetermined position.

Reference numeral 21 shows an arch-shaped steel frame used in place of the three-clasp frame, and the two frames 21 are symmetrical.
The shaft is connected to hold the shaft ceiling and side walls, and its assembly work is carried out in the same manner as described above.

Figure 3 shows an example in which a drilling machine is attached to this mechanical arm for drilling holes and driving bolts for shoring bolt work, and 22 is a drifter type drilling machine, which is equipped with a bit at the tip for rock drilling. Rotational force and striking force are applied to the rod 23. Reference numeral 24 denotes a guide cell whose front part is supported and fixed 25 to the upper end mounting plate 11 of the inner cylinder 8 of the mechanical arm, and whose middle part is slidably supported by a guide 26 projecting outward from the outer cylinder 4. At the tip of the cell 24, there is a support metal fitting 27 that slidably supports the rock drilling rod 23.
is attached, and a feed mechanism 28 is provided at the rear end to rotate a screw rod (not shown) inserted into the cell 24, and a cone fixed to the lower side of the drilling machine 22 is connected to the By meshing with the screw rod, the feed mechanism 28 is actuated to move the drilling machine 22 along with the rod 23 back and forth along the cell 24.

When drilling bolt holes in rock, the guide cells 24 are drilled by rotating the outer cylinder 4 and expanding and contracting the inner cylinder 8 while simultaneously rotating the turntable 2, as shown in FIG. Further extend the inner cylinder 4 toward the hole and insert the claw plate 14 at the tip.
Rock drilling rod 23 is pressed by pressing one side of 15 against the rock surface.
While maintaining this direction, the rod 23 is moved forward to drill the hole.

When the drilling is completed, the rock drilling rod 23 is replaced with a supporting bolt, and the bolt is driven by the impact force of the drilling machine 22. This makes it possible to drill and drive support bolts all over the top and side walls of the tunnel.

Fig. 5 shows an example in which a percussive rock drill 29 is attached to the arm of this machine for cutting and shaping rock.The middle part of the rock drill is attached and fixed to the outside of the large claw plate 14 at the tip with a U bolt 30. It is possible to cut and shape the entire area of the inner surface of the tunnel by rotating, turning, extending and contracting the mechanical arm, and by opening and closing the claw plate 14.

Figure 6 shows the case where the drilling machine described in Figures 3 and 4 above is attached to the claw plate 14 in the same way as in Figure 5, and this is used to drill explosive loading holes during tunnel excavation. be. That is, the intermediate portion of the guide cell 24 is bolted to the outside of the claw plate 14 with a bracket 31, and the direction of the cell 24 is adjusted using the rock drill 29.
It is done in the same way.

(E) Effects of the Invention The device of the present invention is constructed as described above, and the mechanical arm can be rotated, extended/contracted, rotated, and opened/closed, so that it can respond to a wide range of changes in the cross section of the tunnel.
In addition to assembling support frames, by installing various machines, one machine can perform rock shaping, driving support bolts,
Various types of shoring, such as drilling holes for explosives, can be freely selected and mechanized, so investment efficiency is high, and it can be introduced economically at small and medium-sized work sites, and various tasks that conventionally required a lot of manpower can be mechanized. Not only is this technology expected to improve efficiency, but it also has various advantages, including the ability to significantly improve safety since remote control eliminates the need for workers to work directly at the tip of the shaft, which is unstable.

[Brief explanation of drawings]

Fig. 1 is a side view of the mechanical arm device according to the present invention, Fig. 2 is an explanatory diagram when assembling a support frame using this device, Fig. 3 is a side view of the state in which a drilling machine is installed, and Fig. 4 is a side view of the mechanical arm device according to the present invention. Figure 5 is an explanatory diagram showing the construction state of the support bolts, Figure 5 is an explanatory diagram of the state in which a percussive rock drill for cutting and shaping is attached to the jaw plate, and Figure 6 is an explanatory diagram showing the state in which an explosive loading hole is drilled in the jaw plate. It is an explanatory view of a state where a drilling machine is attached. Description of symbols, 1... Vehicle, 2... Turntable, 3... Drive device, 4... Outer cylinder, 5... Receiver,
6...Cylinder, 7...Piston rod, 8...
Inner cylinder, 9... Cylinder, 10... Piston rod, 11... Mounting plate, 12... Actuator, 13... Sliding plate, 14... Claw plate, 15... Claw plate, 16... Bracket, 17...link, 18
... Cylinder, 19 ... Kasagi, 20 ... Pillar, 21
... Steel frame, 22 ... Drilling machine, 23 ... Rock drilling rod, 24 ... Guide cell, 25 ... Fixing member, 2
6...Guide, 27...Support hardware, 28...Feeding mechanism, 29...Percussion type rock drill, 30...U bolt, 31...Bracket.

Claims (1)

[Claims] 1 The base end is pivotally supported on a support fixed to the upper surface of a turntable that is installed on a vehicle and driven to rotate in the horizontal direction, and the tip of a piston rod is pivoted on the outside of the tip, and the base end is placed on the table. an outer cylinder that can freely pivot in the vertical direction by the operation of a pivotally supported cylinder;
An extensible inner cylinder that can slide freely on the inner surface of the outer cylinder by another cylinder installed inside the outer cylinder, and a rotary actuator installed on the mounting plate attached to the head of the inner cylinder to move the inner surface on the mounting plate. A sliding plate that can be rotated around the cylinder axis, and a cylinder that is pivotally supported by a bracket fixed to the upper surface of the sliding plate and fixedly supported by the sliding plate, are used to simultaneously open and close two cylinders via a link. It is a mechanical arm consisting of a claw plate, and a guide cell intermediate part equipped with a hole drilling machine that is moved forward and backward by a feeding mechanism at the rear end is detachably attached to one outer side of the claw plate. Multi-purpose mechanical arm device.