CN111660277B - Bolt mounting arm - Google Patents

Bolt mounting arm Download PDF

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Publication number
CN111660277B
CN111660277B CN202010595760.7A CN202010595760A CN111660277B CN 111660277 B CN111660277 B CN 111660277B CN 202010595760 A CN202010595760 A CN 202010595760A CN 111660277 B CN111660277 B CN 111660277B
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China
Prior art keywords
bolt
motor
arm
stroke
mechanical arm
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CN202010595760.7A
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Chinese (zh)
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CN111660277A (en
Inventor
王大伟
赵刚
程爽
齐孟星
冀晓莹
邱晓杰
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China Railway No9 Group Electrical Engineering Co ltd
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China Railway No9 Group Electrical Engineering Co ltd
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Priority to CN202010595760.7A priority Critical patent/CN111660277B/en
Publication of CN111660277A publication Critical patent/CN111660277A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)

Abstract

A bolt mounting arm belongs to the technical field of subway construction, and particularly relates to a bolt mounting arm. The invention provides a bolt mounting arm with a good using effect. The bolt mounting arm 22 comprises a bottom second stroke motor and is characterized in that an external thread is arranged on a rotating shaft at the upper end of the second stroke motor, the rotating shaft at the upper end of the second stroke motor rotates through a central threaded hole of a second stroke chassis, second stroke chassis sliding blocks are arranged on two sides of the second stroke chassis and are arranged in a second sliding way, a second stroke column is arranged at the upper end of the second stroke chassis, the upper end of the second stroke column is connected with a second stroke top disc, a second motor base is arranged at the upper end of the second stroke top disc, a sleeve motor is arranged at the upper end of the second motor base, a mounting sleeve 22-2 is arranged on the rotating shaft of the sleeve motor, and the position of the mounting sleeve 22-2 corresponds to the position of a bolt outlet hole 22-1-6 of a bolt box 22-1.

Description

Bolt mounting arm
Technical Field
The invention belongs to the technical field of subway construction, and particularly relates to a bolt mounting arm.
Background
In the construction of the interval district of subway, often relate to a cable gallows construction and installation process, a gallows installation all adopts the manual work mode of punching to go on at present, and the nothing is applicable to subway tunnel wall location and punches special smart machine, because the tunnel wall becomes the arc, has very big difficulty in the construction measurement stage, because the mounting height is higher, a gallows punches and wastes time and energy. Aiming at the situation, based on the characteristics that the distance between the sections is long, the work repeatability is high, the distance between the supports and the hangers is fixed, the mounting height is consistent, the distance between the two sides in the tunnel and the center of the steel rail is kept fixed, and the like, a drilling machine mechanical arm is specially developed, so that a bolt mounting arm with a good using effect needs to be designed in a matched mode.
Disclosure of Invention
The invention aims to solve the problems and provides the bolt mounting arm with good use effect.
In order to achieve the purpose, the invention adopts the following technical scheme that the bolt mounting arm 22 comprises a bottom second stroke motor, and is characterized in that an upper end rotating shaft of the second stroke motor is provided with external threads, the upper end rotating shaft of the second stroke motor rotates through a central threaded hole of a second stroke chassis, second stroke chassis sliding blocks are arranged on two sides of the second stroke chassis, the second stroke chassis sliding blocks are arranged in a second slideway, a second stroke column is arranged at the upper end of the second stroke chassis, the upper end of the second stroke column is connected with a second stroke top plate, a second motor base is arranged at the upper end of the second stroke top plate, a sleeve motor is arranged at the upper end of the second motor base, a mounting sleeve 22-2 is arranged on the rotating shaft of the sleeve motor, and the position of the mounting sleeve 22-2 corresponds to the position of a bolt outlet 22-1-6 of a bolt box 22-1.
As a preferable scheme, a bolt box protective cover 22-3 is arranged on the second stroke motor, a protective cover through hole is formed in the bolt box protective cover 22-3, a bolt outlet hole 22-1-6 and a mounting sleeve 22-2 are arranged in the protective cover through hole, and the protective cover through hole is communicated with the bolt box mounting notch.
As a preferable scheme, the second stroke motor is provided with an inner protective cover 22-6, the lower end of the bolt box protective cover 22-3 is provided with internal threads, and the bottom of the inner protective cover 22-6 is correspondingly provided with external threads.
As another preferable scheme, a second pressure sensor 22-4 is arranged between the second motor base and the second stroke top plate 22-5.
As another preferred scheme, the second stroke top disc is provided with a thread groove, a bolt penetrates through a through hole in the second motor base 21-8 and is screwed into the thread groove, and the depth of the bolt is larger than that of the thread groove.
Secondly, the bolt box 22-1 comprises a bolt box main body 22-1-1 and a bolt box base 22-1-2, a bolt box connecting hole 22-1-3 is formed in the end face of the bolt box main body 22-1-1, a bolt box base threaded hole 22-1-4 is formed in the end face of the bolt box base 22-1-2, a bolt outlet hole 22-1-6 is formed in the bolt box main body 22-1-1, the bolt outlet hole 22-1-6 is communicated with a bolt slideway 22-1-5, the bolt slideway 22-1-5 extends to the end face of the bolt box main body 22-1-1, a pushing top plate 22-1-8 is arranged on the bolt box base 22-1-2 corresponding to the bolt slideway 22-1-5, and the pushing top plate 22-1-8 is connected with the bolt box base 22-1-2 through a pushing spring 22-1-7.
Secondly, the installation sleeve 22-2 comprises a sleeve 22-2-4, a top plug 22-2-3 is arranged in the sleeve 22-2-4, and the rear end of the top plug 22-2-3 is connected with the bottom of the sleeve 22-2-4 through a buffer spring 22-2-2.
In addition, the sleeve 22-2-4 and the sleeve rear part 22-2-1 are of an integral structure, the top plug 22-2-3 and the buffer spring 22-2-2 are of an integral structure, and the buffer spring 22-2-2 and the sleeve bottom are fixed through the perforated plug 22-2-5.
The invention has the beneficial effects.
When the bolt pre-installation device works, the second stroke motor of the bolt installation arm 22 is started, the whole bolt is pushed forwards, the sleeve 22-2 is installed, the collision bolt is pushed into a drilled hole through the outlet hole of the bolt box 22-1, when the collision bolt is pushed to the bottom, the pushing is stopped, the sleeve motor is started, and the bolt is rotated to complete the pre-installation of the bolt.
Drawings
The invention is further described with reference to the following figures and detailed description. The scope of the invention is not limited to the following expressions.
Fig. 1 and 2 are schematic structural views of the mechanical arm of the drilling machine.
Fig. 3 is a schematic view of the drill arm structure of the present invention.
Fig. 4 is a schematic view of the bolt mounting arm structure of the present invention.
Fig. 5 and 6 are schematic views of the bolt box structure of the invention.
Fig. 7 and 8 are schematic views of the structure of the mounting sleeve of the invention.
Fig. 9 is a flowchart of the control of the drill robot of the present invention.
FIG. 10 is a schematic diagram of the calculation parameters of the present invention.
<xnotran> ,1 ,2 , 3 , 4 , 5 , 6 , 7 , 8 , 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 ( ), 20 , 21 (21-1 , 21-2 , 21-3 , 21-4 , 21-5 , 21-6 , 21-7 , 21-8 , 21-9 , 21-10 , 21-11 , 21-12 , 21-13 , 21-14 , 21-15 , 21-16 ), 22 [22-1 (22-1-1 , 22-1-2 , 22-1-3 , 22-1-4 , 22-1-5 , 22-1-6 , 22-1-7 , </xnotran> 22-1-8 is a propelling top plate), 22-2 is a mounting sleeve (22-2-1 is the rear part of the sleeve, 22-2-2 is a buffer spring, 22-2-3 is a top plug, 22-2-4 is the sleeve), 22-3 is a bolt box protective cover, 22-4 is a second pressure sensor, 22-5 is a second stroke top plate, 22-6 is an inner protective cover, 22-7 bolt fixing holes ], 23 is a water pump, and 24 is a water tank.
Detailed Description
As shown in the figure, the bolt mounting arm can be applied to a drilling mechanical arm, the drilling mechanical arm comprises a base 2, a rotating base 9 is arranged on the base 2, a main mechanical arm motor 11 is arranged on the rotating base 9, a rotating shaft of the main mechanical arm motor 11 is connected with the lower end of a main mechanical arm 12, a height adjusting arm motor is arranged at the upper end of the main mechanical arm 12, a rotating shaft of the height adjusting arm motor is connected with the lower end of the height adjusting arm, an angle adjusting arm motor 18 is arranged at the upper end of the height adjusting arm, the angle adjusting arm motor 18 is connected with the lower end of an angle adjusting arm 17, and a drilling arm 21 is arranged at the upper end of the angle adjusting arm 17.
The foldable mechanical arm of the drilling machine is convenient to transport and suitable for areas with different operation radiuses.
The mechanical arm of the mechanical drilling mechanical arm is adjustable in height and angle, and the problem that supporting and hanging frames with different heights on the arc-shaped inner wall of a subway tunnel are difficult to drill is solved.
According to the drilling machine, the mechanical arm adopts a mechanical arm drilling structure, so that the labor input is reduced, the cost is saved, and the working efficiency is improved.
The drilling mechanical arm takes the center of the rotating base as the circle center and the mechanical arm as the radius, and the height is determined in a circle drawing mode, so that the perpendicularity between the drilling arm and the position of an operation point is ensured. The straightness of the mechanical arm is ensured by controlling the rotating angles of the height adjusting arm and the angle adjusting arm.
The rotating shaft of the main mechanical arm 12 is a rotor rotating shaft of a motor 11 of the main mechanical arm, the main mechanical arm is positioned at the circle center of a tunnel section circle after being subjected to height adjustment, the total length of the mechanical arm is a radius and is intersected at the circle center, a tangent line of the circle is perpendicular to the radius passing through a tangent point, the mechanical arm is perpendicular to an operation point, and the angle adjusting arm 17, the main mechanical arm 12 and the drilling arm 21 are positioned on the same straight line, so that the drilling arm is perpendicular to an operation surface.
The height adjusting arm comprises a first height adjusting arm 13 and a second height adjusting arm 15, a first height adjusting arm motor 14 is arranged at the upper end of the main mechanical arm, a rotating shaft of the first height adjusting arm motor 14 is connected with the lower end of the first height adjusting arm 13, a second height adjusting arm motor 16 is arranged at the upper end of the first height adjusting arm 13, a rotating shaft of the second height adjusting arm motor 16 is connected with the lower end of the second height adjusting arm 5, and an angle adjusting arm motor 18 is arranged at the upper end of the second height adjusting arm 5.
The rotating base driving motor 8 and the rotating base 9 can be connected through a planetary gear reducer, and the rotating base driving motor 8 drives the rotating base 9 to rotate.
The main mechanical arm can be arranged in a range of-45 degrees to 225 degrees for adjustment, so that the operation requirement is met. When different height work is carried out, the work is realized by adjusting the included angle theta 4 between the main mechanical arm 12 and the horizontal line.
The upper end of the angle adjusting arm 17 is provided with a switching bolt installation and drilling operation mode switching motor 20, and a rotating shaft of the operation mode switching motor 20 is respectively connected with a bolt installation arm 22 and a drilling arm 21. And the drilling operation mode and the bolt installation mode are switched, so that continuous installation is facilitated.
The angle between the mounting arm 22 and the drilling arm 21 is 90 degrees.
The lower end of the base 2 is provided with wheels 1. The wheel motor can adopt a Yuyang 10-inch 40-magnet steel 1200W torque version brushless motor with the model of DX40H8RV.
The rotating base 9 is arranged on the hydraulic lifting platform 5, and the lower end of the hydraulic lifting platform 5 is arranged on the base 2 through the jack 4.
The rotary base 9 is arranged on the hydraulic lifting platform 5 through a fixed flange.
The hydraulic lifting platform 5 is arranged on the power box 3, and the power box 3 is arranged on the base 2. A jack 4 at the lower end of the hydraulic lifting platform 5 can be arranged on the base 2 through the power supply box 3.
And a control panel 6 is arranged on the hydraulic lifting platform 5.
The angle adjusting arm motor 18 is provided with a transmitter of a photoelectric sensor 19.
The first height adjustment arm motor 14 is provided with a receiver for a photosensor 19.
The main mechanical arm motor 11 is provided with a distance sensor 10.
The distance sensor 10 includes a first distance sensor, a second distance sensor, and a third distance sensor; the included angles between the first distance sensor, the second distance sensor and the third distance sensor and the ground are respectively corresponding to the directions of 45 degrees, 90 degrees and 135 degrees, and the extension lines of the central axis directions of the three distance sensors are intersected with the rotation center of the main mechanical arm 12. The height of the operation surface of the equipment before punching can be used for carrying out center positioning according to the distance values of the inner walls of the tunnels measured by the three distance sensors on the central operation shaft.
And when the measurement values of the first distance sensor and the third distance sensor are smaller than the measurement value of the second distance sensor, the lifting platform is lifted, otherwise, the lifting platform is lowered until the first distance sensor and the third distance sensor are equal to each other, and the adjustment is stopped.
When the height adjustment is finished, that is, the rotating shaft of the main mechanical arm 12 is located at the center of the cross-sectional circle of the tunnel, and the first distance sensor, the second distance sensor and the third distance sensor are located on the concentric circle of the center of the cross-sectional circle of the tunnel, so that the distances of the tunnel wall measured by the first distance sensor, the second distance sensor and the third distance sensor are equal, and the value at this time is used as a final determined value. And adding the distance between the distance sensor 10 and the rotating shaft of the main mechanical arm 12 (namely the distance from the measuring point of the distance sensor 10 to the center of the rotor shaft of the motor 11 of the main mechanical arm) on the basis of the final determined value to serve as the overall working radius length of the mechanical arm, and extending the mechanical arm. The length of the mechanical arm can be extended to a set length according to the measured working radius.
The first height adjustment arm 13 is equal in length to the second height adjustment arm 15.
The angle adjusting arm 17 and the main mechanical arm 12 are always kept on the same straight line, and the adjusting length value delta X of the mechanical arm is determined according to the measured working radius R, the length d of the drilling arm 21, the length c of the angle adjusting arm 17, the calculated length a of the main mechanical arm 12 (the calculated length of the main mechanical arm 12 is the length between the upper rotating shaft and the lower rotating shaft of the main mechanical arm), and the reserved length Y, wherein X is determined by the lengths b of the first height adjusting arm and the second height adjusting arm and the included angle theta of the first height adjusting arm and the second height adjusting arm;
the calculation is as follows:
deducing X = R-d-c-a-Y from R = X + d + c + a + Y
Length adjustment value Δ X = X-X 0， I.e. X = Δ X + X 0
Is formed from X =2bsin (theta/2), theta epsilon 30-180 deg., angle theta limiting value is 30 deg., X initial value 0 At 2bsin15 °, θ =2arcsin (X/2 b) is deduced;
angular adjustment amount Δ θ = θ - θ 0， I.e. Δ θ = θ -30 °;
in the initial state of the mechanical arm, an included angle theta =30 degrees is formed between the first height adjusting arm 13 and the second height adjusting arm 15; an included angle theta 1 between the first height adjusting arm 13 and the operation radius axis is equal to an included angle theta 2 between the second height adjusting arm 15 and the operation radius axis and is equal to 75 degrees, and an included angle theta 3 between the angle adjusting arm 17 and the operation radius axis; when the value of θ is determined, the second height adjustment arm motor 16 starts to rotate counterclockwise by an angle Δ θ = θ -30 °, then the first height adjustment arm motor 14 starts to rotate clockwise by an angle Δ θ/2, then the angle arm motor 18 starts to rotate along the pointer by an angle Δ θ/2, so that the main mechanical arm 12 and the angle adjustment arm 17 are on the same straight line, and the verification is performed through the photoelectric sensor 19, wherein the verification method is as follows: the installation axes of the receiver and the reflector of the photoelectric sensor 19 coincide with the central axes of the main mechanical arm 12 and the angle adjusting arm 17 respectively, and when the signal interruption of the receiver and the signal interruption of the transmitter occurs, namely, the main mechanical arm 12 and the angle adjusting arm 17 are not in the same straight line, the screen gives an early warning. When the receiver normally receives the transmitter signal, it indicates that the main mechanical arm 12 and the angle adjusting arm 17 are in the same straight line, and the screen display is normal.
The control panel 6 adopts a MedhidOpen control MM-60MR-12MT-S1001A-FX-B touch screen PLC all-in-one machine. The control panel is respectively connected with each sensor through different I/O ports, receives input signals of the sensors and outputs control signals to control the action of each motor.
The distance sensor 10 adopts an infrared photoelectric sensor E3K100-DS100M1, and the adjusting value is set to be 4 meters.
The photoelectric sensor 19 adopts a laser correlation photoelectric switch sensor E3F-20L/20C1 infrared ray induction switch.
The control panel 6 can carry out human-computer interaction, can manually input numerical values of punching distance, punching height, operation surface direction and punching depth, then controls the corresponding motor to punch according to set values, and the operation sequence can be respectively distance positioning, height positioning and punching propelling.
The height is controlled through the rotation angle of the main mechanical arm motor 11, and the main mechanical arm 12 is in a position vertical to the ground in an initial state;
the height of the axis of the driving arm motor 11 from the plane where the steel rail is located is H, the initial angle of the axis of the operation arm (which refers to the whole mechanical arm and is the general name of the main mechanical arm 12, the first height adjusting arm 13, the second height adjusting arm 15, the angle adjusting arm 17 and the drilling arm) is 90 degrees, the operation height is H, and the adjusting angle delta theta is 1 Is the included angle between the radius of the mechanical arm and the vertical plane, and delta theta is more than or equal to 0 1 Less than or equal to 135 degrees; when the working height is greater than H, delta theta 1 =90 ° -arcsin ((H-H)/R), Δ θ when the working height is less than H 1 =90 ° + arcsin ((H-H)/R), R is the working radius;
the bottom of the drilling arm 21 is provided with a first stroke motor 21-15, a rotating shaft at the upper end of the first stroke motor 21-15 is provided with external threads, a rotating shaft 21-3 at the upper end of the first stroke motor 21-15 rotates through a central threaded hole of a first stroke chassis 21-4, two sides of the first stroke chassis 21-4 are provided with first stroke chassis sliders 21-5, the first stroke chassis sliders 21-5 are arranged in a first slide rail 21-2, the upper end of the first stroke chassis 21-4 is provided with a first stroke column 21-6, the upper end of the first stroke column 21-6 is connected with a first stroke top disk 21-7, the upper end of the first stroke top disk 21-7 is provided with a first motor base 21-8, the upper end of the first motor base 21-8 is provided with a drilling motor 21-9, a rotating shaft of the drilling motor 21-9 is provided with a drilling bit fixture 21-10, the drilling bit fixture 21-11 is arranged on the drilling bit fixture 21-10, the drilling motor 21-9 is provided with a spray head 21-16, the spray head 21-16 is connected with an outlet of a water pump 23, and an inlet of the water pump 23 is connected with a water tank 24.
The water pump 23 and the water tank 24 are provided at an upper portion of the second height adjusting arm 5.
A first pressure sensor 21-13 is arranged between the first motor base 21-8 and the stroke top disc 21-7. The first stroke top disc 21-7 can be provided with a thread groove, a bolt passes through a through hole in the first motor base 21-8 and is screwed into the thread groove, the bolt is deeper than the thread groove, when the front end of the bolt is jacked to the bottom end of the thread groove, the bolt head is not pressed on the first motor base 21-8, so that the first motor base 21-8 and the first stroke top disc 21-7 can slide slightly relatively, and when a drill bit of the drilling motor 21-9 is stressed, the first pressure sensor 21-13 detects pressure change.
And a detection signal output port of the first pressure sensor 21-13 is connected with an input end of a control panel, and an output end of the control panel is connected with a control signal input port of the drilling motor 21-9.
The pressure sensors 21-13/22-4 adopt Baoli pressure sensors with the model of SBT674-200N.
The set value of the pressure value is 14.5N.
When the drilling motor 21-9 is started, the water pump 23 is connected with the water tank 24, and the drill bit 21-11 is sprayed and injected with water through the spray head 21-16.
The drilling pressure and the water injection quantity can be controlled by means of pressure sensors.
A protective cover 21-1 can be arranged outside the rotating shaft 21-3, the lower end of the protective cover 21-1 is fixed with a first stroke motor 21-15, a sealing cover 21-14 is arranged at the upper end of the protective cover 21-1, the outer wall of the upper end of the protective cover 21-1 is provided with an external thread, the periphery of the sealing cover 21-14 protrudes downwards to form an annular flange, the inside of the annular flange is provided with an internal thread corresponding to the external thread of the outer wall of the upper end of the protective cover 21-1, and the center of the sealing cover 21-14 is provided with a through hole of a drilling motor 21-9.
The bottom of the bolt installation arm 22 is provided with a second stroke motor, an external thread is arranged on a rotating shaft at the upper end of the second stroke motor, the rotating shaft at the upper end of the second stroke motor rotates through a central threaded hole of a second stroke chassis, second stroke chassis sliding blocks are arranged on two sides of the second stroke chassis and are arranged in a second sliding way, a second stroke column is arranged at the upper end of the second stroke chassis, the upper end of the second stroke column is connected with a second stroke top disc, a second motor base is arranged at the upper end of the second stroke top disc, a sleeve motor is arranged at the upper end of the second motor base, an installation sleeve 22-2 is arranged on the rotating shaft of the sleeve motor, and the position of the installation sleeve 22-2 corresponds to the position of the bolt outlet 22-1-6 of the bolt box 22-1.
The bolt box protective cover 22-3 is arranged on the second stroke motor (the inner protective cover 22-6 can be arranged on the second stroke motor, the lower end of the bolt box protective cover 22-3 can be provided with internal threads, the bottom of the inner protective cover 22-6 can be correspondingly provided with external threads), the bolt box protective cover 22-3 is provided with a protective cover through hole, the bolt outlet hole 22-1-6 and the mounting sleeve 22-2 are arranged in the protective cover through hole, and the protective cover through hole is communicated with the bolt box mounting notch. The bolt box 22-1 is installed through the bolt box installation notch, bolt fixing holes 22-7 are formed in the bolt box 22-1 and the bolt box protective cover 22-3 correspondingly, and after the bolt box is completely installed, fixing bolts are fastened and communicated through the bolt fixing holes 22-7.
And a second pressure sensor 22-4 is arranged between the second motor base and the second stroke top disc 22-5.
The second stroke top disc can be provided with a thread groove, a bolt penetrates through a through hole in the second motor base 21-8 and is screwed into the thread groove, the bolt is deeper than the thread groove, when the front end of the bolt is propped against the bottom end of the thread groove, the bolt head is not pressed on the second motor base, so that the second motor base and the second stroke top disc can slide slightly relatively, and when the mounting sleeve 22-2 is stressed, the second pressure sensor 22-4 detects pressure change.
The bolt box 22-1 comprises a bolt box main body 22-1-1 and a bolt box base 22-1-2, a bolt box connecting hole 22-1-3 is formed in the end face of the bolt box main body 22-1-1, a bolt box base threaded hole 22-1-4 is formed in the end face of the bolt box base 22-1-2, a bolt outlet hole 22-1-6 is formed in the bolt box main body 22-1-1, the bolt outlet hole 22-1-6 is communicated with a bolt slideway 22-1-5, the bolt slideway 22-1-5 extends to the end face of the bolt box main body 22-1-1, a pushing top plate 22-1-8 is arranged on the bolt box base 22-1-2 corresponding to the bolt slideway 22-1-5, and the pushing top plate 22-1-8 is connected with the bolt box base 22-1-2 through a pushing spring 22-1-7.
The mounting sleeve 22-2 comprises a sleeve 22-2-4, a top plug 22-2-3 is arranged in the sleeve 22-2-4, and the rear end of the top plug 22-2-3 is connected with the bottom of the sleeve 22-2-4 through a buffer spring 22-2-2. The sleeve 22-2-4 and the sleeve rear part 22-2-1 are of an integral structure, the top plug 22-2-3 and the buffer spring 22-2-2 are of an integral structure, and the buffer spring 22-2-2 and the sleeve bottom can be fixed through the perforated plug 22-2-5.
The method can be applied to positioning and punching of the support and hanger of the subway section.
The working process of the invention is explained below with reference to the drawings:
the inventive drilling robot is first transported to the track line so that it is in the working position.
The power box 3 switches (supplying power for each part) and the control panel 6 switches are turned on, the control panel firstly processes data of the distance sensors 10, the number of the distance sensors is three, included angles of the distance sensors and the ground correspond to 45-degree 90-degree 135-degree directions respectively, the second distance sensor is 90-degree perpendicular to the ground, included angles of the first distance sensor and the third distance sensor are 90 degrees, included angles of the first distance sensor and the third distance sensor and the second distance sensor are 45 degrees, and extension lines of central axis directions of the three sensors are intersected with a rotation center of the main mechanical arm 12. And because the track is positioned at the center in the tunnel, and the rotating shaft of the main mechanical arm 12 is positioned on a vertical line between the center of the track and the ground, the measuring distances of the first distance sensor and the third distance sensor are always equal, the hydraulic device is controlled to adjust the height of the lifting platform according to the comparison result of the measuring values of the first distance sensor and the second distance sensor, the lifting platform is lifted when the measuring values of the first distance sensor and the third distance sensor are smaller than the measuring value of the second distance sensor, otherwise, the lifting platform is lowered until the measuring values are equal, and the adjustment is stopped.
The lengths of the first height adjusting arm 13 and the second height adjusting arm 15 are equal, the angle adjusting arm 17 and the main mechanical arm 12 are always kept on the same straight line, the length adjustment of the mechanical arm is converted into the transformation of an isosceles triangle with the length b of the height adjusting arm as the waist length, the adjustment length value delta X can be determined according to the measured operation radius R, the length d of the drilling arm, the length c of the angle adjusting arm and the calculated length a of the main mechanical arm, and the reserved length Y, wherein X is determined by the lengths b of the first height adjusting arm and the second height adjusting arm and the included angle theta between the first height adjusting arm and the second height adjusting arm.
The calculation is as follows:
deducing X = R-d-c-a-Y from R = X + d + c + a + Y
Length adjustment value Δ X = X-X 0， I.e. X = Δ X + X 0
From X =2bsin (θ/2) (θ e (30 ° -180 °) due to mechanical thickness limitation, the angle θ limit is 30 degrees, i.e. the initial value X of X 0 At 2bsin15 °) θ =2arcsin (X/2 b).
The angle adjustment amount Δ θ = θ - θ 0， I.e. Δ θ = θ -30 °.
By determining the radius R from the measurement of the distance sensor 10, the adjustment amount Δ X and thus the adjustment angle θ can be determined. Because the included angle theta =30 degrees between the first height adjusting arm 13 and the second height adjusting arm 15 in the initial state of the mechanical arm, the included angle theta 1 between the first height adjusting arm 13 and the operation radius axis is equal to 75 degrees, and the included angle theta 2 between the second height adjusting arm 15 and the operation radius axis is equal to theta 3 degrees, and the included angle theta 2 between the angle adjusting arm 17 and the operation radius axis is equal to theta 3 degrees. When the theta value is determined, the second height adjusting arm motor 16 starts to rotate anticlockwise by an angle delta theta = theta-30 degrees, then the first height adjusting arm motor 14 starts to rotate clockwise by delta theta/2, then the angle arm motor 18 starts to rotate along the pointer by delta theta/2, the main mechanical arm 12 and the angle adjusting arm 17 are ensured to be on the same straight line, meanwhile, the photoelectric sensor 19 is used for checking, and the straightness of the working radius is further ensured.
The wheel motor can adopt imperial yang 10 cun 40 magnet steel 1200W moment of torsion version brushless motor, and the model is DX40H8RV, is equipped with hall element and braking system, and the wheel outside can be for the rubber material, increases the frictional force of wheel and rail, improves the degree of accuracy of distance parameter, measures the axle revolution through hall element, confirms the working distance, stops to move ahead when arriving the setting value, starts braking system simultaneously, accomplishes the measurement work of distance.
The height is controlled by the rotation angle of the main robot arm motor 11. In the initial state, the main mechanical arm is in a position vertical to the ground, so that the adjustment of the operation on two sides is convenient. According to the determined operation radius R and the operation radius center, the height from the axle center of a motor 11 of a main mechanical arm to the plane of the steel rail is H, the initial angle of the operation arm is 90 degrees, the operation height is H, and the adjustment angle is delta theta 1 The included angle between the radius of the mechanical arm and a vertical plane is delta theta which is not less than 0 and is influenced by the structure of the mechanical arm 1 Is less than or equal to 135 degrees. When the working height is greater than H, delta theta 1 =90 ° -arcsin ((H-H)/R), Δ θ when the working height is less than H 1 =90 ° + arcsin ((H-H)/R), note: in programmed control, the angle is converted to radian.
And controlling the punching depth through the punching arm. The bottommost part of the drilling arm is provided with a first stroke motor 21-15 for providing power for the rotating shaft 21-3, the rotating number of turns of the motor controls the propelling distance of a first stroke chassis 21-4, a first stroke chassis sliding block 21-5, a first stroke column 21-6 and a first stroke top disc 21-7, namely the drilling depth, and the set drilling depth parameter is realized by controlling the rotating number of turns of the stroke motor. The center of the first stroke chassis 21-4 is provided with a thread structure which is matched with the external thread of the rotating shaft 21-3 to move up and down, when the rotating shaft is rotated to rotate forwards, the first stroke chassis 21-4 rises, and when the rotating shaft rotates backwards, the first stroke chassis falls, and the first stroke chassis 21-4, the first stroke chassis sliding block 21-5, the first stroke column 21-6 and the first stroke top disc 21-7 are of an integral structure. The drilling motor 21-9 is fixed on the first stroke top disc 21-7 through a first motor base 21-8 by bolts. In order to ensure the stable stroke, a first slideway 21-2 is welded on the inner wall of the protective cover 21-1, so that the stroke chassis slide block can move along the slideway, and the stability is enhanced. The length of the external thread of the first stroke column 21-6 and the rotating shaft 21-3 determines the adjusting range of the drilling depth.
The drilling arm has a pressure sensing function and is controlled by a first pressure sensor 21-13, the first pressure sensor is located in the middle of the drilling motor and the motor base, after the distance and the drilling height are determined, a first stroke motor 21-15 is started, the drilling arm is pushed outwards, when a drill bit 21-11 touches a wall surface, the backward thrust of the drilling motor 21-9 extrudes the first pressure sensor, when a pressure value reaches a set value, the set value is usually 14.5N, the drilling motor 21-9 is started, the drilling motor is provided with a planetary reducer, the torsion moment is increased, the rotating speed of the first stroke motor 21-15 is reduced when the drilling motor is started, therefore, constant-pressure forward drilling is guaranteed, and motor overload burning is avoided. And after drilling is finished, the first stroke motor rotates reversely to return to the original position to prepare for next drilling work.
The drilling arm has a water injection function, when the drilling motor 21-9 is started, the water pump 23 is connected with the water tank 24, the water tank is sufficient in water quantity before operation, the spray head 21-16 is used for spraying accurate water injection for the drill bit 21-11 to reduce the temperature of the drill bit, water is saved, and the sealing cover 21-14 plays a role in protecting the drilling construction on the back to prevent dust and sewage from flowing into the mechanical arm to cause damage to parts.
The operation mode switching means switching between the drill arm 21 and the bolt mounting arm 22, and this function is realized by the operation mode switching motor 20. And when one-time drilling operation is finished, the drilling arm stops working, and the stroke mechanism returns to the original position. Operation mode switching motor starts 20 this moment and starts, clockwise rotation 90, because drilling arm and bolt installation arm mutually perpendicular its length equal, the structure is similar, drilling arm and angle modulation arm the central axis is on same straight line, so operation mode switching motor clockwise rotation 90 back, bolt installation arm also is in same straight line with the axis of angle modulation arm, make the bolt of bolt installation arm after the rotation correspond the accuracy with the drilling of accomplishing like this, guaranteed the perpendicular relation of drilling arm and bolt installation arm and the interior arc operation face of tunnel like this, the quality of punching and bolt installation has been guaranteed. After the angle rotation, a second stroke motor of the bolt mounting arm 22 is started, the bolt mounting arm is similar to the drilling arm in principle and integrally pushed forward, the sleeve 22-2 is mounted, the collision bolt is pushed into a drilled hole through the outlet hole of the bolt box 22-1, when the collision bolt is pushed to the bottom, the second pressure sensor 22-4 is pressed, the pushing is stopped at the moment, the sleeve motor is started, the bolt is stopped by rotating for 3 circles, the pre-mounting of the bolt is completed, the second stroke motor is reversely rotated to the original position, the mode switching motor is started to rotate 90 degrees anticlockwise, the drilling mode is adjusted to be the drilling mode, and a next drilling command is waited.
The capacity of the bolt can be adjusted according to the length of the bolt slide way 22-1-5, the bolt is pushed forward through the pushing spring 22-1-7 and the pushing top plate 22-1-8, the bolt with the bolt outlet hole is ejected out, and the bolt with the bolt outlet hole is automatically filled under the pressure action of the pushing spring when the sleeve to be installed is withdrawn. The bolt box can be replaced quickly, and a plurality of bolt boxes can be prepared for bolt preassembling, so that the working efficiency is improved, and the continuity when the working amount is large is ensured.
The installation sleeve can reduce the damage to the bolt, slowly apply pressure to the bolt until pushing to the bottom of a drilled hole, the bolt is mainly pushed to move by the top plug 22-2-3 and the buffer spring 22-2-2 when the pressure sleeve just contacts with the bolt, when the bolt is pushed into the drilled hole, the bottom of the bolt is stressed, the bolt extrudes the buffer spring to be compressed, the sleeve is matched with a nut on the bolt, and the bolt is rotated to be pre-tightened and installed. This structure can prevent that the sleeve from to bolt and nut's extrusion deformation in advance, influences the later stage installation, can also prevent to loosen when the hole of boring in advance, and the top bolt receives the effect of gravity landing downwards, and the condition of installation not in place takes place, and this structure has realized the high quality installation function of bolt.
The rotation principles of the main mechanical arm and the height arm angle arm are not explained in detail in the invention, and the gear structure and the speed reducing device of the invention belong to the conventional range and are not described in detail.
Generally speaking, the automatic punching and bolt pre-installation device for the subway tunnel inner wall bracket hole has the advantages that the automatic punching and bolt pre-installation functions of the subway tunnel inner wall bracket hole are realized, the whole structure is simple, the practicability is high, the size is small and exquisite and flexible, the application range is wide, meanwhile, the automatic centering and arm length extension can be carried out, the perpendicularity to an operation surface is guaranteed, the punching distance, the punching position and the punching depth can be set according to specific requirements, the punching and bolt installation can be carried out according to set values, and the continuous operation can be realized. The drilling machine overcomes the difficulty in high-altitude drilling, reduces the high-altitude operation amount, improves the safety and the stability, can greatly reduce the labor input for drilling, and greatly saves the construction cost.
It should be understood that the detailed description of the present invention is only for illustrating the present invention and is not limited by the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention can be modified or substituted equally to achieve the same technical effects; as long as the use requirements are met, the method is within the protection scope of the invention.

Claims (6)

1. A bolt mounting arm comprises a bottom second stroke motor, and is characterized in that an external thread is arranged on a rotating shaft at the upper end of the second stroke motor, the rotating shaft at the upper end of the second stroke motor rotates through a central threaded hole of a second stroke chassis, second stroke chassis sliding blocks are arranged on two sides of the second stroke chassis, the second stroke chassis sliding blocks are arranged in a second slideway, a second stroke column is arranged at the upper end of the second stroke chassis, the upper end of the second stroke column is connected with a second stroke top disc, a second motor base is arranged at the upper end of the second stroke top disc, a sleeve motor is arranged at the upper end of the second motor base, a mounting sleeve (22-2) is arranged on the rotating shaft of the sleeve motor, and the position of the mounting sleeve (22-2) corresponds to the position of a bolt outlet hole (22-1-6) of a bolt box (22-1);
a first pressure sensor (21-13) is arranged between the first motor base (21-8) and the stroke top disc (21-7); a thread groove can be formed in the first stroke top disc (21-7), a bolt penetrates through a through hole in the first motor base (21-8) and is screwed into the thread groove, the bolt is longer than the thread groove in depth, when the front end of the bolt props against the bottom end of the thread groove, the bolt head is not pressed on the first motor base (21-8), so that the first motor base (21-8) and the first stroke top disc (21-7) can slide slightly relatively, and when a drill bit of the drilling motor (21-9) is stressed, the first pressure sensor (21-13) detects pressure change;
a protective cover (21-1) can be arranged on the outer side of the rotating shaft (21-3), the lower end of the protective cover (21-1) is fixed with a first stroke motor (21-15), a sealing cover (21-14) is arranged at the upper end of the protective cover (21-1), external threads are arranged on the outer wall of the upper end of the protective cover (21-1), an annular flange is formed by downward protruding the periphery of the sealing cover (21-14), internal threads are arranged inside the annular flange and correspond to the external threads on the outer wall of the upper end of the protective cover (21-1), and a through hole of a drilling motor (21-9) is formed in the center of the sealing cover (21-14); a first slideway (21-2) can be welded on the inner wall of the protective cover (21-1), so that the stroke chassis slide block can move along the slideway, and the stability is enhanced; the length of the external thread of the first stroke column (21-6) and the rotating shaft (21-3) determines the adjusting range of the drilling depth; for the overhead drilling construction, the sealing covers (21-14) play a role in protection, and prevent dust and sewage from flowing into the mechanical arm to cause part damage;
the bolt mounting arm is applied to a drilling mechanical arm, the drilling mechanical arm comprises a base (2), a rotating base (9) is arranged on the base (2), a main mechanical arm motor (11) is arranged on the rotating base (9), a rotating shaft of the main mechanical arm motor (11) is connected with the lower end of a main mechanical arm (12), a height adjusting arm motor is arranged at the upper end of the main mechanical arm (12), the rotating shaft of the height adjusting arm motor is connected with the lower end of the height adjusting arm, an angle adjusting arm motor (18) is arranged at the upper end of the height adjusting arm, the angle adjusting arm motor (18) is connected with the lower end of an angle adjusting arm (17), and a drilling arm (21) is arranged at the upper end of the angle adjusting arm (17);
the height adjusting arm comprises a first height adjusting arm (13) and a second height adjusting arm (5), a first height adjusting arm motor (14) is arranged at the upper end of the main mechanical arm, a rotating shaft of the first height adjusting arm motor (14) is connected with the lower end of the first height adjusting arm (13), a second height adjusting arm motor (16) is arranged at the upper end of the first height adjusting arm (13), a rotating shaft of the second height adjusting arm motor (16) is connected with the lower end of the second height adjusting arm (5), and an angle adjusting arm motor (18) is arranged at the upper end of the second height adjusting arm (5);
the upper end of the angle adjusting arm (17) is provided with a switching bolt installation and drilling operation mode switching motor (20), and a rotating shaft of the operation mode switching motor (20) is respectively connected with a bolt installation arm (22) and a drilling arm (21); the drilling arm and the bolt mounting arm are perpendicular to each other and have equal length, so that the bolt of the rotated bolt mounting arm corresponds to the finished drilled hole accurately;
a transmitter of a photoelectric sensor (19) is arranged on the angle adjusting arm motor (18), and a receiver of the photoelectric sensor (19) is arranged on the first height adjusting arm motor (14); a distance sensor (10) is arranged on the main mechanical arm motor (11); the distance sensors (10) comprise a first distance sensor, a second distance sensor and a third distance sensor; the included angles between the first distance sensor, the second distance sensor and the third distance sensor and the ground respectively correspond to the directions of 45 degrees, 90 degrees and 135 degrees, and the extension lines of the central axis directions of the three distance sensors are intersected with the rotation center of the main mechanical arm (12);
the rotating shaft of the main mechanical arm (12) is a rotor rotating shaft of a motor (11) of the main mechanical arm, the main mechanical arm is positioned at the circle center of a tunnel section circle after being subjected to height adjustment, the total length of the mechanical arm is a radius and is intersected at the circle center, a tangent line of the circle is perpendicular to the radius passing through a tangent point, the mechanical arm is perpendicular to an operating point, and the angle adjusting arm (17), the main mechanical arm (12) and the drilling arm (21) are positioned on the same straight line, so that the drilling arm is perpendicular to an operating surface;
when the height is adjusted, namely the rotating shaft of the main mechanical arm (12) is positioned at the circle center of the cross-section circle of the tunnel, and the first distance sensor, the second distance sensor and the third distance sensor are positioned on a concentric circle of the circle center of the cross-section circle of the tunnel, so that the distances of the tunnel wall measured by the first distance sensor, the second distance sensor and the third distance sensor are equal, and the value at the moment is taken as a final determined value; adding the distance between the distance sensor (10) and the rotating shaft of the main mechanical arm (12) on the basis of the final determined value to be used as the integral operation radius length of the mechanical arm, and extending the mechanical arm; the length of the mechanical arm can be extended to a set length according to the measured working radius;
a second pressure sensor (22-4) is arranged between the second motor base and the second stroke top disc (22-5);
the bolt box (22-1) comprises a bolt box main body (22-1-1) and a bolt box base (22-1-2), a bolt box connecting hole (22-1-3) is formed in the end face of the bolt box main body (22-1-1), a bolt box base threaded hole (22-1-4) is formed in the end face of the bolt box base (22-1-2), a bolt outlet (22-1-6) is formed in the bolt box main body (22-1-1), the bolt outlet (22-1-6) is communicated with a bolt slideway (22-1-5), the bolt slideway (22-1-5) extends to the end face of the bolt box main body (22-1-1), a pushing top plate (22-1-8) is arranged on the bolt box base (22-1-2) corresponding to the bolt slideway (22-1-5), and the pushing top plate (22-1-8) is connected with the bolt box base (22-1-2) through a pushing spring (22-1-7).
2. The bolt mounting arm according to claim 1, wherein the second stroke motor is provided with a bolt magazine guard (22-3), the bolt magazine guard (22-3) is provided with a guard through hole, the bolt outlet hole (22-1-6) and the mounting sleeve (22-2) are provided in the guard through hole, and the guard through hole is communicated with the bolt magazine mounting notch.
3. The bolt mounting arm according to claim 1, wherein an inner protective cover (22-6) is arranged on the second stroke motor, the lower end of the bolt box protective cover (22-3) is provided with an internal thread, and the bottom of the inner protective cover (22-6) is correspondingly provided with an external thread.
4. A bolt mounting arm according to claim 1, characterised in that the second stroke head plate is provided with a threaded groove into which a bolt is screwed through a through hole in the second motor base (21-8), the bolt being longer than the depth of the threaded groove.
5. The bolt mounting arm according to claim 1, wherein the mounting sleeve (22-2) comprises a sleeve (22-2-4), a top plug (22-2-3) is arranged in the sleeve (22-2-4), and the rear end of the top plug (22-2-3) is connected with the bottom of the sleeve (22-2-4) through a buffer spring (22-2-2).
6. A bolt mounting arm according to claim 5, characterised in that the sleeve (22-2-4) is of integral construction with the sleeve rear portion (22-2-1), the top plug (22-2-3) is of integral construction with the damping spring (22-2-2), and the damping spring (22-2-2) is secured to the sleeve bottom by means of a perforated plug (22-2-5).
CN202010595760.7A 2020-06-28 2020-06-28 Bolt mounting arm Active CN111660277B (en)

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Publication number Priority date Publication date Assignee Title
CN111648720B (en) * 2020-06-28 2022-01-14 中铁九局集团电务工程有限公司 Drilling mechanical arm
CN113352330B (en) * 2021-06-29 2025-04-15 上海交通大学 A rolling device for working on the surface of a curved structure and a control method thereof
CN117984298B (en) * 2024-04-03 2024-06-07 国家能源集团山西电力有限公司 Wind-powered electricity generation maintains self-detection vibration arm

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US4415301A (en) * 1980-05-19 1983-11-15 West American Sound, Inc. Cassette handling device
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