五轴液压机械手的设计及其在潜孔钻机中的应用

Design of Five-Axis Hydraulic Manipulator and Its Application in Down-the-Hole Drills

潜孔钻机作为矿山深孔凿岩的主体开采装备,普遍使用的是人工装卸钻杆或者推进器上配置钻杆库。前者劳动强度大,生产效率低下,且存在很大的安全隐患;后者只适用于小直径钻杆,钻孔数量无法满足大直径深孔要求。基于此,介绍一种五轴液压机械手的结构及设计原理,成功搭载于潜孔钻机,解决了传统潜孔钻机接卸杆依靠人工、钻杆数量受限等技术难题,并进行现场应用,实现了采场全过程无人作业。

As the main mining equipment for borehole drilling in mines,down-the-hole drill mainly uses manually assembled drill pipe or thruster configured with drill pipe stand.Manually assembled drill pipe has high labor intensity and low productivity with great safety risks,whereas the thruster configured with drill pipe stand can only be applied to small-diameter drill pipes and the number of drilling holes cannot meet the requirements of large-diameter holes.This paper introduces the structure and design principle of a five-axis hydraulic manipulator that can be successfully equipped on down-the-hole drills.The five-axis hydraulic manipulator has solved some technical problems of traditional down-the-hole drills such as manual assembly of drill pipes and limited number of drill pipes.The field application also indicated that the product can successfully realize the unmanned operation of the whole working process at the stope.