CN107489383A - A kind of underground coal mine automation drilling rod management system and method - Google Patents
A kind of underground coal mine automation drilling rod management system and method Download PDFInfo
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- CN107489383A CN107489383A CN201710885599.5A CN201710885599A CN107489383A CN 107489383 A CN107489383 A CN 107489383A CN 201710885599 A CN201710885599 A CN 201710885599A CN 107489383 A CN107489383 A CN 107489383A
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- drilling rod
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- 238000005553 drilling Methods 0.000 title claims abstract description 148
- 239000003245 coal Substances 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000008676 import Effects 0.000 claims abstract description 13
- 241000219098 Parthenocissus Species 0.000 claims abstract description 4
- 210000000078 claw Anatomy 0.000 claims description 96
- 238000003756 stirring Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 239000000463 material Substances 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 abstract description 2
- 238000010276 construction Methods 0.000 abstract 1
- 241000282472 Canis lupus familiaris Species 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 241000274582 Pycnanthus angolensis Species 0.000 description 2
- 239000011087 paperboard Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000935985 Certhiidae Species 0.000 description 1
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- 238000004873 anchoring Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003610 charcoal Substances 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 210000003296 saliva Anatomy 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
A kind of underground coal mine automation drilling rod management system and method for the present invention, for underground clamping, conveying mine drill stem, it includes drill rod box, drilling rod outlet and drilling rod import are offered respectively in the horizontal both sides of drill rod box, sprocket shaft is provided with drill rod box, sprocket shaft restocking is provided with chain, sprocket shaft described in motor driven rotates, to drive the chain movement, so that drilling rod enters drill rod box by drilling rod import, exported by drilling rod and send out drill rod box, drilling rod lower box part is provided with creeper undercarriage, drives drill rod box movement.Realize the crawl of drilling rod with loosening by the position cooperation and the ingenious setting of mechanical structure of each several part machine components, realize automatic transport and the recovery of drilling rod, the operation such as artificial taking and placing, carrying is avoided, substantial amounts of manpower and materials is saved, is truly realized unmanned, improve the efficiency of the upper and lower drilling rod in underground, efficiency of drilling is improved, avoids the presence of potential safety hazard, exquisiteness simple in construction, small volume, be readily disassembled, installation, maintenance, replacement.
Description
Technical field：
The present invention relates to drilling rod management system, and in particular to a kind of underground coal mine automation drilling rod management system and method.
Background technology：
The appearance of clamp system, largely solve and accommodated insecure, manual operation inconvenience in the past, and artificial behaviour
The problems such as risk caused by work, have greatly liberated both hands, reduce caused various during production and living
Harm, significantly reduces production cost, promotes the fast development of national economy.
However, the various types of clamp systems flowed in the market, species is various, complicated, not only volume compared with
Greatly, have a style of one's own, and it is extremely inconvenient to dismantle finishing, it is artificial during the various drill hole of drilling machine in particularly current underground, perforating
Upper and lower drilling rod is wasted time and energy, and is averagely dismounted a drilling rod and is taken more than 10 minutes, is at the same time drilled when a job site
When transition is carried out after end, because drilling rod quantity is more (500), larger weight is one great for artificial carry
Challenge, above-mentioned all drawbacks are a weakness for the operating efficiency of underground high-efficient.And in the artificial dismounting drilling rod in underground
Potential safety hazard is larger, careless slightly to cause serious casualty accident.
Therefore, need badly and study a kind of more economical applicable underground coal mine automation drilling rod management system and method, to meet
The use demand of people.
The content of the invention：
Automate and bore it is an object of the invention to provide a kind of underground coal mine that can be managed and convey to drilling rod automatically
Rod tube manages system and method.
To achieve the above object, the present invention uses following technical scheme：
A kind of underground coal mine automation drilling rod management system provided by the invention, including drill rod box, it is horizontal in the drill rod box
To both sides offer respectively drilling rod outlet and drilling rod import, the drilling rod exit and drilling rod entrance are transversely set respectively
There are entrance sloping platform and outlet-inclined impeller vane platform, the entrance sloping platform includes entrance tilting section and entrance horizontal segment, described
Outlet-inclined impeller vane platform includes the lower tilting section of the upper tilting section in outlet and outlet, and tilting section under the entrance horizontal segment and the outlet
Towards the casing outside of the drill rod box, tilting section has outlet flat towards the end set on the outside of casing under the outlet
Platform, is provided with inclined ramp in the outlet of the outlet-inclined impeller vane platform on the end face of tilting section toward each other, the entrance inclines
Both sides of the entrance tilting section of sloping platform along longitudinal direction are also equipped with inclined ramp, and the inclined ramp includes sliding way and downslide
Road, multiple sprocket shafts are vertically arranged with the cabinet wall of the drill rod box, the both ends of the sprocket shaft are installed with respectively
Sprocket wheel, the sprocket wheel restocking are provided with chain, and the drill rod box side is fixed with explosion-proof stepper motor, the explosion-proof stepper motor
The one of sprocket shaft of axis connection is exported, drives the sprocket shaft to rotate, to drive the chain movement, along vertical on the chain
To multiple first connecting plates are provided with, the both ends of first connecting plate are connected with gripper respectively, to grasp drilling rod, institute
Stating gripper includes the second connecting plate, and the first claw and the second claw are articulated with second connecting plate, in the described first card
Pawl and the second claw top are provided with first boss, and the first claw lower hinge has lockset switchboard, the lockset switch
The hook groove that the end of plate opens up is engaged with the second boss set on second claw, is set on the lockset switchboard
There is the 3rd boss, when the gripper moves to the inclined ramp, the first boss is moved in the sliding way, institute
State the 3rd boss to move in the glide path, the sliding way and glide path limit the first boss and the fortune of the 3rd boss
Dynamic rail mark, to change the distance between the first boss and the 3rd boss, make the hook groove clamping or unclamp described the
Two boss, realize grasping or release of the gripper to the drilling rod.
The chain is distributed in the casing of the drill rod box in lateral spill, is vertically arranged with its interior recess U-shaped
Guiding trestle, the U-shaped guiding trestle includes the rack beam for being longitudinally arranged at cabinet wall, in the rack beam side
Both ends be provided with U-shaped connecting plate, the chain bypasses the outer surface of the U-shaped connecting plate.
U-shaped baffle plate, U-shaped baffle plate shape on the U-shaped connecting plate are additionally provided with the outer surface of the U-shaped connecting plate
Into U-rail groove, the chain is located in the U-rail groove, to the spacing chain.
The sliding way includes first horizontal segment, the second horizontal segment and the 3rd horizontal segment, the first horizontal segment and the 3rd
Horizontal segment it is highly consistent, the height of second horizontal segment is less than the first horizontal segment, second horizontal segment and first
Connected respectively by the first tilting section between horizontal segment, the 3rd horizontal segment；The glide path includes the 4th horizontal segment, the 5th level
Section and the 6th horizontal segment, the 4th horizontal segment and the 6th horizontal segment it is highly consistent, the height of the 5th horizontal segment is less than
4th horizontal segment, connected respectively by the second tilting section between the 5th horizontal segment and the 4th horizontal segment, the 6th horizontal segment
Connect；And the length of the 4th horizontal segment is less than the first horizontal segment, the length of the 5th horizontal segment is more than described second
Horizontal segment, the 6th horizontal segment are less than the 3rd horizontal segment.
First claw and the second claw are symmetrically articulated in by pin on second connecting plate, first claw
Cooperated with the second claw, grip the drilling rod, one end end of the pin away from second connecting plate is installed with
Sleeve, the first claw and the second claw described in block, open up on second connecting plate it is fluted, with the spacing drilling rod.
The drilling rod lower box part is provided with creeper undercarriage.
Pusher dog is additionally provided with the entrance tilting section of the entrance sloping platform, the pusher dog is connected with small stepper motor,
The pusher dog is driven to move, to stir the drilling rod.
Second connecting plate is welded on first connecting plate.
The bottom of first connecting plate is connected with the 3rd connecting plate, and the end of the 3rd connecting plate is fixed in two institutes
State the side of chain away from each other.
The method that above-mentioned underground coal mine automation drilling rod management system is managed to drilling rod, is comprised the following steps that：
Step 1：Drilling rod is put into from the drilling rod import, drilling rod moves along the entrance sloping platform to box house；
Step 2：The explosion-proof stepper motor is opened, the explosion-proof stepper motor drives the sprocket shaft to rotate, and then drives
Move the chain movement；
Step 3：The chain-driving gripper motion, the entrance that the gripper enters the entrance sloping platform incline
The inclined ramp of oblique section both sides, the first boss are moved in the sliding way, and the 3rd boss is in the glide path
Motion；
Step 4：As distance diminishes between the first boss and the 3rd boss, the hook groove unclamps described second
Boss, the first claw of the gripper and the second claw open, between the first boss and the 3rd boss during distance maximum,
Gripper opens completely, while entrance tilting section of the drilling rod along the entrance sloping platform slides into the first of gripper
In claw and the second claw；
Step 5：The chain-driving gripper continues to move, with distance between the first boss and the 3rd boss
Diminish, second boss described in the hook groove clamping, the first claw and the second claw of the gripper close up, and grip described
Drilling rod；
Step 6：The chain-driving gripper continues to move, and then makes the gripper drive the drilling rod to move to
The drilling rod exit, the gripper enter the inclined ramp set in the outlet of the outlet-inclined impeller vane platform on tilting section,
The first boss is moved in the sliding way, and the 3rd boss moves in the glide path；
Step 7：As distance diminishes between the first boss and the 3rd boss, the hook groove unclamps described second
Boss, the first claw of the gripper and the second claw open, and the chain-driving gripper continues to move, the drilling rod quilt
Drive to the end of tilting section in the outlet of the outlet-inclined impeller vane platform, drop under the outlet of the outlet-inclined impeller vane platform and tilt
Duan Shang, and moved to along tilting section under the outlet of the outlet-inclined impeller vane platform on export platform, complete the once management of drilling rod
Process.
A kind of beneficial effect of underground coal mine automation drilling rod management system and method for the present invention：By gripper in drilling rod
The unlocking and locking of outlet and drilling rod import realize that gripper opens and closed, while rely on regular group of small stepper motor
Bar, realize the crawl to single drilling rod with loosening, fully rely in this course each several part machine components position coordinate and
The ingenious setting of mechanical structure realizes the crawl of drilling rod with loosening, and gripper is in all the time in the transportation of drilling rod
Self-locking state, make the crawl of drilling rod more firm, this procedure avoids the operation such as artificial taking and placing, carrying, save substantial amounts of people
Power material resources, are truly realized unmanned, thoroughly improve the efficiency of the upper and lower drilling rod in underground, improve efficiency of drilling, improve coal
Charcoal production efficiency, more avoid the presence of potential safety hazard.Meanwhile structure of the invention is simply exquisite, small volume, be readily disassembled,
Installation, maintenance, replacement, the clamping to drilling rod is firm, and gripper shrinks freely, and is different from common some clampings, conveyer
Structure, drilling rod is transported for innovation underground, artificial upper and lower drilling rod serves the effect of initiative.
Brief description of the drawings：
Fig. 1 is the job state figure that underground coal mine of the present invention automates drilling rod management system；
Fig. 2 is the overall structure diagram that underground coal mine of the present invention automates drilling rod management system；
Fig. 3 is the internal structure schematic diagram that underground coal mine of the present invention automates drilling rod management system；
Fig. 4 is Fig. 3 front view；
Fig. 5 is the structural representation for the inclined ramp that entrance sloping platform both sides are set；
Fig. 6 is the structural representation of U-shaped guiding trestle；
Fig. 7 is the structural representation under gripper closure state；
Fig. 8 is the structural representation under gripper relaxation state；
Fig. 9 is the first state schematic diagram that gripper moves to inclined ramp；
Figure 10 is the second view that gripper moves to inclined ramp；
Figure 11 is the third state schematic diagram that gripper moves to inclined ramp；
Figure 12 is the 4th view that gripper moves to inclined ramp；
Figure 13 is the 5th view that gripper moves to inclined ramp；
Figure 14 is the 6th view that gripper moves to inclined ramp；
Figure 15 is the 7th view that gripper moves to inclined ramp；
Figure 16 is the 8th view that gripper moves to inclined ramp；
Figure 17 is the 9th view that gripper moves to inclined ramp；
Figure 18 is the tenth view that gripper moves to inclined ramp；
In figure：1- drill rod box, the outlet of 2- drilling rods, 3- drilling rod imports, 4- entrance sloping platforms, 5- outlet-inclined impeller vane platforms, 6-
Entrance tilting section, 7- entrance horizontal segments, tilting section in 8- outlets, the lower tilting section in 9- outlets, 10- inclined ramps, 11- sliding ways,
12- glide paths, 13- sprocket shafts, 14- sprocket wheels, 15- chains, the explosion-proof stepper motors of 16-, the connecting plates of 17- first, 18- grippers,
The connecting plates of 19- second, the claws of 20- first, the claws of 21- second, 22- first boss, 23- lockset switchboards, 24- hook grooves, 25-
Second boss, the boss of 26- the 3rd, 27-U type guiding trestles, 28- rack beams, 29-U type connecting plates, 30-U type baffle plates, 31-U
Type rail groove, 32- first horizontal segments, the horizontal segments of 33- second, the horizontal segments of 34- the 3rd, the tilting sections of 35- first, 36- the 4th are horizontal
Section, the horizontal segments of 37- the 5th, the horizontal segments of 38- the 6th, the tilting sections of 39- second, 40- export platforms, 41- drilling rods, 42- pins, 43-
Sleeve, 44- grooves, 45- creepers undercarriage, 46- pusher dogs, the small stepper motors of 47-, the connecting plates of 48- the 3rd, 49- rigs, 50-
Mechanical arm.
Embodiment：
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining the relative position relation under a certain particular pose (as shown in drawings) between each part, motion conditions etc., if should
When particular pose changes, then directionality instruction also correspondingly changes therewith.
In addition, the description for being related to " first ", " second " etc. in the present invention is only used for describing purpose, and it is not intended that referring to
Show or imply its relative importance or imply the quantity of the technical characteristic indicated by indicating.Thus, " first ", " are defined
At least one this feature can be expressed or be implicitly included to two " feature.In addition, the technical scheme between each embodiment can
To be combined with each other, but must can be implemented as basis with those of ordinary skill in the art, when the combination of technical scheme occurs
It is conflicting or will be understood that the combination of this technical scheme is not present when can not realize, also not in the protection model of application claims
Within enclosing.
As shown in Fig. 1~Fig. 2, a kind of underground coal mine automation drilling rod management system provided by the invention, pressed from both sides for underground
Hold, convey mine drill stem, it includes drill rod box 1, offers drilling rod outlet 2 respectively in the horizontal both sides of drill rod box 1 and drilling rod enters
Mouth 3, it is that the corner that boxboard and left boxboard intersect on drill rod box 1 offers drilling rod outlet 2, its right case in the present embodiment
Drilling rod import 3 is offered on plate, drilling rod 41 enters drill rod box 1 by drilling rod import 3, and drill rod box 1, rig are sent out by drilling rod outlet 2
49 offer the side of drilling rod outlet 2 positioned at drill rod box 1, and the mechanical arm 50 set on rig 49 is extended at drilling rod outlet 2,
The drilling rod 41 sent out at holding drill pipe outlet 2, the bottom of drill rod box 1 are provided with creeper undercarriage 45, drive drill rod box 1 to move.
As shown in Fig. 3~Fig. 4, multiple sprocket shafts 13 are vertically arranged with the cabinet wall of drill rod box 1, sprocket shaft 13
Both ends are installed with sprocket wheel 14 respectively, and the restocking of sprocket wheel 14 is provided with chain 15, i.e., is fixed using double strand chain 15, the side of drill rod box 1
There is explosion-proof stepper motor 16, the one of sprocket shaft 13 of output axis connection of explosion-proof stepper motor 16, drive sprocket shaft 13 to rotate,
Moved with drive chain 15, multiple first connecting plates 17 are vertically arranged with chain 15, in the present embodiment, connected first
The bottom of fishplate bar 17 is connected with the 3rd connecting plate 48, and the end of the 3rd connecting plate 48 is fixed in one of two chains 15 away from each other
Side, i.e., the first connecting plate 17 is connected to the outside of chain 15, gripper is connected with respectively at the both ends of the first connecting plate 17
18, to grasp drilling rod 41, and chain 15 is distributed in the casing of drill rod box 1 in lateral spill, is set in its interior recess along longitudinal direction
U-shaped guiding trestle 27 is equipped with, as shown in fig. 6, U-shaped guiding trestle 27 includes the rack beam for being longitudinally arranged at cabinet wall
28, U-shaped connecting plate 29 is provided with the both ends of the side of rack beam 28, chain 15 bypasses the outer surface of U-shaped connecting plate 29,
The first connecting plate 17 for being connected to the outside of chain 15 is located at the both sides of U-shaped connecting plate 29, U-shaped connecting plate 29 is stepped down, in U
U-shaped baffle plate 30 is additionally provided with the outer surface of type connecting plate 29, U-shaped baffle plate 30 forms U-rail groove on U-shaped connecting plate 29
31, chain 15 is located in U-rail groove 31, to Anchoring chain 15, can also be set in the casing of drill rod box 1 multiple U-shaped
Guiding trestle 27, double strand chain 15 is arranged as multilayer, makes its serpentine-like distribution, increase the storage number of drilling rod 41 in drill rod box 1
Amount, to save space and being easy to introduce, it is described in detail with the double strand chain 15 for being arranged as two layers in the present embodiment,
Obviously, described embodiment is only the specific embodiment of the present invention, rather than whole embodiments.
As shown in figure 4, be horizontally arranged with entrance sloping platform 4 at drilling rod import 3, entrance sloping platform 4 include into
Mouth tilting section 6 and entrance horizontal segment 7, entrance horizontal segment 7 are placed on drilling rod and entered towards the casing outside of drill rod box 1, drilling rod 41
At mouth 3, and by horizontal sliding to entrance horizontal segment 7, rolled on entrance horizontal segment 7, the entrance tilting section 6 of entrance sloping platform 4
On be additionally provided with pusher dog 46, pusher dog 46 is connected with small stepper motor 47, and small stepper motor 47 drives pusher dog 46 to move, stirs drilling rod
41, the drilling rod 41 of rolling is once stirred one to entrance tilting section 6, the entrance tilting section 6 of entrance sloping platform 4 is along longitudinal direction
Both sides be provided with inclined ramp 10, drilling rod 41 scrolls down through along entrance tilting section 6, falls into gripper 18, then mechanical
Pawl 18 clamps.
As shown in figure 4, being horizontally arranged with outlet-inclined impeller vane platform 5 at drilling rod outlet 2, outlet-inclined impeller vane platform 5 includes
The lower tilting section 9 in tilting section 8 and outlet on mouth, casing outside of the lower tilting section 9 towards drill rod box 1 is exported, is had a down dip in the outlet
Oblique section 9 has export platform 40 towards the end set on the outside of casing, the tilting section 8 towards that in the outlet of outlet-inclined impeller vane platform 5
Inclined ramp 10 is provided with this end face, chain 15 drives drilling rod 41 to move at drilling rod outlet 2, in the drive of gripper 18
Under, moved upwards along the upper tilting section 8 in outlet, until moving to the peak of the upper tilting section 8 in outlet, gripper 18 unclamps drilling rod,
Drilling rod 41 is moved on the lower tilting section 9 in outlet, and moves to export platform 40 along the lower tilting section 9 in outlet, and by mechanical arm
50 take.
As shown in figs. 5 and 9, the inclined ramp 10 includes sliding way 11 and glide path 12, and gripper 18 is in sliding way
11 and glide path 12 in move, realize the closure and opening of gripper 18.It is horizontal that sliding way 11 includes first horizontal segment 32, second
Section 33 and the 3rd horizontal segment 34, the horizontal segment 34 of first horizontal segment 32 and the 3rd it is highly consistent, the height of the second horizontal segment 33 is low
Pass through the first tilting section respectively between first horizontal segment 32, the second horizontal segment 33 and first horizontal segment 32, the 3rd horizontal segment 34
35 connections；Glide path 12 includes the 4th horizontal segment 36, the 5th horizontal segment 37 and the 6th horizontal segment 38, the 4th horizontal segment 36 and the 6th
Horizontal segment 38 it is highly consistent, the height of the 5th horizontal segment 37 is less than the 4th horizontal segment 36, and the 5th horizontal segment 37 and the 4th is horizontal
Connected respectively by the second tilting section 39 between the 36, the 6th horizontal segment 38 of section；And the 4th the length of horizontal segment 36 be less than the first water
Flat section 32, the length of the 5th horizontal segment 37 are more than the second horizontal segment 33, and the 6th horizontal segment 38 is less than the 3rd horizontal segment 34, and is going out
The inclined ramp 10 set on mouthful sloping platform 5, the upper tilting section 8 in outlet are to be located to incline with the end that outlet descends tilting section 9 to intersect
Second horizontal segment 33 of inclined ramp 10 and the top of the 5th horizontal segment 37.
As shown in Fig. 7~Fig. 8, gripper 18 includes the second connecting plate 19, and the second connecting plate 19 is welded on the first connecting plate
On 17, first claw 20 and the second claw 21, the first claw 20 and the second card are articulated with by pin 42 on the second connecting plate 19
Pawl 21 cooperates, and grips drilling rod 41, and the length of the first claw 20 is more than the length of the second claw 21, and pin 42 is away from the
One end end of two connecting plates 19 is installed with sleeve 43, and block the first claw 20 and the second claw 21 are gone here and there on pin 42
It is dynamic, fluted 44 are opened up on the second connecting plate 19, drilling rod 41 is carried out spacing, is set in the first claw 20 and the top of the second claw 21
It is equipped with first boss 22, the lower hinge of the first claw 20 has a lockset switchboard 23, the hook that the end of lockset switchboard 23 opens up
Groove 24 is engaged with the second boss 25 set on the second claw 21, and the 3rd boss 26 is provided with lockset switchboard 23, works as machine
When machinery claw 18 moves to inclined ramp 10, first boss 22 is moved in sliding way 11, and the 3rd boss 26 is transported in glide path 12
It is dynamic, the movement locus of sliding way 11 and the limitation boss 26 of first boss 22 and the 3rd of glide path 12, to change the He of first boss 22
The distance between 3rd boss 26, make the clamping of hook groove 24 or unclamp second boss 25, realize gripper 18 to drilling rod 41
Grasp or unclamp.
When gripper 18 moves to inclined ramp 10, in the whole motion state of inclined ramp 10：
As shown in figure 9, when the first boss 22 on the second claw 21 is moved in first horizontal segment 32, the 3rd boss 26 exists
Moved in 4th horizontal segment 36, gripper 18 is in closed form；
As shown in Figure 10, when the first boss 22 on the second claw 21 is still moved in first horizontal segment 32, the 3rd is convex
The second tilting section 39 that platform 26 is moved between the 4th horizontal segment 36 and the 5th horizontal segment 37, now first on the second claw 21
The distance between boss 26 of boss 22 and the 3rd changes, and distance diminishes, and hook groove 24 unclamps second boss 25, unclamps to machine
Machinery claw 18 it is locked, gripper 18 starts slowly to open；
And then, as shown in figure 11, the first boss 22 on the second claw 21 moves to the water of first horizontal segment 32 and second
The first tilting section 35 between flat section 33, now, the 3rd boss 26 is moved on the 5th horizontal segment 37, and on the first claw 20
One boss 22 is moved in first horizontal segment 32, now between the boss 26 of first boss 22 and the 3rd on the second claw 21 away from
From increase, gripper 18 continues to open；
As shown in figure 12, the first boss 22 on the second claw 21 is moved in the second horizontal segment 33, and the 3rd boss 26 exists
Moved in 5th horizontal segment 37, now the first boss 22 on the first claw 20 the horizontal segment 33 of first horizontal segment 32 and second it
Between the first tilting section 35 in move, now the distance between boss 26 of first boss 22 and the 3rd on the second claw 21 enters one
Step increase, gripper 18 continue to open；
As shown in figure 13, the first boss 22 on the second claw 21 is moved in the second horizontal segment 33, and the 3rd boss 26 exists
Moved in 5th horizontal segment 37, now the first boss 22 on the first claw 20 is moved in the second horizontal segment 33, and now second
The distance between the boss 26 of first boss 22 and the 3rd on claw 21 maximum, gripper 18 open completely；
As shown in figure 14, under 18 complete open configuration of gripper, drilling rod 41 is tilted by the entrance of entrance sloping platform 4
Section 6 moves to box house, falls on the second connecting plate 19 of gripper 18 in the groove 44 opened up；
As shown in figure 15, the first boss 22 on the second claw 21 move to the second horizontal segment 33 and the 3rd horizontal segment 34 it
Between the first tilting section 35, now, first boss 22 on the first claw 20 is moved in the second horizontal segment 33, the 3rd boss 26
Moved in the 5th horizontal segment 37, now the distance between boss 26 of first boss 22 and the 3rd on the second claw 21 changes
Become, distance diminishes, and gripper 18 starts slowly to close；
As shown in figure 16, the first boss 22 on the second claw 21 moves to the 3rd horizontal segment 34, now, the first claw 20
On the first tilting section 35 that moves between the second horizontal segment 33 and the 3rd horizontal segment 34 of first boss 22, the 3rd boss 26 exists
Moved in 5th horizontal segment 37, now the distance between boss 26 of first boss 22 and the 3rd on the second claw 21 further subtracts
Small, gripper 18 continues to close；
As shown in figure 17, the first boss 22 on the second claw 21 is moved in the 3rd horizontal segment 34, on the first claw 20
First boss 22 move to the 3rd horizontal segment 34, the 3rd boss 26 is moved between the 5th horizontal segment 37 and the 6th horizontal segment 38
The second tilting section 39, now the distance between boss 26 of first boss 22 and the 3rd on the second claw 21 further reduce,
Gripper 18 continues to close；
As shown in figure 18, the first boss 22 on the second claw 21 is moved in the 3rd horizontal segment 34, on the first claw 20
First boss 22 move to the 3rd horizontal segment 34, the 3rd boss 26 moves to the 6th horizontal segment 38, now on the second claw 21
The distance between the boss 26 of first boss 22 and the 3rd minimum, gripper 18 close completely, drilling rod 41 is grasped in the first card
In the claw 21 of pawl 20 and second, hook groove 24 is fastened in second boss 25, locked to gripper 18, realizes gripper 18 to drilling rod
41 grasping.
The method that above-mentioned underground coal mine automation drilling rod management system is managed to drilling rod, with drill rod box 1 to rig 49
Exemplified by providing drilling rod, it is comprised the following steps that：
Step 1：Drilling rod 41 is put into from drilling rod import 3, drilling rod 41 moves along entrance sloping platform 4 to box house, and
Under the driving of small stepper motor 47, pusher dog 46 once stirs a drilling rod 41；
Step 2：Explosion-proof stepper motor 16 is opened, explosion-proof stepper motor 16 drives sprocket shaft 13 to rotate, and double strand chain 15 exists
Rule is moved under the drive of sprocket shaft 13；
Step 3：The driving mechanical pawl 18 of chain 15 moves, and gripper 18 enters the entrance tilting section 6 of entrance sloping platform 4
The inclined ramp 10 of both sides, the first boss 22 on the second claw 21 are moved in the first horizontal segment 32 of sliding way 11, and the 3rd is convex
Platform 26 moves in the horizontal segment 36 of glide path 12 the 4th；
Step 4：As the first boss 22 on the second claw 21 moves to the first tilting section 35, itself and the 3rd boss 26
Between distance diminish, hook groove 24 unclamps second boss 25, and the first claw 20 and the second claw 21 of gripper 18 open, when the
First boss 22 on one claw 20 and the second claw 21 is moved in the second horizontal segment 33, and the 3rd boss 26 moves horizontal in the 5th
During section 37, the first claw 20 and the second claw 21 of gripper 18 open completely, while drilling rod 41 is along entrance sloping platform 4
Entrance tilting section 6 is slid on the second connecting plate 19 of gripper 18 in the groove 44 opened up；
Step 5：The driving mechanical pawl 18 of chain 15 continues to move, when the first boss 22 of the second claw 21 moves to the 3rd
Horizontal segment 34, the 3rd boss 26 move to the 6th horizontal segment 38, between the boss 26 of first boss 22 and the 3rd of the second claw 21
Distance is minimum, and the clamping second boss 25 of hook groove 24, the first claw 20 and the second claw 21 of gripper 18 close up, and grip brill
Bar 41；
Step 6：The driving mechanical pawl 18 of chain 15 continues to move, and then makes gripper 18 drive drilling rod 41 to move to drilling rod
Export at 2, gripper 18 enters the inclined ramp 10 set in the outlet of outlet-inclined impeller vane platform 5 on tilting section 8, the first claw 20
First boss 22 sliding way 11 first horizontal segment 32 in move, the 3rd boss 26 is in the horizontal segment 36 of glide path 12 the 4th
Motion；
Step 7：As distance diminishes between the boss 26 of first boss 22 and the 3rd, hook groove 24 unclamps second boss 25,
The first claw 20 and the second claw 21 of gripper 18 open, and the driving mechanical pawl 18 of chain 15 continues to move, the quilt of drilling rod 41
Drive to the end of tilting section 8 in the outlet of the outlet-inclined impeller vane platform 5, drop under the outlet of the outlet-inclined impeller vane platform 5
On tilting section 9, and moved to along tilting section 9 under the outlet of the outlet-inclined impeller vane platform 5 on export platform 40, by rig 49
Mechanical arm 50 is taken, and completes a course of conveying of drilling rod 41, and is removed vacant gripper 18 after drilling rod 41 with chain
Bar 15 continues to move, and by the bottom of casing, enters and picks up drilling rod 41 at drilling rod import 3 again, starts next round conveying and bores
The cycle operation of bar.
Above-mentioned steps are the automatic process that drilling rod is provided to rig 49, it is necessary to enter to drilling rod 41 after rig 49 has beaten hole
Drilling rod 41, is placed on export platform 40, adjusts explosion-proof stepper motor 16 and invert by row recovery by mechanical arm 50, gripper
18 the first claw 20 promotes the drilling rod 41 on export platform 40 to move to its end along the lower tilting section 9 in outlet, drops to machine
In the groove 44 opened up on second connecting plate 19 of machinery claw 18, with motion of the gripper 18 on inclined ramp 10, gripper
18 closures, drilling rod 41 is gripped, and the gripper 18 that chain 15 drives grasping and has drilling rod 41 moves, and moves to entrance sloping platform
The inclined ramp 10 of 4 front ends, gripper 18 are opened, and drilling rod 41 is moved on entrance tilting section 6, in the first claw of gripper 18
20 promote under travel forward, open small stepper motor 47, under its driving, pusher dog 46 once stirs a drilling rod 41 to entering saliva
In flat section 7, a removal process of drilling rod 41 is completed, and is removed vacant gripper 18 after drilling rod 41 as chain 15 continues
Motion, by the bottom of casing, enter at drilling rod outlet 2 and pick up drilling rod 41 again, start the circulation of next round Recycling of drill rod
Operation.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, to the greatest extent
The present invention is described in detail with reference to above-described embodiment for pipe, those of ordinary skills in the art should understand that：Still may be used
Modified or equivalent substitution with the embodiment to the present invention, and repaiied without departing from any of spirit and scope of the invention
Change or equivalent substitution, it all should cover among present claims scope.
Claims (10)
1. a kind of underground coal mine automates drilling rod management system, it is characterised in that：Including drill rod box, horizontal in the drill rod box
Both sides offer drilling rod outlet and drilling rod import respectively, the drilling rod exit and drilling rod entrance be horizontally arranged with respectively into
Mouth sloping platform and outlet-inclined impeller vane platform, the entrance sloping platform include entrance tilting section and entrance horizontal segment, the outlet
Sloping platform includes the lower tilting section of the upper tilting section in outlet and outlet, and the equal court of tilting section under the entrance horizontal segment and the outlet
To on the outside of the casing of the drill rod box, tilting section has export platform towards the end set on the outside of casing under the outlet,
Inclined ramp, the entrance sloping platform are provided with the outlet of the outlet-inclined impeller vane platform on the end face of tilting section toward each other
Entrance tilting section along longitudinal direction both sides be also equipped with inclined ramp, the inclined ramp includes sliding way and glide path, in institute
The cabinet wall for stating drill rod box is vertically arranged with multiple sprocket shafts, and the both ends of the sprocket shaft are installed with sprocket wheel respectively, institute
State sprocket wheel restocking and be provided with chain, the drill rod box side is fixed with explosion-proof stepper motor, the output shaft of the explosion-proof stepper motor
One of sprocket shaft is connected, drives the sprocket shaft to rotate, it is longitudinally disposed on the chain to drive the chain movement
There are multiple first connecting plates, the both ends of first connecting plate are connected with gripper respectively, to grasp drilling rod, the machinery
Pawl includes the second connecting plate, and the first claw and the second claw are articulated with second connecting plate, in first claw and
Two claw tops are provided with first boss, and the first claw lower hinge has lockset switchboard, the end of the lockset switchboard
The hook groove that portion opens up is engaged with the second boss set on second claw, and the 3rd is provided with the lockset switchboard
Boss, when the gripper moves to the inclined ramp, the first boss is moved in the sliding way, and the described 3rd
Boss moves in the glide path, and the sliding way and glide path limit the motion rail of the first boss and the 3rd boss
Mark, to change the distance between the first boss and the 3rd boss, make the hook groove clamping or release described second convex
Platform, realize grasping or release of the gripper to the drilling rod.
A kind of 2. underground coal mine automation drilling rod management system according to claim 1, it is characterised in that：The chain exists
It is distributed in the casing of the drill rod box in lateral spill, U-shaped guiding trestle is vertically arranged with its interior recess, it is described U-shaped to lead
Include the rack beam for being longitudinally arranged at cabinet wall to support, U is provided with the both ends of the rack beam side
Type connecting plate, the chain bypass the outer surface of the U-shaped connecting plate.
A kind of 3. underground coal mine automation drilling rod management system according to claim 2, it is characterised in that：The U-shaped company
U-shaped baffle plate is additionally provided with the outer surface of fishplate bar, the U-shaped baffle plate forms U-rail groove on the U-shaped connecting plate, described
Chain is located in the U-rail groove, to the spacing chain.
A kind of 4. underground coal mine automation drilling rod management system according to claim 1, it is characterised in that：The sliding way
Including first horizontal segment, the second horizontal segment and the 3rd horizontal segment, highly consistent, the institute of the first horizontal segment and the 3rd horizontal segment
The height for stating the second horizontal segment is less than the first horizontal segment, second horizontal segment and first horizontal segment, the 3rd horizontal segment it
Between respectively pass through the first tilting section connect；The glide path includes the 4th horizontal segment, the 5th horizontal segment and the 6th horizontal segment, described
4th horizontal segment and the 6th horizontal segment it is highly consistent, the height of the 5th horizontal segment is less than the 4th horizontal segment, described
Connected respectively by the second tilting section between 5th horizontal segment and the 4th horizontal segment, the 6th horizontal segment；And the 4th horizontal segment
Length be less than the first horizontal segment, the length of the 5th horizontal segment is more than second horizontal segment, and the described 6th is horizontal
Section is less than the 3rd horizontal segment.
A kind of 5. underground coal mine automation drilling rod management system according to claim 1, it is characterised in that：First card
Pawl and the second claw are symmetrically articulated in by pin on second connecting plate, first claw and the second claw phase interworking
Close, grip the drilling rod, one end end of the pin away from second connecting plate is installed with sleeve, first described in block
Claw and the second claw, open up on second connecting plate it is fluted, with the spacing drilling rod.
A kind of 6. underground coal mine automation drilling rod management system according to claim 1, it is characterised in that：The entrance inclines
Pusher dog is additionally provided with the entrance tilting section of sloping platform, the pusher dog is connected with small stepper motor, drives the pusher dog to move, with
Stir the drilling rod.
A kind of 7. underground coal mine automation drilling rod management system according to claim 1, it is characterised in that：Described first connects
The bottom of fishplate bar is connected with the 3rd connecting plate, and the end of the 3rd connecting plate is fixed in one of two chains away from each other
Side.
A kind of 8. underground coal mine automation drilling rod management system according to claim 1, it is characterised in that：The drill rod box
Bottom is provided with creeper undercarriage.
A kind of 9. underground coal mine automation drilling rod management system according to claim 1, it is characterised in that：Described second connects
Fishplate bar is welded on first connecting plate.
10. drilling rod is managed using a kind of underground coal mine automation drilling rod management system according to claim 1
Method, it is characterised in that：Comprise the following steps that：
Step 1：Drilling rod is put into from the drilling rod import, drilling rod moves along the entrance sloping platform to box house；
Step 2：The explosion-proof stepper motor is opened, the explosion-proof stepper motor drives the sprocket shaft to rotate, and then drives institute
State chain movement；
Step 3：The chain-driving gripper motion, the gripper enter the entrance tilting section of the entrance sloping platform
The inclined ramp of both sides, the first boss are moved in the sliding way, and the 3rd boss moves in the glide path；
Step 4：As distance diminishes between the first boss and the 3rd boss, the hook groove unclamps the second boss,
First claw of the gripper and the second claw open, between the first boss and the 3rd boss during distance maximum, machinery
Pawl opens completely, while entrance tilting section of the drilling rod along the entrance sloping platform slides into the first claw of gripper
In the second claw；
Step 5：The chain-driving gripper continues to move, as distance diminishes between the first boss and the 3rd boss,
Second boss described in the hook groove clamping, the first claw and the second claw of the gripper close up, and grip the drilling rod；
Step 6：The chain-driving gripper continues to move, and then it is described to make the gripper drive the drilling rod to move to
Drilling rod exit, the gripper enters the inclined ramp set in the outlet of the outlet-inclined impeller vane platform on tilting section, described
First boss is moved in the sliding way, and the 3rd boss moves in the glide path；
Step 7：As distance diminishes between the first boss and the 3rd boss, the hook groove unclamps the second boss,
First claw of the gripper and the second claw open, and the chain-driving gripper continues to move, and the drilling rod is driven
The end of tilting section, drops to tilting section under the outlet of the outlet-inclined impeller vane platform on to the outlet of the outlet-inclined impeller vane platform
On, and moved to along tilting section under the outlet of the outlet-inclined impeller vane platform on export platform, complete once managing for drilling rod
Journey.
Priority Applications (1)
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| CN201710885599.5A CN107489383A (en) | 2017-09-27 | 2017-09-27 | A kind of underground coal mine automation drilling rod management system and method |
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|---|---|---|---|
| CN201710885599.5A CN107489383A (en) | 2017-09-27 | 2017-09-27 | A kind of underground coal mine automation drilling rod management system and method |
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Family
ID=60653286
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Cited By (6)
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| CN110107232A (en) * | 2019-06-21 | 2019-08-09 | 中煤科工集团重庆研究院有限公司 | Expanding type coal mine drilling machine drill stem conveying device |
| CN110656894A (en) * | 2019-11-26 | 2020-01-07 | 王海峰 | Drilling rod circulation dress card storage case |
| CN112963103A (en) * | 2021-02-26 | 2021-06-15 | 中煤科工集团重庆研究院有限公司 | Side income formula drilling rod storage box |
| CN112961951A (en) * | 2021-02-03 | 2021-06-15 | 北京科技大学 | Drill rod storage and automatic feeding device for tapping machine |
| CN117684891A (en) * | 2024-02-04 | 2024-03-12 | 湖南创远高新机械有限责任公司 | Drill rod conveying device |
| CN117927162A (en) * | 2024-03-21 | 2024-04-26 | 湖南创远矿山机械有限责任公司 | Automatic drill rod warehouse and drilling machine |
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| CN110656894A (en) * | 2019-11-26 | 2020-01-07 | 王海峰 | Drilling rod circulation dress card storage case |
| CN112961951A (en) * | 2021-02-03 | 2021-06-15 | 北京科技大学 | Drill rod storage and automatic feeding device for tapping machine |
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