CN108386143A - The spiral automatic drill rod box of anchoring drilling machine and its operation method - Google Patents
The spiral automatic drill rod box of anchoring drilling machine and its operation method Download PDFInfo
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- CN108386143A CN108386143A CN201810203087.0A CN201810203087A CN108386143A CN 108386143 A CN108386143 A CN 108386143A CN 201810203087 A CN201810203087 A CN 201810203087A CN 108386143 A CN108386143 A CN 108386143A
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- auger stem
- manipulator
- oil cylinder
- power head
- drill rod
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- 238000005553 drilling Methods 0.000 title claims abstract description 77
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000004873 anchoring Methods 0.000 title claims abstract description 26
- 230000009471 action Effects 0.000 claims abstract description 7
- 230000008569 process Effects 0.000 claims description 34
- 230000002146 bilateral effect Effects 0.000 claims description 21
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 12
- 238000004080 punching Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 241001074085 Scophthalmus aquosus Species 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000010977 unit operation Methods 0.000 description 1
- 239000002699 waste material Substances 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
- E21B19/18—Connecting or disconnecting drill bit and drilling pipe
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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
The present invention provides a kind of automatic drill rod box of spiral anchoring drilling machine and its operation method, automatic drill rod box include：Drilling system (1), catching robot (2) and drill rod box (3)；Wherein drilling system mainly completes clamping and the unloading function of auger stem, and catching robot realizes the function of the automatic upper boom of auger stem, lower beam, and drill rod box realizes auger stem order output, and recycles the drilling rod that unloading is got off.A kind of automatic drill rod box of spiral anchoring drilling machine provided by the invention and its operation method, have the following advantages：The spiral automatic drill rod box of anchoring drilling machine does not need manual intervention in action, and high degree of automation significantly solves the problem that field worker labor intensity is big, drilling efficiency is low and construction risk is high.
Description
Technical field
The present invention relates to a kind of borer drill rod casees, and in particular to a kind of automatic drill rod box of spiral anchoring drilling machine and its operation
Method.
Background technology
Spiral anchoring drilling machine be it is a kind of for coming down, the anchoring device of city pattern foundation pit supporting structure and tunnel pipe shed support.Spiral shell
Rotary drill bar is assembled by the short auger stem of more piece when in use, is required to manually carry out assembling behaviour when boring under every time, carrying brill
Make；And in dismounting drilling rod each time, it needs that clamping brace seat is put into fixed drilling rod mandrel by worker, it then will be after assembling
Auger stem dismounting is the short auger stem of more piece, after the completion of dismounting, then by manually removing this drilling rod.
Aforesaid operations process is primarily present following deficiency：Auger stem assembly and disassembly process is cumbersome, repeat process compared with
More, so as to cause construction efficiency bottom, and there is certain security risk in waste of manpower in operation.
Invention content
In view of the defects existing in the prior art, the present invention provides a kind of automatic drill rod box of spiral anchoring drilling machine and its operation
Method can effectively solve the above problems.
The technical solution adopted by the present invention is as follows：
The present invention provides a kind of spiral automatic drill rod box of anchoring drilling machine, including：Drilling system (1), catching robot (2)
With drill rod box (3)；
The drill rod box (3) recycles the auger stem that unloading is got off for realizing auger stem order output, including
Pedestal (37), babinet rotary shaft (38), baffle (39), babinet (310), chain (312), chain drive mechanism, V-type hopper
(313) and bumping post (314)；
The front end of the babinet (310) is detachably installed by the baffle (39)；Described in the lower section installation of the babinet (310)
Pedestal (37), also, the babinet (310) and the pedestal (37) are rotatably connected by the babinet rotary shaft (38)；Institute
The chain (312) that can be axially rotated is arranged in the bottom for stating babinet (310), and the chain (312) is revolved by chain drive mechanism
Turn；Several described bumping posts (314) of equidistant fixed and arranged on the chain (312), two adjacent bumping posts (314) it
Between auger stem is set；The V-type hopper (313) is set in the forward lower part of the babinet (310), when the baffle (39) is beaten
It opens, when the chain (312) rotates forward, the auger stem of foremost is since departing from bumping post (314), meeting is along box baseplate
It slides in the V-type hopper (313)；Drilling rod box bracket (311) is fixedly mounted in the upper surface of described babinet (310)；
The function of automatic upper boom and automatic lower beam of the catching robot (2) for realizing auger stem, including holder
(21), electric rotating machine (22), retarder (23), swinging axle (24), telescopic oil cylinder (25) and manipulator (26)；The holder (21)
Arrangement quantity be two, be installed on the left and right sides of the drill rod box (3) front end, the swinging axle (24) is pivotally mounted to
On the holder (21), the electric rotating machine (22) is connected by the retarder (23) and the swinging axle (24), the rotation
Rotating motor (22) drives the swinging axle (24) to carry out wobbling action by the retarder (23)；Under the swinging axle (24)
The manipulator (26) is fixedly mounted by the telescopic oil cylinder (25) in face, by driving the telescopic oil cylinder (25), adjusts institute
State the height of manipulator (26)；
The drilling system (1) is used to complete clamping and the unloading function of auger stem, including power head (11), hydraulic pressure card
Disk (12) rushes clip holder (13), clamper (14), slideway (15) and punch oil cylinder (16)；The slideway (15) is installed on institute
It states before catching robot (2), the side of the slideway (15) is slidably mounted the power head (11), the power head
(11) oild chuck (12) is installed before；The other side of the slideway (15), which is slidably mounted, described rushes clip holder
(13) and the clamper (14)；It is described to rush clip holder (13) and the punch oil cylinder (16) connection.
Preferably, the chain drive mechanism includes motor (31), bottom pulley (32), belt (33), sprocket wheel (34), drives
Moving axis (35) and bearing (36)；It is symmetrically installed bearing (36) at left and right sides of the bottom of the babinet (310)；The drive shaft (35)
It is pivotally mounted on the bearing (36)；Sprocket wheel (34) is fixedly mounted on the drive shaft (35) and is nibbled with the sprocket wheel (34)
The upper belt pulley of conjunction；The motor (31) is installed on the pedestal (37), and institute is fixedly mounted in the output shaft of the motor (31)
State bottom pulley (32)；The upper belt pulley and the bottom pulley (32) are connected by the belt (33), the motor
(31) when rotating, the drive shaft (35) is driven to rotate by the belt (33)；Sprocket wheel (34) on the drive shaft (35)
It is connected by the sprocket wheel (34) with the sprocket wheel on driven shaft, when the drive shaft (35) rotate, drives the sprocket wheel (34)
Rotation.
Preferably, the manipulator (26) includes left gripper symmetrically arranged on the left and the right and right gripper；The left machinery
Pawl and the right gripper include：Left hand refers to (61), bilateral tooth (62), left swing moving teeth (63), left pinion gear (64), left end cap
(65), shell (66), oil cylinder (67), the right hand refer to (68), right swing tooth (69), right pinion gear (70) and right end cap (71)；
One end of the oil cylinder (67) and the bilateral tooth (62) is linked, for driving the bilateral tooth (62) to be risen
Or descending motion；The left side tooth of the bilateral tooth (62) is engaged with the left pinion gear (64) for being equipped with left end cap (65), institute
It states left pinion gear (64) to engage with the left swing moving teeth (63), one end that the left swing moving teeth (63) refers to (61) with the left hand is nibbled
It closes；The right side tooth of the bilateral tooth (62) is engaged with the right pinion gear (70) for being equipped with right end cap (71), the small tooth in the right side
Wheel (70) is engaged with the right swing tooth (69), and one end that the right swing tooth (69) refers to (68) with the right hand is engaged, and institute is worked as
When stating oil cylinder (67) the bilateral tooth (62) being driven to move downward, drive that the left hand refers to (61) and the right hand refers to (68) in opposite directions
Movement, and then grip objects；When the oil cylinder (67) drives the bilateral tooth (62) to move upwards, the left hand is driven to refer to
(61) and the right hand refers to (68) back movement, and then unclamps object.
The present invention also provides a kind of operation methods based on the automatic drill rod box of spiral anchoring drilling machine, include the following steps：
Step 1, drill rod box sends out drilling rod automatically, and process is：
Baffle (39) is opened, chain drive mechanism drive chain (312) rotates, and is evenly distributed on chain (312) several identical
Auger stem is arranged between adjacent bumping post (314) in the bumping post (314) of spacing, and therefore, chain (312) drives bumping post (314) to transport
Dynamic, under the drive of bumping post (314), the auger stem inside drill rod box moves forward a determining deviation, but is in the spiral of foremost
Drilling rod along box baseplate due to that departing from bumping post, can slide in V-type hopper (313), wait for the crawl of manipulator；
Step 2, upper drilling rod, process are manipulator automatically：
When initial, manipulator (26) is in vertical position, and finger is opened, driving of the manipulator (26) in telescopic oil cylinder (25)
It is moved to position, finger, which is shunk, clamps auger stem；Then electric rotating machine (22) drives swinging axle (24) to rotate, and then drives
The manipulator for clamping auger stem is rotated to the position opposite with well head, at this point, power head (11) moves forward along slideway (15), is made
The oild chuck (12) of power head (11) front end clamps auger stem, and power head (11) moves forward again, and auger stem front end is made to stretch into punching
In clip holder (13)；Then finger is opened, and manipulator (26) is recovered to position under the driving of telescopic oil cylinder (25), then rotates
Motor (22) drives swinging axle (24) to rotate, and entire manipulator (26) rotation to the position most started prepares next spiral shell of crawl
Rotary drill bar；
Step 3, drilling process, process are：
Power head (11) is persistently crept into first auger stem, until first auger stem completely into, at this point,
It rushes clip holder (13) and clamps first auger stem end, oild chuck (12) unclamps auger stem, and power head (11) returns to
It is in situ；
Repeatedly the manipulator of step 2 goes up the process of drilling rod automatically, before power head (11) is rotated with second auger stem
It moves, is connect with first auger stem end thread, rush clip holder (13) and unclamp first auger stem end, power head
(11) persistently crept into two auger stems, until auger stem completely into；
Step 1, step 2 and step 3 are repeated, realizes and is mostly crept into auger stem；
Step 4, bar process is unloaded, process is：
Power head (11), which reversely rotates, drives auger stem to screw out well head, after when moving on to specific position, rush clip holder
(13) tail portion for coming out auger stem is clamped, clamper (14) clamps the head for the auger stem that is connected with out auger stem；Punching
It detains oil cylinder (16) to act, the screw thread of two auger stems is washed open, then rush clip holder (13) and unclamp auger stem, power head
(11) continue to reversely rotate, two auger stems are detached；
Then manipulator (26) acts, and electric rotating machine (22) drives swinging axle (24) to rotate, entire manipulator (26) rotation
To the position opposite with well head, finger is opened, and manipulator (26) is moved to position in the driving of telescopic oil cylinder (25), and finger is shunk
Clamp auger stem；Oild chuck (12) on power head (11) unclamps what auger stem and being moved to after slideway (15) most started
Position；Electric rotating machine (22), which reversely rotates, drives swinging axle (24) to rotate, entire manipulator (26) rotation to drilling rod upper box part, machine
Tool hand (26) is moved to position in the driving of telescopic oil cylinder (25), and finger unclamps, and auger stem falls on drilling rod box bracket (311)
On, and slide to drilling rod box bracket (311) tail portion；Manipulator is recovered to position, electric rotating machine under the driving of telescopic oil cylinder (25)
(22) swinging axle (24) is driven to rotate, entire manipulator, which rotates to, most starts vertical position, and preparation connects next drilling rod；
Step 5, bar process is continuously unloaded, process is：
Power head (11) moves forward along slideway (15), and the oild chuck (12) of power head (11) front end clamps next auger
Bar, clamper (14) unclamp auger stem, and power head (11), which reversely rotates, drives auger stem to screw out well head, repeats step 4
Unload bar process, you can complete continuously to unload the function of bar.
The automatic drill rod box of spiral anchoring drilling machine provided by the invention and its operation method have the following advantages：
The spiral automatic drill rod box of anchoring drilling machine does not need manual intervention in action, and high degree of automation solves significantly
Field worker labor intensity is big, drilling efficiency is low and construction risk is high problem.
Description of the drawings
Fig. 1 is the overall structure diagram of the spiral automatic drill rod box of anchoring drilling machine provided by the invention.
Fig. 2 is the drilling system structural schematic diagram of the spiral automatic drill rod box of anchoring drilling machine provided by the invention.
Fig. 3 is the catching robot structural schematic diagram of the spiral automatic drill rod box of anchoring drilling machine provided by the invention.
Fig. 4 is the robot manipulator structure schematic diagram of the spiral automatic drill rod box of anchoring drilling machine provided by the invention.
Fig. 5 is a kind of structural representation of angle of drill rod box of the spiral automatic drill rod box of anchoring drilling machine provided by the invention
Figure.
Fig. 6 is the structural representation of the drill rod box another kind angle of the spiral automatic drill rod box of anchoring drilling machine provided by the invention
Figure.
Fig. 7 is that the manipulator of the spiral automatic drill rod box of anchoring drilling machine provided by the invention captures schematic diagram.
Specific implementation mode
In order to make the technical problems, technical solutions and beneficial effects solved by the present invention be more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein only to
It explains the present invention, is not intended to limit the present invention.
With reference to figure 1, the present invention provides a kind of spiral automatic drill rod box of anchoring drilling machine, including：Drilling system 1, gripper
Tool hand 2 and drill rod box 3.These three parts are discussed in detail below：
(1) drill rod box
Drill rod box 3 recycles the auger stem that unloading is got off, including pedestal for realizing auger stem order output
37, babinet rotary shaft 38, baffle 39, babinet 310, chain 312, chain drive mechanism, V-type hopper 313 and bumping post 314；
The front end of babinet 310 is detachably installed by baffle 39；The lower section mounting seat 37 of babinet 310, also, 310 He of babinet
Pedestal 37 is rotatably connected by babinet rotary shaft 38；The chain 312 that can be axially rotated, chain is arranged in the bottom of babinet 310
312 are rotated by chain drive mechanism；Equidistant several bumping posts 314 of fixed and arranged on chain 312, in two adjacent gears
Auger stem is set between column 314；In the forward lower part setting V-type hopper 313 of babinet 310, when the opening of baffle 39, chain 312
When rotating forward, the auger stem of foremost along box baseplate due to that departing from bumping post 314, can slide in V-type hopper 313；
Drilling rod box bracket 311 is fixedly mounted in the upper surface of babinet 310；
Wherein, chain drive mechanism includes motor 31, bottom pulley 32, belt 33, sprocket wheel 34, drive shaft 35 and bearing
36；It is symmetrically installed bearing 36 at left and right sides of the bottom of babinet 310；Drive shaft 35 is pivotally mounted on bearing 36；Drive shaft 35
The upper upper belt pulley that sprocket wheel 34 is fixedly mounted and is engaged with sprocket wheel 34；Motor 31 is installed on pedestal 37, the output shaft of motor 31
Bottom pulley 32 is fixedly mounted；Upper belt pulley and bottom pulley 32 are connected by belt 33, when motor 31 rotates, pass through belt 33
Drive shaft 35 is driven to rotate；The sprocket wheel on sprocket wheel 34 and driven shaft in drive shaft 35 is connected by sprocket wheel 34, when drive shaft 35
When rotation, band movable sprocket 34 rotates.
(2) catching robot
Catching robot 2 for realizing the automatic upper boom and automatic lower beam of auger stem function, including holder 21, rotation
Motor 22, retarder 23, swinging axle 24, telescopic oil cylinder 25 and manipulator 26；The arrangement quantity of holder 21 is two, is installed on brill
The left and right sides of 3 front end of rod box, swinging axle 24 are pivotally mounted on holder 21, and electric rotating machine 22 is by retarder 23 and swings
Axis 24 connects, and electric rotating machine 22 drives swinging axle 24 to carry out wobbling action by retarder 23；By stretching below swinging axle 24
Manipulator 26 is fixedly mounted in contracting oil cylinder 25, by driving telescopic oil cylinder 25, adjusts the height of manipulator 26；
Wherein, manipulator 26 includes left gripper symmetrically arranged on the left and the right and right gripper；Left gripper and right gripper
Include：Left hand refers to 61, bilateral tooth 62, left swing moving teeth 63, left pinion gear 64, left end cap 65, shell 66, oil cylinder 67, the right hand and refers to
68, right swing tooth 69, right pinion gear 70 and right end cap 71；
One end of oil cylinder 67 and bilateral tooth 62 is linked, for driving bilateral tooth 62 to carry out rising or falling movement；Bilateral tooth
62 left side tooth is engaged with the left pinion gear 64 for being equipped with left end cap 65, and left pinion gear 64 is engaged with left swing moving teeth 63, and left swing is dynamic
It engages one end that tooth 63 refers to 61 with left hand；The right side tooth of bilateral tooth 62 is engaged with the right pinion gear 70 for being equipped with right end cap 71, right
Pinion gear 70 is engaged with right swing tooth 69, and one end that right swing tooth 69 refers to 68 with the right hand is engaged, when oil cylinder 67 drives bilateral tooth 62
When moving downward, drive left hand refer to 61 and the right hand refer to 68 and move toward one another, and then grip objects；When oil cylinder 67 drive bilateral tooth 62 to
When upper movement, drive left hand refers to 61 and the right hand refers to 68 back movements, and then unclamps object.
(3) drilling system
Drilling system 1 is used to complete clamping and the unloading function of auger stem, including power head 11, oild chuck 12, punching
Clip holder 13, clamper 14, slideway 15 and punch oil cylinder 16；Slideway 15 is installed on before catching robot 2, slideway 15
Side is slidably mounted power head 11, and oild chuck 12 is installed before power head 11；The other side of slideway 15 is slidably mounted
Rush clip holder 13 and clamper 14；It rushes clip holder 13 and punch oil cylinder 16 connects.
The present invention also provides a kind of operation methods based on the automatic drill rod box of spiral anchoring drilling machine, include the following steps：
Step 1, drill rod box sends out drilling rod automatically, and process is：
Baffle 39 is opened, chain drive mechanism drive chain 312 rotates, and several identical spacing are evenly distributed on chain 312
Auger stem is arranged between adjacent bumping post 314 in bumping post 314, and therefore, chain 312 drives bumping post 314 to move, in the band of bumping post 314
Under dynamic, the auger stem inside drill rod box moves forward a determining deviation, but is in the auger stem of foremost due to departing from bumping post,
It can be slided in V-type hopper 313 along box baseplate, wait for the crawl of manipulator；
Step 2, upper drilling rod, process are manipulator automatically：
When initial, manipulator 26 is in vertical position, and finger is opened, and manipulator 26 moves under the driving of telescopic oil cylinder 25
In place, finger, which is shunk, clamps auger stem；Then electric rotating machine 22 drives swinging axle 24 to rotate, and then drives and clamped auger
The manipulator of bar is rotated to the position opposite with well head, at this point, power head 11 moves forward along slideway 15, makes the liquid of 11 front end of power head
Chuck 12 is pressed to clamp auger stem, power head 11 moves forward, so that auger stem front end is stretched into and rush in clip holder 13 again；Then finger
It opens, manipulator 26 is recovered to position under the driving of telescopic oil cylinder 25, and then electric rotating machine 22 drives swinging axle 24 to rotate, entirely
The rotation of manipulator 26 prepares next auger stem of crawl to the position most started；
Step 3, drilling process, process are：
Power head 11 is persistently crept into first auger stem, until first auger stem is completely at this point, punching
Clip holder 13 clamps first auger stem end, and oild chuck 12 unclamps auger stem, and power head 11 returns to original position；
Automatically above the process of drilling rod, power head 11 move forward the manipulator of repetition step 2 with second auger stem rotation,
It is connect with first auger stem end thread, rushes clip holder 13 and unclamp first auger stem end, 11 band of power head
Two auger stems persistently to creep into, until auger stem completely into；
Step 1, step 2 and step 3 are repeated, realizes and is mostly crept into auger stem；
Step 4, bar process is unloaded, process is：
Power head 11, which reversely rotates, drives auger stem to screw out well head, after when moving on to specific position, rush the folder of clip holder 13
The tail portion of tight out auger stem, clamper 14 clamp the head for the auger stem that is connected with out auger stem；Punch oil cylinder 16
Action, the screw thread of two auger stems is washed open, is then rushed clip holder 13 and is unclamped auger stem, power head 11 continues reversely to revolve
Turn, two auger stems are detached；
Then manipulator 26 act, electric rotating machine 22 drive swinging axle 24 rotate, entire manipulator 26 rotation to and well head
Opposite position, finger are opened, and manipulator 26 is moved to position in the driving of telescopic oil cylinder 25, and finger, which is shunk, clamps auger
Bar；Oild chuck 12 on power head 11 unclamps auger stem and moves to the position most started after slideway 15；Electric rotating machine 22
It reversely rotates and swinging axle 24 is driven to rotate, entire manipulator 26 is rotated to drilling rod upper box part, and manipulator 26 is in telescopic oil cylinder 25
Driving is moved to position, and finger unclamps, and auger stem is fallen on drilling rod box bracket 311, and slides to 311 tail of drilling rod box bracket
Portion；Manipulator is recovered to position under the driving of telescopic oil cylinder 25, and electric rotating machine 22 drives swinging axle 24 to rotate, entire manipulator rotation
It goes to and most starts vertical position, preparation connects next drilling rod；
Step 5, bar process is continuously unloaded, process is：
Power head 11 moves forward along slideway 15, and the oild chuck 12 of 11 front end of power head clamps next auger stem, is clamped
Device 14 unclamps auger stem, and power head 11, which reversely rotates, drives auger stem to screw out well head, and repeat step 4 unloads bar process, i.e.,
The function of bar can be completed continuously to unload.
The present invention has the advantages that the following aspects：
1, the side plate of drill rod box both sides can carry out front and back adjustment along the direction that drilling rod is put, it is ensured that different length drilling rod
It can be by automatic charging；Automatic charging is conveyed using chain, and there is no the situations that drilling rod is stuck.
2, power head is changed to the form of oild chuck with the position that drilling rod links, and enormously simplifies operating process, shortens
Operating time improves work efficiency.
3, the action that drill rod box automatic charging, manipulator crawl drilling rod are crept into power head can be carried out at the same time, and be existed in this way
When continuous drilling, it is possible to reduce the stand-by period of drilling rod installation, can also save the part operation time.
4, package unit operation does not need manual intervention, and high degree of automation significantly solves field worker labor intensity
Greatly, the low problem of drilling efficiency.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
Depending on protection scope of the present invention.
Claims (4)
1. a kind of automatic drill rod box of spiral anchoring drilling machine, which is characterized in that including：Drilling system (1), catching robot (2)
With drill rod box (3)；
The drill rod box (3) recycles the auger stem that unloading is got off, including pedestal for realizing auger stem order output
(37), babinet rotary shaft (38), baffle (39), babinet (310), chain (312), chain drive mechanism, V-type hopper (313) and
Bumping post (314)；
The front end of the babinet (310) is detachably installed by the baffle (39)；The lower section of the babinet (310) is installed by the pedestal
(37), also, the babinet (310) and the pedestal (37) are rotatably connected by the babinet rotary shaft (38)；The case
The chain (312) that can be axially rotated is arranged in the bottom of body (310), and the chain (312) is rotated by chain drive mechanism；
Equidistant several described bumping posts (314) of fixed and arranged, set between two adjacent bumping posts (314) on the chain (312)
Set auger stem；In the forward lower part of the babinet (310), the V-type hopper (313) is set, when the baffle (39) are opened,
When the chain (312) rotates forward, the auger stem of foremost along box baseplate due to that departing from bumping post (314), can slide
To in the V-type hopper (313)；Drilling rod box bracket (311) is fixedly mounted in the upper surface of described babinet (310)；
The function of automatic upper boom and automatic lower beam of the catching robot (2) for realizing auger stem, including holder (21),
Electric rotating machine (22), retarder (23), swinging axle (24), telescopic oil cylinder (25) and manipulator (26)；The cloth of the holder (21)
It is two to set quantity, is installed on the left and right sides of the drill rod box (3) front end, and the swinging axle (24) is pivotally mounted to described
On holder (21), the electric rotating machine (22) is connected by the retarder (23) and the swinging axle (24), the electric rotating
Machine (22) drives the swinging axle (24) to carry out wobbling action by the retarder (23)；Lead to below the swinging axle (24)
It crosses the telescopic oil cylinder (25) and the manipulator (26) is fixedly mounted, by driving the telescopic oil cylinder (25), adjust the machine
The height of tool hand (26)；
The drilling system (1) is used to complete clamping and the unloading function of auger stem, including power head (11), oild chuck
(12), clip holder (13), clamper (14), slideway (15) and punch oil cylinder (16) are rushed；The slideway (15) is installed on described
Before catching robot (2), the side of the slideway (15) is slidably mounted the power head (11), the power head (11)
Before the installation oild chuck (12)；The other side of the slideway (15) be slidably mounted it is described rush clip holder (13) and
The clamper (14)；It is described to rush clip holder (13) and the punch oil cylinder (16) connection.
2. the automatic drill rod box of spiral anchoring drilling machine according to claim 1, which is characterized in that the chain drive mechanism
Including motor (31), bottom pulley (32), belt (33), sprocket wheel (34), drive shaft (35) and bearing (36)；The babinet
(310) bearing (36) is symmetrically installed at left and right sides of bottom；The drive shaft (35) is pivotally mounted on the bearing (36)；
Upper belt pulley sprocket wheel (34) and engaged with the sprocket wheel (34) is fixedly mounted on the drive shaft (35)；Motor (31) peace
Loaded on the pedestal (37), the bottom pulley (32) is fixedly mounted in the output shaft of the motor (31)；The upper belt pulley
It is connected by the belt (33) with the bottom pulley (32), when the motor (31) rotates, passes through the belt (33) band
Dynamic drive shaft (35) rotation；The sprocket wheel on sprocket wheel (34) and driven shaft on the drive shaft (35) passes through the sprocket wheel
(34) it connects, when the drive shaft (35) rotate, the sprocket wheel (34) is driven to rotate.
3. the automatic drill rod box of spiral anchoring drilling machine according to claim 1, which is characterized in that manipulator (26) packet
Include left gripper symmetrically arranged on the left and the right and right gripper；The left gripper and the right gripper include：Left hand refers to
(61), bilateral tooth (62), left swing moving teeth (63), left pinion gear (64), left end cap (65), shell (66), oil cylinder (67), the right hand refer to
(68), right swing tooth (69), right pinion gear (70) and right end cap (71)；
One end of the oil cylinder (67) and the bilateral tooth (62) link, for drive the bilateral tooth (62) carry out rise or under
Drop movement；The left side tooth of the bilateral tooth (62) is engaged with the left pinion gear (64) for being equipped with left end cap (65), the left side
Pinion gear (64) is engaged with the left swing moving teeth (63), and one end that the left swing moving teeth (63) refers to (61) with the left hand is engaged；
The right side tooth of the bilateral tooth (62) is engaged with the right pinion gear (70) for being equipped with right end cap (71), the right pinion gear
(70) it is engaged with the right swing tooth (69), one end that the right swing tooth (69) refers to (68) with the right hand is engaged, when described
When oil cylinder (67) drives the bilateral tooth (62) to move downward, drive that the left hand refers to (61) and the right hand refers to (68) opposite fortune
It is dynamic, and then grip objects；When the oil cylinder (67) drives the bilateral tooth (62) to move upwards, the left hand is driven to refer to (61)
Refer to (68) back movement with the right hand, and then unclamps object.
4. a kind of operation method based on the automatic drill rod box of the spiral anchoring drilling machine of claim 1-3 any one of them, special
Sign is, includes the following steps：
Step 1, drill rod box sends out drilling rod automatically, and process is：
Baffle (39) is opened, chain drive mechanism drive chain (312) rotates, and several identical spacing are evenly distributed on chain (312)
Bumping post (314), auger stem is set between adjacent bumping post (314), therefore, chain (312) drives bumping post (314) to move,
Under the drive of bumping post (314), the auger stem inside drill rod box moves forward a determining deviation, but be in the auger stem of foremost by
In departing from bumping post, it can be slided in V-type hopper (313) along box baseplate, wait for the crawl of manipulator；
Step 2, upper drilling rod, process are manipulator automatically：
When initial, manipulator (26) is in vertical position, and finger is opened, and manipulator (26) is moved down in the driving of telescopic oil cylinder (25)
It moves in place, finger, which is shunk, clamps auger stem；Then electric rotating machine (22) drives swinging axle (24) to rotate, and then drives and clamped
The manipulator of auger stem is rotated to the position opposite with well head, at this point, power head (11) moves forward along slideway (15), makes power head
(11) oild chuck (12) of front end clamps auger stem, and power head (11) moves forward, so that auger stem front end is stretched into and rush clip again
In holder (13)；Then finger is opened, and manipulator (26) is recovered to position under the driving of telescopic oil cylinder (25), then electric rotating machine
(22) swinging axle (24) is driven to rotate, entire manipulator (26) rotation to the position most started prepares next auger of crawl
Bar；
Step 3, drilling process, process are：
Power head (11) is persistently crept into first auger stem, until first auger stem is completely at this point, punching button
Clamper (13) clamps first auger stem end, and oild chuck (12) unclamps auger stem, and power head (11) returns to original position；
Automatically above the process of drilling rod, power head (11) move forward the manipulator of repetition step 2 with second auger stem rotation, with
In first auger stem end thread connection, rushes clip holder (13) and unclamp first auger stem end, power head (11)
Persistently crept into two auger stems, until auger stem completely into；
Step 1, step 2 and step 3 are repeated, realizes and is mostly crept into auger stem；
Step 4, bar process is unloaded, process is：
Power head (11), which reversely rotates, drives auger stem to screw out well head, after when moving on to specific position, rush clip holder (13) folder
The tail portion of tight out auger stem, clamper (14) clamp the head for the auger stem that is connected with out auger stem；Punch oil cylinder
(16) act, the screw thread of two auger stems is washed open, then rush clip holder (13) unclamp auger stem, power head (11) after
It is continuous to reversely rotate, two auger stems are detached；
Then manipulator (26) acts, and electric rotating machine (22) drives swinging axle (24) to rotate, the rotation of entire manipulator (26) to
The opposite position of well head, finger are opened, and manipulator (26) is moved to position in the driving of telescopic oil cylinder (25), and finger, which is shunk, to be clamped
Auger stem；Oild chuck (12) on power head (11) unclamps auger stem and moves to the position most started after slideway (15)
It sets；Electric rotating machine (22), which reversely rotates, drives swinging axle (24) to rotate, entire manipulator (26) rotation to drilling rod upper box part, machinery
Hand (26) is moved to position in the driving of telescopic oil cylinder (25), and finger unclamps, and auger stem is fallen on drilling rod box bracket (311),
And it slides to drilling rod box bracket (311) tail portion；Manipulator is recovered to position, electric rotating machine (22) under the driving of telescopic oil cylinder (25)
Swinging axle (24) is driven to rotate, entire manipulator, which rotates to, most starts vertical position, and preparation connects next drilling rod；
Step 5, bar process is continuously unloaded, process is：
Power head (11) moves forward along slideway (15), and the oild chuck (12) of power head (11) front end clamps next auger stem,
Clamper (14) unclamps auger stem, and power head (11), which reversely rotates, drives auger stem to screw out well head, and repeat step 4 unloads bar
Process, you can complete continuously to unload the function of bar.
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| CN201810203087.0A CN108386143B (en) | 2018-03-13 | 2018-03-13 | The spiral automatic drill rod box of anchoring drilling machine and its operation method |
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| CN109138872A (en) * | 2018-10-18 | 2019-01-04 | 广西科技大学 | Drill pipe system in a kind of novel automation |
| CN110029951A (en) * | 2019-05-31 | 2019-07-19 | 贵州大学 | A kind of segmentation drilling rod docking facilities |
| CN110924879A (en) * | 2019-12-17 | 2020-03-27 | 厉风燕 | Automatic rod replacing device of anchoring drilling machine for rock and soil exploration |
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| CN112582138A (en) * | 2020-12-03 | 2021-03-30 | 浙江侨邦电力科技有限公司 | Dry-type transformer convenient to dismouting |
| CN112647870A (en) * | 2020-12-24 | 2021-04-13 | 中国地质大学（武汉） | Drill rod taking and placing method and system for cylindrical cage type rotary dumping pipe rack of submarine drilling rig |
| CN112647870B (en) * | 2020-12-24 | 2021-10-29 | 中国地质大学（武汉） | Drill rod taking and placing method and system for cylindrical cage type rotary dumping pipe rack of submarine drilling rig |
| CN112627748A (en) * | 2020-12-25 | 2021-04-09 | 冀凯河北机电科技有限公司 | Full-automatic drill pipe box suitable for spiral drill pipe |
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| CN112709540B (en) * | 2021-01-12 | 2024-06-07 | 重庆劲合实业有限公司 | Automatic rod replacing device |
| CN113294101A (en) * | 2021-06-29 | 2021-08-24 | 中煤科工集团重庆研究院有限公司 | Automatic rod feeding device and method for drilling machine |
| CN113530478B (en) * | 2021-08-04 | 2023-09-15 | 国能神东煤炭集团有限责任公司 | Device and method for loading and unloading drill rod |
| CN113530478A (en) * | 2021-08-04 | 2021-10-22 | 国能神东煤炭集团有限责任公司 | Apparatus and method for handling drill rods |
| CN115726708A (en) * | 2022-12-07 | 2023-03-03 | 杨局 | Automatic drill rod discharging and swinging structure and using method |
| CN115726708B (en) * | 2022-12-07 | 2024-05-31 | 浙煤(浙江)智能钻探装备股份有限公司 | Automatic drill rod discharging and swinging structure and using method thereof |
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| CN117927162B (en) * | 2024-03-21 | 2024-07-09 | 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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