CN111075352A

CN111075352A - Intelligent remote control deep hole drill carriage for coal mine

Info

Publication number: CN111075352A
Application number: CN202010066214.4A
Authority: CN
Inventors: 黄建忠; 黄文涛; 刘益; 卡小兵
Original assignee: Jiangsu Zhongmei Mining Equipment Co ltd
Current assignee: Jiangsu Zhongmei Mining Equipment Co ltd
Priority date: 2020-01-20
Filing date: 2020-01-20
Publication date: 2020-04-28

Abstract

The invention relates to an intelligent remote control deep hole drill carriage for a coal mine, which comprises a host machine body, a working mechanism for arranging a drill rod, a supporting mechanism, a drill rod box for storing the drill rod, a crawler traveling device and a mechanical arm, wherein the drill rod box is arranged on the host machine body; the crawler traveling device is fixed on two sides of the main machine body and is in contact with the ground, the working mechanism is fixed on the main machine body, a vertically arranged supporting mechanism is fixedly arranged on the main machine body, at least one drill pipe box is arranged on one side of the working mechanism, and the supporting mechanism is arranged on the other side of the working mechanism; a mechanical arm is arranged on one side of the drill rod box; the working mechanism comprises a sliding frame, a sliding seat, a power head, a hexagonal connector, a drill rod, a clamp holder and a pin adding device. The intelligent remote control drilling device disclosed by the invention can be used for drilling holes in an intelligent remote control manner, realizing underground unmanned operation, reducing the labor cost and avoiding potential safety hazards.

Description

Intelligent remote control deep hole drill carriage for coal mine

Technical Field

The invention relates to the technical field of underground coal mine tunneling mechanisms, in particular to an intelligent remote control deep hole drill carriage for a coal mine.

Background

Coal is a solid combustible mineral formed gradually by ancient plants buried underground and undergoing complex biochemical and physicochemical changes; is a solid combustible organic rock which is mainly formed by the biochemical action of plant remains and the geological action after the plant remains are buried.

In the actual drilling process, the hole collapse phenomenon is easily caused under the influence of a complex stratum, so that the drilling blocking and drilling embracing accidents are caused, and casualties are caused, so that the automation and the intellectualization of the drilling construction under the coal mine are gradually realized in the future. At present, a drilling machine for coal mines used for underground drilling construction of coal mines is completed by a driver in a cab through moving a handle and a steering wheel of a manual control mechanism, the drilling machine needs to be operated by people, and when accidents such as ore collapse, water permeability and the like occur underground, serious casualties are easily caused; the working conditions in the working area are severe; the productivity is low, so an intelligent remote control deep hole drill carriage for coal mines is needed urgently.

Disclosure of Invention

The invention aims to overcome the defects and provide an intelligent remote control deep hole drill carriage for a coal mine, so that unmanned operation in a well is realized.

The purpose of the invention is realized as follows:

an intelligent remote control deep hole drill carriage for coal mines comprises a host machine body, a working mechanism provided with a drill rod, a supporting mechanism, a drill rod box for storing the drill rod, a crawler traveling device and a mechanical arm; the crawler traveling device is fixed on two sides of the main machine body and is in contact with the ground, the working mechanism is fixed on the main machine body, a vertically arranged supporting mechanism is fixedly arranged on the main machine body, at least one drill pipe box is arranged on one side of the working mechanism, and the supporting mechanism is arranged on the other side of the working mechanism; a mechanical arm is arranged on one side of the drill rod box;

the working mechanism comprises a sliding frame, a sliding seat, a power head, a hexagonal connector, a drill rod, a clamp holder and a pin adding device; the sliding frame is provided with a movable sliding seat, the sliding seat is provided with a power head, the sliding seat is connected with a first propulsion oil cylinder, one end of the power head is connected with a limiting oil cylinder, and the other end of the power head is connected with a hexagonal connector; the sliding frame is also provided with a clamp holder, a lifting oil cylinder is arranged above the clamp holder, and the lifting oil cylinder is connected with a pin adding device; the pin adding device comprises a shell, a pin box, a first extension spring and a second propulsion oil cylinder are arranged in the shell, one end of the pin box is provided with an opening, the opening is connected with the second propulsion oil cylinder through a top plate, one end of the top plate is clamped in the opening, drill rod pins are fully distributed in the pin box, the first extension spring and the first extension spring are respectively arranged on two sides of the pin box, one end of the first extension spring is connected with one end of the first extension spring through a push plate, two side faces of the pin box are respectively provided with a sliding chute, and the push plate penetrates through the pin box through the sliding chutes; the top surface and the bottom surface of the pin box are respectively provided with a strip hole, and the center of each strip hole corresponds to the drill rod pin at the opening of the pin box; an upper oil cylinder is arranged above the pin adding device, a lower oil cylinder is arranged below the pin adding device, and the upper oil cylinder and the lower oil cylinder penetrate through the strip holes to push the drill rod pin downwards or upwards.

Furthermore, a drill rod hole is formed in the center inside the hexagonal connector, T-shaped clamping columns are symmetrically arranged above and below the drill rod hole, and the T-shaped clamping columns are connected with the pressurizing oil cylinder through compression springs.

Further, a drill rod is arranged between the hexagonal connector and the clamp; the drill rod comprises a drill rod body, a hexagonal connecting pipe, a hexagonal connector body, blades and a drill rod inner pin, the hexagonal connecting pipe is arranged at one end of the drill rod body, the hexagonal connector body is arranged at the other end of the drill rod body, and the blades are arranged on the drill rod body in a winding mode.

Further, the hexagonal adapter comprises a pipe body, wherein a leading-in hole is transversely formed in the pipe body, a first pin hole penetrating through the pipe body is vertically formed in the pipe body, and the leading-in hole comprises a clamping section and a leading-in section.

Furthermore, the hexagonal joint body comprises a joint body, the joint body comprises a front insertion section and a connection section which are sequentially arranged, the outer diameter of the front insertion section is matched with the leading-in section, the outer diameter of the connection section is matched with the clamping section, an inner pin hole is transversely arranged in the front insertion section, and a second pin hole penetrating through the front insertion section is vertically arranged; the inner pin hole comprises a cylindrical section and a bullet section, the inner diameter of the cylindrical section is larger than that of the bullet section, and the bullet section is in a bullet shape with a cylinder and a hemisphere at one end; one end of the bullet head section is inserted into the second pin hole.

Furthermore, a drill rod inner pin is arranged in the inner pin hole and comprises a front column, a clamping column and a rear column which are sequentially arranged, the clamping column is perpendicularly connected with the joint of the front column and the rear column, the shape and the size of the front column are matched and clamped with the bullet section of the inner pin hole, the clamping column abuts against one end of the cylindrical section of the inner pin hole, and the clamping column is connected with the compression spring.

Further, when the hexagonal joint body of one drill rod is inserted into the hexagonal connecting pipe of the other drill rod, the second pin hole of the hexagonal joint body is overlapped with the first pin hole of the hexagonal connecting pipe, the drill rod bolt is inserted into the hexagonal connecting pipe and connected with the hexagonal connecting pipe, the drill rod bolt comprises a bolt body, a circle of arc-shaped groove is arranged in the middle of the bolt body, and the position and the size of the arc-shaped groove are matched and clamped with the front-end hemisphere of the inner pin of the drill rod.

Further, the drill rod box comprises a frame body, a lifting chain, a first driving gearbox, a second driving gearbox, a hydraulic motor and a drill rod lifting frame; the bottom of the frame body is provided with a hydraulic motor, the hydraulic motor is connected with a first driving gearbox, the first driving gearbox is connected with a second driving gearbox through a transmission shaft, and the output directions of the first driving gearbox and the second driving gearbox are opposite; and a left chain area and a right chain area which have the same structure and correspond to each other in position are arranged above the first driving gearbox and the second driving gearbox, and a drill rod area is arranged between the left chain area and the right chain area.

Furthermore, the left chain area comprises two chain upper supports, two chain lower supports, two lifting chains and a plurality of drill rod lifting frames, the two chain upper supports are arranged above the frame body side by side, the two chain lower supports are arranged below the frame body side by side, clamping grooves are formed in the chain upper supports for placing driving sprockets, the chain lower support comprises a left clamping plate and a right clamping plate, another driving sprocket is fixed between the two clamping plates, and the lifting chains are arranged between the upper driving sprocket and the lower driving sprocket; a row of drill rod lifting frames which are arranged in parallel are arranged on the inner side of the lifting chain, each drill rod lifting frame is a hollow rectangular groove body with an opening on the top surface, and three groups of symmetrical support grooves are arranged on two opposite side surfaces of each drill rod lifting frame; two promotion chains on right side are driven by first drive gearbox, and two promotion chains on left side are driven by second drive gearbox, because the output of first drive gearbox and second drive gearbox turns to opposite, therefore the rotation direction of the promotion chain of left and right sides is opposite.

Furthermore, a plurality of drill rods are arranged between the two drill rod lifting frames corresponding to the left and the right, and two ends of each drill rod are arranged in the bracket; guide plate sets are arranged at two ends of the uppermost drill rod, each guide plate set comprises an outer guide plate and two inner guide plates, and the outer guide plates and the two inner guide plates are fixed on the frame body; the outer guide plate is arranged on the outer side of the end head of the drill rod and inclines towards the outer side of the end head of the drill rod; the two inner guide plates are symmetrically arranged below the end head of the drill rod, and the two inner guide plates are oppositely and obliquely arranged.

Compared with the prior art, the invention has the beneficial effects that:

(1) according to the automatic drilling rod assembling and disassembling device, the pin adding device is matched with the upper oil cylinder, the lower oil cylinder and the pushing oil cylinder, so that automatic pin adding is realized, automatic assembling and disassembling of a drilling rod are realized, the labor cost is reduced, and potential safety hazards are avoided;

(2) according to the invention, through the matching of the hexagonal connector and the limiting oil cylinder, the drilling rod is automatically clamped to push the drilling hole, the drilling hole is automatically stopped and loosened, the labor cost is reduced, and the potential safety hazard is avoided;

(3) according to the drill rod, the hexagonal adapter tube is arranged at one end of the drill rod body, the hexagonal adapter body is arranged at the other end of the drill rod body, the drill rod body and the hexagonal adapter body can be inserted in a matched mode, the pin holes are formed in the both, when the hexagonal adapter body of one drill rod is inserted into the hexagonal adapter tube of the other drill rod, the pin holes of the two coincide with each other, a drill rod bolt can be inserted at the moment and connected, the drill rod bolt and the pin hole can be automatically disassembled, the drill rod can be automatically assembled and disassembled under remote control, the automation degree is high, the drill rod can be assembled and disassembled manually instead of assembling and disassembling the drill rod, the assembling and disassembling efficiency is high, the links;

(4) according to the drill rod box, the drill rods are lifted through the left and right chain areas, the drill rod area is provided with the drill rod array, two ends of each drill rod are arranged in the brackets of the drill rod lifting frame, the drill rod lifting frames are connected with the lifting chains, and the drill rod lifting frames are controlled to move up and down through the lifting and descending of the lifting chains, so that the lifting and descending of the drill rods are controlled, the number of the drill rods in the drill rod box is increased through the drill rod array, and the requirements of a deep hole drilling machine are met; meanwhile, the remote control device can be used for intelligently remotely controlling a deep hole drill carriage, so that unmanned downhole operation is realized, potential safety hazards are eliminated, and the drilling efficiency is improved; the guide plates are arranged at the two ends of the drill rod at the uppermost row, so that the drill rod lifting frame is guided to move forward along the rotating direction of the lifting chain, and the fault that the drill rod is staggered or falls is reduced.

(5) The mechanical arm is connected with the grabbing device and the cross-post lifting oil cylinder through the connecting sleeve, the cross-post lifting oil cylinder is connected with the upright post lifting oil cylinder through the rotary speed reducer with the hexagonal head, an SSI absolute value encoder is arranged in the connecting sleeve, technical support is provided for the intelligent remote control drill rig, and by applying the mechanical arm, all parts are matched with each other, so that the drill rod is not required to be manually participated in the installation process, the labor intensity can be reduced, and the drilling machine can be ensured to continuously operate, so that the safety and the working efficiency of the drill rig for the coal mine can be effectively improved.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a front view of the present invention.

Fig. 3 is a side view of the present invention.

Fig. 4 is a top view of the present invention.

FIG. 5 is a schematic view of the present invention with a robotic arm attached.

Fig. 6 is a schematic structural view of the working mechanism of the present invention.

Fig. 7 is a front view of the working mechanism of the present invention.

Fig. 8 is a top view of the working mechanism of the present invention.

Fig. 9 is a cross-sectional view of a hexagonal connector of the present invention.

Fig. 10 is a schematic structural view of the pinning device of the present invention.

FIG. 11 is a top view of the pinning device of the present invention.

Fig. 12 is an internal structural view of the pinning device of the present invention.

Fig. 13 is a schematic view of the structure of the drill rod of the present invention.

Fig. 14 is a structural schematic view of a hexagonal socket of the drill rod of the present invention.

Fig. 15 is a schematic cross-sectional view of fig. 14.

Fig. 16 is a schematic view of the hexagonal socket body of the drill pipe of the present invention.

Fig. 17 is a schematic cross-sectional view of fig. 16.

Fig. 18 is a schematic view of the blade structure of the drill rod of the present invention.

Fig. 19 is a schematic view of the structure of the inner pin of the drill rod of the present invention.

FIG. 20 is a schematic view of the drill pipe plug of the present invention.

Fig. 21 is a schematic view of the structure of the drill pipe box of the present invention.

Figure 22 is a front view of a drill pipe box of the present invention.

Figure 23 is a side view of a drill pipe box of the present invention.

Figure 24 is a top view of a drill pipe box of the present invention.

Fig. 25 is a schematic structural view of a pipe lifting frame of the present invention.

Fig. 26 is a schematic view of the structure of the robot arm of the present invention.

Fig. 27 is a schematic structural view of a gripping device of the robot arm of the present invention.

Fig. 28 is a cross-sectional view of fig. 27.

Wherein:

the hydraulic lifting device comprises a main machine body 1, a working mechanism 2, a sliding frame 2.1, a sliding base 2.2, a power head 2.3, a hexagonal connector 2.4, a drill rod hole 2.41, a pressurizing oil cylinder 2.42, a compression spring 2.43, a T-shaped clamp column 2.44, a first propulsion oil cylinder 2.5, a limiting oil cylinder 2.6, an oil cylinder support 2.61, a stop block 2.62, a clamp 2.8, a pin adding device 2.9, a pin box 2.91, a drill rod pin 2.92, a pin body 2.921, an arc-shaped groove 2.922, a first tension spring 2.93, a first tension spring 2.94, a push plate 2.95, a partition plate 2.96, a second propulsion oil cylinder 2.97, a top plate 2.98, a sliding groove 2.99, a long-strip hole 2.910, an upper oil cylinder 2.10, a lower oil cylinder 2.11, a lower bottom plate 2.111, a lifting oil cylinder 2.12, a support mechanism 3, a first telescopic support rod 3.1, a first telescopic support rod 3.2, a first telescopic support rod box 4.2, a drill rod box 4.1, a lower support 4.4.6, a chain support 4.6, a chain 4.6, a second chain drive motor, a chain drive chain, 4.9 of a transmission shaft, 4.10 of a drill rod lifting frame, 4.101 of a bracket, 4.11 of a guide plate group, 4.111 of an outer guide plate, 4.112 of an inner guide plate, 5 of a crawler traveling device, 6.10 of a mechanical arm, 6.1 of a stand column assembly, 6.11 of a stand column oil cylinder, 6.12 of a stand column inner sleeve, 6.13 of a stand column outer sleeve, 6.2 of a first rotary speed reducer, 6.3 of a cross column assembly, 6.31 of a cross column oil cylinder, 6.32 of a cross column inner sleeve, 6.33 of a cross column outer sleeve, 6.4 of a second rotary speed reducer, 6.5 of a connecting sleeve, 6.6 of an absolute value encoder, 6.7 of a grabbing device, 6.71 of a clamping plate seat, 6.72 of a first clamping jaw, 6.73 of a second clamping jaw, 6.74 of a first stretching oil cylinder, 6.75 of a second stretching oil cylinder, 6.76 of a connecting plate, 6.77 of a first pin shaft, 6.78 of a second pin shaft, 6.79 of a central pin, 7 of a drill rod body, 7.1 of a hexagonal adapter, 7.21 of a pin hole, 22 of a clamping hole, 82 of a hexagonal pin hole, 34 of a hexagonal adapter, 34, The drill rod comprises a second pin hole 7.33, a blade 7.4, a drill rod inner pin 7.5, a front column 7.51, a clamping column 7.52, a rear column 7.53, a compression spring 7.6 and an elastic retainer ring 7.7.

Detailed Description

For a better understanding of the technical aspects of the present invention, reference will now be made in detail to the accompanying drawings. It should be understood that the following specific examples are not intended to limit the embodiments of the present invention, but are merely exemplary embodiments of the present invention. It should be noted that the description of the positional relationship of the components, such as the component a is located above the component B, is based on the description of the relative positions of the components in the drawings, and is not intended to limit the actual positional relationship of the components.

Example 1:

referring to fig. 1-25, fig. 1 is a schematic structural diagram of an intelligent remote-control deep-hole drill carriage for coal mines. As shown in the figure, the intelligent remote control deep hole drill carriage for the coal mine comprises a host machine body 1, a working mechanism 2 provided with a drill rod 7, a supporting mechanism 3, a drill rod box 4 storing the drill rod 7, a crawler traveling device 5 and a mechanical arm 6; the crawler belt traveling devices 5 are fixed on two sides of the main machine body 1, are in contact with the ground and are used for moving the main machine body 1; the working mechanism 2 is fixed on the main machine body 1, and the main machine body 1 is fixedly provided with a vertically arranged supporting mechanism 3 for stabilizing the main machine body 1; two drill rod boxes 4 are arranged on one side of the working mechanism 2, a supporting mechanism 3 is arranged on the other side of the working mechanism, and the supporting mechanism 3 also plays a balance role; a mechanical arm 6 is arranged between the two rod magazine 4 for gripping a rod 7.

Referring to fig. 6-9, the working mechanism 2 includes a carriage 2.1, a slide carriage 2.2, a power head 2.3, a hexagonal connector 2.4, a drill rod 7, a gripper 2.8 and a pin adding device 2.9, and the carriage 2.1 is fixed on the main body 1.

A movable sliding seat 2.2 is arranged on the sliding frame 2.1, a power head 2.3 is arranged on the sliding seat 2.2, the sliding seat 2.2 is connected with a first propulsion oil cylinder 2.5 to push the power head 2.3, one end of the power head 2.3 is connected with a limiting oil cylinder 2.6, and the other end of the power head is connected with a hexagonal connector 2.4; the limiting oil cylinder 2.6 is connected with a main shaft of the power head 2.3, so that the central axis of the drill rod hole 2.41 of the hexagonal connector 2.4 is always consistent with the central axis of the drill rod 7; a triangular stop block 2.62 is arranged between the limiting oil cylinder 2.6 and the power head 2.3, and stress is transferred in the process that the power head 2.3 stops rotating until a limiting oil cylinder sleeve is bounced into a main shaft pressure plate of the power head 2.3, so that the limiting oil cylinder 2.6 is prevented from being stressed, and a protection effect is achieved; an oil cylinder support 2.61 is arranged below the limiting oil cylinder 2.6 for supporting.

A drill rod hole 2.41 is formed in the center of the inner portion of the hexagonal connector 2.4, T-shaped clamping columns 2.44 are symmetrically arranged above and below the drill rod hole 2.41, and the T-shaped clamping columns 2.44 are connected with a pressurizing oil cylinder 2.42 through compression springs 2.43.

Still be provided with holder 2.8 on the balladeur train 2.1, the top of holder 2.8 is equipped with lifting cylinder 2.12, lifting cylinder 2.12 is connected with and is pinned device 2.9.

Referring to fig. 10 to 12, the pin adding device 2.9 includes a rectangular housing, a pin box 2.91, a first extension spring 2.93, a first extension spring 2.94, and a second thrust cylinder 2.97 are disposed in the housing, a cross section of the pin box 2.91 is in a shape of a wine bottle, two circular arc pieces are disposed at one end of the bottle mouth, an opening is formed between the two circular arc pieces, the opening is connected to the second thrust cylinder 2.97 through a top plate 2.98, one end of the top plate 2.98 is clamped in the opening, a drill rod pin 2.92 is fully disposed in the pin box 2.91, a first extension spring 2.93 and a first extension spring 2.94 are disposed at two sides of the pin box 2.91, one end of the first extension spring 2.93 and one end of the first extension spring 2.94 are connected through a push plate 2.95, the other end is disposed on an L-shaped clamp plate, and the L-shaped clamp plate is fixed; two side surfaces of the pin box 2.91 are respectively provided with a sliding groove 2.99, and the push plate 2.95 penetrates through the pin box 2.91 through the sliding grooves 2.99, so that the push plate 2.95 can slide conveniently; the top surface and the bottom surface of the pin box 2.91 are respectively provided with a strip hole 2.910, and the center of the strip hole 2.910 corresponds to the drill rod pin 2.92 at the bottle mouth of the pin box 2.91.

The drill pipe pin box is characterized in that a separation plate 2.96 is further arranged in the pin box 2.91, one end of the separation plate 2.96 is arranged at the bottom of the pin box 2.91, the middle of the separation plate passes through the drill pipe pin 2.92 group, the other end of the separation plate does not reach the bottle opening of the pin box 2.91, a corresponding sliding groove is also formed in the separation plate 2.96, so that the push plate 2.95 can slide through the sliding groove and also has the function of separating the drill pipe pins 2.92, and the drill pipe pins 2.92 can be sequentially delivered.

An upper oil cylinder 2.10 is arranged above the pin adding device 2.9, a lower oil cylinder 2.11 is arranged below the pin adding device, the upper oil cylinder 2.10 and the lower oil cylinder 2.11 penetrate through the long hole 2.910 to push the drill rod pin 2.92 downwards or upwards, the lower oil cylinder 2.11 is arranged on the lower bottom plate 2.111, and the lower bottom plate 2.111 is fixed on the sliding frame 2.1.

A drill rod 7 is arranged between the hexagonal connector 2.4 and the holder 2.8.

Referring to fig. 13-20, the drill rod 7 comprises a drill rod body 7.1, a hexagonal adapter 7.2, a hexagonal adapter body 7.3, a blade 7.4 and a drill rod inner pin 7.5, the hexagonal adapter 7.2 is arranged at one end of the drill rod body 7.1, the hexagonal adapter body 7.3 is arranged at the other end of the drill rod body 7.1, and the blade 7.4 is wound on the drill rod body 7.1.

The hexagonal connecting pipe 7.2 comprises a pipe body 7.21, an introduction hole 7.22 is transversely arranged in the pipe body 7.21, a first pin hole 7.23 penetrating through the pipe body 7.21 is vertically arranged, the introduction hole 7.22 comprises a clamping section 7.221 and an introduction section 7.222, the inner diameter of the introduction section 7.222 is smaller than that of the clamping section 7.221, and the section of the introduction hole 7.22 is hexagonal.

The hexagonal joint body 7.3 comprises a joint body 7.31, the joint body 7.31 comprises a front insertion section 7.311, a middle section 7.312 and a connecting section 7.313 which are sequentially arranged, the outer diameter of the front insertion section 7.311 is matched with the leading-in section 7.222, the outer diameter of the connecting section 7.313 is matched with the clamping section 7.221, the middle section 7.312 is a transition section of the front insertion section 7.311 and the connecting section 7.313, so that the front insertion section 7.311 is smoothly connected with the connecting section 7.313, an inner pin hole 7.32 is transversely arranged in the front insertion section 7.311, and a second pin hole 7.33 penetrating through the front insertion section 7.311 is vertically arranged; the inner pin hole 7.32 comprises a cylindrical section and a bullet section, the inner diameter of the cylindrical section is larger than that of the bullet section, and the bullet section is in a bullet shape with a cylinder and a hemisphere at one end cover; one end of the bullet head section is inserted into the second pin hole 7.33.

The inner pin hole 7.32 is internally provided with a drill rod inner pin 7.5, the drill rod inner pin 7.5 comprises a front column 7.51, a clamping column 7.52 and a rear column 7.53 which are sequentially arranged, the clamping column 7.52 which is vertically connected is arranged at the joint of the front column 7.51 and the rear column 7.53, the shape and the size of the front column 7.51 are matched and clamped with the bullet section of the inner pin hole 7.32, the clamping column 7.52 abuts against one end of the cylindrical section of the inner pin hole 7.32, the clamping column 7.52 is connected with a compression spring 7.6, and the tail end of the compression spring 7.6 is provided with an elastic retainer ring 7.7.

When the hexagonal joint body 7.3 of one drill rod is inserted into the hexagonal adapter 7.2 of the other drill rod, the second pin hole 7.33 of the hexagonal joint body 7.3 and the first pin hole 7.23 of the hexagonal adapter 7.2 are overlapped with each other and connected by inserting the drill rod pin 2.92,

drilling rod round pin 2.92 includes the round pin body 2.921, round pin body 2.921 both ends all are equipped with the end, and the end is the round platform shape, the middle part of the round pin body 2.921 is equipped with round arc groove 2.922, the position and the size of arc groove 2.922 and the drilling rod interior round pin 7.5 front end hemisphere body phase-match block of front pillar 7.51.

The surface heat treatment hardness of the blade 7.4 is 38-42 HRC.

Supporting mechanism 3 includes the supporting seat body, the left and right sides symmetry of supporting seat body is equipped with first scalable bracing piece 3.1 and first scalable bracing piece 3.2, first scalable bracing piece 3.1 and first scalable bracing piece 3.2 constitute by pneumatic cylinder and bracing piece, drive the bracing piece motion through the pneumatic cylinder, and the pneumatic cylinder stretches out end fixed connection bracing piece for first scalable bracing piece 3.1 upwards stretches out with first scalable bracing piece 3.2, thereby supports the mine top, when creeling into, can stabilize host computer organism 1, prevents that host computer organism 1 from sliding.

With reference to fig. 21-25, the rod magazine 4 comprises a frame body 4.1, a lifting chain 4.5, a first drive gearbox 4.6, a second drive gearbox 4.7, a hydraulic motor 4.8 and a rod lifting frame 4.10.

A hydraulic motor 4.8 is arranged at the bottom of the frame body 4.1, the hydraulic motor 4.8 is connected with a first driving gearbox 4.6, the first driving gearbox 4.6 is connected with a second driving gearbox 4.7 through a transmission shaft 4.9, and the output directions of the first driving gearbox 4.6 and the second driving gearbox 4.7 are opposite; and a left chain area and a right chain area which have the same structure and are corresponding in position are arranged above the first driving gearbox 4.6 and the second driving gearbox 4.7, and a drill rod area is arranged between the left chain area and the right chain area.

The left chain area comprises two chain upper supports 4.2, two chain lower supports 4.3, two lifting chains 4.5 and six drill rod lifting frames 4.10, the two chain upper supports 4.2 are arranged above the frame body 4.1 side by side, the two chain lower supports 4.3 are arranged below the frame body 4.1 side by side, clamping grooves are formed in the chain upper supports 4.2 for placing driving chain wheels 4.4, the chain lower supports 4.3 comprise a left clamping plate and a right clamping plate, another driving chain wheel 4.4 is fixed between the two clamping plates, and lifting chains 4.5 are arranged between the upper driving chain wheels 4.4 and the lower driving chain wheels 4.4; a row of drill rod lifting frames 4.10 which are arranged in parallel are arranged on the inner side of the lifting chain 4.5, the drill rod lifting frames 4.10 are hollow rectangular groove bodies with open top surfaces, three groups of symmetrical support grooves 4.101 are arranged on two opposite side surfaces of each drill rod lifting frame 4.10, and the support grooves 4.101 are in a semicircular arc shape.

The two lifting chains 4.5 on the right side are driven by the first drive gearbox 4.6, the two lifting chains 4.5 on the left side are driven by the second drive gearbox 4.7, and the output rotation directions of the first drive gearbox 4.6 and the second drive gearbox 4.7 are opposite, so that the rotation directions of the lifting chains 4.5 on the left side and the right side are opposite.

Three drill rods 7 are arranged between two corresponding drill rod lifting frames 4.10 on the left and the right, two ends of each drill rod 7 are arranged in the brackets 4.101, six drill rod lifting frames 4.10 are respectively arranged on the left and the right, and three brackets 4.101 are arranged on each drill rod lifting frame 4.10 for placing the drill rods 7, so that six rows and three columns of drill rod areas are formed.

Both ends of the uppermost drill rod 7 are provided with a guide plate group 4.11, and the guide plate group 4.11 comprises an outer guide plate 4.111 and two inner guide plates 4.112 which are fixed on the frame body 4.1; the outer guide plate 4.111 is arranged on the outer side of the end head of the drill rod 7 and inclines towards the outer side of the end head of the drill rod 7, and the inclination angle is 100-160 degrees; the two inner guide plates 4.112 are symmetrically arranged below the end head of the drill rod 7, and the two inner guide plates 4.112 are oppositely and obliquely arranged.

Referring to fig. 26-28, the robot arm 6 includes a column assembly 6.1, a horizontal column assembly 6.3, a connecting sleeve 6.5, an absolute value encoder 6.6 and a gripping device 6.7; the bottom end of the upright post component 6.1 is provided with a first rotary speed reducer 6.2 and is fixed on a drill carriage body, the top of the upright post component 6.1 is connected with one end of a transverse post component 6.3 through a second rotary speed reducer 6.4, the lower part of the other end of the transverse post component 6.3 is connected with a grabbing device 6.7 through a connecting sleeve 6.5, and an SSI absolute value encoder 6.6 is arranged in the connecting sleeve 6.5.

The upright post assembly 6.1 comprises an upright post oil cylinder 6.11, an upright post inner sleeve 6.12 and an upright post outer sleeve 6.13, the bottom end of the upright post oil cylinder 6.11 is connected with a first rotary speed reducer 6.2, the upright post inner sleeve 6.12 is sleeved outside the upright post oil cylinder 6.11, and the upright post outer sleeve 6.13 is sleeved outside the upright post inner sleeve 6.12;

the transverse column assembly 6.3 comprises a transverse column oil cylinder 6.31, a transverse column inner sleeve 6.32 and a transverse column outer sleeve 6.33, one end of the transverse column oil cylinder 6.31 is connected with a second rotary speed reducer 6.4, the transverse column inner sleeve 6.32 is arranged outside the transverse column oil cylinder 6.31, and the transverse column outer sleeve 6.33 is arranged outside the transverse column inner sleeve 6.32;

the gripping device 6.7 comprises a clamping plate seat 6.71, a first clamping jaw 6.72, a second clamping jaw 6.73, a first stretching oil cylinder 6.74 and a second stretching oil cylinder 6.75, the bottom end of the connecting sleeve 6.5 is connected with the top center of the clamping plate seat 6.71, the clamping plate seat 6.71 is respectively connected with the first clamping jaw 6.72 and the second clamping jaw 6.73 which are symmetrically arranged, a first pin shaft 6.77 is arranged in the first clamping jaw 6.72, a second pin shaft 6.78 is arranged in the second clamping jaw 6.73, a center pin shaft 6.79 is arranged at the center of the bottom of the clamping plate seat 6.71, the front end and the rear end of the center pin shaft 6.79 are respectively connected with the first stretching oil cylinder 6.74 and the second stretching oil cylinder 6.75, and the center pin shaft 6.79 is respectively connected with the first pin shaft 6.77 and the second pin shaft 6.78 through a connecting plate 6.76.

The working principle is as follows:

(1) connecting a drill rod:

1. a mechanical arm grabs a drill rod 1 from a drill rod box and places the drill rod 1 between a power head and a clamp holder, a propulsion oil cylinder 1 propels the power head to an appointed position A from an initial position, the drill rod 1 is inserted into a hexagonal connector, a hydraulic valve is opened to feed oil into the hexagonal connector and pressurize, a plug pin in the connector is inserted into a pin hole of a drill rod hexagonal connector to lock the drill rod 1, and the mechanical arm loosens the drill rod 1 (the limiting oil cylinder does not supply oil in the process);

2. the main shaft drives the drill rod 1 to start rotating, the first propulsion oil cylinder drives the power head to propel to a specified position B, the clamp holder clamps the drill rod 1, the hydraulic valve is closed, the bolt returns by means of elasticity of a spring in the hexagonal connector, and therefore the drill rod 1 is loosened, and the power head returns to an initial position;

3. the mechanical arm grabs a drill rod 2 from a drill rod box and places the drill rod between the power head and the clamp holder, the propulsion oil cylinder 2 propels the power head to an appointed position A from an initial position, the drill rod 2 is inserted into the hexagonal connector, the hydraulic valve is opened to feed oil into the hexagonal connector and pressurize, a plug pin in the connector is inserted into a pin hole of the drill rod hexagonal connector to lock the drill rod 2, and the mechanical arm loosens the drill rod 2;

4. after the lifting oil cylinder drives the pin adding device to descend to a certain position, the propelling oil cylinder pushes the power head to move forward to enable a connecting pipe at the tail part of the drill rod 2 to be connected with the hexagonal connector of the drill rod 1, the drill rod pin is pushed into a pin hole formed by connecting the drill rod 2 and the drill rod 1 through an upper oil cylinder arranged on the clamp holder to enable the drill rod 2 to be connected with the drill rod 1 in a locking mode, the upper oil cylinder rod returns to an initial position, the second propelling oil cylinder is always fixed in the process, the drill rod does not rotate, and the;

5. and repeating the steps after the next drill rod is connected.

(2) Withdrawing the drill rod:

1. the power head rotates while the drill rod 2 moves to retreat, the drill rod 2 retreats to a designated position B behind the clamp holder, the clamp holder clamps the drill rod 1, the drill rod stops rotating, the second propulsion oil cylinder does not move, the lower oil cylinder pushes the drill rod pin out of the drill rod pin placing box (in the process, the lower oil cylinder is linked with the second propulsion oil cylinder, when the lower oil cylinder pushes, the propulsion oil cylinder 2 slowly contracts by 16mm, namely the diameter of one pin), the second propulsion oil cylinder pushes the drill rod pin into the drill rod pin placing box, and the lower oil cylinder retreats to the initial position;

2. the pushing oil cylinder returns to drive the power head to retreat to a designated position, the mechanical arm clamps the drill rod 2, the hydraulic valve is closed, the plug pin returns by means of elasticity of a spring in the hexagonal connector, so that the drill rod 2 is loosened, the pushing oil cylinder drives the power head to continuously retreat to an initial position, and the mechanical arm puts the drill rod 2 back into the drill rod box;

3. the above-described procedure was repeated.

The above is only a specific application example of the present invention, and the protection scope of the present invention is not limited in any way. All the technical solutions formed by equivalent transformation or equivalent replacement fall within the protection scope of the present invention.

Claims

1. The utility model provides an intelligent remote control deep hole drill carriage for coal mine which characterized in that: the drilling machine comprises a main machine body, a working mechanism for arranging a drilling rod, a supporting mechanism, a drilling rod box for storing the drilling rod, a crawler traveling device and a mechanical arm; the crawler traveling device is fixed on two sides of the main machine body and is in contact with the ground, the working mechanism is fixed on the main machine body, a vertically arranged supporting mechanism is fixedly arranged on the main machine body, at least one drill pipe box is arranged on one side of the working mechanism, and the supporting mechanism is arranged on the other side of the working mechanism; a mechanical arm is arranged on one side of the drill rod box;

2. The intelligent remote control deep hole drill carriage for the coal mine according to claim 1, characterized in that: a drill rod hole is formed in the center inside the hexagonal connector, T-shaped clamping columns are symmetrically arranged above and below the drill rod hole, and the T-shaped clamping columns are connected with the pressurizing oil cylinder through compression springs.

3. The intelligent remote control deep hole drill carriage for the coal mine according to claim 1, characterized in that: a drill rod is arranged between the hexagonal connector and the holder; the drill rod comprises a drill rod body, a hexagonal connecting pipe, a hexagonal connector body, blades and a drill rod inner pin, the hexagonal connecting pipe is arranged at one end of the drill rod body, the hexagonal connector body is arranged at the other end of the drill rod body, and the blades are arranged on the drill rod body in a winding mode.

4. The intelligent remote control deep hole drill carriage for the coal mine according to claim 3, characterized in that: the hexagonal connecting pipe comprises a pipe body, wherein a leading-in hole is transversely formed in the pipe body, a first pin hole penetrating through the pipe body is vertically formed in the pipe body, and the leading-in hole comprises a clamping section and a leading-in section.

5. The intelligent remote control deep hole drill carriage for the coal mine according to claim 4, characterized in that: the hexagonal joint body comprises a joint body, the joint body comprises a front insertion section and a connecting section which are sequentially arranged, the outer diameter of the front insertion section is matched with that of the leading-in section, the outer diameter of the connecting section is matched with that of the clamping section, an inner pin hole is transversely arranged in the front insertion section, and a second pin hole penetrating through the front insertion section is vertically arranged in the front insertion section; the inner pin hole comprises a cylindrical section and a bullet section, the inner diameter of the cylindrical section is larger than that of the bullet section, and the bullet section is in a bullet shape with a cylinder and a hemisphere at one end; one end of the bullet head section is inserted into the second pin hole.

6. The intelligent remote control deep hole drill carriage for the coal mine according to claim 4, characterized in that: the drill rod inner pin is arranged in the inner pin hole and comprises a front column, a clamping column and a rear column which are sequentially arranged, the clamping column which is vertically connected is arranged at the joint of the front column and the rear column, the shape and the size of the front column are matched and clamped with the bullet section of the inner pin hole, the clamping column abuts against one end of the cylindrical section of the inner pin hole, and the clamping column is connected with the compression spring.

7. The intelligent remote control deep hole drill carriage for the coal mine according to claim 6, characterized in that: when the hexagonal joint body of one drill rod is inserted into the hexagonal connecting pipe of the other drill rod, the second pin hole of the hexagonal joint body is overlapped with the first pin hole of the hexagonal connecting pipe, the drill rod bolt is inserted into the hexagonal connecting pipe and connected with the drill rod bolt, the drill rod bolt comprises a pin body, a circle of arc-shaped groove is arranged in the middle of the pin body, and the position and the size of the arc-shaped groove are matched and clamped with the front end hemisphere of the inner pin of the drill rod.

8. The intelligent remote control deep hole drill carriage for the coal mine according to claim 1, characterized in that: the drill rod box comprises a frame body, a lifting chain, a first driving gearbox, a second driving gearbox, a hydraulic motor and a drill rod lifting frame; the bottom of the frame body is provided with a hydraulic motor, the hydraulic motor is connected with a first driving gearbox, the first driving gearbox is connected with a second driving gearbox through a transmission shaft, and the output directions of the first driving gearbox and the second driving gearbox are opposite; and a left chain area and a right chain area which have the same structure and correspond to each other in position are arranged above the first driving gearbox and the second driving gearbox, and a drill rod area is arranged between the left chain area and the right chain area.

9. The intelligent remote control deep hole drill carriage for the coal mine according to claim 8, characterized in that: the left chain area comprises two chain upper supports, two chain lower supports, two lifting chains and a plurality of drill rod lifting frames, the two chain upper supports are arranged above the framework body side by side, the two chain lower supports are arranged below the framework body side by side, the chain upper supports are provided with clamping grooves for placing driving sprockets, the chain lower supports comprise a left clamping plate and a right clamping plate, the other driving sprocket is fixed between the two clamping plates, and the lifting chains are arranged between the upper driving sprocket and the lower driving sprocket; a row of drill rod lifting frames which are arranged in parallel are arranged on the inner side of the lifting chain, each drill rod lifting frame is a hollow rectangular groove body with an opening on the top surface, and three groups of symmetrical support grooves are arranged on two opposite side surfaces of each drill rod lifting frame; two promotion chains on right side are driven by first drive gearbox, and two promotion chains on left side are driven by second drive gearbox, because the output of first drive gearbox and second drive gearbox turns to opposite, therefore the rotation direction of the promotion chain of left and right sides is opposite.

10. The intelligent remote control deep hole drill carriage for the coal mine according to claim 9, characterized in that: a plurality of drill rods are arranged between the two drill rod lifting frames corresponding to the left and the right, and two ends of each drill rod are arranged in the bracket; guide plate sets are arranged at two ends of the uppermost drill rod, each guide plate set comprises an outer guide plate and two inner guide plates, and the outer guide plates and the two inner guide plates are fixed on the frame body; the outer guide plate is arranged on the outer side of the end head of the drill rod and inclines towards the outer side of the end head of the drill rod; the two inner guide plates are symmetrically arranged below the end head of the drill rod, and the two inner guide plates are oppositely and obliquely arranged.