CN111852332A - Automatic rod adding drilling machine with drill rod box - Google Patents
Automatic rod adding drilling machine with drill rod box Download PDFInfo
- Publication number
- CN111852332A CN111852332A CN202010814169.6A CN202010814169A CN111852332A CN 111852332 A CN111852332 A CN 111852332A CN 202010814169 A CN202010814169 A CN 202010814169A CN 111852332 A CN111852332 A CN 111852332A
- Authority
- CN
- China
- Prior art keywords
- drill rod
- guide rail
- translation
- lifting
- box
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005553 drilling Methods 0.000 title claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 119
- 210000000078 claw Anatomy 0.000 claims abstract description 16
- 238000005192 partition Methods 0.000 claims abstract description 5
- 230000003028 elevating effect Effects 0.000 claims description 11
- 230000001502 supplementing effect Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 230000009194 climbing Effects 0.000 claims description 2
- 239000003921 oil Substances 0.000 description 33
- 230000009471 action Effects 0.000 description 4
- 239000003245 coal Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Images
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
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/024—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting having means for adapting to inclined terrain; having means for stabilizing the vehicle while drilling
-
- 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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/003—Supports for the drilling machine, e.g. derricks or masts adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells
-
- 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
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/025—Rock drills, i.e. jumbo drills
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
An automatic rod adding drilling machine with a drill rod box comprises a chassis, a programmable control box, a hydraulic operating platform and a drill rod box assembly, wherein the drill rod box assembly comprises a drill rod box and a lifting mechanism, the drill rod box is used for accommodating a drill rod and positioning the drill rod by utilizing a partition, and the lifting mechanism is used for lifting or lowering the position of the drill rod to ensure that a mechanical claw can grab the drill rod one by one from the drill rod box or put the drill rod back into the drill rod box one by one; a manipulator assembly is arranged in front of the drill rod box to grab the drill rod; the chassis is also provided with a guide rail assembly capable of adjusting the pitching angle, the front end of the guide rail assembly is provided with a clamp holder for clamping a drill rod, and a power swing mechanism for realizing drilling of the drill rod is arranged on the guide rail of the guide rail assembly and can move back and forth along the guide rail. The invention can solve the problems that the conventional automatic drilling equipment can not realize quick and stable drilling during the advance drilling, and the equipment does not have large-capacity drill rod storage, can not meet the requirement of one-time drilling and reduce the labor intensity of workers.
Description
Technical Field
The invention belongs to the field of coal mine drilling machines, and particularly relates to an automatic rod adding drilling machine with a drill rod box.
Background
With the development of coal mine drilling technology and the improvement of safety awareness of workers, more and more automatic drilling equipment is applied to underground coal mines for automatic drilling operation. At present, automatic drilling equipment applied to underground is mainly automatic equipment for drilling operation by vertical equipment, and the efficiency is lower if the operation direction is adjusted by adjusting the arrangement angle of the equipment aiming at part of the front-detected hole-drawing operation; most of the existing automatic drilling machines are not provided with large-capacity drill rod frames, and the requirement of one-time long-distance drilling cannot be met.
Disclosure of Invention
The invention aims to provide an automatic rod-adding drilling machine with a drill rod box, and aims to solve the problems that conventional automatic drilling equipment cannot realize quick and stable drilling during forward drilling, the equipment does not have large-capacity drill rod storage, the requirement of one-time drilling cannot be met, and the labor intensity of workers is reduced.
In order to achieve the purpose, the invention adopts the technical scheme that: an automatic rod-adding drilling machine with a drill rod box comprises a chassis, a programmable control box and a hydraulic operating platform, wherein the programmable control box and the hydraulic operating platform are arranged on the chassis; the lifting mechanism comprises a lifting platform and a lifting driving device, the lifting platform is positioned in the drill rod box and used for bearing a drill rod in the drill rod box, and the lifting driving device is positioned outside the drill rod box and connected with the lifting platform to drive the lifting platform to be lifted or lowered; a manipulator assembly is further arranged in front of the drill rod box and comprises a slewing bearing, a swinging support, a multi-stage translation mechanism, a multi-stage lifting mechanism and a manipulator slewing mechanism, one end of the slewing bearing is fixed on the chassis, and the other end of the slewing bearing is connected with the swinging support so as to adjust the pitching angle of the swinging support; a first-stage lifting mechanism in the multi-stage lifting mechanism is arranged on the swing support, a first-stage translation mechanism in the multi-stage translation mechanism is arranged on the upper portion of the first-stage lifting mechanism in a sliding mode, a second-stage translation mechanism in the multi-stage translation mechanism is arranged on the first-stage translation mechanism in a sliding mode and used for supplementing the moving range of the first-stage translation mechanism, and a second-stage lifting mechanism in the multi-stage lifting mechanism is arranged on the second-stage translation mechanism and used for supplementing the moving range of the first-stage lifting mechanism; the manipulator swing mechanism and the manipulator claw are arranged on the secondary lifting mechanism, the manipulator swing mechanism is used for controlling the manipulator claw to rotate, and the rotation axis is parallel to the lifting direction of the secondary lifting mechanism; the chassis is also provided with a guide rail assembly capable of adjusting the pitching angle, the front end of the guide rail assembly is provided with a clamp holder for clamping a drill rod, and a power swing mechanism for realizing drilling of the drill rod is arranged on the guide rail of the guide rail assembly and can move back and forth along the guide rail.
A plurality of clapboards are arranged on two opposite inner walls in the drill rod box at intervals respectively, the space between every two adjacent clapboards is used for placing a drill rod, and the width between every two adjacent clapboards can only accommodate one drill rod.
Swing support among the manipulator subassembly has the square pipe of a vertical setting, one-level elevating system includes that an activity is inserted and is established lifter and a telescopic cylinder in the square pipe, and telescopic cylinder's one end is connected swing support's the side outside of managing, and the telescopic cylinder other end is connected the upper portion of lifter.
The upper part of the lifting rod is also provided with a translation guide groove perpendicular to the lifting rod, the lower part of the translation guide groove is provided with a gear, the gear is driven by a translation motor I to rotate, the primary translation mechanism is a translation guide rail, the translation guide rail is arranged in the translation guide groove in a sliding manner, and a translation rack meshed with the gear is arranged on the translation guide rail; the translation guide rail is provided with a secondary translation mechanism, the secondary translation mechanism comprises a linear driving mechanism and a sliding plate, the linear driving mechanism is used for driving the sliding plate to linearly slide on the translation guide rail, and the sliding direction of the sliding plate is parallel to that of the translation guide rail; the linear driving mechanism is a screw nut mechanism, a screw is rotatably arranged in the translation guide rail, a screw motor arranged at one end of the translation guide rail drives the screw to rotate, and a nut in threaded fit with the screw is fixedly connected with the sliding plate.
Second grade elevating system include connecting plate, gear and translation motor II, the connecting plate slides and sets up on the face of slide, the slip direction of connecting plate and the slip direction of slide are perpendicular, and be on a parallel with the lifting direction of lifter, one side of connecting plate is equipped with the rotatory gear of II drives of translation motor, gear and translation motor II all install on the slide, the side of connecting plate is equipped with the lifting rack, through the meshing of the gear of installing on the slide and lifting rack, drive the connecting plate and slide on the slide.
The manipulator slewing mechanism is fixed on the connecting plate through a support, the rotating part of the manipulator slewing mechanism is connected with the swing angle oil cylinder, and the swing angle oil cylinder is connected with the mechanical gripper so as to control the opening and closing of the mechanical gripper.
The guide rail assembly comprises a guide rail support and an angle adjusting oil cylinder, one end of the guide rail support is rotatably connected to the stand column assembly on the chassis, the other end of the guide rail support extends out towards the front of the drilling machine and is provided with the clamp, one end of the angle adjusting oil cylinder is rotatably connected to the chassis, the other end of the angle adjusting oil cylinder is rotatably connected with the guide rail support, the guide rail is arranged inside the guide rail support, a translation oil cylinder is further arranged inside the guide rail support, one end of the translation oil cylinder is connected with the power swing mechanism, and the other end of the translation oil cylinder is connected with the guide rail.
The vertical column assembly comprises two vertical columns fixed on the chassis and a vertical column cross beam between the two vertical columns, the two ends of the vertical column cross beam realize climbing or descending along the vertical columns through a lifting oil cylinder respectively, a slewing bearing in the manipulator assembly is fixed on the vertical column cross beam, a telescopic pipe and a jacking oil cylinder are arranged in each vertical column, and the jacking oil cylinder is used for controlling the telescopic pipe to extend out of or retract into the vertical column.
One end of the guide rail bracket is hinged on the upright post cross beam.
The chassis is a crawler chassis, the crawler chassis is provided with four ground supporting oil cylinders, the crawler chassis is further provided with an electro-hydraulic control valve bank, the programmable control box is connected with the electro-hydraulic control valve bank through a cable, and each hydraulic mechanism is driven to act through the electro-hydraulic control valve bank.
The invention has the beneficial effects that: the invention can realize the rapid and stable drilling operation during the forward drilling operation, and simultaneously, the large-capacity drill pipe box of the equipment can meet the requirement of automatic drilling for one-time hole forming, thereby effectively reducing the labor intensity of field operation workers.
According to the invention, the lifting device is arranged outside the drill rod box in a side-mounted manner, so that the space of the lower part of the drill rod box can be prevented from being occupied, and the actual utilization rate of the drill rod box is improved.
The manipulator assembly used by the invention can realize the adjustment of two degrees of freedom of the manipulator claw in the horizontal direction and the vertical direction, and can also adjust the pitching angle of the claw in the vertical direction and the swinging angle in the horizontal plane, thereby meeting the requirements of the angle, the direction and the like of the grabbing and installing of the drill rod.
The multi-stage lifting mechanism and the multi-stage translation mechanism of the mechanical hand component can expand the operation range of the mechanical hand claw without occupying too much space, so that the space requirement of underground operation can be well met.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a drill pipe box according to the present invention;
FIG. 3 is a schematic view of a robot assembly according to the present invention;
the labels in the figure are: 1. the device comprises a crawler chassis, 2, a hydraulic operating platform, 3, a programmable control box, 4, a drill rod box assembly, 5, a stand column assembly, 6, a manipulator assembly, 7, a guide rail assembly, 8, an electro-hydraulic control valve bank, 9, a clamp holder, 10, an inclined strut, 11 and a power swing mechanism;
401. a drill rod box 402, a lifting driving device 403, a lifting platform 404 and a partition plate;
601. slewing bearing, 6011, slewing motor, 602, fixed disk, 603, swing support, 604, first-level lifting mechanism, 6041, telescopic oil cylinder, 6042, lifting rod, 6043, translation guide groove, 6044, translation motor I, 605, translation guide rail, 6051, lead screw motor, 6052, sliding plate, 6053, translation motor II, 606, connecting plate, 607, manipulator slewing mechanism, 608, swing angle oil cylinder, 609 and manipulator claw.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and examples, but the invention is not limited thereto.
Referring to the attached drawings, the automatic rod adding drilling machine with the drill rod box comprises a crawler chassis 1, a hydraulic operating platform 2, a programmable control box 3, a drill rod box assembly 4, an upright post assembly 5, a manipulator assembly 6, a guide rail assembly 7 and an electro-hydraulic control valve group 8.
The crawler chassis 1 comprises a crawler traveling mechanism and ground supporting oil cylinders, free movement of the equipment is achieved through the crawler traveling mechanism, and upward supporting functions of the equipment are achieved through the ground supporting oil cylinders arranged at four corners of the crawler chassis.
The hydraulic operating platform 2 is used for reversing, adjusting flow, adjusting pressure and the like on high-pressure oil input by an external power source to enable the hydraulic oil to enter an executing mechanism to drive the executing mechanism to act, and the executing mechanism refers to a hydraulic oil cylinder and a motor in each component of the drilling machine.
The programmable control box 3 is fixed on the crawler chassis 1, is connected with the electro-hydraulic control valve group 8 through a cable, and utilizes an internal electric signal to drive each valve plate of the electro-hydraulic control valve group 8 to switch according to an instruction so as to drive each mechanism to act. The programmable control box 3 can also collect information such as action positions and action pressures of all mechanisms through sensors arranged on a drilling machine, send out signal instructions after logical operation, drive all the mechanisms to execute actions, and realize automatic operation of the drilling process and the retraction process of equipment.
The drill rod box assembly 4 comprises a drill rod box 401 and a lifting platform 403, a plurality of partition plates 404 are arranged on two opposite inner walls in the drill rod box 401 at intervals, and positioning between drill rod columns is realized by utilizing the partition plates 404; the lifting platform 403 is located in the drill rod box 401, the drill rods are placed on the lifting platform 403 in layers, the lifting platform 403 is driven by a lifting driving device 402 arranged outside the drill rod box 401 to lift, and the lifting driving device 402 is located on one side outside the drill rod box 401. When a drill rod is grabbed from the drill rod box 401, after grabbing of the top drill rod is completed, the lifting mechanism 402 lifts the lifting platform 403, so that the next layer of drill rod reaches the top layer of the drill rod box 401 until the operation is completed; when the top layer of drill rods is full during the drill rod recovery, the lifting mechanism 402 drives the lifting platform 403 to automatically fall by one layer, and the mechanical gripper 609 continues to place the drill rods on the top layer until the operation is completed.
The upright post component 5 is fixed on the crawler chassis 1 and comprises two upright posts and an upright post cross beam connected between the two upright posts, wherein two ends of the upright post cross beam are respectively driven by a lifting oil cylinder to realize that the upright post cross beam climbs or descends along the two upright posts, the two upright posts internally comprise telescopic pipes and jacking oil cylinders, the telescopic pipes are lifted under the operation of the jacking oil cylinders and extend out to support a roadway roof, and the ground supporting oil cylinders on the chassis are matched to realize stable support of equipment.
The manipulator assembly 6 comprises a slewing bearing 601, a fixed disc 602, a swinging support 603, a multi-stage translation mechanism, a multi-stage lifting mechanism and a manipulator slewing mechanism 607, wherein one end of the slewing bearing 601 is fixed on the upright post cross beam through the fixed disc 602, the other end of the slewing bearing is connected with the swinging support 603, and the pitching angle of the swinging support 603 is adjusted by driving a slewing motor 6011 on the slewing bearing 601; one-level elevating system 604 among the multistage elevating system installs on swing bracket 603, one-level translation mechanism among the multistage translation mechanism slides and sets up the upper portion of one-level elevating system 604, second grade translation mechanism among the multistage translation mechanism slides and sets up on one-level translation mechanism, as the supplementary of one-level translation mechanism home range, second grade elevating system among the multistage elevating system install on the second grade translation mechanism, as the supplementary of one-level elevating system 604 home range.
Further, swing support 603 among the manipulator subassembly 6 has the square pipe of a vertical setting, one-level elevating system 604 includes that an activity is inserted and is established lifter 6042 and a telescopic cylinder 6041 in the square pipe, and telescopic cylinder 6041's one end is connected the square outside of pipe of swing support 603, and the telescopic cylinder 6041 other end is connected the upper portion of lifter 6042.
Furthermore, the upper part of the lifting rod 6042 is also provided with a translation guide groove 6043 which is perpendicular to the lifting rod 6042, the lower part of the translation guide groove 6043 is provided with a gear, and the gear is driven to rotate by a translation motor I6044 arranged on the upper part of the lifting rod 6042; the primary translation mechanism is a translation guide rail 605, the translation guide rail 605 is arranged in the translation guide groove 603 in a sliding manner, and a translation rack meshed with the gear is arranged on the translation guide rail 605; the translation guide rail 605 is provided with a secondary translation mechanism, the secondary translation mechanism comprises a linear driving mechanism and a sliding plate 6052, the linear driving mechanism is used for driving the sliding plate 6052 to slide linearly on the translation guide rail 605, and the sliding direction of the sliding plate 6052 is parallel to that of the translation guide rail 605; the linear driving mechanism is a screw and nut mechanism, wherein a screw is rotatably arranged in the translation guide rail 605, a screw motor 6051 arranged at one end of the translation guide rail 605 drives the screw to rotate, and a nut in threaded fit with the screw is fixedly connected with the sliding plate 6052.
Furthermore, the second-stage lifting mechanism comprises a connecting plate 606, a gear and a second lifting motor 6053, wherein the connecting plate 606 is arranged on the plate surface of the sliding plate 6052 in a sliding manner, the sliding direction of the connecting plate 606 is perpendicular to the sliding direction of the sliding plate 6052 and is parallel to the lifting direction of the lifting rod 6042, the gear driven to rotate by the second lifting motor 6053 is arranged on one side of the connecting plate 606, the gear and the second lifting motor 6053 are both arranged on the sliding plate 6052, a lifting rack is arranged on the side surface of the connecting plate 606, and the connecting plate 606 is driven to slide on the sliding plate 6052 through the meshing of the gear and the lifting rack arranged on the sliding plate 6052. The manipulator swing mechanism 607 is fixed on the connecting plate 606 through a bracket, the rotation part of the manipulator swing mechanism 607 is connected with a swing angle oil cylinder 608, and the swing angle oil cylinder 608 is connected with a manipulator claw 609 to control the opening and closing of the manipulator claw 609. The robot swing mechanism 607 may employ a hydraulic motor having a swing function.
The electro-hydraulic control valve group 8 is driven by signals sent by the programmable control box 3 to realize the action of each mechanism in the manipulator assembly 6, so that the mechanical gripper 609 can grab a drill rod from the drill rod box 401 and place the drill rod into a drilling part, and can grab the drill rod from the drilling part and place the drill rod back into the drill rod box 401.
The guide rail assembly 7 comprises a guide rail support and an angle modulation oil cylinder, a power rotation mechanism 11 is arranged on the guide rail support in a sliding mode, the power rotation mechanism 11 is used for driving a drill rod to drill in a rotating mode, one end of the guide rail support is hinged to the upright post cross beam, the other end of the guide rail support is hinged to a piston of the angle modulation oil cylinder, a cylinder body of the angle modulation oil cylinder is hinged to the crawler chassis, pitching adjustment of a punching inclination angle of the power rotation mechanism 11 is achieved through stretching of the angle modulation oil cylinder, pitching angle information is collected by a corresponding angle sensor and fed back to the programmable control box, and the programmable control box 3 controls the manipulator assembly 6 to adjust the inclination angle.
The power swing mechanism 11 is arranged on a guide rail in the guide rail bracket in a sliding manner, a translation oil cylinder is further arranged in the guide rail bracket, one end of the translation oil cylinder is connected with the power swing mechanism 11, and the other end of the translation oil cylinder is connected with the guide rail bracket so as to drive the power swing mechanism 11 to slide along the guide rail.
The electro-hydraulic control valve group 8 is fixed on the crawler chassis 1 and communicated with the hydraulic operating platform 2 and the programmable control box 3, high-pressure oil is input into the electro-hydraulic control valve group 8 through the hydraulic operating platform 2, and then the programmable control box 3 drives the valve plates of the electro-hydraulic control valve group 8 to act, so that all mechanisms are driven to act.
In order to further improve the stability of the drilling machine in the operation process, an inclined strut 10 is further arranged in front of the crawler chassis 1, one end of the inclined strut 10 is hinged to the front end face of the crawler chassis 1, the middle of the inclined strut 10 is sleeved in a shaft sleeve, the shaft sleeve is rotatably connected to the front end of the guide rail support, and the two inclined struts 10 are respectively located on two sides of the guide rail support.
During construction, the equipment is moved to a construction position through the crawler chassis 1, the extension of the telescopic pipes of the ground supporting oil cylinder and the upright post component 5 is controlled through the hydraulic operating platform 2 and the electro-hydraulic control valve group 8, stable drilling support of the equipment is realized, and the angle of the guide rail bracket is adjusted through the angle adjusting oil cylinder, so that the adjustment of the inclination angle of the split hole is realized; after the equipment is prepared, the programmable control box 3 controls the mechanical claw 609 in the mechanical arm assembly 6 to move, the mechanical claw 609 moves to the position above the drill rod layer, the mechanical claw 609 rotates and falls to grab the drill rod, the mechanical claw 609 is lifted, and the mechanical claw 609 rotates to enable the drill rod and the guide rail bracket to have the same horizontal direction; moving the mechanical gripper 609 to a position right above the guide rail bracket, adjusting the self inclination angle of the mechanical arm assembly 6 to be parallel to the guide rail bracket according to the existing angle of the guide rail bracket, enabling the mechanical gripper 609 to fall to a drill rod to enter a gripper 9, and after the gripper 9 clamps the drill rod, loosening the mechanical gripper 609 and resetting; after the clamp 609 clamps the drill rod, the power swing mechanism 11 in the guide rail assembly 7 rotates forwards to advance, and normal drilling is started after the power swing mechanism is connected with the drill rod; the power rotary mechanism 11 performs automatic drilling operation under the program control of the programmable control box 3, and after the current drilling operation is completed, the programmable control box 3 continues to control the power rotary mechanism 11 of the manipulator assembly and the guide rail assembly to cooperate to pull out and disassemble the drill rod from the hole and place the drill rod back into the drill rod box 401.
The above embodiments are only intended to illustrate the technical solution of the present invention and not to limit the same, and it should be understood by those of ordinary skill in the art that the specific embodiments of the present invention can be modified or substituted with equivalents with reference to the above embodiments, and any modifications or equivalents without departing from the spirit and scope of the present invention are within the scope of the claims to be appended.
Claims (10)
1. The utility model provides a from automation of taking drilling rod case adds pole rig, includes the chassis, sets up programmable control case and the hydraulic pressure operation panel on the chassis, its characterized in that: the chassis is also provided with a drill rod box assembly, the drill rod box assembly comprises a drill rod box and a lifting mechanism, the drill rod box is used for accommodating a drill rod and positioning the drill rod by utilizing a partition, and the lifting mechanism is used for lifting or lowering the position of the drill rod so as to ensure that the mechanical gripper can grab the drill rod one by one from the drill rod box or put the drill rod back into the drill rod box one by one; the lifting mechanism comprises a lifting platform and a lifting driving device, the lifting platform is positioned in the drill rod box and used for bearing a drill rod in the drill rod box, and the lifting driving device is positioned outside the drill rod box and connected with the lifting platform to drive the lifting platform to be lifted or lowered; a manipulator assembly is further arranged in front of the drill rod box and comprises a slewing bearing, a swinging support, a multi-stage translation mechanism, a multi-stage lifting mechanism and a manipulator slewing mechanism, one end of the slewing bearing is fixed on the chassis, and the other end of the slewing bearing is connected with the swinging support so as to adjust the pitching angle of the swinging support; a first-stage lifting mechanism in the multi-stage lifting mechanism is arranged on the swing support, a first-stage translation mechanism in the multi-stage translation mechanism is arranged on the upper portion of the first-stage lifting mechanism in a sliding mode, a second-stage translation mechanism in the multi-stage translation mechanism is arranged on the first-stage translation mechanism in a sliding mode and used for supplementing the moving range of the first-stage translation mechanism, and a second-stage lifting mechanism in the multi-stage lifting mechanism is arranged on the second-stage translation mechanism and used for supplementing the moving range of the first-stage lifting mechanism; the manipulator swing mechanism and the manipulator claw are arranged on the secondary lifting mechanism, the manipulator swing mechanism is used for controlling the manipulator claw to rotate, and the rotation axis is parallel to the lifting direction of the secondary lifting mechanism; the chassis is also provided with a guide rail assembly capable of adjusting the pitching angle, the front end of the guide rail assembly is provided with a clamp holder for clamping a drill rod, and a power swing mechanism for realizing drilling of the drill rod is arranged on the guide rail of the guide rail assembly and can move back and forth along the guide rail.
2. The automatic rod adding drilling machine with the drill rod box as claimed in claim 1, wherein: a plurality of clapboards are arranged on two opposite inner walls in the drill rod box at intervals respectively, the space between every two adjacent clapboards is used for placing a drill rod, and the width between every two adjacent clapboards can only accommodate one drill rod.
3. The automatic rod adding drilling machine with the drill rod box as claimed in claim 1, wherein: swing support among the manipulator subassembly has the square pipe of a vertical setting, one-level elevating system includes that an activity is inserted and is established lifter and a telescopic cylinder in the square pipe, and telescopic cylinder's one end is connected swing support's the side outside of managing, and the telescopic cylinder other end is connected the upper portion of lifter.
4. The automatic rod adding drilling machine with the drill rod box as claimed in claim 3, wherein: the upper part of the lifting rod is also provided with a translation guide groove perpendicular to the lifting rod, the lower part of the translation guide groove is provided with a gear, the gear is driven by a translation motor I to rotate, the primary translation mechanism is a translation guide rail, the translation guide rail is arranged in the translation guide groove in a sliding manner, and a translation rack meshed with the gear is arranged on the translation guide rail; the translation guide rail is provided with a secondary translation mechanism, the secondary translation mechanism comprises a linear driving mechanism and a sliding plate, the linear driving mechanism is used for driving the sliding plate to linearly slide on the translation guide rail, and the sliding direction of the sliding plate is parallel to that of the translation guide rail; the linear driving mechanism is a screw nut mechanism, a screw is rotatably arranged in the translation guide rail, a screw motor arranged at one end of the translation guide rail drives the screw to rotate, and a nut in threaded fit with the screw is fixedly connected with the sliding plate.
5. The automatic rod adding drilling machine with the drill rod box as claimed in claim 4, wherein: second grade elevating system include connecting plate, gear and translation motor II, the connecting plate slides and sets up on the face of slide, the slip direction of connecting plate and the slip direction of slide are perpendicular, and be on a parallel with the lifting direction of lifter, one side of connecting plate is equipped with the rotatory gear of II drives of translation motor, gear and translation motor II all install on the slide, the side of connecting plate is equipped with the lifting rack, through the meshing of the gear of installing on the slide and lifting rack, drive the connecting plate and slide on the slide.
6. The automatic rod adding drilling machine with the drill rod box as claimed in claim 5, wherein: the manipulator slewing mechanism is fixed on the connecting plate through a support, the rotating part of the manipulator slewing mechanism is connected with the swing angle oil cylinder, and the swing angle oil cylinder is connected with the mechanical gripper so as to control the opening and closing of the mechanical gripper.
7. The automatic rod adding drilling machine with the drill rod box as claimed in claim 1, wherein: the guide rail assembly comprises a guide rail support and an angle adjusting oil cylinder, one end of the guide rail support is rotatably connected to the stand column assembly on the chassis, the other end of the guide rail support extends out towards the front of the drilling machine and is provided with the clamp, one end of the angle adjusting oil cylinder is rotatably connected to the chassis, the other end of the angle adjusting oil cylinder is rotatably connected with the guide rail support, the guide rail is arranged inside the guide rail support, a translation oil cylinder is further arranged inside the guide rail support, one end of the translation oil cylinder is connected with the power swing mechanism, and the other end of the translation oil cylinder is connected with the guide rail.
8. The automatic rod adding drilling machine with the rod box as claimed in claim 7, wherein: the vertical column assembly comprises two vertical columns fixed on the chassis and a vertical column cross beam between the two vertical columns, the two ends of the vertical column cross beam realize climbing or descending along the vertical columns through a lifting oil cylinder respectively, a slewing bearing in the manipulator assembly is fixed on the vertical column cross beam, a telescopic pipe and a jacking oil cylinder are arranged in each vertical column, and the jacking oil cylinder is used for controlling the telescopic pipe to extend out of or retract into the vertical column.
9. The automatic rod adding drilling machine with the rod box as claimed in claim 8, wherein: one end of the guide rail bracket is hinged on the upright post cross beam.
10. The automatic rod adding drilling machine with the drill rod box as claimed in claim 1, wherein: the chassis is a crawler chassis, the crawler chassis is provided with four ground supporting oil cylinders, the crawler chassis is further provided with an electro-hydraulic control valve bank, the programmable control box is connected with the electro-hydraulic control valve bank through a cable, and each hydraulic mechanism is driven to act through the electro-hydraulic control valve bank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010814169.6A CN111852332B (en) | 2020-08-13 | Automatic rod adding drilling machine with drill rod box |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010814169.6A CN111852332B (en) | 2020-08-13 | Automatic rod adding drilling machine with drill rod box |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111852332A true CN111852332A (en) | 2020-10-30 |
| CN111852332B CN111852332B (en) | 2024-07-12 |
Family
ID=
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112709540A (en) * | 2021-01-12 | 2021-04-27 | 重庆劲合实业有限公司 | Automatic rod replacing device |
| CN112814565A (en) * | 2021-03-11 | 2021-05-18 | 重庆平山机电设备有限公司 | Automatic rod-adding drilling machine |
| CN113047794A (en) * | 2021-03-31 | 2021-06-29 | 重庆新泰机械有限责任公司 | Electric throttling control box based on well control |
| CN113153182A (en) * | 2021-01-13 | 2021-07-23 | 广东慧山智能机械有限公司 | Drilling equipment, automatic rod retracting method thereof and readable storage medium |
| CN113323608A (en) * | 2021-06-25 | 2021-08-31 | 铁福来装备制造集团股份有限公司 | A drilling rod case for automatic discharging and sign indicating number pole |
| CN113607357A (en) * | 2021-08-02 | 2021-11-05 | 中煤科工集团重庆研究院有限公司 | Single drill rod water pressure testing device |
| CN113982508A (en) * | 2021-10-27 | 2022-01-28 | 中煤科工集团重庆研究院有限公司 | Disassembly-free automatic rod adding device for drilling machine |
| CN114183083A (en) * | 2021-12-14 | 2022-03-15 | 安徽理工大学 | Modular automatic drill rod conveying device |
| CN114458205A (en) * | 2022-01-26 | 2022-05-10 | 四川大学 | Assembly method of deep in-situ fidelity coring calibration platform |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011112740A1 (en) * | 2011-09-07 | 2013-03-07 | Prime Drilling Gmbh | Pipe linkage weft manipulator for handling linkage wefts located in open cage-like magazine for laying pipeline strings in underground, has basic frame, stroke slide and linkage gripper arranged at horizontal carriage |
| CN106150382A (en) * | 2016-08-27 | 2016-11-23 | 中国煤炭科工集团太原研究院有限公司 | Bore anchor and visit Multi Role Aircraft |
| CN106677699A (en) * | 2017-01-11 | 2017-05-17 | 河南铁福来装备制造股份有限公司 | Automatic hydraulic drilling machine for coal mine |
| CN212508068U (en) * | 2020-08-13 | 2021-02-09 | 河南铁福来装备制造股份有限公司 | Automatic rod adding drilling machine with drill rod box |
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011112740A1 (en) * | 2011-09-07 | 2013-03-07 | Prime Drilling Gmbh | Pipe linkage weft manipulator for handling linkage wefts located in open cage-like magazine for laying pipeline strings in underground, has basic frame, stroke slide and linkage gripper arranged at horizontal carriage |
| CN106150382A (en) * | 2016-08-27 | 2016-11-23 | 中国煤炭科工集团太原研究院有限公司 | Bore anchor and visit Multi Role Aircraft |
| CN106677699A (en) * | 2017-01-11 | 2017-05-17 | 河南铁福来装备制造股份有限公司 | Automatic hydraulic drilling machine for coal mine |
| CN212508068U (en) * | 2020-08-13 | 2021-02-09 | 河南铁福来装备制造股份有限公司 | Automatic rod adding drilling machine with drill rod box |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112709540A (en) * | 2021-01-12 | 2021-04-27 | 重庆劲合实业有限公司 | Automatic rod replacing device |
| CN112709540B (en) * | 2021-01-12 | 2024-06-07 | 重庆劲合实业有限公司 | Automatic rod replacing device |
| CN113153182A (en) * | 2021-01-13 | 2021-07-23 | 广东慧山智能机械有限公司 | Drilling equipment, automatic rod retracting method thereof and readable storage medium |
| CN112814565B (en) * | 2021-03-11 | 2023-10-20 | 重庆平山机电设备有限公司 | Automatic rod adding drilling machine |
| CN112814565A (en) * | 2021-03-11 | 2021-05-18 | 重庆平山机电设备有限公司 | Automatic rod-adding drilling machine |
| CN113047794A (en) * | 2021-03-31 | 2021-06-29 | 重庆新泰机械有限责任公司 | Electric throttling control box based on well control |
| CN113323608A (en) * | 2021-06-25 | 2021-08-31 | 铁福来装备制造集团股份有限公司 | A drilling rod case for automatic discharging and sign indicating number pole |
| CN113323608B (en) * | 2021-06-25 | 2024-04-12 | 铁福来装备制造集团股份有限公司 | Drill rod box for automatic discharging and stacking |
| CN113607357A (en) * | 2021-08-02 | 2021-11-05 | 中煤科工集团重庆研究院有限公司 | Single drill rod water pressure testing device |
| CN113607357B (en) * | 2021-08-02 | 2023-08-22 | 中煤科工集团重庆研究院有限公司 | Single drill pipe water pressure testing device |
| CN113982508A (en) * | 2021-10-27 | 2022-01-28 | 中煤科工集团重庆研究院有限公司 | Disassembly-free automatic rod adding device for drilling machine |
| CN114183083A (en) * | 2021-12-14 | 2022-03-15 | 安徽理工大学 | Modular automatic drill rod conveying device |
| CN114183083B (en) * | 2021-12-14 | 2023-11-28 | 安徽理工大学 | Automatic migration device of modular drill rod |
| CN114458205A (en) * | 2022-01-26 | 2022-05-10 | 四川大学 | Assembly method of deep in-situ fidelity coring calibration platform |
| CN114458205B (en) * | 2022-01-26 | 2022-10-14 | 四川大学 | Assembly method of deep in-situ fidelity coring calibration platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212508068U (en) | Automatic rod adding drilling machine with drill rod box | |
| CN108301794B (en) | Petroleum workover robot | |
| CN106150382B (en) | It bores anchor and visits Multi Role Aircraft | |
| CN109184594B (en) | Wheel-rail type drill rod storage device | |
| CN105275415A (en) | Full-automatic continuous drilling rig | |
| CN206625782U (en) | A kind of colliery automatic liquid drilol press | |
| CN201826837U (en) | Movable double-platform partitioned four-arm drill carriage for construction of hangwall anchor rods and anchor cables | |
| CN204754953U (en) | Railway tunnel stock platform truck and drilling device thereof | |
| CN215408522U (en) | Electric drive drill table-board translation righting mechanical arm | |
| CN205349253U (en) | Automatic discharging equipment of drilling string | |
| CN108381482B (en) | GIL installation tool and control system and method | |
| CN111852332A (en) | Automatic rod adding drilling machine with drill rod box | |
| CN111852332B (en) | Automatic rod adding drilling machine with drill rod box | |
| CN204457424U (en) | Coal mine drilling machine boring attitude automatic regulating apparatus | |
| CN108071339B (en) | Full-automatic tunnel drilling machine | |
| CN110513039A (en) | The both arms roofboltier of primary positioning tunneling boring construction | |
| CN213234928U (en) | Complete equipment for controlling gas in driving strip of coal mine coal roadway | |
| CN115324503A (en) | Oil well oil pipe mechanical operation device | |
| CN113137177A (en) | Low hole site gallery rig | |
| CN213144368U (en) | Automatic drilling machine with low hole | |
| CN221051513U (en) | Fork-mounted unit hydraulic support transfer robot | |
| CN201835769U (en) | Head-frame tube placement device | |
| CN111894454B (en) | Crawler-type intelligent drilling machine for coal mine | |
| CN220226736U (en) | Gantry three-arm drilling and anchoring system | |
| CN201714388U (en) | Rock drill bracket special for digging a tunnel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 467400 Industrial Agglomeration Area of Baofeng County, Pingdingshan City, Henan Province Applicant after: Tiefulai Equipment Manufacturing Group Co.,Ltd. Address before: 467400 Industrial Agglomeration Area of Baofeng County, Pingdingshan City, Henan Province Applicant before: HENAN TIEFULAI EQUIPMENT MANUFACTURING Co.,Ltd. |
|
| GR01 | Patent grant |