CN112031652A - Automatic upgrading device for mining drilling machine and working method - Google Patents
Automatic upgrading device for mining drilling machine and working method Download PDFInfo
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- CN112031652A CN112031652A CN202011053553.5A CN202011053553A CN112031652A CN 112031652 A CN112031652 A CN 112031652A CN 202011053553 A CN202011053553 A CN 202011053553A CN 112031652 A CN112031652 A CN 112031652A
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- drill rod
- drilling machine
- gripper
- drilling
- drill
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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 characterized by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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
- E21B19/10—Slips; Spiders ; Catching devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
Abstract
The invention discloses an automatic upgrading device of a mining drilling machine and a working method, belonging to the field of mechanical equipment, the device comprises a main support frame (1), a movable traveling frame structure (2), a drilling rod gripper (3), a drilling rod holder (4), a water braid (5), an electromagnetic switch valve (6), a drilling rod library (7), a control system (8) and an operating rod actuator (9), wherein the main support frame (1) is fixedly arranged on a support frame of a drilling machine propeller, the movable traveling frame structure (2) is arranged at the upper part of the main support frame (1) and has two degrees of freedom, the drilling rod gripper (3) is arranged on the movable traveling frame structure (2), the drilling rod holder (4) is fixedly connected with a main shaft of the drilling machine, the water braid (5) is arranged at the tail end of the main shaft of the drilling machine, the electromagnetic switch valve (6) is arranged between the water braid (5) and a water pipe, the drilling rod library (7) is, the control lever actuator (9) is used for driving the control lever to act, the device realizes automatic drilling of the drilling machine, and automatic and intelligent modification of the existing manual drilling machine can be realized by additionally arranging the drilling machine automatic upgrading device on the existing manual drilling machine.
Description
Technical Field
The invention discloses an automatic upgrading device for a mining drilling machine and a working method, and belongs to the field of mechanical equipment.
Background
In the process of roadway (tunnel) tunneling and coal mining, operations such as water exploration and drainage, gas drainage and the like are often required due to safety requirements, and drilling operation is required for the operations. China is a big coal country and a big capital construction country, and only newly tunneling tunnels (roadways) reach thousands of kilometers every year. With the continuous promotion of the mechanization process in China, at present, the drilling operation is basically popularized to mechanization. With the increasing annual human cost and the urgent need of workers to reduce the amount of labor, it is a great trend to further upgrade mechanization into automatic and intelligent equipment. The existing stock of the prior deep hole drilling machine in China reaches over one million, many drilling machines are new drilling machines which are just in service soon, if the drilling machines are directly replaced, the great waste is caused, the operation cost of a production enterprise is increased, and if the drilling machines are aged and eliminated, the automatic and intelligent process of the deep hole drilling machine in China is slowed down, so that the automatic and intelligent modification of the prior manually controlled drilling machine is an effective means for solving the problem.
At present, in the prior art, there are several design schemes for realizing the automation of the drilling machine, but the schemes have the defects of complex structure, high requirement on the working precision of a manipulator, unsuitability for the reconstruction of the existing manual deep hole drilling machine and the like. For example, in 2013, 11.4.2013, a large-inclination drill rod conveying device matched with a coal mine drilling machine is disclosed in the application of Chongqing research institute, and comprises a working platform, a gripping device and a conveying device, wherein the gripping device and the conveying device are arranged on the working platform, the gripping device comprises a support column arranged on the working platform, a motor base is connected onto the support column, a steering motor is arranged on the motor base, the output end of the steering motor is connected with a telescopic hydraulic cylinder, a piston rod of the telescopic hydraulic cylinder is provided with a gripping rod seat, and a slip for gripping a drill rod and a clamping hydraulic cylinder for driving the slip to clamp are arranged on the gripping rod seat; the conveying device comprises a drill rod box moving along the direction perpendicular to the telescopic hydraulic cylinder. According to the invention, the function of grabbing the drill rod can be realized by controlling the telescopic hydraulic cylinder and the slips, and the output and return of the drill rod with a large inclination angle can be realized by combining the angle adjusting hydraulic cylinder and the steering motor. In addition, 31/10/2014, Chongqing research institute Co., Ltd of the middle coal science and industry group also applies for and discloses an underground gas extraction drilling machine, which comprises a drilling machine host and an electric control system for controlling the operation of the drilling machine host; the drilling machine host comprises a crawler traveling part, a propelling part, a power head, a large-inclination-angle drill rod automatic loading and unloading mechanism and a hydraulic pump station for providing power sources for all the components; the electric control system comprises a remote control station arranged on the ground and a main control station arranged underground, and the remote control station is connected with the main control station through an optical fiber Ethernet ring network; the invention not only realizes unmanned full-automatic drilling operation of the drilling machine host, but also can complete automatic assembling and disassembling operation of the drill rod with multiple azimuth angles and large inclination angles, further reduces the labor intensity and the danger of workers, and improves the gas extraction efficiency.
The two patents can be seen from the above two patents, the first patent is mainly innovated in that a manipulator is additionally arranged on a drilling machine platform, the filling of a drill rod is realized by controlling the action of the manipulator, and the innovation point of the second patent is that the whole machine of the first patent is applied and a whole machine control idea is disclosed. For the first patent, although the robot is additionally installed on the platform, in principle, the transfer and loading of the drill rod can be realized, but since the drilling direction and the drilling position of the drilling machine are uncertain according to the field requirement during the actual use of the drilling machine, the control of the robot to adapt to the change is particularly complicated, and the requirement on the motion precision of the robot is also very high. For the second patent, a corresponding control scheme is introduced according to the specific structure and the specific working process of the drilling machine.
The invention is specially designed for carrying out automatic and intelligent reconstruction on the existing manual drilling machine, can be directly installed and matched with the existing most drilling machines in structural layout, is convenient to install and debug, can meet the automatic drilling requirement of the drilling machine in the control of the working process, and also considers the practical requirement of the actual working process of the drilling machine. The invention discloses an automatic upgrading device for a mining drilling machine and a working method, and the automatic upgrading device has the advantages of strong universality, simple structure, convenience in modification, low cost, high reliability in the working process and the like.
Disclosure of Invention
In order to carry out automatic and intelligent reconstruction on the existing manual drilling machine and enable the reconstruction and upgrading process to have the advantages of strong universality, simple structure, convenient reconstruction, low cost, high reliability in the working process and the like, the invention discloses an automatic upgrading device for a mining drilling machine, which comprises a main support frame, a movable travelling frame structure, a drilling rod gripper, a drilling rod holder, a water braid, an electromagnetic switch valve, a drilling rod library, a control system and an operating rod actuator, wherein the main support frame is fixedly arranged on a support frame of a drilling machine propeller and used for supporting and fixing the main body part of the automatic upgrading device for the drilling machine, the movable travelling frame structure is arranged at the upper part of the main support frame and has two degrees of freedom, the drilling rod gripper is arranged on the movable travelling frame structure and used for gripping a drilling rod and moving the drilling rod in the drilling rod library to a filling position under the driving of the movable, the drill rod clamping device can rotate along with a main shaft of a drilling machine, the drill rod clamping device can clamp a drill rod, the clamped drill rod can synchronously rotate along with the main shaft of the drilling machine and is used for moving and disassembling the drill rod, the water swivel is arranged at the tail end of the main shaft of the drilling machine, the main shaft of the drilling machine is arranged in a hollow mode, an electromagnetic switch valve is arranged between the water swivel and a water pipe and can control the on-off of cooling liquid (gas) in the drill rod, a drill rod library is arranged on a main support frame and used for storing the drill rod and is matched with a drill rod gripper to load and recover the drill rod, an operating rod actuator is used for driving the operating rod to act, so that the drilling machine acts under the control of a control system, the control system collects drilling machine action information and controls all parts of the drilling machine.
Preferably, the moving travelling frame structure mainly comprises a first displacement driver, a second displacement driver, a cross beam, a third displacement driver and a fourth displacement driver, wherein the first displacement driver and the fourth displacement driver are arranged in parallel, the first displacement driver and the fourth displacement driver are also arranged in parallel relative to a support frame of the drill pusher, the second displacement driver and the third displacement driver are arranged in parallel, the second displacement driver and the third displacement driver are arranged vertically relative to the support frame of the drill pusher, the cross beam connects sliding seats on the first displacement driver and the fourth displacement driver, and the second displacement driver and the third displacement driver are distributed on the cross beam and are arranged vertically relative to the cross beam.
Preferably, the first displacement driver, the second displacement driver, the third displacement driver and the fourth displacement driver independently control the movement amount of the upper sliding seat.
Preferably, the drill rod gripper comprises a first drill rod gripper and a second drill rod gripper, the first drill rod gripper and the second drill rod gripper are respectively arranged on the sliding seats of the second displacement driver and the third displacement driver, and the second displacement driver and the third displacement driver can drive the first drill rod gripper and the second drill rod gripper to move up and down.
Preferably, the displacement drive is preferably an electric motor-screw arrangement.
Preferably, the first drill rod gripper and the second drill rod gripper are respectively provided with a first induction sensor and a second induction sensor, and the first induction sensor and the second induction sensor are used for sensing the position relationship between the first drill rod gripper and the drill rod and the position relationship between the second drill rod gripper and the drill rod, and judging when the first drill rod gripper and the second drill rod gripper grab the drill rod and whether the first drill rod gripper and the second drill rod gripper grab the drill rod successfully.
Preferably, the drill rod holder is mounted on a rotary driving disc, the rotary driving disc is fixedly connected with the power drill rod, the rear holder can transmit the torque of the main drilling machine to the drill rod holder after clamping the power drill rod, and the power drill rod can be detached after the rear holder releases the power drill rod.
Preferably, the power drill rod is a hollow pipe, the rear end of the power drill rod is connected with a water braid, the front end of the power drill rod penetrates through the center of the drill rod holder, and the front end of the power drill rod can be matched and butted with a newly-filled drill rod.
Preferably, the drill rod storehouses are arranged on one side or two sides of the support frame of the drilling machine thruster, and each drill rod storehouse can be provided with a plurality of drill rod storehouses.
Preferably, the drilling rod storehouse includes lift driver, drilling rod backplate, bottom support board, and the drill rod storehouse both ends are arranged in to lift driver, and the drilling rod backplate links firmly with the last slide of lift driver, and bottom support board is located drilling rod backplate bottom and links firmly with it, and the slide up-and-down motion on the lift driver drive is its, and then drive drilling rod backplate up-and-down motion, and on the bottom support board was arranged in to the drilling rod, bottom support board followed drilling rod backplate up-and-down motion for drilling rod up-and-down motion, and then realized the warehouse entry and the warehouse exit of drilling rod.
Preferably, in the drill rod bin, limiting strips are arranged on two sides of a drill rod, and the width dimension inside the drill rod bin is adjusted by adjusting the thickness of the limiting strips, so that an optimal gap is formed between the drill rod and the bin wall.
Preferably, the limiting strip is made of nylon materials.
Preferably, a displacement sensor is arranged between the drill rod holder and a support frame of a propeller of the drilling machine, and the displacement sensor provides position positioning information for the control system to control the automatic upgrading device of the drilling machine and the drilling machine to perform various actions.
Preferably, the operating lever actuator is used for changing the manual operating lever into an electric control operating lever, so that each operating action acts according to the set steps under the control of the control system, and the control system receives a working instruction and controls the drilling machine automatic upgrading device and the drilling machine to perform various actions.
The automatic upgrading device for the mining drilling machine and the working method comprise the following steps:
firstly, adjusting a drilling machine to reach a preset drilling position, and drilling a drill rod arranged on the drilling machine into a preset position of a rock stratum;
secondly, the front holder of the drilling machine acts to clamp the drill rod drilled into the rock stratum, the main drilling machine rotates anticlockwise to enable the main drilling machine to be separated from the drill rod drilled into the rock stratum, and then the main drilling machine is retracted to a preset position along the support frame of the thruster;
thirdly, the moving travelling frame structure drives the drill rod gripper to move above the drill rod warehouse, the drill rod warehouse provides a drill rod for the drill rod gripper, and the drill rod gripper grips the drill rod and then transfers the gripped drill rod to a drill rod butt joint position under the driving of the moving travelling frame structure;
fourthly, the main drilling machine rotates clockwise and moves forwards along the support frame of the thruster simultaneously, so that the newly added drill rod is butted with the main drilling machine and the drill rod drilled into the rock stratum, after the butt joint is completed, the front clamp releases the drill rod, and the main drilling machine continues to drill the drill rod into the preset position;
fifthly, referring to the steps from two to four, and repeating the steps in this way to enable the drilling machine to continuously and automatically drill;
sixthly, after the drilling operation reaches the preset depth, the front clamp clamps the drill rod, the main drilling machine rotates anticlockwise to enable the main drilling machine to be separated from the drill rod which is drilled into the rock stratum, then the drill rod clamp clamps the tail end of the drill rod which is drilled into the rock stratum, the front clamp releases the drill rod, the main drilling machine retracts to the preset position along the support frame of the thruster, and the drill rod is drawn out;
seventhly, the moving frame structure drives the drill rod gripper to move above the drawn drill rod, the drill rod gripper grabs the drawn drill rod, the front gripper clamps the drill rod, the drill rod gripper rotates anticlockwise under the driving of the main drilling machine, the drawn drill rod is further disassembled, and meanwhile, the drill rod gripper moves the disassembled drill rod for a certain distance in the direction far away from the front gripper, so that the male head of the disassembled drill rod is completely separated from the matched female head;
eighthly, the drill rod holder loosens the drill rod, and the drill rod holder is continuously withdrawn to a preset position along the support frame of the thruster along with the main drilling machine, so that two ends of the disassembled drill rod are completely separated from the matched part;
ninth, the moving frame structure is moved to drive the drill rod gripper to transfer the drill rod to the upper side of the drill rod warehouse, and the drill rod warehouse is matched with the drill rod gripper to complete drill rod recovery;
and step ten, the drill rod holder is pushed forwards to a preset position along with the main drilling machine along the support frame of the thruster, the drill rod holder clamps the tail end of the drill rod drilled into the rock stratum again, the front holder releases the drill rod, the main drilling machine is withdrawn to the preset position along the support frame of the thruster, the drill rod is withdrawn again, and then the steps seven to nine are repeated, so that the drill rod can be recycled.
According to the technical scheme, automatic drilling of the drilling machine is achieved, automatic and intelligent modification of the existing manual drilling machine can be achieved by additionally arranging the drilling machine automatic upgrading device on the existing manual drilling machine, and the modification and upgrading process has the advantages of strong universality, simple structure, convenience in modification, low cost, high reliability in the working process and the like.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The invention is further illustrated with reference to the following figures and examples. The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1: the overall structure layout schematic diagram of the automatic upgrading device;
FIG. 2: a layout schematic diagram of a part of a mobile travelling frame structure;
FIG. 3: a drill rod holder portion layout;
FIG. 4: a drill pipe warehouse part layout schematic diagram;
FIG. 5: and (4) a schematic diagram of a displacement sensor arrangement.
Description of the reference numerals
1. A main supporting frame; 2. moving the truss structure; 201. a first displacement driver; 202. a second displacement driver; 203. a cross beam; 204. a third displacement driver; 205. a fourth displacement driver; 3. a drill rod gripper; 301. a first drill pipe gripper; 302. a first inductive sensor; 303. a second drill pipe gripper; 304. a second inductive sensor; 4. a drill rod holder; 401. a rotary drive disk; 402. a rear clamp holder; 403. a power drill pipe; 5. water plaits; 6. an electromagnetic on-off valve; 7. a drill rod warehouse; 71. a drill rod bin; 711. a lift drive; 712. a limiting strip; 713. protecting the drill rod; 714. a bottom support plate; 8. a control system; 9. a joystick actuator; 10. and a displacement sensor.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the following detailed description of the specific embodiments of the invention is made in conjunction with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the present invention, unless specified to the contrary, use of the terms of orientation such as "upper, lower, top, bottom" or the like are generally described with respect to the orientation shown in the drawings or the positional relationship of the components with respect to each other in the vertical, or gravitational direction.
As shown in figure 1, the invention discloses an automatic upgrading device for a mining drilling machine, which comprises a main support frame 1, a movable travelling frame structure 2, a drill rod gripper 3, a drill rod gripper 4, a water braid 5, an electromagnetic switch valve 6, a drill rod library 7, a control system 8 and an operating rod actuator 9, wherein the main support frame 1 is fixedly arranged on a support frame of a drilling machine propeller and used for supporting and fixing the main part of the automatic upgrading device for the drilling machine, the movable travelling frame structure 2 is arranged at the upper part of the main support frame 1 and has two degrees of freedom, the drill rod gripper 3 is arranged on the movable travelling frame structure 2 and used for gripping a drill rod and moving the drill rod in the drill rod library 7 to a filling position under the driving of the movable travelling frame structure 2, the drill rod gripper 4 is fixedly connected with a main shaft of the drilling machine and can rotate along with the main shaft of the drilling machine, the drill rod gripper 4 can grip the, the device is used for moving and disassembling the drill rod, the water swivel 5 is arranged at the tail end of the main shaft of the drilling machine, the main shaft of the drilling machine is arranged in a hollow mode, the electromagnetic switch valve 6 is arranged between the water swivel 5 and a water pipe, the electromagnetic switch valve 6 can control the on-off of cooling liquid (gas) in the drill rod, the drill rod storage 7 is arranged on the main support frame 1 and used for storing the drill rod and is matched with the drill rod gripper 3 to fill and recover the drill rod, the control rod actuator 9 is used for driving the control rod to act, so that the drilling machine acts under the control of the control system 8, the control system 8 collects the action information of the drilling machine and controls each part of the drilling machine to act, and the drilling machine automatically advances or retreat. The main support frame 1 is fixedly arranged on a support frame of a drilling machine propeller, so that the main body part of automatic drill rod filling can change along with the change of the angle of the drilling machine propeller, and the drill rod filling is minimally influenced by the change of the angle of the drilling machine propeller.
As shown in fig. 2, the mobile gantry structure 2 mainly comprises a first displacement drive 201, a second displacement drive 202, a cross beam 203, a third displacement drive 204, and a fourth displacement drive 205, wherein the first displacement drive 201 and the fourth displacement drive 205 are arranged in parallel, the first displacement drive 201 and the fourth displacement drive 205 are also arranged in parallel with respect to the support frame of the drill pusher, the second displacement drive 202 and the third displacement drive 204 are arranged in parallel, the second displacement drive 202 and the third displacement drive 204 are arranged perpendicularly with respect to the support frame of the drill pusher, the cross beam 203 communicates with the carriages on the first displacement drive 201 and the fourth displacement drive 205, and the second displacement drive 202 and the third displacement drive 204 are distributed on the cross beam 203 and arranged perpendicularly to the cross beam 203. The first displacement drive 201, the second displacement drive 202, the third displacement drive 204 and the fourth displacement drive 205 independently control the amount of movement of the carriages thereon, and although the beams 203 secure the four parts together, the independent control facilitates fine adjustment of the position of the drill rod gripper 3 as it transports the drill rod, taking into account the forced deformation of the coupling. The drill rod gripper 3 comprises a first drill rod gripper 301 and a second drill rod gripper 303, the first drill rod gripper 301 and the second drill rod gripper 303 are respectively arranged on the sliding seats of the second displacement driver 202 and the third displacement driver 204, and the second displacement driver 202 and the third displacement driver 204 can drive the first drill rod gripper 301 and the second drill rod gripper 303 to move up and down. The displacement drive is preferably of the motor-screw construction. First induction sensors 302 and second induction sensors 304 are respectively arranged on the first drill rod gripper 301 and the second drill rod gripper 303, and the first induction sensors 302 and the second induction sensors 304 are used for sensing the position relation between the first drill rod gripper 301 and the second drill rod gripper 303 and a drill rod and judging when gripping is performed and whether gripping is successful.
As shown in fig. 3, the drill rod holder 4 is mounted on a rotary driving disk 401, the rotary driving disk 401 is fixedly connected with a power drill rod 403, the rear gripper 402 can transmit the main drilling machine torque to the drill rod holder 4 after clamping the power drill rod 403, and the power drill rod 403 can be taken down after the rear gripper 402 releases the power drill rod 403. By the design, on the premise of not changing the power output structure of the main body of the drilling machine, power output and the additional installation of the drill rod holder 4 are realized by simply modifying the drill rod, the structure is simple, and the modification is convenient. The power drill pipe 403 is a hollow pipe, the rear end of the power drill pipe is connected with the water braid 5, the front end of the power drill pipe passes through the center of the drill pipe holder 4, and the front end of the power drill pipe can be matched and butted with a newly filled drill pipe.
As shown in fig. 4, the drill rod magazine 7 is disposed on one side or both sides of the support frame of the drill rig thruster, each drill rod magazine 7 may be provided with a plurality of drill rod magazines 71, and the number of drill rods may be determined according to the strength of the drill rig body and the comprehensive consideration of drilling requirements. The drill rod bin 71 comprises a lifting driver 711, a drill rod protection plate 713 and a bottom supporting plate 714, the lifting driver 711 is arranged at two ends of the drill rod bin 71, the drill rod protection plate 713 is fixedly connected with a sliding seat on the lifting driver 711, the bottom supporting plate 714 is located at the bottom of the drill rod protection plate 713 and fixedly connected with the drill rod protection plate, the lifting driver 711 drives the sliding seat on the lifting driver to move up and down to drive the drill rod protection plate 713 to move up and down, a drill rod is arranged on the bottom supporting plate 714, the bottom supporting plate 714 moves up and down along with the drill rod protection plate 713, the drill rod moves up and down, and. In the drill rod bin 71, limiting strips 712 are arranged on two sides of a drill rod, and the width dimension inside the drill rod bin 71 can be adjusted by adjusting the thickness of the limiting strips 712, so that an optimal gap is formed between the drill rod and the bin wall. The preferred nylon materials of spacing 712, nylon materials compare the steel sheet and have frictional resistance little, have great elastic deformation's advantage, help preventing that the drilling rod from appearing the card phenomenon of dying in drilling rod storehouse 71.
As shown in fig. 5, a displacement sensor 10 is arranged between the drill rod holder 4 and the support frame of the drill rig thruster, and the displacement sensor 10 provides position positioning information for the control system 8 to control the automatic upgrading device of the drill rig and the drill rig to perform various actions.
The operating rod actuator 9 is used for changing the manual operating rod into an electric control operating rod, so that each operating action acts according to the set steps under the control of the control system 8, and the control system 8 receives a working instruction and controls the drilling machine automatic upgrading device and the drilling machine to perform various actions.
By combining the figures, the automatic upgrading device for the mining drilling machine and the working method comprise the following steps:
the method comprises the following steps that firstly, a drilling machine is adjusted to reach a preset drilling position, and a first drill rod arranged on the drilling machine is drilled into a preset position of a rock stratum;
secondly, the front holder of the drilling machine acts to clamp the drill rod drilled into the rock stratum, the main drilling machine rotates anticlockwise to enable the main drilling machine to be separated from the drill rod drilled into the rock stratum, and then the main drilling machine is retracted to a preset position along the support frame of the thruster;
thirdly, the moving travelling frame structure 2 drives the drill rod gripper 3 to move above the drill rod storage 7, the drill rod storage 7 provides a drill rod for the drill rod gripper 3, and the drill rod gripper 3 grips the drill rod and then transports the gripped drill rod to a drill rod butt joint position under the driving of the moving travelling frame structure 2;
fourthly, the main drilling machine rotates clockwise and moves forwards along the support frame of the thruster simultaneously, so that the newly added drill rod is butted with the main drilling machine and the drill rod drilled into the rock stratum, after the butt joint is completed, the front clamp releases the drill rod, and the main drilling machine continues to drill the drill rod into the preset position;
fifthly, referring to the steps from two to four, and repeating the steps in this way to enable the drilling machine to continuously and automatically drill;
sixthly, after the drilling operation reaches the preset depth, the front clamp clamps the drill rod, the main drilling machine rotates anticlockwise to enable the main drilling machine to be separated from the drill rod which is drilled into the rock stratum, then the drill rod clamp 4 clamps the tail end of the drill rod which is drilled into the rock stratum, the front clamp releases the drill rod, the main drilling machine retracts to the preset position along the support frame of the thruster, and the drill rod is drawn out;
seventhly, the moving frame structure 2 drives the drill rod gripper 3 to move to the position above the drawn drill rod, the drill rod gripper 3 grips the drawn drill rod, the front gripper clamps the drill rod, the drill rod gripper 4 rotates anticlockwise under the driving of the main drilling machine, the drawn drill rod is disassembled, and meanwhile, the drill rod gripper 4 moves the disassembled drill rod for a certain distance in the direction away from the front gripper, so that the male head of the disassembled drill rod is completely separated from the matched female head;
eighthly, the drill rod gripper 4 loosens the drill rod, and the drill rod gripper 4 is continuously withdrawn to a preset position along the support frame of the thruster along with the main drilling machine, so that two ends of the disassembled drill rod are completely separated from the matched part;
ninth, the moving frame structure 2 drives the drill rod gripper 3 to transfer the drill rod to the upper side of the drill rod storage 7, and the drill rod storage 7 is matched with the drill rod gripper 3 to complete drill rod recovery;
and step ten, the drill rod holder 4 is pushed forwards to a preset position along the support frame of the thruster along with the main drilling machine, the drill rod holder 4 clamps the tail end of the drill rod drilled into the rock stratum again, the front holder releases the drill rod, the main drilling machine is withdrawn to the preset position along the support frame of the thruster, the drill rod is withdrawn again, and then the steps seven to nine are repeated, so that the drill rod can be recovered.
It will be appreciated that at the time of drill rod replacement, the cooling water (gas) can be cut off by controlling the electromagnetic switch valve 6 when the drilling machine stops drilling, so as to better complete the drill rod replacement operation.
According to the technical scheme, automatic drilling of the drilling machine is achieved, automatic and intelligent modification of the existing manual drilling machine can be achieved by additionally arranging the drilling machine automatic upgrading device on the existing manual drilling machine, and the modification and upgrading process has the advantages of strong universality, simple structure, convenience in modification, low cost, high reliability in the working process and the like.
It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. An automatic upgrading device for a mining drilling machine is characterized by comprising a main support frame (1), a movable travelling frame structure (2), a drilling rod gripper (3), a drilling rod holder (4), a water braid (5), an electromagnetic switch valve (6), a drilling rod library (7), a control system (8) and an operating rod actuator (9), wherein the main support frame (1) is fixedly arranged on a support frame of a drilling machine propeller and supports and fixes the main body part of the automatic upgrading device for the drilling machine, the movable travelling frame structure (2) is arranged at the upper part of the main support frame (1) and has two degrees of freedom, the drilling rod gripper (3) is arranged on the movable travelling frame structure (2) and is used for gripping a drilling rod and moving the drilling rod in the drilling rod library (7) to a filling position under the driving of the movable travelling frame structure (2), the drilling rod holder (4) is fixedly connected with a main shaft of the drilling machine and can rotate along with the, the drill rod holder (4) can hold a drill rod, so that the held drill rod can synchronously rotate along with a main shaft of the drill, the water swivel (5) is arranged at the tail end of a main shaft of the drilling machine, the main shaft of the drilling machine is arranged in a hollow mode, an electromagnetic switch valve (6) is arranged between the water swivel (5) and a water pipe, the electromagnetic switch valve (6) can control the on-off of cooling liquid (gas) in the drilling rod, a drilling rod warehouse (7) is arranged on a main support frame (1), is used for storing drill rods and is matched with a drill rod gripper (3) to load and recover the drill rods, a control lever actuator (9) is used for driving a control lever to act, all actions of the drilling machine are controlled by the control system (8), the control system (8) collects the action information of the drilling machine, and all parts of the drilling machine are controlled to act, so that the drilling machine automatically performs drilling and withdrawing actions after receiving a control instruction.
2. The mining drilling machine automatic upgrading device according to claim 1, characterized in that the mobile travelling frame structure (2) mainly comprises a first displacement driver (201), a second displacement driver (202), a cross beam (203), a third displacement driver (204), a fourth displacement driver (205), the first displacement driver (201) and the fourth displacement driver (205) are arranged in parallel, the first displacement driver (201) and the fourth displacement driver (205) are also arranged in parallel relative to the support frame of the drilling machine thruster, the second displacement driver (202) and the third displacement driver (204) are arranged in parallel, the second displacement driver (202) and the third displacement driver (204) are arranged vertically relative to the support frame of the drilling machine thruster, the cross beam (203) communicates sliding seats on the first displacement driver (201) and the fourth displacement driver (205), the second displacement drive (202) and the third displacement drive (204) are distributed on the cross beam (203) and arranged perpendicularly to the cross beam (203).
3. The mining drilling machine automatic upgrading device according to claim 1, characterized in that the drill rod gripper (3) comprises a first drill rod gripper (301) and a second drill rod gripper (303), the first drill rod gripper (301) and the second drill rod gripper (303) are respectively arranged on the sliding seats of the second displacement driver (202) and the third displacement driver (204), and the second displacement driver (202) and the third displacement driver (204) can drive the first drill rod gripper (301) and the second drill rod gripper (303) to move up and down.
4. The automatic upgrading device for the mining drilling machine according to claim 3, characterized in that a first induction sensor (302) and a second induction sensor (304) are respectively arranged on the first drill rod gripper (301) and the second drill rod gripper (303), and the first induction sensor (302) and the second induction sensor (304) are used for sensing the position relation between the first drill rod gripper (301) and the second drill rod gripper (303) and a drill rod and judging when gripping is performed and whether gripping is successful.
5. The automatic upgrading device for the mining drilling machine according to claim 1, characterized in that the drill rod holder (4) is mounted on a rotary driving disc (401), the rotary driving disc (401) is fixedly connected with a power drill rod (403), the rear holder (402) can transmit the main drilling machine torque to the drill rod holder (4) after clamping the power drill rod (403), the rear holder (402) can release the power drill rod (403), the power drill rod (403) can be removed, the power drill rod (403) is a hollow tube, the rear end of the power drill rod is connected with a water braid (5), the front end of the power drill rod passes through the center of the drill rod holder (4), and a screw port at the front end can be matched and butted with a newly filled drill rod.
6. The automated upgrading device of a mining drilling rig according to claim 1, characterized in that the drill rod magazine (7) is placed on one or both sides of a drill rig thruster support frame, and each drill rod magazine (7) can be provided with a plurality of drill rod magazines (71).
7. The automatic upgrading device for the mining drilling machine according to claim 6, wherein the drill rod cabin (71) comprises a lifting driver (711), a drill rod protection plate (713) and a bottom support plate (714), the lifting driver (711) is arranged at two ends of the drill rod cabin (71), the drill rod protection plate (713) is fixedly connected with a sliding seat on the lifting driver (711), the bottom support plate (714) is located at the bottom of the drill rod protection plate (713) and fixedly connected with the drill rod protection plate, the lifting driver (711) drives the sliding seat on the lifting driver to move up and down and further drives the drill rod protection plate (713) to move up and down, a drill rod is arranged on the bottom support plate (714), and the bottom support plate (714) moves up and down along with the drill rod protection plate (713), so that the drill rod moves up and down and further warehousing and ex-warehousing.
8. The mining drilling machine automatic upgrading device according to the claim 6 and 7, characterized in that in the drill rod bin (71), limiting strips (712) are arranged on both sides of the drill rod, the width dimension inside the drill rod bin (71) is adjusted by adjusting the thickness of the limiting strips (712), so that the drill rod and the bin wall have the optimal clearance, and the limiting strips (712) are preferably made of nylon materials.
9. The automatic upgrading device for the mining drilling machine according to claim 1, characterized in that a displacement sensor (10) is arranged between the drill rod holder (4) and a support frame of a propeller of the drilling machine, and the displacement sensor (10) provides position positioning information for the control system (8) to control the automatic upgrading device for the drilling machine and the drilling machine to perform various actions.
10. The automatic upgrading device for the mining drilling machine and the working method are characterized in that the working method of the automatic upgrading device for the drilling machine comprises the following steps:
firstly, adjusting a drilling machine to reach a preset drilling position, and drilling a drill rod arranged on the drilling machine into a preset position of a rock stratum;
secondly, the front holder of the drilling machine acts to clamp the drill rod drilled into the rock stratum, the main drilling machine rotates anticlockwise to enable the main drilling machine to be separated from the drill rod drilled into the rock stratum, and then the main drilling machine is retracted to a preset position along the support frame of the thruster;
thirdly, the movable traveling frame structure (2) drives the drill rod gripper (3) to move to the position above the drill rod storage (7), the drill rod storage (7) provides a drill rod for the drill rod gripper (3), and the drill rod gripper (3) grips the drill rod and then transfers the gripped drill rod to a drill rod butt joint position under the driving of the movable traveling frame structure (2);
fourthly, the main drilling machine rotates clockwise and moves forwards along the support frame of the thruster simultaneously, so that the newly added drill rod is butted with the main drilling machine and the drill rod drilled into the rock stratum, after the butt joint is completed, the front clamp releases the drill rod, and the main drilling machine continues to drill the drill rod into the preset position;
fifthly, referring to the steps from two to four, and repeating the steps in this way to enable the drilling machine to continuously and automatically drill;
sixthly, after the drilling operation reaches the preset depth, the front clamp clamps the drill rod, the main drilling machine rotates anticlockwise to enable the main drilling machine to be separated from the drill rod which is drilled into the rock stratum, then the drill rod clamp (4) clamps the tail end of the drill rod which is drilled into the rock stratum, the front clamp releases the drill rod, the main drilling machine retracts to the preset position along the support frame of the thruster, and the drill rod is drawn out;
seventhly, the moving frame structure (2) drives the drill rod gripper (3) to move to the position above the drawn drill rod, the drill rod gripper (3) grips the drawn drill rod, the front gripper clamps the drill rod, the drill rod gripper (4) rotates anticlockwise under the driving of the main drilling machine, the drawn drill rod is disassembled, and meanwhile, the drill rod gripper (4) moves the disassembled drill rod for a certain distance in the direction away from the front gripper, so that the male head of the disassembled drill rod is completely separated from the matched female head;
eighthly, the drill rod holder (4) loosens the drill rod, and the drill rod holder (4) is continuously withdrawn to a preset position along with the main drilling machine along the support frame of the thruster, so that the two ends of the disassembled drill rod are completely separated from the matched part;
ninth, the movable travelling frame structure (2) drives the drill rod gripper (3) to transfer the drill rod to the upper part of the drill rod warehouse (7), and the drill rod warehouse (7) is matched with the drill rod gripper (3) to complete drill rod recovery;
and step ten, the drill rod holder (4) is pushed forward to a preset position along with the main drilling machine along the support frame of the thruster, the drill rod holder (4) clamps the tail end of the drill rod drilled into the rock stratum again, the front holder releases the drill rod, the main drilling machine is withdrawn to the preset position along the support frame of the thruster, the drill rod is withdrawn again, and then the steps seven to nine are repeated, so that the drill rod can be recovered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011053553.5A CN112031652A (en) | 2020-09-29 | 2020-09-29 | Automatic upgrading device for mining drilling machine and working method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011053553.5A CN112031652A (en) | 2020-09-29 | 2020-09-29 | Automatic upgrading device for mining drilling machine and working method |
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| CN202011053553.5A Pending CN112031652A (en) | 2020-09-29 | 2020-09-29 | Automatic upgrading device for mining drilling machine and working method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113236223A (en) * | 2021-06-10 | 2021-08-10 | 安徽理工大学 | Intelligent design system and method for coal mine underground gas prevention and control drilling |
| CN113294092A (en) * | 2021-05-06 | 2021-08-24 | 华北科技学院(中国煤矿安全技术培训中心) | Automatic drilling machine and drilling operation method |
| CN114109363A (en) * | 2021-09-17 | 2022-03-01 | 湖南斯福迈智能科技有限责任公司 | Drilling while-drilling inclination measuring system |
-
2020
- 2020-09-29 CN CN202011053553.5A patent/CN112031652A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113294092A (en) * | 2021-05-06 | 2021-08-24 | 华北科技学院(中国煤矿安全技术培训中心) | Automatic drilling machine and drilling operation method |
| CN113236223A (en) * | 2021-06-10 | 2021-08-10 | 安徽理工大学 | Intelligent design system and method for coal mine underground gas prevention and control drilling |
| CN114109363A (en) * | 2021-09-17 | 2022-03-01 | 湖南斯福迈智能科技有限责任公司 | Drilling while-drilling inclination measuring system |
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