CN113833421B - Device capable of realizing automatic screwing and unscrewing of coal mine tunnel drilling machine and control method - Google Patents

Device capable of realizing automatic screwing and unscrewing of coal mine tunnel drilling machine and control method Download PDF

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Publication number
CN113833421B
CN113833421B CN202111098453.9A CN202111098453A CN113833421B CN 113833421 B CN113833421 B CN 113833421B CN 202111098453 A CN202111098453 A CN 202111098453A CN 113833421 B CN113833421 B CN 113833421B
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China
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drill rod
rod
power head
feeding
oil cylinder
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CN113833421A (en
Inventor
邵俊杰
徐鹏博
张宁
凡东
常江华
张幼振
曹明
李冬生
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Xian Research Institute Co Ltd of CCTEG
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Xian Research Institute Co Ltd of CCTEG
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    • 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
    • E21B19/16—Connecting or disconnecting pipe couplings or joints
    • E21B19/161—Connecting or disconnecting pipe couplings or joints using a wrench or a spinner adapted to engage a circular section of pipe
    • E21B19/163—Connecting or disconnecting pipe couplings or joints using a wrench or a spinner adapted to engage a circular section of pipe piston-cylinder actuated
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/16—Connecting or disconnecting pipe couplings or joints
    • E21B19/165—Control or monitoring arrangements therefor

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)

Abstract

The application discloses a device capable of realizing automatic screwing and unscrewing of a coal mine tunnel drilling machine and a control method, comprising a host machine and an automatic screwing and unscrewing mechanism, wherein the host machine comprises a machine body, a clamp holder, a power head, a feeding oil cylinder, a wire drawing sensor, an encoder, a grating sensor and a hydraulic module for feeding rotary pressurization; the automatic rod feeding mechanism comprises a mounting frame, a drill rod bin, a drill rod clamping unit and a lifting unit; the drill rod bin is positioned right above the machine body, and the drill rod clamping unit can clamp the drill rod and then convey the drill rod between the drill rod bin and the host machine under the drive of the lifting unit. The hydraulic module control main machine has the function of automatic screwing and unscrewing, does not need to use a shackle, improves the working environment, reduces the labor intensity of workers, can realize automatic drilling by mutually matching all parts of the hydraulic module control main machine, greatly improves the drilling working efficiency, and has good safety.

Description

Device capable of realizing automatic screwing and unscrewing of coal mine tunnel drilling machine and control method
Technical Field
The application belongs to the technical field of auxiliary supporting equipment for a coal mine tunnel drilling machine, and particularly relates to a device capable of realizing automatic screwing-on and unscrewing of the coal mine tunnel drilling machine and a control method.
Background
With the increase of underground mining intensity and depth of coal mines, deep coal resources become strategic guarantees of main energy resources in China, at present, a tunnel drilling machine is mainly adopted for gas drainage and drilling construction, and drill rod loading and unloading are mostly completed through manual operation, so that the efficiency is low, and hidden danger exists for operation safety of constructors. In addition, in the drilling process of the drilling machine, the drilling machine is limited by the length of the drilling rod, the drilling rod is required to be continuously connected to complete the drilling of the rated hole depth, the drilling rod is required to be continuously disassembled after the drilling operation is completed, and the drilling operation with large quantity requires great labor intensity due to frequent assembly and disassembly of the drilling rod, so that the drilling operation time is prolonged to a great extent, and the construction efficiency is reduced. Meanwhile, due to the limitation of the working environment of the roof drilling machine, particularly in the high-position drilling and upward-inclination drilling processes, the manual assembly and disassembly of the drill rod are particularly difficult. Meanwhile, a middle rod adding type drilling machine is adopted, so that the front end threads of the drilling tool are firstly loosened, a shackle device is generally adopted, the structure is complex, the working difficulty is high, and continuous automatic screwing and unscrewing are difficult to realize.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the application provides the automatic screwing-on and unscrewing device and the control method for the coal mine tunnel drilling machine, which can realize the automatic screwing-on and unscrewing function, reduce the labor intensity of workers, load and unload the drill rod and automatically change the drill rod by a hydraulic control system and a manual control manipulator, greatly improve the drilling operation efficiency, improve the operation environment and have good safety.
In order to achieve the above purpose, the application adopts the following technical scheme:
an automatic screwing-on and unscrewing device capable of realizing a coal mine tunnel drilling machine comprises a main machine and an automatic screwing-on mechanism;
the host comprises a machine body, a clamp holder and a centralizer which are arranged at the front end of the machine body, a power head which is arranged on a guide rail of the machine body, a feeding oil cylinder which is arranged on the machine body and is connected with the power head, a stay wire sensor which is connected between the clamp holder and the power head, an encoder and a grating sensor which are arranged on the power head, and a hydraulic module for feeding rotary pressurization;
the automatic rod feeding mechanism comprises a mounting frame, a drill rod bin arranged at the lower end of a top plate of the mounting frame, a drill rod clamping unit arranged below the drill rod bin, and a lifting unit connected with the drill rod clamping unit, wherein the lifting unit can lift along a stand column of the mounting frame;
the drill rod bin is positioned right above the machine body, the drill rods in the drill rod bin are parallel to the machine body, and the drill rod clamping unit is positioned between the drill rod bin and the machine body and can clamp the drill rods and then convey the drill rods between the drill rod bin and the machine body under the drive of the lifting unit.
The application also comprises the following technical characteristics:
optionally, the hydraulic module comprises a rotary oil way and a feed oil way; the rotary oil way comprises a pipeline A and a pipeline B of a hydraulic motor of the power head, and an overflow valve is connected to the pipeline A; the feeding oil path comprises a pipeline C and a pipeline D of the feeding oil cylinder;
a tee joint is arranged between the pipeline A and the pipeline B, a port I of the tee joint is communicated with the pipeline A and provided with a one-way valve I, a port II of the tee joint is communicated with the pipeline B and provided with a one-way valve II, a port III of the tee joint is communicated with an inlet of a three-position tee valve, an outlet I of the three-position tee valve is communicated with the overflow valve, and an outlet II of the three-position tee valve is communicated with a pipeline C of a feeding oil pipeline and a rodless cavity of a feeding oil cylinder;
the maximum pressure of the pipeline A is AMPa, the maximum pressure of the pipeline B is BMPa, and the overflow valve pressure is CMPa, so that the rotation pressure of the power head is divided into three steps: positive rotation maximum torque AMPa, negative rotation maximum torque BMPa and positive rotation maximum torque CMPa meet the requirement of B > A > C.
Optionally, when the three-position three-way valve is arranged in the middle position, the hydraulic module drives the power head to normally perform rotary construction operation, and the maximum torque CMPa of forward rotation operation is achieved under the action of the overflow valve;
when the three-position three-way valve is at the left position, hydraulic oil sequentially enters the overflow valve through the pipeline A, the one-way valve I and the outlet I, so that the overflow valve does not act on the pipeline A to realize the pressurization of a power head hydraulic motor loop, and the forward rotation buckling maximum torque is AMPa;
when the three-position three-way valve is at the right position, hydraulic oil sequentially enters the pipeline C and the rodless cavity of the feeding oil cylinder through the pipeline B, the one-way valve II and the outlet II, so that the feeding pressurization of the feeding oil cylinder is realized, the maximum torque of reverse shackle is BMPa, and meanwhile, the feeding force is applied to the feeding oil cylinder to be beneficial to the shackle of the drill rod.
Optionally, the drill rod bin comprises a drill rod storage rack, a pushing cylinder and a drill rod limiting unit;
the drill rod storage rack comprises a cross rod at the top, two vertical rods arranged at two ends of the cross rod and a vertical guide clamping plate fixed on the cross rod, and the opening of the guide clamping plate faces downwards; the drill rods are parallel to the cross bars and are arranged between two vertical rods below the cross bars, and the guide clamping plates are clamped on two sides of the drill rods so that the drill rods are sequentially arranged from top to bottom;
the pushing oil cylinder is vertically arranged, the upper part of the pushing oil cylinder is fixed on the cross rod, and the telescopic end of the lower part of the pushing oil cylinder can vertically push a drill rod below the pushing oil cylinder;
the two drill rod limiting units are respectively arranged at the lower ends of the two vertical rods and are oppositely arranged; the limiting unit comprises a horizontal spring, one end of the spring is fixed on the vertical rod, the other end of the spring is fixed with an arc-shaped protruding block, the distance between the two arc-shaped protruding blocks is smaller than the length of the drilling rod in a spring extension state, and the distance between the two arc-shaped protruding blocks is not smaller than the length of the drilling rod in a spring compression state.
Optionally, the drill rod bin further comprises an automatic leveling unit, wherein the automatic leveling unit comprises a leveling cross rod, a guide rod and a sleeve sleeved on the guide rod and fixedly connected with the leveling cross rod; the leveling cross rod is positioned above the drill rod in the drill rod bin and parallel to the drill rod, and is connected with the telescopic end of the lower part of the pushing oil cylinder; the guide rods are vertically arranged on one side of the drill rod, the upper ends of the guide rods are fixed on the cross rod, and at least two guide rods are distributed on two sides of the pushing oil cylinder; when the pushing oil cylinder pushes down the leveling cross rod, the sleeve connected with the leveling cross rod vertically moves along the guide rod so as to ensure that the leveling cross rod is horizontal and the drill rod is kept horizontal.
Optionally, the mounting frame comprises a horizontal top plate, a horizontal bottom plate positioned right below the top plate and vertical stand columns connected between the top plate and the bottom plate, wherein four stand columns are arranged, and every two stand columns are in a group; the horizontal pole is parallel to be fixed in the roof lower extreme, and the drilling rod storehouse is located between two sets of stands.
Optionally, the clamping unit includes relative slips I and slips II, the horizontal clamp cylinder I of connection slips I and the horizontal clamp cylinder II of connection slips II, under clamp cylinder I and clamp cylinder II effect, slips I and slips II can realize the centre gripping drilling rod.
Optionally, the lifting unit comprises a lifting beam I, a lifting beam II, a vertical lifting oil cylinder I arranged at the lower end of the lifting beam I, a vertical lifting oil cylinder II arranged at the lower end of the lifting beam II, two vertical sleeves I arranged at the two ends of the lifting beam I and two vertical sleeves II arranged at the two ends of the lifting beam II; the two vertical sleeves I are respectively sleeved on the two upright posts of the first group of upright posts, and the two vertical sleeves II are respectively sleeved on the two upright posts of the second group of upright posts;
the clamping oil cylinder I is fixed on the lifting beam I, and the clamping oil cylinder II is fixed on the lifting beam II;
under the action of the lifting oil cylinder I and the lifting oil cylinder II, the lifting cross beam I and the lifting cross beam II can vertically move along the upright posts, so that the clamping unit is driven to clamp the drill rod to vertically move.
Optionally, the front end of the holder is provided with a mounting plate, the mounting plate is provided with a centralizer, and the centralizer is used for keeping concentricity of the drill rod and the driving drill rod during drilling so as to prevent the front part of the drill rod from deviating during drilling; a front top unit is arranged at the front end of the mounting plate; the front top unit is used for keeping the body stable during drilling;
the stay wire sensor is used for measuring the position of the power head relative to the clamp holder in real time;
the feeding oil cylinder is used for driving the power head to slide back and forth along the guide rail;
the grating sensor and the encoder are used for measuring the rotation speed of the driving drill rod on the power head in real time, and the clamp holder, the power head, the feeding oil cylinder and the guide rail are matched with each other to finish the drilling and the drill withdrawal processes.
The control method for realizing the automatic screwing-off device of the coal mine tunnel drilling machine is used for controlling the automatic screwing-off device and comprises the following steps of:
the button attaching control method comprises the following steps:
step A1: the drill rod clamping unit conveys the drill rod at the lowest end in the drill rod bin between the power head and the clamp holder to serve as a first drill rod, the drill rod clamping unit keeps clamping the first drill rod, the power head rotates forward to buckle the driving drill rod and the first drill rod, then the drill rod clamping unit is loosened, and the power head and the feeding oil cylinder are matched to complete feeding construction of the first drill rod;
step A2: the clamp holder clamps the first drill rod, the three-position three-way valve is adjusted to the right position, the feeding and pressurizing functions of the oil feeding cylinder are realized, the power head realizes reverse shackle, the rear end of the first drill rod is loosened and separated from the driving drill rod, the three-position three-way valve recovers the middle position, and the power head returns to the initial position;
step A3: and D, the second drill rod and the subsequent drill rod are buckled, the buckling operation is completed by repeating the steps A1-A2, and the power head and the feeding oil cylinder are matched to complete the feeding construction of the drill rod;
the shackle control method comprises the following steps:
step B1: the clamp holder clamps the tail part of the last drill rod, the three-position three-way valve is adjusted to the left position, the pressurizing function of a hydraulic motor loop of the power head is realized, the connecting pretightening force between the driving drill rod and the last drill rod is increased, then the clamp holder releases the last drill rod, and the power head drives the last drill rod to retreat to the initial position;
step B2: the clamp clamps clamp the tail of the penultimate drill rod, the three-position three-way valve is adjusted to the right position, the feeding and pressurizing functions of the oil feeding cylinder are realized, the power head realizes reverse shackle, and the penultimate drill rod and the last drill rod are ensured to be firstly loosened and separated;
step B3: the drill rod clamping unit clamps the last drill rod, the three-position three-way valve is adjusted to the right position, the feeding and pressurizing functions of the feeding oil cylinder are realized, the power head realizes reverse shackle, and the last drill rod is loosened and separated from the driving drill rod;
step B4: the drill rod clamping unit grabs the last drill rod and conveys the last drill rod to the drill rod bin, the power head advances to the tail of the last drill rod, the clamp clamps the tail of the last drill rod, the three-position three-way valve is adjusted to the left position, the pressurizing function of a hydraulic motor loop of the power head is realized, the power head is positively rotated to press and buckle the last drill rod, the driving drill rod is connected with the last drill rod, the pretightening force is increased, meanwhile, the last drill rod is driven to retract to the initial position, and the last drill rod is tripped in a tripping mode in the step B2-B3;
step B5: and B4, completing the breaking-out operation of the third last drill rod and the subsequent drill rod breaking-out reference step.
Compared with the prior art, the application has the beneficial technical effects that:
the application has the function of automatic screwing and unscrewing, does not need to use a shackle, reduces the labor intensity of workers, and greatly improves the drilling operation efficiency, improves the operation environment and has good safety by using a hydraulic control system and a manual control manipulator to assemble and disassemble the drill rod and automatically replace the drill rod.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present application.
Fig. 2 is a schematic diagram of a host structure.
Fig. 3 is a schematic view of the structure of the automatic lever feeding mechanism.
Fig. 4 is a schematic view of the drill rod magazine.
Fig. 5 is a schematic diagram of a hydraulic module.
Reference numerals meaning:
1. a host machine 2, an automatic rod feeding mechanism; 11. the hydraulic control device comprises a machine body, a clamp holder, a centralizer, a power head, a feeding oil cylinder, a pull wire sensor, an overflow valve and a three-position three-way valve, wherein the clamp holder, the centralizer, the power head, the feeding oil cylinder, the pull wire sensor, the overflow valve and the three-position three-way valve are arranged in sequence; 21. the hydraulic jack comprises a mounting frame, 211, a top plate, 212, a bottom plate, 213, an upright post, 22, a drill rod bin, 221, a drill rod storage frame, 222, a pushing cylinder, 223, a drill rod limiting unit, 224, a flow guide clamping plate, 225, a leveling cross rod, 226, a guide rod, 227, a sleeve, 23, a drill rod clamping unit and 24, and a lifting unit.
The application is described in detail below with reference to the drawings and the detailed description.
Detailed Description
The following specific embodiments of the present application are given according to the above technical solutions, and it should be noted that the present application is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solutions of the present application fall within the protection scope of the present application. The present application will be described in further detail with reference to examples.
Example 1:
the embodiment provides a device capable of realizing automatic screwing and unscrewing of a coal mine tunnel drilling machine, which comprises a host machine 1 and an automatic screwing and unscrewing mechanism 2.
The main machine 1 comprises a machine body 11, a clamp holder 12 and a centralizer 13 which are arranged at the front end of the machine body 11, a power head 14 which is arranged on a guide rail of the machine body 11, a feeding cylinder 15 which is arranged on the machine body 11 and is connected with the power head 14, a wire drawing sensor 16 which is connected between the clamp holder 12 and the power head 14, an encoder and a grating sensor which are arranged on the power head 14, and a hydraulic module for feeding rotary pressurization.
The automatic rod feeding mechanism 2 comprises a mounting frame 21, a rod bin 22 arranged at the lower end of a top plate 211 of the mounting frame 21, a rod clamping unit 23 arranged below the rod bin 22, and a lifting unit 24 connected with the rod clamping unit 23, wherein the lifting unit 24 can lift along a column 213 of the mounting frame 21.
The drill rod bin 22 is located right above the machine body 11, the drill rods in the drill rod bin 22 are parallel to the machine body 11, and the drill rod clamping unit 23 is located between the drill rod bin 22 and the machine body 11 and can clamp the drill rods and then convey the drill rods between the drill rod bin 22 and the machine body 1 under the driving of the lifting unit 24.
As shown in fig. 5, the hydraulic module includes a swing oil path and a feed oil path; the rotary oil way comprises a pipeline A and a pipeline B of a hydraulic motor of the power head 14, and an overflow valve 17 is connected to the pipeline A; the feed oil path includes a line C and a line D of the feed cylinder 15.
A tee joint is arranged between the pipeline A and the pipeline B, a tee joint interface I is communicated with the pipeline A and provided with a one-way valve I, a tee joint interface II is communicated with the pipeline B and provided with a one-way valve II, a tee joint interface III is communicated with an inlet of a three-position three-way valve 18, an outlet I of the three-position three-way valve 18 is communicated to an overflow valve 17, and an outlet II of the three-position three-way valve 18 is communicated to a pipeline C of the feeding oil pipeline 15 and a rodless cavity of the feeding oil cylinder 15.
The maximum pressure of the pipeline A is AMPa, the maximum pressure of the pipeline B is BMPa, and the pressure of the overflow valve 17 is CMPa, so that the revolution pressure of the power head 14 is divided into three steps: positive rotation maximum torque AMPa, negative rotation maximum torque BMPa and positive rotation maximum torque CMPa meet the requirement of B > A > C. Specific:
when the three-position three-way valve 18 is arranged in the middle position, the hydraulic module drives the power head 14 to normally perform rotary construction operation, and at the moment, under the action of the overflow valve 17, the maximum torque CMPa of the forward rotation operation is achieved;
when the three-position three-way valve 18 is positioned at the left position, hydraulic oil sequentially enters the overflow valve 17 through the pipeline A, the one-way valve I and the outlet I, so that the overflow valve 17 does not act on the pipeline A to realize the pressurization of a hydraulic motor loop of the power head 14, and the maximum torque of forward rotation buckling is AMPa at the moment;
when the three-position three-way valve 18 is at the right position, hydraulic oil sequentially enters the pipeline C and the rodless cavity of the oil feeding cylinder 15 through the pipeline B, the one-way valve II and the outlet II, so that the oil feeding cylinder 15 is fed and pressurized, at the moment, the maximum torque of the reverse shackle is BMPa, and meanwhile, the oil feeding cylinder 15 is fed with feeding force so as to be beneficial to the shackle of a drill rod.
As shown in fig. 1, 3 and 4, the rod magazine 22 includes a rod storage rack 221, a pushing cylinder 222 and a rod limiting unit 223; wherein, the pushing cylinder 222 can push the drill rod in the drill rod bin to overcome friction force with the drill rod limiting unit 223, so that the spring of the drill rod limiting unit 223 compresses the drill rod to naturally sink; the drill rod limiting unit 223 serves to prevent the drill rod from falling down due to its own weight.
The drill rod storage rack 221 comprises a cross rod at the top, two vertical rods arranged at two ends of the cross rod and a vertical guide clamping plate 224 fixed on the cross rod, and the guide clamping plate 224 is downwards opened; the drilling rod is parallel to the horizontal pole and lay between two montants of horizontal pole below, and water conservancy diversion splint 224 clamp is in drilling rod both sides to make drilling rod from the top down arrange in proper order, specifically, water conservancy diversion splint 224 is inside to be equipped with the ball of fixed position, is used for making the drilling rod become rolling friction with sliding friction when moving in the drilling rod storehouse, reduces the frictional force when drilling rod motion, can be the drilling rod simultaneously keeps the level.
The pushing cylinder 222 is vertically arranged, the upper part of the pushing cylinder 222 is fixed on the cross rod, and the telescopic end of the lower part of the pushing cylinder 222 can vertically push the drill rod below the pushing cylinder.
The two drill rod limiting units 223 are respectively arranged at the lower ends of the two vertical rods and are oppositely arranged; the limiting unit comprises a horizontal spring, one end of the spring is fixed on the vertical rod, an arc-shaped protruding block is fixed at the other end of the spring, the distance between the two arc-shaped protruding blocks is smaller than the length of the drill rod in the spring extension state, and the distance between the two arc-shaped protruding blocks is not smaller than the length of the drill rod in the spring compression state; the drill rod at the bottommost end in the drill rod bin is limited above the arc-shaped protruding blocks of the two drill rod limiting units, and when the oil cylinder is pushed down to press the drill rod, the drill rod can move downwards from between the two drill rod limiting units after the spring of the two drill rod limiting units is contracted by the drill rod at the bottommost end.
The drill rod bin 22 also comprises an automatic leveling unit, which comprises a leveling cross rod 225, a guide rod 226 and a sleeve 227 sleeved on the guide rod 226 and fixedly connected with the leveling cross rod; the leveling cross rod 225 is positioned above the drill rod in the drill rod bin and parallel to the drill rod, and the leveling cross rod 225 is connected with the telescopic end of the lower part of the pushing cylinder 222; the guide rods 226 are vertically arranged on one side of the drill rod, the upper ends of the guide rods 226 are fixed on the cross rod, and at least two guide rods 226 are distributed on two sides of the pushing cylinder 222; when the pushing cylinder 222 pushes down the leveling rod 225, the sleeve 227 to which the leveling rod 225 is connected moves vertically along the guide rod 226 to ensure that the leveling rod 225 is horizontal and thus the drill rod is kept horizontal.
The mounting frame 21 comprises a horizontal top plate 211, a horizontal bottom plate 212 positioned right below the top plate 211 and vertical stand columns 213 connected between the top plate 211 and the bottom plate 212, wherein four stand columns 213 are arranged, and each two stand columns 213 are in a group; the cross bars are fixed in parallel at the lower end of the top plate 211, and the drill rod magazine 22 is positioned between two sets of upright posts 213.
The clamping unit 23 comprises opposite slips I and II, a horizontal clamping cylinder I connected with the slips I and a horizontal clamping cylinder II connected with the slips II, and the slips I and II can clamp a drill rod under the action of the clamping cylinder I and the clamping cylinder II.
The lifting unit 24 comprises a lifting cross beam I, a lifting cross beam II, a vertical lifting oil cylinder I arranged at the lower end of the lifting cross beam I, a vertical lifting oil cylinder II arranged at the lower end of the lifting cross beam II, two vertical sleeves I arranged at the two ends of the lifting cross beam I and two vertical sleeves II arranged at the two ends of the lifting cross beam II; and two vertical sleeves I are respectively sleeved on two upright posts 213 of the first group of upright posts 213, and two vertical sleeves II are respectively sleeved on two upright posts 213 of the second group of upright posts 213.
The clamping oil cylinder I is fixed on the lifting beam I, and the clamping oil cylinder II is fixed on the lifting beam II.
Under the action of the lifting oil cylinder I and the lifting oil cylinder II, the lifting cross beam I and the lifting cross beam II can vertically move along the upright post 213, so that the drill rod clamping unit 23 is driven to clamp the drill rod to vertically move.
The front end of the clamp holder 12 is provided with a mounting plate, the mounting plate is provided with a centralizer 13, and the centralizer 13 is used for keeping concentricity of the drill rod and the driving drill rod during drilling so as to prevent the front part of the drill rod from deviating during drilling; a front top unit is arranged at the front end of the mounting plate; the front roof unit is used for keeping the body stable during drilling.
The pull wire sensor 16 is used to measure the position of the power head 14 relative to the holder 12 in real time.
The feed cylinder 15 is used for driving the power head 14 to slide reciprocally along the guide rail.
The grating sensor and the encoder are used for measuring the rotation speed of the active drill rod on the power head 14 in real time, and the clamp holder 12, the power head 14, the feeding oil cylinder 15 and the guide rail are matched with each other to finish the drilling and the drill withdrawal processes.
Example 2:
the embodiment provides a control method capable of realizing automatic tripping device of a coal mine tunnel drilling machine, which is used for controlling the automatic tripping device of the embodiment 1 and comprises the following steps:
the button attaching control method comprises the following steps:
step A1: the drill rod clamping unit conveys the drill rod at the lowest end in the drill rod bin between the power head and the clamp holder to serve as a first drill rod, the drill rod clamping unit keeps clamping the first drill rod, the power head rotates forward to buckle the driving drill rod and the first drill rod, normal pretightening force is achieved, then the drill rod clamping unit is loosened, and the power head and the feeding oil cylinder are matched to complete feeding construction of the first drill rod;
step A2: the clamp holder clamps the first drill rod, the three-position three-way valve is adjusted to the right position, the feeding and pressurizing functions of the oil feeding cylinder are realized, the power head realizes reverse shackle, the rear end of the first drill rod is loosened and separated from the driving drill rod, the three-position three-way valve recovers the middle position, and the power head returns to the initial position;
step A3: and D, the second drill rod and the subsequent drill rod are buckled, the buckling operation is completed by repeating the steps A1-A2, and the power head and the feeding oil cylinder are matched to complete the feeding construction of the drill rod;
the shackle control method comprises the following steps:
step B1: the clamp holder clamps the tail part of the last drill rod, the three-position three-way valve is adjusted to the left position, the pressurizing function of a hydraulic motor loop of the power head is realized, the connecting pretightening force between the driving drill rod and the last drill rod is increased, then the clamp holder releases the last drill rod, and the power head drives the last drill rod to retreat to the initial position;
step B2: the clamp clamps clamp the tail of the penultimate drill rod, the three-position three-way valve is adjusted to the right position, the feeding and pressurizing functions of the oil feeding cylinder are realized, the power head realizes reverse shackle, and the penultimate drill rod and the last drill rod are ensured to be firstly loosened and separated;
step B3: the drill rod clamping unit clamps the last drill rod, the three-position three-way valve is adjusted to the right position, the feeding and pressurizing functions of the feeding oil cylinder are realized, the power head realizes reverse shackle, and the last drill rod is loosened and separated from the driving drill rod;
step B4: the drill rod clamping unit grabs the last drill rod and conveys the last drill rod to the drill rod bin, the power head advances to the tail of the last drill rod, the clamp clamps the tail of the last drill rod, the three-position three-way valve is adjusted to the left position, the pressurizing function of a hydraulic motor loop of the power head is realized, the power head is positively rotated to press and buckle the last drill rod, the driving drill rod is connected with the last drill rod, the pretightening force is increased, meanwhile, the last drill rod is driven to retract to the initial position, and the last drill rod is tripped in a tripping mode in the step B2-B3;
step B5: and B4, completing the breaking-out operation of the third last drill rod and the subsequent drill rod breaking-out reference step.

Claims (9)

1. The automatic screwing-off device for the coal mine tunnel drilling machine is characterized by comprising a main machine (1) and an automatic screwing-on mechanism (2);
the host machine (1) comprises a machine body (11), a clamp holder (12) and a centralizer (13) which are arranged at the front end of the machine body (11), a power head (14) arranged on a guide rail of the machine body (11), a feeding oil cylinder (15) which is arranged on the machine body (11) and is connected with the power head (14), a stay wire sensor (16) which is connected between the clamp holder (12) and the power head (14), an encoder and a grating sensor which are arranged on the power head (14) and a hydraulic module for feeding rotary pressurization;
the automatic rod feeding mechanism (2) comprises a mounting frame (21), a drill rod bin (22) arranged at the lower end of a top plate (211) of the mounting frame (21), a drill rod clamping unit (23) arranged below the drill rod bin (22), and a lifting unit (24) connected with the drill rod clamping unit (23), wherein the lifting unit (24) can lift along a stand column (213) of the mounting frame (21);
the drill rod bin (22) is positioned right above the machine body (11), drill rods in the drill rod bin (22) are parallel to the machine body (11), and the drill rod clamping unit (23) is positioned between the drill rod bin (22) and the machine body (11) and can clamp the drill rods and then convey the drill rods between the drill rod bin (22) and the host machine (1) under the driving of the lifting unit (24);
the hydraulic module comprises a rotary oil way and an oil supply way; the rotary oil way comprises a pipeline A and a pipeline B of a hydraulic motor of the power head (14), and an overflow valve (17) is connected to the pipeline A; the feeding oil path comprises a pipeline C and a pipeline D of a feeding oil cylinder (15);
a tee joint is arranged between the pipeline A and the pipeline B, an interface I of the tee joint is communicated with the pipeline A and provided with a one-way valve I, an interface II of the tee joint is communicated with the pipeline B and provided with a one-way valve II, an interface III of the tee joint is communicated with an inlet of a three-position tee valve (18), an outlet I of the three-position tee valve (18) is communicated with the overflow valve (17), and an outlet II of the three-position tee valve (18) is communicated with a pipeline C of a feeding oil pipeline (15) and a rodless cavity of a feeding oil cylinder (15);
the maximum pressure of the pipeline A is AMPa, the maximum pressure of the pipeline B is BMPa, and the pressure of the overflow valve (17) is CMPa, so that the rotation pressure of the power head (14) is divided into three steps: positive rotation maximum torque AMPa, negative rotation maximum torque BMPa and positive rotation maximum torque CMPa meet the requirement of B > A > C.
2. The automatic screwing-on and unscrewing device for the coal mine tunnel drilling machine according to claim 1, wherein when the three-position three-way valve (18) is arranged in the middle position, the hydraulic module drives the power head (14) to normally perform rotary construction operation, and the maximum torque CMPa of forward rotation operation is achieved under the action of the overflow valve (17);
when the three-position three-way valve (18) is at the left position, hydraulic oil sequentially enters the overflow valve (17) through the pipeline A, the one-way valve I and the outlet I, so that the overflow valve (17) does not act on the pipeline A to realize the pressurization of a hydraulic motor loop of the power head (14), and the maximum torque of forward rotation buckling is AMPa at the moment;
when the three-position three-way valve (18) is at the right position, hydraulic oil sequentially enters the pipeline C and the rodless cavity of the feeding oil cylinder (15) through the pipeline B, the one-way valve II and the outlet II, so that the feeding pressurization of the feeding oil cylinder (15) is realized, the maximum torque of the reverse shackle is BMPa, and meanwhile, the feeding oil cylinder (15) applies feeding force to facilitate the shackle of a drill rod.
3. The automatic screwing-on and unscrewing device for the coal mine tunnel drilling machine according to claim 1, wherein the drill rod bin (22) comprises a drill rod storage rack (221), a pushing cylinder (222) and a drill rod limiting unit (223);
the drill rod storage rack (221) comprises a cross rod at the top, two vertical rods arranged at two ends of the cross rod and a vertical guide clamping plate (224) fixed on the cross rod, and the guide clamping plate (224) is downward in opening; the drill rods are parallel to the cross bars and are arranged between two vertical rods below the cross bars, and the guide clamping plates (224) are clamped on two sides of the drill rods so that the drill rods are sequentially arranged from top to bottom;
the pushing oil cylinder (222) is vertically arranged, the upper part of the pushing oil cylinder is fixed on the cross rod, and the telescopic end of the lower part of the pushing oil cylinder (222) can vertically push a drill rod below the pushing oil cylinder;
the two drill rod limiting units (223) are respectively arranged at the lower ends of the two vertical rods and are oppositely arranged; the limiting unit comprises a horizontal spring, one end of the spring is fixed on the vertical rod, the other end of the spring is fixed with an arc-shaped protruding block, the distance between the two arc-shaped protruding blocks is smaller than the length of the drilling rod in a spring extension state, and the distance between the two arc-shaped protruding blocks is not smaller than the length of the drilling rod in a spring compression state.
4. A device for automatically setting up and setting out a coal mine tunnel drilling machine according to claim 3, wherein said drill rod magazine (22) further comprises an automatic leveling unit comprising a leveling cross bar (225), a guide bar (226) and a sleeve (227) which is sleeved on the guide bar (226) and fixedly connected to the leveling cross bar; the leveling cross rod (225) is positioned above the drill rod in the drill rod bin and parallel to the drill rod, and the leveling cross rod (225) is connected to the telescopic end of the lower part of the pushing oil cylinder (222); the guide rods (226) are vertically arranged on one side of the drill rod, the upper ends of the guide rods (226) are fixed on the cross rod, and at least two guide rods (226) are distributed on two sides of the pushing oil cylinder (222); when the pushing oil cylinder (222) pushes down the leveling rod (225), the sleeve (227) connected with the leveling rod (225) vertically moves along the guide rod (226) to ensure that the leveling rod (225) is horizontal so as to keep the drill rod horizontal.
5. A device for automatically setting up and taking out a coal mine tunnel drilling machine according to claim 3, wherein the mounting frame (21) comprises a horizontal top plate (211), a horizontal bottom plate (212) positioned right below the top plate (211), and vertical columns (213) connected between the top plate (211) and the bottom plate (212), the number of the columns (213) is four, and each two columns (213) are a group; the cross bars are fixed at the lower end of the top plate (211) in parallel, and the drill rod bin (22) is positioned between the two groups of upright posts (213).
6. The automatic tripping device for the coal mine tunnel drilling machine, which can be realized, according to claim 5, is characterized in that the clamping unit (23) comprises opposite slips I and slips II, a horizontal clamping cylinder I connected with the slips I and a horizontal clamping cylinder II connected with the slips II, and the slips I and the slips II can realize clamping of a drill rod under the action of the clamping cylinder I and the clamping cylinder II.
7. The automatic fastening and unfastening device for the coal mine tunnel drilling machine according to claim 6, wherein the lifting unit (24) comprises a lifting beam I, a lifting beam II, a vertical lifting cylinder I arranged at the lower end of the lifting beam I, a vertical lifting cylinder II arranged at the lower end of the lifting beam II, two vertical sleeves I arranged at two ends of the lifting beam I and two vertical sleeves II arranged at two ends of the lifting beam II; the two vertical sleeves I are respectively sleeved on the two upright posts (213) of the first group of upright posts (213), and the two vertical sleeves II are respectively sleeved on the two upright posts (213) of the second group of upright posts (213);
the clamping oil cylinder I is fixed on the lifting beam I, and the clamping oil cylinder II is fixed on the lifting beam II;
under the action of the lifting oil cylinder I and the lifting oil cylinder II, the lifting cross beam I and the lifting cross beam II can vertically move along the upright post (213), so that the drill rod clamping unit (23) is driven to clamp the drill rod to vertically move.
8. The automatic screwing-on and unscrewing device for the coal mine tunnel drilling machine, which is disclosed in claim 1, is characterized in that a mounting plate is arranged at the front end of the clamp holder (12), the centralizer (13) is arranged on the mounting plate, and the centralizer (13) is used for keeping concentricity of a drill rod and a driving drill rod during drilling so as to prevent deflection during drilling at the front part of the drill rod; a front top unit is arranged at the front end of the mounting plate; the front top unit is used for keeping the body stable during drilling;
the stay wire sensor (16) is used for measuring the position of the power head (14) relative to the clamp holder (12) in real time;
the feeding oil cylinder (15) is used for driving the power head (14) to slide back and forth along the guide rail;
the grating sensor and the encoder are used for measuring the rotation speed of the active drill rod on the power head (14) in real time, and the clamp holder (12), the power head (14), the feeding oil cylinder (15) and the guide rail are matched with each other to finish the drilling and the drill withdrawal processes.
9. A control method for realizing automatic tripping device of coal mine tunnel drilling machine, characterized in that the method is used for controlling the automatic tripping device according to claim 2, comprising the following steps:
the button attaching control method comprises the following steps:
step A1: the drill rod clamping unit conveys the drill rod at the lowest end in the drill rod bin between the power head and the clamp holder to serve as a first drill rod, the drill rod clamping unit keeps clamping the first drill rod, the power head rotates forward to buckle the driving drill rod and the first drill rod, then the drill rod clamping unit is loosened, and the power head and the feeding oil cylinder are matched to complete feeding construction of the first drill rod;
step A2: the clamp holder clamps the first drill rod, the three-position three-way valve is adjusted to the right position, the feeding and pressurizing functions of the oil feeding cylinder are realized, the power head realizes reverse shackle, the rear end of the first drill rod is loosened and separated from the driving drill rod, the three-position three-way valve recovers the middle position, and the power head returns to the initial position;
step A3: and D, the second drill rod and the subsequent drill rod are buckled, the buckling operation is completed by repeating the steps A1-A2, and the power head and the feeding oil cylinder are matched to complete the feeding construction of the drill rod;
the shackle control method comprises the following steps:
step B1: the clamp holder clamps the tail part of the last drill rod, the three-position three-way valve is adjusted to the left position, the pressurizing function of a hydraulic motor loop of the power head is realized, the connecting pretightening force between the driving drill rod and the last drill rod is increased, then the clamp holder releases the last drill rod, and the power head drives the last drill rod to retreat to the initial position;
step B2: the clamp clamps clamp the tail of the penultimate drill rod, the three-position three-way valve is adjusted to the right position, the feeding and pressurizing functions of the oil feeding cylinder are realized, the power head realizes reverse shackle, and the penultimate drill rod and the last drill rod are ensured to be firstly loosened and separated;
step B3: the drill rod clamping unit clamps the last drill rod, the three-position three-way valve is adjusted to the right position, the feeding and pressurizing functions of the feeding oil cylinder are realized, the power head realizes reverse shackle, and the last drill rod is loosened and separated from the driving drill rod;
step B4: the drill rod clamping unit grabs the last drill rod and conveys the last drill rod to the drill rod bin, the power head advances to the tail of the last drill rod, the clamp clamps the tail of the last drill rod, the three-position three-way valve is adjusted to the left position, the pressurizing function of a hydraulic motor loop of the power head is realized, the power head is positively rotated to press and buckle the last drill rod, the driving drill rod is connected with the last drill rod, the pretightening force is increased, meanwhile, the last drill rod is driven to retract to the initial position, and the last drill rod is tripped in a tripping mode in the step B2-B3;
step B5: and B4, completing the breaking-out operation of the third last drill rod and the subsequent drill rod breaking-out reference step.
CN202111098453.9A 2021-09-18 2021-09-18 Device capable of realizing automatic screwing and unscrewing of coal mine tunnel drilling machine and control method Active CN113833421B (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4128135A (en) * 1977-07-13 1978-12-05 Gardner-Denver Company Drill pipe handling mechanism
CN111677466A (en) * 2020-05-11 2020-09-18 中煤科工集团西安研究院有限公司 Automatic rod adding device and method for underground coal mine tunnel drilling machine
CN112482995A (en) * 2020-12-21 2021-03-12 江苏中煤矿山设备有限公司 Intelligent drill carriage device capable of automatically feeding drill rods for coal mine
CN212898367U (en) * 2020-08-27 2021-04-06 贵州博创智新科技有限公司 Automatic material structure of getting of drilling rod of crawler-type intelligent rig for coal mine

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4128135A (en) * 1977-07-13 1978-12-05 Gardner-Denver Company Drill pipe handling mechanism
CN111677466A (en) * 2020-05-11 2020-09-18 中煤科工集团西安研究院有限公司 Automatic rod adding device and method for underground coal mine tunnel drilling machine
CN212898367U (en) * 2020-08-27 2021-04-06 贵州博创智新科技有限公司 Automatic material structure of getting of drilling rod of crawler-type intelligent rig for coal mine
CN112482995A (en) * 2020-12-21 2021-03-12 江苏中煤矿山设备有限公司 Intelligent drill carriage device capable of automatically feeding drill rods for coal mine

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