CN114592810A - Be used for integrated intelligent device of coal prospecting drill loading and unloading drilling rod in pit - Google Patents
Be used for integrated intelligent device of coal prospecting drill loading and unloading drilling rod in pit Download PDFInfo
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- CN114592810A CN114592810A CN202210269064.6A CN202210269064A CN114592810A CN 114592810 A CN114592810 A CN 114592810A CN 202210269064 A CN202210269064 A CN 202210269064A CN 114592810 A CN114592810 A CN 114592810A
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- 238000005553 drilling Methods 0.000 title claims abstract description 111
- 239000003245 coal Substances 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 238000005192 partition Methods 0.000 claims description 20
- 238000005065 mining Methods 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 3
- 238000000926 separation method Methods 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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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
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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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
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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
- E21B19/10—Slips; Spiders ; Catching devices
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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
- E21B19/14—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 OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
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- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses an integrated intelligent device for loading and unloading a drill rod of a coal underground exploration drilling machine, and belongs to the field of mining exploration machinery. An integrated intelligent device for loading and unloading a drill rod of a coal underground exploration drilling machine comprises a crawler chassis, a drilling machine frame, a fixed seat, a main holder, an auxiliary alignment mechanism, an upper drill rod unloading mechanical arm, a power head and a drill rod box; the drilling machine frame is rotatably connected to the upper end of the crawler chassis; the fixed seat is rotatably connected to the side end of the drilling machine frame; the main holder and the auxiliary holder can be detachably connected to the fixed seat, and the main holder is positioned on the left side of the auxiliary holder; the auxiliary alignment mechanism is connected to the fixed seat in a sliding manner and is positioned on the right side of the auxiliary holder; the power head is connected to the fixed seat in a sliding manner and is positioned on the right side of the auxiliary alignment mechanism; the automatic drill rod loading and unloading device has the advantages that the automatic drill rod loading and unloading operation can be realized, the automation degree is high, the labor cost is reduced, and the drill rod loading and unloading efficiency is improved.
Description
Technical Field
The invention relates to the field of mining exploration machinery, in particular to an integrated intelligent device for loading and unloading a drill rod of a coal underground exploration drilling machine.
Background
The crawler-type automatic drill rod loading and unloading drilling machine is mainly used for solving the problem of automatic loading and unloading of the drill rod of the coal mine tunnel, the automation degree of the drilling machine is lifted through the automatic drill rod loading and unloading mechanism on the side edge of the rack, the automatic operation in the coal mine tunnel is better realized, the labor intensity is reduced, and the working efficiency is improved.
At present, a drilling machine in a coal mine tunnel is mainly used for drilling construction such as gas extraction, water exploration and drainage, top and bottom plate grouting and the like, is of an integrated and split structure and the like, and adopts hydraulic pressure as a driving mode. The drilling machine needs to carry out the work of loading and unloading the drill rod for a long time in the drilling process, and mainly needs to add the drill rod between the clamp holder and the power head or add the drill rod behind the power head. At present, the drill rod is mainly unloaded manually, and the operation is not only required by a specially-assigned person, but also the working strength is high, and certain dangerousness is realized.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems in the prior art, the invention aims to provide an integrated intelligent device for loading and unloading a drill rod of a coal underground exploration drilling machine, which can realize the operation of automatically loading and unloading the drill rod, has high automation degree, reduces the labor cost and improves the efficiency of loading and unloading the drill rod.
2. Technical scheme
In order to solve the above problems, the present invention adopts the following technical solutions.
An integrated intelligent device for loading and unloading a drill rod of a coal underground exploration drilling machine comprises a crawler chassis, a drilling machine frame, a fixed seat, a main holder, an auxiliary alignment mechanism, an upper drill rod unloading mechanical arm, a power head and a drill rod box;
the drilling machine frame is rotatably connected to the upper end of the crawler chassis;
the fixed seat is rotatably connected to the side end of the drilling machine frame;
the main holder and the auxiliary holder can be detachably connected to the fixed seat, and the main holder is positioned on the left side of the auxiliary holder;
the auxiliary alignment mechanism is connected to the fixed seat in a sliding manner and is positioned on the right side of the auxiliary holder;
the power head is connected to the fixed seat in a sliding manner and is positioned on the right side of the auxiliary alignment mechanism;
the upper drill rod unloading mechanical arm is arranged at the front end of the drilling machine frame and can perform circumferential rotation in the vertical direction and circumferential rotation in the horizontal direction relative to the drilling machine frame;
the rear end of the drill rod box is rotatably connected to the front end face of the drilling machine frame, the inclination angle of the drill rod box relative to the drilling machine frame is changeable, and the drill rod box is located on the lower side of the upper drill rod unloading mechanical arm.
Furthermore, third slewing bearings are arranged between the drilling machine frame and the crawler chassis and between the fixing seat and the drilling machine frame, the drilling machine frame is rotatably connected with the crawler chassis through the third slewing bearings, and the fixing seat is rotatably connected with the drilling machine frame through the third slewing bearings.
Furthermore, the drill rod loading and unloading mechanical arm comprises a clamping hand grip, a second hydraulic cylinder, an extension arm, a second slewing bearing, a positioning steering arm and a first slewing bearing; the first slewing bearing is connected to the front end face of the drilling machine frame, and the drill rod loading and unloading mechanical arm rotates circumferentially in the vertical direction relative to the drilling machine frame through the first slewing bearing; the positioning steering arm is detachably connected to the first slewing bearing; the second slewing bearing is detachably connected to the positioning steering arm, and the drill rod loading and unloading mechanical arm rotates circumferentially in the horizontal direction relative to the drilling machine frame through the second slewing bearing; the extension arm is detachably connected to one end, far away from the positioning steering arm, of the second slewing bearing; the second hydraulic cylinder is detachably connected to one end, far away from the second slewing bearing, of the extension arm; the clamping hand grip is detachably connected to the output end of the second hydraulic cylinder.
Furthermore, the first slewing bearing and the positioning steering arm, the positioning steering arm and the second slewing bearing, the second slewing bearing and the extension arm, the extension arm and the second hydraulic cylinder and the clamping hand are detachably connected through bolts.
Furthermore, the auxiliary alignment mechanism comprises two bases, two clamping pieces and a first hydraulic cylinder; the base slides on the fixed seat; the clamping piece is connected to the base; first pneumatic cylinder passes through the bolt and can dismantle the connection between two bases, and the output of first pneumatic cylinder has set firmly the wedge, and first pneumatic cylinder lower extreme is equipped with wedge assorted inclined plane, the wedge centre gripping between the clamping piece.
Furthermore, the front end face of the drilling machine frame is connected with two symmetrical third hydraulic cylinders through bolts, and the side end of the drill rod box is rotationally connected with the output ends of the third hydraulic cylinders; under the state of loading the drill rod, the output end of the third hydraulic cylinder is shortened, and the drill rod box is obliquely and upwards arranged relative to the drilling machine frame; and under the state of unloading the drill rod, the output end of the third hydraulic cylinder extends, and the drill rod box is obliquely and downwards arranged relative to the drilling machine frame.
Further, an accommodating cavity with an open top is formed in the drill rod box, and at least two stop blocks are fixedly arranged on the inner wall, close to the drilling machine rack, of the accommodating cavity.
Further, a stable storage mechanism is arranged in the drill rod box and comprises a pair of partition plates, a group of guide pieces and at least one cam; the pair of partition plates are symmetrically arranged in the containing cavity, and one ends of the pair of partition plates close to the drilling machine frame gradually draw close to each other; the group of guide pieces are arranged at the bottom of the containing cavity along the moving direction of the drill rod, and the length of the guide pieces close to the side of the drilling machine frame is gradually shortened; at least one cam is arranged in the partition board, the cams are positioned in the height direction of the guide piece on the same side, a cam shaft with a torsion spring is arranged in each cam, and the cam shaft is in running fit with the partition board.
Furthermore, a baffle is arranged at the top of the accommodating cavity of the drill rod box, and the baffle is relatively positioned in the middle of the drill rod box, so that a first opening far away from the drilling machine frame and a second opening close to the drilling machine frame are formed between the baffle and the accommodating cavity; a pair of grabbing plates are symmetrically arranged in the side end face, close to the drilling machine frame, of the baffle, the grabbing plates are arc-shaped, spline shafts with torsion springs are arranged in the grabbing plates on the two sides, and the spline shafts are in running fit with the baffle; a pressure plate is arranged on the end face of the side of the grabbing plate away from the center of the baffle; a fixed pulley block is connected between the cam shaft and the grabbing plate on the same side of the partition plate, the fixed pulley block is connected with the side end face of the grabbing plate through a pull rope, and the grabbing plate is pulled towards the center direction of the baffle plate through the fixed pulley block under the action of the pull rope when the cam rotates.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
the automatic drill rod loading and unloading device has the advantages that the automatic drill rod loading and unloading operation can be realized, the automation degree is high, the labor cost is reduced, and the drill rod loading and unloading efficiency is improved.
(II) this scheme is through the setting of third pneumatic cylinder, can be so that to unload the drilling rod and all realize in the drilling rod case, very big improvement work efficiency has practiced thrift the space of addding the drilling rod case again.
In the scheme, the auxiliary clamping device and the auxiliary alignment mechanism are arranged, so that the accuracy of placing the drill rod can be effectively guaranteed, and the butt joint of the current drill rod and the previous drill rod can be better realized.
According to the scheme, the triangular crawler belt is arranged, so that the whole device has stronger obstacle crossing capability.
According to the scheme, the drilling machine can rotate in multiple directions through the arrangement of the third slewing bearing between the crawler base plate and the drilling machine frame and between the fixed seat and the drilling machine frame, and therefore the drilling requirement of the drilling machine in multiple directions can be met.
(six) this scheme passes through the setting of baffle and guide, under the slope effect of drilling rod case self, on the one hand, can gather together one by one the drilling rod of accomodating the intracavity will be placed into to convenient taking out of pressing from both sides tight tongs, on the other hand, under the separation effect of guide, puts the drilling rod one by one and reduces the collision when placing and taking out the drilling rod when just putting, leads to the drilling rod to appear damaging and influence subsequent work of creeping into. Simultaneously, under the separation of the baffle, the condition that the drill rods in the drill rod box are too many and fall off when the drill rod box is in an adjusting mode is avoided.
The speed that the drilling rod is concentrated towards the center of the containing cavity can be further accelerated under the swing action of the cam, and meanwhile, under the action of the fixed pulley block, the center of the drilling rod which can be taken out by the clamping gripper is contacted with the clamping gripper by the gripping plate as soon as possible under the swing action of the cam, so that the time for adjusting and gripping the drilling rod by the auxiliary aligning mechanism is shortened, and the overall working progress is accelerated.
Drawings
FIG. 1 is a schematic front perspective view of the present invention;
FIG. 2 is a schematic rear perspective view of the present invention;
FIG. 3 is a schematic perspective view of a portion of the force applying apparatus of the present invention;
FIG. 4 is a schematic perspective view of a portion of the auxiliary alignment mechanism of the present invention;
FIG. 5 is a schematic perspective view of an arm portion of the pipe handler of the present invention;
FIG. 6 is a schematic front view of the present invention;
FIG. 7 is a schematic side view of the present invention;
FIG. 8 is a schematic top view of the present invention;
FIG. 9 is a perspective view of a drill pipe box of the present invention;
fig. 10 is a schematic perspective view of the grip plate of the present invention.
The reference numbers in the figures illustrate:
the automatic drilling machine comprises a crawler chassis 1, a drilling machine frame 2, a fixed seat 3, a main gripper 4, a secondary gripper 5, an auxiliary alignment mechanism 6, a base 61, a clamping piece 62, a first hydraulic cylinder 63, a drill rod unloading mechanical arm 7, a clamping gripper 71, a second hydraulic cylinder 72, an extension arm 73, a second slewing bearing 74, a positioning steering arm 75, a first slewing bearing 76, a power head 8, a drill rod box 9, a partition 91, a guide 92, a cam 93, a fixed pulley group 94, a grabbing plate 95, a pressurizing plate 96 and a baffle 97.
Detailed Description
Referring to fig. 1-10, an integrated intelligent device for loading and unloading a drill rod for a coal underground exploration drilling machine comprises a crawler chassis 1, a drilling machine frame 2, a fixed seat 3, a main holder 4, an auxiliary holder 5, an auxiliary alignment mechanism 6, an upper drill rod unloading mechanical arm 7, a power head 8 and a drill rod box 9. The crawler belts at the bottom of the crawler belt chassis 1 are triangular crawler belts, the number of the crawler belts is four, the crawler belts are respectively distributed at four corners of the crawler belt chassis 1, and the crawler belt chassis 1 generates advancing power.
Referring to fig. 1-3, a drill frame 2 is rotatably connected to the upper end of a crawler chassis 1; the fixed seat 3 is rotatably connected to the side end of the drilling machine frame 2; all be equipped with third slewing bearing between rig frame 2 and crawler chassis 1 and fixing base 3 and the rig frame 2, rig frame 2 rotates with crawler chassis 1 through third slewing bearing to be connected, rig frame 2 can carry out the circumferential direction of horizontal direction relative to crawler chassis 1, fixing base 3 rotates with rig frame 2 through third slewing bearing to be connected, fixing base 3 can carry out the circumferential direction of vertical direction relative to crawler chassis 1.
Referring to fig. 1-3, the main holder 4 and the auxiliary holder 5 are both detachably connected to the fixing base 3, specifically, connected by bolts, and the main holder 4 is located at the left side of the auxiliary holder 5; the auxiliary holder 5 is of a semi-open structure, and a drill rod can be placed from the upper part of the auxiliary holder 5.
Referring to fig. 3-4, the auxiliary alignment mechanism 6 is slidably connected to the fixing base 3, and the auxiliary alignment mechanism 6 is located at the right side of the auxiliary holder 5; the auxiliary alignment mechanism 6 comprises two bases 61, two clamping pieces 62 and a first hydraulic cylinder 63; the base 61 slides on the fixed seat 3; the clamping pieces 62 are connected to the base 61, the clamping pieces 62 are clamping structures with opening and closing and clamping functions in the prior art, specifically, the clamping pieces 62 are connected to the base 61 in a sliding mode, and a spring (not shown) is arranged between the clamping pieces 62 and the base 61, so that after the wedge-shaped block moves upwards to extrude the two clamping pieces 62 to a certain degree, the two clamping pieces 62 can be close to each other to clamp the drill rod after the wedge-shaped block moves downwards for a certain distance; first pneumatic cylinder 63 can dismantle the connection between two bases 61 through the bolt, and the output of first pneumatic cylinder 63 has set firmly the wedge, and first pneumatic cylinder 63 lower extreme be equipped with wedge assorted inclined plane, the wedge centre gripping between clamping piece 62, control the degree of opening that the wedge moved in vertical direction through first pneumatic cylinder 63 in advance between two clamping pieces 62 to make and can put into the drilling rod just between two clamping pieces 62. The power head 8 is connected to the fixing seat 3 in a sliding mode, the power head 8 is located on the right side of the auxiliary alignment mechanism 6, and the power head 8 is of a structure with clamping and pushing functions in the prior art, namely, a drill rod is pushed leftwards after being clamped or pushed rightwards after being clamped.
Referring to fig. 5, the drill rod loading and unloading mechanical arm 7 is disposed at the front end of the drilling machine frame 2, and the drill rod loading and unloading mechanical arm 7 can rotate in the vertical direction and in the horizontal direction relative to the drilling machine frame 2. The drill rod loading and unloading mechanical arm 7 comprises a clamping hand 71, a second hydraulic cylinder 72, an extension arm 73, a second slewing bearing 74, a positioning steering arm 75 and a first slewing bearing 76; the first slewing bearing 76 is connected to the front end face of the drilling machine frame 2, and the drill rod loading and unloading mechanical arm 7 circumferentially rotates in the vertical direction relative to the drilling machine frame 2 through the first slewing bearing 76; the positioning and steering arm 75 is detachably connected to the first pivoting support 76; the second rotary support 74 is detachably connected to the positioning steering arm 75, and the drill rod loading and unloading mechanical arm 7 performs circumferential rotation in the horizontal direction relative to the drilling machine frame 2 through the second rotary support 74; extension arm 73 is removably attached to the end of second pivoting support 74 remote from positioning steering arm 75; second hydraulic cylinder 72 is removably connected to an end of extension arm 73 remote from second pivot support 74; the clamping gripper 71 is detachably connected to an output end of the second hydraulic cylinder 72, and the clamping gripper 71 is driven by external power to perform opening and clamping operations, which are well known to those skilled in the art and will not be described herein. The first pivoting support 76 and the positioning steering arm 75, the positioning steering arm 75 and the second pivoting support 74, the second pivoting support 74 and the extension arm 73, the extension arm 73 and the second hydraulic cylinder 72, and the second hydraulic cylinder 72 and the clamping hand 71 are detachably connected through bolts.
Referring to fig. 8-10, the rear end of the drill rod box 9 is rotatably connected to the front end face of the drilling machine frame 2, the inclination angle of the drill rod box 9 relative to the drilling machine frame 2 is variable, and the drill rod box 9 is located on the lower side of the upper drill rod unloading mechanical arm 7; the front end face of the drilling machine frame 2 is connected with two symmetrical third hydraulic cylinders through bolts, and the side end of the drill rod box 9 is rotatably connected with the output ends of the third hydraulic cylinders; in the state of loading the drill rod, the output end of the third hydraulic cylinder is shortened, and the drill rod box 9 is obliquely and upwards arranged relative to the drilling machine frame 2; in the state of unloading the drill rod, the output end of the third hydraulic cylinder extends, and the drill rod box 9 is obliquely arranged downwards relative to the drilling machine frame 2.
Referring to fig. 9-10, a storage cavity with an open top is formed in the drill rod box 9, and at least two stoppers are fixedly arranged on the inner wall of the storage cavity close to the drilling machine frame 2, so that when a drill rod is loaded, the drill rod rolls to a position where the drill rod contacts with the stoppers under the self-tilting action of the drill rod box 9, and a gap is left between the stoppers and the inner wall of the drill rod box 9, thereby facilitating the gripping of the clamping gripper 71 and the gripping of the drill rod. A stable storage mechanism is arranged in the drill rod box 9 and comprises a pair of partition plates 91, a group of guide pieces 92 and at least one cam 93; the pair of partition plates 91 are symmetrically arranged in the containing cavity, and one ends of the pair of partition plates 91 close to the drilling machine frame 2 are gradually close to each other; a group of guide pieces 92 are arranged at the bottom of the accommodating cavity along the moving direction of the drill rod, and the length of the guide pieces 92 close to the side of the drilling machine frame 2 is gradually shortened; at least one cam 93 is arranged in the partition board 91, the cam 93 is positioned on the same side in the height direction of the guide piece 92, a cam shaft with a torsion spring is arranged in the cam 93, and the cam shaft is in running fit with the partition board 91. A baffle 97 is arranged at the top of the accommodating cavity of the drill rod box 9, and the baffle 97 is relatively positioned in the middle of the drill rod box 9, so that a first opening far away from the drilling machine frame 2 and a second opening close to the drilling machine frame 2 are formed between the baffle 97 and the accommodating cavity; a pair of grabbing plates 95 are symmetrically arranged in the side end face, close to the drilling machine frame 2, of the baffle 97, the grabbing plates 95 are arc-shaped, spline shafts with torsion springs are arranged in the grabbing plates 95 on the two sides at the same time, and the spline shafts are in running fit with the baffle 97; a pressurizing plate 96 is arranged on the end face of the grabbing plate 95 far away from the center side of the baffle 97; a fixed pulley block 94 is connected between the camshaft of the same side partition board 91 and the grabbing plate 95, the fixed pulley block 94 is connected with the side end face of the grabbing plate 95 through a pull rope, and when the cam 93 rotates, the grabbing plate 95 is pulled towards the center of the baffle 97 through the fixed pulley block 94 under the action of the pull rope.
Before working, a drill rod is put in from the first opening of the drill rod box 9, the drill rod rolls towards the stop block direction under the self-inclination action of the drill rod box 9, meanwhile, the drill rods are arranged one by one and gathered towards the stop block direction under the stopping action of the partition plate 91 and the guide piece 92, and when the drill rod contacts with the cam 93 in the moving overshoot process, the cam 93 rotates towards the stop block direction around the cam shaft of the cam 93 and swings under the elastic recovery action of the torsion spring, so that the thrust is further provided for the drill rod to be concentrated, the drill rod which is put in first finally moves and is attached to the cambered surface of the grabbing plate 95, and the grabbing plate 95 rotates towards the stop block direction around the spline shaft until the drill rod is stopped at the stop block. While the cam 93 swings, the fixed pulley group 94 pulls the gripping plate 95 towards the center of the baffle 97 under the action of the pulling rope, so that the pressure plate 96 further concentrates the drill rod which is put in first, and the gripping of the clamping hand 71 is facilitated.
When a drill rod is loaded, the drill rod advances in a coal mine tunnel through the crawler chassis 1, and after the drill rod reaches a drilling site, the third slewing bearing at the joint of the drill machine frame 2 and the crawler chassis 1 and the drill machine frame 2 and the fixed seat 3 realizes the 360-degree rotation of the fixed seat 3 in the horizontal direction and the vertical direction; when the drilling angle is reached, the drill rod loading and unloading mechanical arm 7 starts to act, the second hydraulic cylinder 72 extends to enable the clamping hand 71 to reach the corresponding grabbing position in the drill rod box 9, and the clamping hand 71 grabs and clamps the drill rod; after the drill rod is grabbed, the angle alignment is carried out through the first slewing bearing 76, so that the whole drill rod loading and unloading mechanical arm 7 keeps the same inclination angle as that of the fixed seat 3, and after the alignment, the clamping hand 71, the second hydraulic cylinder 72 and the extension arm 73 are driven to turn over through the second slewing bearing 74, so that the drill rod can be just placed into the auxiliary alignment mechanism 6 and the auxiliary clamp 5, and the drill rod is clamped through the auxiliary clamp 5 and the auxiliary alignment mechanism 6; the power head 8 advances on the fixed seat 3 to move towards the direction close to the auxiliary alignment mechanism 6 to clamp the drill rod, and further drives the drill rod to move towards the direction close to the main clamp 4, the main clamp 4 clamps the drill rod after reaching a proper position, the auxiliary clamp 5, the auxiliary alignment mechanism 6 and the power head 8 are loosened to complete the one-time drill rod loading process, and then the process is repeated to enable the drill rod to be continuously butted with the previous drill rod leftwards.
When the drill rod is disassembled, the angle of the drill rod box 9 is changed to be downward through the extension of the third hydraulic rods on the two sides, and a drill rod disassembling mode is formed; the drill rod loading and unloading mechanical arm 7 is firstly adjusted to be at an angle flush with the fixed seat 3 through the first rotary support 76, the second rotary support 74 is turned over to reach a drill rod clamping position, after a drill rod is clamped through the clamping hand 71, the main clamping device 4, the auxiliary clamping device 5, the auxiliary alignment mechanism 6 and the power head 8 are loosened, the whole drill rod loading and unloading mechanical arm 7 is restored according to the reverse direction of the operation of the drill rod loading, the drill rod is placed into the drill rod box 9, the drill rod is rolled downwards due to the downward angle of the drill rod box 9, the purpose that a plurality of drill rods can be contained in the drill rod box 9 is achieved, and the process of unloading the drill rod at one time is completed; during the next process, the power head 8 can grab the drill rod ahead forward to pull the drill rod out to the previous position, the drill rod unloading process before the drill rod unloading process is repeated, the automatic drill rod loading and unloading operation can be realized, the automation degree is high, the labor cost is reduced, and the drill rod loading and unloading efficiency is improved.
Claims (9)
1. The utility model provides an it is integrated intelligent device to be used for coal prospecting drill loading and unloading drilling rod in pit which characterized in that: the drilling machine comprises a crawler chassis (1), a drilling machine frame (2), a fixed seat (3), a main holder (4), an auxiliary holder (5), an auxiliary alignment mechanism (6), an upper drill rod unloading mechanical arm (7), a power head (8) and a drill rod box (9);
the drilling machine frame (2) is rotatably connected to the upper end of the crawler chassis (1);
the fixed seat (3) is rotatably connected to the side end of the drilling machine frame (2);
the main holder (4) and the auxiliary holder (5) can be detachably connected to the fixed seat (3), and the main holder (4) is positioned on the left side of the auxiliary holder (5);
the auxiliary alignment mechanism (6) is connected to the fixed seat (3) in a sliding manner, and the auxiliary alignment mechanism (6) is positioned on the right side of the auxiliary holder (5);
the power head (8) is connected to the fixed seat (3) in a sliding manner, and the power head (8) is positioned on the right side of the auxiliary alignment mechanism (6);
the upper drill rod unloading mechanical arm (7) is arranged at the front end of the drilling machine rack (2), and the upper drill rod unloading mechanical arm (7) can rotate in the circumferential direction in the vertical direction and in the circumferential direction in the horizontal direction relative to the drilling machine rack (2);
the rear end of the drill rod box (9) is rotatably connected to the front end face of the drilling machine rack (2), the inclination angle of the drill rod box (9) relative to the drilling machine rack (2) is changeable, and the drill rod box (9) is located on the lower side of the upper drill rod unloading mechanical arm (7).
2. The integrated intelligent device for loading and unloading the drill rod of the coal underground exploration drilling machine, according to claim 1, is characterized in that: third slewing bearing is arranged between the drilling machine frame (2) and the crawler chassis (1) and between the fixing seat (3) and the drilling machine frame (2), the drilling machine frame (2) is rotatably connected with the crawler chassis (1) through the third slewing bearing, and the fixing seat (3) is rotatably connected with the drilling machine frame (2) through the third slewing bearing.
3. The integrated intelligent device for loading and unloading the drill rod of the coal underground exploration drilling machine, according to claim 1, is characterized in that: the drill rod loading and unloading mechanical arm (7) comprises a clamping gripper (71), a second hydraulic cylinder (72), an extension arm (73), a second slewing bearing (74), a positioning steering arm (75) and a first slewing bearing (76);
the first slewing bearing (76) is connected to the front end face of the drilling machine frame (2), and the drill rod loading and unloading mechanical arm (7) rotates in the vertical circumferential direction relative to the drilling machine frame (2) through the first slewing bearing (76);
the positioning steering arm (75) is detachably connected to the first slewing bearing (76);
the second slewing bearing (74) is detachably connected to the positioning steering arm (75), and the drill rod loading and unloading mechanical arm (7) performs circumferential rotation in the horizontal direction relative to the drilling machine frame (2) through the second slewing bearing (74);
the extension arm (73) is detachably connected to one end, far away from the positioning steering arm (75), of the second pivoting support (74);
the second hydraulic cylinder (72) is detachably connected to one end, far away from the second pivoting support (74), of the extension arm (73);
the clamping gripper (71) is detachably connected to the output end of the second hydraulic cylinder (72).
4. The integrated intelligent device for loading and unloading the drill rod of the coal underground exploration drilling machine, according to claim 3, is characterized in that: the first rotary support (76) is detachably connected with the positioning steering arm (75), the positioning steering arm (75) is detachably connected with the second rotary support (74), the second rotary support (74) is detachably connected with the extension arm (73), the extension arm (73) is detachably connected with the second hydraulic cylinder (72), and the second hydraulic cylinder (72) is detachably connected with the clamping gripper (71) through bolts.
5. The integrated intelligent device for loading and unloading the drill rod of the coal underground exploration drilling machine, according to claim 1, is characterized in that: the auxiliary alignment mechanism (6) comprises two bases (61), two clamping pieces (62) and a first hydraulic cylinder (63);
the base (61) slides on the fixed seat (3);
the clamping piece (62) is connected to the base (61);
first pneumatic cylinder (63) can dismantle the connection between two bases (61) through the bolt, and the output of first pneumatic cylinder (63) has set firmly the wedge, and first pneumatic cylinder (63) lower extreme is equipped with wedge assorted inclined plane, the wedge centre gripping between clamping piece (62).
6. The integrated intelligent device for loading and unloading the drill rod of the coal underground exploration drilling machine, according to claim 1, is characterized in that: the front end surface of the drilling machine frame (2) is connected with two symmetrical third hydraulic cylinders through bolts, and the side end of the drill rod box (9) is rotatably connected with the output ends of the third hydraulic cylinders; under the state of loading the drill rod, the output end of the third hydraulic cylinder is shortened, and the drill rod box (9) is obliquely and upwards arranged relative to the drilling machine frame (2); and under the state of unloading the drill rod, the output end of the third hydraulic cylinder extends, and the drill rod box (9) is obliquely and downwards arranged relative to the drilling machine frame (2).
7. The integrated intelligent device for loading and unloading the drill rod of the coal underground exploration drilling machine according to claim 6, wherein: a storage cavity with an open top is formed in the drill rod box (9), and at least two stop blocks are fixedly arranged on the inner wall, close to the drilling machine rack (2), of the storage cavity.
8. The integrated intelligent device for loading and unloading the drill rod of the coal underground exploration drilling machine according to claim 7, wherein: a stable storage mechanism is arranged in the drill rod box (9), and comprises a pair of partition plates (91), a group of guide pieces (92) and at least one cam (93);
the pair of partition plates (91) are symmetrically arranged in the containing cavity, and one ends of the pair of partition plates (91) close to the drilling machine frame (2) gradually draw close to each other;
a group of guide pieces (92) are arranged at the bottom of the accommodating cavity along the moving direction of the drill rod;
at least one cam (93) is arranged in the partition board (91), the cam (93) is positioned in the height direction of the guide piece (92) on the same side, a cam shaft with a torsion spring is arranged in the cam (93), and the cam shaft is in running fit with the partition board (91).
9. The integrated intelligent device for loading and unloading the drill rod of the coal underground exploration drilling machine, according to claim 8, is characterized in that: a baffle (97) is arranged at the top of the containing cavity of the drill rod box (9), the baffle (97) is relatively positioned in the middle of the drill rod box (9), and a first opening far away from the drilling machine rack (2) and a second opening close to the drilling machine rack (2) are formed between the baffle (97) and the containing cavity;
a pair of grabbing plates (95) are symmetrically arranged in the side end face, close to the drilling machine frame (2), of the baffle plate (97), spline shafts with torsion springs are simultaneously arranged in the grabbing plates (95) on the two sides, and the spline shafts are in running fit with the baffle plate (97);
a pressurizing plate (96) is arranged on the end face of the grabbing plate (95) far away from the center side of the baffle (97);
a fixed pulley block (94) is connected between the camshaft of the partition board (91) on the same side and the grabbing board (95), and the fixed pulley block (94) is connected with the side end face of the grabbing board (95) through a pull rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210269064.6A CN114592810A (en) | 2022-03-18 | 2022-03-18 | Be used for integrated intelligent device of coal prospecting drill loading and unloading drilling rod in pit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210269064.6A CN114592810A (en) | 2022-03-18 | 2022-03-18 | Be used for integrated intelligent device of coal prospecting drill loading and unloading drilling rod in pit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114592810A true CN114592810A (en) | 2022-06-07 |
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ID=81810720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210269064.6A Pending CN114592810A (en) | 2022-03-18 | 2022-03-18 | Be used for integrated intelligent device of coal prospecting drill loading and unloading drilling rod in pit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114592810A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117108219A (en) * | 2023-10-23 | 2023-11-24 | 烟台兴业机械股份有限公司 | Limiting device for drill rod warehouse of mining hydraulic drill carriage |
-
2022
- 2022-03-18 CN CN202210269064.6A patent/CN114592810A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117108219A (en) * | 2023-10-23 | 2023-11-24 | 烟台兴业机械股份有限公司 | Limiting device for drill rod warehouse of mining hydraulic drill carriage |
| CN117108219B (en) * | 2023-10-23 | 2024-01-26 | 烟台兴业机械股份有限公司 | Limiting device for drill rod warehouse of mining hydraulic drill carriage |
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