CN115637941A

CN115637941A - Double-loop parallel rod supplementing device and double-loop rod supplementing system

Info

Publication number: CN115637941A
Application number: CN202211188218.5A
Authority: CN
Inventors: 姚克; 张宁; 王松; 张幼振; 钟自成; 李旺年; 张锐; 刘璞
Original assignee: XI'AN RESEARCH INSTITUTE OF CHINA COAL RESEARCH INSTITUTE
Current assignee: XI'AN RESEARCH INSTITUTE OF CHINA COAL RESEARCH INSTITUTE
Priority date: 2022-09-28
Filing date: 2022-09-28
Publication date: 2023-01-24

Abstract

The invention discloses a double-loop parallel rod supplementing device and a double-loop rod supplementing system, which comprise an upper rod supplementing device, a lower rod supplementing device and two groups of water convenient dismounting devices; the device can utilize the parallel benefit pole device in two return circuits to accomplish the automatic continuous installation and the dismantlement of drilling rod, adopt two sets of water just devices to independently supply water, automatically, accomplish the water route and switch, whole journey need not manual intervention, practice thrift and go up the water just device time of unloading, reduce supplementary latency, realize simultaneously that the high accuracy between the drilling rod is gone up and is broken out, stable adjustment time is short, extension drilling rod life, reduce workman intensity of labour, wide application scope, improve rig operating efficiency by a wide margin, the security is good, provide the theoretical foundation for colliery main shaft through-hole formula gallery rig automation construction and improvement operating efficiency in the pit.

Description

Double-loop parallel rod supplementing device and double-loop rod supplementing system

Technical Field

The invention relates to the technical field of a rod supplementing device of a main shaft through hole type underground tunnel drilling machine in a coal mine, in particular to a double-loop parallel rod supplementing device of the main shaft through hole type underground tunnel drilling machine in the coal mine and a using method thereof.

Background

Along with the increase of underground mining intensity and depth of a coal mine, deep coal resources become strategic guarantee of main energy in China, the method for extracting coal bed gas by drilling along a coal bed and drilling at a high position on a top plate is the most direct and effective coal bed gas extraction method under the coal mine, in order to improve the drilling construction efficiency, a main shaft through hole type gyrator with a hydraulic chuck is commonly adopted by a tunnel drilling machine, a rear rod adding mode is adopted, according to the requirements of the existing construction process, the drilling rod and a water closet device are commonly and manually assembled and disassembled to a great extent, the auxiliary waiting time of the drilling machine is prolonged to a great extent, meanwhile, the drilling rod has the characteristics of large dead weight, large length-diameter ratio and high ratio, the manual labor intensity is high, the operation is complex, the construction efficiency is low, in the process of constructing high-position drilling and large-angle inclined drilling, the manual assembly and disassembly of the drilling rod is very difficult, and hidden troubles exist for the operation safety of constructors. At present, the coal mine equipment utilizes automatic and intelligent means to improve the working efficiency and the working quality of the equipment, and the safety of operators is ensured to become mainstream consciousness.

Aiming at the construction requirements of the main shaft through hole type underground drill rig, no special mechanical device or part is arranged at home and abroad to complete the operation, and a manual or non-special mechanical arm is generally adopted to load and unload the drill rod and the water device, so that the main shaft through hole type underground drill rig becomes one of key parts which seriously restrict the whole construction operation safety and the construction efficiency of the underground drill rig.

Disclosure of Invention

Aiming at the defects or shortcomings of the prior art, the invention provides a double-loop parallel rod supplementing device.

Therefore, the double-loop parallel rod supplementing device provided by the invention comprises an upper rod loading device, a lower rod loading device, a water convenient dismounting device A and a water convenient dismounting device B;

the upper and lower rod devices comprise angle adjusting devices, rod twisting mechanisms and mechanical grippers; the angle adjusting device is arranged beside the position to be added with the rod; the twisting rod mechanism and the mechanical gripper are arranged on the angle adjusting device;

the angle adjusting device is used for adjusting the position of the mechanical gripper relative to the drill rod to be added or the position of the drill rod to be unloaded; the angle adjusting device is also used for adjusting the position of the rod twisting mechanism relative to the rod to be added or the position of the drill rod to be unloaded; the angle adjusting device is also used for adjusting the relative position between the mechanical hand grab and the rod twisting mechanism; the angle adjusting mechanism is also used for adjusting the position of the rubbing rod mechanism relative to the water convenient dismounting device A and the water convenient dismounting device B;

the mechanical gripper is used for gripping a drill rod to be added or removed;

under the assistance of the mechanical gripper, a drill rod to be added is arranged in the rod twisting mechanism, and the rod twisting mechanism completes the connection of the drill rod and the part to be added through the rotation of the rod twisting mechanism; the rod twisting mechanism is also used for completing the disassembly of the drill rod through self rotation;

the water convenient dismounting device A is arranged beside the position to be added with the drill rod A and is used for conveying the water convenient A to the position to be added with the drill rod A, and the rod rubbing mechanism completes the connection of the drill rod A and the water convenient A through the rotation of the rod rubbing mechanism under the assistance of the water convenient dismounting device A;

the water-closet dismounting device B is arranged beside the position to be added with the drill rod B and is used for conveying the water-closet B to the position to be added with the drill rod B, and the rod twisting mechanism completes the connection of the drill rod B and the water-closet B through self rotation under the assistance of the water-closet dismounting device B;

the drill rod A and the drill rod B are drill rods which need to be assembled and disassembled conveniently in the construction process, and the position of the drill rod B to be added is the tail of the drill rod A.

Further, the angle adjusting device comprises a first translation device, a lifting mechanism, a first telescopic device, a second telescopic device and a third telescopic device;

the first translation device is arranged beside the position to be fed with the rod, the lifting mechanism is arranged on the first translation device, the first telescopic device is arranged on the lifting mechanism, the second telescopic device and the third telescopic device are arranged on the first telescopic device, the mechanical gripper is arranged on the second telescopic device, and the rod twisting mechanism is arranged on the third telescopic device;

the first translation device drives the lifting mechanism and a part arranged on the lifting mechanism to do translation motion, wherein the lifting direction of the lifting mechanism is vertical to the translation direction of the first translation device;

the lifting mechanism drives the first telescopic device and the part arranged on the first telescopic device to lift, wherein the telescopic direction of the first telescopic device is vertical to the lifting direction of the lifting mechanism;

the third telescopic device drives the rod twisting mechanism to move, the second telescopic device drives the mechanical gripper to move, the telescopic direction of the second telescopic device is perpendicular to that of the third telescopic device, and the telescopic direction of the second telescopic device and that of the third telescopic device are perpendicular to that of the first telescopic device;

the mechanical hand grab grabs or releases the drill rod through opening and closing, and the opening and closing directions of the mechanical hand grab are perpendicular to the stretching direction of the third stretching device.

Further, the first telescopic device is installed on the lifting mechanism through the installation support.

Further, the rod twisting mechanism comprises a first motor and a base body, and the first motor and the base body are both arranged on the third telescopic device; the base body is provided with a through hole, and the axial direction of the through hole is parallel to the telescopic direction of the third telescopic device; the inner wall of the through hole is provided with a driving wheel and a plurality of driven wheels, the driving wheel and the plurality of driven wheels are distributed along the circumferential direction of the through hole, meanwhile, parts of the driving wheel and the plurality of driven wheels protrude out of the surface of the inner wall of the through hole, and the hole diameter formed by the driving wheel and the plurality of driven wheels can accommodate a drill rod to be assembled and disassembled; the first motor is used for driving the driving wheel to rotate, the driving wheel can drive the drill rod to be assembled and disassembled in the through hole to move axially, and the axial movement direction is parallel or the same as the expansion direction of the third expansion device.

Further, still include the storage tray, the mechanical gripper below is arranged in to the storage tray, the length direction of storage tray can hold the axial length of drilling rod, and the length direction of storage tray is perpendicular with the opening and the closed direction of mechanical gripper, and the bottom surface of storage tray is the slope form simultaneously, and the bottom surface incline direction with length direction is perpendicular.

Further, the aquatic device A comprises a second translation device A, a first mechanical arm A, a second mechanical arm A and an aquatic gripper A;

the second translation device A is used for being arranged beside the part to be fed with the rod,

one end of the first mechanical arm A is arranged on the second translation device A, the second mechanical arm A is rotatably connected with the other end of the first mechanical arm A, the aquatic feces gripper A is arranged at the free end of the second mechanical arm A,

the second translation device A is used for driving the first mechanical arm A and the mounting part on the first mechanical arm A to be close to or far away from a position to be subjected to water and excrement dismantling on the drill rod A; when the first mechanical arm A is close to the part to be filled with excrement, the rotating shafts of the second mechanical arm A and the first mechanical arm A are parallel to the axial direction of the part to be filled with excrement;

the second mechanical arm A rotates relative to the first mechanical arm A to drive the water and excrement gripper A to be close to or far away from the water and excrement part to be detached.

Further, the aquatic article dismounting and mounting device B comprises a second translation device B, a first mechanical arm B, a second mechanical arm B and an aquatic article gripper B;

the second translation device B is used for being arranged beside the position to be added with the rod,

one end of the first mechanical arm B is arranged on the second translation device B, the second mechanical arm B is rotationally connected with the other end of the first mechanical arm B, the water and excrement gripper B is arranged at the free end of the second mechanical arm B,

the second translation device B is used for driving the first mechanical arm B and the mounting part on the first mechanical arm B to be close to or far away from the position of the water excrement to be disassembled on the drill rod B; when the first mechanical arm B is close to the part to be filled with excrement, the rotating shafts of the second mechanical arm B and the first mechanical arm B are parallel to the axial direction of the part to be filled with excrement;

the second mechanical arm B rotates relative to the first mechanical arm B to drive the water and excrement gripping device B to be close to or far away from the water and excrement part to be detached.

Further, the first arm a and the first arm B have different heights.

Further, the translation direction of the second translation device a, the translation direction of the second translation device B, and the motion trajectory of the first translation device are parallel.

Further, the first translation device is arranged on one side of the position to be added with the rod, and the second translation device A and the second translation device B are arranged on the other side of the position to be added with the rod.

The invention also provides a double-loop parallel rod supplementing system. The double-loop parallel rod compensating system comprises a feeding device and the double-loop parallel rod compensating device, wherein a rod part to be added is arranged at one axial end of the feeding device.

The double-loop parallel rod supplementing device can utilize the double-loop parallel rod supplementing device to complete automatic and continuous installation and disassembly of the drill rods, two groups of water supplying devices are adopted to independently supply water, water path switching is automatically completed, manual intervention is not needed in the whole process, the time for loading and unloading the water supplying devices is saved, the auxiliary waiting time is reduced, high-precision screwing-on and unscrewing of the drill rods are realized, the stable adjustment time is short, the service life of the drill rods is prolonged, the labor intensity of workers is reduced, the application range is wide, the operation efficiency of a drilling machine is greatly improved, and the safety is good.

Drawings

FIG. 1 is a schematic diagram of the structure of the apparatus of the present invention (wait bit);

FIG. 2 is a second schematic view of the device of the present invention (the water dismantling device A is used for dismantling water, and the water dismantling device B is used for containing water);

FIG. 3 is a front view of the upper and lower rod assemblies of the present invention;

FIG. 4 is a side view of FIG. 3;

FIG. 5 is a front view of the twine bar device of the present invention;

FIG. 6 is a side view of FIG. 5;

FIG. 7 is a schematic structural view of the water closet mounting/dismounting device of the present invention;

FIG. 8 is a side view of FIG. 7;

FIG. 9 is a schematic structural diagram of an optimized water closet according to the present invention;

fig. 10 is a view showing a structure of a feeding device.

Detailed Description

Unless otherwise defined, scientific and technical terms used herein are to be understood as commonly understood by one of ordinary skill in the relevant art.

The terms of axial, horizontal, above, below and the like are used herein in accordance with the corresponding directions or orientations in the drawings, it is to be noted that the specific directions or orientations in the drawings are an example of the present invention and are intended to explain the clarity of the present invention, and those skilled in the art can make rotation, adjustment and exchange of equivalent features based on the disclosure herein.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, the double-loop parallel rod supplementing device of the present invention comprises an upper and lower rod device 1, a water convenient dismounting device A3 and a water convenient dismounting device B4, when in use, the upper and lower rod device is arranged at one side of the position to be added with a rod, and the water convenient dismounting device a and the water convenient dismounting device B are arranged at the other side of the position to be added with a rod, in the practical scheme, the position to be added with a rod is as shown in fig. 1 of a rotating device on a feeding device 5 or the existing drill rod end of the rotating device; the upper and lower rod devices can realize automatic grabbing and transferring of the drill rods 2 and complete threaded connection between the two drill rods and between the drill rods and the water closet device; the water excrement dismounting device A and the water excrement dismounting device B can be matched with the upper rod device and the lower rod device to finish the respective mounting and dismounting of the water excrement device A and the water excrement device B, are independent of each other and do not influence each other; after the drill rod or/and the water are/is installed, the feeding device 5 is matched with the drill rod for feeding construction;

in the specific scheme, the upper and lower rod devices comprise angle adjusting devices, rod twisting mechanisms and mechanical grippers; the angle adjusting device is arranged beside the position to be added with the rod; the twisting rod mechanism and the mechanical gripper are arranged on the angle adjusting device; as shown in fig. 1, the angle adjusting device is installed on one side of a base 53 of the feeding device 5, the two sets of water disassembling devices are installed on the other side of the base of the feeding device, the feeding device is located between the angle adjusting device and the two sets of water disassembling devices, and the two sets of water disassembling devices on the other side are arranged in parallel and are independent of each other;

according to the construction process, as shown in fig. 1 and 2, the whole device of the invention can be sequentially completed: the angle adjusting device, the mechanical gripper and the rod twisting mechanism convey the drill rod A to be added to a waiting position; the water excrement dismounting device A is used for adding water excrement to the waiting drill rod A; then the angle adjusting device, the mechanical gripper and the rod twisting device assemble the drill rod A provided with the water convenience at the position of the drill rod to be added; after the drill rod A is added with the drill rod, drill rod construction is carried out, the angle adjusting device, the mechanical gripper and the rod rubbing mechanism convey the drill rod B to be added to a waiting position, and the water and excrement dismounting device B is used for adding water and excrement to the drill rod B waiting position; after the construction of the drill rod A is finished, the water on the drill rod A is dismantled by the water dismantling device A, and then the drill rod B provided with the water is assembled at the tail end of the drill rod A by the angle adjusting device, the mechanical gripper and the rod rubbing device; and after the drill rod B is added with the drill rod, performing drill rod construction, and then adding the subsequent drill rod by the angle adjusting device, the mechanical gripper and the rod twisting mechanism according to the steps. The specific process is as follows:

the angle adjusting device conveys the mechanical gripper to a drill rod to be added, and the orientation of the mechanical gripper is adjusted to facilitate gripping of the drill rod A; after the mechanical gripper grips the drill rod A, the mechanical gripper sends the drill rod to the rod twisting mechanism under the driving of the angle adjusting device, and the rod twisting mechanism is positioned at one axial end part of the drill rod; then the mechanical gripper grabs the drill rod A, and the rod twisting mechanism is driven by the angle adjusting device to enable the drill rod A to be added to be arranged in the rod twisting mechanism; then the rod twisting mechanism and the drill rod A are conveyed to the position near the rod to be added (namely a waiting position) under the driving of the angle adjusting device; then the water excrement dismounting device A moves the water excrement A to the tail part of the drill rod A, and the water excrement A is connected with the rotary drill rod of the rod twisting device; then, the angle adjusting device drives the drill rod A of the water adding excrement A to move to a position to be added with the rod (such as the tail of the previous drill rod), and the drill rod A is connected with the position to be added with the rod through the rotary motion of the rod twisting mechanism;

after the drill rod A is added with the drill rod, the angle adjusting device, the mechanical gripper and the rod twisting mechanism leave, the drill rod B is grabbed and transported to a waiting position, the water excrement dismounting device B conveys the water excrement B to the tail end of the drill rod B, and the drill rod B is connected with the water excrement B through the rotary motion of the rod twisting mechanism;

after the construction of the drill rod A is finished, the water excrement dismounting device A moves to the position of the water excrement A, and the dismounting of the water excrement A is finished through the motion matching of the feeding mechanism;

then the angle adjusting device sends the drill rod B added with the water excrement B to the tail end of the drill rod A, and the drill rod B is connected with the drill rod A through the rotating motion of the rod twisting mechanism;

and after the drill rod B is added with the drill rod, performing drill rod construction, and then adding the subsequent drill rod by the angle adjusting device, the mechanical gripper and the rod twisting mechanism according to the steps.

It should be noted that, when the water supply device does not need to be replaced, the water is not required to be detached from the water supply device in the construction process, and the water is conveyed to the drill rod in each water adding link to complete the water supply and water removal work.

The angle adjusting device can be designed according to space and working environment to realize the functions of the angle adjusting device in the invention, and the structure of the angle adjusting device suitable for adding a rod at the rear part of a coal mine underground feeding device is shown in figures 3 and 4 and comprises a first translation device 11, a lifting mechanism 14, a first telescopic device 15, a second telescopic device 13 and a third telescopic device 161; the first translation device is arranged beside a position to be provided with a rod, the lifting mechanism 14 is arranged on the first translation device 11, and the first telescopic device 15 is arranged on the lifting mechanism 14, wherein in the specific scheme, the first telescopic device 15 can be arranged on the first telescopic device through the mounting bracket 17; the second telescoping device 13 and the third telescoping device 161 are mounted on the first telescoping device 15, the mechanical gripper 19 is mounted on the second telescoping device, and the rod twisting mechanism 16 is mounted on the third telescoping device 161;

and the working relation and the installation position of each part also satisfy: the first translation device drives the lifting mechanism and a part arranged on the lifting mechanism to do translation motion, wherein the lifting direction of the lifting mechanism is vertical to the translation direction of the first translation device;

the telescopic direction of the second telescopic device is vertical to the telescopic direction of the third telescopic device, and the telescopic directions of the second telescopic device and the third telescopic device are both vertical to the telescopic direction of the first telescopic device;

the mechanical hand grip grips or releases the drill rod by opening and closing, and the opening and closing directions of the hand grip are perpendicular to the stretching direction of the third stretching device; in a specific scheme, the mechanical gripper can adopt the gripper oil cylinder 12 to complete the gripping and releasing work of the drill rod.

The rod up-down device of the scheme adopts the combined driving of the lifting mechanism, the first telescopic device, the second telescopic device and the third telescopic device to realize the execution actions of the mechanical hand 19 and the rod twisting mechanism 16, including a grabbing position for completing grabbing and placing a drill rod, a waiting position kept at a high point after grabbing the drill rod and a working position for placing the drill rod coaxial with the position of the drill rod to be added, such as coaxial with a hydraulic chuck on the feeding device.

The rod twisting device is used for connecting or detaching a drill rod and a position to be added with the rod, and in order to achieve the effect of the invention, the structure of a screwing device can be designed by combining corresponding power parts, one example is shown in fig. 5 and 6 and comprises a first motor 166 and a base body 162, wherein the first motor and the base body are both arranged on a third telescopic device 161, and can be specifically arranged on the third telescopic device through an installation plate 168; the base body is provided with a through hole 165, and the axial direction of the through hole is parallel to the telescopic direction of the third telescopic device; the inner wall of the through hole is provided with a driving wheel 163 and a plurality of driven wheels 164, 5 driven wheels are shown in fig. 6, the driving wheel and the plurality of driven wheels are distributed along the circumferential direction of the through hole, meanwhile, parts of the driving wheel and the plurality of driven wheels protrude out of the surface of the inner wall of the through hole, and the diameter of an inner hole formed by the driving wheel and the plurality of driven wheels can accommodate a drill rod to be loaded and unloaded, and if the diameter of the inner hole formed by the driving wheel and the plurality of driven wheels = is smaller than the diameter of the drill rod by 0-2 mm; the first motor drives the driving wheel to rotate through the output shaft 167, the driving wheel can drive the drill rod to be assembled and disassembled in the through hole to move axially, and the axial movement direction is parallel to or in the same direction as the extension direction of the third extension device. When the device works, the drill rod is inserted into the through hole 165 under the driving of the angle adjusting device and the mechanical gripper, the tail end of the drill rod extends out of the rod twisting mechanism, and the upper and lower rods and the water are detached through the driving of the motor and the driving wheel. In a more preferred scheme, the driving wheel and the driven wheel are made of tin bronze or rubber materials, so that the driving wheel and the driven wheel can be conveniently replaced, and abrasion to a drill rod is reduced.

In a further aspect, as shown in fig. 7 or 8, the rod loading and unloading device of the present invention further includes a storage tray 17 for storing and placing a plurality of sets of drill rods; in order to facilitate the grabbing of the mechanical gripper, the storage disc 17 is arranged below the mechanical gripper, the storage disc can accommodate drill rods to be placed along the axial length of the storage disc, and meanwhile the storage disc is perpendicular to the opening and closing directions of the mechanical gripper in the length direction.

The two groups of water excrement dismounting and mounting devices are used for transporting and grabbing water excrement, the two groups of water excrement dismounting and mounting devices can adopt the same structure, and one preferable structure is shown in figures 7 and 8:

the water and excrement dismounting device A comprises a second translation device A31, a first mechanical arm A32, a second mechanical arm A33 and a water and excrement gripper A34, wherein the second translation device A is arranged beside a position to be fed with a rod; one end of a first mechanical arm A is arranged on a second translation device A, the second mechanical arm A is rotatably connected with the other end of the first mechanical arm A, and the first mechanical arm A and the second mechanical arm A can be rotatably connected through a pin shaft in the specific scheme and are driven by a rotary oil cylinder arranged at the connecting point of the first mechanical arm A and the second mechanical arm A; water is just installed in second arm A's free end in tongs A, and each part sets up the position relation and still satisfies: the second translation device A is used for driving the first mechanical arm A and the mounting part on the first mechanical arm A to be close to or far away from the position of the water excrement to be disassembled on the drill rod A; when the first mechanical arm A is close to the part to be added with or removed from the excrement, the rotating shafts of the second mechanical arm A and the first mechanical arm A are parallel to the axial direction of the part to be added with or removed from the excrement; the second mechanical arm A rotates relative to the first mechanical arm A to drive the water and excrement A on the water and excrement gripper to be close to or far away from the position of the water and excrement to be detached. In a further preferred scheme, an electromagnetic valve group is arranged at the bottom of the first mechanical arm and used for opening and closing a water path.

The water and excrement dismounting device B comprises a second translation device B41, a first mechanical arm B42, a second mechanical arm B43 and a water and excrement gripper B44, wherein the second translation device B is arranged beside the position to be provided with the rod; one end of a first mechanical arm B is arranged on a second translation device B, the second mechanical arm B is rotatably connected with the other end of the first mechanical arm B, and the first mechanical arm B and the second mechanical arm B can be rotatably connected through a pin shaft in the specific scheme and are driven by a rotating oil cylinder 46 arranged at the connecting point of the first mechanical arm B and the second mechanical arm B; water is just installed in second arm B's free end in tongs B, and each part sets up the position relation and still satisfies: the second translation device B is used for driving the first mechanical arm B and a mounting part on the first mechanical arm B to be close to or far away from a position to be subjected to water and excrement disassembly on the drill rod B; when the first mechanical arm B is close to the part to be filled with excrement, the rotating shafts of the second mechanical arm B and the first mechanical arm B are parallel to the axial direction of the part to be filled with excrement; the second mechanical arm B rotates relative to the first mechanical arm B to drive the water and excrement B on the water and excrement gripper to be close to or far away from a position to be subjected to water and excrement disassembly. In a further preferred scheme, an electromagnetic valve group 45 is arranged at the bottom of the first mechanical arm and used for opening and closing a water path.

On the basis of the structure, in order to avoid the mutual interference of the two groups of water convenient dismounting devices during working, the two groups of water convenient dismounting devices have different space heights or enough space distances to meet respective working requirements; the two first arms are different in height, and as shown in fig. 7 and 8, the first arm B is higher than the first arm a.

In order to realize the grabbing of the water and excrement gripper, in some preferred schemes, the water and excrement gripper is designed into a U shape, and a corresponding water and excrement base is designed into a shape convenient for the grabbing of the U-shaped gripper, for example, the water and excrement base shown in fig. 9 comprises a water way joint 61, a water and excrement shaft 62, a bearing seat 63 and a water and excrement base 64, wherein the water and excrement shaft is a threaded male buckle and can be connected with a threaded female buckle at the tail part of a drill rod; the bearing block is arranged on the water closet base through a bearing structure; the water closet base adopts a cube structure, and the side length of the water closet base is 1-2 mm smaller than the inner diameter of the U-shaped door of the water closet gripper; the waterway connector is arranged on the bearing seat and adopts a rotary connector form, so that the waterway connector is ensured not to rotate along with the rotation when the water closet shaft rotates, the winding phenomenon can not occur, and meanwhile, the waterway connector is connected with the water pipe to complete the connection and disconnection of the waterway.

In a specific scheme, each telescopic device can adopt a hydraulic telescopic device. The translation device can adopt a slide rod and a slide block structure on the slide rod or a ball screw structure, and the integral motion of the automatic upper and lower rod devices can be realized through the drive of a variable frequency motor.

In a further optimized scheme, the translation directions of the first translation device and the second translation device in the upper and lower rod devices shown in figures 3 and 4 and the water dismantling device shown in figures 7 and 8 are parallel, and the two second translation devices are integrated together. Such as three parallel linear motion tracks, are provided on both sides of the feed device 5.

Referring to fig. 10, the feeding device 5 includes a rotating device 51, a supporting plate device 57, a guide rail device 58, a feeding cylinder 56, a machine body device 53, a gripper 52, and a guide device 55. The rotary device 51 comprises a hydraulic motor 59, a gearbox 60 and a hydraulic chuck 54 which are connected in sequence, a central through hole type structure is adopted, a drill rod is ensured to pass through the center of the rear part of the rotary device 51 and is connected with the supporting plate device 57 through a connecting piece; the guide rail devices 58 are arranged on two sides of the upper end of the machine body device 53 and are respectively provided with wear-resistant strips, and the flatness and parallelism of the guide rail devices 58 can be adjusted by increasing or decreasing the wear-resistant strips with different thicknesses; the supporting plate device is fixed on the guide rail device through bolts and can slide back and forth on the guide rail device; two ends of a cylinder rod of the feeding oil cylinder are respectively connected with the machine body device, and the cylinder barrel is connected with the supporting plate device, so that the cylinder barrel can be ensured to slide back and forth on the cylinder rod; the clamp is arranged at the front end of the machine body device, adopts a double-oil-cylinder opposite-top structure, is internally provided with a slip with variable diameter, and can clamp and loosen a drill rod; the guide device is arranged at the rear end of the machine body device and can be used for preliminarily guiding the placed drill rod.

The concrete working process of adding the rod is as follows:

the method comprises the following steps: the feeding device 5 adjusts the pose state to meet the drilling design requirement;

step two: the rotary device 51 moves to the front end of the feeding device, meanwhile, the rod mounting and dismounting device moves the drill rods from the waiting position to the working position on the guide device 55 through the angle adjusting device, the center of a first drill rod is ensured to be concentric with the center of the hydraulic chuck 54, the tail of the first drill rod is clamped by the hydraulic chuck 54 after the rotary device 51 returns, meanwhile, after the mechanical gripper 19 is loosened, the rod mounting and dismounting device 1 grabs a second drill rod and transfers the second drill rod to the waiting position for waiting, and the feeding device 5 completes drilling construction by using the first drill rod;

step three: the slewing device 51 is kept at the front end of the feeding device 5, the gripper 52 clamps the tail part of a first drill rod, the hydraulic chuck 54 is opened, the mechanical gripper 19 grips a second drill rod (drill rod A) and transfers the second drill rod to a working position on the guide device 55, meanwhile, the water disassembly device A retreats the first mechanical arm A to the rear part of the second drill rod, the rotary oil cylinder rotates the second mechanical arm A to ensure that a water shaft is concentric with the center of the tail part of the second drill rod, the third telescopic device retreats, meanwhile, the first motor rotates reversely to enable the water A to be in threaded connection with the tail part of the second drill rod, then, the water gripper A loosens, and the second mechanical arm A reversely rotates to an initial position and advances to the rear part of the slewing device 51 to stand by; the angle adjusting device finely adjusts the second drill rod to ensure that the center of the front end of the second drill rod is concentric with the center of the tail part of the first drill rod; the first translation device and the rod twisting device are matched to rotate and feed the second drill rod in the positive direction, and the second drill rod male buckle and the first drill rod female buckle are quickly and accurately connected to complete preliminary connection; the mechanical gripper grasps the second drill rod, meanwhile, the rod rubbing device rotates reversely to separate the second drill rod from the rod rubbing device, and then the mechanical gripper is released;

step four: the upper and lower rod devices move backwards and rotationally grab a third drill rod (drill rod B) and transfer to a waiting position for waiting, the rotating device 51 moves backwards to clamp the tail part of the second drill rod by using the hydraulic chuck 54, and rotates forwards to keep the clamp to clamp the tail part of the first drill rod, so that the first drill rod and the second drill rod reach a preset torque, and the connection of the first drill rod and the second drill rod is completed; opening an electromagnetic valve group 45 arranged on the first mechanical arm A, connecting a water path, loosening the clamp, enabling the water disassembling and assembling device A to work together with the feeding device, and completing drilling construction by utilizing a second drill rod;

step five: the second mechanical arm A rotates, the water and excrement gripper A is inserted into the water and excrement A, the rotating device rotates in the forward direction to separate the water and excrement A from a second drill rod, the second mechanical arm A rotates in the reverse direction to an initial position, meanwhile, the water and excrement dismounting device B retreats the second mechanical arm B to the rear portion of a third drill rod, the water and excrement dismounting device B and the upper and lower rod devices are matched in the same method to complete connection of the water and excrement B and the tail portion of the third drill rod, it is guaranteed that two groups of water and excrement are mounted and dismounted simultaneously and respectively, then the first translation device and the rod twisting device are matched in the same method to complete connection of the third drill rod and the second drill rod, finally, the water and excrement B is matched with the feeding device to move forward together, and drilling construction is completed by utilizing the third drill rod.

Step six: and D, according to the same method of the third step and the fifth step, simultaneously removing the water closet of the previous drill rod, and simultaneously installing the other water closet of the next drill rod, so that sequential and continuous construction of the subsequent drill rods is ensured.

The automatic rod unloading method adopts the reverse steps of the rod supplementing method for operation.

The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details in the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the above embodiments, the various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations will not be further described in the present disclosure.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure as long as it does not depart from the gist of the present disclosure.

Claims

1. A double-loop parallel rod supplementing device is characterized by comprising an upper rod device, a lower rod device, a water convenient dismounting device A and a water convenient dismounting device B;

the mechanical gripper is used for gripping a drill rod to be added or unloaded;

the water-based toilet dismounting device A is arranged beside the position to be added with the drill rod A and is used for conveying the water-based toilet A to the position to be added with the drill rod A, and the rod twisting mechanism completes the connection of the drill rod A and the water-based toilet A through the rotation of the rod twisting mechanism under the assistance of the water-based toilet dismounting device A;

the drill rod A and the drill rod B are drill rods needing to be assembled and disassembled during construction, and the position to be added of the drill rod B is the tail of the drill rod A.

2. The double-circuit parallel rod compensating device of claim 1, wherein the angle adjusting device comprises a first translation device, a lifting mechanism, a first telescopic device, a second telescopic device and a third telescopic device;

3. A dual circuit parallel rod compensating apparatus as claimed in claim 2, wherein the first telescopic means is mounted to the lifting mechanism by a mounting bracket.

4. The dual-circuit parallel rod compensating device of claim 2, wherein the rod twisting mechanism comprises a first motor and a base body, both of which are mounted on the third telescoping device; the base body is provided with a through hole, and the axial direction of the through hole is parallel to the telescopic direction of the third telescopic device; the inner wall of the through hole is provided with a driving wheel and a plurality of driven wheels, the driving wheel and the plurality of driven wheels are distributed along the circumferential direction of the through hole, meanwhile, parts of the driving wheel and the plurality of driven wheels protrude out of the surface of the inner wall of the through hole, and the hole diameter formed by the driving wheel and the plurality of driven wheels can accommodate a drill rod to be assembled and disassembled; the first motor is used for driving the driving wheel to rotate, the driving wheel can drive the drill rod to be assembled and disassembled in the through hole to move axially, and the axial movement direction is parallel to or in the same direction as the expansion direction of the third expansion device.

5. The dual-circuit parallel rod compensating device of claim 1, further comprising a magazine disposed below the gripper, the magazine having a length direction for accommodating an axial length of the drill rod, the magazine having a length direction perpendicular to an opening and closing direction of the gripper, and a bottom surface of the magazine having an inclined shape, the bottom surface inclined direction being perpendicular to the length direction.

6. The double-circuit parallel rod supplementing device of claim 1, wherein the water-closet dismounting device A comprises a second translation device A, a first mechanical arm A, a second mechanical arm A and a water-closet gripper A;

the second translation device A is used for driving the first mechanical arm A and the mounting part on the first mechanical arm A to be close to or far away from the position of the water excrement to be disassembled on the drill rod A; when the first mechanical arm A is close to the part to be filled with excrement, the rotating shafts of the second mechanical arm A and the first mechanical arm A are parallel to the axial direction of the part to be filled with excrement;

the second mechanical arm A rotates relative to the first mechanical arm A to drive the water and excrement gripper A to be close to or far away from a water and excrement part to be detached;

the water and excrement dismounting device B comprises a second translation device B, a first mechanical arm B, a second mechanical arm B and a water and excrement gripper B;

one end of the first mechanical arm B is arranged on the second translation device B, the second mechanical arm B is rotatably connected with the other end of the first mechanical arm B, the aquatic feces gripper B is arranged at the free end of the second mechanical arm B,

the second mechanical arm B rotates relative to the first mechanical arm B to drive the water and excrement gripping device B to be close to or far away from a position to be subjected to water and excrement dismantling.

7. The dual-circuit parallel complement rod device of claim 6, wherein the first robot arm A and the first robot arm B are different in height.

8. The double-circuit parallel compensation rod device of claim 6, wherein the translation direction of the second translation device A, the translation direction of the second translation device B and the motion track of the first translation device are parallel.

9. The double-circuit parallel rod compensating device of claim 6, wherein the first translation device is arranged at one side of the rod adding position, and the second translation device A and the second translation device B are arranged at the other side of the rod adding position.

10. A double-circuit parallel rod compensating system, which is characterized by comprising a feeding device and the double-circuit parallel rod compensating device as claimed in any one of claims 1 to 9, wherein one axial end part of the feeding device is provided with a rod adding part.