CN116291192A - Crawler-type multifunctional all-directional automatic drilling machine for coal mine - Google Patents
Crawler-type multifunctional all-directional automatic drilling machine for coal mine Download PDFInfo
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- CN116291192A CN116291192A CN202310281308.7A CN202310281308A CN116291192A CN 116291192 A CN116291192 A CN 116291192A CN 202310281308 A CN202310281308 A CN 202310281308A CN 116291192 A CN116291192 A CN 116291192A
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- 238000005553 drilling Methods 0.000 title claims abstract description 102
- 239000003245 coal Substances 0.000 title claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 100
- 210000000707 wrist Anatomy 0.000 claims abstract description 38
- 238000004140 cleaning Methods 0.000 claims abstract description 32
- 238000004873 anchoring Methods 0.000 claims abstract description 21
- 238000005192 partition Methods 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims description 118
- 238000005507 spraying Methods 0.000 claims description 54
- 238000007789 sealing Methods 0.000 claims description 10
- 238000003780 insertion Methods 0.000 abstract description 2
- 230000037431 insertion Effects 0.000 abstract description 2
- 238000011010 flushing procedure Methods 0.000 description 9
- 238000005406 washing Methods 0.000 description 8
- 230000005484 gravity Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
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Classifications
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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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a crawler-type multifunctional all-directional automatic drilling machine for a coal mine, which comprises a crawler, a drill rod storing and taking device, a drilling device, a hydraulic system and an automatic control system, wherein the drill rod storing and taking device comprises a drill rod box, a first guide rail, a mechanical arm and a cleaning device; the drilling device comprises an anchoring platform, a drilling frame, a clamp holder and a power head; the output main shaft of the power head is provided with a water supply transmission device. According to the invention, the drill rod box and the drilling device are integrated on the same rotary platform, and a single multi-degree-of-freedom manipulator is arranged, so that the manipulator is more flexible and changeable by arranging the wrist in the manipulator, and compared with other drilling machines (double manipulators or three manipulators), the drill rod grabbing efficiency is greatly improved; the partition board of the inner box frame is designed into two sections of insertion type, so that the distance between the partition boards can be conveniently changed according to the drilling depth or the size of a drill rod, and the partition boards are installed; setting a cleaning device, and cleaning the drill rod when the drill rod is recovered; and cleaning the clamp holder and the chuck after the drilling is finished.
Description
Technical Field
The invention relates to the technical field of drilling equipment, in particular to a crawler-type multifunctional all-directional automatic drilling machine for a coal mine.
Background
More and more adopt crawler-type full-automatic drilling machine in colliery drilling operation, install the drilling rod case on the crawler in general, set up multi freedom's manipulator between drilling rod case and drilling equipment generally, the manipulator needs to accomplish actions such as lift, horizontal rotation, vertical rotation between the holder that drilling rod case and rig front end set up, takes out the drilling rod in the drilling rod case and send to the holder, perhaps snatch the drilling rod that need dismantle in the holder and put back to the drilling rod case.
The drill rod box is positioned on the crawler and used for temporarily storing the drill rods, and has the characteristics of being convenient for storing and grabbing the drill rods. While the prior art track drills suffer from the following drawbacks:
1. for drilling devices with omnibearing drilling, the drilling device is usually placed on an independent rotary platform, so that a drill rod box and the drilling device are not on a unified platform, and 2-3 manipulators are adopted to convey drill rods from the drill rod box to the drilling device, so that the efficiency of grabbing the drill rods by the manipulators is low.
2. The height and the width of the drill rod box are fixed, so that the mechanical arm can be lifted to a larger height to take or store the drill rods, the partition plate is fixed, and only the drill rods with certain specification can be stored; the width is unchanged, and the drill rods cannot be orderly arranged before use.
3. Crawler-type drilling rigs used in coal mines generally spread oil tanks, drilling devices, pump stations, electric switches, electric cabinets and instrument stands on platforms of crawler vehicles in equal intervals; for the omnibearing automatic drilling machine, the original arrangement mode is adopted, and the drill rod box and the drill rod conveying and recovering device are required to be arranged, so that the whole crawler is longer in length and higher in gravity center.
4. The underground working environment is very severe, dust and stones are more, dust and stones are difficult to clean on the surface or inside of the recovered drill rod, the drill rod is easy to clamp, and workers are required to clean the drill rod box at random.
5. The underground working environment is very severe, dust and stones are easily accumulated in gaps among slips of the chuck or the clamp holder, and manual regular cleaning and flushing are needed for clamping the drill rod.
Aiming at the problems, a crawler-type multifunctional omnibearing automatic drilling machine for coal mines is designed, a drill rod box and a drilling device are integrated on the same rotary platform, and single mechanical arms with multiple degrees of freedom are adopted, so that the drill rod grabbing efficiency is greatly improved; meanwhile, the inner box of the drill rod is arranged into two inner box frames which can slide, so that the drill rod is convenient to center, the middle part of the drill rod is grabbed, the partition plate of the half box frame is designed into two sections of inserted type, the distance between the partition plates is convenient to change according to the drilling depth or the size of the drill rod, and whether the partition plate of the lower half part is installed or not is completely installed; the oil tank and the pump station are embedded into the tracked vehicle body, and the electric switch, the console and the electric cabinet are integrated at the top of the oil tank, so that the gravity center of the whole tracked vehicle is conveniently lowered, and the length of the tracked vehicle is conveniently controlled; setting a cleaning device, and cleaning the drill rod when the drill rod is recovered; and cleaning the clamp holder and the chuck after the drilling is finished.
Disclosure of Invention
Therefore, the invention aims to provide the crawler-type multifunctional all-directional automatic drilling machine for the coal mine, which integrates a drill rod box and a drilling device on the same rotary platform, so that the drill rod grabbing efficiency is improved; the partition board of the inner box frame is designed into two sections of insertion type, so that the distance between the partition boards can be conveniently changed according to the drilling depth or the size of a drill rod, and whether the partition boards of the lower half part or the whole assembly is installed or not; the oil tank and the pump station are embedded into the tracked vehicle body, and the electric switch, the console and the electric cabinet are integrated at the top of the oil tank, so that the gravity center of the whole tracked vehicle is conveniently lowered, and the length of the tracked vehicle is conveniently controlled; setting a cleaning device, and cleaning the drill rod when the drill rod is recovered; and cleaning the clamp holder and the chuck after the drilling is finished.
The invention is realized by the following technical scheme:
a crawler-type multifunctional all-directional automatic drilling machine for coal mines comprises a crawler, a drill rod storing and taking device, a drilling device, a hydraulic system and an automatic control system,
one end of the inner cavity of the vehicle body of the tracked vehicle is sequentially embedded with an oil tank, a pump station and a rotary platform from outside to inside;
the inner side of the rotary platform is connected with the drill rod storing and taking device, and the outer side of the rotary platform is connected with the drilling device;
the drill rod storing and taking device comprises a drill rod box arranged on the rotary platform, first guide rails arranged on two sides of the drill rod box, a manipulator arranged on the two first guide rails in a sliding manner and a cleaning device arranged on the manipulator; the cleaning device is used for spraying and cleaning the drill rod, the clamp holder and the chuck on the power head;
the manipulator comprises a lifting door-shaped frame, a manipulator frame, a wrist, a clamping mechanism and a first moving mechanism, wherein the lifting door-shaped frame is arranged on two first guide rails in a sliding mode, the manipulator frame is arranged in the door-shaped frame, the wrist is arranged at the lower end of the manipulator frame, the clamping mechanism is arranged on the wrist, and the first moving mechanism is used for moving the door-shaped frame to move along the corresponding first guide rails;
the cleaning device comprises a cleaning seat plate arranged at the top end of the door-shaped frame, a second guide rail arranged on the cleaning seat plate, a second moving mechanism arranged on the second guide rail in a sliding manner, a telescopic longitudinal arm arranged on the second guide rail in a sliding manner, second sliding blocks arranged on two sides of the second guide rail and used for fixing the second moving mechanism and the telescopic longitudinal arm, a first rotating mechanism arranged at the outer end of the telescopic longitudinal arm, a vertical arm arranged on the first rotating mechanism, a first water spraying mechanism arranged at the lower end of the vertical arm, a second water spraying mechanism arranged on the side wall of the vertical arm, a second rotating mechanism arranged at the upper part of the vertical arm, a swinging telescopic arm arranged on the second rotating mechanism, a third rotating mechanism arranged at the other end of the swinging telescopic arm and a third water spraying mechanism arranged on the third rotating mechanism;
the drill rod box comprises an outer box body connected with the rotary platform, inner box frames arranged on two sides of the outer box body in a sliding manner, a box body driving device arranged between the two inner box frames and used for driving the two inner box frames to slide, and a plurality of box body guide rails arranged between the outer box body and the two inner box frames;
the drilling device comprises an anchoring platform connected with the rotary platform, a drilling frame rotatably arranged on the anchoring platform, a clamp holder arranged at one end of the drilling frame and a power head slidably arranged on the drilling frame;
a water supply transmission device is arranged in the output main shaft of the power head; the water supply transmission device comprises a transmission rod assembly arranged in the output main shaft of the power head and a water supply assembly arranged in the transmission rod assembly.
Further, the first moving mechanism comprises first sliding blocks arranged on two sides of the corresponding first guide rail, first driving boxes arranged on the two first sliding blocks, first driving gears arranged on the first driving boxes, and first driving motors arranged on the first driving boxes; a first rack meshed with the first driving gear is arranged on the first guide rail; two sides of the door-shaped frame are connected with the corresponding first sliding blocks;
the second moving mechanism comprises a second rack arranged on the second guide rail, second driving boxes arranged on the corresponding two second sliding blocks, second driving gears rotatably arranged on the second driving boxes and meshed with the second rack, and second driving motors arranged on the second driving boxes and used for driving the second driving gears to rotate.
Further, the wrist comprises a first wrist which is connected with the manipulator frame and used for driving the clamping mechanism to rotate in a vertical plane and a second wrist which is arranged on the first wrist and used for driving the clamping mechanism to rotate in a horizontal plane;
a rotation angle limiting mechanism is arranged on the first wrist; the rotation angle limiting mechanism comprises an arc-shaped stop block arranged on the shell of the first wrist and a limiting block arranged on the first bowl shaft of the first wrist.
The clamping mechanism comprises a clamping connecting sleeve connected with the second wrist, a fixed clamping seat arranged on the clamping connecting sleeve, a movable clamping block rotatably arranged on the fixed clamping seat and a clamping oil cylinder arranged on the fixed clamping seat and used for pushing the movable clamping block to rotate.
Further, the first water spraying mechanism comprises a first water spraying seat arranged at the lower end of the vertical arm and two first nozzles arranged on the first water spraying seat;
the second water spraying mechanism comprises a second water spraying seat arranged on the side wall of the vertical arm and a second nozzle arranged on the first water spraying seat;
the third water spraying mechanism comprises a water spraying frame arranged on the rotating part of the third rotation mechanism, a third nozzle arranged on the water spraying frame and a water distribution joint arranged on the fixing part of the third rotation mechanism.
Further, the anchoring platform comprises two anchoring support oil cylinders, a sliding frame arranged on the two anchoring support oil cylinders in a sliding mode, a sliding oil cylinder arranged between the sliding frame and the rotary platform, and a second rotary device arranged on the sliding frame and used for connecting the drilling frame.
Further, the transmission rod assembly comprises a rod body and a connector which is detachably arranged at one end of the rod body;
the rod body comprises a first flange, a rod body and a first connecting disc which are integrally arranged;
the connector comprises a second connecting disc and a threaded joint which are integrally arranged.
Further, the water supply assembly comprises a water supply sleeve detachably connected with the rod body, a water supply shaft rotatably arranged in the water supply sleeve and a water distribution seat rotatably arranged at the outer end of the water supply shaft, extending out of the water supply sleeve;
the water supply sleeve comprises a sleeve body connected with the rod body, a sealing sleeve seat detachably arranged at one end of the sleeve body and a sleeve cover detachably arranged at the other end of the sleeve body.
Further, the inner box frame comprises an inner box frame body and a plurality of partition boards inserted on the inner box frame body;
the inner box frame body comprises a frame bottom plate, a frame vertical plate and two frame plates which are integrally arranged.
Further, the automatic control system comprises an electric cabinet and an operating platform; the top of the rear side of the oil tank is provided with the control console, the electric switch and the electric cabinet from inside to outside in sequence.
The invention has the beneficial effects that:
firstly, arranging the inner box of the drill rod into two inner box frames which can slide, so that the drill rod is convenient to center, before the drill rod is conveyed, moving the two inner box frames inwards and outwards for multiple times through a box body driving device, and enabling the middle plane of the drill rod to be positioned in the same vertical plane through multiple times of shaking, so that a manipulator is convenient to clamp the middle part of the drill rod; when the drill rod is stored and taken out, the two inner box frames are moved outwards for a certain distance, so that the distance between the two ends of the drill rod and the inner wall of the box body is increased, and the drill rod can be conveniently stored and taken out by the mechanical arm.
The second, the arrangement position of drilling rod case, with drilling rod case and drilling equipment integration on same revolving platform, set up single multi freedom manipulator for the manipulator is nimble changeable more through setting up the wrist in the manipulator, and relative other drilling machine (adopting two manipulators or three manipulators), reduced the quantity of manipulator, and improve drilling rod greatly and snatch efficiency.
Thirdly, this application adopts the structural style of single holder + initiative drilling rod + built-in water to distinguish + chuck, dismantles, connect drilling rod efficient (relative double holder), and the fault handling ability is strong, like card boring, screw thread card die etc..
Fourthly, by arranging the drill rod cleaning device, in the process of recovering the drill rods, the first water spraying mechanism is moved above the drill rods through the telescopic longitudinal arms, and the first water spraying mechanism is driven by the second driving mechanism to move along the axial direction of the drill rods so as to flush the drill rods; the first slewing mechanism swings back and forth along the section of the drill rod to wash; after the flushing is finished, the drill rod is clamped by the mechanical arm, and then the drill rod is rotated by a certain angle through the second wrist, so that the inner cavity of the drill rod is conveniently flushed by the second water spraying mechanism; the cleaned drill rod is recovered into a drill rod box through a mechanical arm; simultaneously, the two inner box frames are moved to the outer side, so that the drill rod is conveniently put in.
Fifth, after the drill rod is recovered, 1) flushing the clamp holder: the swinging telescopic arm is pivoted to the vertical lower part through the second pivoting mechanism, then the third water spraying mechanism is adjusted to the upper half part of the inner hole of the clamp holder through the third pivoting mechanism, the second driving mechanism is used for flushing along the axial direction of the clamp holder, and the telescopic longitudinal arm is used for moving back and forth to finish flushing along the section direction of the clamp holder; after the upper half part of the clamp holder is washed, a third water spraying mechanism is adjusted to point to the lower half part of the inner hole of the clamp holder through a third rotation mechanism, and the washing of the lower half part of the clamp holder is completed in the washing mode; 2) The chuck is washed, a third water spraying mechanism is adjusted to the upper half part of the inner hole of the chuck through a third rotation mechanism, the chuck is washed along the axial direction of the chuck through a second driving mechanism, and meanwhile, the chuck is washed along the section direction of the chuck through the back and forth movement of a telescopic longitudinal arm; after the upper half part of the chuck is washed, the third water spraying mechanism is adjusted to point to the lower half part of the inner hole of the chuck through the third rotation mechanism, and the washing of the lower half part of the chuck is completed in the washing mode.
Sixthly, the oil tank and the pump station are embedded into the tracked vehicle body, and the electric switch, the console and the electric cabinet are integrated at the top of the oil tank, so that the gravity center of the whole tracked vehicle is conveniently lowered, and the tracked vehicle is beneficial to controlling the length of the tracked vehicle.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a bottom view of the present invention;
FIG. 3 is a schematic view of a drill rod access apparatus of the present invention;
FIG. 4 is a schematic view of a robot of the present invention;
FIG. 5 is a schematic view of a first movement mechanism according to the present invention;
FIG. 6 is a schematic view of the clamping mechanism and wrist of the present invention;
FIG. 7 is a schematic view of a drilling apparatus of the present invention;
FIG. 8 is a schematic view of a drill pipe box of the present invention fitted with a half of a spacer;
FIG. 9 is a schematic view of a cleaning apparatus of the present invention;
fig. 10 is a schematic view of a third water spraying mechanism of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the foregoing description of the invention, it should be noted that the azimuth or positional relationship indicated by the terms "one side", "the other side", etc. are based on the azimuth or positional relationship shown in the drawings, or the azimuth or positional relationship in which the inventive product is conventionally put in use, are merely for convenience of describing the invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "identical" and the like do not denote that the components are identical, but rather that there may be minor differences. The term "perpendicular" merely means that the positional relationship between the components is more perpendicular than "parallel" and does not mean that the structure must be perfectly perpendicular, but may be slightly tilted.
1-10, a crawler-type multifunctional all-directional automatic drilling machine for coal mines comprises a crawler 100, a drill rod storing and taking device 200, a drilling device 300, a hydraulic system 400 and an automatic control system 500, wherein when the crawler-type multifunctional all-directional automatic drilling machine is implemented, the hydraulic system is in hydraulic communication with the crawler, the drill rod storing and taking device and the drilling device and is used for driving the crawler to walk, storing and taking the drill rods, adjusting the position of the drilling device and drilling/withdrawing the drill rods; the automatic control system is electrically communicated with the automatic drill rod storing and taking device and the drilling device and is used for controlling position adjustment, anchoring and automatic drilling/rod withdrawing of the drilling device and automatic drill rod storing and taking of the drill rod by the automatic drill rod storing and taking device;
one end of the inner cavity of the body 110 of the crawler 100 is sequentially embedded with an oil tank 310, a pump station 320 and a rotary platform 120 from outside to inside; the oil tank and the pump station are embedded into the tracked vehicle body, and the electric switch, the console and the electric cabinet are integrated at the top of the oil tank, so that the gravity center of the whole tracked vehicle is conveniently lowered, and the length of the tracked vehicle is conveniently controlled;
the inner side of the rotary platform 120 is connected with a drill rod storing and taking device 200, and the outer side is connected with a drilling device 300;
the drill rod storing and taking device 200 comprises a drill rod box 210 arranged on the rotary platform 120, first guide rails 220 arranged on two sides of the drill rod box 210, a manipulator 230 arranged on the two first guide rails 220 in a sliding manner and a cleaning device 240 arranged on the manipulator 230; the cleaning device is used for spraying and cleaning the drill rod, the clamp holder and the chuck on the power head; when the drill rod inner box is implemented, the drill rod inner box is arranged into two inner box frames which can slide, so that the drill rod is convenient to center, before the drill rod is conveyed, the two inner box frames are moved inwards and outwards for multiple times by the box body driving device, and the middle plane of the drill rod is positioned in the same vertical plane by multiple times of shaking, so that the middle part of the drill rod is convenient to be clamped by a mechanical arm; when the drill rod is stored and taken out, the two inner box frames are moved outwards for a certain distance, so that the distance between the two ends of the drill rod and the inner wall of the box body is increased, and the drill rod is conveniently stored and taken out by the mechanical arm;
the robot 230 includes a liftable gate frame 231 slidably disposed on the two first guide rails 220, a robot frame 232 disposed in the gate frame 231, a wrist 233 disposed at a lower end of the robot frame, a clamping mechanism 234 disposed on the wrist 233, and a first moving mechanism 235 for moving the gate frame 231 along the corresponding first guide rails 220; in the implementation, the drill rod box and the drilling device are integrated on the same rotary platform at the arrangement position, and a single multi-degree-of-freedom manipulator is arranged, so that the manipulator is more flexible and changeable by arranging the wrist in the manipulator, compared with other drilling machines (adopting double manipulators or three manipulators), the number of the manipulators is reduced, and the drill rod grabbing efficiency is greatly improved;
the cleaning device 240 includes a cleaning seat plate 241 provided at the top end of the door-shaped frame 231, a second rail 242 provided on the cleaning seat plate 241, a second moving mechanism 243 slidably provided on the second rail 242, a telescopic trailing arm 244 slidably provided on the second rail 242, a second slider 245 slidably provided on both sides of the second rail 242 for fixing the second moving mechanism 243 and the telescopic trailing arm 244, a first swing mechanism 246 provided at the outer end of the telescopic trailing arm 244, a vertical arm 247 provided on the first swing mechanism 246, a first water spraying mechanism 248 provided at the lower end of the vertical arm 247, a second water spraying mechanism 249 provided at the side wall of the vertical arm 247, a second swing mechanism 250 provided at the upper portion of the vertical arm 247, a swing telescopic arm 251 provided on the second swing mechanism 250, a third swing mechanism 252 provided at the other end of the swing telescopic arm 251, and a third water spraying mechanism 253 provided on the third swing mechanism 252; through setting up the drilling rod belt cleaning device, in the drilling rod recovery process, move the first water spraying mechanism to the drilling rod top through flexible trailing arm first, drive the first water spraying mechanism to move along the drilling rod axial direction and wash the drilling rod through the second actuating mechanism; the first slewing mechanism swings back and forth along the section of the drill rod to wash; after the flushing is finished, the drill rod is clamped by the mechanical arm, and then the drill rod is rotated by a certain angle through the second wrist, so that the inner cavity of the drill rod is conveniently flushed by the second water spraying mechanism; the cleaned drill rod is recovered into a drill rod box through a mechanical arm; simultaneously, the two inner box frames are moved to the outer side, so that a drill rod is conveniently placed in the inner box frames; after the drill rod is recovered, 1) flushing the clamp holder: the swinging telescopic arm is pivoted to the vertical lower part through the second pivoting mechanism, then the third water spraying mechanism is adjusted to the upper half part of the inner hole of the clamp holder through the third pivoting mechanism, the second driving mechanism is used for flushing along the axial direction of the clamp holder, and the telescopic longitudinal arm is used for moving back and forth to finish flushing along the section direction of the clamp holder; after the upper half part of the clamp holder is washed, a third water spraying mechanism is adjusted to point to the lower half part of the inner hole of the clamp holder through a third rotation mechanism, and the washing of the lower half part of the clamp holder is completed in the washing mode; 2) The chuck is washed, a third water spraying mechanism is adjusted to the upper half part of the inner hole of the chuck through a third rotation mechanism, the chuck is washed along the axial direction of the chuck through a second driving mechanism, and meanwhile, the chuck is washed along the section direction of the chuck through the back and forth movement of a telescopic longitudinal arm; after the upper half part of the chuck is washed, the third water spraying mechanism is adjusted to point to the lower half part of the inner hole of the chuck through the third rotation mechanism, and the washing of the lower half part of the chuck is completed in the washing mode;
the drill rod box 210 comprises an outer box 211 connected with the rotary platform 120, inner box frames 212 arranged on two sides of the outer box 211 in a sliding manner, a box body driving device 213 arranged between the two inner box frames and used for driving the two inner box frames to slide, and a plurality of box body guide rails 214 arranged between the outer box and the two inner box frames;
the drilling device 300 comprises an anchoring platform 310 connected with the rotary platform 120, a drilling frame 320 rotatably arranged on the anchoring platform 310, a clamp 330 arranged at one end of the drilling frame 320 and a power head 340 slidably arranged on the drilling frame 330;
a water supply transmission device is arranged in the output main shaft of the power head 340; the water supply transmission device comprises a transmission rod assembly 350 arranged in the output main shaft of the power head and a water supply assembly 360 arranged in the transmission rod assembly 350; the water supply assembly is used for supplying water to the drill rod and the transmission rod assembly drives the drill rod to rotate; in the implementation process, the single clamp holder, the active drill rod, the built-in water identification and the chuck are adopted, the efficiency of disassembling and connecting the drill rod is high (relative to double clamps), and the fault handling capability is high, such as drill clamping, thread clamping and the like.
In this embodiment, the first moving mechanism 235 includes first sliders 2351 provided on both sides of the corresponding first guide rail 220, first driving cases 2352 provided on the two first sliders 2351, first driving gears 2353 provided on the first driving cases 2352, first driving motors 2354 provided on the first driving cases 2352; the first guide rail 220 is provided with a first rack engaged with the first driving gear 2353; both sides of the door-shaped frame are connected with the corresponding first sliding blocks 2351; when in implementation, the first rack and the first guide rail are integrally arranged; the door-shaped frame consists of two lifting upright posts and a cross beam, and the lifting upright posts are provided with first sliding seats connected with the first sliding blocks;
the second moving mechanism 243 comprises a second rack arranged on the second guide rail, a second driving box arranged on two corresponding second sliding blocks, a second driving gear rotatably arranged on the second driving box and meshed with the second rack, and a second driving motor arranged on the second driving box and used for driving the second driving gear to rotate;
when the telescopic longitudinal arm is implemented, the second rack and the second guide rail are integrally arranged, the telescopic longitudinal arm is provided with a second sliding seat connected with the second sliding block, the structural forms of the first moving mechanism and the second moving mechanism are the same, the sizes of the first moving mechanism and the second moving mechanism are different, and the sizes of the motors are different.
In this embodiment, the wrist 233 includes a first wrist 2331 connected to the robot frame for driving the clamping mechanism to rotate in a vertical plane and a second wrist 2332 disposed on the first wrist for driving the clamping mechanism to rotate in a horizontal plane;
the first wrist 2331 is provided with a rotation angle limiting mechanism; the rotation angle limiting mechanism comprises an arc-shaped stop 2333 arranged on the shell of the first wrist and a limiting block 2334 arranged on the first bowl shaft of the first wrist.
The clamping mechanism 234 comprises a clamping connecting sleeve 2341 connected with the second wrist, a fixed clamping seat 2342 arranged on the clamping connecting sleeve, a movable clamping block 2343 rotatably arranged on the fixed clamping seat 2342 and a clamping cylinder 2344 arranged on the fixed clamping seat 2342 and used for pushing the movable clamping block 2343 to rotate.
In this embodiment, the first water spraying mechanism 248 includes a first water spraying seat disposed at the lower end of the vertical arm and two first nozzles disposed on the first water spraying seat;
the second water spraying mechanism 249 includes a second water spraying seat provided on a side wall of the vertical arm and a second nozzle provided on the first water spraying seat;
the third water spraying mechanism 253 comprises a water spraying frame 2531 arranged on the rotating part of the third rotary mechanism, a third nozzle 2532 arranged on the water spraying frame and a water distribution joint 2533 arranged on the fixed part of the third rotary mechanism.
In this embodiment, the anchoring platform 310 includes two anchoring support cylinders 311, a sliding frame 312 slidably disposed on the two anchoring support cylinders 311, a sliding cylinder 313 disposed between the sliding frame 312 and the rotating platform 120, and a second rotating device 314 disposed on the sliding frame 312 and used for connecting with the drilling frame 320; during implementation, the sliding frame is anchored through the anchoring oil cylinder, so that the drilling frame is anchored, the second rotating device is used for adjusting the angle of the drilling frame, and after adjustment, four corners of the drilling frame are also provided with auxiliary anchoring oil cylinders for anchoring the drilling frame.
In this embodiment, the transmission rod assembly 350 includes a rod 351 and a connector 352 detachably disposed at one end of the rod;
the rod body 351 includes a first flange, a rod body, and a first connection disc integrally provided;
the connection head 352 comprises a second connection disc and a threaded joint which are integrally arranged;
when the power head is implemented, the output main shaft of the power head is provided with a plurality of connecting threaded holes for connecting the first connecting disc; the inner wall of the rod body is provided with a positioning hole and a sealing hole which are matched with the water supply assembly in sequence from outside to inside at the position close to the first flange; the middle parts of the first connecting disc and the second connecting disc are connected through tension bolts, and the outer sides of the first connecting disc and the second connecting disc are connected through three shear bolts; a plurality of water passing holes are arranged on the first connecting disc and the second connecting disc in one-to-one correspondence.
In this embodiment, the water supply assembly 360 includes a water supply sleeve detachably connected to the rod body, a water supply shaft 361 rotatably disposed in the water supply sleeve, and a water distribution seat 362 rotatably disposed at an outer end of the water supply shaft 361 extending out of the water supply sleeve;
the water supply sleeve comprises a sleeve body 363 connected with the rod body, a sealing sleeve seat 364 detachably arranged at one end of the sleeve body 363 and a sleeve cover 365 detachably arranged at the other end of the sleeve body;
when in use, the outer wall of the sealing sleeve seat is provided with a first sealing ring/the inner wall is provided with a plurality of second sealing rings; a third sealing ring is arranged between the water supply shaft and the water distribution seat; oil seals are arranged on the two sides of the water supply shaft and close to the sealing sleeve seat and the sealing sleeve cover; a pair of rolling bearings are arranged between the water supply shaft and the sleeve body, so that the water supply shaft and the water supply sleeve can rotate relatively.
In this embodiment, the inner box frame 212 includes an inner box frame body and a plurality of partition plates 215 inserted in the inner box frame body;
the inner box frame body comprises a frame bottom plate 216, a frame vertical plate 217 and two frame plates 218 which are integrally arranged; the partition board of the inner box frame is arranged in a detachable mode, so that the partition board can be conveniently additionally arranged according to the size of the drill rod; meanwhile, the partition plates are arranged into an upper partition plate and a lower partition plate, so that the partition plates are convenient to install according to different drilling depths, and the lifting height of the manipulator can be reduced under the condition that the drilling depths are not deep.
In this embodiment, the automatic control system 500 includes an electric cabinet 510 and a console 330; the top of the rear side of the oil tank 310 is provided with an operating platform 330, an electric switch 520 and an electric cabinet 510 from inside to outside in sequence; the laminated design is beneficial to reducing the length of the tracked vehicle relative to the arrangement of the same layers;
when in implementation, the hydraulic system comprises an oil tank, a pump station, an operating console, a traveling hydraulic valve bank, a manipulator hydraulic valve bank, an anchoring hydraulic valve bank, a drilling hydraulic valve bank and the like;
the control system also comprises a ground remote control station, an explosion-proof remote controller and an electric control valve bank for controlling the corresponding valve bank; the automatic drilling device is used for controlling the mechanical arm to store/fetch the drill rod and controlling automatic drilling/rod withdrawing of the drilling device.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (9)
1. The utility model provides a multi-functional all-round automatic rig of crawler-type for colliery, includes crawler-type, drilling rod access arrangement, drilling equipment, hydraulic system and automatic control system, its characterized in that:
one end of the inner cavity of the vehicle body of the tracked vehicle is sequentially embedded with an oil tank, a pump station and a rotary platform from outside to inside;
the inner side of the rotary platform is connected with the drill rod storing and taking device, and the outer side of the rotary platform is connected with the drilling device;
the drill rod storing and taking device comprises a drill rod box arranged on the rotary platform, first guide rails arranged on two sides of the drill rod box, a manipulator arranged on the two first guide rails in a sliding manner and a cleaning device arranged on the manipulator; the cleaning device is used for spraying and cleaning the drill rod, the clamp holder and the chuck on the power head;
the manipulator comprises a lifting door-shaped frame, a manipulator frame, a wrist, a clamping mechanism and a first moving mechanism, wherein the lifting door-shaped frame is arranged on two first guide rails in a sliding mode, the manipulator frame is arranged in the door-shaped frame, the wrist is arranged at the lower end of the manipulator frame, the clamping mechanism is arranged on the wrist, and the first moving mechanism is used for moving the door-shaped frame to move along the corresponding first guide rails;
the cleaning device comprises a cleaning seat plate arranged at the top end of the door-shaped frame, a second guide rail arranged on the cleaning seat plate, a second moving mechanism arranged on the second guide rail in a sliding manner, a telescopic longitudinal arm arranged on the second guide rail in a sliding manner, second sliding blocks arranged on two sides of the second guide rail and used for fixing the second moving mechanism and the telescopic longitudinal arm, a first rotating mechanism arranged at the outer end of the telescopic longitudinal arm, a vertical arm arranged on the first rotating mechanism, a first water spraying mechanism arranged at the lower end of the vertical arm, a second water spraying mechanism arranged on the side wall of the vertical arm, a second rotating mechanism arranged at the upper part of the vertical arm, a swinging telescopic arm arranged on the second rotating mechanism, a third rotating mechanism arranged at the other end of the swinging telescopic arm and a third water spraying mechanism arranged on the third rotating mechanism;
the drill rod box comprises an outer box body connected with the rotary platform, inner box frames arranged on two sides of the outer box body in a sliding manner, a box body driving device arranged between the two inner box frames and used for driving the two inner box frames to slide, and a plurality of box body guide rails arranged between the outer box body and the two inner box frames;
the drilling device comprises an anchoring platform connected with the rotary platform, a drilling frame rotatably arranged on the anchoring platform, a clamp holder arranged at one end of the drilling frame and a power head slidably arranged on the drilling frame;
a water supply transmission device is arranged in the output main shaft of the power head; the water supply transmission device comprises a transmission rod assembly arranged in the output main shaft of the power head and a water supply assembly arranged in the transmission rod assembly.
2. The crawler-type multifunctional all-directional automatic drilling machine for coal mines according to claim 1, wherein: the first moving mechanism comprises first sliding blocks arranged on two sides of the corresponding first guide rail, first driving boxes arranged on the two first sliding blocks, first driving gears arranged on the first driving boxes, and first driving motors arranged on the first driving boxes; a first rack meshed with the first driving gear is arranged on the first guide rail; two sides of the door-shaped frame are connected with the corresponding first sliding blocks;
the second moving mechanism comprises a second rack arranged on the second guide rail, second driving boxes arranged on the corresponding two second sliding blocks, second driving gears rotatably arranged on the second driving boxes and meshed with the second rack, and second driving motors arranged on the second driving boxes and used for driving the second driving gears to rotate.
3. The crawler-type multifunctional all-directional automatic drilling machine for coal mines according to claim 1, wherein: the wrist comprises a first wrist part connected with the manipulator frame and used for driving the clamping mechanism to rotate in a vertical plane and a second wrist part arranged on the first wrist part and used for driving the clamping mechanism to rotate in a horizontal plane;
a rotation angle limiting mechanism is arranged on the first wrist; the rotation angle limiting mechanism comprises an arc-shaped stop block arranged on the shell of the first wrist and a limiting block arranged on the first bowl shaft of the first wrist.
The clamping mechanism comprises a clamping connecting sleeve connected with the second wrist, a fixed clamping seat arranged on the clamping connecting sleeve, a movable clamping block rotatably arranged on the fixed clamping seat and a clamping oil cylinder arranged on the fixed clamping seat and used for pushing the movable clamping block to rotate.
4. The crawler-type multifunctional all-directional automatic drilling machine for coal mines according to claim 1, wherein: the first water spraying mechanism comprises a first water spraying seat arranged at the lower end of the vertical arm and two first nozzles arranged on the first water spraying seat;
the second water spraying mechanism comprises a second water spraying seat arranged on the side wall of the vertical arm and a second nozzle arranged on the first water spraying seat;
the third water spraying mechanism comprises a water spraying frame arranged on the rotating part of the third rotation mechanism, a third nozzle arranged on the water spraying frame and a water distribution joint arranged on the fixing part of the third rotation mechanism.
5. The crawler-type multifunctional all-directional automatic drilling machine for coal mines according to claim 1, wherein: the anchoring platform comprises two anchoring support oil cylinders, a sliding frame arranged on the two anchoring support oil cylinders in a sliding mode, a sliding oil cylinder arranged between the sliding frame and the rotary platform, and a second rotary device arranged on the sliding frame and used for connecting the drilling frame.
6. The crawler-type multifunctional all-directional automatic drilling machine for coal mines according to claim 1, wherein: the transmission rod assembly comprises a rod body and a connector which is detachably arranged at one end of the rod body;
the rod body comprises a first flange, a rod body and a first connecting disc which are integrally arranged;
the connector comprises a second connecting disc and a threaded joint which are integrally arranged.
7. The crawler-type multifunctional all-directional automatic drilling machine for coal mines according to claim 1, wherein: the water supply assembly comprises a water supply sleeve detachably connected with the rod body, a water supply shaft rotatably arranged in the water supply sleeve and a water distribution seat rotatably arranged at the outer end of the water supply shaft, which extends out of the water supply sleeve;
the water supply sleeve comprises a sleeve body connected with the rod body, a sealing sleeve seat detachably arranged at one end of the sleeve body and a sleeve cover detachably arranged at the other end of the sleeve body.
8. The crawler-type multifunctional all-directional automatic drilling machine for coal mines according to claim 1, wherein: the inner box frame comprises an inner box frame body and a plurality of partition boards inserted on the inner box frame body;
the inner box frame body comprises a frame bottom plate, a frame vertical plate and two frame plates which are integrally arranged.
9. The crawler-type multifunctional all-directional automatic drilling machine for coal mines according to claim 1, wherein: the automatic control system comprises an electric cabinet and an operating platform; the top of the rear side of the oil tank is provided with the control console, the electric switch and the electric cabinet from inside to outside in sequence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310281308.7A CN116291192A (en) | 2023-03-22 | 2023-03-22 | Crawler-type multifunctional all-directional automatic drilling machine for coal mine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310281308.7A CN116291192A (en) | 2023-03-22 | 2023-03-22 | Crawler-type multifunctional all-directional automatic drilling machine for coal mine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116291192A true CN116291192A (en) | 2023-06-23 |
Family
ID=86801107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310281308.7A Pending CN116291192A (en) | 2023-03-22 | 2023-03-22 | Crawler-type multifunctional all-directional automatic drilling machine for coal mine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116291192A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2813014C1 (en) * | 2023-05-17 | 2024-02-06 | Общество с ограниченной ответственностью "Современные технологии" | Mobile device for laying pipes or rods during tripping operations in well |
-
2023
- 2023-03-22 CN CN202310281308.7A patent/CN116291192A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2813014C1 (en) * | 2023-05-17 | 2024-02-06 | Общество с ограниченной ответственностью "Современные технологии" | Mobile device for laying pipes or rods during tripping operations in well |
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