CN203978332U - The automatically upper and lower drilling rod control system of hydraulic drill rig and conveying device - Google Patents
The automatically upper and lower drilling rod control system of hydraulic drill rig and conveying device Download PDFInfo
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- CN203978332U CN203978332U CN201420443794.4U CN201420443794U CN203978332U CN 203978332 U CN203978332 U CN 203978332U CN 201420443794 U CN201420443794 U CN 201420443794U CN 203978332 U CN203978332 U CN 203978332U
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Abstract
The utility model discloses the automatically upper and lower drilling rod control system of a kind of hydraulic drill rig and conveying device, comprise PLC control module, auxiliary reclay, signal amplification board, pilot solenoid valve, liquor controlled multipath and sensor group, described PLC control module completes the control to pilot solenoid valve jointly by auxiliary reclay, signal amplification board, described pilot solenoid valve is connected with liquor controlled multipath, described liquor controlled multipath connects executing agency, and described sensor group gathers the signal of executing agency and signal is transferred to PLC control module.The utility model makes hydraulic drill rig high inclination-angle drill stem conveying device automatically complete the function of upper and lower drilling rod, without operation manually, has reduced workman's labour intensity, has effectively improved the speed of changing drilling rod.
Description
Technical field
The utility model relates to the control technology field of rig, the conveying device that particularly the automatically upper and lower drill stem conveying device control system of a kind of hydraulic drill rig and this control system are controlled.
Background technology
At present, coal mine gas cross drainage drilling machine is in construction drill process at home, and the replacing of drilling rod is generally to adopt manually to complete.Before the eighties, the production technique of China's coal-mine is more backward, and the maximum gauge of the drilling rod of use is 42mm, at this moment uses the artificial drawback of changing drilling rod to be still not enough to embody.But, fast development along with China's coal-mine production technique and yield, the maximum gauge of the drilling rod using has surpassed 89mm, at this moment still use artificial replacing drilling rod, will cause more greatly many drawbacks such as operation intensity is large, the cycle is long, danger coefficient is high because of drilling rod weight, artificial replacing drilling rod can not meet the control requirement of rig automation simultaneously.
Utility model content
In view of this, technical problem to be solved in the utility model is to provide a kind of mining hydraulic drilling rig high inclination-angle drill stem conveying device control system, this control system has improved drilling rod and has changed speed, has alleviated operator's labour intensity, has reduced the danger coefficient of underground work; The utility model also provides a kind of drill stem conveying device with this control system simultaneously.
One of the purpose of this utility model is achieved in that the automatically upper and lower drilling rod control system of a kind of ore deposit hydraulic drill rig, described control system comprises PLC control module, auxiliary reclay, signal amplification board, pilot solenoid valve, liquor controlled multipath and sensor group, described PLC control module completes the control to pilot solenoid valve jointly by auxiliary reclay, signal amplification board, described pilot solenoid valve is connected with liquor controlled multipath, described liquor controlled multipath connects executing agency, and described sensor group gathers the signal of executing agency and signal is transferred to PLC control module.
Two of the purpose of this utility model is achieved in that the automatically upper and lower drill stem conveying device of a kind of hydraulic drill rig, comprise control system, working platform, be arranged on grabbing device and conveying device on working platform, described grabbing device comprises the support column 2 that is arranged on working platform 1, be arranged on motor base 3 on support column 2, be arranged on the steering motor 4 on motor base 3; The output of described steering motor 4 is connected with manipulator, and described manipulator comprises mechanical arm 17, the mechanical arm telescopic hydraulic cylinder 5 being connected with mechanical arm 17 ends, is arranged on the clamping hydraulic cylinder 8 of grabbing pole socket 6, being arranged on the slips 7 of grabbing on pole socket 6 and driving slips 7 to clamp on mechanical arm telescopic hydraulic cylinder 5 piston rods; Described conveying device comprises the drill rod box 9 moving perpendicular to mechanical arm telescopic hydraulic cylinder 5, the drill rod box moving telescopic hydraulic cylinder 11 that driving drill rod box moves and the guide rail 12 being slidably matched with drill rod box; On described support column 2, be also provided with the angle adjustment hydraulic cylinder 10 that regulates motor base 3 angles; Described control system comprises PLC control module, auxiliary reclay, signal amplification board, pilot solenoid valve, liquor controlled multipath and sensor group, described PLC control module completes the control to pilot solenoid valve jointly by auxiliary reclay, signal amplification board, described pilot solenoid valve is connected with liquor controlled multipath, described liquor controlled multipath connects executing agency, and described sensor group gathers the signal of executing agency and signal is transferred to PLC control module.
Further, described sensor group comprises: be arranged on the obliquity sensor 13 on mechanical arm, for detection of the angle of inclination of machine formula arm; Be arranged on the displacement transducer 14 of grabbing on pole socket 6, for detection of drill rod box, move forward and backward the displacement of displacement and telescopic hydraulic cylinder; Be arranged on the approach switch 15 on clamping hydraulic cylinder 8.
Further, described sensor group comprises obliquity sensor, displacement transducer and approach switch; Described obliquity sensor is for detection of the inclination angle of telescopic hydraulic cylinder; Described displacement transducer moves forward and backward the displacement of displacement and telescopic hydraulic cylinder for detection of drill rod box; Described approach switch is used for judging whether telescopic hydraulic cylinder approaches drilling rod.
Further, described mechanical arm telescopic hydraulic cylinder is secondary telescopic hydraulic cylinder; Described steering motor is hydraulic motor.
The utility model has the advantage of:
High inclination-angle drill stem conveying device can complete drill rod box automatic detecting, has patrolled and examined the every row drilling rod of rear definite drill rod box radical, while being convenient to capture drilling rod, accurately locates; Drill rod box can be moved row certainly; Manipulator can automatic capturing drilling rod; Angle adjustment hydraulic cylinder can be adjusted angle of inclination automatically.The utility model can complete the process of carrying drilling rod automatically, without operation manually, has reduced operator's working strength, can effectively improve drilling rod and change speed.
The utility model, utilizes the mobile hydraulic cylinder of drill rod box bottom, drill rod box is moved to old drilling rod and change position; By angle adjustment hydraulic cylinder and steering motor, control slips and move to old drilling rod position and clamp again, the old drilling rod disassembling is sent back to drill rod box; Follow mobile drilling rod case again, the new drilling rod of slips gripping is also delivered to installation site and is installed.This device is simple to operate, can replace and manually complete drilling rod conveying, has reduced operator's working strength, can effectively improve drilling rod and change speed.
Accompanying drawing explanation
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing, the utility model is described in further detail, wherein:
Fig. 1 is drill stem conveying device control system structure chart;
Fig. 2 is drill stem conveying device structure chart.
The specific embodiment
Below with reference to accompanying drawing, preferred embodiment of the present utility model is described in detail; Should be appreciated that preferred embodiment is only for the utility model is described, rather than in order to limit protection domain of the present utility model.
The automatically upper and lower drill stem conveying device of a kind of hydraulic drill rig, comprise control system, working platform, be arranged on grabbing device and conveying device on working platform, described grabbing device comprises the support column 2 that is arranged on working platform, be arranged on motor base 3 on support column 2, be arranged on the steering motor 4 on motor base 3; The output of described steering motor 4 is connected with manipulator, and described manipulator comprises mechanical arm 17, the mechanical arm telescopic hydraulic cylinder 5 being connected with mechanical arm 17 ends, is arranged on the clamping hydraulic cylinder 8 of grabbing pole socket 6, being arranged on the slips 7 of grabbing on pole socket 6 and driving slips 7 to clamp on mechanical arm telescopic hydraulic cylinder 5 piston rods; Described conveying device comprises the drill rod box 9 moving perpendicular to mechanical arm telescopic hydraulic cylinder 5, the drill rod box moving telescopic hydraulic cylinder 11 that driving drill rod box moves and the guide rail 12 being slidably matched with drill rod box; On described support column 2, be also provided with the angle adjustment hydraulic cylinder 10 that regulates motor base 3 angles.
Described control system comprises that described control system comprises PLC control module, auxiliary reclay, signal amplification board, pilot solenoid valve, liquor controlled multipath and sensor group as shown in Figure 2, described PLC control module completes the control to pilot solenoid valve jointly by auxiliary reclay, signal amplification board, described pilot solenoid valve is connected with liquor controlled multipath, described liquor controlled multipath connects executing agency, and described sensor group gathers the signal of executing agency and signal is transferred to PLC control module.Because the output loading of PLC control module is less, cannot directly drive pilot solenoid valve, and auxiliary reclay and signal amplification board have just played the effect that control signal is amplified; Pilot solenoid valve is used for responding automatically controlled signal, thereby realizes the control of system to liquor controlled multipath; Liquor controlled multipath, for controlling the output of power set, is finally realized the control to frame for movement.
Described sensor group comprises obliquity sensor, displacement transducer and approach switch; Described obliquity sensor; Described displacement transducer; Described approach switch is used for judging whether mechanical arm telescopic hydraulic cylinder approaches drilling rod.
Described sensor group comprises:
Be arranged on the obliquity sensor 13 on mechanical arm, for detection of the angle of inclination of machine formula arm;
Be arranged on the displacement transducer 14 of grabbing on pole socket 6, for detection of drill rod box, move forward and backward the displacement of displacement and drill rod box moving telescopic hydraulic cylinder;
Be arranged on the approach switch 15 on clamping hydraulic cylinder 8.
Described steering motor is hydraulic motor; Described mechanical arm telescopic hydraulic cylinder 5 is secondary telescopic hydraulic cylinder.
Below the drill stem conveying device course of work in the present embodiment is elaborated, control system is by controlling the rotation of steering motor 4, thus control mechanical arm 17 levels or vertical oscillation; By controlling mechanical arm telescopic hydraulic cylinder 5, control the flexible displacement of tractor driver; By controlling clamping hydraulic cylinder 8, control the clamping of clamping slips 7 or unclamp; By control angle, adjust the angle of inclination that hydraulic cylinder 10 is controlled whole mechanical arm 17; By controlling the telescopic displacement of drill rod box moving telescopic hydraulic cylinder 11, control moving forward and backward of drill rod box 9; Obliquity sensor 13 is for detection of the angle of inclination of mechanical arm 17; Displacement transducer 14 is for detection of the telescopic displacement of mechanical arm telescopic hydraulic cylinder 5; Whether approach switch 15 approaches drilling rod for detection of manipulator; Drill rod box displacement transducer 16 is for detection of the telescopic displacement of drill rod box moving telescopic hydraulic cylinder 11.
While capturing drilling rod, steering motor 4 rotations, make slips 7 towards new drilling rod, drill rod box moving telescopic hydraulic cylinder 11 drives drill rod box 9 to move, after drill rod box displacement transducer 16 detection row put in place, mechanical arm telescopic hydraulic cylinder 5 stretches out, and displacement transducer 14 detects manipulators and reaches behind position, clamping hydraulic cylinder 8 drives the new drilling rod of slips 7 clamping, mechanical arm telescopic hydraulic cylinder 5 retractions; Angle adjustment hydraulic cylinder 10 regulates motor base 3 pendulum angles, after obliquity sensor 13 detection inclination angles put in place, flexible hydraulic pressure 5 cylinders of secondary stretch out, new drilling rod is delivered to borer drill rod installation site, after new drilling rod installation, clamping hydraulic cylinder 8 drives slips 7 to open, and unclamps new drilling rod, completes the replacing of new drilling rod.
During playback drilling rod, steering motor 4 rotations, make slips 7 towards old drilling rod, utilize angle adjustment hydraulic cylinder 10 to regulate motor base 3 to swing inclination angle, after obliquity sensor 13 detection inclination angles put in place, mechanical arm telescopic hydraulic cylinder stretches out, and clamping hydraulic cylinder 8 drives slips 7 to clamp old drilling rod; After treating old drilling rod dismounting, mechanical arm telescopic hydraulic cylinder retraction, steering motor 4 rotations, angle adjustment hydraulic cylinder 10 regulates motor base 3 angles to make slips 7 drill rod box 9 downward, mechanical arm telescopic hydraulic cylinder stretches out and makes old drilling rod be seated in the interior relevant position of drill rod box 9, clamping hydraulic cylinder 8 drives slips 7 to open, and unclamps old drilling rod, completes the playback of old drilling rod.
According to controlling needs, what steering motor 4 and clamping hydraulic cylinder 8 adopted is switching value solenoid control, and what mechanical arm telescopic hydraulic cylinder 5, angle adjustment hydraulic cylinder 10 and drill rod box moving telescopic hydraulic cylinder 11 adopted is proportional solenoid valve control.
High inclination-angle drill stem conveying device can complete drill rod box automatic detecting, has patrolled and examined the every row drilling rod of rear definite drill rod box radical, while being convenient to capture drilling rod, accurately locates; Drill rod box can be moved row certainly; Manipulator can automatic capturing drilling rod; Angle adjustment hydraulic cylinder can be adjusted angle of inclination automatically.The utility model can complete the process of carrying drilling rod automatically, without operation manually, has reduced operator's working strength, can effectively improve drilling rod and change speed.
The utility model, utilizes the mobile hydraulic cylinder of drill rod box bottom, drill rod box is moved to old drilling rod and change position; By angle adjustment hydraulic cylinder and steering motor, control slips and move to old drilling rod position and clamp again, the old drilling rod disassembling is sent back to drill rod box; Follow mobile drilling rod case again, the new drilling rod of slips gripping is also delivered to installation site and is installed.This device is simple to operate, can replace and manually complete drilling rod conveying, has reduced operator's working strength, can effectively improve drilling rod and change speed.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, obviously, those skilled in the art can carry out various changes and modification and not depart from spirit and scope of the present utility model the utility model.Like this, if within of the present utility model these are revised and modification belongs to the scope of the utility model claim and equivalent technologies thereof, the utility model is also intended to comprise these changes and modification interior.
Claims (6)
1. the automatically upper and lower drilling rod control system of a hydraulic drill rig, it is characterized in that: described control system comprises PLC control module, auxiliary reclay, signal amplification board, pilot solenoid valve, liquor controlled multipath and sensor group, described PLC control module completes the control to pilot solenoid valve jointly by auxiliary reclay, signal amplification board, described pilot solenoid valve is connected with liquor controlled multipath, described liquor controlled multipath connects executing agency, and described sensor group gathers the signal of executing agency and signal is transferred to PLC control module.
2. the automatically upper and lower drill stem conveying device of a hydraulic drill rig, it is characterized in that: comprise control system, working platform, be arranged on grabbing device and conveying device on working platform, described grabbing device comprises the support column (2) that is arranged on working platform (1), be arranged on motor base (3) on support column (2), be arranged on the steering motor (4) on motor base (3); The output of described steering motor (4) is connected with manipulator, and described manipulator comprises mechanical arm (17), the mechanical arm telescopic hydraulic cylinder (5) being connected with mechanical arm (17) end, be arranged on grabbing pole socket (6), be arranged on the slips (7) of grabbing on pole socket (6) and the clamping hydraulic cylinder (8) that drives slips (7) to clamp on mechanical arm telescopic hydraulic cylinder (5) piston rod; Described conveying device comprises the drill rod box moving telescopic hydraulic cylinder (11) moving perpendicular to the mobile drill rod box (9) of mechanical arm telescopic hydraulic cylinder (5), driving drill rod box and the guide rail (12) being slidably matched with drill rod box; On described support column (2), be also provided with the angle adjustment hydraulic cylinder (10) that regulates motor base (3) angle; Described control system comprises PLC control module, auxiliary reclay, signal amplification board, pilot solenoid valve, liquor controlled multipath and sensor group, described PLC control module completes the control to pilot solenoid valve jointly by auxiliary reclay, signal amplification board, described pilot solenoid valve is connected with liquor controlled multipath, described liquor controlled multipath connects executing agency, and described sensor group gathers the signal of executing agency and signal is transferred to PLC control module.
3. the automatic upper and lower drill stem conveying device of hydraulic drill rig according to claim 2, is characterized in that: described sensor group comprises:
Be arranged on the obliquity sensor (13) on mechanical arm, for detection of the angle of inclination of machine formula arm;
Be arranged on the displacement transducer (14) of grabbing on pole socket (6), for detection of drill rod box, move forward and backward the displacement of displacement and telescopic hydraulic cylinder; Be arranged on the approach switch (15) on clamping hydraulic cylinder (8).
4. the automatically upper and lower drill stem conveying device of hydraulic drill rig according to claim 2, is characterized in that: described sensor group comprises obliquity sensor, displacement transducer and approach switch; Described obliquity sensor is for detection of the inclination angle of telescopic hydraulic cylinder; Described displacement transducer moves forward and backward the displacement of displacement and telescopic hydraulic cylinder for detection of drill rod box; Described approach switch is used for judging whether telescopic hydraulic cylinder approaches drilling rod.
5. the automatically upper and lower drill stem conveying device of hydraulic drill rig according to claim 2, is characterized in that: described mechanical arm telescopic hydraulic cylinder is secondary telescopic hydraulic cylinder.
6. the automatic upper and lower drill stem conveying device of hydraulic drill rig according to claim 2, its feature is further: described steering motor is hydraulic motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420443794.4U CN203978332U (en) | 2014-08-07 | 2014-08-07 | The automatically upper and lower drilling rod control system of hydraulic drill rig and conveying device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420443794.4U CN203978332U (en) | 2014-08-07 | 2014-08-07 | The automatically upper and lower drilling rod control system of hydraulic drill rig and conveying device |
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| CN203978332U true CN203978332U (en) | 2014-12-03 |
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| CN201420443794.4U Active CN203978332U (en) | 2014-08-07 | 2014-08-07 | The automatically upper and lower drilling rod control system of hydraulic drill rig and conveying device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104131792A (en) * | 2014-08-07 | 2014-11-05 | 中煤科工集团重庆研究院有限公司 | Hydraulic drilling rig automatic drill pipe lifting and releasing control system, hydraulic drilling rig automatic drill pipe lifting and releasing conveying device and hydraulic drilling rig automatic drill pipe lifting and releasing control method |
| CN113944436A (en) * | 2021-10-14 | 2022-01-18 | 中煤科工集团重庆研究院有限公司 | Multi-angle folding type drill pipe box device |
-
2014
- 2014-08-07 CN CN201420443794.4U patent/CN203978332U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104131792A (en) * | 2014-08-07 | 2014-11-05 | 中煤科工集团重庆研究院有限公司 | Hydraulic drilling rig automatic drill pipe lifting and releasing control system, hydraulic drilling rig automatic drill pipe lifting and releasing conveying device and hydraulic drilling rig automatic drill pipe lifting and releasing control method |
| CN104131792B (en) * | 2014-08-07 | 2016-08-24 | 中煤科工集团重庆研究院有限公司 | Hydraulic drill rig upper and lower drilling rod control system, conveyer device and control method automatically |
| CN113944436A (en) * | 2021-10-14 | 2022-01-18 | 中煤科工集团重庆研究院有限公司 | Multi-angle folding type drill pipe box device |
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