CN206554829U - A kind of coal mine drilling machine drill stem conveying device - Google Patents
A kind of coal mine drilling machine drill stem conveying device Download PDFInfo
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- CN206554829U CN206554829U CN201720257617.0U CN201720257617U CN206554829U CN 206554829 U CN206554829 U CN 206554829U CN 201720257617 U CN201720257617 U CN 201720257617U CN 206554829 U CN206554829 U CN 206554829U
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- conveying device
- drilling machine
- drill stem
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Abstract
The utility model discloses a kind of coal mine drilling machine drill stem conveying device, belong to mechanical design field, including articulated manipulator, drill rod box, described articulated manipulator and drill rod box is integrated with the side homonymy of the lifting tilting equipment of the rig；The articulated manipulator includes：Inclination maneuver joint, on described lifting tilting equipment, is made up of inclination angle motor, inclination angle decelerator, cursor；Revolute joint, on described cursor, is made up of rotary motor, gyroaxis, revoliving arm；Telescopic joint, on described revoliving arm, is made up of retractor device, outer telescopic tube, telescopic arm；Paw joint, on described telescopic arm, is made up of upper fixed claw, lower movable claw, clamping device.The utility model has tilt adjustment scope big, accurate positioning, convenient to install and maintain, contamination resistance strong and the advantage such as small volume.
Description
Technical field
The utility model belongs to mechanical design field, and in particular to a kind of coal mine drilling machine drill stem conveying device.
Background technology
Drill stem conveying device is a kind of servicing unit for coal mine drilling machine, and its function is to needed for rig conveying drilling
Drilling rod, or the drilling rod exited in hole of constructing is fetched.There is following defect in existing drill stem conveying device：
1. the applicable dip angle of hole scope of existing drill stem conveying device is smaller, generally 0~+45 °；And actually coal mine drilling machine
More than+45 ° of high inclination-angle drilling construction is frequently used for, therefore the inclination angle scope can not meet production requirement.
2. the tilt adjustment of existing drill stem conveying device and angle of revolution regulation fully rely on mechanical position limitation, i.e. inclination angle and swung
Extreme position is limited by oil cylinder stroke, angle of revolution limits extreme position by mechanical stop, fixed after mechanical stop limiter abrasion
Position error is larger, and changes also relatively difficult after damage.
3. the drill rod box of existing drill stem conveying device is translated along slide rail, but underground coal mine bad environments dust, cinder, aqueous phase
Mutually doping, accumulates on slide rail, lumps, serious to hinder drill rod box motion, and slide rail is below drill rod box, is also not easy to often
Cleaning.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of coal mine drilling machine drill stem conveying device, existing to solve
The tilt adjustment scopes of some drill stem conveying devices is small, accurate positioning is poor, installation and maintenance are inconvenient, contamination resistance is weak and volume
Larger the problems such as.
To reach above-mentioned purpose, the utility model is achieved through the following technical solutions：
The utility model provides a kind of coal mine drilling machine drill stem conveying device, including articulated manipulator, drill rod box, in institute
Described articulated manipulator and drill rod box is integrated with the side homonymy for the lifting tilting equipment for stating rig；The articulated type machine
Tool hand includes：Inclination maneuver joint, on described lifting tilting equipment, by inclination angle motor, inclination angle decelerator, cursor
Composition；Revolute joint, on described cursor, is made up of rotary motor, gyroaxis, revoliving arm；Telescopic joint, is installed
On described revoliving arm, it is made up of retractor device, outer telescopic tube, telescopic arm；Paw joint, installed in described telescopic arm
On, it is made up of upper fixed claw, lower movable claw, clamping device.By using such scheme, the utility model can be by Drill-pipe conveyed
The applicable inclination angle scope of device extends to -30 °~+90 °, with the big advantage of tilt adjustment scope.
Further, it is ad hoc to be set to following structures for the ease of the inclination angle of measurement articulated manipulator：The Inclination maneuver is closed
Section also includes the obliquity sensor on the rotation A axles of cursor.
Further, in order to for differentiate articulated manipulator Inclination maneuver end-state whether with drilling rod center line phase
Together, and revoliving arm can accurate positioning, it is ad hoc to be set to following structures：The revolute joint also includes returning installed in gyroaxis
Turn synchronous sensor, damper, angle of revolution sensor, the slewing limiter in B axle.
Further, it is ad hoc to be set to following structures in order that paw joint preferably clamps drilling rod：Fixed pawl is with
Slips is provided with the obverse of movable claw.
Further, it is ad hoc to be set to following structures in order to not move back and forth drill rod box：The drill rod box includes casing, oblique adjusting
Device, the casing is hinged with lifting tiling arrangement, and both pass through oblique adjusting device formation accordion structure.
Further, it is ad hoc to be set to following structures in order to ensure the normal work of drill rod box：The casing is open frame
Body.
Further, it is ad hoc to be set to following structures in order to preferably manipulate articulated manipulator and drill rod box：The flexible dress
Put, clamping device, oblique adjusting device are oil cylinder or the cylinder of check-valves with overflow valve.
The beneficial effects of the utility model are：
1st, the applicable inclination angle scope of drill stem conveying device is extended to -30 °~+90 ° by the utility model, is expanded compared to original device
It is big nearly 2 times, most coal mine drilling demands can have been met.
2nd, the utility model tilt adjustment is measured in real time by obliquity sensor, the specified inclination angle of arrival (or simultaneously by synchronously passing
Sensor judges and drilling rod center line locking) rotary reducer stop motion immediately afterwards.
3rd, the utility model angle of revolution regulation limits original position and final position by slewing limiter, and uses angle
Sensor measures angle of revolution in real time, and rotational speed is slowed down when that will reach the limit of position, greatly reduces stopping means abrasion.
Because sensor bulk is small, easy installation and removal, therefore repair very convenient, fast.
4th, drill rod box of the present utility model is collapsible, without moving back and forth, and uses hydraulic oil cylinder driving adjustable inclination, without easily pollution
Part.And because it uses Open architecture, dust, the cinder of surface sediment etc. can also be cleared up at any time, not interfere with it just
Often work.
Generally speaking, compared with existing drill stem conveying device, the utility model has that tilt adjustment scope is big, positioning is accurate
Really, convenient to install and maintain, contamination resistance is strong and the advantage such as small volume.
Other advantages of the present utility model, target and feature will be explained in the following description to a certain extent
State, and to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, or
Person can be instructed from practice of the present utility model.Target of the present utility model and other advantages can be said by following
Bright book is realized and obtained.
Brief description of the drawings
In order that the purpose of this utility model, technical scheme and advantage are clearer, below in conjunction with accompanying drawing to this practicality
It is new to be described in further detail, wherein：
Fig. 1 is the structure chart of the utility model coal mine drilling machine drill stem conveying device；
Fig. 2 for Fig. 1 K to schematic diagram；
Reference：1- inclination angles motor, 2- inclination angles decelerator, 3- cursors, 4- obliquity sensors, 5- rotary motors, 6-
Gyroaxis, 7- revoliving arms, 8- synchronization sensors, 9- dampers, 10- angles of revolution sensor, 11- slewing limiters, 12- stretches
Movable claw under device, 13- outer telescopic tubes, 14- telescopic arms, the upper fixed claws of 15-, 16-, 17- clamping devices, 18- slips, 19- casees
Body, 20- oblique adjusting devices, 21- lifting tilting equipments, 22- drilling rods.
Embodiment
Below with reference to accompanying drawing, preferred embodiment of the present utility model is described in detail；It should be appreciated that it is preferred that real
Example is applied only for explanation the utility model, rather than in order to limit protection domain of the present utility model.
As shown in Figure 1-2, a kind of coal mine drilling machine drill stem conveying device that the present embodiment is provided, by articulated manipulator and
Drill rod box is constituted, and by being integrated with the articulated manipulator and drilling rod on the side homonymy of the lifting tilting equipment 21 of rig
Case so that drill stem conveying device forms one, convenient operation with rig, and advantageously reduces the floor space of equipment, simultaneously should
Drill stem conveying device can be moved with rig, enhance its flexible property.The articulated manipulator includes：Adjust at inclination angle
Whole joint, on lifting tilting equipment 21, is made up of, so by inclining inclination angle motor 1, inclination angle decelerator 2, cursor 3
Gnu drives inclination angle decelerator 2 to drive cursor 3 to be rotated around rotation A axles up to 1, meanwhile, installed in the rotation A axles of cursor 3
On obliquity sensor 4 be used to measure the inclination angle of articulated manipulator；Revolute joint, on cursor 3, by rotary motor
5th, gyroaxis 6, revoliving arm 7 are constituted, and so drive gyroaxis 6 to drive revoliving arm 7 to be rotated around revolution B axle by rotary motor 5,
Meanwhile, synchronous sensor 8, damper 9, angle of revolution sensor 10, slewing limit in the revolution B axle of gyroaxis 6
Device 11 can be used for differentiating whether the end-state of articulated manipulator Inclination maneuver is identical with drilling rod center line, and cause revoliving arm
7 being capable of accurate positioning；Telescopic joint, on revoliving arm 7, is made up of retractor device 12, outer telescopic tube 13, telescopic arm 14,
So telescopic arm 14 is driven to do stretching motion relative to outer telescopic tube 13 by retractor device 12；Paw joint, installed in flexible
On arm 14, it is made up of upper fixed claw 15, lower movable claw 16, clamping device 17, upper fixed claw 15 and clamping device 17 and telescopic arm
It is fixedly connected, and lower activity grabs 16 and is hinged with upper fixed claw and drives lower movable claw can be relative to upper fixed claw by clamping device 17
Opening and closing campaign is done, meanwhile, fixed claw 15, can with being mounted on slips 18 on the obverse of lower movable claw 16 on this
So that paw joint preferably clamps drilling rod 22.
Drill rod box in the present embodiment includes casing 19, oblique adjusting device 20, and the casing 19 is hinged with lifting tiling arrangement 21,
And both pass through the formation accordion structure of oblique adjusting device 20.It is preferred that, the casing 19 is open frame body.So, drilling rod
Case is collapsible, without moving back and forth, and uses hydraulic oil cylinder driving adjustable inclination, without easily pollution part.And because it uses open
Structure, dust, the cinder of surface sediment etc. can also be cleared up at any time, not interfere with its normal work.
Retractor device 12, clamping device 17, oblique adjusting device 20 in the present embodiment are the oil cylinder with overflow valve.Certainly exist
The cylinder with check-valves can also be used in different embodiments.
Now according to such scheme, its lower operation principle of specific explaination：
Convey drilling rod：Articulated manipulator original state as shown in figure 1, drill rod box casing 19 oblique adjusting device 20 work
It is slightly higher with lower holding level or left end (such as Fig. 2 K direction views), it is ensured that drilling rod 22 is not because gravity rolls out casing 19；Then,
The lower movable claw 16 of the driving of clamping device 17 opens relative to upper fixed claw 15, and the driving telescopic arm 14 of retractor device 12 is relative to stretching
Contracting outer barrel 13 and the paw joint being connected with telescopic arm 14 are stretched out to drilling rod 22, stretch out the lower activity of the driving of rear fixture 17 in place
Pawl 16 clamps the drilling rod 22 in casing 19, then, and the driving telescopic arm 14 of retractor device 12 and paw joint are retracted in place；Then,
Inclination angle motor 1 drives inclination angle decelerator 2, cursor 3 is rotated upwardly and downwardly around rotation A axles, until relative with the center line of drilling rod 22
The angle of horizontal plane is identical, meanwhile, obliquity sensor 4 measures articulated manipulator inclination angle, and synchronous sensor 5 differentiates joint
Whether the end-state of manipulator Inclination maneuver is identical with the center line of drilling rod 22；Then, Inclination maneuver in place after, rotary motor
5 driving gyroaxises 6 drive revoliving arm 7 and connected telescopic joint and paw joint to be turned clockwise around revolution B axle
270 ° (such as Fig. 2 K direction views), the center line of drilling rod 22 i.e. and main frame drilling rod center superposition；Finally, the driving of clamping device 17 is lower lives
Pawl 16 is opened；Retractor device 12 drives telescopic arm 14 and retracted with paw joint；And the driving gyroaxis 6 of rotary motor 5 drives
Revoliving arm 7, telescopic joint, paw joint are around revolution 270 ° of rotate counterclockwise of B axle (such as Fig. 2 K direction views)；Inclination angle motor 1
Inclination angle decelerator 2 is driven, cursor 3 is rotated around rotation A axles, articulated manipulator returns to original state.
Recycling of drill rod：Joint Manipulator is stretched out by Inclination maneuver, revolution, paw joint, paw joint opens etc. one and is
After row action, paw articulation center line is set to be overlapped with main frame drilling rod center line (detailed process is similar to conveying drilling rod)；Then, press from both sides
The tight lower movable claw 16 of the driving of device 17 clamps drilling rod 22 (now the drilling rod is disengaged with front and rear drilling rod and is connected)；Retractor device 12 drives
Move telescopic arm 14 and retracted with paw joint；The driving gyroaxis 6 of rotary motor 5 drives revoliving arm 7, telescopic joint, paw joint
Around 270 ° of B axle rotate counterclockwise of revolution (such as Fig. 2 K direction views)；Inclination angle motor 1 drives inclination angle decelerator 2, makes cursor 3
Rotated around rotation A axles, articulated manipulator returns to original state；Then, the driving telescopic arm 14 of retractor device 12 and and paw
Joint is stretched out, and the lower movable claw 16 of the driving of clamping device 17 is opened, and drilling rod 22 is put back in the casing 19 of drill rod box；Then, stretch
Device 12 drives telescopic arm 14 and retracted with paw joint, and articulated manipulator turns again to original state；Finally, drill rod box
Casing 19 makes that left end (such as Fig. 2 K direction views) is lower slightly in the presence of oblique adjusting device 20, and drilling rod 22 can be in self gravitation effect
Under roll out.
Finally illustrate, above example is only unrestricted to illustrate the technical solution of the utility model, although ginseng
The utility model is described in detail according to preferred embodiment, it will be understood by those within the art that, can be to this
The technical scheme of utility model is modified or equivalent substitution, and without departing from the objective and scope of the technical program, it all should
Cover among right of the present utility model.
Claims (7)
1. a kind of coal mine drilling machine drill stem conveying device, including articulated manipulator, drill rod box, it is characterised in that bored described
Described articulated manipulator and drill rod box is integrated with the side homonymy of the lifting tilting equipment (21) of machine；The articulated type machine
Tool hand includes：Inclination maneuver joint, on described lifting tilting equipment, by inclination angle motor (1), inclination angle decelerator (2),
Cursor (3) is constituted；Revolute joint, on described cursor, by rotary motor (5), gyroaxis (6), revoliving arm (7)
Composition；Telescopic joint, on described revoliving arm, by retractor device (12), outer telescopic tube (13), telescopic arm (14) group
Into；Paw joint, on described telescopic arm, by upper fixed claw (15), lower movable claw (16), clamping device (17) group
Into.
2. coal mine drilling machine drill stem conveying device according to claim 1, it is characterised in that the Inclination maneuver joint is also
Include the obliquity sensor (4) on the rotation A axles of cursor (3).
3. coal mine drilling machine drill stem conveying device according to claim 1, it is characterised in that the revolute joint also includes
There are the synchronous sensor (8) being arranged in the revolution B axle of gyroaxis (6), damper (9), angle of revolution sensor (10), revolution
Limiter (11).
4. coal mine drilling machine drill stem conveying device according to claim 1, it is characterised in that fixed pawl (15) with
Slips (18) is provided with the obverse of lower movable claw (16).
5. the coal mine drilling machine drill stem conveying device according to claim any one of 1-4, it is characterised in that the drill rod box
Including casing (19), oblique adjusting device (20), the casing is hinged with lifting tiling arrangement, and both are rolled over by the formation of oblique adjusting device
Stacked structure.
6. coal mine drilling machine drill stem conveying device according to claim 5, it is characterised in that the casing (19) is opening
Formula frame body.
7. coal mine drilling machine drill stem conveying device according to claim 5, it is characterised in that the retractor device (12),
Clamping device (17), oblique adjusting device (20) are oil cylinder or the cylinder of check-valves with overflow valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720257617.0U CN206554829U (en) | 2017-03-16 | 2017-03-16 | A kind of coal mine drilling machine drill stem conveying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720257617.0U CN206554829U (en) | 2017-03-16 | 2017-03-16 | A kind of coal mine drilling machine drill stem conveying device |
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| Publication Number | Publication Date |
|---|---|
| CN206554829U true CN206554829U (en) | 2017-10-13 |
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ID=60365714
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720257617.0U Active CN206554829U (en) | 2017-03-16 | 2017-03-16 | A kind of coal mine drilling machine drill stem conveying device |
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| Country | Link |
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| CN (1) | CN206554829U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106761488A (en) * | 2017-03-16 | 2017-05-31 | 中煤科工集团重庆研究院有限公司 | A kind of coal mine drilling machine drill stem conveying device |
| CN110500052A (en) * | 2018-05-17 | 2019-11-26 | 中铁第五勘察设计院集团有限公司 | Low clearance multi-section type drilling rod splices centering body |
-
2017
- 2017-03-16 CN CN201720257617.0U patent/CN206554829U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106761488A (en) * | 2017-03-16 | 2017-05-31 | 中煤科工集团重庆研究院有限公司 | A kind of coal mine drilling machine drill stem conveying device |
| CN110500052A (en) * | 2018-05-17 | 2019-11-26 | 中铁第五勘察设计院集团有限公司 | Low clearance multi-section type drilling rod splices centering body |
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