CN207892528U - A kind of full-automatic underground drill rig - Google Patents
A kind of full-automatic underground drill rig Download PDFInfo
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- CN207892528U CN207892528U CN201820153035.2U CN201820153035U CN207892528U CN 207892528 U CN207892528 U CN 207892528U CN 201820153035 U CN201820153035 U CN 201820153035U CN 207892528 U CN207892528 U CN 207892528U
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- drilling rod
- support base
- driving device
- guider
- main driving
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Abstract
The application discloses a kind of full-automatic underground drill rig, including workbench, drilling rod, support base and the main driving device of drilling rod, further includes being connected with the bottom of the main driving device of the drilling rod and being installed on the guider on the support base；It is fixed on the fore-clamp holder of the guider end；The periphery of the fore-clamp holder is equipped with the device of rotation driving being connected with the guider；Between the main driving device of the drilling rod and the fore-clamp holder and it is fixed on the rear clamper of the guider end；It is installed on the mechanical arm in the outside of the support base；The support base is equipped with drilling rod regulating box close to the end of the mechanical arm side；It is installed on the running gear of the workbench bottom.Using the drilling machine, the mutual cooperation of each section device can realize automatic positioning, the automatically actions such as dress brill, automatic lower brill, automatic trip-out, therefore full-automatic underground drill rig provided herein can realize automated job.
Description
Technical field
The utility model is related to drilling rig technique field, more particularly to a kind of full-automatic underground drill rig.
Background technology
Underground drill rig is usually specialized for the drilling of tunnel, can be used for creeping into gas exhaust discharge hole, fluid injection fire-fighting
The correlation engineerings holes such as hole, coal-bed flooding hole, geological survey hole are widely used in geological prospecting, coal mine gas exploitation, waterpower
The industries such as power generation.
For creeping into gas exhaust discharge hole, usually gas is drilled through using underground drill rig in the gas of exploiting colliery underground
Pump drainage discharge hole.In general, gas is the gas of colorless and odorless, from the exposure of coal rock layer, adopts the coal or tunnel fallen
Gush out in crack, when the gas density in a certain closed tunnel reaches certain value, easily explodes, therefore the exploitation of gas
Process has higher danger.
However, existing underground drill rig, during drilling through gas exhaust discharge hole, usually too busy to get away operating personnel are in coal
Rock gangway directly operates in road, and field operation is carried out under deeper mine, due to cannot achieve automation, leads to execute-in-place people
The life security of member is seriously threatened.
Therefore, how to solve the problems, such as that underground drill rig is made to realize automated job, be art technology skill urgently to be resolved hurrily
Art problem.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of full-automatic underground drill rig, it can realize and be turned into automatically
Industry.
Its concrete scheme is as follows：
Full-automatic underground drill rig provided by the utility model, including workbench, drilling rod and the main driving device of drilling rod, are also wrapped
It includes：
It is installed on the support base of the bench-top；
It is connected with the bottom of the main driving device of the drilling rod and is installed on the support base, for guides the main drive of the drilling rod
The guider of device movement；
One end for being fixed on the guider, the fore-clamp holder for drilling rod described in clamp or release；The front clamp
The periphery of device be equipped be connected with the guider, the device of rotation driving for driving the fore-clamp holder to rotate；
Between the main driving device of the drilling rod and the fore-clamp holder and it is fixed on the end of the guider, is used for
The rear clamper of drilling rod described in clamp or release；
The outside that is installed on the support base, the mechanical arm for loading and unloading the drilling rod to clamper after described；Set on institute
Support base is stated to adjust close to the end of the mechanical arm side, for storing the drilling rod and adjusting the drilling rod of the drilling rod position
Case；
It is installed on the workbench bottom, the running gear for driving the movable workbench.
Preferably, the support base includes：Two the first support bases and second for being located at the guider both sides
Support base, wherein the outside of second support base is connected with the mechanical arm.
Preferably, further include：
It is installed on the support base, the lifting gear for driving the support base lifting.
Preferably, the lifting gear includes：
It is installed on first support base, the first lifting driving portion for driving the first support base lifting；
It is installed on first support base, the first column for guiding the first support base lifting；
It is installed on second support base, for driving second support base and the first support base synchronization lifting
Second lifting driving portion；
It is installed on second support base, the second column for guiding the second support base lifting.
Preferably, further include：
It is connected across side of the support base far from the mechanical arm and with the bottom of the guider, for driving
The turnover device of the guider overturning.
Preferably, the turnover device includes：
The torsion shaft being installed between first support base and second support base；
It is installed on the outside of first support base and is connected with the torsion shaft, for driving turning over for the torsion shaft rotation
Turn driving portion；
It is connected between first support base and second support base and with the torsion shaft, is filled with the guiding
The flip-arm that the bottom set is connected and is used to drive the guider to realize overturning.
Preferably, the mechanical arm includes：
Telescopic arm for the drilling rod to be clamped；The movable end of the telescopic arm is equipped with stationary slip；
It is installed on the telescopic arm, the auxiliary pivoted arm for coordinating the stationary slip that the drilling rod is clamped；It is described auxiliary
The movable end of pivoted arm is helped to be equipped with the movable slips for being articulated with the stationary slip；
It is connected with the telescopic arm, for overturning the drilling rod of clamping to the first pivoted arm in the rear clamper；
It is vertically connected with first pivoted arm, second turn of angle of inclination for adjusting clamped drilling rod central axis
Arm.
It is detected between second pivoted arm and the torsion shaft, for detecting the angle of the torsion shaft flip angle
Device.
Preferably, the drilling rod regulating box includes：
Drilling rod storage box for storing several drilling rods；
Across the bottom of the drilling rod storage box, for guiding and driving the drilling rod of the drilling rod storage box movement to be oriented to
Portion；
Side is articulated with the support base and is connected close to the mechanical arm side and with the both ends of the drilling rod guide part, uses
In the drill rod bracket for supporting the drilling rod guide part；
Set on edge of the drill rod bracket far from the mechanical arm side and between the support base, it is described for driving
The angle adjustment of drill rod bracket rotation.
Preferably, further include：
Positioned at the workbench both ends and it is installed on the bench-top and bottom, for consolidating the full-automatic tunnel
The securing device of drilling machine.
Preferably, further include：
Rotating device between the workbench and the turnover device, for driving the turnover device rotation.
With respect to the background art, full-automatic underground drill rig provided by the utility model includes workbench, drilling rod and drilling rod
Main driving device further includes the support base for being installed on the bench-top；It is connected and pacifies with the bottom of the main driving device of the drilling rod
Loaded on the guider on the support base, for guiding the main driving device movement of the drilling rod；It is fixed on the guider
One end, the fore-clamp holder for drilling rod described in clamp or release；The periphery of the fore-clamp holder is equipped with and the guider phase
Even, the device of rotation driving for driving the fore-clamp holder rotation；Positioned at the main driving device of the drilling rod and the fore-clamp holder
Between and be fixed on the end of the guider, the rear clamper for drilling rod described in clamp or release；It is installed on the branch
The outside of support seat, the mechanical arm for loading and unloading the drilling rod to the rear clamper；Set on the support base close to the machinery
The end of arm side, for storing the drilling rod and adjusting the drilling rod regulating box of the drilling rod position；It is installed on the workbench
The running gear of bottom；Wherein, the drilling rod includes being connected with the main driving device of the drilling rod and being installed on the rear clamper
The first drilling rod and be connected with first drilling rod and be installed on the second drilling rod in the fore-clamp holder.
When the fore-clamp holder with it is described after clamper be in opening when, the mechanical arm is by the drilling rod from the brill
Bar regulating box is moved into the rear clamper, and the mechanical arm unclamps clamped drilling rod, is located at the rear clamper naturally
In the drilling rod become as first drilling rod；
First drilling rod described in clamp holder clamping, starts the main driving device of the drilling rod, the main driving device of drilling rod is just after described
Turn, at the same the main driving device of the drilling rod along the guider close to first drilling rod, until the main driving device of the drilling rod with
When first drilling rod is linked together, the main driving device of drilling rod stops movement；
The rear clamper is unclamped, the main driving device of drilling rod continues that first drilling rod is driven to lean on to the fore-clamp holder
Closely, until when first drilling rod is completely into the fore-clamp holder, the main driving device of drilling rod stops movement, while described
Fore-clamp holder clamps first drilling rod；
It is again started up the main driving device of the drilling rod, the main driving device reversion of drilling rod, while the main driving device edge of the drilling rod
The guider is disconnected far from the fore-clamp holder, the main driving device of drilling rod with first drilling rod, until described
The main driving device of drilling rod resets, and first drilling rod becomes as second drilling rod at this time；
The mechanical arm continuation is put from the drilling rod is clamped in the drilling rod regulating box into the rear clamper, is put naturally
Enter the drilling rod of the rear clamp holder clamping just becomes first drilling rod again；
First drilling rod described in clamp holder clamping after described, while restarting the main driving device of the drilling rod, the main drive of drilling rod
Device rotates forward, at the same the main driving device of the drilling rod along the guider close to first drilling rod, until the main drive of the drilling rod
When device is linked together with first drilling rod, the main driving device of drilling rod stops movement；
The main driving device of the drilling rod is closed, the main driving device of drilling rod stops operating；Clamper unclamps described the after described
One drilling rod；
Restart the main driving device of the drilling rod, the main driving device of drilling rod rotates forward, and drives first drilling rod to rotate forward, simultaneously
The main driving device of drilling rod drives first drilling rod along the guider close to second drilling rod, until described first bores
Bar is linked together with second drilling rod, and the main driving device of drilling rod stops movement；The fore-clamp holder is unclamped described second and is bored
Bar；
It has just been automatically performed the installation of the drilling rod in this way；
The main driving device of drilling rod continues that first drilling rod and second drilling rod is driven to rotate forward, while the drilling rod master
Driving device drive first drilling rod and second drilling rod continuation moved along the guider, until first drilling rod and
Second drilling rod pierces stratum, at this point, first drilling rod enters in the fore-clamp holder, the main driving device of drilling rod stops
Rotation；
The fore-clamp holder clamping is moved to first drilling rod therein, the main driving device reversion of drilling rod, while institute
The main driving device of drilling rod is stated along the guider far from the fore-clamp holder, until reset, the naturally described main driving device of drilling rod and
First drilling rod is disconnected namely the main driving device of the drilling rod is disconnected with the drilling rod, and the drilling rod just stops at this time
It stays in the earth formation；
Above-mentioned action is repeated, the lower brill action being just automatically performed in this way in stratum makes tunnel realize automatic punching.
Correspondingly, when the drilling rod stops in the earth formation, start the main driving device of the drilling rod, the main driving device of drilling rod
It rotates forward, while the main driving device of the drilling rod is close along the drilling rod of the guider into earth's surface, until the drilling rod master
Driving device is linked together with the drilling rod, and the drilling rod rotates in the earth formation with the main driving device of the drilling rod；
The main driving device of drilling rod is moved along the guider to the direction far from stratum, and the main driving device of drilling rod will
The drilling rod takes away from stratum, until the first drilling rod of the drilling rod enter it is described after in clamper, second drilling rod into
Enter in the fore-clamp holder, the main driving device of drilling rod stops movement, while the main driving device of the drilling rod stops operating；
The fore-clamp holder clamps second drilling rod, it is described after the first drilling rod described in clamp holder clamping；
Start the device of rotation driving, the fore-clamp holder reversely turns relative to the main driving device forward direction of the drilling rod
Dynamic, second drilling rod is rotated backward relative to first drilling rod, until second drilling rod is realized with first drilling rod
Slight releasing orientation, stops the device of rotation driving, and the fore-clamp holder stops operating；
Clamper unclamps first drilling rod after described, restarts the main driving device of the drilling rod, the main driving device of drilling rod
Reversion, while the main driving device of the drilling rod is moved along the guider to the direction far from the fore-clamp holder, until described
First drilling rod is disconnected with second drilling rod, and the main driving device of drilling rod stops movement, and the main driving device of drilling rod stops
Rotation；
The main driving device of drilling rod continues slightly to move one to the direction far from the fore-clamp holder along the guider
Stop after segment distance, the rear clamper clamps first drilling rod again, restarts the main driving device of the drilling rod, the drilling rod master
Driving device inverts, while the main driving device of the drilling rod continues to move to the direction far from the fore-clamp holder along the guider
Dynamic, until the main driving device of the drilling rod is disconnected with first drilling rod, the main driving device of drilling rod stops operating；
The main driving device of drilling rod continues slightly to move one to the direction far from the fore-clamp holder along the guider
Stop after segment distance；First drilling rod is clamped in the mechanical arm, while the rear clamper unclamps first drilling rod, described
First drilling rod can be put into the drilling rod regulating box by mechanical arm；
Start the main driving device of the drilling rod, the main driving device of drilling rod rotates forward, while the main driving device of the drilling rod is described in
Guider is moved to close to the direction of the fore-clamp holder, until the main driving device of the drilling rod is linked as one with second drilling rod
Body, the main driving device of drilling rod stop operating, and the main driving device of drilling rod stops movement；
The fore-clamp holder unclamps second drilling rod, and the main driving device of drilling rod is along the guider to far from described
The direction of fore-clamp holder is moved, until second drilling rod is moved to the rear clamper, second drilling rod just becomes at this time
First drilling rod repeats above-mentioned action, and the second drilling rod for becoming first drilling rod is made to be detached from the main driving device of the drilling rod
Connection, to facilitate mechanical arm to be carried in the drilling rod regulating box；
Above-mentioned action is repeated, is just automatically performed trip-out action in this way, tunnel is made to realize automatic pull out of hole.
Since the running gear is mounted on the workbench bottom, and each key components and parts are mounted on the work
Platform provides possibility for herein described the automatically moving for full-automatic underground drill rig provided.
The automation of lower brill and trip-out not only may be implemented in full-automatic underground drill rig provided by the utility model, but also
Autonomous may be implemented, the personnel of being completely free of enter the possibility in tunnel, effectively ensure the life of personnel to a certain extent
Property safety, therefore, full-automatic underground drill rig provided by the utility model can realize automated job.
Description of the drawings
It, below will be required to embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only the embodiments of the present invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to the attached drawing of offer other
Attached drawing.
Fig. 1 is provided the structural schematic diagram of full-automatic underground drill rig by a kind of specific embodiment of the utility model；
Fig. 2 is the vertical view of Fig. 1；
Fig. 3 is the front view of Fig. 1；
Fig. 4 is the left view of Fig. 1；
Fig. 5 is the right view of Fig. 1；
Fig. 6 is the main driving device of guider, drilling rod of full-automatic underground drill rig, fore-clamp holder and rear clamper in Fig. 1
General assembly front view；
Fig. 7 is the vertical view of Fig. 6；
Fig. 8 is the side view of Fig. 6；
Fig. 9 is the structural schematic diagram of the fore-clamp holder of full-automatic underground drill rig in Fig. 1；
Figure 10 is the structural schematic diagram of the rear clamper of full-automatic underground drill rig in Fig. 1；
Figure 11 is the structural schematic diagram of the mechanical arm of full-automatic underground drill rig in Fig. 1；
Figure 12 is the structural schematic diagram of the support base of full-automatic underground drill rig, lifting gear and turnover device in Fig. 1.
Reference numeral is as follows：
Workbench 1, drilling rod 2, drilling rod main driving device 3, guider 5, fore-clamp holder 6, rear clamper 7, rise support base 4
Falling unit 8, turnover device 9, mechanical arm 10, drilling rod regulating box 11, running gear 12, securing device 13 and rotating device 14；
First drilling rod 21 and the second drilling rod 22；
First support base 41 and the second support base 42；
Device of rotation driving 60, support base 61, first support swivel base 62, second to support swivel base 63, front support frame 64, the
Slips power block 66 and rotation axis 67 before slips power block 65, second before one；
Slips power block 74 after slips power block 73 and second after support plate 71, rear support frame 72, first；
First lifting driving portion 81, the first column 82, second lifting driving portion 83 and the second column 84；
Torsion shaft 91, overturning driving portion 92 and flip-arm 93；
Telescopic arm 101, stationary slip 102, auxiliary pivoted arm 103, movable slips 104, the first pivoted arm 105, the second pivoted arm 106
With angle detection device 107；
First oscillating motor 1051 and first rotates supporting rod 1052；
Second oscillating motor 1061 and the second rotating support 1062；
Drilling rod storage box 111, drilling rod guide part 112, drill rod bracket 113 and angle adjustment 114；
Upper securing device 131 and lower securing device 132.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
In order to make those skilled in the art more fully understand the utility model, below in conjunction with the accompanying drawings and it is embodied
The utility model is described in further detail for mode.
It please refers to Fig.1 to Fig. 5, Fig. 1 and the knot of full-automatic underground drill rig is provided by a kind of specific embodiment of the utility model
Structure schematic diagram；Fig. 2 is the vertical view of Fig. 1；Fig. 3 is the front view of Fig. 1；Fig. 4 is the left view of Fig. 1；Fig. 5 is the right view of Fig. 1.
The utility model embodiment discloses a kind of full-automatic underground drill rig, including the main drive dress of workbench 1, drilling rod 2, drilling rod
3, support base 4, guider 5, fore-clamp holder 6, rear clamper 7 and device of rotation driving 60 are set, further includes lifting gear 8, turn over
Rotary device 9, mechanical arm 10, drilling rod regulating box 11, running gear 12, securing device 13 and rotating device 14.
Wherein, workbench 1 is generally rectangular shaped, is mainly used for supporting other component.
Drilling rod 2 is for creeping into stratum, to be drilled.Drilling rod 2 includes the first drilling rod 21 and the second drilling rod 22.
First drilling rod 21 is installed in rear clamper 7, is connected with the main driving device of drilling rod 3；Second drilling rod 22 is installed on fore-clamp
In holder 6, it is connected with the first drilling rod 21.It is worth noting that, can be by mechanical arm in view of the first drilling rod 21 and the second drilling rod 22
10 realize handling between drilling rod regulating box 11 and rear clamper 7, therefore the first drilling rod 21 is identical with the second drilling rod 22, uniquely
Difference in place of be, the position of the first drilling rod 21 and the second drilling rod 22 is different, and the two can be converted mutually.In the specific implementation
In example, one end of the first drilling rod 21 is equipped with conical screw thread protrusion, and the other end is equipped with taper thread groove, naturally, conical
The outer diameter of thread protrusion is consistent with the internal diameter of taper thread groove, to realize the company of the first drilling rod 21 and the second drilling rod 22
It connects.Certainly, above-mentioned protrusion or the appearance of groove are not limited to cone, can also be cylinder, have no effect on and realize that this practicality is new
The purpose of type.
The main driving device of drilling rod 3 is mainly used for driving the drilling of drilling rod 2 or exits stratum.In this specific embodiment, drilling rod master
The type of drive of driving device 3 is hydraulic-driven, it is of course also possible to be the modes such as electric and pneumatic, has no effect on and realizes this practicality
Novel purpose.The end of the main driving device of drilling rod 3 is equipped with column shape external part identical with 2 outer diameter of drilling rod, the column external part
Also is provided with drilling rod 2 matched taper thread protrusion, so that the main driving device 3 of drilling rod is linked together with drilling rod 2.Important
It is that the main driving device of drilling rod 3 can realize positive and negative rotation under the driving of two-way hydraulic motor.Pacify in the bottom of the main driving device of drilling rod 3
Equipped with boots are oriented to, guider 5 is ridden over to be oriented to boots, in addition, hydraulic drive oil cylinder is equipped on being oriented to boots, so as to hydraulic pressure
Propelling cylinder driving is oriented to the dynamic main driving device 3 of drilling rod of bootlace and is moved along guider 5.It is also set in the outer end of the main driving device of drilling rod 3
There is water to debate device, to input water or wind, timely cooling drilling rod 2 to stratum during drilling, and is discharged in boring procedure
The debris of discharge promotes drilling efficiency.
Support base 4 is mounted on the upper surface of workbench 1, is located substantially at the middle of workbench 1.In the specific embodiment
In, support base 4 includes the first support base 41 and the second support base 42.The construction of first support base 41 and the second support base 42 is substantially
It is identical, and it is located at the both sides of guider 5, wherein the outside of the second support base 42 is connected with mechanical arm 10.
6 to Figure 12 are please referred to, Fig. 6 is the main driving device of guider, drilling rod of full-automatic underground drill rig, front clamp in Fig. 1
The general assembly front view of device and rear clamper；Fig. 7 is the vertical view of Fig. 6；Fig. 8 is the side view of Fig. 6；Fig. 9 is automatically to be cheated in Fig. 1
The structural schematic diagram of the fore-clamp holder of road drilling machine；Figure 10 is the structural schematic diagram of the rear clamper of full-automatic underground drill rig in Fig. 1；
Figure 11 is the structural schematic diagram of the mechanical arm of full-automatic underground drill rig in Fig. 1；Figure 12 is the support of full-automatic underground drill rig in Fig. 1
The structural schematic diagram of seat, lifting gear and turnover device.
The main driving device of guider 5 and drilling rod 3 is connected, and is installed on support base 4, is mainly used for guiding the main driving device of drilling rod
3 movements.In this specific embodiment, the generally rectangular shaped cyclic structure in the cross section of guider 5 in its longitudinal direction, accordingly
The cross section on ground, the guiding boots of main 3 bottom of driving device of drilling rod is substantially inverted u-shaped, rides in the top of guider 5, while
The inverted U is oriented between the madial wall and the both sides of guider 5 of boots and is equipped with for guiding the inverted U to be oriented to the swallow that boots slide
Tail type sliding rail and sliding block, it is of course also possible to be rectangular or the sliding rail and sliding block of the other shapes such as V-type, however it is not limited to this.
Fore-clamp holder 6 is fixed on one end that guider 5 extends to 1 end of workbench, is mainly used for clamp or release brill
Bar 2.In this specific embodiment, fore-clamp holder 6 include support base 61, first support swivel base 62, second support swivel base 63,
Slips power block 66, rotation axis 67 and guide sleeve 68 before slips power block 65, second before front support frame 64, first.
Wherein, support base 61 is generally U-shaped, specifically includes one piece of horizontal supporting plate and both ends are separately mounted to the level
The vertical gripper shoe of support plate both sides.It is respectively equipped at the center of two vertical gripper shoes of the U-shaped support base 61 and mutually runs through
Circular mounting hole, be respectively used to installation first support swivel base 62 and second support swivel base 63.First support swivel base 62 and second
Support swivel base 63 is fixed on by bolt and nut in two vertical gripper shoes of U-shaped support base 61 respectively.In the U-shaped support base
61 bottom is equipped with the square metal plate for support base 61 to be fixed to 5 end of guider, in the specific embodiment
In, which is fixed on by bolt and nut on guider 5.
First support swivel base 62 and second supports the center of swivel base 63 to be equipped with the cylinder for installing the second drilling rod 22
Mounting hole.Wherein, the first support swivel base 61 is the short cylinder that end is equipped with flange, and flange portion is used for and support base 61
It is connected, short cylinder is mainly used for supporting front support frame 64 and its component being installed on it rotation.Second support swivel base 63 and the
The structure and function of one support shaft 62 is roughly the same, repeats no more.
The both sides of front support frame 64 are respectively provided with the circular arc that installation the first support swivel base 62 and second supports swivel base 63
Connected in star.In this specific embodiment, the first support swivel base 62 and second supports swivel base 63 to put in 64 both sides of front support frame respectively
Circular groove in, the end of the inserting end of the two is respectively flushed with the inner wall of 64 both sides of front support frame.
Slips power block 66 is symmetrically distributed in the both ends of front support frame 64 before slips power block 65 and second before first.First
Preceding slips power block 65 includes slips drive cylinder before slips and first before first, and similarly, slips power block 66 wraps before second
Slips drive cylinder before slips and second before including second.In this specific embodiment, before first before slips drive cylinder and second
Slips drive cylinder is piston-type hydraulic cylinder, is separately fixed at the both ends of front support frame 64.It is worth noting that, in order to abundant
Clamp the second drilling rod 22, slips is semicircular arc metal derby before slips and second before first, and is contacted with the second drilling rod 22
Contact surface be equipped with for increases rub embossing.When the second drilling rod 22 need to be clamped, slips drive cylinder and before first
Slips is gone relatively before slips and second before the movable end of slips drive cylinder drives first respectively before two, is bored until clamping second
Bar 22；When that need to unclamp the second drilling rod 22, the movable end of slips drive cylinder is distinguished before slips drive cylinder and second before first
Slips is gone opposite to each other before slips and second before driving first, until unclamping the second drilling rod 22.No matter clamp or release process
In, slips drive cylinder moves synchronously before slips drive cylinder and second before first, in case the both sides stress of the second drilling rod 22 is not
Cause flexural deformation.
Rotation axis 67 is installed on one end of the slips power block 66 before second of front support frame 64, specifically, rotation axis 67
Both ends be hingedly connected to the both sides of front support frame 64.Rotation axis 67 is mainly used for that fore-clamp holder 6 is driven to rotate, with easy to disassemble
Second drilling rod 22.It is equipped with the overhanging driving end vertical with center axis in the centre of rotation axis 67, is mainly used for connection rotation
Driving device 60.
When device of rotation driving 60 starts, rotation axis 67 drives front support frame 64 and on front support frame 64
Slips power block 66 supports 63 turns of swivel base around the first support swivel base 62 and second simultaneously before slips power block 65 and second before first
It is dynamic, usually, the rotation direction of front support frame 64 with main 3 driving direction of driving device of drilling rod on the contrary, so as to make the first drilling rod 21 and
Second drilling rod 22 is disconnected.
Guide sleeve 68 is mounted on the end of the second support swivel base 63.It is equipped at the center of guide sleeve 68 for installing drilling rod 2
Circular mounting hole, occur during creeping into stratum to swing on a large scale to prevent drilling rod 2, to influence wobble accuracy.Tool
Body, the bearing holder (housing, cover) for being used to support bearing is equipped between front support frame 64 and second supports swivel base 63, to support and limit
The roller bearing between guide sleeve 68 and bearing holder (housing, cover) plays guiding and makees at any time so that guide sleeve 68 is rotated together with drilling rod 2
With.Correspondingly, it is also equipped with the bearing cap for Fix roller bearing in the other end of roller bearing.Certainly, guide sleeve 68
Structure is without being limited thereto, and other similar schemes can also be used to substitute, have no effect on realization the purpose of this utility model.
In addition, fore-clamp holder 6 further includes being installed on first cover board and the second cover board at 64 top of front support frame, the first cover board
The top of slips power block 66 before slips power block 65 and second before first is separately mounted to the second cover board, to prevent coal cinder, stone
Before block etc. crashes into first before slips power block 65 and second in slips power block 66, in order to avoid slips drive cylinder before influencing first
With second before slips drive cylinder it is normal flexible, to influence the installation of the second drilling rod 22.
Device of rotation driving 60 is connected between fore-clamp holder 6 and guider 5, is mainly used for driving 6 turns of fore-clamp holder
Dynamic, specifically, device of rotation driving 60 is piston-type hydraulic cylinder, and the cylinder barrel of the piston-type hydraulic cylinder is connected with guider 5, living
Stopper rod is connected with the rotation axis 67 of fore-clamp holder 6.When piston rod stretches out, rotation axis 67 drives fore-clamp holder 6 to rotate, to band
Dynamic the second drilling rod 22 rotation being held in fore-clamp holder 6, makes the second drilling rod 22 be rotated relative to the first drilling rod 21, unclamps second
Drilling rod 22 and the first drilling rod 21 are fastenedly connected, with the second drilling rod 22 easy to disassemble.
Clamper 7 is located between the main driving device 3 of drilling rod and fore-clamp holder 6 afterwards, and the end of guider 5 is fixed in bottom,
It is mainly used for clamp or release drilling rod 2.In this specific embodiment, rear clamper 7 includes support plate 71, rear support frame 72, the
Slips power block 74 after slips power block 73 and second after one.
Wherein, support plate 71 is one block of common square metal plate, which is used to rear clamper 7 passing through spiral shell
Bolt nut is fixed on guider 5.The specially two pieces of metallic plates for being respectively arranged in 71 both sides of support plate of rear support frame 72, two
The center on two sides edge is equipped with the circular groove for being used to support the first drilling rod 21 at the top of block metallic plate.Slips is dynamic after first
Slips power block 74 is respectively arranged in the both ends of rear support frame 72 after power block 73 and second, and slips power block 73 includes the after first
Slips drive cylinder after slips and first after one, slips power block 74 includes that slips drives after slips and second after second after second
Oil cylinder.Slips drive cylinder is piston-type hydraulic cylinder, the piston rod difference of the two after slips drive cylinder and second after first
It is connected with slips after slips after first and second.Slips is semicircular arc metal derby after slips and second after first, is equally existed
It also is provided with embossing on the contact surface of the first drilling rod 21.When the first drilling rod 21 need to be clamped, slips drive cylinder and after first
Slips is gone relatively after slips and second after the movable end of slips drive cylinder drives first respectively after two, is bored until clamping first
Bar 21；When that need to unclamp the first drilling rod 21, the movable end of slips drive cylinder is distinguished after slips drive cylinder and second after first
Slips is gone opposite to each other after slips and second after driving first, until unclamping the first drilling rod 21.No matter clamp or release process
In, slips drive cylinder moves synchronously after slips drive cylinder and second after first, in case the both sides stress of the first drilling rod 21 is not
Cause flexural deformation.
Significantly, since during loading drilling rod 2, the first drilling rod 21 and the second drilling rod 22 need to be connected, therefore
After first after slips power block 73 and second slips power block 74 formed circular clamp hole central axis must with first before
The central axis for the round machine holding holes that slips power block 66 is formed before slips power block 65 and second overlaps, in order to avoid the first drilling rod
21 and second drilling rod 22 occur bending and deformation in clamping process.
Lifting gear 8 is mounted on support base 4, is mainly used for that support base 4 is driven to realize lifting.In the specific embodiment
In, lifting gear 8 includes the first lifting driving portion 81, the first column 82, second lifting driving portion 83 and the second column 84.
Wherein, the first lifting driving portion 81 is mounted on the first support base 41, is mainly used for driving 41 liters of the first support base
Drop.First lifting driving portion 84 is mounted on the second support base 41, is mainly used for driving the lifting of the second support base 42.In the specific reality
It applies in example, it is the piston-type hydraulic cylinder placed vertically, two pistons that the first lifting driving portion 81 and second, which lifts driving portion 84,
The piston rod of formula hydraulic cylinder is connected with the first support base 41 and the second support base 42 respectively, when piston rod is protruding, first
Support base 41 and the second support base 42 rise along the first column 82 and the second column 84 respectively.First column 82 and the second column
84 be the cylindrical metal rod being fixed on workbench 1, and is each passed through the first support base 41 and the second support base 42.It is worth
It is noted that in order to ensure that the both sides of guider 5 can ensure to lift simultaneously, therefore the first lifting driving portion 81 and second lifts
83 synchronization action of driving portion, makes guider 5 smoothly lift.
Turnover device 9 passes through side of the support base 4 far from mechanical arm 10, and is connected with the bottom plate of guider 5, main to use
It is overturn in driving guider 5.Turnover device 9 includes torsion shaft 91, overturning driving portion 92 and flip-arm 93.
Wherein, torsion shaft 91 is installed between the first support base 41 and the second support base 42, wherein close to the first support 41
One end pass through the first support base 41 with overturn driving portion 92 be connected, the other end is connected with mechanical arm 10.Overturning driving portion 92 is
Hydraulic motor positioned at the outside of the first support base 41, it is of course also possible to which other rotary drives, without being limited thereto.Flip-arm
93 between the first support base 41 and the second support base 42, and one end of bottom is connected with torsion shaft 91, when 91 turns of torsion shaft
When dynamic, flip-arm 93 is overturn therewith, to make the guider 5 being mounted on flip-arm 93 realize overturning.In the specific implementation
In example, flip-arm 93 is specially rectangular metal plate, and several circles for fixed guide 5 are equipped at the top of the metallic plate
Threaded hole, so that guider 5 is fixed on flip-arm 93 with bolt and nut.
Mechanical arm 10 is installed on the outside of support base 4, is mainly used for clamper 7 backward and loads and unloads drilling rod 2.In the specific implementation
In example, mechanical arm 10 includes telescopic arm 101, stationary slip 102, auxiliary pivoted arm 103, movable slips 104, the first pivoted arm 105, the
Two pivoted arms 106 and angle detection device 107.
Wherein, telescopic arm 101 includes piston-type hydraulic cylinder and telescopic supporting rod, the piston rod of the piston hydraulic cylinder with it is flexible
Supporting rod is connected as one by ring flange.Stationary slip 102 is fixed on the end of telescopic supporting rod, when piston-type hydraulic cylinder
When piston rod stretches, stationary slip 102 is moved with piston rod so as to close to the drilling rod 2 being positioned in drilling rod regulating box 11.
It is also piston-type hydraulic cylinder to assist pivoted arm 103 specific, and cylinder barrel is articulated on the hinged-support being connected with telescopic supporting rod,
Piston rod is articulated with movable slips 104, and the revolute pair of the two is fixed on the side of stationary slip 102.Movable slips 104 and solid
The corresponding semicircular arc groove being equipped with for holding drill pipe 2 for determining slips 102, when piston rod stretches, movable slips 104
Just it can be rotated relative to stationary slip 102, to realize clamp or release drilling rod 2.
First pivoted arm 105 is connected with telescopic arm 101, in the overturning to rear clamper 7 of drilling rod 2 for that will be clamped.In the tool
In body embodiment, the first pivoted arm 105 includes that the first oscillating motor 1051 and first rotates supporting rod 1052.Wherein, the first pendulum
Hydrodynamic cylinder pressure 1051 is installed on the end of the second pivoted arm 106, the central axis upright of center axis and telescopic arm 101.First
Rotation supporting rod 1052 is cylindrical metal bar, the output end phase that one end passes through ring flange and the first oscillating motor 1051
Even, the other end is connected by ring flange with the cylinder barrel of telescopic arm 101.
Second pivoted arm 106 is connected with the first pivoted arm 105, is mainly used for adjusting the angle of inclination of the central axis of drilling rod 2.
In the specific embodiment, the second pivoted arm 106 includes the second oscillating motor 1061 and the second rotating support 1062.Wherein,
Two oscillating motors 1061 are fixed on the outside of the second support base 42, and the second rotating support 1062 is made of three blocks of metal derbies
Triangular framing, the metallic plate of one of the first oscillating motor 1051 for being used to support the first pivoted arm 105 is horizontal positioned,
Other two pieces are connected in horizontal positioned metal both sides and converge to the second oscillating motor 1061.
It is worth noting that, the central axis upright of the second oscillating motor 1061 of the second pivoted arm 106 is in the first pivoted arm
The central axis of 105 the first oscillating motor 1051, therefore the rotational plane of the second pivoted arm 106 is perpendicular to the first pivoted arm 105
Rotational plane.
Angle detection device 107 is set to the second oscillating motor of the torsion shaft 91 and the second pivoted arm 106 of turnover device 9
Between 1061, the flip angle for detecting torsion shaft 91.Specifically, between torsion shaft 91 and the second oscillating motor 1061
Detection bar is installed.In addition, being equipped with close to one end of the second oscillating motor 1061 for starting or closing in detection bar
Two oscillating motors 1061 close to switch.When torsion shaft 91 rotates, detection bar rotates therewith, and turns close to switch with detection bar
It is dynamic, until touch preset close to switch, the rotation of the second oscillating motor 1061, otherwise the second oscillating motor 1061 not work
Make, to adjust the angle of inclination of clamped 2 central axis of drilling rod, makes in central axis and the guider 5 of drilling rod 2
Mandrel line is parallel, ensures that drilling rod 2 can be dismounted accurately from rear clamper 7.
Drilling rod regulating box 11 is installed on the end of the second support base 42, main storage drilling rod 2, and adjusts drilling rod 2 in real time
Position.In this specific embodiment, drilling rod regulating box 11 includes drilling rod storage box 111, drilling rod guide part 112, drill rod bracket 113
With angle adjustment 114.
Wherein, drilling rod storage box 111 is generally rectangular shaped open type frame, if being mainly used for storing dry pipe 2.Drilling rod
Guide part 112 passes through the bottom of drilling rod storage box 111, is mainly used for guiding and drilling rod storage box 111 is driven to move.Specific real
It applies in example, drilling rod guide part 112, which specifically includes, is oriented to driving cylinder and guide rail, wherein it is specially to be installed on to be oriented to driving cylinder
The piston rod of piston-type hydraulic cylinder on drill rod bracket 113, the piston-type hydraulic cylinder is connected with drilling rod storage box 111；Guided way
Road is specially two cylindrical metal bars for being fixed on 113 both ends of drill rod bracket, and two cylindrical metal bars are also cross drilling rod
The bottom of storage box 111；When the piston rod for being oriented to driving cylinder is flexible, central axis of the drilling rod storage box 111 along guide rail
Direction moves back and forth.The side of drill rod bracket 113 is articulated on support base 4, and is connected with drilling rod guide part 112, is mainly used for
Supports drill rods guide part 112.Drill rod bracket 113 and generally rectangular shaped open type frame.
Angle adjustment 114 is set between edge and support base 4 of the drill rod bracket 113 far from 10 side of mechanical arm, mainly
For driving drill rod bracket 113 to rotate.In this specific embodiment, angle adjustment 114 is specially piston-type hydraulic cylinder, cylinder
Cylinder is articulated with support base 4, and piston rod is articulated with drill rod bracket 113.When dress brill or lower brill, angle adjustment 114 is bored to contract
Pole support 113 slopes inwardly, and drilling rod storage box 111 slopes inwardly therewith, and drilling rod 2 is rolled to mechanical close to being oriented under the effect of gravity
The position of arm 10 facilitates mechanical arm 10 to capture.When trip-out, angle adjustment 114 is protruding, and drill rod bracket 113 is inclined outwardly,
Drilling rod storage box 111 is inclined outwardly therewith, and drilling rod 2 is rolled under the effect of gravity far from the position for being oriented to mechanical arm 10, facilitates machine
Tool arm 10 places the drilling rod 2 subsequently dismantled from rear clamper 7.
Running gear 12 is mounted on 1 bottom of workbench, is mainly used for driving workbench and each component being installed on it movement.
In this specific embodiment, running gear 12 is the double Athey wheels being hydraulically operated, to adapt to severe operating mode.
Securing device 13 is located at the both ends of workbench 1, and mounted on the both sides up and down of workbench 1, and securing device 13 includes
Upper securing device 131 and lower securing device 132.Specifically, lower securing device 132 has four, and is installed in the bottom of workbench 1
Portion；Upper securing device 131 has three, and is installed in the top of workbench 1.This seven securing devices 13 are that piston type is flexible
Hydraulic cylinder.During running gear 12 moves, each securing device 13 is contraction state, in order to avoid touched in moving process
It hits.After running gear 12 completes mobile, each securing device 13 is stretching state, jacks up the top and bottom in tunnel, a side
Face has using the vibration slowed down in boring procedure, on the other hand can effectively prevent tunnel landslide.
Rotating device 14 is set between workbench 1 and turnover device 9, is mainly used for that turnover device 9 is driven to rotate.Specifically
Ground, rotating device 14 include rotary driving part and support portion, and the top of support portion is connected with flip-arm 93, the bottom of support portion
It is connected with rotary driving part.When rotary driving part export rotating torque when, support portion is rotated with rotary driving part, flip-arm 93 with
Support portion rotates, and guider 5 and mechanical arm 10 on cursor 93 rotate therewith, and to which drilling rod 2 rotates therewith, has
Conducive to the range that drills is increased, multiple movement is avoided, improves drilling efficiency.It is worth noting that, guider 5 is on flip-arm 93
Installation site it is without being limited thereto, different installation sites can be selected as needed, have no effect on realization the purpose of this utility model.
The output end of rotating device 14 is additionally provided with slewing reduction apparatus, which generally includes hydraulic motor and worm gear snail
Bar.
In addition, full-automatic underground drill rig provided herein further includes pumping plant, control valve and electric cabinet.Wherein, pumping plant
For each hydraulic cylinder or hydraulic motor fuel feeding.Control valve is opened for hydraulic circuit where controlling each hydraulic cylinder or hydraulic motor
It closes, so as to each hydraulic cylinder of sequential control or hydraulic motor sequentially-operating.Electric cabinet is mainly used for controlling the work of each control valve
Make state, to make entire hydraulic system sequence execute each action.
The workflow of this full-automatic underground drill rig provided herein is as follows：
1, preparation before drilling：
Start electric cabinet, pumping plant；
Running gear 12 is run near tunnel hole to be drilled；
Start securing device 13, each securing device 13 respectively with offset at the top and bottom of tunnel；
Start rotating device 14, guider 5 rotates, and the main driving device 3 of drilling rod is driven to rotate the azimuth that need to extremely drill；
Start turnover device 9, flip-arm 93 drives guider 5 to overturn, and drives the overturning of drilling rod main driving device 3 to needing to drill
Inclination angle；
Start mechanical arm 10, the second pivoted arm 106 rotation of mechanical arm 10, central axis and the guiding of the first pivoted arm 105 fill
Set 5 centerline axis parallel；
Start lifting gear 8, support base 4 is realized relative to workbench 1 and lifted, and drives guider 5 to lift, the main drive of drilling rod
Device 3 lifts therewith, completes the height needed for drilling.
2, the action of dress drilling rod is as follows：
Start the angle adjustment 114 of drilling rod regulating box 11, drill pipe angle adjustment portion 114 is to contract, drill rod bracket 113
Slope inwardly, drilling rod storage box 111 slopes inwardly therewith, and drilling rod 2 is rolled under the effect of gravity close to the position for being oriented to mechanical arm 10
It sets, mechanical arm 10 is facilitated to capture；
Fore-clamp holder 6 and rear clamper 7 unclamp；
Start mechanical arm 10, telescopic arm 101 drives stationary slip 102 close to drilling rod 2, and movable slips 104 coordinates fixing card
Watts 102 clampings are positioned over the drilling rod 2 in drilling rod regulating box 11, and the rotation of the first pivoted arm 105 presss from both sides drilling rod 2 from drilling rod regulating box 11
It holds into rear clamper 7, mechanical arm 10 unclamps clamped drilling rod 2, and it is that the drilling rod 2 being now placed in rear clamper 7, which becomes,
One drilling rod 21；
Slips power block 74 acts simultaneously after slips power block 73 and second after the first of clamper 7 afterwards, and rear clamper 7 presss from both sides
Tight first drilling rod 21；
Start the drive motor of the main driving device of drilling rod 3, the main driving device 3 of drilling rod rotates forward；Start main 3 bottom of driving device of drilling rod simultaneously
The hydraulic drive oil cylinder in portion, the main driving device 3 of drilling rod is moved along guider 5 to the direction close to the first drilling rod 21, until drilling rod
The round thread protrusion of main driving device 3 is fully screwed into the taper thread groove of 21 end of the first drilling rod, the main driving device of drilling rod 3
It is linked together with the first drilling rod 21, the main driving device of drilling rod 3 stops operating, and the main driving device 3 of drilling rod stops promoting；
Clamper 7 unclamps afterwards, is again started up the hydraulic drive oil cylinder of main 3 bottom of driving device of drilling rod, main 3 band of driving device of drilling rod
Dynamic first drilling rod 21 continues to move to close to the direction of fore-clamp holder 6 along guider 5, until the first drilling rod 21 is completely into preceding
In clamper 6, the main driving device of drilling rod 3 stops operating, and the main driving device 3 of drilling rod stops promoting；
Fore-clamp holder 6 clamps the first drilling rod 21 having been enter into；
It is again started up the drive motor of the main driving device of drilling rod 3, the main driving device 3 of drilling rod inverts；Start the main drive dress of drilling rod simultaneously
The hydraulic drive oil cylinder of 3 bottoms is set, the main driving device 3 of drilling rod is moved along guider 5 to the direction far from fore-clamp holder 6, drilling rod
Main driving device 3 is disconnected with the first drilling rod 21, until the main driving device 3 of drilling rod resets, it is second that the first drilling rod 21, which becomes, at this time
Drilling rod 22, the main driving device of drilling rod 3 stop operating, and the main driving device 3 of drilling rod stops retreating；
The continuation of mechanical arm 10 is put from holding drill pipe 2 in drilling rod regulating box 11 into rear clamper 7, is put into rear clamper at this time
7 drilling rods clamped just become the first drilling rod 21 again；
Slips power block 74 acts simultaneously after slips power block 73 and second after the first of clamper 7 afterwards, and rear clamper 7 presss from both sides
Tight first drilling rod 21；
Restart the drive motor of the main driving device of drilling rod 3, the main driving device 3 of drilling rod rotates forward；Start the main driving device of drilling rod 3 simultaneously
The hydraulic drive oil cylinder of bottom, the main driving device 3 of drilling rod are moved along guider 5 to the direction close to the first drilling rod 21, until boring
The round thread protrusion of the main driving device of bar 3 is fully screwed into the taper thread groove of 21 end of the first drilling rod, the main drive dress of drilling rod
It sets 3 to be linked together with the first drilling rod 21, the main driving device of drilling rod 3 stops operating, and the main driving device 3 of drilling rod stops promoting；
Clamper 7 unclamps the first drilling rod 21 afterwards；
Restart the drive motor of the main driving device of drilling rod 3, the main driving device 3 of drilling rod rotates forward, and the first drilling rod 21 is driven to rotate forward；
Start the hydraulic drive oil cylinder of main 3 bottom of driving device of drilling rod simultaneously, the main driving device 3 of drilling rod drives the first drilling rod 21 along guider
5 close to the second drilling rod 22, until the first drilling rod 21 is linked together with the second drilling rod 22, the main driving device of drilling rod 3 stops operating, drilling rod
Main driving device 3 stops promoting；
Fore-clamp holder 6 unclamps the second drilling rod 22；
It has just been automatically performed the installation of drilling rod in this way.
3, lower brill action is as follows：
It is again started up the drive motor of the main driving device of drilling rod 3, the main driving device 3 of drilling rod rotates forward, and drives the first drilling rod 21 and the
Two drilling rods 22 rotate forward；Start the hydraulic drive oil cylinder of main 3 bottom of driving device of drilling rod simultaneously, the main driving device 3 of drilling rod drives first to bore
Bar 21 and the continuation of the second drilling rod 22 are close to stratum along guider 5, until the first drilling rod 21 and the second drilling rod 22 pierce stratum,
The first drilling rod 21 enters in fore-clamp holder 6 at this time, and the main driving device of drilling rod 3 stops operating, and the main driving device 3 of drilling rod stops promoting；
Fore-clamp holder 6 clamps the first drilling rod 21 being again introduced into；
Start the drive motor of the main driving device of drilling rod 3, the main driving device 3 of drilling rod inverts；Start main 3 bottom of driving device of drilling rod simultaneously
The hydraulic drive oil cylinder in portion, the main driving device 3 of drilling rod is moved along guider 5 to the direction far from fore-clamp holder 6, until drilling rod
Main driving device 3 resets, and the main driving device 3 of drilling rod is disconnected with the first drilling rod 21, and drilling rod 2 just stops in the earth formation at this time, drilling rod
Main driving device 3 stops operating, and the main driving device 3 of drilling rod stops retreating；
Above-mentioned action is repeated, just realizes automatic lower brill in this way.
4, trip-out action is as follows：
Start the angle adjustment 114 of drilling rod regulating box 11, drill pipe angle adjustment portion 114 is protruding, drill rod bracket 113
It is inclined outwardly, drilling rod storage box 111 is inclined outwardly therewith, and drilling rod 2 is rolled under the effect of gravity far from the position for being oriented to mechanical arm 10
It sets, mechanical arm 10 is facilitated to place the drilling rod 2 subsequently dismantled from rear clamper 7；
Start the drive motor of the main driving device of drilling rod 3, the main driving device 3 of drilling rod rotates forward；Start main 3 bottom of driving device of drilling rod simultaneously
The hydraulic drive oil cylinder in portion, the main driving device 3 of drilling rod is close to the drilling rod 2 rested in earth's surface along guider 5, until drilling rod master
Driving device 3 is linked together with the drilling rod 2 rested in earth's surface；
The drilling rod 2 rested in earth's surface is rotated further in the earth formation with the main driving device of drilling rod 3；
It is again started up the hydraulic drive oil cylinder of main 3 bottom of driving device of drilling rod, the main driving device 3 of drilling rod is along guider 5 to remote
The direction of liftoff layer is moved, and the main driving device 3 of drilling rod takes away drilling rod from stratum, until after the first drilling rod 21 of drilling rod 2 enters
Second drilling rod 22 enters in fore-clamp holder 6 in clamper 7, and the main driving device of drilling rod 3 stops operating, after the main driving device 3 of drilling rod stops
It moves back；
Fore-clamp holder 6 clamps the second drilling rod 22, and rear clamper 7 clamps the first drilling rod 21；
Starting device of rotation driving 60, fore-clamp holder 6 is rotated backward relative to main 3 forward direction of driving device of drilling rod, and second
Drilling rod 22 is rotated backward therewith relative to the first drilling rod 21, until the second drilling rod 22 and the first drilling rod 21 realize slight release shape
State；Device of rotation driving 60 is stopped, and fore-clamp holder 6 stops operating；
Clamper 7 unclamps the first drilling rod 21 afterwards；
It is again started up device of rotation driving 60 to be stopped, fore-clamp holder 6 is same relative to main 3 forward direction of driving device of drilling rod
To rotation, until fore-clamp holder 6 resets, fore-clamp holder 6 stops operating；
Restart the drive motor of the main driving device of drilling rod 3, the main driving device 3 of drilling rod inverts；Start the main driving device of drilling rod 3 simultaneously
The hydraulic drive oil cylinder of bottom, the main driving device 3 of drilling rod continue to move to the direction far from fore-clamp holder 6 along guider 5, until
First drilling rod 21 is disconnected with the second drilling rod 22, and the main driving device of drilling rod 3 stops operating, and the main driving device 3 of drilling rod stops retreating；
It is again started up the hydraulic drive oil cylinder of main 3 bottom of driving device of drilling rod, the main driving device 3 of drilling rod continues along guider 5
Stop after moving a small distance to the direction far from fore-clamp holder 6；
Clamper 7 clamps the first drilling rod 21 again afterwards；
Restart the drive motor of the main driving device of drilling rod 3, the main driving device 3 of drilling rod inverts；Start the main driving device of drilling rod 3 simultaneously
The hydraulic drive oil cylinder of bottom, the main driving device 3 of drilling rod continue to move to the direction far from fore-clamp holder 6 along guider 5, until
The main driving device 3 of drilling rod is disconnected with the first drilling rod 21, and the main driving device of drilling rod 3 stops operating, after the main driving device 3 of drilling rod stops
It moves back；
It is again started up the hydraulic drive oil cylinder of main 3 bottom of driving device of drilling rod, the main driving device 3 of drilling rod continues along guider 5
Stop after moving a small distance to the direction far from fore-clamp holder 6；
Mechanical arm 10 is clamped the first drilling rod 21, while rear clamper 7 unclamps the first drilling rod 21, and mechanical arm 10 is by the first drilling rod
21 are put into drilling rod regulating box 11；
Restart the drive motor of the main driving device of drilling rod 3, the main driving device 3 of drilling rod rotates forward；Start the main driving device of drilling rod 3 simultaneously
The hydraulic drive oil cylinder of bottom, the main driving device 3 of drilling rod is moved along guider 5 to close to the direction of fore-clamp holder 6, until boring
The main driving device 3 of bar is linked together with the second drilling rod 22, and the main driving device of drilling rod 3 stops operating, and the main driving device 3 of drilling rod stops promoting；
Fore-clamp holder 6 unclamps the second drilling rod 22；
It is again started up the hydraulic drive oil cylinder of main 3 bottom of driving device of drilling rod, the main driving device 3 of drilling rod is along guider 5 to remote
Direction movement from fore-clamp holder 6, until the second drilling rod 22 is moved to rear clamper 7, the second drilling rod 22 just becomes first at this time
Drilling rod 21 repeats above-mentioned action, makes to become the main driving device of the second drilling rod 22 of the first drilling rod 21 and drilling rod 3 and is disconnected, thus
Mechanical arm 10 is facilitated to be carried in drilling rod regulating box 11；
Above-mentioned action is repeated, just realizes automatic pull out of hole in this way.
In conclusion full-automatic underground drill rig provided by the utility model includes workbench 1, drilling rod 2, the main drive dress of drilling rod
3, support base 4, guider 5, fore-clamp holder 6, rear clamper 7 and device of rotation driving 60 are set, further includes mechanical arm 10, drilling rod
Regulating box 11 and running gear 12.
Due to the interoperation of each key device, may be implemented to automatically move, be automatically positioned, automatically dress bore, it is automatic under
It bores, the actions such as trip-out automatically, therefore, full-automatic underground drill rig provided by the utility model can realize automated job, no
Operating personnel only can substantially be solved into safety problem caused by a line operation, and improve effect to a certain extent
Rate.
The foregoing description of the disclosed embodiments enables those skilled in the art to realize or use the utility model.
Various modifications to these embodiments will be apparent for a person skilled in the art, general original as defined herein
Reason can be realized in other embodiments without departing from the spirit or scope of the present utility model.Therefore, this practicality is new
Type is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase
Consistent widest range.
Claims (10)
1. a kind of full-automatic underground drill rig, which is characterized in that including workbench, drilling rod and the main driving device of drilling rod, further include：
It is installed on the support base of the bench-top；
It is connected with the bottom of the main driving device of the drilling rod and is installed on the support base, for guides the main driving device of the drilling rod
Mobile guider；
One end for being fixed on the guider, the fore-clamp holder for drilling rod described in clamp or release, the fore-clamp holder
Periphery be equipped be connected with the guider, the device of rotation driving for driving the fore-clamp holder to rotate；
Between the main driving device of the drilling rod and the fore-clamp holder and it is fixed on the end of the guider, for clamping
Or unclamp the rear clamper of the drilling rod；
The outside that is installed on the support base, the mechanical arm for loading and unloading the drilling rod to clamper after described；
Set on the support base close to the end of the mechanical arm side, for storing the drilling rod and adjusting the drilling rod position
Drilling rod regulating box；
It is installed on the workbench bottom, the running gear for driving the movable workbench.
2. full-automatic underground drill rig according to claim 1, which is characterized in that the support base includes：Two difference positions
The first support base and the second support base in the guider both sides, wherein the outside of second support base and the machine
Tool arm is connected.
3. full-automatic underground drill rig according to claim 2, which is characterized in that further include：
It is installed on the support base, the lifting gear for driving the support base lifting.
4. full-automatic underground drill rig according to claim 3, which is characterized in that the lifting gear includes：
It is installed on first support base, the first lifting driving portion for driving the first support base lifting；
It is installed on first support base, the first column for guiding the first support base lifting；
Be installed on second support base, for driving second support base and the first support base synchronization lifting
Two lifting driving portions；
It is installed on second support base, the second column for guiding the second support base lifting.
5. full-automatic underground drill rig according to claim 4, which is characterized in that further include：
It is connected across side of the support base far from the mechanical arm and with the bottom of the guider, is described for driving
The turnover device of guider overturning.
6. full-automatic underground drill rig according to claim 5, which is characterized in that the turnover device includes：
The torsion shaft being installed between first support base and second support base；
It is installed on the outside of first support base and is connected with the torsion shaft, for driving the overturning of the torsion shaft rotation to drive
Dynamic portion；
It is connected between first support base and second support base and with the torsion shaft, with the guider
The flip-arm that bottom is connected and is used to drive the guider to realize overturning.
7. full-automatic underground drill rig according to claim 6, which is characterized in that the mechanical arm includes：
Telescopic arm for the drilling rod to be clamped；The movable end of the telescopic arm is equipped with stationary slip；
It is installed on the telescopic arm, the auxiliary pivoted arm for coordinating the stationary slip that the drilling rod is clamped；The auxiliary turns
The movable end of arm is equipped with the movable slips being articulated on the stationary slip；
It is connected with the telescopic arm, for overturning the drilling rod of clamping to the first pivoted arm in the rear clamper；
It is vertically connected with first pivoted arm, second pivoted arm at angle of inclination for adjusting clamped drilling rod central axis；
Dress is detected between second pivoted arm and the torsion shaft, for detecting the angle of the torsion shaft flip angle
It sets.
8. full-automatic underground drill rig according to claim 7, which is characterized in that the drilling rod regulating box includes：
Drilling rod storage box for storing several drilling rods；
Drilling rod guide part across the bottom of the drilling rod storage box, for guiding and driving the drilling rod storage box movement；
Side is articulated with the support base and is connected close to the mechanical arm side and with the both ends of the drilling rod guide part, for branch
Support the drill rod bracket of the drilling rod guide part；
Set on edge of the drill rod bracket far from the mechanical arm side and between the support base, for driving the drilling rod
The angle adjustment of carriage turns.
9. full-automatic underground drill rig according to claim 8, which is characterized in that further include：
Positioned at the workbench both ends and it is installed on the bench-top and bottom, for consolidating the full-automatic underground drill rig
Securing device.
10. according to the full-automatic underground drill rig of claim 5 to 9 any one of them, which is characterized in that further include：
Rotating device between the workbench and the turnover device, for driving the turnover device rotation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820153035.2U CN207892528U (en) | 2018-01-29 | 2018-01-29 | A kind of full-automatic underground drill rig |
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| CN201820153035.2U CN207892528U (en) | 2018-01-29 | 2018-01-29 | A kind of full-automatic underground drill rig |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108071339A (en) * | 2018-01-29 | 2018-05-25 | 重庆平山矿山机电设备有限公司 | A kind of full-automatic underground drill rig |
| CN113931585A (en) * | 2021-10-13 | 2022-01-14 | 中煤科工集团重庆研究院有限公司 | Drill pipe case is stacked with unordered to colliery rig |
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2018
- 2018-01-29 CN CN201820153035.2U patent/CN207892528U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108071339A (en) * | 2018-01-29 | 2018-05-25 | 重庆平山矿山机电设备有限公司 | A kind of full-automatic underground drill rig |
| CN108071339B (en) * | 2018-01-29 | 2024-03-22 | 重庆平山机电设备有限公司 | Full-automatic tunnel drilling machine |
| CN113931585A (en) * | 2021-10-13 | 2022-01-14 | 中煤科工集团重庆研究院有限公司 | Drill pipe case is stacked with unordered to colliery rig |
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Address after: 400060 No. 600, nanhu road, NANPENG street, Banan District, Chongqing Patentee after: Chongqing Pingshan Electromechanical Equipment Co.,Ltd. Address before: 400060 No. 600, nanhu road, NANPENG street, Banan District, Chongqing Patentee before: CHONGQING PINGSHAN MINING ELECTROMECHANICAL EQUIPMENT Co.,Ltd. |
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