CN209099990U - A New Type of Automatic Drilling Pipe System - Google Patents

Abstract

The utility model discloses a novel automatic drilling rod lifting system, which comprises a hydraulic cylinder drilling rod lifting system 1, a chassis 2, a crawler-type traveling mechanism 3, a drilling rig main body 4, and a computer control system. The chassis 2 is fixedly installed on the crawler-type traveling mechanism 3 On the traveling mechanism 3, the hydraulic cylinder upper drill rod system 1 is installed on the chassis 2 and can slide on the chassis 2, and the drilling rig main body 4 is installed on the chassis 2 and can rotate and move on the chassis 2; the utility model saves A large amount of manpower and material resources also avoids the existence of potential safety hazards, and realizes automatic and unmanned operation of underground transportation of drill pipes.

Description

A New Type of Automatic Drilling Pipe System

technical field

The utility model relates to a novel automatic drill pipe upper system.

Background technique

At present, the commonly used drilling rigs in mines are manual upper and lower drilling rigs, which are inconvenient for manual operation and require a lot of manual operations. Currently, it takes more than 10 minutes to disassemble and assemble a drill pipe during the drilling and drilling process of various underground drilling rigs. At the same time, when the drilling is completed at a work site, the heavy weight is a great challenge for manual handling due to the large number of drill pipes (500). Secondly, the working environment is harsh, and the manual disassembly of drill pipes in the underground has great potential safety hazards. A little carelessness will cause serious casualties, risks and many other problems. Moreover, the work efficiency is low, and it is urgent to design a new type of drill pipe. The intelligent, automatic and unmanned equipment can alleviate the harm of the harsh underground environment to the health of the staff and improve the work efficiency.

Under this situation, the utility model provides a new type of automatic drilling pipe conveying system, which greatly liberates hands, reduces various hazards brought about in the process of production and life, greatly reduces production costs, and promotes the national economy. rapid development.

Utility model content

In view of the above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a new type of automatic drill pipe loading system, which can cooperate with the automatic drill pipe box management system to automatically complete the upper and lower drill pipe process, and realize automatic and unmanned operation.

The concrete technical scheme that this utility model adopts is:

A new type of automatic drilling rod lifting system consists of a hydraulic cylinder drilling rod lifting system, a chassis, a crawler-type traveling mechanism, a drilling rig main body, and a computer control system. The chassis is fixedly installed on the crawler-type traveling mechanism, and the hydraulic cylinder drilling The rod system is mounted on the chassis and can slide on the chassis, and the main body of the drilling rig is mounted on the chassis and can rotate and move on the chassis, specifically:

There is a groove in a fixed position inside the chassis, the groove is equipped with a power sprocket, the power sprocket is installed on the groove through the power sprocket fixing hole, and a hydraulic motor a is installed on each power sprocket, and the groove is installed. A chain is also installed inside, the chain is connected to the power sprocket at a fixed position, and the hydraulic motor a drives the power sprocket to drive the chain to rotate, thereby driving the upper drill rod system of the hydraulic cylinder to slide along the groove;

The hydraulic cylinder upper drill rod system consists of a support, a limit block, a thrust bearing, a sliding sprocket, a hydraulic cylinder, a hydraulic rod, a rack cantilever beam, a moving gear, a hydraulic motor b, a fixed plate, a gripper, and a connecting piece. The supporting member holds up the hydraulic cylinder and plays the role of fixing the upper drill rod system on the hydraulic cylinder to slide along the groove, and the lower part of the supporting member is equipped with a limit block and a sliding sprocket, and the sliding sprocket is used to engage the chassis. The chain slides along the chain, the limit block is used to fix the relative position of the support in the groove, and a thrust bearing is installed between the limit block and the sliding sprocket to bear the axial force and ensure the hydraulic cylinder and the limit block. The rack cantilever beam is connected with the hydraulic cylinder through the hydraulic rod, specifically, the hydraulic rod is fixedly connected with the hydraulic cylinder, the hydraulic rod is connected with the rack cantilever beam through the T-shaped groove, and the rack cantilever beam can be connected to the hydraulic rod along the T-shaped groove. The top slides and rotates, the hydraulic motor b and the hydraulic rod are fixed together by a fixed plate, the output end of the hydraulic motor b is equipped with a moving gear that can move axially, and the axial moving power part of the moving gear is connected in parallel with the hydraulic motor b. Through the control of multiple solenoid valves, the axial movement is realized. When the moving gear meshes with the gear above the rack cantilever beam, the cantilever beam rotation function is realized. When the moving gear meshes with the rack below the rack cantilever beam, the cantilever beam is realized. Beam translation function, a gripper is installed on the rack cantilever beam through the connecting piece to complete the two processes of clamping and releasing the drill pipe;

The main body of the drilling rig is composed of a rotary table, a gyrator, a hydraulic motor of the drilling rig, a differential gear, and a gripper. The rotary work is installed on the chassis and can be rotated and moved on the chassis. The rotary table is arranged on the rotary table. , Drilling rig hydraulic motor, differential, gripper, the drilling rig hydraulic motor provides power for the rotary movement of the rotary table, the differential is used to reduce the drilling rig hydraulic motor speed and increase torque, the gripper is used for drilling The positioning of the rod, the hole of the holder and the gyrator are coaxial, the gyrator rotates and moves forward to make the drill pipe hit the coal wall through the holder;

The computer control system is used to calculate and drive the rotation time and angle of the above-mentioned hydraulic motors.

Preferably, there is a chute on the lower side of the rack cantilever beam, the moving gear rotates fixedly, and the rack cantilever beam moves back and forth with the forward and reverse rotation of the moving gear.

Preferably, the gripper is composed of a spring, a pin and two gripping hands. The two gripping hands can rotate around the pin to complete the two processes of gripping and releasing the drill rod. The gripping hands are connected by a spring to make the gripping Hands are clamped.

Preferably, the inner side of the gripping hand is made of a material with higher frictional force.

The beneficial effects of the utility model are as follows: the utility model saves a lot of manpower and material resources, avoids the existence of potential safety hazards, and realizes the automatic and unmanned operation of underground transportation of drill pipes.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the automatic drill pipe loading system according to the embodiment of the present invention;

Figure 2 is a schematic diagram of the chassis structure;

Figure 3 is a schematic diagram of the chassis structure;

Fig. 4 is the structural schematic diagram of the drill pipe system on the hydraulic cylinder;

Figure 5 is a partial view of the grabbing part of the drill rod system on the hydraulic cylinder;

Figure 6 is a partial view of the sliding part of the hydraulic cylinder of the hydraulic cylinder upper drill rod system;

Figure 7 is a partial view of the power part of the chassis chain;

Fig. 8 is a schematic diagram of manual assembly of the drill pipe system gripper on the hydraulic cylinder;

Figure 9 is a schematic diagram of the main structure of the drilling rig;

FIG. 10 is a schematic diagram of taking the drill pipe along the hole by the automatic drill pipe upper system according to the embodiment of the present utility model;

11 is a schematic diagram of the movement of the cantilever beam of the automatic drill pipe upper system according to the embodiment of the present invention;

12 is a schematic diagram of the rotation of the cantilever beam of the automatic drill pipe upper system according to the embodiment of the present invention;

Fig. 13 is a schematic diagram of taking the drill pipe from the upper drill pipe in the side wall hole of the automatic drill pipe upper system according to the embodiment of the present invention;

Figure 14 is a process diagram of the drill pipe on the side;

Figure 15 is a process diagram of the drill pipe on the side;

Fig. 16 is the control process diagram of the computer control system;

In the figure, 1. Drill pipe system on hydraulic cylinder; 1-1. Supporting piece; 1-2. Limit block; 1-3. Thrust bearing; 1-4. Sliding sprocket; 1-5. Hydraulic cylinder; 1 -6. Hydraulic rod; 1-7. Rack cantilever beam; 1-8. Moving gear; 1-9. Hydraulic motor b; 1-10. Fixed plate; 1-11. Gripper; 1-11a. Spring ;1-11b. Pin; 1-11c. Clamp; 1-12. Connecting piece; 2. Chassis; 2-1. Groove; 2-2. Power sprocket fixing hole; 2-3. Chain; 2- 4. Power sprocket; 2-5. Hydraulic motor a; 3. Crawler traveling mechanism; 4. Drilling rig main body; 4-1. Rotary table; 4-2. Rotator; 4-3. Drilling rig hydraulic motor; 4. Differential; 4-5. Gripper; 5. Drill pipe.

Detailed ways

The present utility model will be described in further detail below in conjunction with the accompanying drawings.

Example

A new type of automatic drilling rod lifting system, as shown in Figure 1, consists of a hydraulic cylinder drilling rod lifting system 1, a chassis 2, a crawler traveling mechanism 3, a drilling rig main body 4, and a computer control system. The chassis 2 is fixedly installed on the crawler. On the type traveling mechanism 3, the hydraulic cylinder upper drill rod system 1 is installed on the chassis 2 and can slide on the chassis 2, and the drilling rig main body 4 is installed on the chassis 2 and can rotate and move on the chassis 2, specifically:

As shown in Figures 2, 6, and 7, the chassis 2 has a groove 2-1 at a fixed position inside, the groove 2-1 is equipped with a power sprocket 2-4, and the power sprocket 2-4 passes through the power chain The wheel fixing hole 2-2 is installed on the groove 2-1, the hydraulic motor a2-5 is installed on each power sprocket 2-4, the groove 2-1 is also equipped with a chain 2-3, and the chain 2-3 Connect the power sprocket 2-4 at the fixed position, the hydraulic motor a2-5 drives the power sprocket 2-4 to drive the chain 2-3 to rotate, and then drives the hydraulic cylinder upper drill rod system 1 to slide along the groove 2-1;

As shown in Figures 4 and 5, the hydraulic cylinder upper drill rod system 1 consists of a support 1-1, a limit block 1-2, a thrust bearing 1-3, a sliding sprocket 1-4, a hydraulic cylinder 1-5, Hydraulic rod 1-6, rack cantilever beam 1-7, moving gear 1-8, hydraulic motor b1-9, fixing plate 1-10, gripper 1-11, connecting piece 1-12, wherein the support Part 1-1 holds up the hydraulic cylinder 1-5, which plays the role of fixing the upper drill rod system 1 of the hydraulic cylinder to slide along the groove 2-1, and the lower part of the supporting part 1-1 is equipped with a limit block 1-2 and a sliding chain Wheels 1-4, sliding sprockets 1-4 for engaging the chain 2-3 on the chassis and sliding along the chain 2-3, stopper 1-2 for fixing the support 1-1 in the groove 2-1 The relative position of the limit block 1-2 and the sliding sprocket 1-4 is equipped with a thrust bearing 1-3, which bears the axial force and ensures the rotation between the hydraulic cylinder 1-5 and the limit block 1-2; The rack cantilever beam 1-7 is connected with the hydraulic cylinder 1-5 through the hydraulic rod 1-6, specifically, the hydraulic rod 1-6 is fixedly connected with the hydraulic cylinder 1-5, and the hydraulic rod 1-6 is connected with the rack through the T-shaped slot. The cantilever beam 1-7 is connected, the rack cantilever beam 1-7 can slide and rotate on the hydraulic rod 1-6 along the T-shaped groove, and the hydraulic motor b1-9 and the hydraulic rod 1-6 are fixed together by the fixing plate 1-10 , The output end of the hydraulic motor b1-9 is equipped with a moving gear 1-8 that can move axially, and the axial moving power part of the moving gear 1-8 is connected in parallel with the hydraulic motor b1-9, controlled by multiple solenoid valves, Axial movement is realized. When the moving gear 1-8 meshes with the gear above the rack cantilever beam 1-7, the cantilever beam rotation function is realized. When the moving gear 1-8 meshes with the rack below the rack cantilever beam 1-7 During meshing, the cantilever beam translation function is realized, and the rack cantilever beam 1-7 is equipped with a gripper 1-11 through the connecting piece 1-12 to complete the two processes of clamping and releasing the drill rod 5; the rack There is a chute on the lower side of the cantilever beam 1-7, the moving gear 1-8 rotates fixedly, and the rack cantilever beam 1-7 moves back and forth with the forward and reverse rotation of the moving gear 1-8; as shown in Figure 8, the The gripper 1-11 is composed of a spring 1-11a, a pin 1-11b and two gripping hands 1-11c. The two gripping hands 1-11c can rotate around the pin 1-11b to complete the gripping and loosening of the drill rod 5. In two processes, the gripping hands are connected by springs 1-11a, so that the gripping hands 1-11c are in a clamped state;

As shown in FIG. 9 , the drill main body 4 is composed of a rotary table 4-1, a gyrator 4-2, a drill hydraulic motor 4-3, a differential 4-4, and a gripper 4-5. The worktable 4-1 is installed on the chassis 2 and can be rotated and moved on the chassis 2. The rotary worktable 4-1 is arranged with a gyrator 4-2, a drilling rig hydraulic motor 4-3, a differential 4-4, a clamp Holder 4-5, the drilling rig hydraulic motor 4-3 provides power for the rotary movement of the rotary table 4-1, and the differential 4-4 is used to reduce the rotational speed of the drilling rig hydraulic motor 4-3 and increase the torque, so The holder 4-5 is used for the positioning of the drill pipe 5, the holder 4-5 is coaxial with the hole of the gyrator 4-2, and the gyrator 4-2 rotates and moves forward to make the drill pipe pass through the clamping 4-5 hit the coal wall;

As shown in FIG. 16 , the computer control system is used to calculate and drive the rotation time and angle of the above-mentioned hydraulic motors.

The specific working process of the above automatic drill pipe system is as follows:

Drilling is divided into travel direction holes and travel direction side holes. There are different motion trajectories for holes in different directions. When the position of the hole is determined, the rotation angle and rotation time of each hydraulic motor can be determined by inputting the position of the hole to the computer control system. Cooperate to complete the drilling process, as follows:

The starting position of the hydraulic cylinders 1-5 is located on the side of the chassis 2, and the rack cantilever beams 1-7 are parallel to the forward direction, which can reduce the occupied space and does not affect other parts, as shown in Figure 1.

(1) Advance direction hole

After the whole machine stops in place, raise the surrounding support hydraulic cylinders 1-5. After confirming that the position of the hole is the forward direction, input the hole position data to the computer control system, and the computer program calculates the rotation time and rotation angle of each driving hydraulic motor. The cooperation between the various parts, the specific movement process:

There is a groove 2-1 on the chassis 2 to limit the movement of the hydraulic cylinder. The hydraulic cylinder 1-5 is connected with the support 1-1, and the position is limited by the limit block 1-2 to ensure that the hydraulic cylinder 1-5 is in the groove 2-1. Internal movement, hydraulic, 1-5 and support 1-1 are connected to thrust bearing 1-3 to ensure that hydraulic cylinder 1-5 can rotate on support 1-1, as shown in Figure 6;

A sliding sprocket 1-4 is installed on the connecting shaft of the thrust bearing 1-3, which meshes with the surrounding chain 2-3. The surrounding chain 2-3 is connected to the power sprocket 2-4 driven by the hydraulic motor hydraulic motor a2-5 at a fixed position. Therefore, each chain has its own independent hydraulic motor driven by hydraulic motor a2-5, and can independently perform forward and reverse rotation, as shown in Figure 7;

In the following description, the clockwise and counterclockwise viewing direction is a top view. The labels of the chains 2-3 corresponding to the power sprockets 2-4 are shown in Figure 3. -4 Rotate clockwise, the two hydraulic cylinders 1-5 move along the groove 2-1 to the end of the drill pipe box in turn. Adjust the heights of the two hydraulic cylinders 1-5 to be the same, and the rack cantilever beams 1-7 slide toward the drill pipe box to achieve the same height. Close to the drill pipe box, it is convenient for the drill pipe box to supply the drill pipe 5,;

The drill pipe 5 is placed above the gripper 1-11 by the drill pipe box, and the gripper 1-11 is pressed open by the gravity of the drill pipe 5. The drill pipe 5 enters the gripper 1-11, and the inner side of the gripper 1-11 adopts frictional force For larger materials, rely on the spring force 1-11a and friction to prevent the drill rod 5 from sliding out from the side, and complete the grabbing action of the drill rod 5, as shown in Figure 10;

No. 1 power sprocket 2-4 rotates clockwise, the two hydraulic cylinders 1-5 continue to move along the groove 2-1 to the side of the drilling rig, the front hydraulic pressure, 1-5 meshes with the ② No. power sprocket 2-4, the rear hydraulic pressure, When No. 1-5 meshes with No. ③ power sprocket 2-4, No. ③ power sprocket 2-4 rotates to adjust the distance between the two hydraulic cylinders 1-5. After the distance adjustment is completed, No. ② No. ③ No. power sprocket 2-4 does not move , the No. 1 power sprocket 2-4 drives the two hydraulic cylinders 1-5 to advance between the gripper 4-5 and the gyrator 4-2, as shown in Figure 11 and Figure 12;

Through hydraulic cylinders 1-5 and hydraulic rods 1-6, the independent telescopic adjustment of the angle of drill rod 5 is consistent with the angle of the guide rail, and is consistent with the center height of the gyrator 4-2.

Push the drill rod 5 to the center of the gyrator 4-2 by pushing the two rack cantilever beams 1-7 forward, on a straight line with the center of the gyrator 4-2, and the gyrator 4-2 is pushed forward to clamp the drill. Rod 5, at this time the hydraulic cylinder 1-5 is retracted, the gripper 1-11 is separated from the drill rod 5, and the process of loading the drill rod 5 is completed;

While the gyrator 4-2 pushes the drill rod 5 forward, the two hydraulic cylinders 1-5 continue to return along the groove 2-1 under the drive of the chain 2-3 to take down a drill rod 5 and drive the next drill rod 5. The drill pipe 5 is sent to the position of the gyrator 4-2, and so on and so forth to complete the process of the drill pipe 5;

When the drilling is completed, in the same way, the device takes out the drill rods 5 one by one and sends them back to the drill rod box to complete the process of automatically lowering the drill rods 5 .

(2) Punch the side holes in the forward direction

After the whole machine stops in place, raise the surrounding support hydraulic cylinders 1-5, and after confirming that the position of the hole is the side of the forward direction, input the hole position data to the computer control system, and another computer program will calculate the rotation time of each driving hydraulic motor and Rotate the angle to complete the cooperation between the various parts, and the specific movement process.

The same device can complete the process of drilling rod up and down the side hole in the forward direction.

②No. ③No. 3 power sprocket 2-4 does not move, No. ① power sprocket 2-4 rotates clockwise, the two hydraulic cylinders move along the groove 2-1 to the end of the drill pipe box in turn. Adjust the height of the two hydraulic cylinders 1-5 to be consistent , the rack cantilever beams 1-7 slide in the direction of the drill pipe box, the drill pipe box will put the drill pipe 5 above the gripper, rely on the gravity of the drill pipe 5 to press the gripper, and the drill pipe 5 will enter the gripper to complete the drill pipe. 5 Grab action, as shown in Figure 13;

The drilling rig rotates on the rotary table to the required drilling position and adjusts the inclination angle.

③ No. power sprocket 2-4 rotates counterclockwise, No. ④ power sprocket 2-4 rotates clockwise, at this time, the two hydraulic cylinders 1-5 slide toward the gyrator 4-2 along the middle groove 2-1 respectively, and rotate When the hydraulic cylinder 1-5 on the side of the device 4-2 is in contact with the No. 2 power sprocket 2-4, the No. 3 power sprocket 2-4 rotates and stops after adjusting the position of the hydraulic cylinder 1-5 and the gyrator 4-2. ④ No. power sprocket 2-4 is rotated to adjust the distance between the other hydraulic cylinder 1-5, as shown in Figure 14;

Similar to the drill rod 5 in the forward direction, the angle of the drill rod 5 is adjusted to be consistent with the guide rail angle and the center height of the gyrator 4-2 through the independent telescopic adjustment of the hydraulic cylinder 1-5 and the hydraulic rod 1-6.

Push the drill rod 5 to the center of the gyrator 4-2 by pushing the two rack cantilever beams 1-7 forward, on a straight line with the center of the gyrator 4-2, and the gyrator 4-2 is pushed forward to clamp the drill. Rod 5, at this time the hydraulic cylinder 1-5 is retracted, the gripper 1-11 is separated from the drill rod 5, and the process of attaching the drill rod 5 is completed, as shown in Figure 15.

Claims (4)

1. a novel automatic upper drill rod system is characterized in that by the hydraulic cylinder upper drill rod system, chassis, crawler type running gear, drilling rig main body, computer control system, the chassis is fixedly installed on the crawler type running gear, so The drill rod system on the hydraulic cylinder is installed on the chassis and can slide on the chassis, and the main body of the drilling rig is installed on the chassis and can rotate and move on the chassis, specifically: There is a groove in a fixed position inside the chassis, the groove is equipped with a power sprocket, the power sprocket is installed on the groove through the power sprocket fixing hole, and a hydraulic motor a is installed on each power sprocket, and the groove is installed. A chain is also installed inside, the chain is connected to the power sprocket at a fixed position, and the hydraulic motor a drives the power sprocket to drive the chain to rotate, thereby driving the upper drill rod system of the hydraulic cylinder to slide along the groove; The hydraulic cylinder upper drill rod system consists of a support, a limit block, a thrust bearing, a sliding sprocket, a hydraulic cylinder, a hydraulic rod, a rack cantilever beam, a moving gear, a hydraulic motor b, a fixed plate, a gripper, and a connecting piece. The supporting member holds up the hydraulic cylinder and plays the role of fixing the upper drill rod system on the hydraulic cylinder to slide along the groove, and the lower part of the supporting member is equipped with a limit block and a sliding sprocket, and the sliding sprocket is used to engage the chassis. The chain slides along the chain, the limit block is used to fix the relative position of the support in the groove, and a thrust bearing is installed between the limit block and the sliding sprocket to bear the axial force and ensure the hydraulic cylinder and the limit block. The rack cantilever beam is connected with the hydraulic cylinder through the hydraulic rod, specifically, the hydraulic rod is fixedly connected with the hydraulic cylinder, the hydraulic rod is connected with the rack cantilever beam through the T-shaped groove, and the rack cantilever beam can be connected to the hydraulic rod along the T-shaped groove. The top slides and rotates, the hydraulic motor b and the hydraulic rod are fixed together by a fixed plate, the output end of the hydraulic motor b is equipped with a moving gear that can move axially, and the axial moving power part of the moving gear is connected in parallel with the hydraulic motor b. Through the control of multiple solenoid valves, the axial movement is realized. When the moving gear meshes with the gear above the rack cantilever beam, the cantilever beam rotation function is realized. When the moving gear meshes with the rack below the rack cantilever beam, the cantilever beam is realized. Beam translation function, a gripper is installed on the rack cantilever beam through the connecting piece to complete the two processes of clamping and releasing the drill pipe; The main body of the drilling rig is composed of a rotary table, a gyrator, a hydraulic motor of the drilling rig, a differential gear, and a gripper. The rotary work is installed on the chassis and can be rotated and moved on the chassis. The rotary table is arranged on the rotary table. , Drilling rig hydraulic motor, differential, gripper, the drilling rig hydraulic motor provides power for the rotary movement of the rotary table, the differential is used to reduce the drilling rig hydraulic motor speed and increase torque, the gripper is used for drilling The positioning of the rod, the hole of the holder and the gyrator are coaxial, the gyrator rotates and moves forward to make the drill pipe hit the coal wall through the holder; The computer control system is used to calculate and drive the rotation time and angle of the above-mentioned hydraulic motors. 2. The automatic drill pipe upper system according to claim 1, characterized in that there is a chute on the lower side of the rack cantilever beam, the moving gear rotates fixedly, and the rack cantilever beam rotates forward and reverse with the moving gear And move back and forth. 3. The automatic drilling rod loading system according to claim 1, wherein the gripper is composed of a spring, a pin and two gripping hands, and the two gripping hands can rotate around the pin to complete the gripping and loosening of the drill rod. In the two processes, the gripping hands are connected by springs, so that the gripping hands are in a clamped state. 4 . The automatic drill pipe loading system according to claim 3 , wherein the inner side of the gripper is made of a material with higher frictional force. 5 .