CN212898367U - Automatic material structure of getting of drilling rod of crawler-type intelligent rig for coal mine - Google Patents

Abstract

The utility model discloses an automatic material taking structure for drill rods of a crawler-type intelligent drilling machine for coal mines, which comprises a drill rod box device and a material taking manipulator device, wherein the drill rod box device comprises a drill rod box support fixed on a main turntable device, side plates are symmetrically arranged at two sides of the drill rod box support, partition plates are arranged at the inner sides of the two side plates, a drill rod supporting plate assembly is arranged at the top end of one side of each side plate, the structure enlarges the capacity of the drill rod box of the drilling machine, the drill rod box of the drill rod box adopts a multilayer structure, the size of the drill rod box is changed, the expansion can be carried out according to actual requirements, a large number of drill rods are placed, the drill rods are not required to be stopped and added when the drill rods are supplemented, the construction efficiency and the production rhythm are improved, the utility model is novel in design, the standard drill rods can be quickly taken out or put back, the life-span of distinguishing the subassembly with water has been prolonged greatly to reduce cost moreover, the utility model is suitable for an application, popularization and the popularization in various colliery well drilling places.

Description

Automatic material structure of getting of drilling rod of crawler-type intelligent rig for coal mine

Technical Field

The utility model belongs to the technical field of the colliery rig, specifically a material structure is got in automation of drilling rod of crawler-type intelligent rig for coal mine.

Background

The existing drilling machine needs a plurality of people to operate and operate in coordination, particularly, the loading and unloading of the drill rods are mostly carried out manually, the required manual workload is large, the labor intensity is high, the efficiency is low, and certain potential safety hazards exist. Also there are few internal rigs to adopt the manipulator to snatch the pole, but its precision is not high, and drilling rod case project organization is unreasonable moreover, and very most adopts split type, needs artifical adjustment cooperation position before the operation, and the error is great when leading to the manipulator to snatch the drilling rod, and is inefficient when leading to supporting the use.

The automatic drilling machine apparatus has the following disadvantages:

(1) the equipment adopts a latest full-automatic control system, and the control and maintenance personnel can be on duty only after system training.

(2) The inherent drill rod box of the equipment has limited capacity, only a fixed amount of drill rods can be loaded at one time, and after the drill rods in the box are sequentially grabbed by the manipulator, the drill rods need to be manually supplemented into the drill rod box.

(3) Because the drill rod box is close to the material taking manipulator, the drill rod box is added with the drill rod when the drilling machine operates, so that potential safety hazards exist, the drilling machine needs to be stopped to add the drill rod box, and the construction efficiency is influenced by frequent stopping.

(4) In the process of tunneling the drill rod, the drill rod is tightly fastened with the water swivel assembly and is tunneled by transferring force through the water swivel assembly, so that the rotating shaft on the water swivel assembly is easily damaged, the replacement is troublesome, and the use cost is high.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the colliery in the pit operating personnel many, the operation is complicated, and intensity of labour is big, and is inefficient to and the potential safety hazard problem that exists in the work progress, provide a colliery with automatic material structure of getting of drilling rod of crawler-type intelligent rig, application manipulator, drilling rod case, rig, walking tracked vehicle and automatic control system etc. are integrated, realize few people or unmanned remote operation, reduce construction cost, improve the efficiency of construction, with the problem of proposition in solving above-mentioned background art.

The utility model discloses an adopt following technical scheme to overcome above technical problem, specifically do:

the utility model provides an automatic material structure of getting of drilling rod of crawler-type intelligent rig for coal mine, including drilling rod case device and material taking manipulator device, the drilling rod case device is including fixing drilling rod case support on main carousel device, be provided with the curb plate at drilling rod case support bilateral symmetry, inboard at the both sides board all is provided with the baffle, the top that is located curb plate one side is provided with drilling rod layer board assembly, this structure has enlarged drilling rod case capacity of rig, drilling rod case adopts multilayer structure, change drilling rod case size, can carry out the dilatation according to the actual demand, place a large amount of drilling rods, and need not the shut down when replenishing the drilling rod and add the drilling rod, the efficiency of construction and production beat have been.

As a further scheme of the utility model, evenly be provided with the seam strip that the interval equals on the curb plate, and the distance between the board of both sides is not less than the length of standard drilling rod, is convenient for carry out quick ventilated drying and cooling to the standard drilling rod of placing in the drilling rod case device through setting up the seam strip.

As the utility model discloses further scheme, the baffle is the slat structure and perpendicular with corresponding curb plate, and this baffle distributes on the curb plate of seam strip both sides, and the drilling rod draw-in groove that constitutes drilling rod draw-in groove and both sides board position and correspond between the adjacent baffle realizes spacing to the standard drilling rod, through setting up the drilling rod draw-in groove, can guarantee that the standard drilling rod places neatly at the drilling rod case device for standard drilling rod between the riser forms the clearance, and the later stage manipulator of being convenient for snatchs or puts into the standard drilling rod, also is favorable to the heat dissipation and the drying of drilling rod case device.

As a further aspect of the present invention, the drill rod pallet assembly has an arcuate jaw structure.

As the utility model discloses further scheme is provided with the guard shield in the drilling rod case device outside, through setting up the guard shield, avoids standard drilling rod to drop and causes the potential safety hazard.

As a further scheme of the present invention, the material taking manipulator device includes a manipulator horizontal mounting bracket parallel to the drill pipe box device, a manipulator horizontal sliding bottom plate is mounted on the manipulator horizontal mounting bracket and is controlled by a motor located on the manipulator horizontal mounting bracket to move on the manipulator horizontal mounting bracket, an oil cylinder bracket is fixedly disposed on the manipulator horizontal mounting bracket, an upper slide assembly and a lower slide assembly are disposed on the oil cylinder bracket and are matched with the oil cylinder bracket through a slide rail, a manipulator lifting oil cylinder is fixed on the oil cylinder bracket, and a manipulator lowering oil cylinder is disposed on the upper slide assembly and the lower slide assembly, so as to control the upper slide assembly and the lower slide assembly to move on the oil cylinder bracket; a drill rod box manipulator shell is arranged on one side of the upper and lower sliding seat assemblies, a drill rod taking clamping assembly is arranged in the drill rod box manipulator shell, and a drill rod taking clamping assembly driving oil cylinder is arranged on the drill rod taking clamping assembly.

As the utility model discloses further scheme is provided with rotatory hydro-cylinder and rotatory stop device between upper and lower sliding seat assembly and drilling rod case manipulator shell, realizes the rotation angle control to drilling rod case manipulator shell through rotatory hydro-cylinder, realizes rotatory spacingly to drilling rod case manipulator shell through rotatory stop device.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model relates to a novelty not only can take out fast or put back standard drilling rod, and the assembly precision is high between the standard drilling rod, and stability is good, and especially the drilling rod tunnelling distinguishes the subassembly to water and can not have and external force, has prolonged the life-span that the subassembly was distinguished to water greatly to reduce cost moreover, the utility model is suitable for an application, the popularization and the popularization in all kinds of colliery well drilling places.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural view of a pipe box assembly of the present invention;

fig. 2 is a schematic structural view of the material taking manipulator device of the present invention;

FIG. 3 is a schematic structural view of the present invention for use in an intelligent drilling rig;

FIG. 4 is a side view of FIG. 3;

FIG. 5 is a front view of FIG. 3;

FIG. 6 is a schematic structural diagram of a turnover manipulator device in the intelligent drilling machine;

FIG. 7 is a first schematic structural diagram of a power head in an intelligent drilling machine;

FIG. 8 is a schematic structural diagram II of a power head in the intelligent drilling machine;

FIG. 9 is a front view of FIG. 8;

fig. 10 is a partially enlarged schematic view of fig. 9.

In the figure: 1. a power head; 2. a main turntable device; 3. a flipping robot device; 4. a material taking manipulator device; 5. a power assembly; 6. an electric control cabinet; 7. a valve block assembly; 8. a drill pipe box device; 9. a walking tracked vehicle device; 10. a drill pipe box support; 11. a side plate; 12. a partition plate; 13. a shield; 14. a drill rod support plate assembly; 15. the feeding rod mechanism is provided with a vertical column assembly; 16. the overturning manipulator rotates the oil cylinder, 17, overturning manipulator; 18. a deceleration rotating table; 19. lifting the sliding table; 20. a bracket is horizontally installed on the manipulator; 21. a manipulator horizontally slides the bottom plate; 22. taking a drill rod clamping assembly; 23. a manipulator shell of the drilling rod box; 24. a rotation limiting device; 25. rotating the oil cylinder; 26. an upper and lower slide carriage assembly; 27. a cylinder support; 28. a propulsion cylinder; 29. a holder; 30. the waterside propulsion oil cylinder; 31. a hydraulic chuck; 32. a connecting disc; 33. a bolt; 34. a hydraulic motor; 35. a water braid assembly; 36. a gyrator tank assembly; 37. a gyrator pallet assembly; 38. upper and lower anchoring cylinders; 39. sewing the strips; 40. a power head slideway; 41. a reduction gearbox; 42. output shaft, 43, standard drill rod; 44. a first drill rod 45, a male buckle 46 and a female buckle.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

In addition, an element of the present invention may be said to be "secured to" or "disposed on" another element, either directly on the other element or with intervening elements present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Referring to fig. 1 to 10, in an embodiment of the present invention, the present embodiment is applied to an automatic material taking structure for a drill rod of a crawler-type intelligent drilling machine for coal mines, including a walking crawler device 9, a main turntable device 2 is disposed at the front end of the walking crawler device 9, a power assembly 5 of the drilling machine is mounted at the left rear end of the walking crawler device 9, a right rear valve bank assembly 7 of the walking crawler device 9 and an electric control cabinet 6 for realizing remote control, a power head 1 is mounted at the front end of the main turntable device 2, a turning manipulator device 3 for loading and unloading a drill rod is mounted at the upper end of the main turntable device 2, and a material taking manipulator device 4 for returning a drill rod on a loading and unloading manipulator to a drill rod box and a drill rod box device 8 for storing a drill rod are mounted at the rear end of the main turntable; an upper anchoring oil cylinder 38 and a lower anchoring oil cylinder 38 for fixing the drilling machine are arranged on the periphery of the walking crawler device 9, the walking crawler 9 is to be adjusted to a working position by arranging the upper anchoring oil cylinder 38 and the lower anchoring oil cylinder 38, the drilling machine is fixed at the working position by lifting the upper anchoring oil cylinder 38 and the lower anchoring oil cylinder 38, and the crawler-type intelligent drilling machine for the coal mine is ensured to be stable and reliable in working.

The drill rod box device 8 comprises a drill rod box support 10 fixed on a main turntable device 2, side plates 11 are symmetrically arranged on two sides of the drill rod box support 10, partition plates 12 are arranged on the inner sides of the two side plates 11, and a drill rod supporting plate assembly 14 is arranged at the top end of one side of each side plate 11; the side plates 11 are uniformly provided with seam strips 39 with equal intervals, the distance between the two side plates 11 is not less than the length of a standard drill rod, and the standard drill rod placed in the drill rod box device (8) can be quickly ventilated, dried and cooled by the seam strips 39; the partition plates 12 are of strip plate structures and are perpendicular to the corresponding side plates 11, the partition plates 12 are distributed on the side plates 11 on the two sides of the seam strip 39, drill rod clamping grooves are formed between the adjacent partition plates 12, and the drill rod clamping grooves corresponding to the two side plates 11 realize the limiting of the standard drill rods, and by arranging the drill rod clamping grooves, the standard drill rods can be placed neatly in the drill rod box device 8, so that gaps are formed among the standard drill rods in vertical rows, a manipulator can grab or place the standard drill rods conveniently in the later period, and the heat dissipation and drying of the drill rod box device 8 are facilitated; the drill rod supporting plate assembly 14 is of an arc-shaped clamping jaw structure; be provided with guard shield 13 in the tool box device 8 outside, through setting up guard shield 13, avoid the standard drilling rod to drop and cause the potential safety hazard.

The material taking manipulator device 4 comprises a manipulator horizontal mounting bracket 20 parallel to the drill pipe box device 8, a manipulator horizontal sliding bottom plate 21 is mounted on the manipulator horizontal mounting bracket 20, the manipulator horizontal sliding bottom plate 21 is controlled by a motor located on the manipulator horizontal mounting bracket 20) to move on the manipulator horizontal mounting bracket (20), an oil cylinder bracket 27 is fixedly arranged on the manipulator horizontal mounting bracket 20, an upper sliding seat assembly 26 and a lower sliding seat assembly 26 are arranged on the oil cylinder bracket 27, the upper sliding seat assembly 26 and the lower sliding seat assembly 26 are matched with the oil cylinder bracket 27 through sliding rails, a manipulator lifting oil cylinder is fixed on the oil cylinder bracket 27, and a manipulator descending oil cylinder is arranged on the upper sliding seat assembly 26 and the lower sliding seat assembly 26, so that the upper sliding seat assembly 26 and the lower sliding seat assembly; a drill rod box manipulator shell 23 is arranged on one side of the upper and lower sliding seat assembly 26, a drill rod taking clamping component 22 is arranged in the drill rod box manipulator shell 23, and a drill rod taking clamping component driving oil cylinder is arranged on the drill rod taking clamping component 22; a rotary oil cylinder 25 and a rotary limiting device 24 are arranged between the upper and lower sliding seat assembly 26 and the casing 23 of the drilling rod box manipulator, the rotary oil cylinder 25 controls the rotation angle of the casing 23 of the drilling rod box manipulator, and the rotary limiting device 24 limits the rotation of the casing 23 of the drilling rod box manipulator.

The overturning manipulator device 3 comprises a lifting sliding table 19 arranged on the main turntable device 2, a speed reduction rotating table 18 is installed on the lifting sliding table 19, a feeding rod mechanism upright post assembly 15 is fixedly arranged on the speed reduction rotating table 18, an overturning manipulator 17 is arranged on the feeding rod mechanism upright post assembly 15, and the overturning manipulator 17 is connected with the feeding rod mechanism upright post assembly 15 through an overturning manipulator rotating oil cylinder 16.

The power head 1 comprises a power head slide way 40 which is fixed on a speed-reducing rotary table 18 on a turnover manipulator device 3 through a connecting disc 32 and a bolt 33, so that the relative position of the power head slide way 40 and the turnover manipulator device 3 is kept unchanged during turnover, a clamp 29 is fixedly arranged at the front end of the power head slide way 40, a gyrator supporting plate assembly 37 is arranged at the rear part of the power head slide way 40, the gyrator supporting plate assembly 37 can move left and right along the power head slide way 40, a gyrator box body assembly 36 is fixedly arranged on the gyrator supporting plate assembly 37, a hydraulic chuck 31 is arranged at the front end of the gyrator box body assembly 36, and a water braid assembly 35 is arranged at the tail end of; the gyrator box body assembly 36 comprises a reduction box 41 arranged in the gyrator box body assembly, an output shaft 42 of the reduction box 41 is hollow and penetrates through the reduction box 41, the left end of the output shaft 42 is connected with the hydraulic chuck 31 to fix the hydraulic chuck 31 and control the hydraulic chuck 31 to rotate through the output shaft 42, a male buckle structure at the front end of the water braid assembly 35 is inserted into the output shaft 42 and corresponds to the hydraulic chuck 31 in position, and a hydraulic motor 34 is arranged at the input end of the reduction box 41; a water braid propelling cylinder 30 is arranged on a power head slide way 40 below the water braid assembly 35 to control the water braid assembly 35 to move on the gyrator supporting plate assembly 37; a thrust cylinder 28 is provided on the underside of the powerhead slide 40 to control the movement of the gyrator blade assembly 37 on the powerhead slide 40.

For realizing automation, one or more drilling machines are remotely controlled at the ground, and a set of control system is designed specifically and auxiliarily and comprises

1. The intelligent drilling machine comprises an operation portal intelligent drilling machine cloud control device, an intelligent drilling machine ground control end operation table, MR augmented reality, control handle force feedback, an intelligent drilling machine underground control end upper computer and a lower computer, and an intelligent drilling machine near-end remote control device;

2, data acquisition and storage are based on a cloud side data center warehouse, data real-time acquisition and processing, data distributed redundancy/redundant disaster processing and real-time historical data optimization processing;

3, an intelligent anti-blocking blowout and anti-drill-dropping analysis control module, an automatic process drilling analysis control module, an equipment working condition adaptability analysis control module, a three-dimensional drilling track mapping module, a transparent working surface coal rock recognition analysis module, an intelligent machine vision analysis module, a multi-drill machine group control cooperative work control module, an intelligent continuous production control module, a tunneling risk point analysis module, a machine self-learning intelligent parameter simulation module and the like of the big data analysis control system.

The control system of the software is a conventional product in the prior art, and is only used for realizing the automation of the drilling machine in the embodiment, and the control system is not a key of the structural design of the embodiment and does not belong to the protection scope of the application.

The specific working principle and process are as follows:

the mechanical hand device comprises a host 1, a main turntable device 2, a turnover mechanical hand device 3, a drill rod box taking mechanical hand device 4, a power assembly 5, an electric control cabinet 6, a valve group assembly 7, a drill rod box 8 and a walking crawler vehicle device 9, wherein the power assembly 5 is communicated with corresponding parts to realize power supply of the whole set of equipment, and the valve group assembly 7 is responsible for controlling the whole set of drilling machine.

As shown in fig. 1, before drilling, the drilling machine of the embodiment transmits the drilling point location of the drilling machine (i.e. the coordinate information of the drilling point is input into the control system) through the remote information interaction system, adjusts the walking crawler 9 to the working position, and raises the upper and lower anchoring cylinders 38 to fix the drilling machine at the working position; the drilling machine is adjusted by rotating the main turntable device 2 (the main turntable device 2 comprises a horizontal rotating part and a vertical rotating part, the horizontal rotating part realizes the horizontal rotation of the power head 1, the vertical rotating part realizes the elevation angle change of the power head 1, and because the main turntable devices 2 are conventional technical schemes, the embodiment does not give consideration to the specific structure and the working principle inside the main turntable devices), so that the power head 1 is aligned with the punching point, meanwhile, the first drill rod 44 is fixed on the clamp holder 29, the first drill rod 44 is aligned with the punching point, and the standard drill rod 43 is stacked in the drill rod box device 8;

as shown in fig. 6, the material taking manipulator device 4 moves horizontally (when moving horizontally, the manipulator horizontal mounting bracket 20 moves through the motor control on the manipulator horizontal mounting bracket 20) to the column position for grabbing the drill rod, and then the manipulator cylinder (the manipulator lifting cylinder on the cylinder bracket 27 or the manipulator lowering cylinder on the up-down slide assembly 26) moves up and down to move the casing 23 of the casing manipulator to the row position of the standard drill rod 44 (the standard drill rod 44 is located at the position of the drill rod casing device 8); a drill rod taking and clamping component driving oil cylinder (positioned in a shell 23 of a drill rod box manipulator and used for controlling the drill rod taking and clamping component 22 to be opened and closed) extends out, the drill rod taking and clamping component 22 is controlled to clamp a drill rod, a manipulator lifting oil cylinder (a manipulator lifting oil cylinder on an oil cylinder support 27 or a manipulator descending oil cylinder on an upper sliding seat assembly 26 and a lower sliding seat assembly 26) extends out, the manipulator lifting oil cylinder vertically moves to a fixed height, then the material taking manipulator device 4 horizontally moves to an appointed point position, a rotary oil cylinder 25 rotates (rotates and limits through a rotary limiting device 24), and a standard drill rod 44 is conveyed to;

as shown in fig. 5, the turnover manipulator rotating cylinder 16 drives the turnover manipulator 17 to rotate to the position of the drill rod supporting plate assembly 14, then the driving cylinder of the turnover manipulator 17 extends to control the claw of the loading and unloading manipulator 17 to clamp a standard drill rod 44 on the drill rod supporting plate assembly 14, the drill rod clamping component driving cylinder (located in the manipulator shell 23 of the drill rod box and controlling the opening and closing of the drill rod taking clamping component 22) retracts, the claw of the drill rod taking clamping component 22 opens, the standard drill rod 44 is released, the manipulator cylinder (a manipulator lifting cylinder on the cylinder bracket 27 or a manipulator descending cylinder on the upper and lower slide seat assembly 26) extends to reach a specified limit, then the manipulator taking device 4 horizontally moves to the next drill rod taking position, and the working steps of the taking manipulator device 4 are repeated to prepare for next taking; after the material taking manipulator device 4 horizontally moves to a non-interference position, the speed reduction rotary table 18 on the turnover manipulator device (3) rotates, the turnover manipulator 17 is controlled to clamp the standard drill rod 44 to be parallel to the drilling center of the main drill bit 1, then the turnover manipulator rotary oil cylinder 16 rotates, the turnover manipulator 17 is controlled to move to a specified position, and the central line of the standard drill rod 44 clamped by the turnover manipulator 17 is ensured to be coaxial with the drilling center of a drilling machine; the lifting sliding table 19 mainly aims to realize the position adjustment of the turnover manipulator device 3 on the main turntable device 2, so that the turnover manipulator device 3 can be matched with the material taking manipulator device 4 and the power head 1;

as shown in fig. 7, the water braid advancing cylinder 30 retracts and the water braid motor on the water braid assembly 35 rotates to advance the gyrator case assembly 36 to move leftward to buckle the water braid (i.e. the female buckle 46 on the standard drill rod 44 is screwed with the male buckle 45 on the water braid assembly 35), after the water braid is fastened, the hydraulic chuck 31 clamps the standard drill rod 44 under the action of the hydraulic motor 34, then the control cylinder of the turning manipulator device 3 retracts to loosen the standard drill rod 44, the control cylinder rotates to an initial material taking point through the rotating cylinder 16, and then the operation steps of the turning manipulator device 3 and the material taking manipulator device 4 are repeated to perform the operation of the upper standard drill rod 44;

as shown in fig. 8-10, after the manipulator device 3 is turned to the neutral position, the braid pushing cylinder 30 continues to retract (i.e. the box assembly 36 of the pushing gyrator continues to move leftward), the power head motor 34 controls the hydraulic chuck 31 to rotate again to perform drill rod fastening (i.e. the standard drill rod 44 is in threaded fit with the first drill rod 43), after complete fastening, the clamp 29 is released, the pushing cylinder 28 retracts to push the gyrator assembly 37 to move leftward on the power head slideway 40 to perform drilling operation, after the drill rod is pushed to the designated position (the standard drill rod 44 needs to be added), the clamp 29 clamps the fastened standard drill rod 44, the hydraulic chuck 31 is released, then the braid pushing cylinder 30 extends while the water motor on the braid assembly 35 rotates reversely, so as to perform braid stripping (i.e. the mounted standard drill rod 44 and the braid assembly 35 realize male and female buckle release), after complete tripping, the propulsion oil cylinder 28 extends out to push the gyrator assembly 37 to move rightwards on the power head slide way 40, the gyrator box assembly 36 returns to the initial position, and the steps are repeated to fill the standard drill rod 44 until the drilling operation is completed; in the working procedure, the water braid assembly 35 is only in threaded fit connection with the standard drill rod 44 to supply water to the drill rod, in the tunneling process of the drilling machine, the water braid assembly 35 cannot be subjected to any external force and force transmission, so that the service life of the water braid assembly 35 and a male buckle 45 structure on the water braid assembly 35 is greatly prolonged, in the embodiment, the hydraulic motor 34 is used for controlling the hydraulic chuck 31 to clamp the standard drill rod 41, in the tunneling process of the drilling machine, the hydraulic chuck 31 acts on the standard drill rod 44, namely, the acting force is used for pushing tunneling through the static friction force of the hydraulic chuck 31 and the standard drill rod 44, namely, in the rotating tunneling process of the drilling machine, the static friction force is distributed on the standard drill rod 44 to achieve tunneling; however, in the prior art, there is no hydraulic chuck, and only after the water identification assembly 35 is matched with the standard drill rod 44, there are both torque (the drilling machine needs to rotate) and axial acting force (needs to be tunneled) between the water identification assembly 35 and the standard drill rod 44, and at the same time, the water identification assembly 35 and the standard drill rod 44 are also water channels, if special geology is encountered or the stress is not uniform, the connection between the water identification assembly 35 and the standard drill rod 44 (the male buckle 45 and the female buckle 46) is very easy to be damaged, if the water identification assembly 35 is completely scrapped, the water identification assembly needs to be replaced again, while in this embodiment, the hydraulic chuck 31 and the standard drill rod 44 (the acting force and the torque force are static friction forces, and the areas of the torque and the axial acting force are large) are used, the hydraulic chuck 31 is damaged, even if the hydraulic chuck 31 is damaged, the later period is updated quickly, only the hydraulic chuck 31 needs to be detached from the output shaft 42 on the reduction box 41 and reinstalled, compared with the prior art, the service life, the replacement time and the cost are incomparable advantages.

And (3) retreating the rod, namely retreating the rod after the drilling rod operation is finished, reversely operating the steps, placing the drilling rod into the drilling rod box by using the overturning mechanical arm and the drilling rod box mechanical arm, finishing one cycle, and realizing automatic grabbing and rod replacing operation

The foregoing is illustrative of the preferred embodiments of the present invention only, and is not to be construed as limiting the claims. The present invention is not limited to the above embodiments, and the specific structure thereof is allowed to be changed. However, all changes which come within the scope of the independent claims of the invention are to be embraced therein.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Claims (5)

1. The utility model provides an automatic material structure of getting of drilling rod of crawler-type intelligent rig for coal mine, includes drilling rod box device (8) and reclaimer manipulator device (4), its characterized in that: the drill rod box device (8) comprises a drill rod box support (10) fixed on the main turntable device (2), side plates (11) are symmetrically arranged on two sides of the drill rod box support (10), partition plates (12) are arranged on the inner sides of the two side plates (11), and a drill rod supporting plate assembly (14) is arranged at the top end of one side of each side plate (11); the material taking manipulator device (4) comprises a manipulator horizontal mounting bracket (20) parallel to the drill pipe box device (8), a manipulator horizontal sliding bottom plate (21) is arranged on the manipulator horizontal mounting bracket (20), the manipulator horizontal sliding bottom plate (21) is controlled by a motor positioned on the manipulator horizontal mounting bracket (20) to move on the manipulator horizontal mounting bracket (20), an oil cylinder bracket (27) is fixedly arranged on the horizontal mounting bracket (20) of the manipulator, an upper and lower sliding seat assembly (26) is arranged on the oil cylinder bracket (27), the upper and lower sliding seat assembly (26) is matched with the oil cylinder bracket (27) through a sliding rail, a manipulator lifting oil cylinder is fixed on the oil cylinder bracket (27), a manipulator descending oil cylinder is arranged on the upper and lower sliding seat assembly (26), thereby controlling the upper and lower sliding seat assemblies (26) to move on the oil cylinder bracket (27); a drill rod box manipulator shell (23) is arranged on one side of the upper and lower sliding seat assembly (26), a drill rod taking clamping assembly (22) is arranged in the drill rod box manipulator shell (23), and a drill rod taking clamping assembly driving oil cylinder is arranged on the drill rod taking clamping assembly (22).

2. The automatic material taking structure for the drill rod of the crawler-type intelligent drilling machine for the coal mine according to claim 1, is characterized in that: the side plates (11) are uniformly provided with seam strips (39) with equal intervals, and the distance between the two side plates (11) is not less than the length of the standard drill rod.

3. The automatic material taking structure for the drill rod of the crawler-type intelligent drilling machine for the coal mine according to claim 1, is characterized in that: the partition plates (12) are of strip plate structures and are perpendicular to the corresponding side plates (11), the partition plates (12) are distributed on the side plates (11) on two sides of the seam strip (39), drill rod clamping grooves are formed between adjacent partition plates (12), and the drill rod clamping grooves corresponding to the positions of the two side plates (11) limit standard drill rods; the drill rod supporting plate assembly (14) is of an arc-shaped clamping jaw structure.

4. The automatic material taking structure for the drill rod of the crawler-type intelligent drilling machine for the coal mine according to claim 1, is characterized in that: a protective cover (13) is arranged outside the drill pipe box device (8).

5. The automatic material taking structure for the drill rod of the crawler-type intelligent drilling machine for the coal mine according to claim 1, is characterized in that: a rotary oil cylinder (25) and a rotary limiting device (24) are arranged between the upper and lower sliding seat assemblies (26) and the casing (23) of the manipulator of the drilling rod box, the rotary oil cylinder (25) is used for controlling the rotation angle of the casing (23) of the manipulator of the drilling rod box, and the rotary limiting device (24) is used for limiting the rotation of the casing (23) of the manipulator of the drilling rod box.

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