CN213928287U - Multi-drill-rod drilling machine capable of automatically assembling and disassembling drill rods - Google Patents

Abstract

The utility model relates to a multi-drill rod drilling machine capable of automatically loading and unloading drill rods, wherein a mast base frame is connected with a power head, and the front end of the power head is connected with an output joint; the front end of the mast base frame is connected with a clamping and shackle device, a base of the clamping and shackle device is provided with a fixed clamping unit, and a rotating clamping unit which can rotate along the axis of the output connector is also arranged; the mast pedestal is connected with a rotary drill magazine capable of containing a plurality of drill rods through a connecting support, the rotary drill magazine is positioned on one side of the mast pedestal and is in the same direction with the length direction of the mast pedestal, one side of the rotary drill magazine, which faces the mast pedestal, is provided with a notch so that the drill rods can be loaded and taken out, the connecting support is connected with a manipulator capable of swinging between the rotary drill magazine and the mast pedestal so that the drill rods can be loaded or taken out, and the manipulator can be slidably connected to the connecting support and can slide back and forth along the length direction of the mast pedestal. When the drilling machine is used, the actions of adding and unloading the drill rod can be automatically carried out, the manpower is released, and the safety and the use efficiency can be effectively improved.

Description

Multi-drill-rod drilling machine capable of automatically assembling and disassembling drill rods

Technical Field

The utility model belongs to the technical field of the equipment that creeps into of soil layer or rock, concretely relates to but many drilling rods rig of auto-control handling drilling rod.

Background

When drilling in the environmental conditions of galleries and tunnels, multi-directional drilling construction is usually required. As disclosed in chinese patent documents CN209469381U, CN209568974U, CN304858067S, etc., combined with attitude adjustment of a drilling machine, a power head of the drilling machine can realize forward and circumferential drilling operations, please refer to fig. 1, the drilling machine generally includes a chassis 1, a drilling assembly is disposed on the chassis, and a console assembly 11 is disposed behind the drilling assembly; the drilling assembly includes a luffing assembly, a drill mast assembly, and a power head assembly 18; the amplitude-changing assembly comprises a lifting arm 12, the rear end of the lifting arm is hinged to a base frame fixedly arranged on a chassis and drives the lifting arm through a first oil cylinder 13, the front end of the lifting arm is hinged to a direction-changing head 14, a rotary disc 16 with a disc surface facing to the right upper side is arranged on the direction-changing head, the disc surface of the rotary disc can rotate, the direction-changing head is driven through a second oil cylinder 15 connected to the upper side of the lifting arm, and when the second oil cylinder extends, the direction-changing head rotates along the hinged position of the direction-changing head and drives the rotary disc to enable the disc surface to face to the right front side. The drill mast assembly comprises a mast pedestal 17 providing two parallel rows of guide rails, and the power head assembly 18 comprises two guide rail slots adapted to the two rows of guide rails and is slidably connected to the two rows of guide rails through the two guide rail slots so as to achieve a drilling action; the mast pedestal 17 is attached to the face of the turntable 16 for rotation therewith and the two rows of rails thereof define a plane parallel to the face of the turntable. When the quotation of gyration dish was faced directly over, the gyration dish rotated suitable position, can realize preceding drilling operation, when the quotation of gyration dish was faced directly the place ahead, the mast bed frame rotated along with the quotation of gyration dish, can realize the hoop drilling operation.

In order to avoid the problem that the single-side guide rail of the mast pedestal is seriously abraded during the annular drilling operation, a drilling machine structure like CN110905407A is also provided, and a plane formed by two rows of guide rails of the mast pedestal is vertical to a rotary disc through a reversing piece, so that the observation is more convenient during the drilling process, and the guide rails can be effectively protected.

However, in the existing drilling equipment, the drill rod is manually assembled and disassembled, two ends of the tubular drill rod are respectively provided with mutually-matched tapered threads (also called tapered threads and tapered pipe threads) so as to be connected one by one in an initial position and lengthened, and two ends of the outer wall of the drill rod are respectively provided with notches (namely, flat square, and the cross section of the notch is in a square shape) so as to apply torsion. When the drilling depth is deep, the drill rod needs to be added frequently, after the drilling depth is reached, the power head rotates reversely and withdraws with the drill rod, and the drill rods need to be detached one by one in cooperation with manual work. Need artifical pine when adding the pole, unloading the pole to unload, efficiency is very low, and the length of drilling rod is longer moreover, and weight is also not light, and the operating mode of drilling into the operation in addition is abominable, and the artifical process implementation difficulty that adds the pole, unloads the pole also has not little potential safety hazard.

Disclosure of Invention

The above-mentioned not enough to prior art, the to-be-solved technical problem of the utility model is to provide a but many drilling rod rigs of auto-control handling drilling rod, avoid needing the problem that manual fit adds the pole, unloads the pole, gain the release manpower, carry and imitate safe effect.

In order to solve the technical problem, the utility model adopts the following technical scheme:

the multi-drill-rod drilling machine capable of automatically loading and unloading the drill rods comprises a mast base frame, wherein a power head is connected to the mast base frame in a reciprocating sliding manner, and the front end of a main shaft of the power head is connected with an output connector; the method is characterized in that: the end part of one end of the mast pedestal, towards which the output joint faces, is connected with a clamping and shackle device, the clamping and shackle device comprises a base and is fixedly connected to the end part of the mast pedestal through the base, a fixed clamping unit is arranged on the base for clamping a drill rod, a rotary clamping unit capable of rotating along the axis of the output joint is also arranged on the base, and the rotary clamping unit is positioned between the fixed clamping unit and the power head; the mast pedestal is connected with a rotary drill magazine capable of containing a plurality of drill rods through a connecting support, the rotary drill magazine is positioned on one side of the mast pedestal, the rotary drill magazine and the length direction of the mast pedestal are in the same direction so as to enable the built-in drill rods to be in the same direction with the length direction of the mast pedestal, one side of the rotary drill magazine, which faces the mast pedestal, is provided with a notch so as to enable the drill rods to be loaded and unloaded, the connecting support is connected with a manipulator capable of swinging between the rotary drill magazine and the mast pedestal so as to load or unload the drill rods, and the manipulator can be slidably connected to the connecting support and can slide back and forth along the length direction of the mast pedestal.

According to the technical scheme, the fixed clamping unit comprises two parallel substrates which are right opposite, the lower ends of the substrates are connected with the base, the upper ends of the substrates are U-shaped and are respectively connected with the clamping plates which can be adaptively opened and closed, the clamping plates are rotatably connected between the two substrates through the rotating shafts, the rotating shafts penetrate through the lower portions of the clamping plates, the upper portions of the clamping plates respectively extend towards the inner sides of the upper ends of the U-shaped substrates to form clamping ports, extend towards the outer sides of the upper ends of the U-shaped substrates to form driving connecting portions, the driving connecting portions are hinged to one ends of first clamping cylinder bodies, and the other ends of the first clamping cylinder bodies are hinged to the base.

Further, the clamping opening is a 90-degree V-shaped opening.

Further, the protruding connecting piece that is used for connecting rotation centre gripping unit that is equipped with on the lateral surface of the base plate that is close to the unit head, connect and rotate centre gripping unit and include the semicircle ring bedplate, the semicircle ring bedplate is on a parallel with the base plate and through the side rotatable coupling towards the base plate on the connecting piece, the open end orientation of semicircle ring bedplate corresponds with the base plate upper end orientation of U-shaped, and two free ends of semicircle ring bedplate are connected with the second centre gripping cylinder body that can the adaptation opens and shuts respectively, and the flexible output portion of two second centre gripping cylinder bodies is 90V-arrangement opening in opposite directions and tip, and the lower part of semicircle ring bedplate is passed through the articulated one end of connecting the rotation drive cylinder body of journal stirrup, and the other end of rotation drive cylinder body articulates on the base.

Furthermore, a drill rod guide unit is further arranged on the base, and the rotary clamping unit, the fixed clamping unit and the drill rod guide unit are sequentially arranged on the base along the direction of the output connector.

Furthermore, the rotary drill magazine comprises an outer shell and a driving unit, a rotary driving shaft is rotatably arranged in the outer shell in a penetrating mode, at least two loading flower discs are synchronously and rotatably connected to the rotary driving shaft in a rotating mode, a plurality of storage openings are formed in the circumferential direction of the loading flower discs at intervals, the storage openings penetrate through the edges of the loading flower discs outwards and are matched with the inner wall of the outer shell to form a drill rod limiting space, and all the loading flower discs are arranged at intervals along the rotary driving shaft and are opposite to each other in parallel; the opening is arranged on the outer shell, and the driving unit is connected with the rotary driving shaft in a driving mode.

Further, the driving unit comprises a drilling warehouse driving cylinder body, the drilling warehouse driving cylinder body is connected with the rotary driving shaft through a gear-rack transmission structure, the telescopic output end of the drilling warehouse driving cylinder body is connected with a rack, and the rack is meshed with a gear which is synchronously and rotatably connected to the rotary driving shaft.

Furthermore, the gear is connected to a shaft section of the rotary driving shaft penetrating out of the outer shell, the drilling garage driving cylinder body is hinged to the outer shell, and the hinged rotary shaft is parallel to the rotary driving shaft so that the distance between the rack and the gear can be changed through swinging; be connected with an adjusting unit on the shell body, adjusting unit includes the fixed plate, the fixed plate is located the rack and deviates from one side of gear, and threaded connection has adjusting bolt on the fixed plate, adjusting bolt's direction of doing work orientation the rack deviates from one side of gear so that alright adjust and limit the distance between rack and the gear.

Further, the shell body includes two cylindric end cover bodies, and the shrouding is passed through to the one end of end cover body and is sealed, and the other end is uncovered, and the opening end of both ends lid is in opposite directions and pass through mounting fixed connection both ends lid in order to form the shell body, two shroudings are rotatable to be worn to locate by the gyration drive shaft, and each year thing flower disc is located between two shroudings, puts the inner wall cooperation of the circumference lateral wall of thing opening and end cover body and forms the spacing space of drilling rod, and on the circumference lateral wall of end cover body was seted up to the opening, the upper portion of one side that the mast bed frame was kept away from to the circumference lateral wall of end cover body still began to have drilling rod initial installation breach.

Furthermore, the outer shell is fixedly connected to the mast pedestal through a connecting support, the connecting support is of a rectangular steel bar framework structure and comprises a bottom steel bar frame, a top steel bar frame and two side steel bar frames, the outer shell is fixedly connected to the lower parts of the side steel bar frames and is fixedly connected with the mast pedestal through the bottom steel bar frame, and the manipulator is slidably connected to the top steel bar frame; the top steel bar frame is provided with two longitudinal beams which are in the same direction with the length direction of the mast pedestal, the number of the mechanical arms is two, the mechanical arms are arranged at intervals along the longitudinal beams, each set of the mechanical arms comprises a sliding block base body and a main mechanical arm, the sliding block base body can be sleeved on the two longitudinal beams in a sliding mode to improve the sliding stability, the sliding block base body is hinged to the upper end of the main mechanical arm, the main mechanical arm is driven to swing along a hinged rotating shaft at the upper end of the main mechanical arm through a swinging cylinder body, one end of the swinging cylinder body is hinged on a sliding block base body, the other end of the swinging cylinder body is hinged and connected to the middle part of the main mechanical arm through a gripper connecting shaft, the lower end of the main mechanical arm is formed into a fixed gripper, a movable gripper is rotatably connected onto the gripper connecting shaft, the movable gripper is driven to swing along the gripper connecting shaft through the gripper cylinder body so as to be matched with the fixed gripper to complete opening and closing actions, one end of the gripper cylinder body is hinged to the main mechanical arm, and the other end of the gripper cylinder body is hinged to the movable gripper; the two slide block matrixes slide synchronously and are driven by the sliding cylinder body connected to the top steel bar frame.

Compared with the prior art, the utility model discloses following beneficial effect has:

the utility model discloses a but many drilling rods rig of auto-control handling drilling rod in the use, can add the drilling rod automatically and unload the action of drilling rod, the release manpower avoids needing the manual fit to add the pole, unload the problem of pole, security and availability factor can both effectively be promoted.

Drawings

FIG. 1 is a schematic illustration of a prior art drilling rig of the type mentioned in the background;

FIG. 2 is a schematic structural view of an embodiment of a multiple drill rod drilling machine with automatic drill rod handling;

FIG. 3 is an isolated schematic view of the connection of the rotary drill rig and mast pedestal of an embodiment;

FIG. 4 is a schematic view of FIG. 3 from another perspective;

FIG. 5 is a side view of FIG. 4;

FIG. 6 is a cross-sectional view A-A of FIG. 5 illustrating the effect of the robot swinging to two target positions;

FIG. 7 is an enlarged fragmentary view of the circled portion of FIG. 4 (with portions of the housing members hidden for ease of illustration);

FIG. 8 is an isolated schematic view of a robot in an embodiment;

FIG. 9 is an isolated schematic view of a loading faceplate in an embodiment;

FIG. 10 is an isolated schematic view of an end cap body in an embodiment;

FIG. 11 is an isolated schematic view of a grip shackle device in an embodiment;

FIG. 12 is a right side view of FIG. 11;

FIG. 13 is a perspective view of a grip shackle device in an embodiment;

FIG. 14 is a schematic view from another perspective of FIG. 13 (with the drill rod guide unit 33 omitted);

FIG. 15 is an internal view of the substrate 321 shown in FIG. 14 with the substrate hidden;

the device comprises a chassis 1, a console assembly 11, a lifting arm 12, a first oil cylinder 13, a steering head 14, a second oil cylinder 15, a rotary disc 16, a mast pedestal 17 and a power head assembly 18.

The power head 2, the output connector 21,

a grip shackle device 3, a base 30, a rotary grip unit 31, a semicircular seat plate 311, a second grip cylinder 312, a lug 313, a rotary drive cylinder 314, a fixed grip unit 32, a base plate 321, a grip plate 322, a grip opening 323, a drive connection 324, a first grip cylinder 325, a connection 326, a rod guide unit 33,

a connecting bracket 4, a bottom steel bar frame 41, a top steel bar frame 42, a longitudinal beam 421, a sliding cylinder body 422, a side steel bar frame 43, a sliding block base body 44, a swinging cylinder body 441, a main mechanical arm 45, a gripper connecting shaft 451, a fixed gripper 452, a gripper cylinder body 453, a movable gripper 46,

the rotary drill magazine comprises a rotary drill magazine 5, an outer shell 50, an end cover body 51, a sealing plate 511, a notch 512, a drill rod initial installation notch 513, a fixing piece 52, a rotary driving shaft 53, a gear 531, a loading flower disc 54, a storage opening 541, a drill magazine driving cylinder 55, a rack 551, a fixing plate 56 and an adjusting bolt 561.

Detailed Description

The following describes the present invention in further detail with reference to the accompanying drawings.

Referring to fig. 2-4, the multi-drill-rod drilling machine capable of automatically loading and unloading drill rods in the embodiment includes a mast pedestal 17, a power head 2 is slidably connected to the mast pedestal 17 in a reciprocating manner, and an output joint 21 is connected to a front end of a main shaft of the power head 2; the end part of one end of the mast pedestal 17, which is towards the output joint 21, is connected with a clamping shackle device 3, the clamping shackle device 3 comprises a base 30 and is fixedly connected to the end part of the mast pedestal 17 through the base 30, a fixed clamping unit 32 is arranged on the base 30 for clamping a drill rod, a rotary clamping unit 31 which can rotate along the axis of the output joint 21 is also arranged on the base 30, and the rotary clamping unit 31 is positioned between the fixed clamping unit 32 and the power head 2; the mast pedestal 17 is connected with a rotary drill magazine 5 capable of containing a plurality of drill rods through a connecting bracket 4, the rotary drill magazine 5 is positioned at one side of the mast pedestal 17, the rotary drill magazine 5 is in the same direction with the length direction of the mast pedestal 17 so that the built-in drill rods are also in the same direction with the length direction of the mast pedestal 17, one side of the rotary drill magazine 5, which faces the mast pedestal 17, is provided with a notch 512 for loading and unloading the drill rods, a manipulator capable of swinging between the rotary drill magazine 5 and the mast pedestal 17 is connected on the connecting bracket 4 so as to load or unload the drill rods, and the manipulator is slidably connected on the connecting bracket 4 and can slide back and forth along the length direction of the mast pedestal 17.

The multi-drill-rod drilling machine capable of automatically loading and unloading the drill rods comprises a chassis, a traveling mechanism, a control assembly, a hydraulic (pneumatic) system and other components of a conventional structure on a common drilling machine, wherein the drawing of the drilling machine further comprises a lifting arm hinged on a base frame of the chassis, the front end of the lifting arm is hinged with a turning head, the turning head is provided with a rotary disc with an upward disc surface, the mast base frame 17 is connected to the rotary disc, the drilling machine further comprises a plurality of sensors (pressure, displacement sensors, stroke, proximity switches and other existing electrical components can be selected by combining with the actual detected object condition) in signal connection with the control assembly, and the sensors are used for detecting the preparation, completion and in-place conditions of the actions of related mechanisms and feeding back to the control assembly so as to control the assembly to judge and control whether to perform the next mechanism action; the related detection, control and hydraulic connection are necessary and conventional means for realizing the action of the related mechanism, and are not described herein again.

Referring to fig. 11-15, the fixing and clamping unit 32 includes two base plates 321 facing each other in parallel, the lower ends of the base plates 321 are connected to the base 30, the upper ends of the base plates 321 are U-shaped and are respectively connected to clamping plates 322 capable of opening and closing adaptively, the clamping plates 322 are rotatably connected between the two base plates 321 through rotating shafts, the rotating shafts are inserted into the lower portions of the clamping plates 322, the upper portions of the clamping plates 322 respectively extend toward the inner sides of the upper ends of the U-shaped base plates 321 to form clamping openings 323, extend toward the outer sides of the upper ends of the U-shaped base plates 321 to form driving connection portions 324, the driving connection portions 324 are hinged to one ends of first clamping cylinders 325, and the other ends of the first clamping cylinders 325 are hinged to the base 30. The base plate 321 is perpendicular to the axis of the output connector 21.

Wherein the clamping opening 323 is a 90 ° V-shaped opening. It can be understood that the designed clamping centers of the two clamping ports also correspond to the axes of the output connector 21, when the two first clamping cylinders 325 do work, the clamping plates 322 rotate around the respective rotating shafts, and the clamping ports of the two clamping plates 322 correspondingly realize the opening and closing actions.

In this way, a specially designed clamping plate 322 is used to clamp the drill rod by swinging rather than linear telescoping, because in use, the clamping opening is clamped at the position of the cut of the drill rod, the cross section of the cut is square, although the clamping opening with a 90-degree V-shaped opening can correspond to the square cut, but the drill rod is not stopped in a state that the sharp angles of the four-way notch of the drill rod are just opposite to the clamping port every time when the drill rod stops rotating, the situation that the 90-degree opening of the clamping port is not effectively attached to the two vertical surfaces of the notch in a surface attachment mode can occur in a linear extension mode, but is directly clamped on the edge of the notch, in order to avoid the situation, the two clamping plates of the design approach the notch in an arc path in a mode of swinging and mutually closing, the device can achieve the effects of correcting and driving the drill rod to rotate, and finally ensures that the 90-degree opening of the clamping opening effectively clamps the position of the cut in a surface-fitting mode.

Wherein, the protruding connecting piece 326 that is used for connecting rotation clamping unit 31 that is equipped with on the lateral surface of the base plate 321 that is close to unit head 2, it includes semicircle ring bedplate 311 to connect rotation clamping unit 31, semicircle ring bedplate 311 is on a parallel with base plate 321 and through the side rotatable coupling towards base plate 321 on connecting piece 326, the open end orientation of semicircle ring bedplate 311 corresponds with the base plate 321 upper end orientation of U-shaped, two free ends of semicircle ring bedplate 311 are connected with the second centre gripping cylinder body 312 that can adapt to open and shut respectively, the flexible output portion of two second centre gripping cylinder bodies 312 is opposite and the tip is the V-arrangement opening of 90, the lower part of semicircle ring bedplate 311 articulates the one end of connecting rotation drive cylinder body 314 through journal stirrup 313, the other end of rotation drive cylinder body 314 articulates on base 30.

It can be understood that the working direction of the rotation driving cylinder is along the tangential direction of the semicircular seat plate, the rotation clamping unit 31 rotates along the axis of the output joint 21 as a whole when the rotation driving cylinder works, and the designed clamping center of the telescopic output parts of the two second clamping cylinders 312 also corresponds to the axis of the output joint 21. In practice, the semicircular seat plate 311 is rotatably connected to the connecting element 326, wherein two radial sides of the semicircular seat plate 311 are respectively fastened to the edge of the connecting element 326 having the same semicircular structure by fastening edges, so that the connecting element 326 is integrally formed as an arc-shaped swinging guide rail of the semicircular seat plate 311; the semicircular seat plate 311 and the surface against the connecting member 326 may be connected by a semicircular guide rail and a semicircular guide rail groove.

Because of the consistency of the drill rod, the direction of the notch is basically the same, and no dislocation (the condition of angle staggering) exists, on the premise that the clamping plates of the front fixed clamping unit 32 are closed in a swinging mode and effectively clamp the drill rod, the clamping unit 31 can be rotated to clamp in a simple linear telescopic mode.

Wherein, a drill rod guide unit 33 is further arranged on the base 30, and the rotary clamping unit 31, the fixed clamping unit 32 and the drill rod guide unit 33 are sequentially arranged on the base 30 along the direction of the output joint 21.

Therefore, the function of the orifice guide plate is kept, the use reliability of the drilling machine can be guaranteed, the drill rod is effectively limited and guided, and the function of the commonly used orifice plate is achieved. The drill rod guide unit 33 is a plate-shaped structure with a guide circular hole, and in the embodiment, a similar fastener opening and closing mode is adopted, so that the position of the guide circular hole can be opened, and the drill rod guide unit is convenient to use during manual assembly and disassembly of a drilling tool.

Referring to fig. 3-10, the rotary drill magazine 5 includes an outer casing 50 and a driving unit, a rotary driving shaft 53 is rotatably disposed in the outer casing 50, the rotary driving shaft 53 is synchronously and rotatably connected with at least two loading faceplates 54, the loading faceplates 54 are circular plate-shaped, a plurality of loading openings 541 are disposed at intervals in the circumferential direction of the loading faceplates 54, the loading openings 541 radially and outwardly penetrate the edge of the loading faceplates 54 along the rotary driving shaft 53 and are matched with the inner wall of the outer casing 50 to form a drill rod limiting space, and all the loading faceplates 54 are disposed at intervals along the rotary driving shaft 53 and are parallel and opposite to each other; the opening 512 is opened on the outer shell 50, and the driving unit is connected with the rotary driving shaft 53 in a driving way.

In this embodiment, the object placing openings 541 are uniformly distributed at 36 ° in the circumferential direction of the object carrying faceplate 54, and ten object placing openings 541 are uniformly distributed at 36 ° and can be opened, but as shown in fig. 9, only nine object placing openings 541 are provided in this embodiment, and an un-started position is a position for stopping a manipulator when a drilling machine is not used, and is specially used for avoiding position robbing with a drill rod, that is, the rotary drill magazine 5 of this embodiment can accommodate at most nine drill rods at a time, and with the current general drilling depth, the drilling depth requirement of most use scenarios can be met. When the drilling machine is not used, the driving unit drives the loading faceplate 54 to rotate to an initial position through the rotary driving shaft 53, so that the position without the storage opening 541 (drill rod) faces to the notch 512, and the manipulator stops at the position specially used for stopping the manipulator. Therefore, the rotary drill magazine is reasonable in structural design, always has a point position convenient to reference, and is also convenient for programming a rotation control program of the rotary drill magazine 5.

The driving unit comprises a drilling warehouse driving cylinder 55, the drilling warehouse driving cylinder 55 is connected with the rotary driving shaft 53 through a gear-rack transmission structure, the telescopic output end of the drilling warehouse driving cylinder 55 is connected with a rack 551, and the rack 551 is meshed with a gear 531 which is synchronously and rotatably connected with the rotary driving shaft 53.

Thus, the driving mode is traditional and reliable, the telescopic length of the driving cylinder body 55 is detected through a sensor, the rotating driving shaft 53 can be correspondingly controlled to drive the carrying flower disc 54 to rotate, and the accurate completion of the action of automatically assembling and disassembling the drill rod is ensured.

Wherein the gear 531 is connected to a shaft section of the rotary driving shaft 53 penetrating out of the outer shell 50, the drill storage driving cylinder 55 is hinged on the outer shell 50, and the hinged rotary shaft is parallel to the rotary driving shaft 53 so that the distance between the rack 551 and the gear 531 can be changed through swinging; an adjusting unit is connected to the outer shell 50, the adjusting unit comprises a fixing plate 56, the fixing plate 56 is located on one side of the rack 551, which is far away from the gear 531, an adjusting bolt 561 is connected to the fixing plate 56 in a threaded mode, and the acting direction of the adjusting bolt 561 faces to one side of the rack 551, which is far away from the gear 531, so that the distance between the rack 551 and the gear 531 can be adjusted and limited, and the meshing transmission is flexible and reliable.

Thus, the adjustable gear rack 551 and the gear 531 can be meshed and effectively driven. In this embodiment, the drill magazine driving cylinder 55 is hinged to the connecting bracket fixedly connected to the outer housing 50 according to the actual telescopic stroke; considering that the drilling condition is bad, the meshing part of the rack 551 and the gear 531 is coated by a shell member, the rack 551 penetrates through the shell member and is meshed with the gear 531 in the shell member, the fixing plate 56 also belongs to one side wall of the shell member, a sliding block is additionally arranged in the shell member, the adjusting bolt 561 abuts against the rack 551 through the sliding block, the contact area is increased, and the rack 551 is prevented from being damaged.

The outer casing 50 includes two cylindrical end cover bodies 51, one end of each end cover body 51 is sealed by a sealing plate 511, the other end of each end cover body is open, the open ends of the two end cover bodies 51 face each other and are fixedly connected with the two end cover bodies 51 through fixing pieces 52 to form the outer casing 50, the rotary driving shaft 53 is rotatably arranged on the two sealing plates 511 in a penetrating manner, each loading flower disc 54 is positioned between the two sealing plates 511, the loading openings 541 are matched with the inner wall of the circumferential side wall of the end cover body 51 to form a drill rod limiting space, the openings 512 are formed in the circumferential side wall of the end cover body 51, and the upper part of one side, away from the mast 17, of the circumferential side wall of the end cover body 51 is provided with an initial drill rod installation notch 513.

Like this, provide the form of a simple and easy "shell body", do not adopt whole cylinder structure, the functional effect is unchangeable, and weight is lighter, is convenient for install on current rig to visual inside drilling rod condition, it is more convenient to use. The notch 512 is mainly used for automatically loading and taking out a drill rod from the rotary drill magazine 5 by a manipulator in the using process of the drilling machine, and certainly, the drill rod can be initially loaded for manual use; the initial drill rod mounting notch 513 is also used for loading and taking out drill rods, but the use time and the use are different, on one hand, the initial drill rod mounting notch 513 is not like a notch 512, the rotary rod is arranged towards the inner side for facilitating the loading and unloading of a manipulator, and the initial drill rod mounting notch 513 faces towards the outer side for facilitating the loading of the drill rods into the rotary drilling warehouse during the initial time; on the other hand, particularly, as mentioned above, the rotary drill magazine 5 has nine drill rods, when the nine drill rods cannot meet the drilling depth after being automatically lengthened, the notch 512 cannot be added with another drill rod, and the drill rod initial installation notch 513 is arranged, so that in the drilling process, when the vacant storage opening 541 rotates to the position of the drill rod initial installation notch 513, the drill rods can be added inwards, and the machine does not need to be stopped to additionally add the drill rods, thereby meeting the continuous drilling of deep holes.

The outer shell 50 is fixedly connected to the mast pedestal 17 through a connecting support 4, the connecting support 4 is of a rectangular steel bar framework structure and comprises a bottom steel bar frame 41, a top steel bar frame 42 and two side steel bar frames 43, the outer shell 50 is fixedly connected to the lower parts of the side steel bar frames 43 and fixedly connected with the mast pedestal 17 through the bottom steel bar frame 41, and the manipulator is slidably connected to the top steel bar frame 42; the top steel reinforcement frame 42 is provided with two longitudinal beams 421 which are in the same direction with the length direction of the mast pedestal 17, the number of the mechanical hands is two, the mechanical hands are arranged at intervals along the longitudinal beams 421, each set of mechanical hands comprises a slider base 44 and a main mechanical arm 45, the slider base 44 can be sleeved on the two longitudinal beams 421 in a sliding mode to improve sliding stability, the slider base 44 is hinged to the upper end of the main mechanical arm 45, the main mechanical arm 45 is driven to swing along a hinged rotating shaft at the upper end of the main mechanical arm 45 through a swinging cylinder body 441, one end of the swinging cylinder body 441 is hinged to the slider base 44, the other end of the swinging cylinder body is hinged to the middle of the main mechanical arm 45 through a gripper connecting shaft 451, the lower end of the main mechanical arm 45 is formed into a fixed gripper 452, a movable gripper 46 is rotatably connected to the gripper connecting shaft 451, and the movable gripper 46 is driven to swing along the gripper connecting shaft 451 through the gripper cylinder body 453 so as to be matched with the fixed gripper 452 to complete opening and closing actions, one end of the hand grip cylinder 453 is hinged to the main robot arm 45, and the other end is hinged to the movable hand grip 46; the slider bases 44 slide in synchronization, and the slider bases 44 are driven by a slide cylinder 422 attached to the top steel frame 42.

In this embodiment, the two sleeves are respectively slidably sleeved on the longitudinal beam 421, the two sliding block bases 44 are connected to the two sleeves to be slid synchronously, one end of the sliding cylinder 422 is hinged to the cross beam at the rear end of the top steel frame 42, and the other end is hinged to the adjacent sliding block base 44. The main robot arm 45 is driven by the swing cylinder 441 to swing between the rotary drill magazine 5 and the mast base frame 17 in order to perform the operation of loading and unloading the drill rods from and to the positions between the placement opening 541 (notch 512) and the axial line of the output joint 21, and is slidable in the longitudinal direction of the mast base frame 17 mainly in order to perform the corresponding operation of loading and unloading the tapered threads at the end of the drill rods. The whole manipulator requires few actions and is not complex in structure, mechanical faults are avoided, and the use reliability is improved.

The two ends of the currently used drill rod are respectively provided with mutually adaptive conical threads, and the two ends of the outer wall of the drill rod are respectively provided with a notch so as to clamp and apply torque force. It will be appreciated that the free end of the output sub 21 is of the same configuration as the forward end of the drill rod, with a cut-out and tapered thread, for connection to the rearward end of the drill rod.

The use of the drilling rig is further described for ease of understanding.

The process of adding the drill rod comprises the following steps:

a1, after the power head 2 is positively rotated to drill to the target depth, the power head 2 rotates, and the output joint 21 of the power head 2 and the drill rod connected to the front end of the power head are retreated to the position corresponding to the clamping and shackle device 3; the power head 2 stops rotating;

the position may be fed back by a displacement sensor.

A2, the fixed clamping unit 32 clamps the drill rod, and the rotary clamping unit 31 clamps the output joint 21;

specifically, the two first clamping cylinders 325 are extended to complete clamping, and then the two second clamping cylinders 312 are extended to complete clamping;

the position may be fed back by a pressure sensor.

A3, rotating the clamping unit 31 by taking the axis of the output connector 21 as a rotating shaft, and unscrewing the threaded connection between the output connector 21 and the drill rod;

specifically, the rotary driving cylinder 314 extends out to drive the rotary clamping unit 31 to rotate integrally;

the rotation angle can be fed back by an encoder.

It should be noted that the output joint 21 is clamped by the ends of the two second clamping cylinders 312, not to be completely clamped, but to transmit torque during the integral rotation by engaging with the square cut-out, so as to loosen the screw connection (not to be completely disengaged); as a conventional design, the main shaft of the power head has a certain floating stroke (prior art), and when the threaded connection between the output joint 21 and the drill rod is unscrewed, the output joint 21 correspondingly can be retracted by the floating stroke of the main shaft of the power head. And the floating stroke of the main shaft of the power head is larger than the axial stroke required by the complete disconnection of the taper thread.

A4, rotating the clamping unit 31 to release the output connector 21 and then reset;

specifically, the two second clamping cylinders 312 are retracted, and then the rotary driving cylinder 314 is retracted;

can be fed back through a displacement sensor and an encoder.

A5, the power head 2 reversely rotates until the threaded connection between the output joint 21 and the drill rod is completely disconnected, and then retreats to the rear end;

the power head 2 rotates reversely until the threaded connection between the output joint 21 and the drill rod is completely disconnected, and can be controlled by a timer for time feedback; the back end can be fed back by a displacement sensor.

A6, the manipulator grabs a drill rod to be added from the rotary drill magazine 5, and extends the front-end taper external thread section of the drill rod to be added into the rear-end taper internal thread hole of the drill rod clamped by the fixed clamping unit 32;

specifically, the gripper cylinder 453 works to open, the swing cylinder 441 works to swing to the opening side, the gripper cylinder 453 works to realize gripping, and then the swing cylinder 441 works to swing to the axial position of the output joint 21; then sliding the cylinder 422 to do work, moving the drill rod forward and connecting the taper thread;

the response can be fed back through a pressure sensor and a displacement sensor.

After the drill rod to be added is taken out, the drill magazine driving cylinder 55 can do work to drive the loading flower disc 54 to rotate 36 degrees through the rotary driving shaft 53 so as to add the next drill rod.

A7, advancing the power head 2 to the front end taper external thread section of the output joint 21 to extend into the rear end taper internal thread hole of the drill rod to be added;

can be fed back by a displacement sensor

A8, loosening the drill rod to be added by the manipulator, and then resetting;

specifically, the gripper cylinder 453 does work and opens, and the swinging cylinder 441 does work and swings to a position where the movement of the mechanism is not interfered;

the feedback can be realized through a pressure sensor and a displacement sensor.

A9, the power head 2 rotates forwards according to the set duration to complete the threaded connection of the two ends of the drill rod to be added;

in the forward rotation process, the power head 2 does not withdraw, and the threaded connection is completed by means of the floating stroke of the main shaft;

can be controlled by a timer, and the time is fed back.

A10, after the fixed clamping unit 32 releases the clamped drill rod, the power head 2 can continue to drill forward and repeat the steps A1-A10 until the drill reaches the depth required by the design;

specifically, the first clamping cylinder 325 is retracted, and can be re-checked for displacement through overpressure feedback.

The process of unloading the drill rod comprises the following steps:

m1, after the power head 2 positively rotates to drill to the depth required by the design, the power head 2 rotates, and the output joint 21 of the power head 2 and the drill rod connected to the front end of the power head are retreated to the position corresponding to the clamping and shackle device 3; the power head 2 stops rotating;

m2, the fixed clamping unit 32 clamps the drill rod, and the rotary clamping unit 31 clamps the output joint 21;

m3, rotating the clamping unit 31 by taking the axis of the output connector 21 as a rotating shaft, and unscrewing the threaded connection between the output connector 21 and the drill rod;

m4, rotating the clamping unit 31 to release the output connector 21 and then resetting;

m5 and the power head 2 rotate forwards, the output connector 21 and the drill rod clamped by the fixed clamping unit 32 are screwed down by an output torque smaller than the rated power, and then the rotation is stopped;

it should be noted that the power head itself may be rotated reversely to loosen the screw connection with a certain tightness, but after drilling, due to the influence of factors such as impact, it is not suitable for using the mode of rotating the power head itself reversely to loosen the screw connection, so the rotating clamping unit 31 and the fixed clamping unit 32 are used to cooperate to break the screw connection. The screw connection, which is tightened with an output torque smaller than the nominal power, can be loosened by reversing the power head itself. In practice, the nominal power is typically 20MP, and the output less than the nominal power is given a value of 5 MP in practice to ensure that the subsequent power head can be subsequently released by reversing itself.

Feedback may be provided via a pressure sensor.

M6, the fixed gripping unit 32 releases the gripped drill rod;

m7 and the power head 2 retreat, so that two drill rods connected with the front end of the output joint 21 in sequence retreat to the position corresponding to the clamping and shackle device 3;

m8, the rotary clamping unit 31 clamps one of the two drill rods which is directly connected with the output joint 21; the fixed clamp unit 32 clamps the other;

m9, rotating the clamping unit 31 by taking the axis of the output connector 21 as a rotating shaft, and unscrewing the threaded connection between the two drill rods;

m10, rotating the clamping unit 31 to release the clamped drill rod and then resetting;

m11 and the power head 2 are reversely rotated according to the set duration, so that the two drill rods are in a state that the threaded connection is completely disconnected, but the corresponding front-end tapered external thread section still extends into the rear-end tapered internal thread hole;

m12, rotating the gripping unit 31 to grip the rod directly connected to the output sub 21 again, the robot also moves and grips the rod;

m13, reversing the power head 2 to the rear end after the threaded connection between the output joint 21 and the drill rod directly connected with the output joint is completely disconnected;

m14, rotating the clamping unit 31 to release the clamped drill rod;

m15, the manipulator puts the gripped drill rod back to the rotary drill storage 5; and (4) loosening the mechanical arm, yielding, waiting for grabbing the next drill rod, rotating the rotary drill magazine 5 to the position for placing the next drill rod, then advancing the power head 2, and repeating the steps M5-M15 until the designed number of the drill rods is removed.

Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the present invention can be modified or replaced by other means without departing from the spirit and scope of the present invention, which should be construed as limited only by the appended claims.

Claims (10)

1. The multi-drill-rod drilling machine capable of automatically loading and unloading the drill rods comprises a mast base frame, wherein a power head is connected to the mast base frame in a reciprocating sliding manner, and the front end of a main shaft of the power head is connected with an output connector; the method is characterized in that: the end part of one end of the mast pedestal, towards which the output joint faces, is connected with a clamping and shackle device, the clamping and shackle device comprises a base and is fixedly connected to the end part of the mast pedestal through the base, a fixed clamping unit is arranged on the base for clamping a drill rod, a rotary clamping unit capable of rotating along the axis of the output joint is also arranged on the base, and the rotary clamping unit is positioned between the fixed clamping unit and the power head;

the mast pedestal is connected with a rotary drill magazine capable of containing a plurality of drill rods through a connecting support, the rotary drill magazine is positioned on one side of the mast pedestal, the rotary drill magazine and the length direction of the mast pedestal are in the same direction so as to enable the built-in drill rods to be in the same direction with the length direction of the mast pedestal, one side of the rotary drill magazine, which faces the mast pedestal, is provided with a notch so as to enable the drill rods to be loaded and unloaded, the connecting support is connected with a manipulator capable of swinging between the rotary drill magazine and the mast pedestal so as to load or unload the drill rods, and the manipulator can be slidably connected to the connecting support and can slide back and forth along the length direction of the mast pedestal.

2. The multi-rod drilling machine capable of automatically loading and unloading drill rods according to claim 1, wherein: the fixed clamping unit comprises two parallel substrates which are right opposite, the lower ends of the substrates are connected with the base, the upper ends of the substrates are U-shaped and are respectively connected with clamping plates which can be adaptively opened and closed, the clamping plates are rotatably connected between the two substrates through rotating shafts, the rotating shafts penetrate through the lower portions of the clamping plates, the upper portions of the clamping plates respectively extend towards the inner sides of the upper ends of the U-shaped substrates to form clamping ports, extend towards the outer sides of the upper ends of the U-shaped substrates to form driving connecting portions, the driving connecting portions are hinged to one ends of first clamping cylinder bodies, and the other ends of the first clamping cylinder bodies are hinged to the base.

3. The multi-rod drilling machine capable of automatically loading and unloading drill rods according to claim 2, wherein: the clamping opening is a V-shaped opening with an angle of 90 degrees.

4. The multi-rod drilling machine capable of automatically loading and unloading drill rods according to claim 2, wherein: the protruding connecting piece that is used for connecting rotation centre gripping unit that is equipped with on the lateral surface of the base plate that is close to the unit head, it includes the semicircle ring bedplate to connect rotation centre gripping unit, and the semicircle ring bedplate is on a parallel with the base plate and through the side rotatable coupling towards the base plate on the connecting piece, the open end orientation of semicircle ring bedplate corresponds with the base plate upper end orientation of U-shaped, and two free ends of semicircle ring bedplate are connected with the second centre gripping cylinder body that the adaptation opened and shut respectively, and the flexible output portion of two second centre gripping cylinder bodies is 90V-arrangement opening in opposite directions and tip, and the lower part of semicircle ring bedplate is passed through the articulated one end of connecting the rotation drive cylinder body of journal stirrup, and the other end of rotation drive cylinder body articulates on the base.

5. The multi-rod drilling machine capable of automatically loading and unloading drill rods according to claim 1, wherein: and the base is also provided with a drill rod guide unit, and the rotary clamping unit, the fixed clamping unit and the drill rod guide unit are sequentially arranged on the base along the direction of the output connector.

6. The multi-rod drilling machine capable of automatically loading and unloading drill rods according to claim 1, wherein: the rotary drill library comprises an outer shell and a driving unit, a rotary driving shaft is rotatably arranged in the outer shell in a penetrating mode, at least two loading flower discs are synchronously and rotatably connected to the rotary driving shaft in a rotating mode, a plurality of storage openings are formed in the circumferential direction of the loading flower discs at intervals, the storage openings penetrate through the edges of the loading flower discs outwards and are matched with the inner wall of the outer shell to form a drill rod limiting space, and all the loading flower discs are arranged at intervals along the rotary driving shaft and are opposite to each other in parallel; the opening is arranged on the outer shell, and the driving unit is connected with the rotary driving shaft in a driving mode.

7. The multi-rod drilling machine capable of automatically loading and unloading drill rods according to claim 6, wherein: the driving unit comprises a drilling warehouse driving cylinder body, the drilling warehouse driving cylinder body is connected with a rotary driving shaft through a gear and rack transmission structure, the telescopic output end of the drilling warehouse driving cylinder body is connected with a rack, and the rack is meshed with a gear which is synchronously and rotatably connected to the rotary driving shaft.

8. The multi-rod drilling machine capable of automatically loading and unloading drill rods according to claim 7, wherein: the gear is connected to a shaft section of the rotary driving shaft penetrating through the outer shell, the drilling garage driving cylinder body is hinged to the outer shell, and the hinged rotary shaft is parallel to the rotary driving shaft so that the distance between the rack and the gear can be changed through swinging; be connected with an adjusting unit on the shell body, adjusting unit includes the fixed plate, the fixed plate is located the rack and deviates from one side of gear, and threaded connection has adjusting bolt on the fixed plate, adjusting bolt's direction of doing work orientation the rack deviates from one side of gear so that alright adjust and limit the distance between rack and the gear.

9. The multi-rod drilling machine capable of automatically loading and unloading drill rods according to claim 6, wherein: the shell body includes two cylindric end cover bodies, and the shrouding is passed through to the one end of end cover body and is sealed, and the other end is uncovered, and the opening end of both ends lid is in opposite directions and through mounting fixed connection both ends lid in order to form the shell body, two shroudings are rotatable to be worn to locate by the gyration drive shaft, and each carries the thing flower disc to be located between two shroudings, puts the inner wall cooperation of the circumference lateral wall of thing opening and end cover body and forms the spacing space of drilling rod, and on the circumference lateral wall of end cover body was seted up to the opening, the upper portion of one side of mast bed frame was kept away from to the circumference lateral wall of end cover body still began to have the drilling rod initial installation breach.

10. The multi-rod drilling machine capable of automatically loading and unloading drill rods according to claim 6, wherein: the outer shell is fixedly connected to the mast pedestal through a connecting support, the connecting support is of a rectangular steel bar framework structure and comprises a bottom steel bar frame, a top steel bar frame and two side steel bar frames, the outer shell is fixedly connected to the lower parts of the side steel bar frames and is fixedly connected with the mast pedestal through the bottom steel bar frame, and the manipulator is slidably connected to the top steel bar frame;

the top steel bar frame is provided with two longitudinal beams which are in the same direction with the length direction of the mast pedestal, the number of the mechanical arms is two, the mechanical arms are arranged at intervals along the longitudinal beams, each set of the mechanical arms comprises a sliding block base body and a main mechanical arm, the sliding block base body can be sleeved on the two longitudinal beams in a sliding mode to improve the sliding stability, the sliding block base body is hinged to the upper end of the main mechanical arm, the main mechanical arm is driven to swing along a hinged rotating shaft at the upper end of the main mechanical arm through a swinging cylinder body, one end of the swinging cylinder body is hinged on a sliding block base body, the other end of the swinging cylinder body is hinged and connected to the middle part of the main mechanical arm through a gripper connecting shaft, the lower end of the main mechanical arm is formed into a fixed gripper, a movable gripper is rotatably connected onto the gripper connecting shaft, the movable gripper is driven to swing along the gripper connecting shaft through the gripper cylinder body so as to be matched with the fixed gripper to complete opening and closing actions, one end of the gripper cylinder body is hinged to the main mechanical arm, and the other end of the gripper cylinder body is hinged to the movable gripper;

the two slide block matrixes slide synchronously and are driven by the sliding cylinder body connected to the top steel bar frame.

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