CN215057203U - Drilling equipment - Google Patents

Abstract

The application provides drilling equipment, belongs to colliery rig technical field. The drilling equipment comprises a frame body, a drilling machine, a drill rod box assembly, a grabbing mechanism and a conveying mechanism. The drilling machine comprises a machine body and a power head, wherein the machine body is rotatably arranged on the frame body around a first axis, the power head is arranged on the machine body, the power head is used for driving a drill rod to feed along the front-back direction, and the first axis is arranged along the left-right direction. The drill pipe box assembly is arranged on the frame body and used for accommodating drill pipes. The grabbing mechanism is arranged on the frame body and used for grabbing the drill rod contained in the drill rod box assembly and transferring the drill rod to a switching position. The conveying mechanism is arranged on the machine body and used for grabbing the drill rod located at the switching position and transferring the drill rod to the assembling position so that the power head can be assembled with the drill rod. The drilling equipment adopting the structure improves the operation efficiency and solves the problem that the drilling rod is manually assembled and disassembled with potential safety hazard.

Description

Drilling equipment

Technical Field

The application relates to the technical field of coal mine drilling machines, in particular to drilling equipment.

Background

In the process of coal mine resource mining, the punching construction operation is an indispensable safety guarantee measure. The drilling process is that the drill rod is drilled to the deep position of the coal seam or the rock stratum by using a drilling machine, and then the drill rod is withdrawn. At present, an operator is generally required to mount drill rods on a drilling machine one by one during the drilling process of the drilling machine, and the operator is required to take the drill rods out of the drilling machine one by one during the withdrawing process of the drilling machine. The underground working environment is not only bad, but also the space is small, the conditions in the drilling construction process are more variable, the drilling rod needs to be continuously assembled and disassembled by operators in the whole drilling process, the labor intensity is high, the working efficiency is low, the operation safety is low, and the potential safety hazard is great.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides drilling equipment to improve the problem that current rig is big, work efficiency is low and the security is lower when loading and unloading the drilling rod.

In a first aspect, an embodiment of the present application provides a drilling apparatus, which includes a frame body, a drilling machine, a drill pipe box assembly, a grabbing mechanism and a conveying mechanism; the drilling machine comprises a machine body and a power head, wherein the machine body is rotatably arranged on the frame body around a first axis, the power head is arranged on the machine body and is used for driving a drill rod to feed along the front-back direction, and the first axis is arranged along the left-right direction; the drill pipe box assembly is arranged on the frame body and is used for accommodating the drill pipe; the grabbing mechanism is arranged on the frame body and used for grabbing the drill rod accommodated in the drill rod box assembly and transferring the drill rod to a switching position; the conveying mechanism is arranged on the machine body and used for grabbing the drill rod located at the switching position and transferring the drill rod to an assembly position, so that the power head is assembled with the drill rod.

In the above technical scheme, drilling equipment is provided with and snatchs the mechanism, drilling rod case subassembly and transport the mechanism, can snatch the drilling rod in the drilling rod case subassembly through snatching the mechanism, and transfer the drilling rod to the switching position, the rethread transports the mechanism and can snatch the drilling rod that is located the switching position, and transport the drilling rod to the assembly position, so that the drilling rod assembles on the power head, otherwise, when needs take off the drilling rod on the unit head, at first snatch the drilling rod on the unit head through transporting the mechanism, and transport the drilling rod to the switching position, the rethread snatchs the mechanism and snatchs the drilling rod that is located the switching position, and transport the drilling rod to the drilling rod case subassembly in, thereby the automatic assembly and the dismantlement of drilling rod have been accomplished. Wherein, snatch mechanism and drilling rod case subassembly and all set up on the support body to in snatch the mechanism and transport to the switching position with the drilling rod in the drilling rod case subassembly, and avoid the fuselage to rotate and lead to the drilling rod in the drilling rod case subassembly to roll out the drilling rod case subassembly along with the fuselage when relative support body rotates and goes on. Meanwhile, the conveying mechanism is arranged on the machine body, so that the conveying mechanism can rotate along with the relative frame body of the machine body, the relative position of the grabbing mechanism and the machine body is unchanged when the drill rig is used for adjusting the inclination angle, and the grabbing mechanism and the conveying mechanism of the drill rig can be matched to assemble and disassemble the drill rod under any inclination angle, so that the drill rig can obtain a large inclination angle range. The drilling equipment adopting the structure does not need manual assembly and disassembly, thereby improving the working efficiency and eliminating the problem of potential safety hazard caused by low safety when the drilling rod is manually assembled and disassembled. In addition, the grabbing mechanism and the conveying mechanism which are positioned on the two sides of the machine body are matched to move the drill rod up and down, so that the phenomenon that the drill rod interferes with a drilling machine in the rod up and down process is avoided.

In addition, the drilling equipment provided by the embodiment of the application also has the following additional technical characteristics:

in some embodiments, the drilling apparatus further comprises a lifting device; the support body is installed in hoisting device, hoisting device is used for driving the support body moves along upper and lower direction.

In the technical scheme, the drilling equipment is provided with the lifting device, and the frame body is installed on the lifting device, so that the lifting device can drive the frame body to move along the vertical direction, the drilling machine is driven to move up and down, and drilling requirements of different height positions in actual operation are met.

In some embodiments, the lifting device includes a first driving mechanism and two support columns arranged at intervals in the left-right direction and extending in the up-down direction; the two supporting upright columns are respectively positioned on the two sides of the machine body in the left-right direction; the frame body is movably arranged on the supporting upright post, and the first driving mechanism is used for driving the frame body to move along the up-and-down direction; the drill pipe box assembly and the grabbing mechanism are positioned on one side of the two support columns in the left-right direction; the grabbing mechanism is used for transferring the drill rod accommodated in the drill rod box assembly to the switching position, so that the drill rod can reach between the two support columns from one side of the two support columns in the left-right direction.

In above-mentioned technical scheme, hoisting device is provided with first actuating mechanism and two support post, through with the movably setting on two support post of support body to remove along upper and lower direction through first actuating mechanism drive support body, with the lift function who realizes hoisting device. In addition, snatch the mechanism and can avoid the support post to transfer the drilling rod to the switching position between two support posts after snatching the drilling rod in the drilling rod case subassembly to the mechanism that transports that makes to be located between two support posts can snatch the drilling rod that is located the switching position, thereby the drilling equipment that adopts this kind of structure can effectively solve the drilling rod and produce the problem of interfering with the support post in the in-process of going on going up and down the pole.

In some embodiments, the grasping mechanism includes a first actuator assembly, a second actuator assembly, and a first clamp; the second executing assembly is connected to the frame body through the first executing assembly, the first executing assembly is used for driving the second executing assembly to rotate around a second axis relative to the frame body, and the second axis is arranged along the left-right direction; the first clamping piece is connected to the second executing assembly, the first clamping piece is used for clamping the drill rod, the second executing assembly is used for driving the first clamping piece to rotate around a third axis relative to the first executing assembly, and the third axis is perpendicular to the second axis.

In the technical scheme, the second execution assembly can be driven to rotate around the second axis through the first execution assembly, the first clamping piece can be driven to rotate around the third axis through the second execution assembly, two rotational degrees of freedom of the first clamping piece are achieved, the drill rod can be transferred to a transfer position through the cooperation of the first execution assembly and the second execution assembly after the drill rod in the drill rod box assembly is clamped by the first clamping piece, the drill rod can be enabled to be capable of avoiding the support stand column, and the interference phenomenon between the drill rod and the support stand column is prevented.

In some embodiments, the first actuation assembly includes a swing arm; the swing arm is rotatably connected to the frame body around the second axis; the second executive component comprises a rotary arm and a connecting arm, the rotary arm winds the third axis and is rotatably connected to the free end of the swing arm, the rotary arm extends along the arrangement direction of the third axis, the connecting arm is connected to one end, far away from the swing arm, of the rotary arm, the connecting arm is perpendicular to the rotary arm, and the first clamping piece is connected to one end, far away from the rotary arm, of the connecting arm.

In the technical scheme, in the actual operation process, after the drilling rod in the first clamping part centre gripping drilling rod box subassembly, support body forward rotation around the second axis through the swing arm relatively can drive the drilling rod and rotate around the second axis, then rotate around the third axis through the relative swing arm of slewing arm relatively can drive the drilling rod and rotate around the third axis, support body backward rotation around the second axis through the swing arm relatively can drive the drilling rod and rotate around the second axis, thereby transport the drilling rod to between two support posts from one side of support post, so that transport the mechanism and snatch, adopt this kind of simple structure, be convenient for realize.

In some embodiments, the first clamp has a fourth axis; the fourth axis coincides with the centre line of the drill rod when the first gripping member grips the drill rod; the distance between the third axis and the fourth axis in the extending direction of the connecting arm is equal to the distance between the third axis and the center line of the power head in the left-right direction.

In the technical scheme, the distance between the third axis and the fourth axis in the extending direction of the connecting arm is equal to the distance between the third axis and the central line of the power head in the left-right direction, so that when the grabbing mechanism drives the drill rod to move to the switching position, the central line of the drill rod is parallel to the central line of the power head, and the drill rod is located on the upper side of the power head in the up-down direction, so that the conveying mechanism can grab the drill rod located at the switching position, and the conveying mechanism only needs to drive the drill rod to be capable of transferring the drill rod to the assembling position in the up-down direction and the front-back direction, the structure of the conveying mechanism and the conveying track of the drill rod are simplified, and the control and the implementation are facilitated.

In some embodiments, the transport mechanism comprises a first transfer assembly, a second transfer assembly, and a second gripper; the second transfer component is connected to the machine body through the first transfer component, and the first transfer component is used for driving the second transfer component to move along the front-back direction relative to the machine body; the second clamping piece is connected to the second transfer assembly and used for clamping the drill rod, and the second transfer assembly is used for driving the second clamping piece to move in the up-and-down direction relative to the first transfer assembly.

In the technical scheme, the first transfer component can drive the second transfer component to move along the front-back direction relative to the machine body, the second transfer component can drive the second clamping piece to move along the up-down direction relative to the machine body, the movement of the second clamping piece in the up-down direction and the front-back direction is realized, the second clamping piece can transfer the drill rod located at the transfer position to the assembly position under the matching of the first transfer component and the second transfer component, so that the power head is assembled with the drill rod, the structure is simple, and the realization is convenient.

In some embodiments, the drill pipe box assembly comprises a mounting bracket, a box, and a first drive; the mounting rack is mounted on the rack body; the box body is used for accommodating the drill rod, the box body is provided with a placing opening, the box body is arranged on the mounting frame in a turnover mode, and the first driving piece is used for driving the box body to turn over relative to the mounting frame so as to adjust the height position of the placing opening; the box body is arranged along the front-back direction relative to the rotating axis of the mounting rack.

In the technical scheme, the box body is arranged on the mounting frame in a turnable manner, and the box body can be driven to turn over relative to the mounting frame through the first driving piece, so that the height position of the placing opening of the box body is adjusted, an operator can conveniently place the drill rod into the box body, and convenience and labor saving are achieved. In addition, when lifting off the drilling rod in the box, only need through first driving piece drive box upset to place the mouth when being less than the bottom of box, the drilling rod alright in the box rolls out in order to rely on gravity from the box, need not the manual work and takes out, and then has saved the manual work, and has improved efficiency.

In some embodiments, the drill pipe box assembly further comprises a lift mechanism; the lifting mechanism is used for driving the drill rod contained in the box body to move to the placing opening relative to the box body.

In the technical scheme, the drill pipe box assembly is further provided with a lifting mechanism, the lifting mechanism can drive the drill pipe in the box body to move to the placing opening, so that the grabbing mechanism can grab the drill pipe, and the phenomenon that the grabbing mechanism interferes with the box body when grabbing the drill pipe located at the bottom of the box body is avoided.

In some embodiments, the lift mechanism comprises a tray and a second drive mechanism; the tray is movably arranged on the mounting rack, and the second driving mechanism is used for driving the tray to move in the vertical direction relative to the mounting rack; the side wall of the box body is provided with an open slot extending to the placing opening, and the tray can be inserted into the box body through the open slot so as to lift the drill rod accommodated in the box body.

In above-mentioned technical scheme, be provided with the tray on the mounting bracket, can drive the tray through second actuating mechanism and remove along upper and lower direction to hold up the drilling rod in the box through the tray, with the mouth of placing that transfers the drilling rod to the box, simple structure, and reliable and stable. In addition, offer on the lateral wall of box and supply tray male open slot, and the open slot extends to the mouth of placing of box to guarantee that the box can insert to the box in relative mounting bracket upset back tray, so that the drilling rod in the box can remove to the mouth of placing of box under the drive of tray, thereby need not to lift the mechanism and set up on the box, avoided lifting the mechanism and followed the box and overturn together, and then lead to the structure of drilling rod case subassembly comparatively complicated.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural diagram of a drilling apparatus provided in an embodiment of the present application;

FIG. 2 is a right side view of the drilling apparatus shown in FIG. 1;

FIG. 3 is a schematic structural view of a gripping mechanism of the drilling apparatus shown in FIG. 1;

FIG. 4 is a schematic structural view of a conveyance mechanism of the drilling apparatus shown in FIG. 1;

FIG. 5 is a schematic structural view of a drill pipe box assembly of the drilling apparatus shown in FIG. 1;

FIG. 6 is a left side view of the drill pipe box assembly shown in FIG. 5 (with the box in a rodding position);

figure 7 is a left side view of the drill pipe box assembly shown in figure 5 (with the box in a rod discharge position).

Icon: 100-drilling equipment; 10-a frame body; 20-a drilling machine; 21-a fuselage; 22-a power head; 23-a third drive mechanism; 24-a gripper; 30-a drill pipe box assembly; 31-a mounting frame; 32-a box body; 321-a placing port; 322-open slot; 33-a first drive member; 34-a lifting mechanism; 341-a tray; 342-a second drive mechanism; 3421-second guide rail; 3422-seventh drive; 40-a gripping mechanism; 41-a first execution component; 411-swing arm; 412-a second driver; 413-a reducer; 414-tilt angle sensor; 42-a second execution component; 421-a swivel arm; 422-connecting arm; 423-third drive member; 424-rotation limiter; 43-a first clamp; 431-a first gripper; 432-a fourth drive; 50-a transport mechanism; 51-a first transfer assembly; 511-a connecting seat; 512-a first movable base; 513-a fourth drive mechanism; 5131-a first guide rail; 5132-fifth drive; 52-a second transfer assembly; 521-a second movable seat; 522-a fifth drive mechanism; 53-a second clamp; 531-second gripper; 532-a sixth driver; 60-a drill rod; 70-a lifting device; 71-a first drive mechanism; 72-supporting columns; 80-a rotating platform; x-front-back direction; y-left and right direction; z-up-down direction.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is conventionally understood by those skilled in the art, is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Examples

The embodiment of the application provides a drilling device 100, which can solve the problems that the existing drilling machine needs to manually assemble and disassemble a drill rod, so that the labor intensity is high, the working efficiency is low and the safety is low in the working process, and the specific structure of the drilling device 100 is explained in detail in the following with reference to the attached drawings.

As shown in fig. 1 and 2, the drilling apparatus 100 includes a frame body 10, a drilling machine 20, a rod box assembly 30, a gripping mechanism 40, and a carrying mechanism 50. The drilling machine 20 comprises a machine body 21 and a power head 22, the machine body 21 is rotatably arranged on the frame body 10 around a first axis, the power head 22 is installed on the machine body 21, the power head 22 is movably arranged on the machine body 21, the power head 22 is used for driving the drill rod 60 to feed along the front-back direction X, and the first axis is arranged along the left-right direction Y. A drill pipe box assembly 30 is mounted to the frame 10, the drill pipe box assembly 30 being adapted to receive drill pipes 60. The grabbing mechanism 40 is installed on the rack body 10, and the grabbing mechanism 40 is used for grabbing the drill rod 60 accommodated in the drill rod box assembly 30 and transferring the drill rod 60 to the transfer position. The transport mechanism 50 is mounted to the body 21, and the transport mechanism 50 is configured to grasp the drill rod 60 at the transfer position and transfer the drill rod 60 to the assembly position for assembly of the power head 22 with the drill rod 60.

In the actual operation process, the drill rod 60 in the drill rod box assembly 30 can be grabbed through the grabbing mechanism 40, the drill rod 60 is transferred to the switching position, the drill rod 60 located at the switching position can be grabbed through the conveying mechanism 50, the drill rod 60 is conveyed to the assembling position, so that the drill rod 60 is assembled on the power head 22, otherwise, when the drill rod 60 on the power head 22 needs to be taken down, the drill rod 60 on the power head 22 is grabbed through the conveying mechanism 50, the drill rod 60 is conveyed to the switching position, the drill rod 60 located at the switching position is grabbed through the grabbing mechanism 40, the drill rod 60 is conveyed into the drill rod box assembly 30, and therefore automatic assembling and disassembling of the drill rod 60 are completed. Wherein, snatch mechanism 40 and drilling rod box assembly 30 and all set up on support body 10 to in snatch mechanism 40 and transport drilling rod 60 to the switching position in with drilling rod box assembly 30, and avoid fuselage 21 to rotate when going on relatively support body 10 drilling rod box assembly 30 follows fuselage 21 and rotates and lead to drilling rod 60 in drilling rod box assembly 30 to roll out drilling rod box assembly 30. Meanwhile, the conveying mechanism 50 is arranged on the body 21, so that the conveying mechanism 50 rotates along with the body 21 relative to the frame body 10, the relative position of the grabbing mechanism 40 and the body 21 is unchanged when the drilling machine 20 performs inclination adjustment, and the grabbing mechanism 40 and the conveying mechanism 50 can be matched to assemble and disassemble the drill rod 60 when the drilling machine 20 is at any inclination angle, so that the drilling machine 20 can obtain a large inclination angle range. The drilling equipment 100 adopting the structure does not need manual assembly and disassembly, so that the working efficiency is improved, and the problem that potential safety hazards exist due to low safety when the drill rod 60 is assembled and disassembled manually is solved. In addition, the grabbing mechanism 40 and the conveying mechanism 50 which are positioned at the two sides of the machine body 21 are matched to move the drill rod 60 up and down, so that the phenomenon that the drill rod 60 interferes with the drilling machine 20 in the process of moving the drill rod up and down is avoided.

The drilling machine 20 further comprises a third driving mechanism 23 and a holder 24, the third driving mechanism 23 is arranged on the frame body 10, and the third driving mechanism 23 is used for driving the machine body 21 to rotate around the first axis relative to the frame body 10 so as to adjust the inclination angle of the machine body 21, so that the drilling direction of the drilling machine 20 is adjusted to meet the drilling requirements of different angles. The holder 24 is fixedly arranged at one end of the machine body 21, and the holder 24 is used for holding the drill rod 60. When the conveying mechanism 50 conveys the drill rod 60 to the assembling position, the power head 22 can move along the front-back direction X relative to the machine body 21 to clamp the drill rod 60 positioned at the assembling position, then the drill rod 60 is driven to feed along the front-back direction X to meet the drilling requirement of the target object, when the drilling depth is not enough, the length of the drill rod 60 needs to be further lengthened, at this time, the drill rod 60 drilled into the target object can be clamped by the clamp 24, then the power head 22 releases the drill rod 60 drilled into the target object and moves along the front-back direction X relative to the machine body 21 in the direction far away from the clamp 24, then a drill rod 60 is conveyed to the assembling position through the cooperation of the grabbing mechanism 40 and the conveying mechanism 50, finally, the power head 22 moves along the front-back direction X relative to the machine body 21 to clamp the drill rod 60 positioned at the assembling position and drive the drill rod 60 to rotate, so that the drill rod 60 is screwed with the drill rod 60 clamped on the clamp 24, thereby completing the drilling requirement of deeper target object. The specific structure of power head 22 and holder 24 can be found in the related art and will not be described in detail herein.

Illustratively, the third driving mechanism 23 is a hydraulic motor, the hydraulic motor is fixedly disposed on the frame body 10, and the body 21 is connected to an output shaft of the hydraulic motor to drive the body 21 to rotate around the first axis relative to the frame body 10. In other embodiments, the third driving mechanism 23 may also be a motor.

Illustratively, the third driving mechanism 23 drives the body 21 to adjust the inclination angle thereof with respect to the frame 10 in a range of-30 ° to 90 °.

In this embodiment, and as shown in continued reference to fig. 1 and 2, the drilling apparatus 100 further includes a lifting device 70. The frame body 10 is mounted on the lifting device 70, and the lifting device 70 is used for driving the frame body 10 to move along the up-down direction Z. Through installing support body 10 on hoisting device 70 for hoisting device 70 can drive support body 10 and remove along upper and lower direction Z, thereby drives rig 20 and reciprocates, with the drilling demand that satisfies different height position in the actual operation.

Further, the lifting device 70 includes a first drive mechanism 71 and two support columns 72 arranged at intervals in the left-right direction Y and extending in the up-down direction Z. The two support pillars 72 are respectively located on both sides of the body 21 in the left-right direction Y. The frame body 10 is movably disposed on the support column 72, and the first driving mechanism 71 is used for driving the frame body 10 to move along the up-down direction Z. The drill pipe box assembly 30 and the gripping mechanism 40 are located on one side of the two support columns 72 in the left-right direction Y. The gripping mechanism 40 is configured to transfer the drill rod 60 accommodated in the drill rod box assembly 30 to the transfer position so that the drill rod 60 reaches between the two support columns 72 from one side of the two support columns 72 in the left-right direction Y.

The lifting device 70 is provided with a first driving mechanism 71 and two supporting columns 72, and the frame body 10 is movably disposed on the two supporting columns 72 so as to be driven by the first driving mechanism 71 to move in the up-down direction Z, thereby realizing the lifting function of the lifting device 70. In addition, after the drill rod 60 in the drill rod box assembly 30 is grabbed, the grabbing mechanism 40 can avoid the support columns 72 to transfer the drill rod 60 to the transfer position between the two support columns 72, so that the conveying mechanism 50 positioned between the two support columns 72 can grab the drill rod 60 positioned at the transfer position, and the problem that the drill rod 60 interferes with the support columns 72 in the process of moving up and down can be effectively solved by the drilling equipment 100 adopting the structure.

Optionally, the first driving mechanism 71 is a hydraulic cylinder, a cylinder body of the hydraulic cylinder is fixedly disposed on the support pillar 72, and the frame body 10 is connected to an output end of the hydraulic cylinder to drive the frame body 10 to move along the vertical direction Z relative to the support pillar 72. In other embodiments, the first driving mechanism 71 may also be an air cylinder, and of course, the first driving mechanism 71 may also be other structures, for example, the first driving mechanism 71 includes a motor, a gear and a rack, the motor is fixed to the supporting column 72, the gear is connected to an output shaft of the motor, the rack is connected to the frame body 10, and the rack is engaged with the gear, so as to be able to drive the frame body 10 to move in the up-down direction Z relative to the supporting column 72.

Optionally, as shown in fig. 1, the drilling equipment 100 further includes a rotating platform 80, the two supporting columns 72 are both mounted on the rotating platform 80, and the rotating platform 80 can drive the two supporting columns 72 to rotate circumferentially, so as to drive the drilling machine 20 to rotate in the horizontal plane, thereby meeting more drilling requirements in the mine. The specific structure of the rotary platform 80 can be found in the related art, and is not described in detail herein.

In some embodiments, the drilling equipment 100 may further include a walking device, and the rotary platform 80 is disposed on the walking device to move the rotary platform 80 via the walking device, so as to move the drilling machine 20, so as to complete transportation of the drilling equipment 100 and movement of the drilling machine 20 in the mine, thereby facilitating operation and use.

Illustratively, the running gear is a crawler.

It should be noted that the drilling apparatus 100 is further provided with a control system, and the control system is used for controlling the whole drilling apparatus 100 so as to realize linkage between the components of the drilling apparatus 100.

In this embodiment, as shown in fig. 2 and 3, the grasping mechanism 40 includes a first executing component 41, a second executing component 42, and a first clamping member 43. The second actuating assembly 42 is connected to the frame 10 through the first actuating assembly 41, and the first actuating assembly 41 is configured to drive the second actuating assembly 42 to rotate around a second axis relative to the frame 10, where the second axis is arranged along the left-right direction Y. The first clamping member 43 is connected to the second actuating member 42, the first clamping member 43 is used for clamping the drill rod 60, and the second actuating member 42 is used for driving the first clamping member 43 to rotate around a third axis relative to the first actuating member 41, wherein the third axis is perpendicular to the second axis.

The second actuating assembly 42 can be driven to rotate around the second axis by the first actuating assembly 41, and the first clamping member 43 can be driven to rotate around the third axis by the second actuating assembly 42, so that two rotational degrees of freedom of the first clamping member 43 are realized, the first clamping member 43 can transfer the drill rod 60 to a transfer position through the cooperation of the first actuating assembly 41 and the second actuating assembly 42 after clamping the drill rod 60 in the drill rod box assembly 30, the drill rod 60 can avoid the support column 72, and the interference phenomenon between the drill rod 60 and the support column 72 is prevented.

Further, the first actuation assembly 41 includes a swing arm 411. The swing arm 411 is rotatably connected to the frame body 10 about a second axis. The second actuating assembly 42 comprises a swivel arm 421 and a connecting arm 422, the swivel arm 421 is rotatably connected to the free end of the swing arm 411 about a third axis, the swivel arm 421 extends in the arrangement direction of the third axis, the connecting arm 422 is connected to the end of the swivel arm 421 remote from the swing arm 411, the connecting arm 422 is perpendicular to the swivel arm 421, and the first clamping member 43 is connected to the end of the connecting arm 422 remote from the swivel arm 421.

In the actual operation process, after the first clamping member 43 clamps the drill rod 60 in the drill rod box assembly 30, the swing arm 411 rotates around the second axis in the forward direction relative to the frame body 10, the drill rod 60 can be driven to rotate around the second axis, then the swing arm 421 rotates around the third axis relative to the swing arm 411, the drill rod 60 can be driven to rotate around the third axis, and finally the swing arm 411 rotates around the second axis in the reverse direction relative to the frame body 10, so that the drill rod 60 can be driven to rotate around the second axis in the reverse direction, and the drill rod 60 is conveyed to the position between the two supporting columns 72 from one side of the supporting columns 72, so that the conveying mechanism 50 can grab the drill rod.

Wherein the first clamp 43 has a fourth axis. The fourth axis coincides with the centre line of the drill rod 60 when the first clamping member 43 clamps the drill rod 60. The distance between the third axis and the fourth axis in the extending direction of the connecting arm 422 is equal to the distance between the third axis and the center line of the power head 22 in the left-right direction Y.

The distance between the third axis and the fourth axis in the extending direction of the connecting arm 422 is set to be equal to the distance between the third axis and the center line of the power head 22 in the left-right direction Y, so that when the grabbing mechanism 40 drives the drill rod 60 to move to the transfer position, the center line of the drill rod 60 is parallel to the center line of the power head 22 and the drill rod 60 is located on the upper side of the power head 22 in the up-down direction Z, so that the conveying mechanism 50 grabs the drill rod 60 located at the transfer position, and the conveying mechanism 50 can convey the drill rod 60 to the assembly position only by driving the drill rod 60 in the up-down direction Z and the front-back direction X, the structure of the conveying mechanism 50 and the conveying track of the drill rod 60 are simplified, and the control and implementation are facilitated.

In this embodiment, as shown in fig. 2 and 3, the first actuating assembly 41 further includes a second driving element 412 and a speed reducer 413, the swing arm 411 is rotatably connected to the frame body 10 around a second axis, the second driving element 412 is in transmission connection with the swing arm 411 through the speed reducer 413, and the second driving element 412 is used for driving the swing arm 411 to rotate around the second axis relative to the frame body 10. The specific structure of the speed reducer 413 can be found in the related art, and is not described in detail herein.

The second drive member 412 is illustratively an electric motor, and in other embodiments, the second drive member 412 may be a hydraulic motor or the like.

Optionally, the first actuating assembly 41 is further provided with a tilt sensor 414, the tilt sensor 414 is disposed on the swing arm 411, the tilt sensor 414 is used for acquiring information of the rotation angle of the swing arm 411 relative to the frame body 10, and the control system can control the rotation angle of the swing arm 411 according to the information of the rotation angle so as to adjust the rotation angle of the swing arm 411.

In this embodiment, as shown in fig. 3, the second actuating assembly 42 further includes a third driving element 423 and a rotation limiter 424, the third driving element 423 is mounted at the free end of the swing arm 411, and the third driving element 423 is used for driving the rotation arm 421 to rotate around a third axis relative to the swing arm 411. Gyration stopper 424 sets up on gyration arm 421, and gyration stopper 424 is used for restricting the turned angle of gyration arm 421 to realize the accurate location of gyration arm 421, thereby can accurately convey drilling rod 60 to the switching position, prevent position deviation. The specific structure of the rotation limiter 424 can be found in the related art, and is not described in detail herein.

Illustratively, the third driving member 423 is an electric motor, and in other embodiments, the third driving member 423 may be a hydraulic motor or the like.

Further, as shown in fig. 3, the first clamping member 43 includes a first gripper 431 and a fourth driver 432, the first gripper 431 is connected to an end of the connecting arm 422 far from the rotary arm 421 through the fourth driver 432, and the fourth driver 432 is used for driving the first gripper 431 to move so as to complete the gripping and releasing of the drill rod 60. The specific structure of the first gripper 431 can be found in the related art, and is not described in detail herein.

For example, the fourth driving member 432 is a hydraulic cylinder, and in other embodiments, the fourth driving member 432 may also be a pneumatic cylinder or an electric push rod.

In this embodiment, as shown in fig. 1 and 2, the carrying mechanism 50 is disposed on the body 21 and between the two support columns 72. As shown in fig. 2 and 4, the carrying mechanism 50 includes a first transfer assembly 51, a second transfer assembly 52, and a second clamp 53. The second transfer assembly 52 is connected to the body 21 through the first transfer assembly 51, and the first transfer assembly 51 is configured to drive the second transfer assembly 52 to move in the front-back direction X relative to the body 21. The second clamping member 53 is connected to the second transfer assembly 52, the second clamping member 53 is used for clamping the drill rod 60, and the second transfer assembly 52 is used for driving the second clamping member 53 to move along the up-down direction Z relative to the first transfer assembly 51.

The second transfer component 52 can be driven by the first transfer component 51 to move along the front-back direction X relative to the machine body 21, the second clamping piece 53 can be driven by the second transfer component 52 to move along the up-down direction Z relative to the machine body 21, so that the second clamping piece 53 can move along the up-down direction Z and the front-back direction X, the drill rod 60 located at the switching position can be transferred to the assembling position by the second clamping piece 53 under the matching of the first transfer component 51 and the second transfer component 52, and the power head 22 and the drill rod 60 can be assembled conveniently.

The first transfer module 51 includes a connection seat 511, a first moving seat 512, and a fourth driving mechanism 513. One end of the connection seat 511 is screwed to one side of the body 21 away from the grabbing mechanism 40 in the left-right direction Y through a bolt, the first movable seat 512 is movably disposed on the connection seat 511 along the front-back direction X, the fourth driving mechanism 513 is used for driving the first movable seat 512 to move along the front-back direction X relative to the connection seat 511, and the second transfer component 52 is disposed on the first movable seat 512 so as to drive the second movable component to move along the front-back direction X through the first movable seat 512.

Alternatively, as shown in fig. 4, the fourth driving mechanism 513 includes a first guide rail 5131, a first lead screw housing, and a fifth driving member 5132. The first guide rail 5131 is connected to an end of the connecting base 511 away from the body 21, the first guide rail 5131 extends along the front-back direction X, and the first movable base 512 is movably connected to the first guide rail 5131 along the front-back direction X. The first screw rod is rotatably disposed on the first guide rail 5131 and extends along the front-back direction X, and the fifth driving member 5132 is configured to drive the first screw rod to rotate relative to the first guide rail 5131. The first screw rod sleeve is rotatably sleeved outside the first screw rod and connected to the first movable base 512. When the fifth driving member 5132 drives the first lead screw to rotate, the first lead screw can drive the first lead screw sleeve sleeved on the outer side of the first lead screw to move along the front-back direction X, so as to drive the first movable base 512 to move along the front-back direction X on the first guide rail 5131.

Illustratively, the fifth drive 5132 is a motor.

It should be noted that, in other embodiments, the fourth driving mechanism 513 may also have other structures, for example, the fourth driving mechanism 513 is a cylinder or a hydraulic cylinder, a cylinder body of the cylinder or the hydraulic cylinder is fixedly disposed at one end of the connecting seat 511 away from the body 21, the first movable seat 512 is movably disposed on the connecting seat 511 along the front-back direction X, and the first movable seat 512 is connected to an output end of the cylinder or the hydraulic cylinder, so that the cylinder or the hydraulic cylinder can drive the first movable seat 512 to move along the front-back direction X relative to the connecting seat 511.

Further, with continued reference to fig. 4, the second moving assembly includes a second moving base 521 and a fifth driving mechanism 522. The second movable base 521 is movably disposed on the first movable base 512 along the vertical direction Z, the fifth driving mechanism 522 is configured to drive the second movable base 521 to move relative to the first movable base 512, and the second clamping member 53 is connected to one end of the second movable base 521.

The fifth driving mechanism 522 includes a motor, a second lead screw, and a second lead screw sleeve. The motor is fixedly arranged at one end of the second movable base 521. The second screw rod is rotatably disposed on the second movable base 521 and extends along the vertical direction Z, and the second screw rod is connected to an output shaft of the motor to drive the second screw rod to rotate relative to the second movable base 521 through the motor. The second screw rod sleeve is rotatably sleeved outside the second screw rod and connected to the first movable base 512. When the motor drives the second lead screw to rotate, the second lead screw can move axially relative to the second lead screw sleeve, so as to drive the second movable base 521 to move along the vertical direction Z relative to the first movable base 512, so as to drive the second clamping member 53 connected to the second movable base 521 to move along the vertical direction Z. Similarly, in other embodiments, the fifth driving mechanism 522 may have other structures, for example, the fifth driving mechanism 522 is a cylinder or a hydraulic cylinder, a cylinder body of the cylinder or the hydraulic cylinder is fixed on the first movable base 512, and the second movable base 521 is movably disposed on the first movable base 512 along the vertical direction Z and connected to an output end of the cylinder or the hydraulic cylinder, so that the cylinder or the hydraulic cylinder can drive the second movable base 521 to move along the vertical direction Z relative to the first movable base 512.

Alternatively, as shown in fig. 4, the second clamping member 53 comprises a second hand grip 531 and a sixth driving member 532, the second hand grip 531 is connected to one end of the second movable base 521 through the sixth driving member 532, and the sixth driving member 532 is used for driving the second hand grip 531 to move, so as to complete the gripping and releasing of the drill rod 60. The specific structure of the second gripper 531 can be found in the related art, and is not described in detail herein.

While the sixth driver 532 is illustratively a hydraulic cylinder, in other embodiments, the sixth driver 532 may also be a pneumatic cylinder or an electric push rod.

In the present embodiment, as shown in fig. 1, 5 and 6, the drill pipe box assembly 30 includes a mounting bracket 31, a box body 32 and a first driving member 33. The mounting bracket 31 is mounted to the frame body 10. The box body 32 is used for accommodating the drill rod 60, the box body 32 is provided with a placing opening 321, the box body 32 is arranged on the mounting frame 31 in a turnable manner, and the first driving piece 33 is used for driving the box body 32 to turn relative to the mounting frame 31 so as to adjust the height position of the placing opening 321. The axis of rotation of the case 32 with respect to the mount 31 is arranged in the front-rear direction X.

The box 32 is rotatably disposed on the mounting frame 31, and the first driving member 33 can drive the box 32 to rotate relative to the mounting frame 31, so as to adjust the height position of the placing opening 321 of the box 32. As shown in fig. 6, at this time, the box 32 is located at the rod adding position, and after the operator only needs to place the drill rod 60 in the placing opening 321, the drill rod 60 can roll into the box 32 by means of gravity, so that the operator can place the drill rod 60 in the box 32 conveniently and labor-saving. In addition, when the drill rod 60 is dismounted from the box body 32, the box body 32 is driven to overturn to the position where the placing opening 321 is lower than the bottom of the box body 32 only through the first driving piece 33, as shown in fig. 7, at the moment, the box body 32 is located at the position of the dismounting rod, the drill rod 60 in the box body 32 can roll out from the box body 32 by means of gravity, manual taking out is not needed, labor is saved, and efficiency is improved.

The bottom of the box body 32 is hinged to the mounting frame 31, so that the box body 32 can be arranged on the mounting frame 31 in a turnover mode, and the box body 32 is of a hollow structure, so that dust and coal cinder accumulated in the box body 32 can be cleaned conveniently.

Illustratively, the first driving member 33 is a hydraulic cylinder, a cylinder body of the hydraulic cylinder is hinged to the mounting frame 31, and an output end of the hydraulic cylinder is hinged to the box body 32, so that the box body 32 can be driven to turn relative to the mounting frame 31. In other embodiments, the first driver 33 may also be a pneumatic cylinder or an electric push rod.

In some embodiments, as shown in connection with fig. 2 and 5, the pipe box assembly 30 may also include a lift mechanism 34. The lifting mechanism 34 is used for driving the drill rod 60 accommodated in the box body 32 to move to the placing opening 321 relative to the box body 32. The lifting mechanism 34 can drive the drill rod 60 in the box 32 to move to the placing opening 321, so that the grabbing mechanism 40 can grab the drill rod, and the phenomenon that the first clamping piece 43 interferes with the box 32 when the grabbing mechanism 40 grabs the drill rod 60 at the bottom of the box 32 is avoided.

Further, the lifting mechanism 34 includes a tray 341 and a second driving mechanism 342. The tray 341 is movably disposed on the mounting frame 31, and the second driving mechanism 342 is configured to drive the tray 341 to move in the up-down direction Z relative to the mounting frame 31. An opening groove 322 extending to the placing opening 321 is formed in the side wall of the box body 32, and the tray 341 can be inserted into the box body 32 through the opening groove 322 to lift the drill rod 60 accommodated in the box body 32.

The tray 341 is arranged on the mounting rack 31, and the second driving mechanism 342 can drive the tray 341 to move in the vertical direction Z, so that the drill rod 60 in the box body 32 is supported by the tray 341, the drill rod 60 is transferred to the placing port 321 of the box body 32, and the structure is simple, stable and reliable. In addition, offer on the lateral wall of box 32 and supply tray 341 male open slot 322, and open slot 322 extends to box 32 place mouthful 321, in order to guarantee that box 32 can insert to box 32 in relative mounting bracket 31 upset back tray 341, so that the drilling rod 60 in the box 32 can remove to box 32 place mouthful 321 under the drive of tray 341, thereby need not to set up lifting mechanism 34 on box 32, avoided lifting mechanism 34 to follow box 32 and overturn together, and then lead to drilling rod box subassembly 30's structure comparatively complicated.

The second driving mechanism 342 includes a second guide rail 3421, a third screw sleeve, and a seventh driving element 3422. The second guide rail 3421 is fixedly disposed on the mounting frame 31, and the second guide rail 3421 extends along the vertical direction Z. The tray 341 is movably attached to the second guide rail 3421 in the up-down direction Z. The third screw rod is rotatably disposed on the second guide rail 3421 and extends along the vertical direction Z, and the seventh driving component 3422 is configured to drive the third screw rod to rotate relative to the second guide rail 3421. The third screw rod sleeve is rotatably sleeved outside the third screw rod and connected to the tray 341. When the seventh driving element 3422 drives the third screw rod to rotate, the third screw rod can drive the third screw rod sleeve sleeved on the outer side of the third screw rod to move along the vertical direction Z, so as to drive the tray 341 to move along the vertical direction Z on the second guide rail 3421.

Illustratively, the seventh drive 3422 is a motor.

It should be noted that, in other embodiments, the lifting mechanism 34 may also have other structures, for example, the lifting mechanism 34 includes an electric push rod and a support plate, the support plate is movably disposed in the box 32, and the support plate is used for placing the drill rod 60. The electric push rod is installed at the bottom of the box body 32, and the output end of the electric push rod is connected to the supporting plate to drive the supporting plate to move relative to the box body 32, so as to drive the drill rod 60 located in the box body 32 to move to the placing opening 321 of the box body 32.

In summary, the operation of the drilling apparatus 100 is as follows: as shown in fig. 2, when the drilling machine 20 is loaded, the lifting mechanism 34 first moves the drill rod 60 in the casing 32 to the placing port 321 of the casing 32, and then the first gripper 43 of the gripping mechanism 40 grips the drill rod 60 at the placing port 321. After the first clamping member 43 grabs the drill rod 60, the first executing assembly 41 drives the drill rod 60 to rotate counterclockwise around the second axis, the second executing assembly 42 drives the drill rod 60 to rotate around the third axis, so that the drill rod 60 is turned over to the upper side of the power head 22 from the outside, and the first executing assembly 41 drives the drill rod 60 to rotate clockwise around the second axis, so that the drill rod 60 reaches the switching position, at this time, the center line of the drill rod 60 is parallel to the center line of the power head 22, and the drill rod 60 is located right above the power head 22. Then, after the drill rod 60 clamped by the first clamping member 43 is clamped by the second clamping member 53 of the carrying mechanism 50, and the drill rod 60 is released by the first clamping member 43, the drill rod 60 is respectively driven by the first transfer assembly 51 and the second transfer assembly 52 to move in the front-rear direction X and the up-down direction Z so as to transfer the drill rod 60 to the assembly position, at which time, the center line of the drill rod 60 coincides with the center of the power head 22 so that the power head 22 can be assembled with the drill rod 60. Conversely, when the drill rod 60 needs to be unloaded, the drill rod 60 is transferred from the assembling position to the transfer position by the conveying mechanism 50, the drill rod 60 at the transfer position is grabbed by the grabbing mechanism 40, and the drill rod 60 is transferred into the box 32, so that the automatic unloading of the drill rod 60 is completed.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A drilling apparatus, comprising:

a frame body;

the drilling machine comprises a machine body and a power head, the machine body is rotatably arranged on the frame body around a first axis, the power head is arranged on the machine body and is used for driving a drill rod to feed along the front-back direction, and the first axis is arranged along the left-right direction;

the drill pipe box assembly is arranged on the frame body and is used for accommodating the drill pipe;

the grabbing mechanism is arranged on the frame body and used for grabbing the drill rod accommodated in the drill rod box assembly and transferring the drill rod to a switching position; and

and the conveying mechanism is arranged on the machine body and used for grabbing the drill rod positioned at the switching position and transferring the drill rod to an assembly position so as to assemble the power head with the drill rod.

2. The drilling apparatus according to claim 1, wherein the drilling apparatus further comprises a lifting device;

the support body is installed in hoisting device, hoisting device is used for driving the support body moves along upper and lower direction.

3. The drilling apparatus according to claim 2, wherein the lifting device includes a first driving mechanism and two support columns arranged at intervals in the left-right direction and extending in the up-down direction;

the two supporting upright columns are respectively positioned on the two sides of the machine body in the left-right direction;

the frame body is movably arranged on the supporting upright post, and the first driving mechanism is used for driving the frame body to move along the up-and-down direction;

the drill pipe box assembly and the grabbing mechanism are positioned on one side of the two support columns in the left-right direction;

the grabbing mechanism is used for transferring the drill rod accommodated in the drill rod box assembly to the switching position, so that the drill rod can reach between the two support columns from one side of the two support columns in the left-right direction.

4. The drilling apparatus of claim 3, wherein the gripping mechanism comprises a first actuator assembly, a second actuator assembly, and a first clamp;

the second executing assembly is connected to the frame body through the first executing assembly, the first executing assembly is used for driving the second executing assembly to rotate around a second axis relative to the frame body, and the second axis is arranged along the left-right direction;

the first clamping piece is connected to the second executing assembly, the first clamping piece is used for clamping the drill rod, the second executing assembly is used for driving the first clamping piece to rotate around a third axis relative to the first executing assembly, and the third axis is perpendicular to the second axis.

5. The drilling apparatus of claim 4, wherein the first implement assembly includes a swing arm;

the swing arm is rotatably connected to the frame body around the second axis;

the second executive component comprises a rotary arm and a connecting arm, the rotary arm winds the third axis and is rotatably connected to the free end of the swing arm, the rotary arm extends along the arrangement direction of the third axis, the connecting arm is connected to one end, far away from the swing arm, of the rotary arm, the connecting arm is perpendicular to the rotary arm, and the first clamping piece is connected to one end, far away from the rotary arm, of the connecting arm.

6. The drilling apparatus of claim 5, wherein the first clamp has a fourth axis;

the fourth axis coincides with the centre line of the drill rod when the first gripping member grips the drill rod;

the distance between the third axis and the fourth axis in the extending direction of the connecting arm is equal to the distance between the third axis and the center line of the power head in the left-right direction.

7. The drilling apparatus of claim 3, wherein the conveyance mechanism comprises a first transfer assembly, a second transfer assembly, and a second gripper;

the second transfer component is connected to the machine body through the first transfer component, and the first transfer component is used for driving the second transfer component to move along the front-back direction relative to the machine body;

the second clamping piece is connected to the second transfer assembly and used for clamping the drill rod, and the second transfer assembly is used for driving the second clamping piece to move in the up-and-down direction relative to the first transfer assembly.

8. The drilling apparatus as claimed in any one of claims 1 to 7, wherein the drill pipe box assembly comprises a mounting bracket, a box and a first drive member;

the mounting rack is mounted on the rack body;

the box body is used for accommodating the drill rod, the box body is provided with a placing opening, the box body is arranged on the mounting frame in a turnover mode, and the first driving piece is used for driving the box body to turn over relative to the mounting frame so as to adjust the height position of the placing opening;

the box body is arranged along the front-back direction relative to the rotating axis of the mounting rack.

9. The drilling apparatus of claim 8, wherein the drill pipe box assembly further comprises a lift mechanism;

the lifting mechanism is used for driving the drill rod contained in the box body to move to the placing opening relative to the box body.

10. The drilling apparatus of claim 9, wherein the lift mechanism comprises a tray and a second drive mechanism;

the tray is movably arranged on the mounting rack, and the second driving mechanism is used for driving the tray to move in the vertical direction relative to the mounting rack;

the side wall of the box body is provided with an open slot extending to the placing opening, and the tray can be inserted into the box body through the open slot so as to lift the drill rod accommodated in the box body.

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