CN217327239U

CN217327239U - Drilling machine loading and unloading drill rod system and coal mine drilling machine

Info

Publication number: CN217327239U
Application number: CN202221022418.9U
Authority: CN
Inventors: 耿仪; 赵彤凯; 张光辉; 卢政彤; 李海臣; 张曼珂; 唐盛禹; 路陪超
Original assignee: Gltech Co ltd
Current assignee: Gltech Co ltd
Priority date: 2022-04-26
Filing date: 2022-04-26
Publication date: 2022-08-30
Anticipated expiration: 2032-04-26

Abstract

The utility model relates to a colliery rig technical field, concretely relates to rig loading and unloading drilling rod system of colliery rig. The drilling rig drill rod loading and unloading system comprises a drilling rig platform, a drill rod box and a loading and unloading manipulator are arranged on the drilling rig platform, the drill rod box is composed of two vertical frames which are arranged at intervals along the left and right direction, the loading and unloading manipulator comprises a horizontal rail extending along the front and back direction, a vertical rail extending along the up and down direction and a drill rod gripper, the horizontal rail is located between the two vertical frames and is arranged on the drilling rig platform, the vertical rail moves along the front and back direction to be assembled on the horizontal rail, and the drill rod gripper moves along the up and down direction to be assembled on the vertical rail. The vertical track of the utility model can move along the front-back direction on the horizontal track, and the drill rod gripper can move along the front-back direction on the vertical track, so that the drill rod gripper can grip the drill rod at any position in the drill rod box; meanwhile, the loading and unloading manipulator can realize the actions only by two driving positions, so that the complexity and the manufacturing cost are reduced.

Description

Drilling machine loading and unloading drill rod system and coal mine drilling machine

Technical Field

The utility model relates to a colliery rig technical field, concretely relates to rig loading and unloading drilling rod system of colliery rig.

Background

The tunnel drilling machine is mainly used for drilling holes for related engineering, such as gas drainage holes, grouting and fire extinguishing holes, coal seam water injection holes, address exploration holes and the like. The traditional drilling machine generally depends on manual work for loading and unloading the drill rod, so that the efficiency is low, and the labor intensity is high.

The application publication number of the Chinese invention patent application CN110952972A discloses a coal mine drilling machine, which comprises a drilling machine platform, wherein a drill rod box, a rod conveying mechanical arm, a drill rod transporter, a main mechanical arm and a drilling main machine are arranged on the drilling machine platform, and the drill rod box is provided with a plurality of layers of spaces for accommodating drill rods; the rod conveying manipulator is used for conveying drill rods in the drill rod box to the drill rod transporter, and the main manipulator is used for conveying the drill rods on the drill rod transporter to the drilling host, so that automatic conveying of the drill rods is achieved, and labor efficiency is improved.

In the technology, a sliding rail is arranged on the outer side of the drill rod box, the rod feeding mechanical arm is located on the outer side of the drill rod box, the rod feeding mechanical arm is connected with the sliding rail of the drill rod box through sliding blocks which are arranged on a gear box in an up-and-down symmetrical mode, a gear which is vertical in the axial direction is installed in the gear box, the gear is meshed with a rack on the sliding rail and is driven by a rod feeding motor, and the rod feeding mechanical arm can reciprocate in the horizontal plane. The lower end of the supporting cylinder is fixedly connected with the gear box, the upper end of the supporting cylinder is provided with a first lifting oil cylinder, a cross arm is arranged on the first lifting oil cylinder and can move up and down under the driving of the first lifting oil cylinder, an outer cylinder and a second lifting oil cylinder are arranged at the front end of the cross arm, a drill rod gripper is arranged below the outer cylinder, the upper portion of the drill rod gripper is connected with the outer cylinder in an inner-outer sleeve mode to form a linear motion pair, and the drill rod gripper moves up and down under the driving of the second lifting oil cylinder to grip a drill rod.

Foretell drilling rod case size is great, send the pole manipulator to need realize snatching and carrying of drilling rod through sending pole motor, first lifting cylinder and second lifting cylinder, sets up three actuating mechanism, has not only increased the complexity that sends the pole manipulator, has increased the cost of manufacture who sends the pole manipulator moreover. Moreover, the rod feeding manipulator is arranged outside the drill rod box, so that the space of the drill rod box in the left-right direction can be occupied, and operators can be easily injured by clamping when the sliding rail is meshed with the gear.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a drilling machine drill rod loading and unloading system, which solves the technical problems of complex rod feeding mechanical arm and high manufacturing cost in the prior art; an object of the utility model is also to provide a colliery rig to send the comparatively complicated and the cost of manufacture of pole manipulator to lead to the higher technical problem of the whole cost of colliery rig among the solution prior art.

In order to achieve the purpose, the utility model discloses drilling machine loading and unloading drilling rod system's technical scheme is:

drilling machine loading and unloading drilling rod system, including the rig platform, be provided with the loading and unloading manipulator that is used for placing the drilling rod case of drilling rod and is used for loading and unloading the drilling rod on the rig platform, the drilling rod case comprises two grudging posts along left right direction interval arrangement, the loading and unloading manipulator includes the horizontal track that extends along the fore-and-aft direction, vertical track and the drilling rod tongs that extend along upper and lower direction, the horizontal track is in between two grudging posts and sets up on the rig platform, vertical track removes the assembly on the horizontal track along the fore-and-aft direction, the drilling rod tongs removes the assembly on vertical track along upper and lower direction.

The beneficial effects are that: because the horizontal track sets up on the rig platform and is in between two grudging posts, not only make the loading and unloading manipulator can not occupy the drilling rod case in the ascending space of left and right sides, make the operation personnel be difficult to touch the loading and unloading manipulator moreover, guarantee operation personnel's safety. The vertical rail moves on the horizontal rail in the front-back direction, and the drill rod gripper moves on the vertical rail in the front-back direction, so that the drill rod gripper can grip a drill rod at any position in the drill rod box; meanwhile, the loading and unloading manipulator can realize the actions only by two driving positions, so that the complexity and the manufacturing cost are reduced.

As a further improvement, a horizontal driving device and a horizontal lead screw nut mechanism are arranged on the horizontal track, and the horizontal driving device drives the vertical track to move on the horizontal track through the horizontal lead screw nut mechanism; and a vertical driving device and a vertical lead screw nut mechanism are arranged on the vertical track, and the vertical driving device drives the drill rod gripper to move on the vertical track through the vertical lead screw nut mechanism.

The beneficial effects are that: the space occupation can be reduced by transmitting power through the screw nut mechanism, and the compactness of the whole loading and unloading manipulator is ensured.

As a further improvement, the driving end of the horizontal driving device and/or the driving end of the vertical driving device are/is provided with a driving bevel gear, a lead screw of the corresponding lead screw nut mechanism is provided with an output bevel gear meshed with the driving bevel gear, the output bevel gear is also meshed with a detection bevel gear, a detection shaft is fixed on the detection bevel gear, and a rotary encoder is coaxially arranged on the detection shaft.

The beneficial effects are that: due to the design, the driving device and the rotary encoder are fixed, so that lines connected with the driving device and the rotary encoder can be arranged relatively stably, and the line abrasion is reduced; meanwhile, the driving bevel gear set is arranged, so that the driving device and the rotary encoder can be arranged by utilizing the radial side space of the output bevel gear, the occupation of too much axial size of the output bevel gear is avoided, and the inconvenience in arrangement caused by too long length of a horizontal track or a vertical track is avoided.

As a further improvement, the axis of the drive bevel gear coincides with the axis of the detection bevel gear.

The beneficial effects are that: due to the design, the driving device and the rotary encoder are respectively arranged on two opposite sides of the output bevel gear in the radial direction, and the uniform stress among the bevel gears during transmission is facilitated.

As a further improvement, a driving spur gear is arranged at the driving end of the horizontal driving device and/or the vertical driving device, an output spur gear in transmission connection with the driving spur gear is arranged on a lead screw of the corresponding lead screw nut mechanism, the output spur gear or the driving spur gear is also in transmission connection with a detection spur gear, a detection shaft is fixed on the detection spur gear, and a rotary encoder is coaxially arranged on the detection shaft.

The beneficial effects are that: due to the design, the driving device and the rotary encoder are fixed, so that lines connected with the driving device and the rotary encoder can be arranged relatively stably, and the line abrasion is reduced; simultaneously, through setting up the transmission spur gear group for drive arrangement and rotary encoder can utilize the radial lateral part space of output spur gear to arrange, avoid taking too much output spur gear size on the axial, and then avoid horizontal track or vertical orbital length overlength and lead to arranging inconveniently.

As a further improvement, the output spur gear is in transmission connection with a corresponding driving spur gear through a middle spur gear, and the detection spur gear is meshed with the middle spur gear.

The beneficial effects are that: due to the design, the driving device and the rotary encoder are respectively arranged on two opposite sides of the output straight gear in the radial direction, and the uniform stress between the straight gears is facilitated during transmission.

As a further improvement, the two vertical stands are fixed on the drilling machine platform in a position adjustable in the left-right direction.

The beneficial effects are that: by the design, the relative distance between the two vertical frames can be close to or far away from each other, so that the drill pipe box is suitable for drill pipes with different lengths, and the universality of the drill pipe box is improved.

As a further improvement, each vertical frame comprises a vertical frame main body and a side door, wherein a side inlet for filling a drill rod is formed in the vertical frame main body, one side of the side door in the vertical direction or the front-back direction is hinged to the vertical frame main body, and a door lock structure is arranged between the other side of the side door in the vertical direction or the left-right direction and the vertical frame main body so that the side door can shield the side inlet.

The beneficial effects are that: design like this, can open the side door installation drilling rod from the left side of drilling rod case or right side, compare in the condition that can only unilateral open the side door, this scheme receives the restriction in on-the-spot place less.

As a further improvement, one side of the side door in the vertical direction is hinged to the vertical frame main body, a door lock structure is arranged between the other side of the side door in the vertical direction and the vertical frame main body, and two side doors are arranged on each vertical frame at intervals in the front-rear direction.

The beneficial effects are that: by the design, the weight of a single side door can be reduced, so that an operator can open or close the side door conveniently, and the labor intensity is reduced; and can be according to on-the-spot needs, only open one of them side door and install the drilling rod, do not influence the drilling rod that another side door corresponds and snatch.

In order to achieve the purpose, the utility model discloses coal mine drilling machine's technical scheme is:

the coal mine drilling machine comprises a drilling machine loading and unloading drill rod system, a transfer frame, a main mechanical arm and a drill rod main machine, wherein the drilling machine loading and unloading drill rod system comprises a drilling machine platform, a drill rod box used for placing a drill rod and an loading and unloading mechanical arm used for loading and unloading the drill rod are arranged on the drilling machine platform, the drill rod box consists of two vertical frames which are arranged at intervals in the left-right direction, the loading and unloading mechanical arm comprises a horizontal rail extending in the front-back direction, a vertical rail extending in the up-down direction and a drill rod gripper, the horizontal rail is located between the two vertical frames and arranged on the drilling machine platform, the vertical rail is assembled on the horizontal rail in the front-back direction in a moving mode, and the drill rod gripper is assembled on the vertical rail in the up-down direction in a moving mode.

The beneficial effects are that: because the horizontal track sets up on the rig platform and is in between two grudging posts, not only make the loading and unloading manipulator can not occupy the drilling rod case in the ascending space of left and right sides, make the operation personnel be difficult to touch the loading and unloading manipulator moreover, guarantee operation personnel's safety. And the vertical track moves on the horizontal track along the front-back direction, and the drill rod gripper moves on the vertical track along the front-back direction, so that the drill rod gripper can grip a drill rod at any position in the drill rod box, and only two drives are needed, so that the complexity of the loading and unloading manipulator is reduced, and the manufacturing cost of the loading and unloading manipulator is reduced.

The beneficial effects are that: by the design, the driving device and the rotary encoder are fixed, so that a circuit connected with the driving device and the rotary encoder can be relatively stably arranged, and the circuit abrasion is favorably reduced; meanwhile, the driving bevel gear set is arranged, so that the driving device and the rotary encoder can be arranged by utilizing the radial side space of the output bevel gear, the occupation of too much axial size of the output bevel gear is avoided, and the inconvenience in arrangement caused by too long length of a horizontal track or a vertical track is avoided.

The beneficial effects are that: due to the design, the driving device and the rotary encoder are fixed, so that lines connected with the driving device and the rotary encoder can be arranged relatively stably, and the line abrasion is reduced; simultaneously, through setting up the transmission spur gear group for drive arrangement and rotary encoder can utilize the radial lateral part space of output spur gear to arrange, avoid taking too much output spur gear axial ascending size, and then avoid horizontal track or vertical orbital length overlength and lead to arranging inconveniently.

As a further improvement, each vertical frame comprises a vertical frame main body and a side door, wherein a side inlet for filling the drill rod is formed in the vertical frame main body, one side of the side door in the vertical direction or the front-back direction is hinged to the vertical frame main body, a door lock structure is arranged between the other side of the side door in the vertical direction or the left-right direction and the vertical frame main body, and the side door is used for shielding the side inlet.

As a further improvement, one side of each side door in the vertical direction is hinged to the vertical frame main body, a door lock structure is arranged between the other side of each side door in the vertical direction and the vertical frame main body, and two side doors on each vertical frame are arranged at intervals in the front-back direction.

Drawings

FIG. 1 is a schematic structural view of a coal mine drilling machine of the present invention;

FIG. 2 is a schematic diagram of the structure of the drill pipe handling system of the drilling rig of FIG. 1;

FIG. 3 is a schematic view of the structure of the drill pipe box of FIG. 2;

FIG. 4 is a schematic view of the side door of FIG. 3 shown open;

FIG. 5 is a cross-sectional view of the door lock structure of FIG. 3;

FIG. 6 is a cross-sectional view of the hinge lug plate, the fixing lug and the rotating pin of FIG. 3;

FIG. 7 is a schematic view of the unloading robot of FIG. 2;

FIG. 8 is a front view of FIG. 7;

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

FIG. 10 is a left side view of the transmission cover plate of FIG. 7 with the cover plate removed;

FIG. 11 is a schematic view of a portion of the transmission of FIG. 10;

FIG. 12 is a view B-B of FIG. 9;

FIG. 13 is a schematic view of a portion of the structure at the transmission case of FIG. 12;

FIG. 14 is an A-A view of FIG. 8 with the robot removed;

fig. 15 is a view from C-C of fig. 12.

In the figure: 1001. a drill pipe box; 1002. a handling manipulator; 1003. a drill stem; 1004. a middle rotating frame; 1005. a lifting seat; 1006. a power head slide rail; 1007. a support bar; 1008. a rig floor; 101. a left vertical frame; 102. a right vertical frame; 103. a partition plate; 104. a vertical plate; 105. a top beam; 106. a vertical support plate; 107. a horizontal support plate; 108. a bottom connecting plate; 109. supporting reinforcing ribs; 110. a first fixing bolt; 111. a side door; 112. a hinge plate; 113. hinging the ear plate; 114. fixing the lug; 115. a rotating shaft pin; 116. a cotter pin; 117. a plug bush; 118. fixing a sleeve; 119. a bolt; 120. a guide groove; 121. an elastic positioning pin; 122. an upper positioning groove; 123. a side inlet; 124. a lower positioning groove; 21. a drill rod gripper; 22. a vertical track; 221. a vertical guide rail; 222. a mounting seat; 223. a nut; 224. a nut block; 225. connecting blocks; 226. a rail limiting plate; 227. a transmission connecting plate; 23. a slide rail frame; 231. a second fixing bolt; 232. a horizontal slide rail; 233. a front seal ring; 234. a front bearing; 235. a bearing end cap; 236. a rear bearing; 237. a rear seal ring; 24. a transmission case; 25. a vertical drive device; 26. a horizontal driving device; 27. a first sensor; 28. a horizontal output shaft; 29. a vertical output shaft; 260. a drive bevel gear; 270. detecting a bevel gear; 280. an output bevel gear; 30. a mounting cavity; 31. an output shaft key nail; 32. a driving spur gear; 33. an output spur gear; 34. a middle straight gear; 35. an intermediate shaft; 36. a shaft sleeve; 37. detecting a straight gear; 38. a limit screw; 39. detecting a shaft; 40. a drive shaft key pin; 41. a second sensor; 42. a drive shaft.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention is further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention, i.e., the described embodiments are only some, but not all embodiments of the invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

It is noted that relational terms such as "first" and "second," and the like, which may be present, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …," or the like, does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, the terms "front", "back", "upper", "lower", "left" and "right" are based on the orientation and positional relationship shown in the drawings and are only for convenience of description of the present invention, and do not indicate that the device or component referred to must have a specific orientation, and therefore, should not be construed as limiting the present invention.

The features and properties of the present invention are described in further detail below with reference to examples.

The utility model discloses embodiment 1 of colliery rig:

as shown in fig. 1 and 2, the coal mine drilling machine includes a drilling machine platform 1008, a drill pipe box 1001, a loading and unloading manipulator 1002, a transfer frame 1004 and a lifting seat 1005 are arranged on the drilling machine platform 1008, a main manipulator (not shown) and a power head slide rail 1006 are arranged on the lifting seat 1005, and a power head (not shown) is slidably mounted on the power head slide rail 1006. When the device is used, the loading and unloading manipulator 1002 grabs the drill rods 1003 in the drill rod box 1001 and conveys the drill rods to the middle rotating frame 1004, and the main manipulator grabs the drill rods on the middle rotating frame 1004 and conveys the drill rods to the power head; the drilling machine platform 1008 can rotate around a vertical axis, and after the drilling machine platform 1008 rotates in place, the supporting rod 1007 is supported on the top wall so as to ensure the stability of the drilling machine platform 1008; meanwhile, the power head slide rail 1006 can rotate around the horizontal axis to adjust the pitch angle. The drilling machine platform 1008, the drill rod box 1001 and the loading and unloading manipulator 1002 together form a drilling machine drill rod loading and unloading system.

As shown in fig. 3 and 4, the rod box 1001 is composed of a left stand 101 and a right stand 102, and the left stand 101 and the right stand 102 are arranged symmetrically and spaced in the left-right direction. Taking the left stand 101 as an example, the left stand 101 includes a top beam 105, a bottom beam, a partition 103, vertical plates 104 on both front and rear sides, and a side door 111, and the top beam 105 and the bottom beam are connected between the vertical plates 104 on both sides to form a frame structure, which constitutes a stand main body. A plurality of partition plates 103 are arranged at intervals in the front-back direction, and storage bins for storing the ends of the drill rods 1003 are formed between adjacent partition plates 103 and between the vertical plates 104 on two sides and the adjacent partition plates 103. In this embodiment, the lower end of the side door 111 is hinged to the vertical support plate 106, and a door lock structure is disposed between the upper end of the side door 111 and the top beam 105.

The respective constituent structures of the drill pipe box will be described in detail below. As shown in fig. 3 and 4, the left and right stands 101, 102 are each rectangular frame-type grates that are both vertically fixed to the rig floor 1008 in use. Both ends are vertical extension's riser 104 around left grudging post 101 and the right grudging post 102, and in the same grudging post, arrange from last down in proper order between coexistence board 104: top beam 105, bottom beam and bottom web 108 are of a three-layer construction. In this embodiment, the bottom connecting plate 108 is a rectangular plate, and the bottom beams are a horizontal supporting plate 107 and a vertical supporting plate 106 which are connected together in a T-shaped arrangement. The spacing between the top beam 105 and the bottom beam forms the side entrance 123 of the drill pipe box, which is concealed by closing the side door 111. The upper end of the partition 103 is connected to the top beam 105, and the lower end of the partition 103 is connected to the horizontal support plate 107 and the vertical support plate 106. The partitions 103 on the two stands correspond one-to-one so that two opposing storage compartments can receive both ends of the same drill rod 1003.

As shown in fig. 3 and 4, the bottom connecting plates 108 are spaced below the horizontal supporting plates 107, the front and rear ends of the bottom connecting plates 108 are connected to the two standing plates 104, and the supporting ribs 109 are uniformly distributed between the bottom connecting plates 108 and the horizontal supporting plates 107 to ensure the stability of the horizontal supporting plates 107. The bottom connecting plate 108 is provided with a first fixing bolt 110, the drilling machine platform 1008 is provided with a fixing hole, and the bottom connecting plate 108 is fixed on the drilling machine platform 1008 through the first fixing bolt 110.

In this embodiment, the fixing hole on the drilling machine platform 1008 is a long hole extending in the left-right direction, and the fixing position of the left stand 101 or the right stand 102 on the drilling machine platform 1008 can be adjusted according to the size of the drill rod 1003 to be placed in the drill rod box 1001, so as to improve the versatility of the drill rod box 1001.

In this embodiment, the left standing frame 101 and the right standing frame 102 are both provided with two side doors 111 arranged in the front-rear direction, the side doors 111 are rectangular plates, the size and the structure of each side door 111 are the same, and the side doors 111 on the left standing frame 101 and the right standing frame 102 are symmetrically arranged.

As shown in fig. 3, 5 and 6, hinge plates 112 extending forward and backward are respectively disposed at bottom ends of outward side surfaces of the side doors 111, hinge ear plates 113 extending downward are disposed at two ends of the hinge plates 112, fixing ears 114 capable of clamping the hinge ear plates 113 are disposed at top portions of the vertical support plates 106, and rotating shaft pins 115 penetrate through the hinge ear plates 113 and the two fixing ears 114. The pin head of the rotating shaft pin 115 is stopped with the fixing lug 114 at one side, the other end of the rotating shaft pin 115 penetrates through the fixing lug 114 at the other side, a cotter 116 is arranged at the end part of the rotating shaft pin 115 in a penetrating way, and the cotter 116 prevents the rotating shaft pin 115 from being separated.

In this embodiment, the door lock structure includes a fixing sleeve 118, an insertion sleeve 117, and a pin 119, the fixing sleeve 118 is disposed on the top beam 105, the insertion sleeve 117 is disposed on the side door 111, the fixing sleeve 118 vertically corresponds to the insertion sleeve 117, and the pin 119 can be inserted into the fixing sleeve 118 and the insertion sleeve 117. When the side door 111 is in the vertical state, the plug sleeve 117 and the fixing sleeve 118 are adjacent to each other, and the bolt 119 is inserted into the fixing sleeve 118 and the plug sleeve 117 in sequence downwards so that the side door 111 and the top beam 105 are locked to shield the side inlet 123. When the side door 111 needs to be opened, the latch 119 is pulled out upward.

In order to prevent the plug pin 119 from being accidentally removed, as shown in fig. 5, an axially extending guide groove 120 is formed on the outer peripheral surface of the plug pin 119, a horizontally extending elastic positioning pin 121 is formed on the wall of the fixing sleeve 118, an upper positioning groove 122 and a lower positioning groove 124 are formed on the bottom surface of the guide groove 120 at intervals, and the elastic positioning pin 121 can be positioned and matched with the two positioning grooves to lock the plug pin 119, so that the plug pin 119 is kept in an insertion position or a pull-out position in the plug sleeve 117. When the side door 111 is opened, the bolt 119 can be pulled out of the inserting sleeve 117 by pulling the bolt 119 up to the pulling-out position, but the bolt 119 cannot be pulled out of the fixing sleeve 118 due to the positioning fit of the elastic positioning pin 121 and the lower positioning groove 124, when the door needs to be locked, the bolt 119 can be inserted into the inserting sleeve 117 by pressing the bolt 119 down to the inserting position, and the elastic positioning pin 121 is positioned and matched with the upper positioning groove 122, so that the bolt 119 is kept at the inserting position. In this embodiment, the hinge ear plate 113 is turned when the side door 111 is opened, and the bottom end surface thereof is used for stopping against the vertical support plate 106, so that the side door 111 is kept in an inclined position after being opened.

As shown in fig. 3 and 4, when the drill rod 1003 is used, the drill rod 1003 can be directly put into the drill rod box 1001 from the upper end thereof, and the corresponding side door 111 can be opened to take the drill rod 1003 into and out of the drill rod box 1001 from the side thereof.

As shown in fig. 7 to 14, the handling robot includes a drill rod gripper 21, a vertical rail 22, a horizontal rail, a horizontal driving device 26, a first sensor 27, a vertical driving device 25, and a second sensor 41, the drill rod gripper 21 being movably mounted on the vertical rail 22, and the vertical rail 22 being movably mounted on the horizontal rail. The horizontal driving device 26 is used for driving the vertical rail 22 to slide on the horizontal rail so as to drive the drill rod gripper 21 to move horizontally, and the first sensor 27 is used for detecting the horizontal displacement of the drill rod gripper 21; the vertical drive means 25 is used to drive the drill rod gripper 21 to slide on the vertical track 22 and the second sensor 41 is used to detect the vertical displacement of the drill rod gripper 21.

In this embodiment, the horizontal rail is positioned between the two stands and is fixed to the rig floor. The horizontal rail comprises a rail frame 23 and a transmission case 24, the rail frame 23 horizontally extends along the front-back direction, a horizontal sliding rail 232 is arranged on the rail frame 23, and the vertical rail 22 is guided to be assembled on the horizontal sliding rail 232 in a sliding mode. The transmission case 24 is fixed at the front end of the slide rail frame 23, the transmission case 24 is a square case body and comprises a transmission case cover plate and a transmission case base, the transmission case cover plate is buckled on the transmission case base to enclose a case inner cavity of the transmission case 24, the first sensor 27 is installed in the case inner cavity, the horizontal driving device 26 is a hydraulic motor, the hydraulic motor is installed on the transmission case 24, the horizontal driving device 26 and the first sensor 27 are oppositely arranged left and right, the horizontal driving device 26 is provided with a driving shaft for outputting torque, and the driving shaft extends forwards into the case inner cavity.

As shown in fig. 10, 11, 12 and 13, a drive bevel gear set is installed in the drive case 24, and includes a drive bevel gear 260, an output bevel gear 280, and a sense bevel gear 270, a rotation axis of the output bevel gear 280 extends in a front-rear direction, a rotation axis of the drive bevel gear 260, the rotation axis of the detection bevel gear 270 is perpendicular to the rotation axis of the output bevel gear 280, the driving bevel gear 260 is meshed with the output bevel gear 280, the output bevel gear 280 is meshed with the detection bevel gear 270, the rotation axis of the driving bevel gear 260, the rotation axis of the detection bevel gear 270 and the rotation axis of the output bevel gear 280 are coplanar, the driving bevel gear 260 and the detection bevel gear 270 are oppositely arranged along the left-right direction, and the rotation axis of the driving bevel gear 260 and the rotation axis of the detection bevel gear 270 extend along the left-right direction, so that the size of the gears is reduced, and the oversize of the transmission case 24 is avoided.

In this embodiment, the driving bevel gear 260 is fixed to a driving shaft of the horizontal driving device 26, the output bevel gear 280 is fixed to the horizontal output shaft 28, the horizontal output shaft 28 extends in the front-rear direction, the horizontal output shaft 28 penetrates through the transmission case 24 and is in transmission connection with the vertical rail 22, the detection bevel gear 270 is fixed to the detection shaft, the first sensor 27 is a rotary encoder, and the detection shaft is coaxially connected to an input end of the rotary encoder. When the driving shaft of the horizontal driving device 26 rotates, the driving bevel gear 260 is engaged with the output bevel gear 280 to drive the horizontal output shaft 28 to rotate, and when the horizontal output shaft 28 rotates, the output bevel gear 280 is engaged with the detection bevel gear 270 to drive the detection shaft to rotate, so as to drive the first sensor 27 to synchronously detect the rotation data.

As shown in fig. 8, 12, 13, and 14, the second fixing bolt 231 is provided on the slide frame 23 to fix the slide frame 23 to the drilling machine platform 1008. The slide rail frame 23 is internally provided with a mounting cavity, the horizontal output shaft 28 penetrates through the mounting cavity, the left end and the right end of the horizontal output shaft 28 are respectively rotatably assembled on the slide rail frame 23 through a front bearing 234 and a rear bearing 236, the rear side of the front bearing 234 is provided with a front sealing ring 233, the front side of the rear bearing 236 is provided with a rear sealing ring 237, the sealing rings are used for sealing the bearings, and the rear side of the rear bearing 236 is provided with a bearing end cover 235. The front end of the horizontal output shaft 28 has a gear engaging section that extends forward out of the slide frame 23 and into the transmission case 24 to be fixed with the output bevel gear 280.

In this embodiment, the horizontal output shaft 28 is a horizontal lead screw, the vertical rail 22 is connected with a nut 223, the nut 223 is screwed on the horizontal output shaft 28, the nut 223 is assembled in the installation cavity along the front-back direction, and when the horizontal output shaft 28 rotates, the horizontal lead screw nut mechanism is formed by the horizontal output shaft 28 and the nut 223 in a matching manner, so as to drive the vertical rail 22 to move horizontally.

In this embodiment, the vertical rail 22 includes a mounting seat 222, a vertical frame and a vertical output shaft 29, the vertical frame extends along the up-down direction, the mounting seat 222 is fixed at the bottom of the vertical frame, and the mounting seat 222 is slidably disposed on the horizontal sliding rail 232. The vertical driving device 25 is arranged on the mounting seat 222, the vertical output shaft 29 penetrates through the vertical frame, the lower end of the vertical output shaft 29 is rotatably assembled on the mounting seat 222, the upper end of the vertical output shaft 29 is rotatably assembled at the top of the vertical frame, the vertical driving device 25 is in transmission connection with the vertical output shaft 29, so as to drive the vertical output shaft 29 to rotate, the vertical output shaft 29 is a vertical screw rod, a nut block 224 is connected to the vertical output shaft 29 in a threaded manner, a connecting block 225 is fixed on the nut block 224, the connecting block 225 is used for being fixedly connected with the drill rod gripper 21, the vertical output shaft 29 and the nut block 224 form a vertical screw rod nut mechanism, so as to drive the drill rod gripper 21 to move up and down when the vertical output shaft 29 rotates, a guide long groove for the connection block 225 to extend out is arranged on the vertical frame, a vertical guide rail 221 is formed along the notch of the guide long groove, and the vertical guide rail 221 is in guide fit with the connection block 225, so that the drill rod gripper 21 can move in a guide manner along the up-and-down direction.

In this embodiment, a guiding sliding groove is formed in the bottom surface of the mounting seat 222, after the mounting seat 222 is mounted on the sliding rail frame 23, the horizontal sliding rail 232 enters the guiding sliding groove, so that the mounting seat 222 moves along the horizontal sliding rail 232 in a guiding manner, and a rail limiting plate 226 is further disposed on the side portion of the mounting seat 222, so that the mounting seat 222 is prevented from falling off the horizontal sliding rail 232. The bottom of mount pad 222 still is fixed with transmission connecting plate 227, transmission connecting plate 227 is the L shaped plate, including horizontal part and vertical portion, the bottom at mount pad 222 is fixed to the horizontal part, be equipped with the side opening on the slide rail frame 23, the vertical portion that the side opening supplied transmission connecting plate 227 stretches into the installation cavity of slide rail frame 23, with screw 223 fixed connection, like this, screw 223 can drive mount pad 222 and carry out horizontal migration together, the side opening extends along the fore-and-aft direction, in order when mount pad 222 horizontal migration, dodge transmission connecting plate 227.

As shown in fig. 12 and 15, the vertical driving device 25 includes a driving shaft 42 for outputting torque, and the driving shaft 42 is downwardly protruded into the mounting cavity 30 of the mounting base 222. The lower end of the vertical output shaft 29 extends into the mounting cavity 30, the mounting cavity 19 is internally provided with a transmission straight gear set, an intermediate shaft 35, a detection shaft 39 and the second sensor 41, and the driving shaft 42 drives the vertical output shaft 29 and the detection shaft 39 to synchronously rotate through the transmission gear set. Wherein the vertical drive means 25 is a hydraulic motor.

The transmission spur gear set comprises a driving spur gear 32, a middle spur gear 34, a detection spur gear 37 and an output spur gear 33, the rotation axes of the driving spur gear 32, the middle spur gear 34, the detection spur gear 37 and the output spur gear 33 extend up and down, and the output spur gear 33 and the detection spur gear 37 are powered by the driving spur gear 32. The driving spur gear 32 is fixed on a driving shaft 42, the driving spur gear 32 and the driving shaft 42 form rotation stopping fit through a driving shaft key nail 40, the middle spur gear 34 is fixed on a middle shaft 35 through an embedded shaft sleeve 36, the output spur gear 33 and the vertical output shaft 29 form rotation stopping fit through an output shaft key nail 31, and the detection spur gear 37 is fixed on a detection shaft 39 through a limiting screw 38.

The driving shaft 42, the intermediate shaft 35 and the vertical output shaft 29 are arranged side by side in the front-rear direction, the intermediate shaft 35 is located between the driving shaft 42 and the vertical output shaft 29, the detection shaft 39 and the intermediate shaft 35 are arranged side by side in the left-right direction, and the detection straight gear 37 is in meshing transmission with the intermediate straight gear 34. When the driving shaft 42 rotates, the driving spur gear 32 drives the intermediate spur gear 34 to rotate, and the intermediate spur gear 34 drives the output spur gear 33 to rotate and synchronously drives the detection spur gear 37 to rotate.

The second sensor 41 is a rotary encoder and the sensing shaft 39 extends upwardly to be coaxially connected to the input of the rotary encoder.

The drill rods are sequentially taken from the drill rod box under a certain control condition by using a loading and unloading manipulator and are conveyed to a fixed position; or the drill rod is taken up from a fixed position and then is taken back to be placed in the drill rod box, so that the mechanical conveying of the drill rod of the drilling machine is realized. The manipulator can freely move horizontally and vertically according to a set program in the drilling operation of the drilling machine, and the sensor detects the position to freely position and randomly take and place the drill rod, so that the labor is greatly saved, and the working efficiency is improved.

The utility model discloses embodiment 2 of colliery rig:

the difference between the embodiment and the embodiment 1 is that in the embodiment 1, a horizontal driving device is arranged on a horizontal rail and drives a vertical rail to move on the horizontal rail through a horizontal lead screw nut mechanism, and a vertical driving device is arranged on the vertical rail and drives a drill rod gripper to move on the vertical rail through a vertical lead screw nut mechanism. In the embodiment, a horizontal rack is arranged on the horizontal track, a first gear meshed with the horizontal rack is arranged on the vertical track, and the horizontal driving device is arranged on the vertical track and drives the first gear to rotate so as to realize that the vertical track moves on the horizontal track; the vertical rack is arranged on the vertical track, the second gear meshed with the vertical rack is arranged on the drill rod gripper, and the vertical driving device is arranged on the drill rod manipulator and drives the second gear to rotate so as to realize the movement of the drill rod gripper on the vertical track.

The utility model discloses embodiment 3 of colliery rig:

the difference between the present embodiment and embodiment 1 is that in embodiment 1, the horizontal driving device is in transmission connection with the horizontal output shaft and the detection shaft through the transmission bevel gear set. In this embodiment, the horizontal driving device is in transmission connection with the horizontal output shaft and the detection shaft through the transmission spur gear set.

The utility model discloses embodiment 4 of colliery rig:

the present embodiment is different from embodiment 1 in that in embodiment 1, the axis of the drive bevel gear coincides with the axis of the detection bevel gear. In this embodiment, the axis of the drive bevel gear and the axis of the detection bevel gear form an obtuse angle.

The utility model discloses embodiment 5 of colliery rig:

the difference between the present embodiment and embodiment 1 is that in embodiment 1, the vertical driving device is in transmission connection with the vertical output shaft and the detection shaft through the transmission spur gear set. In this embodiment, the vertical driving device is in transmission connection with the vertical output shaft and the detection shaft through the transmission bevel gear set.

The utility model discloses embodiment 6 of colliery rig:

the difference between the present embodiment and embodiment 1 is that in embodiment 1, the output spur gear is in transmission connection with the corresponding driving spur gear through the intermediate spur gear, and the detection spur gear is meshed with the intermediate spur gear. In this embodiment, the intermediate spur gear is not provided, the output spur gear is directly meshed with the driving spur gear, and the detection spur gear may be meshed with the driving spur gear or the output spur gear.

The utility model discloses embodiment 7 of colliery rig:

the present embodiment is different from embodiment 1 in that in embodiment 1, two side doors are arranged at an interval in the front-rear direction on each stand. In this embodiment, only one side door is provided on each stand. In other embodiments, a side door may be provided on only one of the stands.

The utility model discloses embodiment 8 of colliery rig:

the present embodiment is different from embodiment 1 in that in embodiment 1, the lower side of the side door is hinged to the stand body, and a door lock structure is provided between the upper side of the side door and the stand body. In this embodiment, the front side of side door articulates on the grudging post main part, is equipped with lock mechanism between the rear side of side door and the grudging post main part. In other embodiments, the upper side of the side door may be hinged to the stand body, and a door lock structure may be provided between the lower side of the side door and the stand body.

The utility model discloses embodiment of rig loading and unloading drilling rod system: the drill pipe loading and unloading system of the drilling machine in the embodiment has the same structure as that of the drill pipe loading and unloading system of the drilling machine in any one of embodiments 1 to 8 of the coal mine drilling machine, and the detailed description is omitted.

The above description is only for the preferred embodiment of the present invention, and the present invention is not limited thereto, the protection scope of the present invention is defined by the claims, and all structural changes equivalent to the contents of the description and drawings of the present invention should be included in the protection scope of the present invention.

Claims

1. Rig loading and unloading drilling rod system, including rig platform (1008), be provided with on rig platform (1008) and be used for placing drilling rod case (1001) of drilling rod (1003) and loading and unloading manipulator (1002) that are used for loading and unloading drilling rod (1003), a serial communication port, drilling rod case (1001) comprises two grudging posts along left and right direction interval arrangement, loading and unloading manipulator (1002) are including the horizontal track that extends along the fore-and-aft direction, vertical track (22) and drilling rod tongs (21) that extend along the upper and lower direction, the horizontal track is in between two grudging posts and sets up on rig platform (1008), vertical track (22) move the assembly on the horizontal track along the fore-and-aft direction, drilling rod tongs (21) move the assembly on vertical track (22) along the upper and lower direction.

2. The drill rod handling system of claim 1, wherein the horizontal rail is provided with a horizontal driving device (26) and a horizontal lead screw and nut mechanism, and the horizontal driving device (26) drives the vertical rail (22) to move on the horizontal rail through the horizontal lead screw and nut mechanism; the vertical driving device (25) and the vertical screw-nut mechanism are arranged on the vertical track (22), and the vertical driving device (25) drives the drill rod gripper (21) to move on the vertical track (22) through the vertical screw-nut mechanism.

3. The drill rod loading and unloading system of the drilling machine as claimed in claim 2, wherein the driving end of the horizontal driving device (26) and/or the vertical driving device (25) is provided with a driving bevel gear (260), a lead screw of the corresponding lead screw nut mechanism is provided with an output bevel gear (280) meshed with the driving bevel gear (260), the output bevel gear (280) is further meshed with a detection bevel gear (270), the detection bevel gear (270) is fixed with a detection shaft (39), and the detection shaft (39) is coaxially provided with a rotary encoder.

4. The drilling rig handling drill rod system of claim 3, wherein the axis of the drive bevel gear (260) coincides with the axis of the sense bevel gear (270).

5. The drill rod loading and unloading system of the drilling machine according to claim 2, wherein the driving end of the horizontal driving device (26) and/or the vertical driving device (25) is provided with a driving spur gear (32), a lead screw of the corresponding lead screw-nut mechanism is provided with an output spur gear (33) in transmission connection with the driving spur gear (32), the output spur gear (33) or the driving spur gear (32) is further in transmission connection with a detection spur gear (37), the detection spur gear (37) is fixed with a detection shaft (39), and the detection shaft (39) is coaxially provided with a rotary encoder.

6. The drill pipe handling system of claim 5, wherein the output spur gear (33) is in driving connection with the corresponding drive spur gear (32) via an intermediate spur gear (34), and the detection spur gear (37) is in meshing engagement with the intermediate spur gear (34).

7. The drill pipe handling system of any of claims 1 to 6, wherein the two stands are fixed to the drill platform (1008) in a position adjustable in the left-right direction.

8. A drilling rig drill pipe handling system as claimed in any one of claims 1 to 6, wherein each stand comprises a stand body and a side door (111), the stand body is provided with a side inlet (123) for loading drill pipes (1003), one side of the side door (111) in the up-down direction or the front-back direction is hinged to the stand body, a door lock structure is arranged between the other side of the side door (111) in the up-down direction or the left-right direction and the stand body, and the side door (111) is used for shielding the side inlet (123).

9. The drill rod loading and unloading system of claim 8, wherein one side of the side door (111) in the vertical direction is hinged to the stand body, a door lock structure is arranged between the other side of the side door (111) in the vertical direction and the stand body, and two side doors (111) are arranged on each stand at intervals in the front-back direction.

10. A coal mine drilling machine, which comprises a drilling machine drill rod loading and unloading system, a middle rotating frame, a main mechanical arm and a power head, and is characterized in that the drilling machine drill rod loading and unloading system is the drilling machine drill rod loading and unloading system as claimed in any one of claims 1 to 9.