CN219158931U - Drill rod storing and taking device for coal mine omnibearing automatic drilling machine - Google Patents
Drill rod storing and taking device for coal mine omnibearing automatic drilling machine Download PDFInfo
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- CN219158931U CN219158931U CN202320567824.1U CN202320567824U CN219158931U CN 219158931 U CN219158931 U CN 219158931U CN 202320567824 U CN202320567824 U CN 202320567824U CN 219158931 U CN219158931 U CN 219158931U
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Abstract
The utility model discloses a drill rod storing and taking device for an all-directional automatic drilling machine for a coal mine, which comprises a drill rod box, a manipulator and a driving mechanism, wherein the drill rod box is arranged on the drill rod box; the drill rod box comprises a box base and two box frames which are detachably arranged on the box base; the manipulator comprises a lifting manipulator big arm connected with the driving mechanism, a manipulator cross beam arranged at the top end of the manipulator big arm, a manipulator small arm arranged at the lower part of the manipulator cross beam, a wrist arranged at the lower end of the manipulator small arm and a clamping mechanism arranged on the wrist. According to the utility model, the drill rod box and the drilling device are integrated on the same rotary platform, so that the drill rod grabbing efficiency is improved; the partition board of the drill rod box is arranged in a detachable mode, so that the partition board can be conveniently added according to the size of the drill rod; meanwhile, the partition plates are arranged into an upper partition plate and a lower partition plate, so that the partition plates are convenient to install according to different drilling depths, and the lifting height of the manipulator can be reduced under the condition that the drilling depths are not deep.
Description
Technical Field
The utility model relates to the technical field of drilling equipment, in particular to a drill rod storing and taking device for an all-dimensional automatic drilling machine for a coal mine.
Background
More and more adopt crawler-type full-automatic drilling machine in colliery drilling operation, install the drilling rod case on the crawler in general, set up multi freedom's manipulator between drilling rod case and drilling equipment generally, the manipulator needs to accomplish actions such as lift, horizontal rotation, vertical rotation between the holder that drilling rod case and rig front end set up, takes out the drilling rod in the drilling rod case and send to the holder, perhaps snatch the drilling rod that need dismantle in the holder and put back to the drilling rod case.
The drill rod box is located on the crawler and used for temporarily storing the drill rods, the drill rod box is convenient to store and grasp, and the prior art has the following defects:
1. for drilling devices with omnibearing drilling, the drilling device is usually placed on an independent rotary platform, so that a drill rod box and the drilling device are not on a unified platform, and 2-3 manipulators are adopted to convey drill rods from the drill rod box to the drilling device, so that the efficiency of grabbing the drill rods by the manipulators is low.
2. The height of the drill rod box is fixed, so that the mechanical arm can be lifted to a larger height to take or store the drill rods, the partition plate is fixed, and only the drill rods with certain specification can be stored.
Aiming at the problems, a drill rod storing and taking device for a coal mine omnibearing automatic drilling machine is designed, a drill rod box and a drilling device are integrated on the same rotary platform, and the drill rod grabbing efficiency is improved; the partition board of the drill rod box is arranged in a detachable mode, so that the partition board can be conveniently added according to the size of the drill rod; meanwhile, the partition plates are arranged into an upper partition plate and a lower partition plate, so that the partition plates are convenient to install according to different drilling depths, and the lifting height of the manipulator can be reduced under the condition that the drilling depths are not deep.
Disclosure of Invention
Therefore, the utility model aims to provide a drill rod storing and taking device for an all-directional automatic drilling machine for a coal mine, which integrates a drill rod box and a drilling device on the same rotary platform, so that the drill rod grabbing efficiency is improved; the partition board of the drill rod box is arranged in a detachable mode, so that the partition board can be conveniently added according to the size of the drill rod; meanwhile, the partition plates are arranged into an upper partition plate and a lower partition plate, so that the partition plates are convenient to install according to different drilling depths, and the lifting height of the manipulator can be reduced under the condition that the drilling depths are not deep.
The utility model is realized by the following technical scheme:
a drill rod storing and taking device for a coal mine omnibearing automatic drilling machine comprises a drill rod box, a manipulator arranged on the outer wall of one side of the drill rod box in a sliding manner and a driving mechanism arranged on the drill rod box and used for moving the manipulator;
the drill rod box comprises a box base and two box frames which are detachably arranged on the box base;
the manipulator comprises a liftable manipulator big arm connected with a driving mechanism, a manipulator cross beam arranged at the top end of the manipulator big arm, a manipulator small arm arranged at the lower part of the manipulator cross beam, a wrist arranged at the lower end of the manipulator small arm and a clamping mechanism arranged on the wrist.
Further, the box frame comprises a half box frame and a plurality of partition boards inserted on the half box frame;
the half box frame comprises a half box frame body and a plurality of partition boards inserted on the half box frame body;
the half box frame body comprises a frame bottom plate, a frame vertical plate and two frame plates which are integrally arranged.
Further, the driving mechanism comprises a first guide rail arranged on the outer wall of one side of the drill rod box, a first rack arranged on the first guide rail, first sliding blocks arranged on two sides of the first guide rail in a sliding manner, a first driving box arranged on the corresponding two first sliding blocks, a first driving gear which is rotatably arranged on the first driving box and meshed with the first rack, and a first driving motor arranged on the first driving box and used for driving the first driving gear to rotate.
Further, the wrist comprises a transverse rotating part connected with the small arm of the manipulator and used for driving the clamping mechanism to rotate on a vertical plane and a longitudinal rotating part arranged on the transverse rotating part and used for driving the clamping mechanism to rotate in a horizontal plane;
the transverse rotating part is provided with a rotating angle limiting mechanism; the rotation angle limiting mechanism comprises an arc-shaped stop block arranged on the shell of the transverse rotation part and a limiting block arranged on the first bowl shaft of the transverse rotation part.
Further, the clamping mechanism comprises a clamping connecting sleeve connected with the longitudinal rotating part, a fixed clamping seat arranged on the clamping connecting sleeve, a movable clamping block rotatably arranged on the fixed clamping seat and a clamping cylinder arranged on the fixed clamping seat and used for pushing the movable clamping block to rotate.
The utility model has the beneficial effects that:
the first step, the drill rod box and the drilling device are integrated on the same rotary platform, the drill rod box and the drilling device synchronously rotate, the linear distance between the drill rod box and the drilling device is unchanged, and the drilling device is only rotationally arranged in a plane perpendicular to the axial moving direction of the manipulator; the single multi-degree-of-freedom manipulator is arranged, and the wrist is arranged in the manipulator, so that the manipulator is more flexible and changeable, the number of the manipulator is reduced compared with other drilling machines (double manipulators or three manipulators are adopted), and the grabbing efficiency of the drill rod is greatly improved.
Secondly, the partition board of the drill rod box is arranged in a detachable mode, so that the partition board can be conveniently additionally arranged according to the size of the drill rod; meanwhile, the partition plates are arranged into an upper partition plate and a lower partition plate, so that the partition plates are convenient to install according to different drilling depths, and the lifting height of the manipulator can be reduced under the condition that the drilling depths are not deep.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
FIG. 2 is a schematic view of a connection structure between a wrist and a clamping mechanism according to the present utility model;
FIG. 3 is a schematic diagram of a driving mechanism according to the present utility model;
FIG. 4 is a schematic view of the structure of the lower-only partition of the drill pipe box of the present utility model;
fig. 5 is a schematic view of the arrangement of the present utility model with a drilling apparatus and a rotary table.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model 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 utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the foregoing description of the utility model, it should be noted that the azimuth or positional relationship indicated by the terms "one side", "the other side", etc. are based on the azimuth or positional relationship shown in the drawings, or the azimuth or positional relationship in which the inventive product is conventionally put in use, are merely for convenience of describing the utility model and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and therefore should not be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "identical" and the like do not denote that the components are identical, but rather that there may be minor differences. The term "perpendicular" merely means that the positional relationship between the components is more perpendicular than "parallel" and does not mean that the structure must be perfectly perpendicular, but may be slightly tilted.
As shown in fig. 1 to 5, a drill rod storing and taking device for an all-directional automatic drilling machine for a coal mine comprises a drill rod box 1, a manipulator 2 slidably arranged on the outer wall of one side of the drill rod box 1 and a driving mechanism 3 arranged on the drill rod box 1 and used for moving the manipulator 2; in practice, the drill rod storing and taking device 100 and the drilling device 300 are fixedly installed on a rotary platform 200 which is rotationally connected with a crawler; integrating the drill rod box and the drilling device on the same rotary platform, synchronously rotating the drill rod box and the drilling device, keeping the linear distance from the drill rod box to the drilling device unchanged, and rotationally arranging the drilling device only in a plane perpendicular to the axial moving direction of the manipulator; the single multi-degree-of-freedom manipulator is arranged, and the wrist is arranged in the manipulator, so that the manipulator is more flexible and changeable, compared with other drilling machines (adopting double manipulators or three manipulators), the number of the manipulators is reduced, and the grabbing efficiency of the drill rod is greatly improved;
the drill rod box 1 comprises a box base 11 and two box frames 12 which are detachably arranged on the box base 11;
the robot 2 includes a liftable robot arm 21 connected to the driving mechanism 3, a robot beam 22 provided at the tip of the robot arm 21, a robot arm 23 provided at the lower part of the robot beam 22, a wrist 24 provided at the lower end of the robot arm 23, and a holding mechanism 25 provided on the wrist 24.
In this embodiment, the box frame 12 includes a half box frame and a plurality of partition plates 121 inserted on the half box frame;
the half box frame comprises a half box frame body and a plurality of partition boards inserted on the half box frame body;
the half box frame body comprises a frame bottom plate 122, a frame vertical plate 123 and two frame plates 124 which are integrally arranged; the partition board of the drill rod box is arranged in a detachable mode, so that the partition board can be conveniently added according to the size of the drill rod; meanwhile, the partition plates are arranged into an upper partition plate and a lower partition plate, so that the partition plates are convenient to install according to different drilling depths, and the lifting height of the manipulator can be reduced under the condition that the drilling depths are not deep.
In this embodiment, the driving mechanism 3 includes a first rail 31 provided on an outer wall of one side of the drill rod case 1, a first rack 32 provided on the first rail 31, first sliders 33 slidably provided on both sides of the first rail 31, first driving cases 34 provided on the corresponding two first sliders 33, a first driving gear 35 rotatably provided on the first driving cases 34 to be engaged with the first rack 32, and a first driving motor 36 provided on the first driving cases 34 to drive the first driving gear 35 to rotate.
In this embodiment, the wrist 24 includes a transverse rotation portion 241 connected to the arm 23 of the manipulator for driving the clamping mechanism 25 to rotate in a vertical plane, and a longitudinal rotation portion 242 provided on the transverse rotation portion 241 for driving the clamping mechanism 25 to rotate in a horizontal plane;
a rotation angle limiting mechanism is arranged on the transverse rotation part 241; the rotation angle limiting mechanism includes an arc stop 243 on the housing of the lateral rotation portion and a limiting block 244 on the first bowl axle of the lateral rotation portion.
In this embodiment, the clamping mechanism 25 includes a clamping connection sleeve 251 connected to the longitudinal rotation portion 242, a fixed clamping seat 252 disposed on the clamping connection sleeve 251, a movable clamping block 253 rotatably disposed on the fixed clamping seat 252, and a clamping cylinder 254 disposed on the fixed clamping seat 252 for pushing the movable clamping block 253 to rotate; in the implementation process, an absolute value encoder 255 for measuring the rotation angle of the fixed clamping seat is arranged in the clamping connecting sleeve, a shell of the absolute value encoder is connected with the connecting sleeve, and the rotating shaft is connected with the longitudinal rotating part through a shaft connector; one side of the fixed clamping seat is provided with a pressure sensor 256 for detecting whether the drill rod is clamped or not.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present utility model and not for limiting the same, and although the present utility model has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present utility model, which is intended to be covered by the scope of the claims of the present utility model.
Claims (5)
1. A drilling rod access arrangement for colliery all-round automatic drilling machine, its characterized in that: the device comprises a drill rod box, a manipulator arranged on the outer wall of one side of the drill rod box in a sliding manner and a driving mechanism arranged on the drill rod box and used for moving the manipulator;
the drill rod box comprises a box base and two box frames which are detachably arranged on the box base;
the manipulator comprises a liftable manipulator big arm connected with a driving mechanism, a manipulator cross beam arranged at the top end of the manipulator big arm, a manipulator small arm arranged at the lower part of the manipulator cross beam, a wrist arranged at the lower end of the manipulator small arm and a clamping mechanism arranged on the wrist.
2. The drill rod storing and taking device for a coal mine omnibearing automatic drilling machine according to claim 1, wherein: the box frame comprises a half box frame and a plurality of partition boards inserted on the half box frame;
the half box frame comprises a half box frame body and a plurality of partition boards inserted on the half box frame body;
the half box frame body comprises a frame bottom plate, a frame vertical plate and two frame plates which are integrally arranged.
3. The drill rod storing and taking device for a coal mine omnibearing automatic drilling machine according to claim 1, wherein: the driving mechanism comprises a first guide rail arranged on the outer wall of one side of the drill rod box, a first rack arranged on the first guide rail, first sliding blocks arranged on two sides of the first guide rail in a sliding mode, first driving boxes arranged on the corresponding two first sliding blocks, a first driving gear meshed with the first rack and a first driving motor arranged on the first driving box and used for driving the first driving gear to rotate.
4. The drill rod storing and taking device for a coal mine omnibearing automatic drilling machine according to claim 1, wherein: the wrist comprises a transverse rotating part connected with the small arm of the manipulator and used for driving the clamping mechanism to rotate on a vertical plane and a longitudinal rotating part arranged on the transverse rotating part and used for driving the clamping mechanism to rotate in a horizontal plane;
the transverse rotating part is provided with a rotating angle limiting mechanism; the rotation angle limiting mechanism comprises an arc-shaped stop block arranged on the shell of the transverse rotation part and a limiting block arranged on the first bowl shaft of the transverse rotation part.
5. The drill rod storing and taking device for the coal mine omnibearing automatic drilling machine according to claim 4, wherein: the clamping mechanism comprises a clamping connecting sleeve connected with the longitudinal rotating part, a fixed clamping seat arranged on the clamping connecting sleeve, a movable clamping block rotatably arranged on the fixed clamping seat and a clamping oil cylinder arranged on the fixed clamping seat and used for pushing the movable clamping block to rotate;
an absolute value encoder for measuring the rotation angle of the fixed clamping seat is arranged in the clamping connecting sleeve, a shell of the absolute value encoder is connected with the connecting sleeve, and the rotating shaft is connected with the longitudinal rotating part through a shaft coupler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320567824.1U CN219158931U (en) | 2023-03-22 | 2023-03-22 | Drill rod storing and taking device for coal mine omnibearing automatic drilling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320567824.1U CN219158931U (en) | 2023-03-22 | 2023-03-22 | Drill rod storing and taking device for coal mine omnibearing automatic drilling machine |
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| Publication Number | Publication Date |
|---|---|
| CN219158931U true CN219158931U (en) | 2023-06-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320567824.1U Active CN219158931U (en) | 2023-03-22 | 2023-03-22 | Drill rod storing and taking device for coal mine omnibearing automatic drilling machine |
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| Country | Link |
|---|---|
| CN (1) | CN219158931U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118273670A (en) * | 2024-06-04 | 2024-07-02 | 莱州亚通重型装备有限公司 | Drill rod box for coal mine drilling machine |
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2023
- 2023-03-22 CN CN202320567824.1U patent/CN219158931U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118273670A (en) * | 2024-06-04 | 2024-07-02 | 莱州亚通重型装备有限公司 | Drill rod box for coal mine drilling machine |
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