CN-114687684-B - Drilling machine loading and unloading drill rod system and coal mine drilling machine

CN114687684BCN 114687684 BCN114687684 BCN 114687684BCN-114687684-B

Abstract

The invention relates to the technical field of coal mine drilling machines, in particular to a drilling machine loading and unloading drill rod system of a coal mine drilling machine. The drilling machine loading and unloading drilling rod system comprises a drilling machine platform, wherein the drilling machine platform is provided with a drilling rod box and an unloading manipulator, the drilling rod box is composed of two vertical frames which are arranged at intervals along the left-right direction, the unloading manipulator comprises a horizontal rail which extends along the front-back direction, a vertical rail which extends along the up-down direction and a drilling rod gripper, the horizontal rail is positioned between the two vertical frames and is arranged on the drilling machine platform, the vertical rail is assembled on the horizontal rail in a moving manner along the front-back direction, and the drilling rod gripper is assembled on the vertical rail in a moving manner along the up-down direction. The vertical track can move on the horizontal track along the front-back direction, and the drill rod gripper can move on the vertical track along the front-back direction, so that the drill rod gripper can grasp a drill rod at any position in the drill rod box, and meanwhile, the loading and unloading manipulator can realize the actions only by two drives, thereby not only reducing the complexity degree, but also reducing the manufacturing cost.

Inventors

ZHAO TONGYU
GENG YI
ZHAO TONGKAI
ZHANG GUANGHUI
LU ZHENGTONG
LI HAICHEN
ZHANG MANKE
TANG SHENGYU
LU PEICHAO

Assignees

光力科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20220426

Claims (18)

1. The drilling machine drill rod loading and unloading system comprises a drilling machine platform (1008), wherein a drill rod box (1001) for placing a drill rod (1003) and a loading and unloading manipulator (1002) for loading and unloading the drill rod (1003) are arranged on the drilling machine platform (1008), and the drilling machine drill rod loading and unloading system is characterized in that the drill rod box (1001) is composed of a left vertical frame and a right vertical frame which are arranged at intervals along the left-right direction, the front end and the rear end of the left vertical frame and the rear end of the right vertical frame are vertical extending vertical plates, a top beam, a bottom beam and a bottom connecting plate are sequentially arranged between the two vertical plates in the same vertical frame from top to bottom, and the bottom beam is a horizontal supporting plate and a vertical supporting plate which are connected together in a T-shaped arrangement; the loading and unloading manipulator (1002) comprises a horizontal rail extending along the front-back direction, a vertical rail (22) extending along the up-down direction and a drill rod gripper (21), wherein the horizontal rail stretches into a drill rod box, is positioned between two vertical frames and is arranged on a drilling machine platform (1008), the vertical rail (22) is movably assembled on the horizontal rail along the front-back direction, the drill rod gripper (21) is movably assembled on the vertical rail (22) along the up-down direction, the supporting surface of the horizontal supporting plate (107) is higher than the top of the horizontal rail so as to avoid interference between the bottommost drill rod and the horizontal rail in use, a plurality of partition plates are arranged between the left vertical frame and the right vertical frame along the front-back direction at intervals, and a storage bin for storing the end parts of the drill rods is formed between the adjacent partition plates and between the vertical plates on two sides and the adjacent partition plates.
2. The drilling machine drill rod loading and unloading system according to claim 1, wherein a horizontal driving device (26) and a horizontal screw nut mechanism are arranged on the horizontal rail, the horizontal driving device (26) drives the vertical rail (22) to move on the horizontal rail through the horizontal screw nut mechanism, the vertical rail (22) is provided with a vertical driving device (25) and a vertical screw nut mechanism, and the vertical driving device (25) drives the drill rod gripper (21) to move on the vertical rail (22) through the vertical screw nut mechanism.
3. Drilling machine handling drill rod system according to claim 2, characterized in that the drive end of the horizontal drive means (26) and/or the vertical drive means (25) is provided with a drive bevel gear (260), the screw of the corresponding screw nut mechanism is provided with an output bevel gear (280) engaging with the drive bevel gear (260), the output bevel gear (280) is also engaged 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. A drill handling rod system according to claim 3, characterized in that the axis of the drive bevel gear (260) coincides with the axis of the detection bevel gear (270).
5. Drilling machine handling drill rod system according to claim 2, characterized in that the drive end of the horizontal drive means (26) and/or the vertical drive means (25) is provided with a drive spur gear (32), the screw of the corresponding screw nut mechanism is provided with an output spur gear (33) in transmission connection with the drive spur gear (32), the output spur gear (33) or the drive 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 according to claim 5, characterized in that the output spur gear (33) is in driving connection with the respective driving spur gear (32) via an intermediate spur gear (34), the detection spur gear (37) being meshed with the intermediate spur gear (34).
7. The drill pipe handling system according to any one of claims 1 to 6, wherein the two stands are fixed to the drill platform (1008) with adjustable positions in the left-right direction.
8. The drill rod handling system according to any one of claims 1 to 6, wherein each stand comprises a stand body and a side door (111), a side inlet (123) into which a drill rod (1003) is fitted is provided on the stand body, one side of the side door (111) in the up-down direction or the front-rear direction is hinged on the stand body, a door lock structure is provided 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 for shielding the side inlet (123).
9. The drill rod loading and unloading system of the drilling machine according to claim 8, wherein one side door (111) is hinged on the stand main body in the up-down direction, a door lock structure is arranged between the other side of the side door (111) in the up-down direction and the stand main body, and two side doors (111) on each stand are arranged at intervals in the front-back direction.
10. The coal mine drilling machine comprises a drilling machine loading and unloading drill rod system, a middle rotating frame, a main mechanical arm and a power head, and is characterized in that the drilling machine loading and unloading drill rod system comprises a drilling machine platform (1008), a drill rod box (1001) for placing a drill rod (1003) and a loading and unloading mechanical arm (1002) for loading and unloading the drill rod (1003) are arranged on the drilling machine platform (1008), the drill rod box (1001) is composed of a left vertical frame and a right vertical frame which are arranged at intervals along the left and right directions, front ends and rear ends of the left vertical frame and the right vertical frame are vertical extending vertical plates, a top beam, a bottom beam and a bottom connecting plate are sequentially arranged between the two vertical plates in the same vertical frame from top to bottom, and the bottom beam is a horizontal supporting plate and a vertical supporting plate which are connected together in a T-shaped arrangement; the loading and unloading manipulator (1002) comprises a horizontal rail extending along the front-back direction, a vertical rail (22) extending along the up-down direction and a drill rod gripper (21), wherein the horizontal rail stretches into a drill rod box, is positioned between two vertical frames and is arranged on a drilling machine platform (1008), the vertical rail (22) is movably assembled on the horizontal rail along the front-back direction, the drill rod gripper (21) is movably assembled on the vertical rail (22) along the up-down direction, the supporting surface of the horizontal supporting plate (107) is higher than the top of the horizontal rail so as to avoid interference between the bottommost drill rod and the horizontal rail in use, a plurality of partition plates are arranged between the left vertical frame and the right vertical frame along the front-back direction at intervals, and a storage bin for storing the end parts of the drill rods is formed between the adjacent partition plates and between the vertical plates on two sides and the adjacent partition plates.
11. The coal mine drilling machine according to claim 10, wherein a horizontal driving device (26) and a horizontal screw nut mechanism are arranged on the horizontal rail, the horizontal driving device (26) drives the vertical rail (22) to move on the horizontal rail through the horizontal screw nut mechanism, a vertical driving device (25) and the vertical screw nut mechanism are arranged on the vertical rail (22), and the vertical driving device (25) drives the drill rod gripper (21) to move on the vertical rail (22) through the vertical screw nut mechanism.
12. The coal mine drilling machine according to claim 11, 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 a rotary encoder is coaxially arranged on the detection shaft (39).
13. The coal mine drilling machine of claim 12 wherein the axis of the drive bevel gear (260) coincides with the axis of the detection bevel gear (270).
14. The coal mine drilling machine according to claim 11, 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 a rotary encoder is coaxially arranged on the detection shaft (39).
15. The coal mine drilling machine according to claim 14, characterized in that the output spur gear (33) is in driving connection with the corresponding driving spur gear (32) via an intermediate spur gear (34), the detection spur gear (37) being meshed with the intermediate spur gear (34).
16. A coal mine drilling rig as claimed in any one of claims 10 to 15 wherein the two uprights are fixed to the rig floor (1008) with adjustable positions in the left-right direction.
17. The coal mine drilling machine according to any one of claims 10 to 15, wherein each of the uprights comprises an upright body provided with a side inlet (123) into which the drill rod (1003) is fitted, and a side door (111) hinged to the upright body on one of the sides in the up-down direction or the front-rear direction, a door lock structure being provided between the other side of the side door (111) in the up-down direction or the left-right direction and the upright body, the side door (111) being adapted to shield the side inlet (123).
18. The coal mine drilling machine according to claim 17, wherein one side door (111) is hinged on the stand main body in the up-down direction, a door lock structure is arranged between the other side of the side door (111) in the up-down direction and the stand main body, and two side doors (111) on each stand are arranged at intervals in the front-back direction.

Description

Drilling machine loading and unloading drill rod system and coal mine drilling machine Technical Field The invention relates to the technical field of coal mine drilling machines, in particular to a drilling machine loading and unloading drill rod system of a coal mine drilling machine. Background The tunnel drilling machine is mainly used for drilling gas drainage holes, grouting fire extinguishing holes, coal seam water injection holes and holes for the engineering of Kong Dengxiang-joint engineering of address exploration. The traditional drilling machine generally relies on manual drilling rod loading and unloading, and not only is low in efficiency, but also is high in labor intensity. The invention patent application of the application publication No. CN110952972A discloses a coal mine drilling machine, which comprises a drilling machine platform, wherein a drilling rod box, a rod conveying manipulator, a drilling rod transfer device, a main manipulator and a drilling host are arranged on the drilling machine platform, the drilling rod box is provided with a plurality of layers of spaces for accommodating drilling rods, the rod conveying manipulator is used for conveying the drilling rods in the drilling rod box to the drilling rod transfer device, the main manipulator is used for conveying the drilling rods on the drilling rod transfer device to the drilling host, automatic conveying of the drilling rods is realized, and labor efficiency is improved. In the above technology, the slide rail is arranged on the outer side of the drill rod box, the rod conveying manipulator is positioned on the outer side of the drill rod box, the rod conveying manipulator is connected with the slide rail of the drill rod box through the slide blocks which are vertically symmetrically arranged on the gear box, the gear box is internally provided with the gear which is axially vertical, the gear is meshed with the rack on the slide rail, and the rod conveying manipulator is driven by the rod conveying motor to 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 cylinder, the first lifting cylinder is provided with a cross arm, the cross arm can move up and down under the drive of the first lifting cylinder, the front end of the cross arm is provided with an outer cylinder and a second lifting cylinder, a drill rod gripper is arranged below the outer cylinder, the upper part of the drill rod gripper is connected with the outer cylinder in an inner sleeve type and an outer sleeve type to form a linear motion pair, and the drill rod gripper moves up and down under the drive of the second lifting cylinder to grasp a drill rod. The drill rod box is large in size, the drill rod conveying mechanical arm is required to grasp and convey drill rods through the drill rod conveying motor, the first lifting oil cylinder and the second lifting oil cylinder, and the three driving mechanisms are arranged, so that the complexity of the drill rod conveying mechanical arm is increased, and the manufacturing cost of the drill rod conveying mechanical arm is increased. Moreover, the rod feeding mechanical arm is arranged on the outer side of the drill rod box, so that not only is the space of the drill rod box in the left-right direction occupied, but also the sliding rail is easy to clamp and hurt operators when being meshed with the gears. Disclosure of Invention The invention aims to provide a drilling machine drill rod loading and unloading system for solving the technical problems that a rod feeding mechanical arm is complex and high in manufacturing cost in the prior art, and also aims to provide a coal mine drilling machine for solving the technical problems that the whole manufacturing cost of the coal mine drilling machine is high due to the fact that the rod feeding mechanical arm is complex and high in manufacturing cost in the prior art. In order to achieve the above purpose, the technical scheme of the drill rod loading and unloading system of the drilling machine is as follows: The drilling machine loading and unloading drill rod system comprises a drilling machine platform, wherein a drill rod box for placing drill rods and a loading and unloading manipulator for loading and unloading the drill rods are arranged on the drilling machine platform, the drill rod box is composed of two vertical frames which are arranged at intervals along the left-right direction, the loading and unloading manipulator comprises a horizontal rail extending along the front-back direction, a vertical rail extending along the up-down direction and a drill rod gripper, the horizontal rail is arranged between the two vertical frames and is arranged on the drilling machine platform, the vertical rail is assembled on the horizontal rail in a moving manner along the front-back direction, and the drill rod gripper is ass