Mining drilling machine and drilling rod assembling and disassembling method

Abstract

The invention relates to the technical field related to drilling machines, in particular to a mining drilling machine and a drilling rod assembling and disassembling method. Comprising a lifting frame and a drill rod box, a plurality of containing grooves are formed in the drill rod box, a clamping unit is arranged, the clamping unit comprises a transverse moving assembly, a lifting assembly and a transfer manipulator, the transverse moving assembly and the lifting assembly drive the transfer manipulator to move in the transverse direction and the vertical direction correspondingly, and the vertical projection of the transfer manipulator is located in the drill rod box; the transfer manipulator is used for clamping the drill rod and can rotate; the lifting frame comprises a lifting sleeve, and a through hole allowing a drill rod to penetrate through is formed in the lifting sleeve. An overturning mechanical arm is arranged on the side, away from the transfer mechanical arm, of the lifting frame, the clamping center of the overturning mechanical arm is opposite to the through hole, and the overturning mechanical arm is used for driving the drill rod to rotate to the coaxial line of the driving drill rod. According to the mining drilling machine, the width of the drilling machine can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field related to drilling rigs, and in particular to a mining drilling rig and a drill rod loading and unloading method. Background Art

[0002] A drilling rig is a drilling device used in the exploration and mining of coal mines, natural gas, etc. During operation, the drill rod needs to be drilled into the ground. Due to the limitations of transportation equipment and mine tunnel size, the size of the drill rod is limited. During drilling, after a drill rod has completely entered the ground, a new drill rod needs to be installed and connected to the drill rod that has entered the ground, and the drilling continues. In this process, the clamping and installation speed of the drill rod is closely related to the drilling speed of the drilling rig.

[0003] Our company has developed a coal mine drilling rig as shown in the application number CN201911185745.9. The drilling rig includes a drilling platform and an automatic loading and unloading system and a drilling main machine arranged thereon, as well as an automatic control system; the automatic loading and unloading system includes a drill rod box, a rod delivery manipulator, a drill rod transporter and a main manipulator arranged in sequence along the conveying direction of the drill rod to be clamped; the drill rod box has multiple layers and multiple columns of space for accommodating drill rods; the automatic control system is connected to the automatic loading and unloading system and the drilling main machine, and is used to control the drilling main machine to automatically drill holes. The drilling efficiency is improved by combining the three-level drill rod conveying method of the automatic loading and unloading system with the arrangement method of setting a large-capacity drill rod box on the drilling rig platform.

[0004] However, in actual use, it was found that the automatic loading and unloading system structure of the above-mentioned drilling rig is relatively complicated, and the transportation method of the three-stage drill rod makes the drilling rig wider, making it difficult to enter a mine with a relatively small width. Increasing the width of the mine will cause the strength of the mine to be destroyed, thereby causing safety accidents. While expanding the width of the mine, increasing the support structure will also increase the cost of drilling and mining. Therefore, on the whole, reducing the width of the drilling rig is the most economical and practical solution. Summary of the invention

[0005] The present invention aims to provide a mining drill and a drill rod loading and unloading method to reduce the width of the drill.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a mining drill, comprising a lifting frame and a drill rod box, wherein the drill rod box is provided with a plurality of placement slots and a clamping unit, wherein the clamping unit comprises a lateral movement component, a lifting component and a transfer manipulator, wherein the lateral movement component and the lifting component drive the transfer manipulator to move in the lateral direction and in the vertical direction respectively, wherein the vertical projection of the transfer manipulator is located in the drill rod box, and the transfer manipulator is used to clamp the drill rod and can rotate;

[0007] The lifting frame includes a lifting sleeve, which is provided with a through hole for the drill rod to pass through; a flipping manipulator is provided on the side of the lifting frame away from the transfer manipulator, the clamping center of the flipping manipulator is opposite to the through hole, and is used to drive the drill rod to rotate to the coaxial line of the active drill rod.

[0008] The beneficial effects of this program are:

[0009] The active drill rod refers to the drill rod clamped in the clamp at the front end of the drilling rig. When the drill rod moves to the active drill rod position, it means that the drill rod has moved to the installation position. At this time, the drill rod can be clamped by the clamp to perform drilling construction. In this solution, only the transfer manipulator and the flip manipulator are used for clamping during installation and removal of the drill rod. The through hole is opposite to the clamping center of the flip manipulator. When the drill rod is coaxial with the through hole, the drill rod can be rotated 90° by the flip manipulator to the installation position. At this time, the clamp can be used for installation.

[0010] That is, this solution adopts a "two-stage" clamping and conveying method, which greatly simplifies the structure of the drilling rig and the conveying route of the drill rod, and reduces the control difficulty. When the drill rod is handed over between two mechanisms (manipulators), it is necessary to first align the axis of the drill rod with the axis of the other manipulator, and then use the other manipulator to clamp the drill rod, and at the same time control the previous manipulator to loosen the drill rod. In this process, it is also necessary to use sensors and other structures to detect the position of the drill rod, control the movement of the manipulator, and clamp and loosen it, so the handover takes a certain amount of time. Compared with the three-stage drill rod conveying method, the drill rod in this solution only needs to be handed over between the transfer manipulator and the flip manipulator, which reduces one handover, makes the installation and disassembly of the drill rod more efficient, and effectively improves the drilling efficiency.

[0011] Furthermore, the transverse movement assembly includes a slide seat, a transverse power member and a transverse slide rail. The slide seat and the transverse slide rail are slidably matched, and the transverse power member is used to drive the slide seat to slide; the transverse slide rail extends along the length direction of the frame, the transverse power member is a motor, the transverse power member is arranged on the slide seat and connected to a transverse gear, a transverse rack is installed on the slide rail, and the transverse rack is meshed with the transverse gear.

[0012] The beneficial effect of this solution is that when the transverse power member in this solution drives the gear to rotate, the transverse gear moves along the transverse rack, thereby driving the slide to slide along the transverse slide rail. Compared with the use of a hydraulic cylinder, the structure of this solution is simpler.

[0013] Furthermore, the transfer robot comprises a telescopic cylinder and a transfer claw, the piston rod of the outer shell of the telescopic cylinder is respectively connected to the longitudinal cantilever and the transfer claw, and the transfer claw can rotate relative to the longitudinal cantilever.

[0014] The beneficial effect of this solution is that the transfer claw can be directly driven to rotate by the telescopic cylinder without driving the longitudinal cantilever to move vertically, and the control system is simple.

[0015] Furthermore, a drill rod transmission sensor system is provided, which includes a straight-rotation sensor and a sensing block. The sensing block is arranged on the transfer gripper, and the straight-rotation sensor can be opposite to the sensing block and is used to detect whether the transfer gripper rotates a preset angle.

[0016] The beneficial effect of this solution is that this solution can detect the position of the transfer manipulator through the drill rod transmission sensor system to achieve automatic removal and placement of the drill rod.

[0017] Furthermore, the drill rod transmission sensor system also includes an identification sensor and a column selection sensor. The identification sensor is located above the transfer claw and is used to detect whether the drill rod is clamped in the claw after the claw slides upward; the column selection sensor is located above the transverse slide rail and is used to detect the sliding distance of the slide seat.

[0018] The beneficial effect of this solution is that the selection sensor is used to determine the position of the transfer claw, so as to facilitate the alignment of the transfer claw with the drill rod.

[0019] Furthermore, the drill pipe transmission sensor system also includes a telescopic sensor and a lifting sensor. The telescopic sensor is used to measure the vertical displacement of the transfer claw; the lifting sensor is used to measure the vertical displacement of the longitudinal cantilever.

[0020] The beneficial effect of this solution is: when the telescopic cylinder reaches the maximum stroke and the drill rod is still not detected, the lifting cylinder is started again to control the lateral cantilever and the transfer robot to slide downward as a whole. At this time, the telescopic sensor and the lifting sensor are respectively used to determine the position of the transfer claw.

[0021] Furthermore, the lifting assembly includes a lifting cylinder and a telescopic member, the lifting cylinder is used to drive the telescopic member to extend and retract; the longitudinal cantilever is connected to the telescopic member and can move vertically under the action of the telescopic member.

[0022] The beneficial effects of this solution are as follows: the transfer gripper adopts a combination of a lifting cylinder and a telescopic oil hole to adjust the height. Compared with using only one lifting drive component, this solution increases the number of drives, and the lifting speed is faster. For the same lifting height, the stroke of a single drive component is shorter and the flexibility is higher. When the telescopic unit crosses the open vertical plate, the minimum height required for the structure to install the transfer robot will also be smaller, thereby reducing the movement height of the transfer robot, making it more suitable for drill rod transportation in narrow spaces.

[0023] Furthermore, the flipping manipulator includes a flipping claw, a fixed seat and a flipping cylinder. The flipping claw is rotatably connected to the fixed seat. The outer shell and piston rod of the flipping cylinder are respectively hinged to the flipping claw and the fixed seat and are used to pull the flipping claw to rotate.

[0024] The beneficial effect of this solution is that the drill rod can be automatically flipped to the clamping position of the clamp of the drilling rig by the flipping manipulator, and the installation of the drill rod is fast and convenient.

[0025] Furthermore, the transfer robot comprises a telescopic cylinder and a transfer claw, the piston rod of the outer shell of the telescopic cylinder is respectively connected to the longitudinal cantilever and the transfer claw, and the transfer claw can rotate relative to the longitudinal cantilever.

[0026] The beneficial effect of this solution is that the drill rod can be directly driven to rotate by rotating the claw, and other structures do not need to rotate synchronously, so there is no need to perform motion control of other structures, and the control system is simpler.

[0027] The present invention also discloses a drill rod loading and unloading method, including a drill rod loading process and a drill rod unloading process, wherein the drill rod loading process includes the following steps:

[0028] Step 1, initialization: Move the drilling machine to the drilling position and make sure all components are in the initialization state;

[0029] Step 2, column selection: determine the position of the drill rod, and slide the transfer manipulator along the transverse slide rail to a position aligned with the drill rod to be removed;

[0030] Step 3, grabbing: Extend the transfer claw downward until it clamps the drill rod, and then move the drill rod to the top of the drill rod box;

[0031] Step 4, straight turn: turn the transfer gripper 90°;

[0032] Step 5, translational transport: Move the drill rod to the side close to the gripper until the vertical projection of the axis of the drill rod is aligned with the gripping center of the flip manipulator, and then move the drill rod vertically to a position where it can be grasped by the flip gripper;

[0033] Step 6, drill rod handover: flip the gripper to clamp the drill rod, and let the transfer gripper release the drill rod;

[0034] Step 7, flipping and conveying: flip the gripper to the clamping position of the drill pipe clamp.

[0035] The drill pipe unloading process includes the following steps:

[0036] Step 8, turning over the drill rod: turn the turning claw to a position close to the clamp and clamp the drill rod, so that the clamp releases the drill rod, and turn the turning claw to a position away from the clamp;

[0037] Step 9, aligning the drill rod: rotate the transfer gripper 90° until the gripping axis of the transfer gripper is aligned with the axis of the drill rod;

[0038] Step 10, drill pipe transfer: the transfer claws clamp the drill pipe, and the flip claws release the drill pipe;

[0039] Step 11, drill rod recovery: Move the transfer claw upward until the drill rod is higher than the drill rod box, then turn it 90 degrees, and drive the drill rod to move above the drill rod box and align it with an empty placement slot, control the transfer claw to extend downward, place the drill rod into the empty placement slot, and finally release the transfer claw.

[0040] Furthermore, during the drill pipe installation process, the control logic of the drill pipe transmission sensor system is:

[0041] Step 1, determine the initial values ​​of a and b;

[0042] In step 3, a and b satisfy:

[0043] H1-H2=a1+b1;

[0044] H2 = nd;

[0045] a=a-a1;

[0046] b=b+b1;

[0047] H1-height of the top of the drill box;

[0048] n-the number of remaining drill pipes in the queue to be grabbed;

[0049] d-drill pipe diameter;

[0050] a1-the displacement of the lifting cylinder in step 3;

[0051] b1-change in displacement of the telescopic cylinder in step 3;

[0052] In step 3, a and b satisfy: a=a+a1+d; b=b-b1 or a=a+a1; b=b-b1-d;

[0053] In step 5, when the top of the drill rod box is higher than the drill rod on the transfer manipulator, the transfer manipulator needs to rise by a displacement Δ, and a and b satisfy:

[0054] Δ=a2+b2;

[0055] a=a+a2;

[0056] b = b - b2;

[0057] a2-the displacement change of the lifting cylinder in step 5;

[0058] b2-change in displacement of the telescopic cylinder in step 5;

[0059] When the top of the drill rod box is lower than the drill rod on the transfer manipulator, the transfer manipulator needs to drop by a displacement Δ, and a and b satisfy:

[0060] Δ=a2+b2;

[0061] a=a-a2;

[0062] b=b+b2;

[0063] a2-the displacement change of the lifting cylinder in step 5;

[0064] b2-Change in displacement of the telescopic cylinder in step 5.

[0065] The beneficial effects of this solution are: using displacement sensors to detect the displacement of the transfer robot during its movement process to improve the accuracy of movement positioning; using a combination of two displacement sensors in the telescopic and lifting cylinders to meet the height calculation, monitoring and control requirements of the gripper under various working conditions, and the system is simple and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 A three-dimensional diagram of an embodiment of the present invention;

[0067] Figure 2 for Figure 1 A perspective view of the drill rod box and the clamping unit;

[0068] Figure 3 This is a schematic diagram of the installation of the sensor of the present invention;

[0069] Figure 4 for Figure 2 A top view of the middle lifting outer cylinder;

[0070] Figure 5 It is a three-dimensional diagram of the lifting frame in Example 1 of the present invention;

[0071] Figure 6 A three-dimensional diagram of the flipping manipulator in Example 1 of the present invention;

[0072] Figure 7 for Figure 6 A top view of

[0073] Figure 8 It is a schematic diagram of the measurement of H1 and H2 in the present invention. DETAILED DESCRIPTION

[0074] The following is further described in detail through specific implementation methods:

[0075] The figure marks in the drawings of the specification include: frame 1, clamp 11, drill rod box 2, bottom plate 21, side plate 22, vertical plate 23, baffle 25, transverse slide rail 3, slide seat 31, transverse power member 32, transverse rack 33, column selection sensor 34, straight rotation sensor 4, induction block 41, identification sensor 42, telescopic sensor 43, lifting sensor 44, transfer claw 5, lifting sleeve 6, through hole 61, sleeve 62, mounting shell 63, telescopic member 7, lifting outer cylinder 71, lifting inner cylinder 72, groove 73, lifting guide rail 74, longitudinal cantilever 75, rotating power member 76, turntable 8, column 81, lifting cylinder 82, flip manipulator 9, fixed seat 91, flip cylinder 92, flip claw 93.

[0076] Example

[0077] The present invention discloses a mining drill, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the vehicle frame 1 includes a clamp 11, a lifting frame, a clamping unit and a drill rod box 2, which are arranged on the vehicle frame 1 from right to left. A rotator and a frame are arranged on the right end of the vehicle frame 1, and the frame is connected to the rotator. The clamp 11 is arranged on the frame. The clamp 11, the rotator and the frame in this embodiment all adopt existing structures, which will not be described in detail in this embodiment. The drill rod box 2 includes a bottom plate 21, two side plates 22 and two vertical plates 23. The bottom plate 21 is installed on the vehicle frame 1 by bolts. The two side plates 22 are respectively located at the front and rear sides of the bottom plate 21, and the side plate 22 is U-shaped; the two vertical plates 23 are respectively located on the left and right sides of the bottom plate 21, and the side plates 22 and the vertical plates 23 are both welded and fixed to the bottom plate 21.

[0078] The drill rod box 2 is provided with a plurality of partition assemblies along the width direction of the frame 1. The distance between adjacent partition assemblies is greater than the diameter of the drill rod. Each partition assembly includes two baffles 25, which are respectively welded to two vertical plates 23. The baffles 25 are vertically arranged and perpendicular to the vertical plates 23. The top of the baffle 25 is at the same height as the top of the vertical plate 23. A placement groove extending along the length direction of the frame 1 is formed between adjacent partition assemblies.

[0079] The clamping unit includes a transverse moving assembly, a longitudinal cantilever 75, a lifting assembly and a transfer manipulator. The transverse moving assembly includes a slide 31, a transverse power member 32 and a transverse slide rail 3. The transverse slide rail 3 is transversely arranged on the right side wall of the drill rod box 2 by bolts. The slide 31 is arranged on the slide rail and slidably cooperates with the slide rail so that the slide 31 can slide along the transverse slide rail 3. The transverse power member 32 adopts a motor. The transverse power member 32 is connected with a transverse gear. A transverse rack 33 is installed on the transverse slide rail 3 by screws, and the transverse rack 33 extends along the length direction of the transverse slide rail 3. The transverse gear is meshed with the transverse rack 33, so when the transverse power member 32 drives the transverse gear to rotate, the slide 31 slides along the slide rail.

[0080] The longitudinal cantilever 75 extends along the length direction of the vehicle frame 1, and the longitudinal cantilever 75 is located above the drill rod box 2. The transfer manipulator includes a telescopic cylinder, a transfer claw 5 and a rotating power member 76. The transfer manipulator is installed at the left end of the longitudinal cantilever 75 and is lower than the longitudinal cantilever 75. Specifically, the transfer manipulator in this embodiment adopts an existing manipulator with a rotating joint, and the transfer power member also adopts a motor, so that the rotating power member 76 can drive the transfer claw 5 to rotate 90°, and the telescopic cylinder drives the transfer claw 5 to slide vertically.

[0081] The lifting assembly includes a lifting cylinder and a telescopic member 7. The telescopic member 7 includes a lifting outer cylinder 71 and a lifting inner cylinder 72. The top of the lifting inner cylinder 72 is connected to the right end of the longitudinal cantilever 75 by bolts. The bottom of the lifting outer cylinder 71 is installed on the slide seat 31 by bolts. The lifting inner cylinder 72 is located in the lifting outer cylinder 71 and the upper end of the lifting inner cylinder 72 extends to the top of the lifting outer cylinder 71. Two grooves 73 are provided on the inner side of the lifting outer cylinder 71. The two grooves 73 are respectively located on the left and right sides of the lifting inner cylinder 72, and the grooves 73 extend along the axial direction of the lifting outer cylinder 71. A lifting guide rail 74 is installed in the groove 73 by screws. The outer wall of the lifting inner cylinder 72 is installed with a lifting guide block that cooperates with the lifting guide rail 74 by bolts, so that the lifting inner cylinder 72 and the lifting guide rail 74 are slidably matched. The lifting inner cylinder 72 is prevented from deflecting during the sliding process by the guidance of the lifting guide rail 74. The outer shell of the lifting cylinder is installed on the lower end of the lifting outer cylinder 71 by bolts. The piston rod of the lifting cylinder faces upward and is connected to the upper end of the lifting inner cylinder 72. The lifting inner cylinder 72 is driven to slide vertically by the lifting cylinder.

[0082] A drill pipe transmission sensor system is also provided, including a straight-rotation sensor 4, a sensing block 41, an identification sensor 42, a column selection sensor 34, a telescopic sensor 43 and a lifting sensor 44. The straight-rotation sensor 4 is arranged above the transfer claw 5 and at a position where there is relative rotation between the transfer claw 5. The sensing block 41 is made of metal and is welded to the transfer claw 5. After the transfer claw 5 rotates, the angle between the rotation center of the straight-rotation sensor 4 and the transfer claw 5 and the angle between the rotation center of the sensing block 41 and the transfer claw 5 are 90°. The straight-rotation sensor 4 in this embodiment is a position sensor, and a proximity switch is preferably used. After the transfer claw 5 rotates to the position where the sensing block 41 and the straight-rotation sensor 4 are relative, the signal of the straight-rotation sensor 4 changes from disconnected to connected.

[0083] The identification sensor 42 adopts a proximity switch, and the identification sensor 42 is arranged on the transfer robot, so that after the transfer claw 5 approaches the drill rod, it can be determined whether there is a drill rod in the transfer claw 5.

[0084] The column selection sensor 34 adopts a displacement sensor, and the column selection sensor 34 is installed on the transverse slide rail 3. The moving distance of the transfer robot is determined by detecting the distance of the slide seat 31, so that the position of the transfer robot is calculated by the moving distance.

[0085] The telescopic sensor 43 also adopts a displacement sensor. The telescopic sensor 43 is arranged at the telescopic joint of the transfer robot to monitor the displacement of the transfer claw 5 along the vertical movement so as to determine the position of the transfer claw 5 and control it to stop moving in time after the transfer claw 5 moves to the preset position.

[0086] The lifting sensor 44 also adopts a displacement sensor. Specifically, the selection sensor 34, the telescopic sensor 43 and the lifting sensor 44 in this embodiment all adopt a magnetostrictive displacement sensor. The lifting sensor 44 in this embodiment is installed on the outside of the lifting outer cylinder to monitor the displacement of the longitudinal cantilever 75 along the vertical sliding direction, so as to determine the position of the longitudinal cantilever 75. In actual implementation, the lifting sensor 44 can also be set in the lifting inner cylinder 72 or integrated with the lifting cylinder.

[0087] The lifting frame includes a lifting sleeve 6, a lifting cylinder 82 and two columns 81. The lifting sleeve 6 is arranged vertically, and the distance between the left wall of the lifting sleeve 6 and the right wall of the drill pipe box 2 is less than the length of a drill pipe. The front and rear ends of the lifting sleeve 6 are welded with sleeves 62. The column 81 vertically penetrates the sleeve 62, and the sleeve 62 cooperates with the column 81 with a small gap, and can slide vertically along the column 81. The vehicle frame 1 is provided with an existing turntable 8, and the bottom of the column 81 is connected to the turntable 8 by screws to support the lifting sleeve 6. An installation shell 63 is provided between the sleeve 62 and the lifting sleeve 6. The two ends of the installation shell 63 are respectively welded and fixed to the sleeve 62 and the lifting sleeve 6. The installation shell 63 is provided with an installation inner cavity, and the lifting cylinder 82 is located in the installation inner cavity. The shell of the lifting cylinder 82 is connected to the bottom of the column 81 by bolts, and the piston rod of the lifting cylinder 82 faces upward and is connected to the top of the installation shell 63, which is used to drive the installation shell 63 to slide vertically, thereby driving the lifting sleeve 6 to slide vertically.

[0088] The lifting sleeve 6 is connected to the frame by bolts, and a flipping manipulator 9 is provided between the lifting sleeve 6 and the clamp 11. The flipping manipulator 9 is used to drive the drill pipe to rotate to the coaxial line of the active drill pipe. Specifically, the flipping manipulator 9 includes a flipping cylinder 92, a fixed seat 91 and a flipping claw 93. The fixed seat 91 is installed on the frame by bolts. The transfer claw 5 and the flipping claw 93 in this embodiment both adopt existing claws that can clamp and release the drill pipe. The flipping claw 93 is hinged to the left end of the fixed seat 91, and the outer shell of the flipping cylinder 92 is hinged to the right end of the fixed seat 91. The piston rod of the flipping cylinder 92 faces left and is hinged to the flipping claw 93, and the hinge position of the flipping claw 93 and the fixed seat 91, the hinge position of the fixed seat 91 and the flipping cylinder 92, and the hinge position of the flipping cylinder 92 and the flipping claw 93 are distributed in a triangle, so that the flipping cylinder 92 can drive the flipping claw 93 to swing when it is extended or retracted.

[0089] The lifting sleeve 6 is provided with a through hole 61. In this embodiment, the through hole 61 is coaxial with the opening, and the rightward projection of the through hole 61 is located at the clamping center of the flip claw 93, so that after the drill rod extending along the length direction of the frame 1 moves to the relative position of the through hole 61, the drill rod rotates to the position of the clamp 11 after the rotating shaft along the vertical direction rotates to the width direction of the frame 1. The diameter of the through hole 61 is greater than the diameter of the drill rod. Specifically, the diameter of the through hole 61 is determined comprehensively according to the diameter of the drill rod and the relative position of the lifting sleeve 6 and the clamp 11: to ensure that when the flip claw 93 clamps the drill rod and flips to the side close to the clamp 11, the end of the drill rod away from the clamp 11 can pass through the through hole 61. In this embodiment, the lifting sleeve 6 is also provided with an avoidance groove on the side wall facing the drill rod box 2, and the avoidance groove is located above the through hole 61 and extends vertically.

[0090] When the drilling rig in this embodiment takes out the drill rod, it first moves the position of the slide 31 through the transverse slide rail 3 and the transverse power member 32, moves the transfer robot to the top of the drill rod to be taken out, then moves the transfer claw 5 downward and clamps the drill rod, and then moves the drill rod upward to the top of the drill rod box 2.

[0091] The slide 31 is slid to the left by the transverse power member 32 until the longitudinal cantilever 75 moves to the left side of the drill rod box 2, and then the rotary power member 76 is controlled to rotate the drill rod 90° so that the downward projection of the drill rod is coaxial with the through hole 61. Finally, the transfer gripper 5 is controlled to slide downward to move the drill rod downward to a position coaxial with the through hole 61. The final operation is the same as that in Example 1. The drill rod is flipped to the position of the clamp 11 by flipping the gripper 5 to complete the installation of the drill rod.

[0092] When the drill rod needs to be recovered, after the flipping claw flips the drill rod to a position close to the drill rod box 2, the transfer claw 5 is still used to clamp the drill rod, and then the drill rod is moved upward to the top of the drill rod box 2, and the drill rod is rotated 90° by rotating the power member 76, so that the drill rod is rotated to a state extending along the width direction of the frame 1, and then the slide 31 is slid into the drill rod box 2 by the transverse power member 32 until it is aligned with an empty placement slot, and finally the transfer claw 5 is controlled downward to place the drill rod into the empty placement slot to complete the recovery of the drill rod.

[0093] Initially, the drill rods are stacked in multiple layers in the drill rod box 2. This embodiment also discloses a drill rod loading and unloading method, which uses the above-mentioned drilling rig, including a drill rod loading process and a drill rod unloading process. The drill rod loading process includes the following steps:

[0094] Step 1, initialization: Move the drilling machine to the drilling position and make sure all components are in the initialization state;

[0095] Step 2, row selection: determine the position of the drill rod to be taken out, slide the transfer gripper 5 along the transverse slide rail 3 to the position aligned with the drill rod to be taken out, monitor the sliding distance of the slide 31 through the row selection sensor 34 during sliding, so as to determine the position of the slide 31, determine the position of the transfer gripper 5 through the position of the slide 31, move the transfer gripper 5 upward to the top of the drill rod box 2 and then stop moving; specifically, drive the slide 31 to move along the length of the frame 1 through the transverse power member 32, so that the transfer gripper 5 moves to the top of the middle part of the drill rod to be clamped; start the lifting cylinder, drive the longitudinal cantilever 75 to slide vertically, and detect the vertical displacement of the longitudinal cantilever 75 through the lifting sensor 44 when the lifting cylinder is working;

[0096] Step 3, grabbing: extend the transfer claw 5 downward through the telescopic cylinder until it clamps the drill rod, and then move the drill rod to the top of the drill rod box 2; the telescopic cylinder drives the transfer claw 5 to move vertically, and the telescopic sensor 43 detects the vertical movement distance of the transfer claw 5 when the telescopic cylinder acts, which is also used to determine the position of the transfer claw 5; in actual implementation, the transfer claw 5 is first driven to slide downward by the telescopic cylinder, and the identification sensor 42 is used to detect whether there is a drill rod under the transfer claw 5. When the drill rod is not detected, the transfer claw 5 is controlled to continue to slide downward, and when the telescopic cylinder reaches the maximum stroke and still does not detect the drill rod, the lifting cylinder is started again to control the lateral cantilever and the transfer manipulator to slide downward as a whole, and stop moving after the identification sensor 42 detects the drill rod, and the drill bit can be clamped by the transfer claw 5 at this time; after clamping the drill rod, move the drill rod upward to the top of the drill rod box 2;

[0097] Step 4, direct rotation: start the rotating power member 76 to rotate the transfer gripper 5 90°; specifically, during the rotation process, the sensing block 41 rotates with the transfer gripper 5 until the transfer gripper 5 rotates 90°, and the sensing block 41 is opposite to the direct rotation sensor 4. At this time, the direct rotation sensor 4 is connected to the sensing block 41, and the phase difference between the direct rotation sensor 4 and the sensing block 41 changes from 90° to 0, that is, during the rotation process, the direct rotation sensor 4 is used to monitor whether the transfer gripper 5 is rotated to the right position;

[0098] Step 5, translation transport: move the drill rod to the side close to the gripper 11 until the vertical projection of the axis of the drill rod is aligned with the gripping center of the flip manipulator 9, and then move the drill rod downward to a position where it can be grasped by the flip gripper 93;

[0099] Step 6, drill rod transfer: flip the gripper 93 to clamp the drill rod, and let the transfer gripper 5 release the drill rod;

[0100] Step 7, flipping and conveying: the flipping claw 93 is flipped to the clamping position of the drill rod clamp 11. At this time, the flipping cylinder 92 is started to control the flipping claw 93 to drive the drill rod to rotate toward the side close to the clamp 11. At the same time, the transfer claw 5 moves toward the side close to the drill rod box 2 through the cooperation of the transverse power member 32, the telescopic cylinder and the lifting cylinder 82.

[0101] The drill pipe unloading process includes the following steps:

[0102] Step 8, turning over the drill rod: turning over the turning claw 93 to a position close to the clamp 11 and clamping the drill rod, so that the clamp 11 releases the drill rod, and turning over the turning claw 93 to a position away from the clamp 11;

[0103] Step 9, aligning the drill rod: rotating the transport gripper 5 by 90° until the clamping axis of the transport gripper 5 is aligned with the axis of the drill rod;

[0104] Step 10, drill pipe transportation: the transportation claw 5 clamps the drill pipe, and the flip claw 93 releases the drill pipe;

[0105] Step 11, drill rod recovery: move the transfer gripper 5 upward until the drill rod is higher than the drill rod box 2, then rotate it 90° and drive the drill rod to move above the drill rod box 2 and align it with an empty placement slot, control the transfer gripper 5 to extend downward, place the drill rod into the empty placement slot, and finally release the transfer gripper 5.

[0106] In this embodiment, the position of the transport gripper 5 is determined by the telescopic sensor 43 and the lifting sensor 44: the gripper position is measured from the drill rod clamping center line, and the lower part has a height that does not interfere with the drill rod box 2 or the drill rod; the upward movement of the gripper is a positive displacement, and the downward movement is a negative displacement. In the following states, the height of the transport gripper 5 is:

[0107] Step 1, initialization state: Assume that the displacement measured by the lifting sensor 44 is a, the displacement measured by the telescopic sensor 43 is b, and the transfer gripper 5 does not interfere with the drill rod box 2. This is the sensor displacement data of the initial condition of the transfer manipulator. Please refer to Figure 8 At this time, the height of the gripper from the bottom of the drill rod box 2 is the height of the vertical plate 23 of the drill rod box 2, which is set to H1.

[0108] In the above process, the control logic of the drill pipe transmission sensor system is:

[0109] Step 1, determine the initial values ​​of a and b;

[0110] In step 3, a and b satisfy:

[0111] H1-H2=a1+b1;

[0112] H2 = nd;

[0113] a=a-a1;

[0114] b=b+b1;

[0115] H1-the height of the top of the drill box 2; the positions of H1 and H2 are as follows Figure 8 As shown;

[0116] n-the number of remaining drill pipes in the queue to be grabbed;

[0117] d-drill pipe diameter;

[0118] a1-the displacement of the lifting cylinder in step 3;

[0119] b1-change in displacement of the telescopic cylinder in step 3;

[0120] In step 3, a and b satisfy: a=a+a1+d; b=b-b1 or a=a+a1; b=b-b1-d;

[0121] In step 5, when the top of the drill rod box 2 is higher than the drill rod on the transfer gripper 5, the transfer gripper 5 needs to be lifted by a displacement Δ, and a and b satisfy:

[0122] Δ=a2+b2;

[0123] a=a+a2;

[0124] b = b - b2;

[0125] a2-the displacement change of the lifting cylinder in step 5;

[0126] b2-change in displacement of the telescopic cylinder in step 5;

[0127] When the top of the drill rod box 2 is lower than the drill rod on the transfer gripper 5, the transfer gripper 5 needs to be lowered by a displacement Δ, and a and b satisfy:

[0128] Δ=a2+b2;

[0129] a=a-a2;

[0130] b=b+b2;

[0131] a2-the displacement change of the lifting cylinder in step 5;

[0132] b2-Change in displacement of the telescopic cylinder in step 5.

[0133] The setting of the drill rod transmission sensing system in this embodiment detects the process displacement through a displacement sensor to improve the accuracy of motion positioning, and both the telescopic cylinder and the lifting cylinder can control the transfer claw 5 to slide vertically, which can meet different heights, monitoring and control requirements, and the system is simple and reliable.

[0134] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A mining drill, comprising a lifting frame and a drill rod box, wherein the drill rod box is provided with a plurality of placement slots, characterized in that: A clamping unit is provided, the clamping unit includes a lateral movement component, a lifting component and a transfer manipulator, the lateral movement component and the lifting component drive the transfer manipulator to move horizontally and vertically respectively, the vertical projection of the transfer manipulator is located in the drill rod box, and the transfer manipulator is used to clamp the drill rod and can rotate; The lifting frame includes a lifting sleeve, which is provided with a through hole for the drill rod to pass through; a flipping manipulator is provided on the side of the lifting frame away from the transfer manipulator, the clamping center of the flipping manipulator is opposite to the through hole, and is used to drive the drill rod to rotate to the coaxial line of the active drill rod.

2. A mining drill according to claim 1, characterized in that: The transverse movement assembly includes a slide seat, a transverse power member and a transverse slide rail. The slide seat and the transverse slide rail are slidably matched, and the transverse power member is used to drive the slide seat to slide; the transverse slide rail extends along the length direction of the frame, and the transverse power member is a motor. The transverse power member is arranged on the slide seat and connected to a transverse gear. A transverse rack is installed on the slide rail, and the transverse rack is meshed with the transverse gear.

3. A mining drill according to claim 1, characterized in that: The transfer robot comprises a telescopic oil cylinder and a transfer claw, the piston rod of the outer shell of the telescopic oil cylinder is respectively connected to the longitudinal cantilever and the transfer claw, and the transfer claw can rotate relative to the longitudinal cantilever.

4. A mining drill according to claim 3, characterized in that: A drill rod transmission sensor system is provided, which includes a straight-rotation sensor and a sensing block. The sensing block is arranged on the transport gripper, and the straight-rotation sensor can be opposite to the sensing block and is used to detect whether the transport gripper rotates a preset angle.

5. A mining drill according to claim 4, characterized in that: The drill rod transmission sensor system also includes an identification sensor and a column selection sensor. The identification sensor is located above the transfer gripper and is used to detect whether a drill rod is clamped in the gripper after the gripper slides upward; the column selection sensor is located above the transverse slide rail and is used to detect the sliding distance of the slide seat.

6. A mining drill according to claim 5, characterized in that: The drill pipe transmission sensor system also includes a telescopic sensor and a lifting sensor. The telescopic sensor is used to measure the vertical displacement of the transport gripper; the lifting sensor is used to measure the vertical displacement of the longitudinal cantilever.

7. A mining drill according to claim 3, characterized in that: The lifting assembly includes a lifting cylinder and a telescopic member. The lifting cylinder is used to drive the telescopic member to extend and retract. The longitudinal cantilever is connected to the telescopic member and can move vertically under the action of the telescopic member.

8. A mining drill according to claim 6, characterized in that: The flip manipulator comprises a flip claw, a fixing seat and a flip cylinder. The flip claw is rotatably connected to the fixing seat. The outer shell and the piston rod of the flip cylinder are respectively hinged to the flip claw and the fixing seat and are used to pull the flip claw to rotate.

9. A method for loading and unloading a drill pipe, characterized in that: The method comprises a drill pipe installation process and a drill pipe unloading process, wherein the drill pipe installation process comprises the following steps: Step 1, initialization: Move the drilling machine to the drilling position and make sure all components are in the initialization state; Step 2, column selection: determine the position of the drill rod, and slide the transfer manipulator along the transverse slide rail to a position aligned with the drill rod to be removed; Step 3, grabbing: Extend the transfer claw downward until it clamps the drill rod, and then move the drill rod to the top of the drill rod box; Step 4, straight turn: turn the transfer gripper 90°; Step 5, translational transport: Move the drill rod to the side close to the gripper until the vertical projection of the axis of the drill rod is aligned with the gripping center of the flip manipulator, and then move the drill rod vertically to a position where it can be grasped by the flip gripper; Step 6, drill rod handover: flip the gripper to clamp the drill rod, and let the transfer gripper release the drill rod; Step 7, flipping and conveying: flip the gripper to the clamping position of the drill pipe clamp. The drill pipe unloading process comprises the following steps: Step 8, turning over the drill rod: turn the turning claw to a position close to the clamp and clamp the drill rod, so that the clamp releases the drill rod, and turn the turning claw to a position away from the clamp; Step 9, aligning the drill rod: rotate the transfer gripper 90° until the gripping axis of the transfer gripper is aligned with the axis of the drill rod; Step 10, drill pipe transfer: the transfer claws clamp the drill pipe, and the flip claws release the drill pipe; Step 11, drill rod recovery: Move the transfer claw upward until the drill rod is higher than the drill rod box, then turn it 90 degrees, and drive the drill rod to move above the drill rod box and align it with an empty placement slot, control the transfer claw to extend downward, place the drill rod into the empty placement slot, and finally release the transfer claw.

10. A drill pipe loading and unloading method according to claim 7, characterized in that: During the drill pipe installation process, the control logic of the drill pipe transmission sensor system is: Step 1, determine the initial values ​​of a and b; In step 3, a and b satisfy: H1-H2=a1+b1; H2 = nd; a=a-a1; b=b+b1; H1-height of the top of the drill box; n-the number of remaining drill pipes in the queue to be grabbed; d-drill pipe diameter; a1-the displacement of the lifting cylinder in step 3; b1-change in displacement of the telescopic cylinder in step 3; In step 3, a and b satisfy: a=a+a1+d; b=b-b1 or a=a+a1; b=b-b1-d; In step 5, when the top of the drill rod box is higher than the drill rod on the transfer manipulator, the transfer manipulator needs to rise by a displacement Δ, and a and b satisfy: Δ=a2+b2; a=a+a2; b = b - b2; a2-the displacement change of the lifting cylinder in step 5; b2-change in displacement of the telescopic cylinder in step 5; When the top of the drill rod box is lower than the drill rod on the transfer manipulator, the transfer manipulator needs to drop by a displacement Δ, and a and b satisfy: Δ=a2+b2; a=a-a2; b=b+b2; a2-the displacement change of the lifting cylinder in step 5; b2-Change in displacement of the telescopic cylinder in step 5.

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