A drilling vehicle device for intelligent automatic drilling rod loading for coal mines

Abstract

The present invention relates to a drilling vehicle device for coal mines with intelligent automatic drilling rod loading, which includes a main machine body, a working mechanism for setting the drilling rod, a drilling rod box for storing the drilling rod, a drilling rod conveying frame, a crawler walking device and a mechanical arm; the crawler walking device is fixed on both sides of the main machine body and contacts the ground, and is used to move the main machine body; the drilling rod box is arranged on the main machine body, and a drilling rod conveying frame is arranged below the drilling rod box; the drilling rod box includes a frame body, and the front and rear sides of the frame body are respectively provided with a front support seat and a rear support seat with the same structure; the drilling rod conveying frame includes an inner frame and a lifting platform, and the lifting platform is arranged on the inner frame, and the lifting platform includes a plurality of parallelly arranged lifting frames, and a third lifting cylinder is connected below the lifting platform, and the third lifting cylinder is connected to a second propulsion cylinder. The drilling rod box of the present invention conveys the drilling rod from the bottom, and the top surface can be closed to prevent impurities from falling into the drilling rod box and affecting the conveying of the drilling rod, thereby improving work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine drilling machines, and in particular to a drilling vehicle device for coal mines with intelligent automatic drilling rod raising. Background Art

[0002] Coal mines are areas where humans exploit coal resources in coal-rich mining areas. They are generally divided into underground coal mines and open-pit coal mines. When the coal seam is far from the surface, people generally choose to dig tunnels underground to mine coal. This is an underground coal mine. When the coal seam is very close to the surface, people generally choose to directly strip off the surface soil layer to mine coal. This is an open-pit coal mine. The vast majority of coal mines in my country are underground coal mines. The scope of coal mines includes a large area above and below the ground and related facilities. Coal mines are reasonable spaces excavated by humans when digging geological strata rich in coal, usually including tunnels, shafts, mining faces, etc. A drilling vehicle device is used when drilling in a coal mine. The drill rod and drill bit on the drilling vehicle device rotate through power output and drill holes in the coal mine.

[0003] The existing drilling vehicle is provided with a drill rod box for storing drill rods. The drill rods are grabbed to a designated position by a mechanical arm arranged next to the drill rod box, and then another mechanical arm grabs the drill rods to the working position. During the entire operation, the drill rod cannot be automatically raised, which reduces work efficiency. In addition, such a raising process brings the following problems: (1) The top surface of the drill rod box is required to be open to facilitate the mechanical arm to grab the drill rod, but the top surface of the drill rod box cannot be closed. When working in a coal mine, impurities such as coal blocks often fall into it and get stuck between the drill rods, affecting the grabbing of the drill rods; (2) The arrangement of the two mechanical arms has requirements on the height of the site, which limits their use in coal mines. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned shortcomings and provide a drilling vehicle device for coal mines with intelligent automatic drilling rod loading, which occupies a small space and improves work efficiency.

[0005] The object of the present invention is achieved in that:

[0006] A drilling vehicle device for coal mines with intelligent automatic drilling rod loading comprises a main machine body, a working mechanism, a drill rod box for storing drill rods, a drill rod conveying frame, a crawler walking device and a mechanical arm; the crawler walking device is fixed on both sides of the main machine body and in contact with the ground, and is used to move the main machine body; the drill rod box is arranged on the main machine body, and a drill rod conveying frame is arranged below the drill rod box;

[0007] The working mechanism includes a slide, a slide seat, a power head and a clamp. A movable slide seat is arranged on the slide, and a power head is arranged on the slide seat. One side of the slide is connected to the rotary support device through a first rotary reducer, and the rotary support device is fixed to the main machine body. The rotary support device includes a first supporting oil cylinder, a first lifting oil cylinder, a second supporting oil cylinder and a second lifting oil cylinder. The first supporting oil cylinder is connected to the first lifting oil cylinder, and the second supporting oil cylinder is connected to the second lifting oil cylinder. A mechanical arm is also arranged on one side of the slide, and the mechanical arm is arranged on the other side of the rotary support device. The mechanical arm is connected to the rotary reducer mounting seat through a third rotary reducer, and the rotary reducer mounting seat is connected to the second rotary reducer.

[0008] The drill rod box comprises a frame body, which comprises an outer frame, in which multiple layers of drill rods are arranged, two axial first stretching cylinders are arranged on the left and right sides of the frame body, a radial second stretching cylinder is arranged below the first stretching cylinder, and a fixing ring is arranged below the second stretching cylinder; a front support seat and a rear support seat are respectively arranged on the front and rear sides of the frame body, the front and rear ends of the front support seat are connected to the corresponding second stretching cylinder, a load-bearing rod matching the fixing ring is arranged below the connection, a plurality of evenly arranged drill rod bearing blocks are vertically connected to the inner side of the front support seat, and matching insertion grooves are arranged at positions corresponding to the drill rod bearing blocks on the outer frame;

[0009] A drill rod transport frame is arranged below the outer frame, and the drill rod transport frame includes an inner frame and a lifting platform. The lifting platform is arranged on the inner frame, and the lifting platform includes a plurality of lifting frames arranged in parallel. A third lifting cylinder is connected below the lifting platform, and the third lifting cylinder is connected to the second propulsion cylinder.

[0010] Furthermore, the slide comprises a base, the base is provided with two left and right support rods, a movable slide is provided on the two support rods, the slide is connected to the first propulsion cylinder, and one end of the slide is connected to the clamping assembly.

[0011] Furthermore, baffles are provided at the front and rear ends of the base, and left and right support rods are provided between the front and rear baffles.

[0012] Furthermore, the clamping assembly includes a clamp and a base, and a swing angle cylinder is provided on one side of the base to connect the clamp, so as to facilitate adjustment of the position of the clamp.

[0013] Furthermore, the first supporting oil cylinder and the second supporting oil cylinder are respectively connected to a first rotary reducer.

[0014] Furthermore, the robot arm includes a robot rotating arm, a robot telescopic arm and a grabbing hand. The robot rotating arm is provided with a robot telescopic arm, the end of the robot telescopic arm is connected to a telescopic cylinder, and the front end is connected to the grabbing hand.

[0015] Furthermore, the grabber is also connected to an angle adjustment cylinder for adjusting the angle of the grabber.

[0016] Furthermore, a rod placing rack is provided on one side of the drill rod transport frame close to the working mechanism, and the rod placing rack is connected to the third propulsion cylinder.

[0017] Furthermore, the lifting frame is provided with an arc-shaped groove matching the drill rods of the upper drill rod layer for placing the drill rods.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] (1) The drill rod box of the present invention transports the drill rods from the bottom, so the top surface can be closed to prevent impurities from falling into the drill rod box and affecting the transportation of the drill rods, thereby improving work efficiency;

[0020] (2) The drill rod transport frame of the present invention uses a lifting frame to push out a layer of drill rods, which are then pushed to the rod placement frame by the propulsion cylinder and returned to the original path when recovered, which is more conducive to the recovery of drill rods;

[0021] (3) The present invention only requires a flipping mechanical arm below the top surface of the drill rod box, and does not require a drill rod grabbing arm above the drill rod box. It has no restrictions on the site height, occupies a small area, and is more convenient for use.

[0022] (4) The slide frame of the working mechanism of the present invention is provided with a baffle and a support rod, which has higher stability when the drill rod rotates, and is conducive to drilling. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the present invention.

[0024] Figure 2 It is a structural schematic diagram of the working mechanism of the present invention.

[0025] Figure 3 It is the front view of the working mechanism of the present invention.

[0026] Figure 4 It is a side view of the working mechanism of the present invention.

[0027] Figure 5 It is a top view of the working mechanism of the present invention.

[0028] Figure 6 It is a schematic structural diagram of the mechanical arm of the present invention.

[0029] Figure 7 It is a structural schematic diagram of the drill rod box of the present invention.

[0030] Figure 8 Another structural schematic diagram of the drill rod box of the present invention.

[0031] Fig. 9 It is a structural schematic diagram of the drill rod transport frame of the present invention.

[0032] Fig.10 It is a cross-sectional schematic diagram of the drill rod transport frame of the present invention.

[0033] Fig.11 It is a front view of the drill rod box of the present invention.

[0034] Fig.12 It is a side view of the drill rod box of the present invention.

[0035] Fig.13 It is a bottom view of the drill rod box of the present invention.

[0036] Fig.14 It is a top view of the drill rod box of the present invention.

[0037] Fig.15 It is a schematic diagram of the drill rod transportation process of the present invention.

[0038] in:

[0039] Mainframe 1, working mechanism 2, carriage 2.1, base 2.01, base 2.02, support rod 2.03, slide 2.2, first propulsion cylinder 2.3, power head 2.4, clamp 2.5, swing cylinder 2.6, first support cylinder 2.7, first lifting cylinder 2.8, second support cylinder 2.9, second lifting cylinder 2.10, second rotary reducer 2.11, third rotary reducer 2.12, robot arm 3, robot rotary arm 3.1, telescopic cylinder 3.2, robot extension Retractable arm 3.3, grabber 3.4, angle adjustment cylinder 3.5, drill rod box 4, frame body 4.1, first stretching cylinder 4.2, second stretching cylinder 4.3, fixing ring 4.4, front support seat 4.5, load-bearing rod 4.51, drill rod bearing block 4.52, rear support seat 4.6, drill rod transport frame 5, inner frame 5.1, lifting platform 5.2, lifting frame 5.21, third lifting cylinder 5.3, second propulsion cylinder 5.4, third propulsion cylinder 5.5, rod placement frame 5.6, crawler walking device 6, drill rod 7. DETAILED DESCRIPTION

[0040] In order to better understand the technical solution of the present invention, the following will be described in detail in conjunction with the relevant illustrations. It should be understood that the following specific embodiments are not intended to limit the specific implementation of the technical solution of the present invention, and are only implementations that can be adopted by the technical solution of the present invention. It should be noted that the description of the positional relationship of each component in this article, such as component A being located above component B, is based on the description of the relative positions of the components in the illustration, and is not intended to limit the actual positional relationship of the components. Example 1

[0041] See also Figure 1-Figure 15 , Figure 1 A structural schematic diagram of a drilling vehicle device for automatically loading drill rods for coal mines is drawn. As shown in the figure, a drilling vehicle device for automatically loading drill rods for coal mines of the present invention comprises a main machine body 1, a working mechanism 2, a drill rod box 4 storing drill rods 7, a drill rod conveying frame 5, a crawler walking device 6 and a mechanical arm 3; the crawler walking device 6 is fixed on both sides of the main machine body 1 and in contact with the ground, and is used to move the main machine body 1; the drill rod box 4 is arranged on the main machine body 1, and a drill rod conveying frame 5 is arranged below the drill rod box 4.

[0042] See also Figure 2-Figure 5 The working mechanism 2 includes a slide 2.1, a slide seat 2.2, a power head 2.3 and a clamp 2.5. The slide 2.1 includes a base 2.01. The front and rear ends of the base 2.01 are provided with bases 2.02. Two left and right support rods 2.03 are provided between the front and rear bases 2.02. A movable slide seat 2.2 is provided on the two support rods 2.03. A power head 2.4 is provided on the slide seat 2.2. The slide seat 2.2 is connected to the first propulsion cylinder 2.3 to push the power head 2.4. One end of the slide 2.1 is connected to the clamping assembly, and the clamping assembly includes a clamp 2.5 and a base. A swing angle cylinder 2.6 is provided on one side of the base to connect the clamp 2.5 for easy adjustment of the position of the clamp 2.5.

[0043] One side of the slide 2.1 is connected to the first supporting cylinder 2.7 and the second supporting cylinder 2.9, the first supporting cylinder 2.7 and the second supporting cylinder 2.9 are fixed on the main body 1, the first supporting cylinder 2.7 is connected to the first lifting cylinder 2.8, and the second supporting cylinder 2.9 is connected to the second lifting cylinder 2.10; the first supporting cylinder 2.7 and the second supporting cylinder 2.9 are both connected to a rotary reducer.

[0044] A mechanical arm 3 is also provided on one side of the slide 2.1. The mechanical arm 3 is connected to a rotary reducer, and the rotary reducer includes a second rotary reducer 2.11 and a third rotary reducer 2.12.

[0045] One side of the slide 2.1 is connected to the rotary support device through a first rotary reducer, the rotary support device is fixed on the main machine body 1, and the rotary support device includes a first support cylinder 2.7, a first lifting cylinder 2.8, a second support cylinder 2.9 and a second lifting cylinder 2.10, the first support cylinder 2.7 is connected to the first lifting cylinder 2.8, and the second support cylinder 2.9 is connected to the second lifting cylinder 2.10;

[0046] A mechanical arm 3 is also provided on one side of the slide 2.1, and the mechanical arm 3 is arranged on the other side of the rotating support device. The mechanical arm 3 is connected to the rotary reducer mounting seat through the third rotary reducer 2.12, and the rotary reducer mounting seat is connected to the second rotary reducer 2.11.

[0047] See also Figure 6 The robot arm 3 includes a robot rotating arm 3.1, a robot telescopic arm 3.3 and a grabbing hand 3.4. The robot rotating arm 3.1 is provided with a robot telescopic arm 3.3. The end of the robot telescopic arm 3.3 is connected to a telescopic cylinder 3.2, and the front end is connected to the grabbing hand 3.4. The grabbing hand 3.4 is also connected to an angle adjustment cylinder 3.5 for adjusting the angle of the grabbing hand 3.4.

[0048] See also Figure 7-Figure 14 The drill rod box 4 includes a frame body 4.1, which includes an outer frame, in which multiple layers of drill rods 7 are arranged, and two vertically arranged first stretching cylinders 4.2 are arranged on the left and right sides of the frame body 4.1, and a horizontally arranged second stretching cylinder 4.3 is arranged below the first stretching cylinder 4.2, and a fixing ring 4.4 is arranged below the second stretching cylinder 4.3; the front and rear sides of the frame body 4.1 are respectively provided with a front support seat 4.5 and a rear support seat 4.6 with the same structure, and the front support seat 4.5 includes an integrated upper short plate and a lower short plate. A long plate and an inclined plate for connecting the upper short plate and the lower long plate, the upper short plate is higher than and shorter than the lower long plate, so that the front support seat 4.5 is Z-shaped; the ends of the upper short plate and the lower long plate are connected to the corresponding second stretching cylinder 4.3, and a load-bearing rod 4.51 matching the fixing ring 4.4 is provided below the connection; the inner side of the lower long plate is vertically connected to a plurality of evenly arranged drill rod bearing blocks 4.52, and a matching insertion groove is provided on the outer frame at the position corresponding to the drill rod bearing block 4.52, so that the front support seat 4.5 and the rear support seat 4.6 can support the drill rod.

[0049] A drill rod conveying frame 5 is arranged below the outer frame, and the drill rod conveying frame 5 includes an inner frame 5.1 and a lifting platform 5.2. The lifting platform 5.2 is arranged on the inner frame 5.1, and the lifting platform 5.2 includes a plurality of lifting frames 5.21 arranged in parallel, and an arc-shaped groove matching the drill rods of the upper drill rod layer is provided on the lifting frame 5.21 for placing the drill rods 7; a third lifting cylinder 5.3 is connected below the lifting platform 5.2, and a sliding seat of the third lifting cylinder 5.3 is connected to the second propulsion cylinder 5.4; a rod placing frame 5.6 is provided on the side of the drill rod conveying frame 5 close to the working mechanism 2, and the rod placing frame 5.6 is connected to the third propulsion cylinder 5.5, and is used to transport the drill rod 7 to the corresponding position of the mechanical arm 3; that is, the rod placing frame 5.6 is fixed on the main machine body 1 between the rotary reducer of the mechanical arm 3 and the drill rod box 4.

[0050] Working principle:

[0051] In this embodiment, multiple layers of drill rods 7 are placed in the drill rod box 4, and the top surface is closed. When drilling is required, the outer frame of the drill rod box 4 places a layer of drill rods 7 on the lifting frame 5.21 of the drill rod transport frame 5 through the first stretching cylinders 4.2 on all sides, and then the support seats in front and behind the outer frame are pulled close to the drill rod box 4 by the four second stretching cylinders 4.3, the drill rod bearing block 4.52 is inserted into the frame body 4.1, and the load-bearing rod 4.51 is inserted into the fixing ring 4.4, and the other layers of drill rods 7 in the outer frame are lifted by the first stretching cylinder 4.2; then the third lifting cylinder 5.3 lifts the lifting platform 5.2, and then the frontmost drill rod 7 is pushed to the rod placement frame 5.6 by the second propulsion cylinder 5.4, and the mechanical arm 3 flips and stretches out to grab the drill rod 7, and transports it to the clamp 2.5 for drilling;

[0052] When it is necessary to recover the drill rod 7, the robot arm 3 grabs the drill rod 7 from the slide 2.1, flips it over and transports it to the rod placement rack 5.6, the rod placement rack 5.6 is pulled back to the side of the inner frame 5.1 by the third propulsion cylinder 5.5, the lifting platform 5.2 is pushed to the bottom of the rod placement rack 5.6 by the second propulsion cylinder 5.4, and then the lifting platform 5.2 and the drill rod 7 are lifted by the third lifting cylinder 5.3 and returned to their original positions; then the support seats in front and behind the outer frame are pulled away by the four second stretching cylinders 4.3, the load-bearing rod 4.51 and the drill rod bearing block 4.52 are both separated from the outer frame, and the drill rod box 4 falls to recover the drill rod 7.

[0053] The above are only specific application examples of the present invention and do not constitute any limitation on the protection scope of the present invention. Any technical solution formed by equivalent transformation or equivalent replacement shall fall within the protection scope of the present invention.

Claims

1. A drilling vehicle device for coal mines with intelligent automatic drilling rod loading, characterized in that: It comprises a main machine body (1), a working mechanism (2), a drill rod box (4) for storing drill rods (7), a drill rod transport frame (5), a crawler walking device (6), and a mechanical arm (3); the crawler walking device (6) is fixed to both sides of the main machine body (1) and in contact with the ground; the drill rod box (4) is arranged on the main machine body (1), and a drill rod transport frame (5) is arranged below the drill rod box (4); The working mechanism (2) comprises a slide (2.1), a slide seat (2.2), a power head (2.3) and a clamp (2.5); a movable slide seat (2.2) is arranged on the slide (2.1); a power head (2.4) is arranged on the slide seat (2.2); one side of the slide (2.1) is connected to a rotary support device via a first rotary reducer; the rotary support device is fixed to a main machine body (1); one side of the slide (2.1) is also provided with a mechanical arm (3); the mechanical arm (3) is arranged on the other side of the rotary support device; the mechanical arm (3) is connected to a rotary reducer mounting seat via a third rotary reducer (2.12); the rotary reducer mounting seat is connected to a second rotary reducer (2.11); The drill rod box (4) comprises a frame body (4.1), the frame body (4.1) comprises an outer frame, and multiple layers of drill rods (7) are arranged in the outer frame. Two vertically arranged first stretching oil cylinders (4.2) are arranged on the left and right sides of the frame body (4.1), and a horizontally arranged second stretching oil cylinder (4.3) is arranged below the first stretching oil cylinder (4.2), and a fixing ring (4.4) is arranged below the second stretching oil cylinder (4.3); a front support seat (4.5) and a rear support seat (4.6) are respectively arranged on the front and rear sides of the frame body (4.1), and the front and rear ends of the front support seat (4.5) are connected to the corresponding second stretching oil cylinder (4.3), and a load-bearing rod (4.51) matching the fixing ring (4.4) is arranged below the connection; a plurality of evenly arranged drill rod bearing blocks (4.52) are vertically connected to the inner side of the front support seat (4.5), and matching insertion grooves are arranged at positions corresponding to the drill rod bearing blocks (4.52) on the outer frame; A drill rod transport frame (5) is arranged below the outer frame, the drill rod transport frame (5) comprising an inner frame (5.1) and a lifting platform (5.2), the lifting platform (5.2) is arranged on the inner frame (5.1), the lifting platform (5.2) comprises a plurality of lifting frames (5.21) arranged in parallel, a third lifting cylinder (5.3) is connected below the lifting platform (5.2), and the third lifting cylinder (5.3) is connected to a second propulsion cylinder (5.4); A rod placement frame (5.6) is provided on one side of the drill rod transport frame (5) close to the working mechanism (2), and the rod placement frame (5.6) is connected to the third propulsion cylinder (5.5).

2. The intelligent automatic drilling rod drilling device for coal mines according to claim 1 is characterized in that: The slide (2.1) comprises a base (2.01), two left and right support rods (2.03) are provided on the base (2.01), a movable slide (2.2) is provided on the two support rods (2.03), the slide (2.2) is connected to the first propulsion cylinder (2.3), and one end of the slide (2.1) is connected to a clamping assembly.

3. The intelligent automatic drilling rod drilling device for coal mines according to claim 2 is characterized in that: The front and rear ends of the base (2.01) are both provided with baffles (2.02), and left and right support rods (2.03) are provided between the front and rear baffles (2.02).

4. The intelligent automatic drilling rod drilling device for coal mines according to claim 2 is characterized in that: The clamping assembly comprises a clamp (2.5) and a base platform, and a swing angle oil cylinder (2.6) is provided on one side of the base platform and connected to the clamp (2.5) to facilitate adjustment of the position of the clamp (2.5).

5. The intelligent automatic drilling rod drilling device for coal mines according to claim 1 is characterized by: The rotary support device comprises a first supporting oil cylinder (2.7), a first lifting oil cylinder (2.8), a second supporting oil cylinder (2.9) and a second lifting oil cylinder (2.10); the first supporting oil cylinder (2.7) is connected to the first lifting oil cylinder (2.8), and the second supporting oil cylinder (2.9) is connected to the second lifting oil cylinder (2.10).

6. The intelligent automatic drilling rod raising drilling vehicle device for coal mines according to claim 1 is characterized in that: The robot arm (3) comprises a robot swivel arm (3.1), a robot telescopic arm (3.3) and a grabbing hand (3.4); the robot swivel arm (3.1) is provided with the robot telescopic arm (3.3); the end of the robot telescopic arm (3.3) is connected to the telescopic oil cylinder (3.2), and the front end is connected to the grabbing hand (3.4).

7. The intelligent automatic drilling rod-loading drilling vehicle device for coal mines according to claim 6 is characterized in that: The grabbing hand (3.4) is also connected to an angle adjustment cylinder (3.5) for adjusting the angle of the grabbing hand (3.4).

8. The intelligent automatic drilling rod-loading drilling vehicle device for coal mines according to claim 1 is characterized in that: The lifting frame (5.21) is provided with an arc-shaped groove matching the drill rods of the upper drill rod layer and used for accommodating the drill rods (7).

9. The intelligent automatic drilling rod-loading drilling vehicle device for coal mines according to claim 5 is characterized in that: The first supporting oil cylinder (2.7) and the second supporting oil cylinder (2.9) are respectively connected to a first rotary reducer.

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