An automatic drill pipe loading and unloading device for an impact-proof drilling robot

Abstract

The present invention discloses an automatic drill pipe loading and unloading device for an anti-collision drilling robot, which includes a hydraulic component and a plurality of drill pipe bodies arranged coaxially from left to right; a transmission component is provided inside each drill pipe body, a locking component is provided near the tail end, and a positioning groove matching its rod head is provided at the tail end; the transmission component includes a drive shaft that moves axially; the rod head of the right drill pipe body is inserted into the positioning groove at the tail end of the left drill pipe body and rotates in the same direction; one end of an external drive shaft penetrates into the right drill pipe body and engages and rotates in the same direction with one end of the corresponding drive shaft. When the external drive shaft moves and rotates, the other end of the drive shaft is inserted into the left locking component and drives it to axially limit the right rod head. The automatic drill pipe loading and unloading device for the anti-collision drilling robot has a simple and compact structure. It not only realizes the rapid disassembly and assembly between adjacent drill pipe bodies from left to right, makes the connection more reliable, but also ensures the same-direction rotation between drill pipe bodies and has a faster response.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mining industry, and particularly relates to an automatic drill pipe loading and unloading device for a rock burst prevention drilling robot. Background Art

[0002] Rock burst refers to the phenomenon that during coal mining, the excavation of roadways or the extraction of coal bodies in the working face will cause the redistribution of stress in coal and rock masses. When the stress between coal bodies reaches the limit, the energy in the coal bodies, roof and floor is released to form stress waves, resulting in rock bursting and ejection. To prevent the damage of roadways and even casualties caused by rock bursts, the most effective prevention and control method is to carry out borehole pressure relief in roadways or on the working face;

[0003] Existing drilling equipment and corresponding systems, such as drilling robots, make drilling more and more unmanned and intelligent, and can effectively solve the problems of high risk and low efficiency in roadway driving under complex conditions. The automatic disassembly and forward and reverse rotation of drill pipes are important links to realize the intelligence of drilling robots;

[0004] Specifically, in actual drilling, multiple drill pipes need to be quickly disassembled and assembled with each other to meet different drilling depths, and the drill pipes need to quickly respond to forward and reverse rotation to meet different drilling requirements. For example, when the drill pipe is stuck or withdrawn, it is necessary to quickly reverse to eliminate the sense of blockage. However, there are few existing drilling equipment that can meet both of these requirements at the same time, or the structure is complex and the operation is inconvenient. For example, the common automatic loading and unloading of drill pipes is through male-female thread cooperation, that is, a thread cooperation method is adopted between the tail of the drill pipe and the head of the adjacent drill pipe. This method cannot guarantee the quick forward and reverse rotation of the drill pipe. That is, when reversing, the thread cooperation between the drill pipes will affect the forward and reverse rotation response of the drill pipe, resulting in the inability to quickly lock and rotate between the drill pipe connections. Summary of the Invention

[0005] The present invention provides an automatic drill pipe loading and unloading device for a rock burst prevention drilling robot, which has a simple and compact structure. It not only realizes the quick disassembly and assembly between the drill pipe bodies adjacent to the left and right, and the connection is more reliable, but also ensures the same-direction rotation between the drill pipe bodies with a faster response.

[0006] To achieve the above object, an automatic drill pipe loading and unloading device for a rock burst prevention drilling robot includes a hydraulic component and a plurality of drill pipe bodies arranged coaxially from left to right;

[0007] The hydraulic component includes a hydraulic motor that drives the drill pipe body to rotate and an external drive shaft that moves axially;

[0008] Each drill pipe body is internally provided with a transmission component, a locking component near the tail end, and a positioning groove at the tail end that matches its rod head;

[0009] The transmission component includes a transmission shaft that moves axially and is acted on by a rightward elastic force;

[0010] The rod head of the right drill pipe body is inserted into the positioning groove at the tail end of the left drill pipe body and rotates in the same direction;

[0011] One end of the external drive shaft penetrates into the right drill pipe body and meshes with one end of the corresponding transmission shaft to rotate in the same direction. Under the axial movement of the external drive shaft, the other end of the transmission shaft is inserted into the left locking assembly. Under the rotation of the external drive shaft, the transmission shaft drives the left locking assembly to axially limit the rod head of the right drill pipe body.

[0012] Furthermore, the locking assembly includes a main bevel gear, a driven bevel gear, a first gear, and a second gear;

[0013] The main bevel gear is meshed and connected with the driven bevel gear. The first gear rotates coaxially with the driven bevel gear and is meshed and connected with the second gear;

[0014] The second gear is fixedly installed on the threaded rod. The locking block is threadedly installed on the threaded rod and axially moves to lock and release the rod head inserted into the positioning groove;

[0015] The transmission shaft is inserted into the main bevel gear and rotates in the same direction.

[0016] Furthermore, the rod head is a T-shaped cylindrical structure, and an annular groove is formed between the rod head and the drill pipe body;

[0017] When the rod head of the right drill pipe body is inserted into the positioning groove of the left drill pipe body, the locking block moves and is embedded in the annular groove.

[0018] Furthermore, a first end tooth is provided at the head end of the drill pipe body, and a second end tooth matching the first end tooth is provided at the tail end;

[0019] One end of the external drive shaft is provided with a first engaging tooth, and one end of the transmission shaft is provided with a second engaging tooth matching the first engaging tooth.

[0020] Furthermore, the middle part of the transmission shaft is a coaxial disk structure. The disk structure is rotatably arranged in the support frame. The support frame is axially movable in the drill pipe body, and a plurality of springs are provided between the support frame and the inner wall of the drill pipe body.

[0021] Compared with the prior art, an automatic drill pipe loading and unloading device for an anti-impact drilling robot has a transmission component inside each drill pipe body, a locking component near the tail end, and a positioning groove matching its rod head at the tail end. The right rod head is inserted into the left positioning groove and rotates coaxially, realizing the circumferential limit of two adjacent drill pipe bodies on the left and right. And a locking component for axially positioning the inserted rod head is provided in the left drill pipe body, realizing the axial limit of two adjacent drill pipe bodies on the left and right. Therefore, it ensures that the drill pipe bodies rotate in the same direction and responds faster;

[0022] Since it is engaged with the transmission shaft in the drill pipe body through an external drive shaft, one end of the transmission shaft is connected to the main bevel gear in the locking assembly, and the forward and reverse rotation of the transmission shaft drives the movement of the locking block on the threaded rod, so as to lock and disengage the inserted inner rod head. Therefore, the overall structure is simple and compact, realizing the rapid disassembly and assembly between the adjacent drill pipe bodies on the left and right, and the connection is more reliable. Brief Description of the Drawings

[0023] Figure 1 is the overall schematic diagram of the present invention;

[0024] Figure 2 is the front view of the pre-installation of the adjacent drill pipe bodies on the left and right of the present invention;

[0025] Figure 3 is the front view of the installed adjacent drill pipe bodies on the left and right of the present invention;

[0026] Figure 4 is the front view of the drill pipe body of the present invention;

[0027] Figure 5 is the schematic diagram of the locking assembly of the present invention;

[0028] Figure 6 is the left view of the locking assembly of the present invention;

[0029] In the figure: 1. Drill pipe body, 11. Rod head, 12. Positioning groove, 13. First end tooth, 14. Second end tooth, 2. Transmission assembly, 21. Support frame, 22. Spring, 23. Transmission shaft, 3. Locking assembly, 31. Main bevel gear, 32. Driven bevel gear, 33. First gear, 34. Second gear, 35. Threaded rod, 36. Locking block, 41. Hydraulic motor, 42. Driving disc, 43. Telescopic cylinder, 44. External drive shaft, 45. Hydraulic oil tank. Detailed Embodiments

[0030] In order to make the purpose, technical solutions and advantages of the technical solutions of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the specific drawings of the present invention. It should be noted that in actual drilling, the drill pipe body 1 itself is relatively long. In the attached drawings of this specification, only a simple structure is drawn. On the basis of not affecting its structure and working principle, its actual length and corresponding ratio are ignored. Based on the described embodiments or preferred solutions of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present invention.

[0031] In the description of this invention patent application and the claims, the terms "first", "second" and similar terms do not denote any order, quantity or importance, but are only used to distinguish different components. Terms such as "upper", "lower", "left" and "right" are only used to represent relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0032] As Figure 1 , Figure 2 , Figure 3 , Figure 4 shown, an automatic drill pipe loading and unloading device for an impact-proof drilling robot includes a hydraulic component and a plurality of drill pipe bodies 1 arranged coaxially left and right;

[0033] The hydraulic component includes a hydraulic motor 41 that drives the drill pipe body 1 to axially move and rotate, and an external drive shaft 44 that axially moves;

[0034] Each drill pipe body 1 is internally provided with a transmission component 2, a locking component 3 is provided near the tail end, and a positioning groove 12 matching its rod head 11 is provided at the tail end;

[0035] The transmission component 2 includes a transmission shaft 23 that axially moves and is acted on by a rightward elastic force; specifically, the middle part of the transmission shaft 23 is a disc structure arranged coaxially. The disc structure is rotatably arranged in a support frame 21. The support frame 21 is axially movably arranged in the drill pipe body 1, and a plurality of springs 22 are provided between the support frame 21 and the inner wall of the drill pipe body 1. Therefore, without affecting the rotation of the transmission shaft 23 itself, when the transmission shaft 23 moves leftward, it drives the support frame 21 to compress the springs 22, and when the transmission shaft 23 is not subjected to the axial force of the external drive shaft 44, the springs 22 cause the transmission shaft 23 to return to its initial position;

[0036] The rod head 11 of the right drill pipe body 1 is inserted into the positioning groove 12 at the tail end of the left drill pipe body 1 and rotates in the same direction;

[0037] To ensure that the drill pipe bodies 1 can rotate coaxially after connection, that is, to achieve circumferential limit, a first end tooth 13 can be provided at the head end of the drill pipe body 1, and a second end tooth 14 matching the first end tooth 13 can be provided at the tail end;

[0038] When the rod head 11 of the right drill pipe body 1 is inserted into the positioning groove 12 at the tail end of the left drill pipe body 1, at this time, the first end tooth 13 at the right drill pipe body 1 meshes with the second end tooth 14 at the left drill pipe body 1 to ensure coaxial rotation between them;

[0039] Alternatively, a plurality of circumferentially arranged blocks can be provided at the head end of the drill pipe body 1, and a plurality of block grooves matching the first blocks can be provided at the tail end; the corresponding blocks are embedded in the block grooves to achieve coaxial rotation between adjacent left and right drill pipe bodies 1;

[0040] One end of the external drive shaft 44 penetrates into the right drill pipe body 1 and engages with one end of the corresponding transmission shaft 23 for co-rotating in the same direction. Under the axial movement of the external drive shaft 44, the other end of the transmission shaft 23 is inserted into the left locking assembly 3. Under the rotation of the external drive shaft 44, the transmission shaft 23 drives the left locking assembly 3 to axially limit the rod head 11 of the right drill pipe body 1.

[0041] Preferably, one end of the external drive shaft 44 is provided with a first engaging tooth, and one end of the transmission shaft 23 is provided with a second engaging tooth that cooperates with the first engaging tooth. One end of the external drive shaft 44 penetrates into the right drill pipe body 1 and engages with one end of the corresponding transmission shaft 23 to achieve circumferential limitation, so that the transmission shaft 23 and the external drive shaft 44 rotate coaxially.

[0042] As Figure 5 、 Figure 6 shown, further, the locking assembly 3 includes a main bevel gear 31, a driven bevel gear 32, a first gear 33 and a second gear 34;

[0043] The main bevel gear 31 is meshed and connected with the driven bevel gear 32. The first gear 33 rotates coaxially with the driven bevel gear 32 and is meshed and connected with the second gear 34;

[0044] The second gear 34 is fixedly installed on the threaded rod 35. The locking block 36 is threadedly installed on the threaded rod 35 and axially moves along it to lock and release the rod head 11 inserted into the positioning groove 12;

[0045] The transmission shaft 23 is inserted into the main bevel gear 31 and rotates in the same direction;

[0046] Specifically, when the other end of the transmission shaft 23 rotates coaxially with the main bevel gear 31, a keyway method can be adopted, such as a spline or a flat key. The transmission shaft 23 drives the main bevel gear 31 to rotate, and in turn makes the driven bevel gear 32, the first gear 33, the second gear 34, and the threaded rod 35 rotate, realizing the axial movement of the locking block 36 on the threaded rod 35, and locking and fixing the rod head 11 of the corresponding drill pipe body 1 through the locking block 36.

[0047] Preferably, the rod head 11 is a T-shaped cylindrical structure, that is, an annular groove is formed between the rod head 11 and the drill pipe body 1. When the rod head 11 of the right drill pipe body 1 is inserted into the positioning groove 12 of the left drill pipe body 1, the locking block 36 can be movably embedded in the annular groove;

[0048] In addition, there are a pair of second gears 34, which are symmetrically arranged on both sides of the first gear 33. Therefore, a pair of locking blocks 36 axially move on the corresponding threaded rods 35 to lock and fix the rod head 11.

[0049] An automatic drill pipe loading and unloading device for an impact-proof drilling robot. The specific installation process for multiple left and right drill pipe bodies 1 is as follows:

[0050] The driving component can be a hollow-structured motor or a hydraulic motor 41, which can be directly connected to the drill pipe body 1 to be installed (on the right side), and drive it to rotate and axially move simultaneously, and dock with the already installed drill pipe body 1 (on the left side). Specifically, the drill pipe body 1 on the right side can be placed on the moving platform, and the moving platform drives the drill pipe body 1 on the right side to axially move, and according to the actual situation, the driving component is started;

[0051] When the drill pipe body 1 on the right side moves to the left, the rod head 11 on it inserts into the positioning groove 12 on the already installed drill pipe body 1 (on the left side). At this time, the first end teeth 13 on the drill pipe body 1 on the right side and the second end teeth 14 on the drill pipe body 1 on the left side are mutually matched and engaged to achieve co-rotation. In addition, a shoulder structure can be provided at the head end of the drill pipe body 1, and the positioning groove 12 at the corresponding tail end is also a stepped hole structure. The shoulder structure and the stepped hole structure are mutually attached to ensure the stability of the connection between adjacent left and right drill pipe bodies 1;

[0052] Disconnect the driving component from the drill pipe body 1 to be installed on the right side, and the external drive shaft 44 axially moves. This axial movement method can be achieved through the telescopic cylinder 43. Specifically, one end of the external drive shaft 44 is rotatably installed on the telescopic cylinder 43, and a drive disk 42 matching the driving component is provided on the external drive shaft 44. The driving component is sleeved on the drive disk 42 to realize the rotation of the external drive shaft 44. Preferably, when the driving component is a hydraulic motor 41, both the hydraulic motor 41 and the telescopic cylinder 43 can be connected to the hydraulic oil tank 45, and the hydraulic oil tank 45 provides hydraulic oil for them;

[0053] The external drive shaft 44 penetrates into the drill pipe body 1 and engages with one end of the transmission shaft 23, so that circumferential limit can be achieved by means of teeth biting. At this time, the transmission shaft 23 compresses the spring 22 to the left, and the other end is inserted into the locking component 3 in the already installed drill pipe body 1 on the left side. Specifically, the transmission shaft 23 is inserted into the main bevel gear 31 through the connection method of the keyway. When the external drive shaft 44 rotates, the main bevel gear 31, the driven bevel gear 32, the first gear 33, the second gear 34 and the corresponding threaded rod 35 are driven to rotate by the transmission shaft 23, and the locking block 36 is driven to move on the threaded rod 35 to realize the clamping and locking of the rod head 11 of the drill pipe body 1 to be installed; when the telescopic rod drives the external drive shaft 44 to move to the right, the engagement between the external drive shaft 44 and the transmission shaft 23 is separated, and under the action of the spring 22, the transmission shaft 23 moves to the right, and one end of it disengages from the main bevel gear 31. Therefore, the quick installation of adjacent left and right drill pipe bodies 1 is realized, and the co-rotation between them is ensured, and the connection is more stable.

[0054] When the drill rod body 1 is to be disassembled, the external drive shaft 44 is driven to move to the left by the telescopic cylinder 43, the transmission shaft 23 is compressed, and the left end of the transmission shaft 23 is inserted into the main bevel gear 31 in the left locking assembly 3, and the external drive shaft 44 is rotated in the opposite direction, and the main bevel gear 31, the slave bevel gear 32, the first gear 33, the second gear 34 and the corresponding threaded rod 35 are rotated in the opposite direction in sequence through the transmission shaft 23. At this time, the locking block 36 is disengaged from the rod head 11 of the corresponding drill rod body 1, and the axial movement restriction of the right drill rod body 1 is released. Under the action of the spring 22, the transmission shaft 23 moves to the right and returns to the initial position, thereby realizing the rapid disassembly between the left and right drill rod bodies 1;

[0055] The invention discloses an automatic loading and unloading drill rod device for an anti-collision drilling robot. The head end and the tail end of the drill rod body 1 are matched so that the adjacent drill rod bodies 1 connected on the left and right are limited in circumferential direction. The transmission shaft 23 is driven to move by the external drive shaft 44 so that the transmission shaft 23 is inserted into the locking assembly 3 of the drill rod body 1 installed on the left side. The rotation of the external drive shaft 44 realizes the axial limitation of the drill rod body 1 to be installed by the locking block 36. Therefore, the overall structure is simple and compact, which not only realizes the rapid disassembly and assembly between the adjacent drill rod bodies 1 on the left and right, making the connection more reliable, but also ensures the same-direction rotation between the drill rod bodies 1, and the response is faster.

Claims

1. An automatic drill pipe loading and unloading device for an impact-proof drilling robot, characterized in that it includes a hydraulic component and a plurality of drill pipe bodies (1) arranged coaxially left and right; The hydraulic component includes a hydraulic motor (41) that drives the drill pipe body (1) to rotate and an external drive shaft (44) that moves axially; Inside each drill pipe body (1), there is a transmission component (2), a locking component (3) is provided near the tail end, and a positioning groove (12) matching its rod head (11) is provided at the tail end; The transmission component (2) includes a transmission shaft (23) that moves axially and is acted on by a rightward elastic force; The rod head (11) of the right drill pipe body (1) is inserted into the positioning groove (12) at the tail end of the left drill pipe body (1) and rotates in the same direction; One end of the external drive shaft (44) penetrates into the right drill pipe body (1) and engages with one end of the corresponding transmission shaft (23) to rotate in the same direction. Under the axial movement of the external drive shaft (44), the other end of the transmission shaft (23) is inserted into the left locking component (3). Under the rotation of the external drive shaft (44), the transmission shaft (23) drives the left locking component (3) to axially limit the rod head (11) of the right drill pipe body (1); The locking component (3) includes a main bevel gear (31), a secondary bevel gear (32), a first gear (33) and a second gear (34); The main bevel gear (31) is meshed and connected with the secondary bevel gear (32), the first gear (33) rotates coaxially with the secondary bevel gear (32) and is meshed and connected with the second gear (34); The second gear (34) is fixedly installed on the threaded rod (35), the locking block (36) is threadedly installed on the threaded rod (35), and moves axially to lock and release the rod head (11) inserted into the positioning groove (12); The transmission shaft (23) is inserted into the main bevel gear (31) and rotates in the same direction.

2. The automatic drill pipe loading and unloading device for an impact-proof drilling robot according to claim 1, wherein, The rod head (11) is a T-shaped cylindrical structure, and an annular groove is formed between it and the drill pipe body (1); When the rod head (11) of the right drill pipe body (1) is inserted into the positioning groove (12) of the left drill pipe body (1), the locking block (36) moves and is embedded in the annular groove.

3. An automatic drill pipe loading and unloading device for an anti-collision drilling robot according to any one of claims 1 or 2, characterized in that, At the head end of the drill pipe body (1), there is a first end tooth (13), and at the tail end, there is a second end tooth (14) that cooperates with the first end tooth (13); One end of the external drive shaft (44) is provided with a first engaging tooth, and one end of the transmission shaft (23) is provided with a second engaging tooth that cooperates with the first engaging tooth.

4. The automatic drill pipe loading and unloading device for an impact-proof drilling robot according to claim 3, characterized in that, The middle part of the transmission shaft (23) is a disc structure arranged coaxially. The disc structure is rotatably arranged in the support frame (21). The support frame (21) is axially movable in the drill pipe body (1), and a plurality of springs (22) are provided between it and the inner wall of the drill pipe body (1).

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