A frame follow-up mechanism and its use method

Abstract

The present invention belongs to the field of underground drilling equipment in coal mines, and relates to a frame follower mechanism and a method for using the same, comprising a frame base, and a frame and a support box hinged on the frame base; the support box is arranged on the side of the frame and is consistent with the length direction of the frame in the length direction; the present invention arranges the support box rotation center coaxially with the frame rotation center, and the support box stops moving after touching a set limit device during movement and has the same inclination angle as the frame, thereby achieving the problem of a manipulator grabbing a drill rod and positioning the drill rod during drilling construction at different inclination angles.

Description

Technical Field

[0001] The invention belongs to the field of underground coal mine drilling equipment and relates to a frame follower mechanism and a use method thereof. Background Art

[0002] At present, in the field of underground drilling equipment in coal mines, more and more parts are beginning to undergo automation and intelligent upgrades. In terms of drilling rig action execution, the addition of manipulators has made many actions that originally required manual work more mechanized. For example, in terms of upper and lower drill rods, the use of drill rod grabbing manipulators has greatly reduced the labor intensity of workers. However, in the actual use environment, if the drilling rig is constructing a hole with positive and negative inclinations, since the drill rod box can only be placed horizontally on the ground, the drill rod grabbing manipulator needs to rotate itself after grabbing the drill rod from the drill rod box so that the newly added drill rod is parallel to the frame. The positioning of the manipulator after rotation requires high precision, but the underground conditions in coal mines are harsh, and the range of electronic components such as sensors is small, and they cannot fully meet the positioning accuracy requirements, making it difficult for the manipulator to grab the drill rod and position it. Summary of the invention

[0003] In view of this, the object of the present invention is to provide a frame follower mechanism and a method of using the same, so as to solve the problem of a manipulator grabbing a drill rod and positioning the drill rod during drilling operations at different inclination angles.

[0004] To achieve the above object, the present invention provides the following technical solution: a frame follower mechanism, including a frame base, and a frame and a tray hinged on the frame base; the tray is arranged on the side of the frame and is consistent with the length direction of the frame in the length direction.

[0005] Optionally, a limiting mechanism for limiting the rotation of the tray is also provided on the frame.

[0006] Optionally, a slot box structure for loading drill rods is provided on the support box.

[0007] Optionally, the frame is also connected to a driving device for controlling the inclination angle of the frame.

[0008] Optionally, the driving device includes a cylinder or a chain or a belt or a worm gear or a pulley set or a motor.

[0009] Optionally, the support box is coaxially arranged with a rotation center of the frame.

[0010] A method for using a frame follower mechanism is applicable to a frame follower mechanism as described above, and includes the following steps: when the frame is in an inclined drilling state, a newly added drill rod is placed in a support box, and then the support box rotates around a rotation center; when the support box touches a limit mechanism on the frame, the rotation stops, and then the newly added drill rod is taken out of the support box by an external grabbing manipulator and placed in a drill rod adding position on the frame.

[0011] Optionally, since the rotation center of the tray is coaxial with the rotation center of the frame, the inclination angle of the tray is consistent with that of the frame when the tray stops rotating.

[0012] The beneficial effects of the present invention are as follows: a frame follow-up mechanism and a method of using the same are arranged by coaxially arranging the rotation center of the support box and the rotation center of the frame. When the support box moves, it stops moving after touching a set limit device and has the same inclination angle as the frame, thereby realizing the problem of the manipulator grabbing the drill rod and positioning during drilling construction at different inclination angles.

[0013] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0016] Reference numerals: tray 1 , slot box structure 101 , rotation center 102 , frame 2 . DETAILED DESCRIPTION

[0017] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0018] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0019] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0020] See also Figure 1 , which is a frame follower mechanism, including a frame 2 base, and a frame 2 and a bracket 1 hinged on the frame 2 base, the bracket 1 and the rotation center 102 of the frame 2 are coaxially arranged (coaxially or approximately coaxially); the bracket 1 is arranged on the side of the frame 2 and is consistent with the length direction of the frame 2 in the length direction, and the frame 2 is also provided with a limiting mechanism for limiting the rotation of the bracket 1, and the bracket 1 is provided with a slot box structure 101 for loading drill rods, and the frame 2 is also connected to a driving device for controlling the inclination angle of the frame 2.

[0021] In this embodiment, the driving device that drives the movement of the present invention includes but is not limited to common driving forms such as a cylinder, a chain, a belt, a worm gear, a pulley set, and a motor.

[0022] A method for using a frame follower mechanism is applicable to a frame follower mechanism as described above, comprising the following steps: when the frame 2 is in the state of inclined drilling, a newly added drill rod is placed in a support box 1, and then the support box 1 rotates around a rotation center 102; when the support box 1 touches a limiting mechanism on the frame 2, the rotation stops; and then the newly added drill rod is taken out of the support box 1 by an external grabbing manipulator and placed in a drill rod adding position on the frame 2.

[0023] In this embodiment, since the rotation center 102 of the tray 1 is coaxial with the rotation center 102 of the frame 2 , the inclination angle of the tray 1 is consistent with that of the frame 2 when the tray 1 stops rotating.

[0024] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A method for using a frame follower mechanism, characterized in that: A frame follower mechanism is used, which includes a frame base, and a frame and a support box hinged on the frame base; the support box is arranged on the side of the frame and is consistent with the length direction of the frame in the length direction; The frame is also provided with a limit mechanism for limiting the rotation of the tray; the frame is also connected to a driving device for controlling the inclination angle of the frame; The support box and the rotation center of the frame are arranged coaxially; The method comprises the following steps: when the frame is in the state of drilling at an inclined angle, a newly added drill rod is placed in a support box, and then the support box rotates around a rotation center, and when the support box touches a limit mechanism on the frame, the rotation stops, and then the newly added drill rod is taken out of the support box by an external grabbing manipulator and placed in a position for adding a drill rod on the frame; Since the rotation center of the tray is coaxial with the rotation center of the frame, the inclination angle of the tray is consistent with that of the frame when the tray stops rotating.

2. The method for using the frame follower mechanism according to claim 1, characterized in that: The supporting box is provided with a slot box structure for loading the drill rod.

3. The method for using the frame follower mechanism according to claim 1, characterized in that: The driving device includes an oil cylinder, a chain, a belt, a worm gear, a pulley set or a motor.

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