A drilling rig system for loading and unloading drill pipes and a coal mine drilling rig

Abstract

The present application relates to the technical field of coal mine drilling machine, and particularly relates to a drilling machine loading and unloading drill rod system of coal mine drilling machine. The drilling machine loading and unloading drill rod system comprises a drilling machine platform, a drill rod box and a loading and unloading manipulator arranged on the drilling machine platform, the drill rod box is composed of two vertical stands arranged at intervals along the left-right direction, the loading and unloading manipulator comprises a horizontal track extending along the front-back direction, a vertical track extending along the up-down direction and a drill rod gripper, the horizontal track is arranged on the drilling machine platform between the two vertical stands, the vertical track is movably assembled on the horizontal track along the front-back direction, and the drill rod gripper is movably assembled on the vertical track along the up-down direction. The vertical track can move along the front-back direction on the horizontal track, and the drill rod gripper can move along the front-back direction on the vertical track, so that the drill rod gripper can grab the drill rod at any position in the drill rod box. Meanwhile, the loading and unloading manipulator only needs two driving positions to realize the above-mentioned actions, which not only reduces the complexity, but also reduces the manufacturing cost.

Description

Technical Field

[0001] This invention relates to the field of coal mine drilling rig technology, and more specifically to a drilling rig loading and unloading system for a coal mine drilling rig. Background Technology

[0002] Tunnel drilling rigs are mainly used for drilling holes for gas drainage, grouting and fire extinguishing, coal seam water injection, and geological exploration. Traditional drilling rigs generally rely on manual operation of raising and lowering the drill rod, which is not only inefficient but also labor-intensive.

[0003] Chinese invention patent application CN110952972A discloses a coal mine drilling rig, including a drilling platform. The drilling platform is equipped with a drill rod box, a rod delivery robot, a drill rod transfer device, a main robot, and a drilling host. The drill rod box has multiple layers and multiple rows of space to accommodate drill rods. The rod delivery robot is used to transport the drill rods in the drill rod box to the drill rod transfer device, and the main robot is used to transport the drill rods on the drill rod transfer device to the drilling host, realizing automated conveying of drill rods and improving labor efficiency.

[0004] In the aforementioned technology, a slide rail is provided on the outside of the drill pipe box, and the rod delivery manipulator is located on the outside of the drill pipe box. The rod delivery manipulator is connected to the slide rail of the drill pipe box via sliders symmetrically arranged on the gearbox. The gearbox contains an axially vertical gear, which meshes with a rack on the slide rail and is driven by a rod delivery motor to achieve reciprocating motion of the rod delivery manipulator in the horizontal plane. The lower end of the support cylinder is fixedly connected to the gearbox, and the upper end of the support cylinder is equipped with a first lifting cylinder. A cross arm is mounted on the first lifting cylinder, and the cross arm can move up and down under the drive of the first lifting cylinder. The front end of the cross arm is provided with an outer cylinder and a second lifting cylinder. Below the outer cylinder is a drill pipe gripper, and the upper part of the drill pipe gripper is connected to the outer cylinder in an inner and outer sleeve type connection to form a linear motion pair. Under the drive of the second lifting cylinder, the drill pipe gripper moves up and down to grip the drill pipe.

[0005] The aforementioned drill pipe box is quite large. The rod delivery robot needs to use a rod delivery motor, a first lifting cylinder, and a second lifting cylinder to grasp and transport the drill pipe. Having three drive mechanisms not only increases the complexity of the rod delivery robot but also its manufacturing cost. Furthermore, the rod delivery robot is located on the outside of the drill pipe box, which not only occupies space in the lateral direction but also poses a risk of injury to workers when the slide rails and gears mesh. Summary of the Invention

[0006] The purpose of this invention is to provide a drilling rig loading and unloading system to solve the technical problem that the rod feeding robot in the prior art is relatively complex and has a high manufacturing cost; the purpose of this invention is also to provide a coal mine drilling rig to solve the technical problem that the rod feeding robot in the prior art is relatively complex and has a high manufacturing cost, which leads to a high overall cost of the coal mine drilling rig.

[0007] To achieve the above objectives, the technical solution of the drilling rig loading and unloading drill rod system of the present invention is as follows:

[0008] The drilling rig loading and unloading system includes a drilling rig platform, on which a drill rod box for placing drill rods and a loading and unloading manipulator for loading and unloading drill rods are installed. The drill rod box consists of two uprights spaced apart in the left-right direction. The loading and unloading manipulator includes a horizontal rail extending in the front-back direction, a vertical rail extending in the up-down direction, and a drill rod gripper. The horizontal rail is located between the two uprights and is installed on the drilling rig platform. The vertical rail is mounted on the horizontal rail and moves in the front-back direction. The drill rod gripper is mounted on the vertical rail and moves in the up-down direction.

[0009] The beneficial effects are as follows: Because the horizontal track is positioned on the drilling rig platform between the two uprights, the loading and unloading robot does not occupy the lateral space of the drill pipe box, and it also makes it less likely for operators to touch the robot, ensuring their safety. Furthermore, the vertical track moves forward and backward along the horizontal track, and the drill pipe gripper moves forward and backward along the vertical track, allowing the gripper to grasp drill pipes at any position within the drill pipe box. Simultaneously, the loading and unloading robot only requires two drives to achieve these actions, reducing both its complexity and manufacturing cost.

[0010] As a further improvement, the horizontal track is equipped with a horizontal drive device and a horizontal screw and nut mechanism. The horizontal drive device drives the vertical track to move on the horizontal track through the horizontal screw and nut mechanism. The vertical track is equipped with a vertical drive device and a vertical screw and nut mechanism. The vertical drive device drives the drill rod gripper to move on the vertical track through the vertical screw and nut mechanism.

[0011] The beneficial effect is that the power transmission through the screw and nut mechanism can reduce space occupation and ensure the compactness of the entire loading and unloading robot.

[0012] As a further improvement, the drive end of the horizontal drive device and / or the vertical drive device is provided with a drive bevel gear, and the lead screw of the corresponding lead screw and nut mechanism is provided with an output bevel gear that meshes with the drive bevel gear. The output bevel gear also meshes with a detection bevel gear, and the detection bevel gear is fixed with a detection shaft. A rotary encoder is coaxially mounted on the detection shaft.

[0013] The beneficial effects are: with this design, the drive unit and rotary encoder are fixed, allowing the wiring connected to the drive unit and rotary encoder to be arranged relatively stably, which helps to reduce wiring wear; at the same time, by setting the transmission bevel gear set, the drive unit and rotary encoder can be arranged using the radial side space of the output bevel gear, avoiding occupying too much of the axial dimension of the output bevel gear, and thus avoiding the inconvenience of arrangement caused by excessive length of horizontal or vertical rails.

[0014] As a further improvement, the axis of the driving bevel gear coincides with the axis of the detection bevel gear.

[0015] The beneficial effect is that this design allows the drive unit and the rotary encoder to be arranged on opposite sides of the radial direction of the output bevel gear, which is conducive to the uniform force between the bevel gears during transmission.

[0016] As a further improvement, the driving end of the horizontal driving device and / or the vertical driving device is provided with a driving spur gear, and the lead screw of the corresponding lead screw and nut mechanism is provided with an output spur gear that is connected to the driving spur gear. The output spur gear or the driving spur gear is also connected to a detection spur gear. The detection spur gear is fixed with a detection shaft, and a rotary encoder is coaxially mounted on the detection shaft.

[0017] The beneficial effects are: with this design, the drive unit and rotary encoder are fixed, allowing the wiring connected to the drive unit and rotary encoder to be arranged relatively stably, which helps to reduce wiring wear; at the same time, by setting the transmission spur gear set, the drive unit and rotary encoder can be arranged using the radial side space of the output spur gear, avoiding occupying too much of the axial dimension of the output spur gear, and thus avoiding the inconvenience of arrangement caused by excessive length of horizontal or vertical rails.

[0018] As a further improvement, the output spur gear is connected to the corresponding drive spur gear via an intermediate spur gear, and the detection spur gear is engaged with the intermediate spur gear.

[0019] The beneficial effect is that this design allows the drive unit and the rotary encoder to be arranged on opposite sides of the radial direction of the output spur gear, which is conducive to the uniform force between the spur gears during transmission.

[0020] As a further improvement, the two uprights are fixed to the drilling platform in an adjustable position in the left and right directions.

[0021] The beneficial effect is that this design allows the relative distance between the two uprights to be closer or farther, so as to accommodate drill rods of different lengths and improve the versatility of the drill rod box.

[0022] As a further improvement, each support frame includes a support frame body and a side door. The support frame body is provided with a side entrance for inserting drill rods. The side door is hinged to the support frame body on one side in the vertical or front-back direction. The other side of the side door in the vertical or left-right direction is provided with a door lock structure between it and the support frame body so that the side door can block the side entrance.

[0023] The advantages are: this design allows the drill rod to be installed by opening the side door from either the left or right side of the drill rod box. Compared to situations where only one side door can be opened, this solution is less restricted by the site conditions.

[0024] As a further improvement, the side door is hinged to the main frame on one side in the vertical direction, and a door lock structure is provided between the other side of the side door in the vertical direction and the main frame. Two side doors are arranged at intervals along the front-back direction on each frame.

[0025] The benefits are: this design reduces the weight of a single side door, making it easier for operators to open or close the side door and reducing labor intensity; moreover, depending on the needs of the site, only one side door needs to be opened to install the drill rod without affecting the gripping of the drill rod corresponding to the other side door.

[0026] To achieve the above objectives, the technical solution of the coal mine drilling rig of the present invention is as follows:

[0027] A coal mine drilling rig includes a drill rod loading and unloading system, a transfer frame, a main manipulator, and a drill rod main unit. The drill rod loading and unloading system includes a drilling platform, on which a drill rod box for holding drill rods and a loading and unloading manipulator for loading and unloading drill rods are installed. The drill rod box consists of two uprights spaced apart in the left-right direction. The loading and unloading manipulator includes a horizontal rail extending in the front-back direction, a vertical rail extending in the up-down direction, and a drill rod gripper. The horizontal rail is located between the two uprights and is set on the drilling platform. The vertical rail is mounted on the horizontal rail and moves in the front-back direction. The drill rod gripper is mounted on the vertical rail and moves in the up-down direction.

[0028] The beneficial effects are as follows: Because the horizontal track is positioned on the drilling rig platform between the two uprights, the loading and unloading robot does not occupy the lateral space of the drill pipe box, and it also makes it less likely for operators to touch the robot, ensuring their safety. Furthermore, the vertical track moves forward and backward along the horizontal track, and the drill pipe gripper moves forward and backward along the vertical track, allowing the gripper to grasp drill pipes at any position within the drill pipe box. Since only two drives are required, this not only reduces the complexity of the loading and unloading robot but also lowers its manufacturing cost.

[0029] As a further improvement, the horizontal track is equipped with a horizontal drive device and a horizontal screw and nut mechanism. The horizontal drive device drives the vertical track to move on the horizontal track through the horizontal screw and nut mechanism. The vertical track is equipped with a vertical drive device and a vertical screw and nut mechanism. The vertical drive device drives the drill rod gripper to move on the vertical track through the vertical screw and nut mechanism.

[0030] The beneficial effect is that the power transmission through the screw and nut mechanism can reduce space occupation and ensure the compactness of the entire loading and unloading robot.

[0031] As a further improvement, the drive end of the horizontal drive device and / or the vertical drive device is provided with a drive bevel gear, and the lead screw of the corresponding lead screw and nut mechanism is provided with an output bevel gear that meshes with the drive bevel gear. The output bevel gear also meshes with a detection bevel gear, and the detection bevel gear is fixed with a detection shaft. A rotary encoder is coaxially mounted on the detection shaft.

[0032] The beneficial effects are: with this design, the drive unit and rotary encoder are fixed, allowing the wiring connected to the drive unit and rotary encoder to be arranged relatively stably, which helps to reduce wiring wear; at the same time, by setting the transmission bevel gear set, the drive unit and rotary encoder can be arranged using the radial side space of the output bevel gear, avoiding occupying too much of the axial dimension of the output bevel gear, and thus avoiding the inconvenience of arrangement caused by excessive length of horizontal or vertical rails.

[0033] As a further improvement, the axis of the driving bevel gear coincides with the axis of the detection bevel gear.

[0034] The beneficial effect is that this design allows the drive unit and the rotary encoder to be arranged on opposite sides of the radial direction of the output bevel gear, which is conducive to the uniform force between the bevel gears during transmission.

[0035] As a further improvement, the driving end of the horizontal driving device and / or the vertical driving device is provided with a driving spur gear, and the lead screw of the corresponding lead screw and nut mechanism is provided with an output spur gear that is connected to the driving spur gear. The output spur gear or the driving spur gear is also connected to a detection spur gear. The detection spur gear is fixed with a detection shaft, and a rotary encoder is coaxially mounted on the detection shaft.

[0036] The beneficial effects are: with this design, the drive unit and rotary encoder are fixed, allowing the wiring connected to the drive unit and rotary encoder to be arranged relatively stably, which helps to reduce wiring wear; at the same time, by setting the transmission spur gear set, the drive unit and rotary encoder can be arranged using the radial side space of the output spur gear, avoiding occupying too much of the axial dimension of the output spur gear, and thus avoiding the inconvenience of arrangement caused by excessive length of horizontal or vertical rails.

[0037] As a further improvement, the output spur gear is connected to the corresponding drive spur gear via an intermediate spur gear, and the detection spur gear is engaged with the intermediate spur gear.

[0038] The beneficial effect is that this design allows the drive unit and the rotary encoder to be arranged on opposite sides of the radial direction of the output spur gear, which is conducive to the uniform force between the spur gears during transmission.

[0039] As a further improvement, the two uprights are fixed to the drilling platform in an adjustable position in the left and right directions.

[0040] The beneficial effect is that this design allows the relative distance between the two uprights to be closer or farther, so as to accommodate drill rods of different lengths and improve the versatility of the drill rod box.

[0041] As a further improvement, each support frame includes a support frame body and a side door. The support frame body is provided with a side entrance for inserting drill rods. The side door is hinged to the support frame body on one side in the vertical or front-back direction. The other side of the side door in the vertical or left-right direction is provided with a door lock structure between it and the support frame body. The side door is used to block the side entrance.

[0042] The advantages are: this design allows the drill rod to be installed by opening the side door from either the left or right side of the drill rod box. Compared to situations where only one side door can be opened, this solution is less restricted by the site conditions.

[0043] As a further improvement, the side door is hinged to the main frame on one side in the vertical direction, and a door lock structure is provided between the other side of the side door in the vertical direction and the main frame. Two side doors are arranged at intervals along the front-back direction on each frame.

[0044] The benefits are: this design reduces the weight of a single side door, making it easier for operators to open or close the side door and reducing labor intensity; moreover, depending on the needs of the site, only one side door needs to be opened to install the drill rod without affecting the gripping of the drill rod corresponding to the other side door. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the structure of the coal mine drilling rig of the present invention;

[0046] Figure 2 for Figure 1 Schematic diagram of the drill rod loading and unloading system of the drilling rig;

[0047] Figure 3 for Figure 2 Schematic diagram of the structure of the drill pipe box;

[0048] Figure 4 for Figure 3 A schematic diagram of the side door opening structure;

[0049] Figure 5 for Figure 3 A sectional view of the middle door lock structure;

[0050] Figure 6 for Figure 3 A sectional view of the hinged lug, the fixed lug, and the rotating pin.

[0051] Figure 7 for Figure 2 A schematic diagram of the structure of the loading and unloading robot.

[0052] Figure 8 for Figure 7 The main view;

[0053] Figure 9 for Figure 8 Top view;

[0054] Figure 10 for Figure 7 Left view after removing the transmission box cover;

[0055] Figure 11 for Figure 10 A partial structural diagram of the transmission box;

[0056] Figure 12 for Figure 9 BB view;

[0057] Figure 13 for Figure 12 A partial structural diagram of the transmission box;

[0058] Figure 14 for Figure 8 AA view after removing the robotic arm;

[0059] Figure 15 for Figure 12 The CC view.

[0060] In the diagram: 1001, Drill pipe box; 1002, Loading / unloading robot; 1003, Drill pipe; 1004, Transfer frame; 1005, Lifting platform; 1006, Power head slide rail; 1007, Support rod; 1008, Drilling rig platform; 101, Left upright; 102, Right upright; 103, Partition plate; 104, Vertical plate; 105, Top beam; 106, Vertical support plate; 107, Horizontal support plate; 108, Bottom connecting plate; 109, Support reinforcing rib. 110. First fixing bolt; 111. Side door; 112. Hinge plate; 113. Hinge ear plate; 114. Fixing ear; 115. Rotary pin; 116. Cotter pin; 117. Insert sleeve; 118. Fixing sleeve; 119. Pin; 120. Guide groove; 121. Elastic positioning pin; 122. Upper positioning groove; 123. Side entrance; 124. Lower positioning groove; 21. Drill rod gripper; 22. Vertical rail; 221. Vertical guide rail 222. Mounting base; 223. Threaded nut; 224. Nut block; 225. Connecting block; 226. Track limiting plate; 227. Transmission connecting plate; 23. Slide rail frame; 231. Second fixing bolt; 232. Horizontal slide rail; 233. Front sealing ring; 234. Front bearing; 235. Bearing end cover; 236. Rear bearing; 237. Rear sealing ring; 24. Transmission box; 25. Vertical drive device; 26. Horizontal drive device; 27. First transmission... 28. Sensor; 29. ​​Horizontal output shaft; 20. Vertical output shaft; 21. Drive bevel gear; 22. Detection bevel gear; 23. Output bevel gear; 24. Intermediate spur gear; 35. Intermediate shaft; 36. Bushing; 37. Detection spur gear; 38. Limit screw; 39. Detection shaft; 40. Drive shaft key; 41. Second sensor; 42. Drive shaft. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention; that is, the described embodiments are merely some embodiments of the invention, not all embodiments. The components of the embodiments of the invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0062] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0063] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations. Furthermore, terms such as "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Additionally, the terms "front," "rear," "upper," "lower," "left," and "right" are based on the orientation and positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention, not to indicate that the referred device or component must have a specific orientation, and therefore should not be construed as limiting the invention.

[0064] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0065] Embodiment 1 of the coal mine drilling rig of the present invention:

[0066] like Figure 1 and Figure 2 As shown, the coal mine drilling rig includes a drilling platform 1008, on which are mounted a drill rod box 1001, a loading and unloading manipulator 1002, a transfer frame 1004, and a lifting seat 1005. The lifting seat 1005 is equipped with a main manipulator (not shown) and a power head slide rail 1006, on which a power head (not shown) is slidably mounted. In operation, the loading and unloading manipulator 1002 grabs the drill rod 1003 from the drill rod box 1001 and transports it to the transfer frame 1004. The main manipulator grabs the drill rod from the transfer frame 1004 and transports it to the power head. The drilling platform 1008 can rotate around its vertical axis. After rotating to its designated position, a support rod 1007 supports it against the top wall to ensure the stability of the drilling platform 1008. Simultaneously, the power head slide rail 1006 can rotate around its horizontal axis to adjust the pitch angle. The drilling rig platform 1008, drill rod box 1001, and loading / unloading robot 1002 together constitute the drilling rig loading / unloading drill rod system.

[0067] like Figure 3 and Figure 4As shown, the drill pipe box 1001 consists of a left upright 101 and a right upright 102, which are arranged symmetrically and at intervals in the left-right direction. Taking the left upright 101 as an example, the left upright 101 includes a top beam 105, a bottom beam, partitions 103, uprights 104 on both the front and rear sides, and a side door 111. The top beam 105 and the bottom beam are connected between the uprights 104 on both sides to form a frame structure, which constitutes the main body of the upright. Multiple partitions 103 are spaced apart in the front-back direction, and storage compartments for storing the ends of drill pipes 1003 are formed between adjacent partitions 103 and between the uprights 104 on both sides and adjacent partitions 103. In this embodiment, the lower end of the side door 111 is hinged to the vertical support plate 106, and a door lock structure is provided between the upper end of the side door 111 and the top beam 105.

[0068] The following is a detailed description of each component of the drill pipe box. For example... Figure 3 and Figure 4 As shown, both the left upright 101 and the right upright 102 are rectangular frame-type grids, and both are vertically fixed to the drilling platform 1008 during use. The front and rear ends of both the left upright 101 and the right upright 102 are vertically extending plates 104. Within the same upright, the two plates 104 are arranged from top to bottom as a three-layer structure: a top beam 105, a bottom beam, and a bottom connecting plate 108. In this embodiment, the bottom connecting plate 108 is a rectangular plate, and the bottom beam consists of a horizontal support plate 107 and a vertical support plate 106 connected together in a T-shape. The gap between the top beam 105 and the bottom beam forms the side entrance 123 of the drill pipe box, which is concealed by closing the side door 111. The upper end of the partition plate 103 is connected to the top beam 105, and the lower end of the partition plate 103 is connected to the horizontal support plate 107 and the vertical support plate 106. The partitions 103 on the two uprights correspond one-to-one, so that the two opposite storage compartments can accommodate the two ends of the same drill rod 1003.

[0069] like Figure 3 and Figure 4 As shown, bottom connecting plates 108 are spaced below horizontal support plates 107. The front and rear ends of the bottom connecting plates 108 are connected to the two vertical plates 104. Supporting reinforcing ribs 109 are evenly distributed between the bottom connecting plates 108 and the horizontal support plates 107 to ensure the stability of the horizontal support plates 107. The bottom connecting plates 108 are provided with first fixing bolts 110, and the drilling platform 1008 is provided with fixing holes. The bottom connecting plates 108 are fixed to the drilling platform 1008 by the first fixing bolts 110.

[0070] In this embodiment, the fixing hole on the drilling platform 1008 is an elongated hole extending in the left and right direction. According to the size of the drill rod 1003 that needs to be placed in the drill rod box 1001, the fixing position of the left support 101 or the right support 102 on the drilling platform 1008 can be adjusted to improve the versatility of the drill rod box 1001.

[0071] In this embodiment, both the left upright 101 and the right upright 102 are provided with two side doors 111 arranged in the front-back direction. The side doors 111 are rectangular plates, and the size and structure of each side door 111 are the same. The side doors 111 on the left upright 101 and the right upright 102 are arranged symmetrically.

[0072] like Figure 3 , Figure 5 and Figure 6 As shown, the bottom of the outward-facing side of the side door 111 is provided with a hinge plate 112 extending forward and backward. Both ends of the hinge plate 112 are provided with downward-extending hinge ear plates 113. The top of the vertical support plate 106 is provided with a fixing ear 114 that can clamp the hinge ear plates 113 in the middle. A pivot pin 115 passes through the hinge ear plates 113 and the two fixing ears 114. The pin head of the pivot pin 115 is stopped by one of the fixing ears 114, and the other end of the pivot pin 115 passes through the other fixing ear 114. A cotter pin 116 passes through the end of the pivot pin 115 to prevent the pivot pin 115 from coming out.

[0073] In this embodiment, the door lock structure includes a fixed sleeve 118, a plug-in sleeve 117, and a bolt 119. The fixed sleeve 118 is located on the top beam 105, and the plug-in sleeve 117 is located on the side door 111. The fixed sleeve 118 and the plug-in sleeve 117 are vertically aligned, and the bolt 119 can be inserted into the fixed sleeve 118 and the plug-in sleeve 117. When the side door 111 is in a vertical position, the plug-in sleeve 117 and the fixed sleeve 118 are vertically adjacent, and the bolt 119 is inserted downwards into the fixed sleeve 118 and the plug-in sleeve 117 in sequence, thereby locking the side door 111 and the top beam 105 and blocking the side entrance 123. When it is necessary to open the side door 111, the bolt 119 can be pulled upwards.

[0074] To prevent the pin 119 from accidentally coming out, such as Figure 5As shown, the outer peripheral surface of the pin 119 is provided with an axially extending guide groove 120, and the sleeve wall of the fixed sleeve 118 is provided with a horizontally extending elastic positioning pin 121. The bottom surface of the guide groove 120 is provided with an upper positioning groove 122 and a lower positioning groove 124 spaced apart vertically. The elastic positioning pin 121 can be positioned and engaged with the two positioning grooves to lock the pin 119, thereby keeping the pin 119 in the insertion sleeve 117 in the insertion position or the pull-out position. When the side door 111 is opened, the latch 119 can be pulled out of the insertion sleeve 117 by pulling it up to the pull-out position. However, due to the positioning engagement of the elastic positioning pin 121 and the lower positioning groove 124, the latch 119 will not disengage from the fixing sleeve 118. When it is necessary to lock the door, the latch 119 can be inserted into the insertion sleeve 117 by pressing it down to the insertion position. The elastic positioning pin 121 and the upper positioning groove 122 are positioned to keep the latch 119 in the insertion position. In this embodiment, the hinge ear plate 113 flips when the side door 111 is opened, and its bottom end face is used to stop against the vertical support plate 106 so that the side door 111 is kept in an inclined position after it is opened.

[0075] like Figure 3 and Figure 4 As shown, during use, not only can the drill rod 1003 be directly inserted from the top of the drill rod box 1001, but the corresponding side door 111 can also be opened to take the drill rod 1003 out from the side of the drill rod box 1001.

[0076] like Figures 7 to 14 As shown, the loading and unloading robot includes a drill pipe gripper 21, a vertical track 22, a horizontal track, a horizontal drive device 26, a first sensor 27, a vertical drive device 25, and a second sensor 41. The drill pipe gripper 21 is movably mounted on the vertical track 22, and the vertical track 22 is movably mounted on the horizontal track. The horizontal drive device 26 drives the vertical track 22 to slide on the horizontal track, thereby moving the drill pipe gripper 21 horizontally. The first sensor 27 is used to detect the horizontal displacement of the drill pipe gripper 21. The vertical drive device 25 drives the drill pipe gripper 21 to slide on the vertical track 22, and the second sensor 41 is used to detect the vertical displacement of the drill pipe gripper 21.

[0077] In this embodiment, the horizontal track is located between two uprights and fixed to the drilling platform. The horizontal track includes a slide rail frame 23 and a transmission box 24. The slide rail frame 23 extends horizontally in the front-rear direction and is provided with a horizontal slide rail 232. The vertical track 22 is guided and slidably assembled on the horizontal slide rail 232. The transmission box 24 is fixed to the front end of the slide rail frame 23. The transmission box 24 is a square box, including a transmission box cover and a transmission box base. The transmission box cover is fastened to the transmission box base to form the inner cavity of the transmission box 24. The first sensor 27 is installed in the inner cavity of the box. The horizontal drive device 26 is a hydraulic motor, which is installed on the transmission box 24. The horizontal drive device 26 and the first sensor 27 are arranged opposite each other on the left and right sides. The horizontal drive device 26 has a drive shaft for outputting torque, and the drive shaft extends forward into the inner cavity of the box.

[0078] like Figure 10 , Figure 11 , Figure 12 and Figure 13 As shown, a transmission bevel gear set is installed inside the transmission housing 24. The transmission bevel gear set includes a drive bevel gear 260, an output bevel gear 280, and a detection bevel gear 270. The rotation axis of the output bevel gear 280 extends in the front-to-back direction. The rotation axes of the drive bevel gear 260 and the detection bevel gear 270 are perpendicular to the rotation axis of the output bevel gear 280. The drive bevel gear 260 meshes with the output bevel gear 280, and the output bevel gear 280 meshes with the detection bevel gear 270. The rotation axes of the drive bevel gear 260, the detection bevel gear 270, and the output bevel gear 280 are coplanar. The drive bevel gear 260 and the detection bevel gear 270 are arranged opposite each other in the left-to-right direction. The fact that the rotation axes of the drive bevel gear 260 and the detection bevel gear 270 extend in the left-to-right direction helps to reduce the gear size and avoid making the transmission housing 24 too large.

[0079] In this embodiment, the drive bevel gear 260 is fixed to the drive shaft of the horizontal drive device 26, the output bevel gear 280 is fixed to a horizontal output shaft 28, the horizontal output shaft 28 extends in the front-to-back direction, passes through the transmission box 24, and is connected to the vertical track 22 for transmission. The detection bevel gear 270 is fixed to a detection shaft, and the first sensor 27 is a rotary encoder. The detection shaft is coaxially connected to the input end of the rotary encoder. When the drive shaft of the horizontal drive device 26 rotates, the horizontal output shaft 28 rotates through the meshing of the drive bevel gear 260 and the output bevel gear 280. When the horizontal output shaft 28 rotates, the detection shaft rotates through the meshing of the output bevel gear 280 and the detection bevel gear 270, thereby driving the first sensor 27 to synchronously detect rotation data.

[0080] like Figure 8 , Figure 12 , Figure 13 , Figure 14As shown, the slide rail frame 23 is provided with a second fixing bolt 231 to fix the slide rail frame 23 to the drilling platform 1008. The slide rail frame 23 has a mounting cavity through which the horizontal output shaft 28 passes. The left and right ends of the horizontal output shaft 28 are rotatably mounted on the slide rail frame 23 via a front bearing 234 and a rear bearing 236, respectively. A front sealing ring 233 is provided on the rear side of the front bearing 234, and a rear sealing ring 237 is provided on the front side of the rear bearing 236. The sealing rings are used to seal the bearings. A bearing end cover 235 is provided on the rear side of the rear bearing 236. The front end of the horizontal output shaft 28 has a gear engagement section that extends forward out of the slide rail frame 23. The gear engagement section passes into the transmission box 24 to be fixed with the output bevel gear 280.

[0081] In this embodiment, the horizontal output shaft 28 is a horizontal lead screw, and the vertical rail 22 is connected to a lead screw nut 223. The lead screw nut 223 is threaded onto the horizontal output shaft 28 and is guided and assembled in the mounting cavity in the front-back direction. When the horizontal output shaft 28 rotates, the horizontal output shaft 28 and the lead screw nut 223 cooperate to form a horizontal lead screw nut mechanism, thereby driving the vertical rail 22 to move horizontally.

[0082] In this embodiment, the vertical track 22 includes a mounting base 222, a vertical frame and a vertical output shaft 29. The vertical frame extends in the vertical direction, the mounting base 222 is fixed to the bottom of the vertical frame, and the mounting base 222 is slidably disposed on the horizontal slide rail 232. A vertical drive device 25 is mounted on a mounting base 222. A vertical output shaft 29 passes through the vertical frame. The lower end of the vertical output shaft 29 is rotatably mounted on the mounting base 222, and the upper end is rotatably mounted on the top of the vertical frame. The vertical drive device 25 is connected to the vertical output shaft 29 to drive the vertical output shaft 29 to rotate. The vertical output shaft 29 is a vertical lead screw. A nut block 224 is threaded onto the vertical output shaft 29. A connecting block 225 is fixed on the nut block 224. The connecting block 225 is used to fixally connect with the drill pipe gripper 21. The vertical output shaft 29 and the nut block 224 constitute a vertical lead screw nut mechanism to drive the drill pipe gripper 21 to move up and down when the vertical output shaft 29 rotates. The vertical frame is provided with a guide groove for the connecting block 225 to extend. The groove opening forms a vertical guide rail 221. The vertical guide rail 221 and the connecting block 225 are guided and engaged to guide the drill pipe gripper 21 to move in the vertical direction.

[0083] In this embodiment, a guide groove is provided on the bottom surface of the mounting base 222. After the mounting base 222 is installed on the slide rail frame 23, the horizontal slide rail 232 enters the guide groove, so that the mounting base 222 moves along the horizontal slide rail 232. A track limiting plate 226 is also provided on the side of the mounting base 222 to prevent the mounting base 222 from falling off the horizontal slide rail 232. A transmission connecting plate 227 is also fixed at the bottom of the mounting base 222. The transmission connecting plate 227 is an L-shaped plate, including a horizontal part and a vertical part. The horizontal part is fixed to the bottom of the mounting base 222. A side opening is provided on the slide rail frame 23. The side opening allows the vertical part of the transmission connecting plate 227 to extend into the mounting cavity of the slide rail frame 23 to be fixedly connected with the nut 223. In this way, the nut 223 can drive the mounting base 222 to move horizontally together. The side opening extends in the front-back direction to avoid the transmission connecting plate 227 when the mounting base 222 moves horizontally.

[0084] like Figure 12 and Figure 15 As shown, the vertical drive device 25 includes a drive shaft 42 for outputting torque, which extends downward into the mounting cavity 30 of the mounting base 222. The lower end of the vertical output shaft 29 extends into the mounting cavity 30. A transmission spur gear set, an intermediate shaft 35, a detection shaft 39, and the aforementioned second sensor 41 are installed in the mounting cavity 19. The drive shaft 42 drives the vertical output shaft 29 and the detection shaft 39 to rotate synchronously via the transmission gear set. The vertical drive device 25 is a hydraulic motor.

[0085] The transmission spur gear set includes a drive spur gear 32, an intermediate spur gear 34, a detection spur gear 37, and an output spur gear 33. The rotation axes of the drive spur gear 32, intermediate spur gear 34, detection spur gear 37, and output spur gear 33 all extend vertically. The output spur gear 33 and detection spur gear 37 are powered by the drive spur gear 32. The drive spur gear 32 is fixed to the drive shaft 42, and the drive spur gear 32 and the drive shaft 42 form an anti-rotation fit through the drive shaft key 40. The intermediate spur gear 34 is fixed to the intermediate shaft 35 through an embedded bushing 36. The output spur gear 33 and the vertical output shaft 29 form an anti-rotation fit through the output shaft key 31. The detection spur gear 37 is fixed to the detection shaft 39 through a limit screw 38.

[0086] The drive shaft 42, intermediate shaft 35, and vertical output shaft 29 are arranged side-by-side in the front-to-back direction. The intermediate shaft 35 is located between the drive shaft 42 and the vertical output shaft 29. The detection shaft 39 and the intermediate shaft 35 are arranged side-by-side in the left-to-right direction. The detection spur gear 37 meshes with the intermediate spur gear 34 for transmission. When the drive shaft 42 rotates, the drive spur gear 32 drives the intermediate spur gear 34 to rotate, and the intermediate spur gear 34 drives the output spur gear 33 to rotate, which in turn drives the detection spur gear 37 to rotate synchronously.

[0087] The second sensor 41 is a rotary encoder, and the detection shaft 39 extends upward and is coaxially connected to the input end of the rotary encoder.

[0088] A loading and unloading robot is used to sequentially retrieve drill rods from the drill rod box under controlled conditions and transport them to a fixed position; or to pick up drill rods from a fixed position and retract them into the drill rod box, thus realizing the mechanical transport of drill rods for the drilling rig. During drilling operations, the robot can move freely horizontally and vertically according to a set program, and sensors can detect the position to achieve free positioning and arbitrary picking and placing of drill rods, greatly saving manpower and improving work efficiency.

[0089] Embodiment 2 of the coal mine drilling rig of the present invention:

[0090] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, the horizontal drive device is set on a horizontal track and drives the vertical track to move on the horizontal track through a horizontal screw and nut mechanism, and the vertical drive device is set on a vertical track and drives the drill pipe gripper to move on the vertical track through a vertical screw and nut mechanism. In this embodiment, a horizontal rack is provided on the horizontal track, and a first gear meshing with the horizontal rack is provided on the vertical track. The horizontal drive device is set on the vertical track and drives the first gear to rotate, so as to realize the movement of the vertical track on the horizontal track; a vertical rack is provided on the vertical track, and a second gear meshing with the vertical rack is provided on the drill pipe gripper. The vertical drive device is set on the drill pipe manipulator and drives the second gear to rotate, so as to realize the movement of the drill pipe gripper on the vertical track.

[0091] Embodiment 3 of the coal mine drilling rig of the present invention:

[0092] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, the horizontal drive device is connected to the horizontal output shaft and the detection shaft via a transmission bevel gear set. In this embodiment, the horizontal drive device is connected to the horizontal output shaft and the detection shaft via a transmission spur gear set.

[0093] Embodiment 4 of the coal mine drilling rig of the present invention:

[0094] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, the axis of the driving bevel gear coincides with the axis of the detection bevel gear. In this embodiment, the axis of the driving bevel gear and the axis of the detection bevel gear form an obtuse angle.

[0095] Embodiment 5 of the coal mine drilling rig of the present invention:

[0096] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, the vertical drive device is connected to the vertical output shaft and the detection shaft via a transmission spur gear set. In this embodiment, the vertical drive device is connected to the vertical output shaft and the detection shaft via a transmission bevel gear set.

[0097] Embodiment 6 of the coal mine drilling rig of the present invention:

[0098] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, the output spur gear is connected to the corresponding driving spur gear via an intermediate spur gear, and the detection spur gear meshes with the intermediate spur gear. In this embodiment, no intermediate spur gear is provided; the output spur gear meshes directly with the driving spur gear, and the detection spur gear can mesh with either the driving spur gear or the output spur gear.

[0099] Embodiment 7 of the coal mine drilling rig of the present invention:

[0100] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, two side doors are arranged at intervals along the front-to-back direction on each upright. In this embodiment, only one side door is provided on each upright. In other embodiments, a side door may be provided on only one of the uprights.

[0101] Embodiment 8 of the coal mine drilling rig of the present invention:

[0102] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, the lower side of the side door is hinged to the main frame, and a door lock structure is provided between the upper side of the side door and the main frame. In this embodiment, the front side of the side door is hinged to the main frame, and a door lock mechanism is provided between the rear side of the side door and the main frame. In other embodiments, the upper side of the side door can be hinged to the main frame, and a door lock structure can be provided between the lower side of the side door and the main frame.

[0103] An embodiment of the drilling rig loading and unloading drill rod system of the present invention: The drilling rig loading and unloading drill rod system in this embodiment has the same structure as the drilling rig loading and unloading drill rod system described in any of the embodiments 1 to 8 of the above-mentioned coal mine drilling rig, and will not be described again here.

[0104] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of patent protection of the present invention shall be determined by the claims. Similarly, any equivalent structural changes made based on the description and drawings of the present invention shall also be included within the scope of protection of the present invention.

Claims

1. A drilling rig loading and unloading drill rod system, comprising a drilling rig platform (1008), wherein the drilling rig platform (1008) is provided with a drill rod box (1001) for placing drill rods (1003) and a loading and unloading robot (1002) for loading and unloading drill rods (1003), characterized in that, The drill pipe box (1001) consists of a left upright and a right upright arranged at intervals along the left and right directions. The front and rear ends of the left and right uprights are vertically extending plates. Between the two uprights in the same upright, a three-layer structure of top beam, bottom beam and bottom connecting plate is arranged from top to bottom. The bottom beam is a horizontal support plate and a vertical support plate connected together in a T-shape. The loading and unloading manipulator (1002) includes a horizontal rail extending along the front and rear directions, a vertical rail (22) extending along the up and down directions, and a drill pipe gripper (21). The horizontal rail extends into the drill pipe box and is positioned at both ends. The vertical rail (22) is mounted on the drilling platform (1008) between the vertical supports, and the vertical rail (22) is mounted on the horizontal rail in the front-to-back direction. The drill rod gripper (21) is mounted on the vertical rail (22) in the up-down direction. The support surface of the horizontal support plate (107) is higher than the top of the horizontal rail to avoid interference between the bottom drill rod and the horizontal rail during use. Multiple partitions are spaced apart on the left and right vertical supports in the front-to-back direction. Storage compartments for storing the ends of drill rods are formed between adjacent partitions and between the vertical plates on both sides and adjacent partitions.

2. The drilling rig loading and unloading system according to claim 1, characterized in that, The horizontal track is provided with a horizontal drive device (26) and a horizontal screw and nut mechanism. The horizontal drive device (26) drives the vertical track (22) to move on the horizontal track through the horizontal screw and nut mechanism. The vertical track (22) is provided with a vertical drive device (25) and a vertical screw and nut mechanism. The vertical drive device (25) drives the drill rod gripper (21) to move on the vertical track (22) through the vertical screw and nut mechanism.

3. The drilling rig loading and unloading drill rod system according to claim 2, characterized in that, The drive end of the horizontal drive device (26) and / or the vertical drive device (25) is provided with a drive bevel gear (260), and the corresponding screw of the screw nut mechanism is provided with an output bevel gear (280) that meshes with the drive bevel gear (260). The output bevel gear (280) also meshes with a detection bevel gear (270). The detection bevel gear (270) is fixed with a detection shaft (39), and a rotary encoder is coaxially mounted on the detection shaft (39).

4. The drilling rig loading and unloading system according to claim 3, characterized in that, The axis of the driving bevel gear (260) coincides with the axis of the detection bevel gear (270).

5. The drilling rig loading and unloading system according to claim 2, characterized in that, The drive end of the horizontal drive device (26) and / or the vertical drive device (25) is provided with a drive spur gear (32), and the corresponding lead screw nut mechanism is provided with an output spur gear (33) that is connected to the drive spur gear (32). The output spur gear (33) or the drive spur gear (32) is also connected to a detection spur gear (37). The detection spur gear (37) is fixed with a detection shaft (39), and a rotary encoder is coaxially mounted on the detection shaft (39).

6. The drilling rig loading and unloading system according to claim 5, characterized in that, The output spur gear (33) is connected to the corresponding drive spur gear (32) through the intermediate spur gear (34), and the detection spur gear (37) meshes with the intermediate spur gear (34).

7. The drilling rig loading and unloading system according to any one of claims 1 to 6, characterized in that, The two uprights are fixed to the drilling platform (1008) in an adjustable position in the left and right directions.

8. The drilling rig loading and unloading system according to any one of claims 1 to 6, characterized in that, Each support frame includes a support frame body and a side door (111). The support frame body is provided with a side entrance (123) for inserting drill rods (1003). The side door (111) is hinged to the support frame body on one side in the vertical or front-back direction. The other side of the side door (111) is provided with a door lock structure between it and the support frame body in the vertical or left-right direction. The side door (111) is used to block the side entrance (123).

9. The drilling rig loading and unloading system according to claim 8, characterized in that, The side door (111) is hinged to the main body of the frame on one side in the vertical direction, and a door lock structure is provided between the other side of the side door (111) and the main body of the frame in the vertical direction. There are two side doors (111) on each frame arranged at intervals in the front-back direction.

10. A coal mine drilling rig, comprising a drill rod loading and unloading system, a transfer frame, a main manipulator, and a power head, characterized in that: The drilling rig loading and unloading drill rod system includes a drilling rig platform (1008), on which a drill rod box (1001) for placing drill rods (1003) and a loading and unloading robot (1002) for loading and unloading drill rods (1003) are provided. The drill rod box (1001) consists of a left frame and a right frame arranged at intervals in the left-right direction. The front and rear ends of the left and right frames are vertically extending plates. In the same frame, a three-layer structure of top beam, bottom beam and bottom connecting plate is arranged between the two plates from top to bottom. The bottom beam is a horizontal support plate and a vertical support plate connected together in a T-shape. The loading and unloading robot (1002) includes a horizontal rail extending in the front-back direction. The system includes a vertical track (22) extending in the vertical direction and a drill rod gripper (21). The horizontal track extends into the drill rod box, is located between two uprights, and is set on the drilling platform (1008). The vertical track (22) moves along the front-back direction and is mounted on the horizontal track. The drill rod gripper (21) moves along the vertical direction and is mounted on the vertical track (22). The support surface of the horizontal support plate (107) is higher than the top of the horizontal track to avoid interference between the bottom drill rod and the horizontal track during use. Multiple partitions are spaced apart along the front-back direction on the left and right uprights. Storage compartments for storing the ends of drill rods are formed between adjacent partitions and between the uprights on both sides and adjacent partitions.

11. The coal mine drilling rig according to claim 10, characterized in that, The horizontal track is provided with a horizontal drive device (26) and a horizontal screw and nut mechanism. The horizontal drive device (26) drives the vertical track (22) to move on the horizontal track through the horizontal screw and nut mechanism. The vertical track (22) is provided with a vertical drive device (25) and a vertical screw and nut mechanism. The vertical drive device (25) drives the drill rod gripper (21) to move on the vertical track (22) through the vertical screw and nut mechanism.

12. The coal mine drilling rig according to claim 11, characterized in that, The drive end of the horizontal drive device (26) and / or the vertical drive device (25) is provided with a drive bevel gear (260), and the corresponding screw of the screw nut mechanism is provided with an output bevel gear (280) that meshes with the drive bevel gear (260). The output bevel gear (280) also meshes with a detection bevel gear (270). The detection bevel gear (270) is fixed with a detection shaft (39), and a rotary encoder is coaxially mounted on the detection shaft (39).

13. The coal mine drilling rig according to claim 12, characterized in that, The axis of the driving bevel gear (260) coincides with the axis of the detection bevel gear (270).

14. The coal mine drilling rig according to claim 11, characterized in that, The drive end of the horizontal drive device (26) and / or the vertical drive device (25) is provided with a drive spur gear (32), and the corresponding lead screw nut mechanism is provided with an output spur gear (33) that is connected to the drive spur gear (32). The output spur gear (33) or the drive spur gear (32) is also connected to a detection spur gear (37). The detection spur gear (37) is fixed with a detection shaft (39), and a rotary encoder is coaxially mounted on the detection shaft (39).

15. The coal mine drilling rig according to claim 14, characterized in that, The output spur gear (33) is connected to the corresponding drive spur gear (32) through the intermediate spur gear (34), and the detection spur gear (37) meshes with the intermediate spur gear (34).

16. The coal mine drilling rig according to any one of claims 10 to 15, characterized in that, The two uprights are fixed to the drilling platform (1008) in an adjustable position in the left and right directions.

17. The coal mine drilling rig according to any one of claims 10 to 15, characterized in that, Each support frame includes a support frame body and a side door (111). The support frame body is provided with a side entrance (123) for inserting drill rods (1003). The side door (111) is hinged to the support frame body on one side in the vertical or front-back direction. The other side of the side door (111) is provided with a door lock structure between it and the support frame body in the vertical or left-right direction. The side door (111) is used to block the side entrance (123).

18. The coal mine drilling rig according to claim 17, characterized in that, The side door (111) is hinged to the main body of the frame on one side in the vertical direction, and a door lock structure is provided between the other side of the side door (111) and the main body of the frame in the vertical direction. There are two side doors (111) on each frame arranged at intervals in the front-back direction.

Images