A continuous rod supplementing vehicle for a coal mine underground directional drilling machine and a continuous rod supplementing construction method

Abstract

The present application relates to a kind of continuous rod replacement vehicle for coal mine underground directional drilling machine and continuous rod replacement construction method, set over drilling rod box, is set on the side of the over drilling rod box and is unloaded rod device;The over drilling rod box is set with multiple overturning frames, and the overturning angle of overturning frame is-10°~+10°;The upper rod device of the unloaded rod device includes the upper drilling rod transmission assembly of over drilling rod box setting, and the unloading drilling rod assembly adjacent to upper drilling rod transmission assembly;When the overturning angle of overturning frame is-10°, upper drilling rod transmission assembly and overturning frame are connected in the same direction and are connected to carry out the transmission of upper drilling rod;When the overturning angle of overturning frame is +10°, unloading drilling rod transmission assembly and overturning frame are connected in the same direction and are connected to carry out the transmission of unloading drilling rod.The continuous rod replacement vehicle for coal mine underground directional drilling machine of the present application has the characteristics of flexible movement, large amount of rod carrying, high efficiency of drilling rod loading and unloading.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of drilling technology, in particular to a continuous rod supplementing vehicle for a coal mine underground directional drilling machine and a continuous rod supplementing construction method. BACKGROUND

[0002] A high-power directional drilling machine is the main equipment for large-diameter and super-long drilling construction in a coal mine underground. With the development of the intelligent level of drilling equipment, a high-power automatic directional drilling machine with automatic drilling rod loading and unloading device, real-time monitoring of drilling parameters, system fault alarm, real-time monitoring on site, and intelligent drilling trajectory measurement while drilling further improves the drilling construction efficiency and is increasingly affirmed by the mine side. The automatic drilling rod loading and unloading device of the automatic directional drilling machine is composed of a manipulator and a drilling rod bin. Due to the large output capacity of the drilling machine and the long construction drilling distance, the size of the main machine, execution and power components is large, the overall space layout is very compact, the tray capacity is small, and only 7 drilling rods can be stored. When the drilling rods in the tray are used up, manual drilling rod filling is required, which takes a long time for auxiliary operation. The drilling rod diameter of the high-power automatic drilling machine is usually φ114mm or φ127mm, the length is 1.5m or 2m, and the weight is greater than 45kg. Manual filling requires high labor intensity, high safety risk and low work efficiency. SUMMARY

[0003] The technical problem solved by the present application is to provide a continuous rod supplementing vehicle for a coal mine underground directional drilling machine and a continuous rod supplementing construction method, which has a multi-degree-of-freedom and high-precision rod loading device, a continuous rod supplementing vehicle with a large capacity, a reversible and quick reloading and reversing drilling rod box and a control method. The whole machine is flexible in movement, has a large number of rod carrying, high drilling rod loading and unloading efficiency, meets the needs of automatic directional drilling machines, and further improves the automation and intelligent level of drilling equipment.

[0004] The technical scheme adopted by the present application includes:

[0005] A continuous rod supplementing vehicle for a coal mine underground directional drilling machine is provided with a reversing drilling rod box, and a rod loading and unloading device is arranged on one side of the reversing drilling rod box. A plurality of reversing racks are arranged in the reversing drilling rod box, and the reversing angle of the reversing racks is-10° to +10°. The rod loading and unloading device includes a drilling rod loading transmission assembly arranged close to the reversing drilling rod box and a drilling rod unloading assembly arranged adjacent to the drilling rod loading transmission assembly.

[0006] When the reversing angle of the reversing racks is-10°, the drilling rod loading transmission assembly and the reversing racks are butt-jointed in the same direction to transmit the drilling rod.

[0007] When the reversing angle of the reversing racks is +10°, the drilling rod unloading transmission assembly and the reversing racks are butt-jointed in the same direction to unload the drilling rod.

[0008] Optionally, the box body is provided with a plurality of turnover racks arranged in layers in the box body; the middle part of the turnover rack is fixed in the box body through a shaft connecting structure, and an angle adjusting assembly is arranged at the end of the turnover rack through shaft connection, and the angle adjusting assembly adjusts the turnover angle of the turnover rack to be-10°~+10°.

[0009] Optionally, the angle adjusting assembly comprises a pull rod and a pull plate fixedly connected from top to bottom; the pull plate is connected with the turnover rack through shaft; the pull rod is suspended on the side of the box body, and the longitudinal displacement of the pull rod is realized through an angle adjusting nut.

[0010] Optionally, the drill rod unloading conveying assembly comprises a second guide rod fixedly arranged, a lifting frame is arranged on the second guide rod, and the lifting frame and the second guide rod are connected through a lifting oil cylinder; a conveying groove is arranged on the top of the lifting frame through shaft connection, and the conveying groove and the lifting frame are connected through a turnover oil cylinder to drive the conveying groove to deflect 0~50°; a limiting plate is arranged on the inner side of the lifting frame, and the limiting plate and the lifting frame are connected through a clamping oil cylinder and a sliding rod.

[0011] Optionally, the conveying groove is a V-shaped groove, and the side of the conveying groove facing the turnover rack is a concave rectangular plate; the limiting plate is a plate body which is wide at the top and narrow at the bottom.

[0012] Optionally, a travel switch is arranged on the conveying groove; a first proximity switch is arranged on the second guide rod.

[0013] Optionally, the upper drill rod conveying assembly is provided with a mounting frame, a lifting oil cylinder is arranged in the middle part of the mounting frame, a moving plate, a push rod and a push plate are arranged in sequence at the piston end of the lifting oil cylinder; a baffle is arranged on the top of the mounting frame, and the push plate and the baffle are in butt joint and the top of each is a same-direction inclined surface.

[0014] Optionally, a drill rod box seat is further arranged, the drill rod box seat is provided with a first guide rod, a frame body is arranged on the first guide rod through a sliding sleeve connection, a lifting oil cylinder is arranged on the frame body, and the lifting oil cylinder controls the movement of the frame body along the first guide rod.

[0015] Optionally, a tracked vehicle body is further arranged, an upper and lower rod device is arranged on the tracked vehicle body, the upper and lower rod device comprises a plurality of sliding seats arranged on the side of the tracked vehicle body, a bottom plate is arranged on the sliding seat, left and right moving oil cylinders are arranged at the edge of the bottom plate, the piston end of the left and right moving oil cylinders is fixed on the lower side of the bottom plate, and the cylinder barrel end is fixed on the tracked vehicle body; a middle plate is arranged on the bottom plate, the drill rod unloading conveying assembly, the drill rod box seat and the upper drill rod conveying assembly are fixed on the middle plate, front and rear moving oil cylinders are arranged on the middle plate, the piston rod end of the front and rear moving oil cylinders is fixed on the middle plate, and the cylinder barrel end is fixed on the bottom plate; the piston end of the lifting oil cylinder is fixed on the frame body, and the cylinder barrel end is fixed on the middle plate.

[0016] A continuous rod supplementing construction method in a coal mine underground, a drilling machine and a continuous rod supplementing vehicle are arranged, the continuous rod supplementing vehicle is the continuous rod supplementing vehicle for the directional drilling machine in any of the coal mine undergrounds of the application;

[0017] Comprising the following steps:

[0018] Rod supplementing: after the drilling machine reaches the designated position, the rotary device is adjusted to the horizontal opening position, and the tray is adjusted to +18°; the continuous rod supplementing vehicle is arranged side by side with the drilling machine, and the rod supplementing and discharging device is located in the middle position of the tray, so as to ensure that the front end of the drilling rod conveying assembly is higher than the tray by 20-30 mm, and the horizontal distance from the tray is controlled within 20-50 mm;

[0019] The turnover frame of the turnover drilling rod box is adjusted to-10°, and the drilling rod rolls to the back of the drilling rod conveying assembly under the action of its own gravity;

[0020] The turnover drilling rod box is lifted by 10 mm, and a row of drilling rods on the highest layer of the turnover drilling rod box freely rolls downward, and the first drilling rod is conveyed by the drilling rod conveying assembly; the drilling rod rolls to the tray under the action of gravity; the drilling rod reaching the tray continues to roll until the bottom end of the tray, and the rod supplementing is completed under the action of the clamping device and the mechanical arm at the bottom end of the tray; after the drilling rods in the whole turnover drilling rod box are supplemented, the turnover drilling rod box is replaced by using the monorail crane or the hydraulic lifting arm, and then the rod supplementing of multiple drilling rod boxes is repeatedly completed;

[0021] Rod discharging:

[0022] When the drilling is completed, the rod discharging is started, the turnover drilling rod box is moved backward, and the tray of the drilling machine is adjusted to-5°; the whole machine is lowered by using the stable oil cylinder until the horizontal distance between the edge of the tray of the rod discharging conveying assembly is within the range of 10-20 mm, and the height difference is within the range of 20-30 mm;

[0023] The turnover frame of the turnover drilling rod box is adjusted to 10°, and at this time, the turnover drilling rod box is in the highest position; the height of the working surface of the rod discharging conveying assembly is higher than that of the rod supplementing conveying assembly;

[0024] The first drilling rod is placed on the tray by using the mechanical arm on the drilling machine, and the drilling rod rolls to the rod discharging conveying assembly under the action of gravity due to the negative angle of the tray;

[0025] The drilling rod conveying assembly is higher than the height of the lowest layer of the turnover frame of the turnover drilling rod box; the drilling rod rolls to the lowest layer of the turnover frame of the turnover drilling rod box under the action of gravity until the lowest end;

[0026] The height of the turnover drilling rod box is lowered in sequence, and the drilling rods in the next lowest layer are filled; the whole turnover drilling rod box is filled with drilling rods;

[0027] Once the entire rotating drill rod box is filled with drill rods, the rotating drill rod box is replaced using a monorail crane or hydraulic boom. The rotating frame inside the empty rotating drill rod box is adjusted to 10° so that the bottom rotating plate is in a high position. The empty rotating drill rod box is then filled with drill rods, and the drill rods are unloaded from the drilling rig.

[0028] The beneficial effects of this invention are:

[0029] The continuous rod replenishment vehicle for underground directional drilling rigs in coal mines of this invention features flexible mobility, large rod carrying capacity, and high efficiency in loading and unloading drill rods. It has a multi-degree-of-freedom, high-precision rod loading device, a large-capacity, rotatable, and quick-change rotating drill rod box, and strong adaptability to roadways. During construction, no manual loading is required, meeting the needs of automated directional drilling rigs, reducing the labor intensity of workers, and further improving the automation and intelligence level of drilling equipment. Attached Figure Description

[0030] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0031] Figure 1 This is a schematic diagram of the continuous rod-repairing vehicle for underground directional drilling rigs in coal mines according to the present invention;

[0032] Figure 2 for Figure 1 A schematic diagram of the tilting drill pipe box structure;

[0033] Figure 3 for Figure 1 A schematic diagram of the upper and lower unloading rod device in the middle;

[0034] Figure 4 This is a schematic diagram of the drill pipe unloading and conveying assembly.

[0035] Figure 5 Left view of the drill pipe box base;

[0036] Figure 6 This is a schematic diagram of the upper drill pipe conveying device.

[0037] Figure 7 for Figure 6 The left view;

[0038] Figure 8 A schematic diagram of the drilling rig and continuous rod-repairing vehicle in operation.

[0039] Explanation of labels and symbols in the diagram:

[0040] 1 - Turnover drill pipe box, 11 - Box body, 12 - Turnover frame, 13 - Angle adjusting assembly, 131 - Upper fixing nut, 132 - Angle adjusting nut, 133 - Pull rod, 134 - Lower fixing nut, 135 - Pull plate, 14 - Angle limiting rod, 15 - Stop rod;

[0041] 2 - Upper unloading rod device, 21 - Drill pipe box seat, 211 - Frame body, 212 - First guide rod, 213 - Lifting oil cylinder, 214 - Displacement sensor, 215 - Sliding sleeve;

[0042] 22 - Drill pipe unloading and conveying assembly, 221 - Second guide rod, 222 - Limiting plate, 223 - Conveying groove, 224 - Lifting frame, 225 - Lifting oil cylinder, 226 - Sliding rod, 227 - Turnover oil cylinder, 228 - Clamping oil cylinder, a - Travel switch, b - First proximity switch;

[0043] 23 - Upper drill pipe conveying assembly, 231 - Push plate, 232 - Baffle, 233 - Push rod, 234 - Moving plate, 235 - Lifting oil cylinder, 236 - Mounting frame, 237 - Second proximity switch;

[0044] 24 - Middle plate, 25 - Bottom plate, 26 - Sliding seat, 27 - Front and rear moving oil cylinder, 28 - Left and right moving oil cylinder;

[0045] 3 - Track body, 5 - Oil tank, 4 - Electric control box;

[0046] A - Drilling machine, B - Continuous rod supplementing vehicle. DETAILED DESCRIPTION

[0047] The present application will be described in detail below in conjunction with the drawings and specific embodiments.

[0048] The devices with functions mentioned in the present disclosure are all common or conventional devices in the field, and finished products can be purchased on the market; the orientation words such as "up and down, left and right, top and bottom, front and back, side" and the like mentioned in the present disclosure are all defined in the direction facing the drawings of the specification. Meanwhile, the angles of deflection or rotation mentioned in the present application are all judged based on the horizontal plane, and counterclockwise rotation is negative angle and clockwise rotation is positive angle.

[0049] Combination Figures 1-7The continuous rod supplementing vehicle for the underground directional drilling machine of the coal mine of the present application is provided with a turnover drill rod box 1, and an upper rod loading and unloading device 2 is arranged on one side of the turnover drill rod box 1; a plurality of turnover racks 12 are arranged in the turnover drill rod box 1, and the turnover angle of the turnover rack 12 is -10° to +10°; the upper rod loading and unloading device 2 comprises an upper drill rod conveying assembly 23 arranged close to the turnover drill rod box 1 and a drill rod unloading assembly 22 arranged adjacent to the upper drill rod conveying assembly 23; when the turnover angle of the turnover rack 12 is -10°, the upper drill rod conveying assembly 23 is butt-jointed with the turnover rack 12 in the same direction to load the drill rod; when the turnover angle of the turnover rack 12 is +10°, the drill rod unloading assembly 22 is butt-jointed with the turnover rack 12 in the same direction to unload the drill rod. For example, the turnover drill rod box 1 has five turnover racks 12, the layer spacing of the turnover racks 12 is 140 mm, if the diameter of the drill rod is 114 mm and the length is 1500 mm, six drill rods can be placed in each layer, and the drill rod box can accommodate 30 drill rods in total; in order to enable the drill rod to smoothly slide down, the inclination angle of the turnover rack 12 is ±10°; four-point positioning, cylindrical support is adopted at the bottom of the turnover drill rod box 1, the positioning is fast and accurate, and the base is provided with an opening to prevent the accumulation of sundries such as mud and rock debris.

[0050] In the embodiment of the present disclosure, the turnover drill rod box 1 is provided with a box body 11, and a plurality of turnover racks 12 are arranged in the box body 11; the middle part of the turnover rack 12 is fixedly arranged in the box body 11 through a shaft connecting structure, an angle adjusting assembly 13 is arranged at the end part of the turnover rack 12, and the angle adjusting assembly 13 adjusts the turnover angle of the turnover rack 12 to be -10° to +10°. For example, the box body 11 is composed of a steel plate, a rectangular steel and a lifting ring; the rectangular steel is distributed on the upper and lower sides of the steel plate and serves as a support; the lifting ring is symmetrical in distribution on the left and right sides, ensures uniform force during hoisting of the drill rod box and prevents deformation; the stop rod 15 is a cylinder, has four rods, has a round hole at the upper part and is fixed on the box body 11 through a bolt; during transportation and hoisting, all the four stop rods 15 need to be installed to avoid accidents caused by rolling of the drill rod; when the turnover drill rod box 1 is adjusted to a specified position, the front two stop rods 15 are removed to enable the drill rod to freely roll to the upper drill rod conveying assembly 23; the turnover rack 12 is mainly composed of four rectangular steel plates with a thickness of 10 mm, the left and right sides are bottom plates, and the middle two are connecting plates and are symmetrically welded; a center shaft is arranged at the middle position of the outer side of the bottom plate, a deflection shaft is arranged 300 mm rearward of the center shaft, and the center shaft and the deflection shaft are the same in diameter and length; the center shaft is fixed on the box body 11 through a bearing and an elastic retainer, and the deflection shaft is fixed on the pull plate 135 through an elastic retainer;

[0051] In the embodiments of the present disclosure, the angle adjusting assembly 13 comprises a pull rod 133 and a pull plate 135 fixedly connected from top to bottom, and the pull plate 135 is connected with the turnover frame 12. The pull rod 133 is suspended on the side of the box body 11, and the longitudinal displacement of the pull rod 133 is achieved by the angle adjusting nut 132. For example, the pull rod 133 passes through two layers of extension plates on the side of the box body 11, the top end of the pull rod 133 is screwed with the upper fixed nut 131, the lower part is screwed with the lower fixed nut 134 under the second layer of extension plates, the angle adjusting nut 132 is located between the upper fixed nut 131 and the lower fixed nut 134, and can be painted red to help workers determine the distance that the pull rod 133 needs to move when the turnover frame 12 reaches the required angle; the angle adjusting nut 132, the pull rod 133, the lower fixed nut 134 and the pull plate 135 can cooperate to change the angle of the turnover frame 12; the angle limiting rod 14 is arranged at the lowermost part of the box body 11 and passes through the last layer of the turnover frame 12, the angle limiting rod 14 is a cylinder, there are four of them, the diameter is 20 mm, the length is 60 mm, and they are symmetrically arranged, which are mainly used for limiting the angle of the turnover frame 12 and ensuring that the maximum turning angle is 10°.

[0052] In the embodiment of the present disclosure, the drill rod unloading conveying assembly 22 comprises a second guide rod 221 fixedly arranged, a lifting frame 224 arranged on the second guide rod 221, and the lifting frame 224 is connected with the second guide rod 221 through a lifting oil cylinder 225; a conveying groove 223 is arranged on the top of the lifting frame 224 in a shafting manner, the conveying groove 223 is connected with the lifting frame 224 through a turnover oil cylinder 227, and the conveying groove 223 drives the conveying groove to deflect by 0-50°; a limiting plate 222 is arranged on the inner side of the lifting frame 224, and the limiting plate 222 is connected with the lifting frame 224 through a clamping oil cylinder 228 and a sliding rod 226. In the embodiment of the present disclosure, the conveying groove 223 is a V-shaped groove, and the side of the conveying groove 223 facing the turnover frame 12 is a concave rectangular plate; the limiting plate 222 is a plate body which is wide at the top and narrow at the bottom. In the embodiment of the present disclosure, a travel switch a is arranged on the conveying groove 223; a first proximity switch b is arranged on the second guide rod 221. For example, the diameter of the second guide rod 221 is 50 mm, the length is 950 mm, the surface is plated with chromium to prevent rust, and the single-side thickness is 0.03 mm; the lifting frame 224 is provided with a sliding device at both ends, can move on the second guide rod 221 under the action of the lifting oil cylinder 225, and the rear of the lifting frame 224 is provided with two clamping oil cylinders 228, four sliding rods 226, and the limiting plate 222 can move left and right under the action of the clamping oil cylinder, the moving distance is 70 mm, the both ends are clamped when the drill rod is conveyed, which prevents the drill rod from rolling and at the same time plays a role in precise positioning; the lifting oil cylinder 225 and the clamping oil cylinder 228 are both two, in order to ensure consistent action and prevent the phenomenon of jamming, a shunt valve is arranged on the hydraulic oil circuit; one end of the sliding rod 226 is a smooth cylinder, and the other end is a threaded rod; the smooth cylinder can slide in the track on the lifting frame 224, and has a guiding effect on the limiting plate 222; the limiting plate 222 is a special-shaped body which is wide at the top and narrow at the bottom, the upper part is a square with a length and a width of 150 mm, which facilitates clamping of the drill rod, the lower part is a rectangle with a length of 300 mm and a width of 70 mm, the overall size is small, the installation space is saved, and the upper part is provided with two round holes which are fixed on the threads of the sliding rods 226 through two symmetrical nuts; the conveying groove 223 is welded by two steel plates in a “V” shape, the welding angle is 100°, and the length is 1300 mm; the steel plate close to the drilling machine side of the conveying groove 223 is rectangular with a width of 105 mm, and the steel plate away from the drilling machine side is concave with a maximum width of 260 mm, which facilitates the drill rod to roll back to the drill rod box; one end of the turnover oil cylinder 227 is fixed on the lifting frame 224, and the other end is fixed on the conveying groove 223, the conveying groove 223 can be deflected by 0-50° through the extension and contraction of the oil cylinder; the travel switch a is arranged on the conveying groove 223, the button side exceeds the flat plate by 2-3 mm, and is used for detecting whether there is a drill rod in the conveying groove 223; the first proximity switch b is arranged in the drill rod unloading conveying assembly 22 in a total of five, which is used for detecting the position change of the conveying groove 223, the limiting plate 222 and the lifting frame 224, and meets the working requirements of deflection, clamping and lifting;

[0053] In the embodiment of the present disclosure, the upper drill pipe conveying assembly 23 is provided with a mounting frame 236, a lifting oil cylinder 235 is arranged in the middle of the mounting frame 236, a moving plate 234, a push rod 233 and a push plate 231 are sequentially arranged at the piston end of the lifting oil cylinder 235; a baffle 232 is arranged at the top of the mounting frame 236, the push plate 231 is in butt joint with the baffle 232 and the top of both is a same-direction inclined surface. For example, the mounting frame 236 is composed of a rectangular plate welded together, the flatness requirements of the four upper and lower and left and right surfaces are ensured by post-weld processing, and two round holes are arranged on the upper surface to ensure that the push rod 233 passes through smoothly and guides the movement thereof; the push plate 231 is trapezoidal, the inclination angle of the inclined edge is the same as the angle of the turnover frame 12 in the turnover drill pipe box 1, and both are 10°; the width and length of the push plate 231 are consistent with the mounting frame 236; the push rod 233 is a cylindrical body, both ends of which are threaded; during installation, one end is fixed on the push plate 231 and the other end is fixed on the moving plate 234, and the fixing is achieved through bolts; the piston rod end of the lifting oil cylinder 235 is fixed on the moving plate 234, and the cylinder end is fixed on the mounting frame 236; the moving plate 234 and the push rod 233 are driven to move by the extension and contraction of the oil cylinder, so as to realize the lifting of the push plate 231, and the maximum moving distance is 95 mm; the baffle 232 is fixed on the front end of the mounting frame 236 through four bolts, and the inclination angle of the upper surface of the baffle is the same as the angle of the inclined edge of the push plate 231, both being 10°; the lifting height of the push plate 231 is greater than or equal to the length of the long side of the baffle 232.

[0054] In the embodiment of the present disclosure, a drill pipe box seat 21 is further provided, the drill pipe box seat 21 is provided with a first guide rod 212, a frame body 211 is connected and arranged on the first guide rod 212 through a sliding sleeve 215, a lifting oil cylinder 213 is arranged on the frame body 211, and the lifting oil cylinder 213 controls the movement of the frame body 211 along the first guide rod 212. For example, the first guide rod 212 has a diameter of 100 mm, a length of 1350 mm, and a total of four rods, which are symmetrically arranged and chrome-plated on the surface; the frame body 211 is welded from a steel plate, and has four sliding sleeves 215 at both ends, which can move on the first guide rod 212 under the action of the lifting oil cylinder 213; the number of weighing sensors is four, which are distributed on the four corners of the bottom plate of the frame body 211 and fixed through bolts, and mainly function to detect the weight change of the turnover drill pipe box 1; the piston rod end of the lifting oil cylinder 213 is fixed on the frame body 211, and the cylinder end is fixed on the middle plate 24; the displacement sensor 214 is a magnetostrictive displacement sensor, the main body of which is fixed on the middle plate 24, and the magnetic ring is fixed on the sliding sleeve 215 of the frame body 211, and mainly used for detecting the moving distance of the frame body 211;

[0055] In the embodiment of the present disclosure, the crawler body 3 is also provided, the upper unloading rod device 2 is arranged on the crawler body 3, the upper unloading rod device 2 comprises a plurality of sliding seats 26 arranged on the side of the crawler body 3, a bottom plate 25 is arranged on the sliding seat 26, left and right moving oil cylinders 28 are arranged on the edge of the bottom plate 25, the piston rod end of the left and right moving oil cylinders 28 is fixed on the lower side of the bottom plate 25, and the cylinder barrel end is fixed on the crawler body 3; the middle plate 24 is arranged on the bottom plate 25, the drill rod unloading conveying assembly 22, the drill rod box seat 21 and the upper drill rod conveying assembly 23 are fixed on the middle plate 24, the front and rear moving oil cylinder 27 is arranged on the middle plate 24, the piston end of the front and rear moving oil cylinder 27 is fixed on the middle plate 24, and the cylinder barrel end is fixed on the bottom plate 25; the piston end of the lifting oil cylinder 213 is fixed on the frame body 211, and the cylinder barrel end is fixed on the middle plate 24. Specifically, the upper unloading rod device 2 is located at the front end of the crawler body 3 and is fixed by bolts; the turnover drill rod box 1 is placed in the upper unloading rod device 2 through four cylindrical supports; the motor pump group is transversely arranged at the rear part of the crawler body 3; the operation table is arranged at the hydraulic pump end of the motor pump group, and a locomotive lamp and an electric control box 4 are arranged on the operation table; the oil tank 5 and the cooler are arranged in the form of a support on the upper part of the motor end of the motor pump group; the electromagnetic starter is arranged on the right rear side of the crawler body 3, so that the cable connection is facilitated; the crawler body 3 is arranged with an integral extension oil cylinder and a stabilizing oil cylinder, so as to ensure the stability of the continuous rod supplementing vehicle during continuous rod supplementing vehicle walking and working; the drill rod unloading conveying assembly 22, the drill rod box seat 21 and the upper drill rod conveying assembly 23 are fixed on the middle plate 24 by bolts; the front and rear moving oil cylinder 27 has two, the piston rod end is fixed on the middle plate 24, the cylinder barrel end is fixed on the bottom plate 25, and the fixing is realized through a pin shaft, and the stroke is 300 mm; the left and right moving oil cylinder 28 has a piston rod end fixed on the lower side of the bottom plate 25, and a cylinder barrel end fixed on the crawler body 3, and the fixing is realized through a pin shaft, and the stroke is 100 mm; the sliding seat 26 has a total of 8, is symmetrically arranged, and is fixed on the crawler body 3 by bolts;

[0056] In combination Figure 8 The coal mine underground continuous rod supplementing construction method of the present application sets the drilling machine and the continuous rod supplementing vehicle, and the continuous rod supplementing vehicle is the continuous rod supplementing vehicle for the coal mine underground directional drilling machine mentioned in the present application;

[0057] comprises the following steps:

[0058] Upper rod: after the drilling machine A reaches the designated position, the rotary device is adjusted to the horizontal opening position, and the tray is adjusted to +18°; the continuous rod supplementing vehicle B is arranged side by side with the drilling machine A, the upper and lower rod devices 2 are located at the middle position of the tray, the front end of the upper drilling rod conveying assembly 23 is ensured to be higher than the tray by 20-30 mm, and the horizontal distance from the tray is controlled to be 20-50 mm; the turnover rod box 1 is adjusted to-10° by adjusting the turnover frame 12, the drilling rod rolls to the back of the upper drilling rod conveying assembly 23 under the action of its own gravity; the turnover rod box 1 is raised by 10 mm, a row of drilling rods on the highest layer of the turnover frame 12 freely roll downward, and the first drilling rod is conveyed by the upper drilling rod conveying assembly 23; the drilling rod rolls to the tray under the action of gravity; the drilling rod reaching the tray continues to roll until the bottom end of the tray, and the upper rod is completed under the action of the clamping device and the mechanical arm at the bottom end of the tray; after the drilling rods in the whole turnover rod box 1 complete the upper rod, the single-track crane or the hydraulic lifting arm is used to complete the replacement of the turnover rod box, and then the upper rod of multiple rod boxes is repeatedly completed;

[0059] The upper rod process specifically includes:

[0060] ①Angle adjustment: after the drilling machine A reaches the designated position, the rotary device is adjusted to the horizontal opening position, and the tray is adjusted to +18°;

[0061] ②Alignment: the continuous rod supplementing vehicle B is arranged side by side with the drilling machine A, the upper and lower rod devices 2 are located at the middle position of the tray, the track vehicle body 3 is leveled by using the extending oil cylinder and the stabilizing oil cylinder, the front and rear moving oil cylinder 27 and the left and right moving oil cylinder 28 are used to realize the fine adjustment of the turnover rod box 1, the front end of the upper drilling rod conveying assembly 23 is ensured to be higher than the tray by 20-30 mm, and the horizontal distance from the tray is controlled to be 20-50 mm;

[0062] ③Pulling the stop rod: the turnover frame 12 of the turnover rod box 1 is adjusted to-10° by adjusting the mutual arrangement of the upper fixed nut 131, the angle adjusting nut 132, the pull rod 133, the lower fixed nut 134 and the pull plate 135, and the front two stop rods 15 are pulled out;

[0063] ④Rolling the rod once: the drilling rod freely rolls to the back of the upper drilling rod conveying assembly 23 under the action of its own gravity;

[0064] ⑤Raising the box: the drilling rod box is raised by 10 mm by using the lifting oil cylinder 213, a row of drilling rods on the highest layer of the turnover frame 12 freely roll downward, the first drilling rod is blocked by the baffle 232 of the upper drilling rod conveying assembly 23, and the whole is placed on the push plate 231;

[0065] ⑥Lifting the rod: the push plate 231 drives the first drilling rod to rise by using the lifting oil cylinder 235 to elongate the moving plate 234 and the push rod 233 to move upward, and then the push plate 231 drives the first drilling rod to rise when the push plate 231 is higher than the upper inclined surface of the baffle 232, and the drilling rod rolls to the tray under the action of gravity;

[0066] ⑦Second time roll rod: the drill pipe reaching the tray continues to roll until the bottom end of the tray, and the drill pipe is completed to be lifted by the clamp device and the manipulator at the bottom end of the tray;

[0067] ⑧Push plate: the push plate 231 is lowered by the lifting oil cylinder 235, and the second drill pipe on the highest layer of the turnover rack 12 is freely rolled onto the push plate 231;

[0068] ⑨Repeat ⑥-⑦ to complete the lifting of the second drill pipe; repeat ⑧, ⑥-⑦ to realize the lifting of the third to sixth drill pipes;

[0069] ⑩Detection: when the drill pipes on the highest layer of the turnover drill pipe box 1 are completed to be lifted, the weight sensor detects that the weight of the turnover drill pipe box 1 is reduced by 270 kg, and the turnover drill pipe box 1 is automatically raised by 140 mm under the action of the lifting oil cylinder 213, and the second row of drill pipes is rolled onto the push plate 231 under the action of gravity;

[0070] Repeat ⑥-⑨ to complete the lifting of the entire row of drill pipes;

[0071] Repeat ⑩- Complete the lifting of the third to fifth rows of drill pipes in the turnover drill pipe box 1.

[0072] When the drill pipes in the entire turnover drill pipe box 1 are completed to be lifted, the replacement of the turnover drill pipe box is completed by using a monorail crane or a hydraulic lifting arm, and then repeat ③- Complete the lifting of the drill pipes in multiple drill pipe boxes to meet the length requirements of construction.

[0073] Rod unloading: when the drilling is completed, the drill pipes will be unloaded, the turnover drill pipe box 1 will be moved backward, the tray of the drilling machine A will be adjusted to-5°, the entire machine will be lowered by using the stabilizing oil cylinder until the distance between the tray edges of the drill pipe unloading conveying assembly 22 is within the range of 10-20 mm and the height difference is within the range of 20-30 mm, the turnover rack 12 of the turnover drill pipe box 1 is adjusted to 10°, at this time, the turnover drill pipe box 1 is at the highest position, the height of the working surface of the drill pipe unloading conveying assembly 22 is greater than the height of the drill pipe lifting conveying assembly 23, the first drill pipe is placed on the tray by using the manipulator on the drilling machine A, the drill pipe is rolled onto the drill pipe unloading conveying assembly 22 under the action of gravity due to the negative angle of the tray, the drill pipe unloading conveying assembly 22 is higher than the height of the bottommost layer of the turnover rack 12 of the turnover drill pipe box 1, the drill pipe is rolled onto the bottommost layer of the turnover plate of the turnover drill pipe box 1 under the action of gravity until the bottommost end, the height of the turnover drill pipe box 1 is sequentially lowered, the next layer of drill pipes is filled, the entire turnover drill pipe box 1 is filled with drill pipes, when the entire turnover drill pipe box 1 is filled with drill pipes, the replacement of the turnover drill pipe box is completed by using a monorail crane or a hydraulic lifting arm, the turnover rack 12 in the empty turnover drill pipe box 1 is adjusted to 10°, so that the bottommost layer of the turnover plate is at the highest position, the drill pipe filling of the empty turnover drill pipe box 1 is completed, and the drill pipe unloading of the drilling machine A is completed.

[0074] The process of unloading the rod specifically includes:

[0075] ① Angle adjustment: after the drilling is completed, the unloading of the drill rod will be started. The front and rear moving cylinder 27 is used to move the turnover drill rod box 1 backward, and the tray of the drilling machine A is adjusted to -5°;

[0076] ② Alignment: the front and rear moving cylinder 27 is used again to move the turnover drill rod box 1 forward, and the whole machine is lowered by using the stabilizing cylinder until the conveying groove 223 of the unloading drill rod conveying assembly 22 is horizontally away from the edge of the tray within the range of 10-20 mm, and the height difference is within the range of 20-30 mm;

[0077] ③ Angle turning: the turnover frame 12 of the turnover drill rod box 1 is adjusted to 10° by using the mutual cooperation between the upper fixed nut 131, the angle adjusting nut 132, the pull rod 133, the lower fixed nut 134 and the pull plate 135, at this time, the turnover drill rod box 1 is at the highest position;

[0078] ④ First rod rolling: the first drill rod is placed on the tray by using the mechanical hand on the drilling machine A, since the angle of the tray is negative, the drill rod is rolled to the conveying groove 223 of the unloading drill rod conveying assembly 22 under the action of gravity;

[0079] ⑤ Rod lifting: the travel switch a detects that there is a drill rod in the conveying groove 223, under the action of the lifting cylinder 225, the drill rod is lifted, when the travel reaches 590 mm, at this time, the conveying groove 223 is higher than the height of the lowest turnover frame 12 of the turnover drill rod box 1;

[0080] ⑥ Rod turning: the conveying groove 223 is turned inward by 50° by using the turnover cylinder 227, the drill rod is rolled to the lowest turnover plate of the turnover drill rod box 1 under the action of gravity until the lowest end;

[0081] ⑦ Position falling: the conveying groove 223 is turned outward to the horizontal by using the turnover cylinder 227, and the conveying groove 223 is lowered to the original position by using the lifting cylinder 225;

[0082] ⑧ Repeat ④-⑦, and place 6 drill rods on the lowest turnover frame 12 of the turnover drill rod box 1;

[0083] ⑨ Detection: when there are 6 drill rods on the lowest turnover frame 12 of the turnover drill rod box 1, the weight sensor detects that the weight of the turnover drill rod box 1 increases by 270 kg;

[0084] ⑩ Box falling: the height of the turnover drill rod box 1 is lowered by 140 mm by using the lifting cylinder 213, and the next lowest drill rod is filled

[0085] Repeat ④-⑧ to fill the next lowest drill rod;

[0086] Repeat 9, 4-8, fill the whole turnover drill pipe box 1 with drill pipes, and install two stop rods;

[0087] When the whole turnover drill pipe box 1 is filled with drill pipes, the replacement of the turnover drill pipe box is completed by using a monorail crane or a hydraulic boom, the turnover frame 12 in the empty turnover drill pipe box 1 is adjusted to 10°, and the bottommost turnover plate is in the high position by using the lifting oil cylinder 213;

[0088] Repeat 4- The drill pipe filling of the empty turnover drill pipe box 1 is completed.

[0089] Repeat The drill pipe unloading of the drilling rig A is completed.

[0090] The continuous drill pipe filling vehicle for the automatic directional drilling rig in the coal mine has the advantages of flexible movement, large amount of drill pipes carried, high efficiency of drill pipe loading and unloading, multi-degree-of-freedom and high-precision drill pipe loading device, large capacity, turnover, quick replacement of the turnover drill pipe box, short auxiliary time, strong adaptability to the roadway, no need for manual filling during construction, meeting the needs of the automatic directional drilling rig, reducing the labor intensity of workers, and further improving the automation and intelligent level of the drilling equipment.

[0091] The above describes the preferred embodiments of the present disclosure in detail, but the present disclosure is not limited to the specific details in the above embodiments, and various simple modifications can be made to the technical solutions of the present disclosure within the technical concept of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0092] In addition, it should be noted that various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, the present disclosure will not further describe various possible combination manners.

[0093] In addition, various different embodiments of the present disclosure can also be combined in any appropriate manner, as long as they do not deviate from the idea of the present disclosure, and they should also be considered as disclosed by the present disclosure.

Claims

1. A continuous rod supply vehicle for use with an underground coal mine directional drill, characterized by, The application discloses a rotary drilling rod box (1), and an upper rod loading and unloading device (2) is arranged on one side of the rotary drilling rod box (1). The rotary drilling rod box (1) is internally provided with multiple rotary racks (12), and the rotary angle of the rotary rack (12) is -10° to +10°. The upper rod loading and unloading device (2) comprises an upper drilling rod conveying assembly (23) arranged close to the rotary drilling rod box (1) and a drilling rod unloading conveying assembly (22) arranged adjacent to the upper drilling rod conveying assembly (23). When the rotary angle of the rotary rack (12) is -10°, the upper drilling rod conveying assembly (23) is connected with the rotary rack (12) in the same direction to convey the upper drilling rod. When the rotary angle of the rotary rack (12) is +10°, the drilling rod unloading conveying assembly (22) is connected with the rotary rack (12) in the same direction to convey the lower drilling rod.

2. The continuous rod supply vehicle for underground coal mine directional drilling rig according to claim 1, characterized in that, The rotary drilling rod box (1) is provided with a box body (11), and multiple rotary racks (12) are arranged in the box body (11). The rotary rack (12) is fixedly arranged in the box body (11) through a shaft connecting structure, an angle adjusting assembly (13) is arranged in the end of the rotary rack (12) through a shaft connection, and the angle adjusting assembly (13) adjusts the rotary angle of the rotary rack (12) to be -10° to +10°.

3. The continuous rod supply vehicle for underground coal mine directional drilling rigs according to claim 2, characterised in that, The angle adjusting assembly (13) comprises a pull rod (133) and a pull plate (135) which are fixedly and sequentially arranged from top to bottom, and the pull plate (135) is connected with the rotary rack (12) through a shaft. The pull rod (133) is suspended on the side of the box body (11) and is longitudinally displaced back and forth through an angle adjusting nut (132).

4. The continuous rod supply vehicle for underground coal mine directional drilling rig according to claim 1 or 2, characterized in that, The drilling rod unloading conveying assembly (22) comprises a second guide rod (221) which is fixedly arranged, a lifting frame (224) is arranged on the second guide rod (221), and the lifting frame (224) and the second guide rod (221) are connected through a lifting oil cylinder (225). A conveying groove (223) is arranged on the top of the lifting frame (224) through a shaft, the conveying groove (223) and the lifting frame (224) are connected through a rotary oil cylinder (227), the conveying groove is driven to be deflected by 0-50°, the inner side of the lifting frame (224) is provided with a limiting plate (222), and the limiting plate (222) and the lifting frame (224) are connected through a clamping oil cylinder (228) and a sliding rod (226). The conveying groove (223) is a V-shaped groove, and the side of the conveying groove (223) facing the rotary rack (12) is a concave rectangular plate.

5. The continuous rod supply vehicle for underground coal mine directional drilling rigs as claimed in claim 4, characterised in that, The limiting plate (222) is a plate body which is wide at the top and narrow at the bottom. A stroke switch (a) is arranged on the conveying groove (223), and a first proximity switch (b) is arranged on the second guide rod (221).

6. The continuous rod supply vehicle for underground coal mine directional drilling rigs according to claim 4, characterized in that, The upper drilling rod conveying assembly (23) is provided with a mounting frame (236), a lifting oil cylinder (235) is arranged in the middle of the mounting frame (236), a moving plate (234), a push rod (233) and a push plate (231) are sequentially arranged on the piston end of the lifting oil cylinder (235).

7. The continuous rod supply vehicle for underground coal mine directional drilling rig according to claim 1 or 2, characterized in that, A baffle (232) is arranged on the top of the mounting frame (236), the push plate (231) and the baffle (232) are in abutment and the top of each is a same-direction inclined surface. ​ 8. The continuous rod supply vehicle for underground coal mine directional drilling rig according to claim 1 or 2, characterized in that, Also provided is a drill rod box seat (21), the drill rod box seat (21) is provided with a first guide rod (212), a frame body (211) is connected to the first guide rod (212) through a sliding sleeve (215), a lifting oil cylinder (213) is arranged on the frame body (211), and the lifting oil cylinder (213) controls the frame body (211) to move along the first guide rod (212).

9. The continuous rod supply vehicle for underground coal mine directional drilling rigs according to claim 8, characterised in that, Also provided is a track vehicle body (3), an upper and lower rod device (2) is arranged on the track vehicle body (3), the upper and lower rod device (2) comprises a plurality of sliding seats (26) arranged on the side of the track vehicle body (3), a bottom plate (25) is arranged on the sliding seat (26), left and right moving oil cylinders (28) are arranged on the edge of the bottom plate (25), the piston rod end of the left and right moving oil cylinders (28) is fixed to the lower side of the bottom plate (25), and the cylinder barrel end is fixed to the track vehicle body (3); A middle plate (24) is arranged on the bottom plate (25), the drill rod unloading conveying assembly (22), the drill rod box seat (21) and the drill rod loading conveying assembly (23) are fixed to the middle plate (24), and front and rear moving oil cylinders (27) are arranged on the middle plate (24), the piston end of the front and rear moving oil cylinders (27) is fixed to the middle plate (24), and the cylinder barrel end is fixed to the bottom plate (25); The piston end of the lifting oil cylinder (213) is fixed to the frame body (211), and the cylinder barrel end is fixed to the middle plate (24).

10. A method for continuous rod replacement construction in a coal mine underground, a drilling machine and a continuous rod replacement vehicle are provided, characterized in that, The continuous rod supplementing vehicle is the continuous rod supplementing vehicle for the directional drilling machine in any one of claims 1-9; Comprise the following steps: Rod loading: after the drilling machine (A) reaches the specified position, the rotary device is adjusted to the horizontal opening position, the tray is adjusted to +18°, the continuous rod supplementing vehicle (B) is arranged side by side with the drilling machine (A), the upper and lower rod device (2) is located in the middle position of the tray, the front end of the drill rod loading conveying assembly (23) is ensured to be higher than the tray by 20-30 mm, and the horizontal distance from the tray is controlled to be within 20-50 mm; The turnover drill rod box (1) is adjusted to-10°, and the drill rod rolls to the rear of the drill rod loading conveying assembly (23) under the action of its own gravity; The turnover drill rod box (1) is lifted by 10 mm, a row of drill rods on the highest layer of the turnover frame (12) freely roll downwards, the first drill rod is blocked and lifted by the drill rod loading conveying assembly (23), the drill rod rolls to the tray under the action of gravity, and the drill rod reaching the tray continues to roll until the bottom end of the tray, and the rod loading is completed under the action of the clamping device and the manipulator at the bottom end of the tray; after the drill rods in the whole turnover drill rod box (1) complete the rod loading, the turnover drill rod box is replaced by using a monorail crane or a hydraulic lifting arm, and then the rod loading of multiple drill rod boxes is repeatedly completed; Rod unloading: When the drilling is completed, the drill rod unloading is started, the turnover drill rod box (1) is moved backward, the tray of the drilling machine (A) is adjusted to-5°, the whole machine is lowered by using the stable oil cylinder until the horizontal distance between the tray edge of the drill rod unloading conveying assembly (22) is within 10-20 mm, and the height difference is within 20-30 mm. Adjust the turnover frame (12) of the turnover pipe rack (1) to 10°, at this time the turnover pipe rack (1) is in the highest position; the height of the unloading pipe conveying assembly (22) is greater than the height of the loading pipe conveying assembly (23); Put the first pipe on the tray by the mechanical arm on the drilling rig (A), since the angle of the tray is negative, the pipe rolls to the unloading pipe conveying assembly (22) under the action of gravity; The unloading pipe conveying assembly (22) is higher than the height of the lowest turnover frame (12) of the turnover pipe rack (1); The pipe rolls to the lowest turnover plate of the turnover pipe rack (1) under the action of gravity until the lowest end; Lower the height of the turnover pipe rack (1) in turn to fill the next layer of pipes; fill the entire turnover pipe rack (1) with pipes; When the entire turnover pipe rack (1) is filled with pipes, replace the turnover pipe rack by a monorail or hydraulic boom, adjust the turnover frame (12) of the empty turnover pipe rack (1) to 10°, so that the lowest turnover plate is in the highest position; complete the pipe filling of the empty turnover pipe rack (1) and complete the pipe unloading of the drilling rig (A).

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