Crawler-type multifunctional omnidirectional automatic drilling machine for coal mine

Abstract

The application discloses a coal mine-used tracked multifunctional omnibearing automatic drilling machine, which comprises a tracked vehicle, a drill rod storage and taking device, a drilling device, a hydraulic system and an automatic control system, the drill rod storage and taking device comprises a drill rod box, a first guide rail, a manipulator and a cleaning device, the drilling device comprises an anchoring platform, a drilling frame, a gripper and a power head, and a water supply transmission device is arranged in the output main shaft of the power head. The drill rod box and the drilling device are integrated on the same rotary platform, a single multi-degree-of-freedom manipulator is arranged, a wrist part is arranged in the manipulator, the manipulator is more flexible and changeable, the drill rod grabbing efficiency is greatly improved compared with other drilling machines (double manipulators or triple manipulators), the partition plate of the inner box frame is designed as two-section insertion type, the partition plate spacing and the number of the partition plates loaded can be changed according to the drilling depth or the drill rod size, the cleaning device is arranged to clean the drill rod when the drill rod is recycled, and the gripper and the chuck are cleaned after drilling.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of drilling equipment, in particular to a caterpillar type multifunctional omnidirectional automatic drilling machine for coal mines. BACKGROUND

[0002] More and more caterpillar type automatic drilling machines are used in underground coal mines. A drill rod box is usually installed on a caterpillar vehicle, and a multi-degree-of-freedom manipulator is usually arranged between the drill rod box and a drilling device. The manipulator needs to complete actions such as lifting, horizontal rotation and vertical rotation between the drill rod box and a gripper arranged at the front end of the drilling machine, so as to take out the drill rod in the drill rod box and send it to the gripper, or to take out the drill rod in the gripper and put it back into the drill rod box.

[0003] The drill rod box is arranged on the caterpillar vehicle and is used for temporary storage of drill rods, and needs to have the characteristics of facilitating storage and taking of the drill rods. However, the existing caterpillar type drilling machine has the following shortcomings:

[0004] 1. For a drilling device with omnidirectional drilling, the drilling device is usually placed on a separate rotating platform, so that the drill rod box and the drilling device are not on the same platform, and 2-3 manipulators are needed to send the drill rod from the drill rod box to the drilling device, so that the efficiency of the manipulator in taking the drill rod is low.

[0005] 2. The height and width of the drill rod box are fixed and cannot be changed, so that the manipulator needs to be lifted to a large height to take or store the drill rod. The partition is fixed and can only store drill rods of a certain specification. The width is fixed and the drill rods cannot be arranged in order before use.

[0006] 3. The caterpillar type drilling machine used in underground coal mines usually disperses oil tanks, drilling devices, pump stations, electrical switches, electrical control boxes and instrument racks on the platform of the caterpillar vehicle. For an omnidirectional automatic drilling machine, if the original arrangement mode is continued, the arrangement of the drill rod box and the drill rod conveying and recycling device will make the length of the entire caterpillar vehicle longer and the center of gravity higher.

[0007] 4. The working environment in the underground coal mine is very poor, with a lot of dust and stones. It is difficult to clean the dust and stones on the surface or inside of the recycled drill rod, and the drill rod is easy to be stuck, so that workers need to clean the drill rod box at irregular times.

[0008] 5. The working environment in the underground coal mine is very poor, and dust and stones are easy to accumulate in the gap between the chucks or the slips of the gripper. In order to clamp the drill rod, manual cleaning and flushing need to be performed at regular times.

[0009] Aiming at the above problems, a coal mine track type multifunctional all-directional automatic drilling machine is designed, the drill pipe box and the drilling device are integrated on the same rotary platform, a single manipulator with multiple degrees of freedom is adopted, the drill pipe grabbing efficiency is greatly improved, the inner box frame of the drill pipe is set as two slidable inner box frames, the drill pipe is easy to center, the middle part of the drill pipe is easy to grab, the partition plate of the half box frame is designed as two insertion types, the interval of the partition plate can be changed according to the drilling depth or the size of the drill pipe, and whether the lower half of the partition plate is loaded or not; the oil tank and the pump station are embedded into the track vehicle body, the electric switch, the operating platform and the electric control box are integrated on the top of the oil tank, the gravity center of the whole machine is reduced, and the length of the track vehicle is controlled; the cleaning device is arranged, the drill pipe is cleaned when the drill pipe is recycled, and the gripper and the chuck are cleaned after drilling. SUMMARY

[0010] Therefore, the coal mine track type multifunctional all-directional automatic drilling machine is provided, the drill pipe box and the drilling device are integrated on the same rotary platform, the drill pipe grabbing efficiency is improved, the partition plate of the inner box frame is designed as two insertion types, the interval of the partition plate can be changed according to the drilling depth or the size of the drill pipe, and whether the lower half of the partition plate is loaded or not; the oil tank and the pump station are embedded into the track vehicle body, the electric switch, the operating platform and the electric control box are integrated on the top of the oil tank, the gravity center of the whole machine is reduced, and the length of the track vehicle is controlled; the cleaning device is arranged, the drill pipe is cleaned when the drill pipe is recycled, and the gripper and the chuck are cleaned after drilling.

[0011] The coal mine track type multifunctional all-directional automatic drilling machine is realized by the following technical scheme:

[0012] A coal mine track type multifunctional all-directional automatic drilling machine, comprising a track vehicle, a drill pipe storage and taking device, a drilling device, a hydraulic system and an automatic control system,

[0013] One end of the inner cavity of the track vehicle body is embedded from outside to inside in sequence with an oil tank and a pump station, and the other end of the top is provided with a rotary platform;

[0014] The inner side of the rotary platform is connected with the drill pipe storage and taking device, and the outer side is connected with the drilling device;

[0015] The drill pipe storage and taking device comprises a drill pipe box arranged on the rotary platform, first guide rails arranged on both sides of the drill pipe box, a manipulator slidingly arranged on the two first guide rails and a cleaning device arranged on the manipulator; the cleaning device is used for spraying and washing the drill pipe, the gripper and the chuck on the power head;

[0016] The mechanical arm comprises a liftable door-type frame slidingly arranged on the two first guide rails, a mechanical arm frame arranged in the door-type frame, a wrist arranged at the lower end of the mechanical arm frame, a clamping mechanism arranged on the wrist, and a first moving mechanism for moving the door-type frame along the corresponding first guide rails;

[0017] The cleaning device comprises a cleaning seat plate arranged at the top end of the door-type frame, a second guide rail arranged on the cleaning seat plate, a second moving mechanism slidingly arranged on the second guide rail, a telescopic longitudinal arm slidingly arranged on the second guide rail, second sliding blocks slidingly arranged on both sides of the second guide rail for fixing the second moving mechanism and the telescopic longitudinal arm, a first rotating mechanism arranged at the outer end of the telescopic longitudinal arm, a vertical arm arranged on the first rotating mechanism, a first water spraying mechanism arranged at the lower end of the vertical arm, a second water spraying mechanism arranged on the side wall of the vertical arm, a second rotating mechanism arranged at the upper part of the vertical arm, a swing telescopic arm arranged on the second rotating mechanism, a third rotating mechanism arranged at the other end of the swing telescopic arm, and a third water spraying mechanism arranged on the third rotating mechanism;

[0018] The drill pipe box comprises an outer box body connected with the rotating platform, inner box frames slidingly arranged on both sides of the outer box body, a box driving device arranged between the two inner box frames for driving the two inner box frames to slide, and a plurality of box guide rails arranged between the outer box body and the two inner box frames;

[0019] The drilling device comprises an anchoring platform connected with the rotating platform, a drilling frame rotatably arranged on the anchoring platform, a clamp arranged at one end of the drilling frame, and a power head slidingly arranged on the drilling frame;

[0020] The output main shaft of the power head is provided with a water supply transmission device; the water supply transmission device comprises a transmission rod assembly arranged in the output main shaft of the power head and a water supply assembly arranged in the transmission rod assembly.

[0021] Further, the first moving mechanism comprises first sliding blocks arranged on both sides of the corresponding first guide rails, a first driving box arranged on the two first sliding blocks, a first driving gear arranged on the first driving box, and a first driving motor arranged on the first driving box; the first guide rail is provided with a first rack engaged with the first driving gear; the two sides of the door-type frame are connected with the corresponding first sliding blocks;

[0022] The second moving mechanism comprises a second rack provided on the second guide rail, a second driving box provided on the corresponding two second sliders, a second driving gear rotatably provided on the second driving box and engaged with the second rack, and a second driving motor provided on the second driving box and used to drive the second driving gear to rotate.

[0023] Further, the wrist comprises a first wrist connected with the mechanical arm frame and used to drive the clamping mechanism to rotate in a vertical plane, and a second wrist provided on the first wrist and used to drive the clamping mechanism to rotate in a horizontal plane.

[0024] The first wrist is provided with a rotation angle limiting mechanism, which comprises an arc-shaped stopper provided on the outer shell of the first wrist and a limiting block provided on the first bowl shaft of the first wrist.

[0025] The clamping mechanism comprises a clamping connecting sleeve connected with the second wrist, a fixed clamping seat provided on the clamping connecting sleeve, a movable clamping block rotatably provided on the fixed clamping seat, and a clamping oil cylinder provided on the fixed clamping seat and used to drive the movable clamping block to rotate.

[0026] Further, the first water spraying mechanism comprises a first water spraying seat provided at the lower end of the vertical arm and two first nozzles provided on the first water spraying seat.

[0027] The second water spraying mechanism comprises a second water spraying seat provided on the side wall of the vertical arm and a second nozzle provided on the first water spraying seat.

[0028] The third water spraying mechanism comprises a water spraying frame provided on the rotating part of the third rotating mechanism, a third nozzle provided on the water spraying frame, and a water distribution connector provided on the fixed part of the third rotating mechanism.

[0029] Further, the anchoring platform comprises two anchoring support oil cylinders, a sliding frame slidably provided on the two anchoring support oil cylinders, a sliding oil cylinder provided between the sliding frame and the rotating platform, and a second rotating device provided on the sliding frame and used to connect the drilling frame.

[0030] Further, the transmission rod assembly comprises a rod body and a connecting head detachably provided at one end of the rod body.

[0031] The rod body comprises a first flange, a rod body, and a first connecting disc integrally provided.

[0032] The connecting head comprises a second connecting disc and a threaded joint integrally provided.

[0033] Further, the water supply assembly comprises a water supply sleeve detachably connected with the rod body, a water supply shaft rotatably arranged in the water supply sleeve, and a water distribution seat rotatably arranged at an outer end of the water supply shaft extending out of the water supply sleeve.

[0034] The water supply sleeve comprises a sleeve body connected with the rod body, a sealing sleeve seat detachably arranged at one end of the sleeve body, and a sleeve cover detachably arranged at the other end of the sleeve body.

[0035] Further, the inner box frame comprises an inner box frame body and a plurality of partition plates inserted into the inner box frame body.

[0036] The inner box frame body comprises an integrated frame bottom plate, a frame vertical plate, and two side frame plates.

[0037] Further, the automatic control system comprises an electric control box and an operating platform; the top of the rear side of the oil tank is sequentially provided from inside to outside with the operating platform and an electric switch, and the top of the front side is provided with the electric control box.

[0038] Firstly, the inner box of the drill rod is arranged as two inner box frames which are slidable, facilitating the centering of the drill rod; before conveying the drill rod, the two inner box frames are moved inwards and outwards multiple times by the box body driving device, and the middle plane of the drill rod is located in the same vertical plane through multiple shaking, facilitating the mechanical hand to grab the middle part of the drill rod; when storing and taking the drill rod, the two inner box frames are moved outwards by a certain distance, so that the distance between the two ends of the drill rod and the inner wall of the box is increased, facilitating the mechanical hand to store and take the drill rod.

[0039] Secondly, the arrangement position of the drill rod box is that the drill rod box and the drilling device are integrated on the same rotary platform, and a single multi-degree-of-freedom mechanical hand is arranged, the mechanical hand is more flexible and changeable through the arrangement of the wrist part in the mechanical hand, the number of mechanical hands is reduced relative to other drilling machines (using double mechanical hands or triple mechanical hands), and the drill rod grabbing efficiency is greatly improved.

[0040] Thirdly, the present application adopts the structure form of single gripper + active drill rod + built-in water identification + chuck, and the efficiency of disassembling and adding drill rods is high (relative to double grippers), and the fault handling capability is strong, such as drill jamming and thread jamming.

[0041] Fourthly, through the arrangement of the drill rod cleaning device, in the drill rod recycling process, the first water spraying mechanism is moved above the drill rod through the telescopic vertical arm, the first water spraying mechanism is driven to move along the axial direction of the drill rod to flush the drill rod through the second driving mechanism; the first rotating mechanism swings back and forth along the drill rod section to flush; after flushing is completed, the drill rod is clamped by the mechanical hand, and then the drill rod is rotated by a certain angle through the second wrist part, so as to facilitate the second water spraying mechanism to flush the inner cavity of the drill rod; the cleaned drill rod is recycled into the drill rod box by the mechanical hand; at the same time, the two inner box frames are moved to the outside, so as to facilitate the placement of the drill rod.

[0042] Fifth, after the completion of the recovery of the drill pipe, 1) the clamp holder flushing: through the second rotary mechanism to swing the telescopic arm to the vertical below, and then through the third rotary mechanism to adjust the third water spray mechanism to the upper half of the inner hole of the clamp holder, through the second drive mechanism along the axial direction of the clamp holder to flush, and at the same time through the telescopic longitudinal arm to move back and forth to complete the flushing along the cross section direction of the clamp holder; after the completion of the flushing of the upper half of the clamp holder, through the third rotary mechanism to adjust the third water spray mechanism to point to the lower half of the inner hole of the clamp holder, and adopt the above flushing method to complete the flushing of the lower half of the clamp holder; 2) chuck flushing, through the third rotary mechanism to adjust the third water spray mechanism to the upper half of the inner hole of the chuck, through the second drive mechanism along the axial direction of the chuck to flush, and at the same time through the telescopic longitudinal arm to move back and forth to complete the flushing along the cross section direction of the chuck; after the completion of the flushing of the upper half of the chuck, through the third rotary mechanism to adjust the third water spray mechanism to point to the lower half of the inner hole of the chuck, and adopt the above flushing method to complete the flushing of the lower half of the chuck.

[0043] Sixth, the oil tank and the pump station are embedded into the tracked vehicle body, the electric switch, the operating platform and the electric control box are integrated on the top of the oil tank, so as to reduce the gravity center of the whole machine and be beneficial to control the length of the tracked vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 It is a schematic view of the overall structure of the present application;

[0045] Figure 2 It is a schematic view of the bottom view of the present application;

[0046] Figure 3 It is a schematic view of the drill pipe storage and taking device of the present application;

[0047] Figure 4 It is a schematic view of the mechanical hand of the present application;

[0048] Figure 5 It is a schematic view of the first moving mechanism of the present application;

[0049] Figure 6 It is a schematic view of the clamp mechanism and the wrist of the present application;

[0050] Figure 7 It is a schematic view of the drilling device of the present application;

[0051] Figure 8 It is a schematic view of the half of the partition plate of the drill pipe box of the present application;

[0052] Figure 9 It is a schematic view of the cleaning device of the present application;

[0053] Figure 10 It is a schematic view of the third water spray mechanism of the present application. DETAILED DESCRIPTION

[0054] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0055] 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.

[0056] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0057] In the above description of the present invention, it should be noted that the terms "one side," "the other side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is conventionally placed during use. These terms are used only for the convenience of describing the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0058] Furthermore, terms such as "identical" do not imply that components must be absolutely identical; minor differences are permissible. The term "perpendicular" simply means that the positional relationship between components is more perpendicular than "parallel," not that the structure must be perfectly perpendicular; a slight tilt is acceptable.

[0059] like Figures 1-10 As shown, a tracked multi-functional omnidirectional automatic drilling rig for coal mines includes a tracked vehicle 100, a drill rod storage and retrieval device 200, a drilling device 300, a hydraulic system 400, and an automatic control system 500. In implementation, the hydraulic system is hydraulically connected to the tracked vehicle, the drill rod storage and retrieval device, and the drilling device, and is used to drive the tracked vehicle to move, store and retrieve drill rods, adjust the position of the drilling device, and drill / retract drill rods. The automatic control system is electrically connected to the drill rod storage and retrieval device and the drilling device, and is used to control the position adjustment and anchoring of the drilling device, automatic drilling / retracting of drill rods, and automatic storage and retrieval of drill rods by the drill rod storage and retrieval device.

[0060] One end of the inner cavity of the vehicle body 110 of the tracked vehicle 100 is embedded with the oil tank 310 and the pump station 320 from outside to inside, and the other end of the top is provided with the rotary platform 120; the oil tank and the pump station are embedded in the tracked vehicle body, the electric switch, the control table and the electric control box are integrated on the top of the oil tank, which is convenient for reducing the gravity center of the whole machine and is beneficial to control the length of the tracked vehicle;

[0061] The rotary platform 120 is connected with the drill pipe storage and taking device 200 on the inner side and connected with the drilling device 300 on the outer side;

[0062] The drill pipe storage and taking device 200 comprises a drill pipe box 210 arranged on the rotary platform 120, first guide rails 220 arranged on both sides of the drill pipe box 210, a mechanical hand 230 slidingly arranged on the two first guide rails 220, and a cleaning device 240 arranged on the mechanical hand 230; the cleaning device is used for spraying and washing the chuck on the drill pipe, the gripper and the power head; in implementation, the drill pipe inner box is arranged as two inner box frames which can slide, which is convenient for drill pipe centering; before conveying the drill pipe, the two inner box frames are moved inwards and outwards multiple times through the box body driving device, and the middle plane of the drill pipe is located in the same vertical plane through multiple shaking, which is convenient for the mechanical hand to clamp the middle part of the drill pipe; when the drill pipe is stored and taken, the two inner box frames are moved outwards by a certain distance, so that the distance between the two ends of the drill pipe and the inner wall of the box is increased, which is convenient for the mechanical hand to store and take the drill pipe;

[0063] The mechanical hand 230 comprises a liftable door-shaped frame 231 slidingly arranged on the two first guide rails 220, a mechanical hand frame 232 arranged in the door-shaped frame 231, a wrist part 233 arranged at the lower end of the mechanical hand frame, a clamping mechanism 234 arranged on the wrist part 233, and a first moving mechanism 235 for moving the door-shaped frame 231 along the corresponding first guide rail 220; in implementation, the arrangement position of the drill pipe box is that the drill pipe box and the drilling device are integrated on the same rotary platform, a single multi-degree-of-freedom mechanical hand is arranged, the mechanical hand is more flexible and changeable through the arrangement of the wrist part in the mechanical hand, the number of mechanical hands is reduced relative to other drilling machines (adopting double mechanical hands or triple mechanical hands), and the drill pipe grabbing efficiency is greatly improved;

[0064] The cleaning device 240 comprises a cleaning seat plate 241 arranged at the top end of the door-shaped frame 231, a second guide rail 242 arranged on the cleaning seat plate 241, a second moving mechanism 243 slidingly arranged on the second guide rail 242, a telescopic longitudinal arm 244 slidingly arranged on the second guide rail 242, second sliding blocks 245 slidingly arranged on both sides of the second guide rail 242 and used for fixing the second moving mechanism 243 and the telescopic longitudinal arm 244, a first rotating mechanism 246 arranged at the outer end of the telescopic longitudinal arm 244, a vertical arm 247 arranged on the first rotating mechanism 246, a first water spraying mechanism 248 arranged at the lower end of the vertical arm 247, a second water spraying mechanism 249 arranged on the side wall of the vertical arm 247, a second rotating mechanism 250 arranged at the upper part of the vertical arm 247, an oscillating telescopic arm 251 arranged on the second rotating mechanism 250, a third rotating mechanism 252 arranged at the other end of the oscillating telescopic arm 251, and a third water spraying mechanism 253 arranged on the third rotating mechanism 252; through the arrangement of the drill rod cleaning device, during the drill rod recovery process, the first water spraying mechanism is first moved to above the drill rod through the telescopic longitudinal arm, the first water spraying mechanism is driven to move along the axial direction of the drill rod for flushing the drill rod through the second driving mechanism; the first rotating mechanism swings back and forth along the cross section of the drill rod for flushing; after the flushing is completed, the drill rod is clamped by the mechanical hand, and then the drill rod is rotated by a certain angle through the second wrist, so that the inner cavity of the drill rod is conveniently flushed by the second water spraying mechanism; the cleaned drill rod is recovered into the drill rod box through the mechanical hand; meanwhile, the two inner box frames are moved to the outside, so that the drill rod is conveniently put in; after the drill rod recovery is completed, 1) the gripper flushing: the oscillating telescopic arm is rotated to the vertical lower part through the second rotating mechanism, then the third water spraying mechanism is adjusted to the upper half position of the inner hole of the gripper through the third rotating mechanism, the axial flushing along the gripper is completed through the second driving mechanism, and the cross section direction flushing along the gripper is completed through the back and forth movement of the telescopic longitudinal arm; after the upper half position flushing of the gripper is completed, the third water spraying mechanism is adjusted to point to the lower half position of the inner hole of the gripper through the third rotating mechanism, and the flushing of the lower half of the gripper is completed through the above flushing mode; 2) the chuck flushing: the third water spraying mechanism is adjusted to the upper half position of the inner hole of the chuck through the third rotating mechanism, the axial flushing along the chuck is completed through the second driving mechanism, and the cross section direction flushing along the chuck is completed through the back and forth movement of the telescopic longitudinal arm; after the upper half position flushing of the chuck is completed, the third water spraying mechanism is adjusted to point to the lower half position of the inner hole of the chuck through the third rotating mechanism, and the flushing of the lower half of the chuck is completed through the above flushing mode.

[0065] The drill rod box 210 comprises an outer box body 211 connected with the rotating platform 120, inner box frames 212 slidingly arranged on both sides of the outer box body 211, a box driving device 213 arranged between the two inner box frames and used for driving the two inner box frames to slide, and a plurality of box guide rails 214 arranged between the outer box body and the two inner box frames.

[0066] The drilling device 300 comprises an anchoring platform 310 connected with the rotary platform 120, a drilling frame 320 rotatably arranged on the anchoring platform 310, a clamp 330 arranged at one end of the drilling frame 320, and a power head 340 slidably arranged on the drilling frame 330;

[0067] The output main shaft of the power head 340 is provided with a water supply transmission device; the water supply transmission device comprises a transmission rod assembly 350 arranged in the output main shaft of the power head and a water supply assembly 360 arranged in the transmission rod assembly 350; the water supply assembly is used for supplying water to the drill rod and driving the drill rod to rotate by the transmission rod assembly; in implementation, a single clamp + active drill rod + built-in water line + chuck structure is adopted, the efficiency of disassembling and connecting the drill rod is high (compared with a double clamp), and the ability to handle faults such as sticking and thread jamming is strong.

[0068] In the embodiment, the first moving mechanism 235 comprises first sliding blocks 2351 arranged on both sides of the corresponding first guide rails 220, a first drive box 2352 arranged on the two first sliding blocks 2351, a first drive gear 2353 arranged on the first drive box 2352, and a first drive motor 2354 arranged on the first drive box 2352; the first guide rails 220 are provided with first racks engaged with the first drive gears 2353; the two sides of the door-shaped frame are connected with the corresponding first sliding blocks 2351; in implementation, the first racks and the first guide rails are integrally arranged; the door-shaped frame is composed of two lifting columns and a cross beam, and the lifting columns are provided with first sliding seats connected with the first sliding blocks;

[0069] The second moving mechanism 243 comprises second racks arranged on the second guide rails, second drive boxes arranged on the corresponding two second sliding blocks, second drive gears rotatably arranged on the second drive boxes and engaged with the second racks, and second drive motors arranged on the second drive boxes and used for driving the second drive gears to rotate;

[0070] In implementation, the second racks and the second guide rails are integrally arranged, the telescopic longitudinal arms are provided with second sliding seats connected with the second sliding blocks, and the first / second moving mechanisms have the same structure form, except that the sizes are different and the sizes of the motors are different.

[0071] In the embodiment, the wrist part 233 comprises a first wrist part 2331 connected with the manipulator frame and used for driving the clamping mechanism to rotate in a vertical plane, and a second wrist part 2332 arranged on the first wrist part and used for driving the clamping mechanism to rotate in a horizontal plane;

[0072] The first wrist part 2331 is provided with a rotation angle limiting mechanism; the rotation angle limiting mechanism comprises an arc-shaped stop block 2333 arranged on the outer shell of the first wrist part and a limiting block 2334 arranged on the first bowl shaft of the first wrist part.

[0073] The clamping mechanism 234 comprises a clamping connecting sleeve 2341 connected with the second wrist, a fixed clamping seat 2342 arranged on the clamping connecting sleeve, a movable clamping block 2343 rotatably arranged on the fixed clamping seat 2342, and a clamping oil cylinder 2344 arranged on the fixed clamping seat 2342 and used for pushing the movable clamping block 2343 to rotate.

[0074] In the embodiment, the first water spraying mechanism 248 comprises a first water spraying seat arranged at the lower end of the vertical arm and two first nozzles arranged on the first water spraying seat.

[0075] The second water spraying mechanism 249 comprises a second water spraying seat arranged on the side wall of the vertical arm and a second nozzle arranged on the first water spraying seat.

[0076] The third water spraying mechanism 253 comprises a water spraying frame 2531 arranged on the rotating part of the third rotating mechanism, a third nozzle 2532 arranged on the water spraying frame, and a water distribution connector 2533 arranged on the fixed part of the third rotating mechanism.

[0077] In the embodiment, the anchoring platform 310 comprises two anchoring support oil cylinders 311, a sliding frame 312 slidingly arranged on the two anchoring support oil cylinders 311, a sliding oil cylinder 313 arranged between the sliding frame 312 and the rotating platform 120, and a second rotating device 314 arranged on the sliding frame 312 and used for connecting the drilling frame 320; in the implementation, the sliding frame is anchored by the anchoring oil cylinder, so that the drilling frame is anchored, and the second rotating device is used for adjusting the angle of the drilling frame, and after the adjustment, the four corners of the drilling frame are anchored by the auxiliary anchoring oil cylinder.

[0078] In the embodiment, the transmission rod assembly 350 comprises a rod body 351 and a connecting head 352 detachably arranged at one end of the rod body;

[0079] The rod body 351 comprises a first flange, a rod body and a first connecting disc arranged integrally;

[0080] The connecting head 352 comprises a second connecting disc and a threaded joint arranged integrally;

[0081] In the implementation, a plurality of connecting threaded holes used for connecting the first connecting disc are arranged on the output main shaft of the power head; a positioning hole matched with the water supply assembly and a sealing hole are arranged in sequence from the outside to the inside on the inner wall of the rod body close to the first flange; the middle parts of the first connecting disc and the second connecting disc are connected by tension bolts, and the outer sides are connected by three shear bolts; a plurality of water passing holes are arranged in one-to-one correspondence on the first connecting disc and the second connecting disc.

[0082] In the embodiment, the water supply assembly 360 comprises a water supply sleeve detachably connected with the rod body, a water supply shaft 361 rotatably arranged in the water supply sleeve, and a water distribution seat 362 rotatably arranged at the outer end of the water supply shaft 361 extending out of the water supply sleeve;

[0083] The water supply sleeve comprises a sleeve body 363 connected with the rod body, a sealing sleeve base 364 detachably arranged at one end of the sleeve body 363, and a sleeve cover 365 detachably arranged at the other end of the sleeve body;

[0084] In the implementation, the outer wall of the sealing sleeve base is provided with a first sealing ring, the inner wall is provided with a plurality of second sealing rings, a third sealing ring is arranged between the water supply shaft and the water distribution base, oil seals are arranged on both sides of the water supply shaft close to the sealing sleeve base and the sleeve cover, and a pair of rolling bearings are arranged between the water supply shaft and the sleeve body to facilitate relative rotation between the water supply shaft and the water supply sleeve.

[0085] In the embodiment, the inner box frame 212 comprises an inner box frame body and a plurality of partition plates 215 inserted into the inner box frame body.

[0086] The inner box frame body comprises an integrally arranged frame bottom plate 216, a frame vertical plate 217, and two frame side plates 218; the partition plates of the inner box frame are arranged in a detachable manner, so that the partition plates can be added according to the size of the drill rod; meanwhile, the partition plates are arranged in two upper and lower plates, so that the partition plates can be added according to different drilling depths, and the lifting height of the mechanical hand can be reduced in the case of shallow drilling depth.

[0087] In the embodiment, the automatic control system 500 comprises an electric control box 510 and an operating platform 330; the top of the rear side of the oil tank 310 is sequentially provided from inside to outside with the operating platform 330 and the electric switch 520, and the top of the front side is provided with the electric control box 510; the layering design is beneficial to reducing the length of the tracked vehicle relative to the same layer arrangement.

[0088] In the implementation, the hydraulic system comprises an oil tank, a pump station, an operating platform, a walking hydraulic valve group, a mechanical hand hydraulic valve group, an anchoring hydraulic valve group, and a drilling hydraulic valve group.

[0089] The control system further comprises a ground remote control station, an explosion-proof remote controller, and an electric control valve group for controlling the corresponding valve group; the mechanical hand is used for storing / taking the drill rod, and the automatic drilling / rod retraction of the drilling device is controlled.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the present application, and all of them should be covered in the scope of the claims of the present application.

Claims

1. A coal mine caterpillar type multifunctional omnidirectional automatic drilling machine, comprising a caterpillar vehicle, a drill rod storage and taking device, a drilling device, a hydraulic system and an automatic control system, characterized in that: one end of the inner cavity of the vehicle body of the caterpillar vehicle is sequentially embedded from outside to inside with an oil tank and a pump station, and the other end of the top is provided with a rotating platform; the inner side of the rotating platform is connected with the drill rod storage and taking device, and the outer side is connected with the drilling device; the drill rod storage and taking device comprises a drill rod box arranged on the rotating platform, first guide rails arranged on both sides of the drill rod box, a mechanical hand slidingly arranged on the two first guide rails, and a cleaning device arranged on the mechanical hand; the cleaning device is used for spraying and washing the chuck on the drill rod, the gripper and the power head; the mechanical hand comprises a liftable door type frame slidingly arranged on the two first guide rails, a mechanical hand frame arranged in the door type frame, a wrist arranged at the lower end of the mechanical hand frame, a clamping mechanism arranged on the wrist, and a first moving mechanism for moving the door type frame along the corresponding first guide rail; the cleaning device comprises a cleaning seat plate arranged at the top end of the door type frame, a second guide rail arranged on the cleaning seat plate, a second moving mechanism slidingly arranged on the second guide rail, a telescopic vertical arm slidingly arranged on the second guide rail, second sliding blocks slidingly arranged on both sides of the second guide rail for fixing the second moving mechanism and the telescopic vertical arm, a first rotating mechanism arranged at the outer end of the telescopic vertical arm, a vertical arm arranged on the first rotating mechanism, a first water spraying mechanism arranged at the lower end of the vertical arm, a second water spraying mechanism arranged on the side wall of the vertical arm, a second rotating mechanism arranged on the upper part of the vertical arm, an oscillating telescopic arm arranged on the second rotating mechanism, a third rotating mechanism arranged at the other end of the oscillating telescopic arm, and a third water spraying mechanism arranged on the third rotating mechanism; the drill rod box comprises an outer box body connected with the rotating platform, inner box frames slidingly arranged on both sides of the outer box body, a box body driving device arranged between the two inner box frames for driving the two inner box frames to slide, and a plurality of box guide rails arranged between the outer box body and the two inner box frames; the drilling device comprises an anchoring platform connected with the rotating platform, a drilling frame rotatably arranged on the anchoring platform, a gripper arranged at one end of the drilling frame, and a power head slidingly arranged on the drilling frame; a water supply driving device is arranged in the output main shaft of the power head; the water supply driving device comprises a transmission rod assembly arranged in the output main shaft of the power head, and a water supply assembly arranged in the transmission rod assembly; the wrist comprises a first wrist connected with the mechanical hand frame for driving the clamping mechanism to rotate in the vertical plane, and a second wrist arranged on the first wrist for driving the clamping mechanism to rotate in the horizontal plane; a rotating angle limiting mechanism is arranged on the first wrist; the rotating angle limiting mechanism comprises an arc-shaped stopper arranged on the outer shell of the first wrist, and a limiting block arranged on the first bowl shaft of the first wrist. ​ The clamping mechanism comprises a clamping connecting sleeve connected with the second wrist, a fixed clamping seat arranged on the clamping connecting sleeve, a movable clamping block rotatably arranged on the fixed clamping seat, and a clamping oil cylinder arranged on the fixed clamping seat and used for pushing the movable clamping block to rotate. The first water spraying mechanism comprises a first water spraying seat arranged at the lower end of the vertical arm and two first nozzles arranged on the first water spraying seat. The second water spraying mechanism comprises a second water spraying seat arranged on the side wall of the vertical arm and a second nozzle arranged on the first water spraying seat. The third water spraying mechanism comprises a water spraying frame arranged on the rotating part of the third rotating mechanism, a third nozzle arranged on the water spraying frame, and a water distribution connector arranged on the fixed part of the third rotating mechanism.

2. The coal mine caterpillar multifunctional omni-directional automatic drilling machine according to claim 1, characterized in that: The first moving mechanism comprises two first sliding blocks arranged on the two sides of the corresponding first guide rail, a first driving box arranged on the two first sliding blocks, a first driving gear arranged on the first driving box, and a first driving motor arranged on the first driving box; the first guide rail is provided with a first rack engaged with the first driving gear; the two sides of the door-shaped frame are connected with the corresponding first sliding blocks. The second moving mechanism comprises a second rack arranged on the second guide rail, a second driving box arranged on the corresponding two second sliding blocks, a second driving gear rotatably arranged on the second driving box and engaged with the second rack, and a second driving motor arranged on the second driving box and used for driving the second driving gear to rotate.

3. The coal mine caterpillar multifunctional omnidirectional automatic drilling machine according to claim 1, characterized in that: The anchoring platform comprises two anchoring support oil cylinders, a sliding frame slidably arranged on the two anchoring support oil cylinders, a sliding oil cylinder arranged between the sliding frame and the rotating platform, and a second rotating device arranged on the sliding frame and used for connecting the drilling frame.

4. The coal mine caterpillar multifunctional omnidirectional automatic drilling machine according to claim 1, characterized in that: The transmission rod assembly comprises a rod body and a connecting head detachably arranged at one end of the rod body. The rod body comprises a first flange, a rod body, and a first connecting disc arranged integrally. The connecting head comprises a second connecting disc and a threaded joint arranged integrally.

5. The coal mine caterpillar multifunctional omnidirectional automatic drilling machine according to claim 4, characterized in that: The water supply assembly comprises a water supply sleeve detachably connected with the rod body, a water supply shaft rotatably arranged in the water supply sleeve, and a water distribution seat rotatably arranged at the outer end of the water supply shaft protruding out of the water supply sleeve. The water supply sleeve comprises a sleeve body connected with the rod body, a sealing sleeve seat detachably arranged at one end of the sleeve body, and a sleeve cover detachably arranged at the other end of the sleeve body.

6. The coal mine caterpillar multifunctional omnidirectional automatic drilling machine according to claim 1, characterized in that: The inner box frame comprises an inner box frame body and a plurality of partition plates inserted into the inner box frame body. The inner box frame body comprises a frame bottom plate, a frame upright plate, and two side frame plates arranged integrally.

7. The coal mine caterpillar multifunctional omnidirectional automatic drilling machine according to claim 1, characterized in that: The automatic control system comprises an electric control box and an operating platform; the top of the rear side of the oil tank is sequentially provided from inside to outside with the operating platform, an electric switch, and the electric control box arranged on the top of the front side.

Images