Drill rod loading and unloading device and method applicable to underground tunnel drilling rigs in coal mines

Abstract

This invention provides a drill rod loading and unloading device and method suitable for underground tunnel drilling rigs in coal mines, including a drill rod chamber and a robotic arm. The robotic arm includes a connecting rod with a rectangular track fixedly mounted in the middle. A connecting plate can move along the long axis of the rectangular track. A first outer sleeve is vertically fixedly mounted on the connecting plate, and a first inner sleeve with both ends extending outside the first outer sleeve is installed inside the first outer sleeve. The first inner sleeve can move vertically up and down within the first outer sleeve. A second outer sleeve is hinged to the bottom end of the first inner sleeve via a second motor. A second inner sleeve is installed inside the second outer sleeve, and a fourth hydraulic cylinder is positioned between the second inner sleeve and the second outer sleeve. A clamping rod assembly is hinged to the bottom end of the second inner sleeve via a third motor. This invention enables rapid switching between drill rod loading and unloading functions and allows for mechanized loading and unloading of large-diameter, long drill rods, making it more suitable for the actual needs of underground drilling operations in coal mines.

Description

Technical Field

[0001] This invention belongs to the field of coal mine tunnel drilling technology, and relates to a drill rod loading and unloading system, specifically to a drill rod loading and unloading device and method suitable for underground tunnel drilling rigs in coal mines. Background Technology

[0002] With the advancement of intelligent coal mine construction, significant progress has been made in the research of long drill rod loading and unloading devices for coal mine tunnel drilling rigs. For example, Chinese invention patent application CN117988710A discloses an all-around large-angle integrated drilling robot, including a multi-rotor cooperative main unit, a three-degree-of-freedom normally closed transfer device, and a large-capacity rod holder with multiple layers and rows of drill rods. This invention improves the drilling efficiency of intelligent drilling rigs and reduces the labor intensity of workers. Chinese invention patent application CN116104415A discloses an integrated drilling robot and control method with an automatic blowout prevention system, including a three-degree-of-freedom main unit, a drill rod box, and a six-degree-of-freedom robotic arm mounted on a tracked vehicle. The six-degree-of-freedom robotic arm can remove or return drill rods from the drill rod box and place or remove drill rods from the main unit's clamping center, completing automatic rod loading and unloading operations. However, the aforementioned long drill pipe loading and unloading devices all integrate the robotic arm, drill pipe chamber, and drilling rig into one unit. This method is suitable for small-diameter, short-sized drill pipes. For large-diameter, long drill pipes, due to the large size of the drill pipe itself, integrating the long drill pipe loading and unloading device with the drilling rig would result in an excessively large tunnel drilling rig, which is not suitable for use in underground coal mine environments. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a drill rod loading and unloading device and method suitable for underground tunnel drilling rigs in coal mines, and to solve the technical problem that the existing drill rod loading and unloading devices are difficult to apply to underground tunnel drilling rigs in coal mines.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A drill rod loading and unloading device suitable for underground tunnel drilling rigs in coal mines includes a drill rod chamber and a robotic arm.

[0006] The drill pipe chamber includes a leveling base, on which a U-shaped drill pipe frame is installed. The U-shaped drill pipe frame is a frame structure with an open top, and drill pipes are stacked inside the U-shaped drill pipe frame. A lifting component is also vertically installed on the leveling base.

[0007] The lifting assembly includes a left rail and a right rail. The bottom ends of the left rail and the right rail are vertically fixed on the leveling base. An upper crossbeam is installed on the left rail and the right rail. A moving assembly is installed between the upper crossbeam and the right rail. An angle adjusting assembly is installed between the upper crossbeam and the left rail. Driven by the moving assembly, the moving assembly moves up and down along the right rail, and the angle adjusting assembly moves up and down along the left rail. When the upper crossbeam moves to its upper limit position, the angle adjusting assembly can drive the upper crossbeam to rotate.

[0008] A layer bar assembly is installed on the upper crossbeam.

[0009] The robotic arm includes a first connecting rod, a rectangular track is fixedly disposed in the middle of the first connecting rod, the long axis of the rectangular track is perpendicular to the first connecting rod, a connecting plate is mounted on the rectangular track, and the connecting plate can move along the long axis of the rectangular track.

[0010] A first outer sleeve is vertically fixedly installed on the connecting plate, and a first inner sleeve with both ends extending out of the first outer sleeve is installed inside the first outer sleeve. The first inner sleeve can move vertically up and down inside the first outer sleeve.

[0011] The bottom end of the first inner sleeve is hinged to the second outer sleeve by the second motor, the second inner sleeve is installed inside the second outer sleeve, and a fourth oil cylinder is provided between the second inner sleeve and the second outer sleeve; the bottom end of the second inner sleeve is hinged to the clamping rod assembly by the third motor.

[0012] The present invention also has the following technical features:

[0013] The clamping rod assembly includes a mounting base, the top of which is hinged to the end of the second inner sleeve. The bottom of the mounting base is provided with two parallel second cylindrical guide rails, and two grippers are mounted on the second cylindrical guide rails. The two grippers are connected as one unit by a second connecting rod. The lower part of the mounting base is also connected to the cylinder end of the fifth hydraulic cylinder, and the cylinder rod end of the fifth hydraulic cylinder is connected to one of the grippers.

[0014] The layer bar assembly includes a center seat, the top of which is fixedly connected to the center of the upper crossbeam; the bottom of the center seat is connected to the top of the sliding seat by a pair of longitudinally arranged first hydraulic cylinders.

[0015] The sliding seat is fixedly mounted on a pair of first cylindrical guide rails. The pair of first cylindrical guide rails are arranged laterally, and a limiting groove is fitted at each of the two ends of the pair of first cylindrical guide rails. The two limiting grooves are arranged longitudinally, and the two limiting grooves and the sliding seat are respectively connected by second hydraulic cylinders arranged laterally, so that the two limiting grooves can move laterally on the pair of first cylindrical guide rails.

[0016] Both limiting grooves are side-mounted U-shaped structures. The opening of the U-shaped structure faces inward and the bottom faces outward. Multiple positioning holes are provided at the bottom of the U-shaped structure. Conical positioning components are respectively provided on the outer side of the two limiting grooves. The conical body of the conical positioning component is matched with the positioning hole one by one. The conical positioning component and the limiting groove are connected by a third hydraulic cylinder and a slide rail sleeve assembly arranged in the horizontal direction.

[0017] The two limiting grooves have U-shaped openings in which limiting blocks are embedded. The limiting blocks have inner arc surfaces. The central axis of the inner arc surfaces is set horizontally. The central axis of the inner arc surfaces, the central axis of the positioning hole at the longitudinal end of the limiting groove, and the central axis of the cone at the longitudinal end of the cone positioning assembly coincide.

[0018] The two limiting grooves are also provided with a transversely arranged long shaft, which extends out of the transverse outer side of the two limiting grooves. The long shaft is driven to rotate by a first motor installed on the transverse outer side of the limiting groove. An arc-shaped baffle is installed on the part of the long shaft located between the two limiting grooves.

[0019] The stroke of the first hydraulic cylinder is equal to the radius R of the drill pipe's cross-section.

[0020] The two limiting grooves are each provided with a spring mounting cylinder on their outer lateral sides. The two spring mounting cylinders are fitted onto the long shaft. A first spring is also fitted onto the long shaft inside the spring mounting cylinder. One end of the first spring abuts against the limiting groove, and the other end of the first spring abuts against the spring mounting cylinder.

[0021] The two limiting grooves are connected together by horizontally arranged baffles to form a frame structure.

[0022] This invention also protects a method for adding and unloading drill rods for underground tunnel drilling rigs in coal mines, which employs the drill rod adding and unloading device for underground tunnel drilling rigs in coal mines as described above.

[0023] Compared with the prior art, the present invention has the following technical effects:

[0024] (I) During the drilling process in coal mines, there are frequent switching processes between the drill rod addition function and the drill rod removal function. For example, when the drill rod encounters the top / bottom plate during directional drilling, it is necessary to lift a certain length of drill rod. At this time, it is necessary to switch from the drill rod addition function to the drill rod removal function. When drilling is required after reaching the reserved branch point, it is necessary to switch from the drill rod removal function to the drill rod addition function. The drill rod addition and removal device of the present invention can realize the rapid switching between the drill rod addition function and the drill rod removal function, and can also realize the mechanized addition and removal of large-diameter long drill rods, which is more suitable for the actual needs of coal mine drilling.

[0025] (II) The drill rod chamber in the drill rod loading and unloading device of the present invention adopts a structure without internal partitions, which is simple in structure and can store a large number of drill rods. Compared with other drill rod chambers with internal baffles, the present invention can store more drill rods when the external dimensions are the same.

[0026] (III) In the method of adding and removing drill pipes of the present invention, the drill pipes are arranged in an alternating manner in the drill pipe chamber, which increases the contact area between adjacent drill pipes and makes the drill pipes more stable in the drill pipe chamber.

[0027] (IV) The method for adding and removing drill rods in this invention adopts the form of taking and placing drill rods layer by layer. One drill rod can be used for multiple drilling operations. The operation is simple and convenient. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of a drill rod loading and unloading device suitable for underground tunnel drilling rigs in coal mines.

[0029] Figure 2 This is a schematic diagram of the overall structure of the drill pipe chamber.

[0030] Figure 3 This is a schematic diagram of the overall structure of the lifting assembly.

[0031] Figure 4 This is a schematic diagram of the overall structure of the robotic arm.

[0032] Figure 5 This is a schematic diagram showing drill pipes stacked in layers in a U-shaped drill pipe holder.

[0033] Figure 6 This is a schematic diagram of the overall structure of the layer bar assembly.

[0034] Figure 7 This is a top view of the layer bar assembly.

[0035] Figure 8 This is a schematic diagram of some parts of the layer bar assembly.

[0036] Figure 9 This is a front sectional view of the clamping rod assembly.

[0037] Figure 10 This is a side view of the clamping rod assembly.

[0038] Figure 11 This is a schematic diagram of the drill rod loading and unloading device for underground coal mine drilling rigs during the loading of drill rods.

[0039] Figure 12 This is a schematic diagram of the drill rod loading and unloading device for underground coal mine drilling rigs during the unloading of drill rods.

[0040] The labels in the diagram represent: 1-Drill pipe chamber, 2-Mechanical arm, 3-Drilling rig, 4-Drill pipe.

[0041] 101-Leveling base, 102-U-shaped drill rod frame, 103-Lifting assembly, 104-Layer bar assembly.

[0042] 10301-Left track, 10302-Right track, 10303-Upper crossbeam, 10304-Moving component, 10305-Angle adjustment component.

[0043] 10401-Center seat, 10402-First hydraulic cylinder, 10403-Sliding seat, 10404-First cylindrical guide rail, 10405-Limiting groove, 10406-Second hydraulic cylinder, 10407-Conical positioning assembly, 10408-Third hydraulic cylinder, 10409-Slide rail and slide sleeve assembly, 10410-Limiting block, 10411-Inner arc surface, 10412-Long shaft, 10413-First motor, 10414-Arc baffle, 10415-Spring mounting cylinder, 10416-First spring, 10417-Stop bar, 10418-Positioning hole.

[0044] 201-First connecting rod, 202-Rectangular track, 203-Connecting plate, 204-First outer sleeve, 205-First inner sleeve, 206-Second motor, 207-Second outer sleeve, 208-Second inner sleeve, 209-Fourth hydraulic cylinder, 210-Third motor, 211-Clamping rod assembly, 212-Drive assembly.

[0045] 21101-Mounting base, 21102-Second cylindrical guide rail, 21103-Handle, 21104-Second connecting rod, 21105-Fifth hydraulic cylinder.

[0046] 301 - Main unit, 302 - Column.

[0047] The specific content of the present invention will be further explained and described in detail below with reference to the embodiments. Detailed Implementation

[0048] It should be noted that, unless otherwise specified, all devices, components and parts in this invention are based on devices, components and parts known in the prior art.

[0049] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0050] Example:

[0051] This embodiment provides a drill rod loading and unloading device suitable for underground tunnel drilling rigs in coal mines, such as... Figure 1As shown, it includes a drill pipe chamber 1 and a robotic arm 2.

[0052] In this embodiment, the function of the drill pipe chamber 1 is to store the drill pipe 4, and to transport the drill pipe 4 to the robotic arm 2 during the drill pipe loading process and to receive the drill pipe 4 transferred by the robotic arm 2 during the drill pipe unloading process.

[0053] In this embodiment, the function of the robotic arm 2 is to transfer the drill rod 4 in the drill rod chamber 1 to the U-shaped opening of the clamp in the main unit 301 of the drilling rig 3 during the drill rod loading process, and to transfer the drill rod 4 at the U-shaped opening of the clamp in the main unit 301 to the drill rod chamber 1 during the drill rod unloading process. The robotic arm 2 is connected to two columns 302 in the drilling rig 3.

[0054] like Figure 2 As shown, the drill pipe compartment 1 includes a leveling base 101, on which a U-shaped drill pipe rack 102 is installed. The U-shaped drill pipe rack 102 is a frame structure with an opening at the top, and the drill pipe 4 is stacked inside the U-shaped drill pipe rack 102. A lifting assembly 103 is also vertically installed on the leveling base 101.

[0055] like Figure 3 As shown, the lifting assembly 103 includes a left rail 10301 and a right rail 10302. The bottom ends of the left rail 10301 and the right rail 10302 are vertically fixed on the leveling base 101. An upper crossbeam 10303 is installed on the left rail 10301 and the right rail 10302. A moving assembly 10304 is installed between the upper crossbeam 10303 and the right rail 10302. An angle adjusting assembly 10305 is provided between the upper crossbeam 10303 and the left rail 10301. Driven by the moving assembly 10304, the moving assembly 10304 moves up and down along the right rail 10302, and the angle adjusting assembly 10305 moves up and down along the left rail 10301. When the upper crossbeam 10303 moves to its upper limit position, the angle adjusting assembly 10305 can drive the upper crossbeam 10303 to rotate.

[0056] like Figure 2 As shown, a layer bar assembly 104 is installed on the upper crossbeam 10303.

[0057] like Figure 4 As shown, the robotic arm 2 includes a first connecting rod 201, a rectangular track 202 is fixedly arranged in the middle of the first connecting rod 201, the long axis of the rectangular track 202 is perpendicular to the first connecting rod 201, a connecting plate 203 is installed on the rectangular track 202, and the connecting plate 203 can move along the long axis of the rectangular track 202.

[0058] like Figure 4As shown, a first outer sleeve 204 is vertically fixedly installed on the connecting plate 203. A first inner sleeve 205 with both ends extending out of the first outer sleeve 204 is installed inside the first outer sleeve 204. The first inner sleeve 205 can move vertically up and down inside the first outer sleeve 204.

[0059] like Figure 4 As shown, the bottom end of the first inner sleeve 205 is hinged to the second outer sleeve 207 via the second motor 206. The second inner sleeve 208 is installed inside the second outer sleeve 207. A fourth hydraulic cylinder 209 is provided between the second inner sleeve 208 and the second outer sleeve 207. The bottom end of the second inner sleeve 208 is hinged to the clamping rod assembly 211 via the third motor 210.

[0060] In this embodiment, as Figure 2 As shown, hydraulic outriggers are provided at the four corners of the leveling base 101. By adjusting the hydraulic outriggers, the drill pipe chamber 1 is brought to a near-horizontal state.

[0061] In this embodiment, as Figure 5 As shown, drill rods 4 are stacked in layers within the U-shaped drill rod holder 102. Since the drill rods 4 have an outer cylindrical structure, to ensure the stability of the entire drill rod stack, adjacent layers of drill rods are staggered. Specifically, from top to bottom, the number of drill rods in odd-numbered layers is one more than the number in even-numbered layers. In the horizontal direction, the distance between the nth drill rod in an odd-numbered layer and the nth drill rod in an even-numbered layer differs by a distance R (n≤11, R is the radius of the drill rod's cross-section). This invention is configured to retrieve and place drill rods 4 from the U-shaped drill rod holder 102 in layers, starting from the top layer and proceeding downwards. When placing drill rods 4, the bottom layer is placed first, followed by the layers stacked upwards.

[0062] In this embodiment, the function of the lifting component 103 is to drive the layer bar component 104 to move up and down.

[0063] In this embodiment, the moving component 10304 adopts a commonly known moving component 10304. Preferably, the moving component 10304 is composed of a motor, gear rack, shaft and key, and its function is to drive the upper crossbeam 10303 and the angle adjustment component 10305 to move up and down.

[0064] In this embodiment, the angle adjustment component 10305 adopts a commonly used angle adjustment component. Preferably, the angle adjustment component 10305 consists of a motor, gears, shafts, and keyways. Its function is to drive the upper crossbeam 10303 to rotate a certain angle along the axis of the angle adjustment component 10305. That is, when the upper crossbeam 10303 moves to the upper limit position, it drives the layer bar assembly 104 to rotate about the central axis of the angle adjustment component 10305, so that the layer bar assembly 104 presents a positive or negative angle.

[0065] As a preferred embodiment of this invention, such as Figures 6 to 8 As shown, the stack bar assembly 104 includes a center seat 10401, the top of which is fixedly connected to the center position of the upper crossbeam 10303; the bottom of the center seat 10401 is connected to the top of the sliding seat 10403 through a pair of longitudinally arranged first hydraulic cylinders 10402.

[0066] like Figure 6 As shown, the sliding seat 10403 is fixedly mounted on a pair of first cylindrical guide rails 10404. The pair of first cylindrical guide rails 10404 are arranged laterally, and a limiting groove 10405 is fitted at each of the two ends of the first cylindrical guide rails 10404. The two limiting grooves 10405 are arranged longitudinally, and the two limiting grooves 10405 and the sliding seat 10403 are connected by second hydraulic cylinders 10406 ​​arranged laterally, so that the two limiting grooves 10405 can move laterally on the pair of first cylindrical guide rails 10404.

[0067] like Figure 8 As shown, both limiting grooves 10405 are side-mounted U-shaped structures. The openings of the U-shaped structures face inwards, and the bottoms of the U-shaped structures face outwards. Multiple positioning holes 10418 are provided at the bottom of the U-shaped structures. Conical positioning components 10407 are respectively provided on the outward sides of the two limiting grooves 10405. The conical bodies of the conical positioning components 10407 are matched with the positioning holes 10418 one by one. The conical positioning components 10407 and the limiting grooves 10405 are connected by a third hydraulic cylinder 10408 and a slide rail and slide sleeve assembly 10409 arranged in the horizontal direction.

[0068] like Figure 6 As shown, a limiting block 10410 is embedded in the opening of the U-shaped structure of the two limiting grooves 10405. The limiting block 10410 is provided with an inner arc surface 10411. The central axis of the inner arc surface 10411 is arranged laterally. The central axis of the inner arc surface 10411, the central axis of the positioning hole 10418 at the longitudinal end of the limiting groove 10405, and the central axis of the cone at the longitudinal end of the cone positioning assembly 10407 coincide.

[0069] like Figure 6 As shown, a transversely arranged long shaft 10412 is also provided on the two limiting grooves 10405. The long shaft 10412 extends out of the transverse outer side of the two limiting grooves 10405. The long shaft 10412 is driven to rotate by a first motor 10413 installed on the transverse outer side of the limiting grooves 10405. An arc-shaped baffle 10414 is installed on the part of the long shaft 10412 located between the two limiting grooves 10405.

[0070] In this embodiment, the layer bar assembly 104 operates by removing or inserting the drill rod 4 from the U-shaped drill rod holder 102 in a single layer.

[0071] In this embodiment, when the cylinder rod of the second cylinder 10406 ​​is fully extended, the lateral distance between the two limiting grooves 10405 is greater than the length of the drill rod 4.

[0072] In a preferred embodiment, the stroke of the first hydraulic cylinder 10402 is the radius R of the cross-section of the drill rod 4. A sliding track is provided between the center seat 10401 and the sliding seat 10403, and the two can slide relative to each other under the action of the first hydraulic cylinder 10402, with a sliding distance of R.

[0073] In this embodiment, after removing the top layer of drill rods 4 from the U-shaped drill rod holder 102, the second layer of drill rods 4 is clamped by adjusting the extension length R of the first hydraulic cylinder 10402. After the second layer of drill rods 4 is removed, the third layer of drill rods 4 is clamped by adjusting the retraction length R of the first hydraulic cylinder 10402, and so on, to complete the clamping of each layer of drill rods 4.

[0074] In this embodiment, when an even number of drill rods 4 are taken, since the number of drill rods in adjacent layers differs by 1, the pair of outermost cones in the cone positioning assembly 10407 are in a state without drill rods.

[0075] As a preferred embodiment of this invention, such as Figure 7 As shown, a spring mounting cylinder 10415 is also provided on the outer side of the two limiting grooves 10405 respectively. The two spring mounting cylinders 10415 are fitted on the long shaft 10412. A first spring 10416 is also fitted on the long shaft 10412 inside the spring mounting cylinder 10415. One end of the first spring 10416 abuts against the limiting groove 10405, and the other end of the first spring 10416 abuts against the spring mounting cylinder 10415.

[0076] In this embodiment, as Figure 6 As shown, the arc-shaped baffle 10414 has an arc-shaped structure and a semi-circular cross-section.

[0077] As a preferred embodiment of this invention, such as Figure 6 As shown, the two limiting grooves 10405 are connected together by horizontally arranged baffles 10417 to form a frame structure, thereby enhancing the overall stability of the layer bar assembly 104.

[0078] In this embodiment, the first connecting rod 201 is connected to two columns 302 on one side of the drilling rig 3 by clamps at both ends.

[0079] In this embodiment, the drive assembly 212 adopts a commonly used drive assembly known in the art. The connecting plate 203 can move along the long axis of the rectangular track 202 under the drive of the drive assembly 212. The first inner sleeve 205 can move vertically up and down within the first outer sleeve 204 under the drive of the drive assembly 212.

[0080] As a preferred embodiment of this invention, such as Figure 9 and Figure 10 As shown, the clamping rod assembly 211 includes a mounting base 21101. The top of the mounting base 21101 is hinged to the end of the second inner sleeve 208. The bottom of the mounting base 21101 is provided with two parallel second cylindrical guide rails 21102. Two grippers 21103 are mounted on the second cylindrical guide rails 21102. The two grippers 21103 are connected as one unit by a second connecting rod 21104. The lower part of the mounting base 21101 is also connected to the cylinder end of the fifth hydraulic cylinder 21105. The cylinder rod end of the fifth hydraulic cylinder 21105 is connected to a gripper 21103.

[0081] In this embodiment, as Figure 9 As shown, under the action of the fifth hydraulic cylinder 21105, the two grippers 21103 can move along the axis of the second cylindrical guide rail 21102. This structure is used to finely adjust the position of the drill rod axis.

[0082] In this embodiment, the gripper 21103 adopts a gripper commonly known in the art. Preferably, the gripper 21103 is composed of a piston, a slip, and a U-shaped seat, and achieves the function of clamping or releasing the drill rod through hydraulic control.

[0083] Example 2:

[0084] This embodiment provides a method for adding and unloading drill rods for underground tunnel drilling rigs in coal mines. This method uses the drill rod adding and unloading device for underground tunnel drilling rigs in coal mines given in Embodiment 1.

[0085] The method for adding and removing drill pipe specifically includes the following steps:

[0086] First, the process of adding drill pipe is as follows:

[0087] Step A1: Adjust the layer bar assembly 104 to a horizontal state by adjusting the angle adjustment component 10305 in the lifting assembly 103; continue to adjust the moving component 10304 so that the plane formed by the axis of the conical body of the conical positioning component 10407 in the layer bar assembly 104 coincides with the plane formed by the axis of the uppermost drill rod 4 in the drill rod chamber 1; during the retraction of the cylinder rod of the third cylinder 10408, the conical positioning component 10407 moves towards the center of the layer bar assembly 104; when the cylinder rod of the third cylinder 10408 is fully retracted, the conical bodies in the conical positioning components 10407 at both ends of the layer bar assembly 104 are inserted into the central through holes of the male and female thread ends of the drill rod 4.

[0088] In step A2, the lifting assembly 103 is driven upward to its uppermost position. At this time, the first layer of drill rod 44 is lifted away from the U-shaped drill rod frame 102, the cylinder rod of the second hydraulic cylinder 10406 ​​is retracted, and the cylinder rod of the third hydraulic cylinder 10408 extends until the front and rear ends of the drill rod 4 are engaged in the grooves of the limiting groove 10405, and the conical body in the conical positioning assembly 10407 disengages from the central through hole of the drill rod 4. At this time, the first spring 10416, which is fitted on the long shaft 10412 at both ends of the arc-shaped baffle 10414, is compressed.

[0089] Step A3: Drive the angle adjustment component 10305 in the lifting assembly 103 to rotate a certain angle, so that the stacking bar assembly 104 is as follows. Figure 11 As shown in the figure; the drill rod 4 slides and rolls along the limiting groove 10405 to the bottom of the stack rod assembly 104 under the action of gravity, and the arc-shaped baffle 10414 blocks the drill rod 4 that has rolled down.

[0090] Step A4, control robotic arm 2 to... Figure 11 In the indicated state, the cylinder rod of the fourth hydraulic cylinder 209 extends until the clamping rod assembly 211 moves to the lowest position of the limiting groove 10405. After the drill rod 4 slides out of the limiting groove 10405, it will enter the gripper 21103 in the clamping rod assembly 211. The first motor 10413 drives the arc-shaped baffle 10414 to rotate slowly. A single drill rod 4 slides out from the lower end of the limiting groove 10405 and enters the gripper 21103, controlling the gripper 21103 to clamp the drill rod 4. The remaining drill rods 4 continue to stay in the groove of the limiting groove 10405 under the obstruction of the arc-shaped baffle 10414.

[0091] Step A5: Control the fourth cylinder 209 in the robotic arm 2 to retract completely, control the second motor 206 to make the second outer sleeve 207 vertical, control the drive assembly 212 to make the first inner sleeve 205 rise to an appropriate height; control the drive assembly 212 to make the first outer sleeve 204 move along the rectangular track 202 under the drive of the connecting plate 203 to directly above the main unit 301 of the drilling rig 3.

[0092] Step A6: Control the third motor 210 to drive the clamping rod assembly 211 to rotate a certain angle so that the inclination angle of the drill rod 4 is the same as the inclination angle of the main body 301 of the drilling rig 3; control the drive assembly 212 to move the first inner sleeve 205 downward until the drill rod 4 is in the U-shaped opening of the main clamp of the main body 301 of the drilling rig 3; if the inclination angle of the main body 301 is large, and there is a deviation in the axial direction when the drill rod 4 is delivered to the U-shaped opening of the main clamp, the drill rod 4 can be placed into the U-shaped opening of the main clamp by adjusting the extension distance of the fifth cylinder 21105; control the drilling rig 3 to clamp the drill rod 4, and the clamping rod assembly 211 releases the drill rod 4; the robotic arm 2 returns to the starting position. Figure 11 The location shown.

[0093] Step A7: Adjust the moving component 10304 in the lifting group 103 to move the layer bar assembly 104 downward to the position of the second layer drill rod 4. At this time, the plane formed by the axis of the conical body of the conical positioning component 10407 in the layer bar assembly 104 coincides with the plane formed by the axis of the second layer drill rod 4 in the drill rod chamber 1; adjust the extension distance R of the first hydraulic cylinder 10402.

[0094] Step A8: Repeat steps A4 to A6 to add drill rods.

[0095] Second, the process for unloading the drill pipe is as follows:

[0096] Step B1: Adjust the layer bar assembly 104 to the desired position. Figure 12 The elevation angle shown is as follows: the cylinder rod of the second cylinder 10406 ​​is fully retracted, and the cylinder rod of the third cylinder 10408 is fully extended.

[0097] Step B2: Control the robotic arm 2 to move directly above the main unit 301 of the drilling rig 3. The clamping rod assembly 211 moves downward to the U-shaped opening of the gripper 21103 to engage the drill rod 4. Control the gripper 21103 to clamp the drill rod 4, and the main clamp of the drilling rig 3 releases the drill rod 4.

[0098] Step B3: Adjust the robotic arm 2 to the state shown in Figure 12; further, control the extension of the cylinder rod of the fourth hydraulic cylinder 209 until the clamping rod assembly 211 sends the drill rod 4 into the limiting groove 10405, control the gripper 21103 to release the drill rod 4, and the drill rod 4 naturally rolls down to contact the arc-shaped baffle 10414; drive the first motor 10413 to drive the arc-shaped baffle 10414 to rotate slowly, and the drill rod 4 slides and rolls to the lower end of the limiting groove 10405 to contact the inner arc surface 10411 of the limiting block 10410.

[0099] Step B4: Repeat steps B2 and B3. Control the number of drill rods 4 loaded based on the difference of 1 between the number of drill rods 4 in the adjacent two layers. After the drill rods 4 are full, the cylinder rod of the third cylinder 10408 is fully retracted, and the conical positioning component 10407 limits the drill rods 4 in the limiting groove 10405.

[0100] Step B5: Adjust the layer bar assembly 104 to a horizontal position, control the lifting group 103 to move the layer bar assembly 104 downward to the layer where the drill rod 4 is to be placed, the cylinder rod of the third cylinder 10408 is fully extended, the cylinder rod of the second cylinder 10406 ​​is fully extended, and the drill rod 4 is placed in the drill rod chamber 1.

[0101] Step B6: Repeat steps B1 to B5 to remove the drill pipe.

[0102] When switching between the drill rod addition and removal functions is required, the positive and negative angles of the layer bar assembly 104 and the rotation angle of the second motor 206 in the robotic arm 2 can be adjusted.

Claims

1. A drill rod loading and unloading device suitable for underground tunnel drilling rigs in coal mines, comprising a drill rod chamber (1) and a robotic arm (2); characterized in that: The drill pipe compartment (1) includes a leveling base (101), on which a U-shaped drill pipe rack (102) is installed. The U-shaped drill pipe rack (102) is a frame structure with an opening at the top, and the drill pipe (4) is stacked inside the U-shaped drill pipe rack (102). A lifting assembly (103) is also vertically installed on the leveling base (101). The lifting assembly (103) includes a left rail (10301) and a right rail (10302). The bottom ends of the left rail (10301) and the right rail (10302) are vertically fixed on the leveling base (101). An upper crossbeam (10303) is installed on the left rail (10301) and the right rail (10302). A moving assembly (10304) is installed between the upper crossbeam (10303) and the right rail (10302). An angle adjustment component (10305) is provided between (10303) and the left track (10301); driven by the moving component (10304), the moving component (10304) moves up and down along the right track (10302), and the angle adjustment component (10305) moves up and down along the left track (10301). When the upper crossbeam (10303) moves to the upper limit position, the angle adjustment component (10305) can drive the upper crossbeam (10303) to rotate. A layer bar assembly (104) is installed on the upper crossbeam (10303); The robotic arm (2) includes a first connecting rod (201), a rectangular track (202) is fixedly arranged in the middle of the first connecting rod (201), the long axis of the rectangular track (202) is perpendicular to the first connecting rod (201), a connecting plate (203) is installed on the rectangular track (202), and the connecting plate (203) can move along the long axis of the rectangular track (202); A first outer sleeve (204) is vertically fixedly installed on the connecting plate (203). A first inner sleeve (205) with both ends extending out of the first outer sleeve (204) is installed inside the first outer sleeve (204). The first inner sleeve (205) can move vertically up and down inside the first outer sleeve (204). The bottom end of the first inner sleeve (205) is hinged to the second outer sleeve (207) via the second motor (206). The second inner sleeve (208) is installed inside the second outer sleeve (207). A fourth oil cylinder (209) is provided between the second inner sleeve (208) and the second outer sleeve (207). The bottom end of the second inner sleeve (208) is hinged to the clamping rod assembly (211) via the third motor (210).

2. The drill rod loading and unloading device for underground tunnel drilling rigs in coal mines as described in claim 1, characterized in that, The clamping rod assembly (211) includes a mounting base (21101), the top of which is hinged to the end of the second inner sleeve (208). The bottom of the mounting base (21101) is provided with two parallel second cylindrical guide rails (21102). Two grippers (21103) are mounted on the second cylindrical guide rails (21102). The two grippers (21103) are connected as one unit by a second connecting rod (21104). The lower part of the mounting base (21101) is also connected to the cylinder end of the fifth oil cylinder (21105). The cylinder rod end of the fifth oil cylinder (21105) is connected to a gripper (21103).

3. The drill rod loading and unloading device for underground tunnel drilling rigs in coal mines as described in claim 1, characterized in that, The layer bar assembly (104) includes a center seat (10401), the top of which is fixedly connected to the center of the upper crossbeam (10303); the bottom of the center seat (10401) is connected to the top of the sliding seat (10403) through a pair of longitudinally arranged first hydraulic cylinders (10402). The sliding seat (10403) is fixedly mounted on a pair of first cylindrical guide rails (10404). The pair of first cylindrical guide rails (10404) are arranged laterally. A limiting groove (10405) is fitted at each of the two ends of the pair of first cylindrical guide rails (10404). The two limiting grooves (10405) are arranged longitudinally. The two limiting grooves (10405) and the sliding seat (10403) are connected by a second hydraulic cylinder (10406) arranged laterally, so that the two limiting grooves (10405) can move laterally on the pair of first cylindrical guide rails (10404). Both limiting grooves (10405) are side-mounted U-shaped structures. The opening of the U-shaped structure is opened to the inner side of the lateral direction, and the bottom of the U-shaped structure is arranged to the outer side of the lateral direction. Multiple positioning holes (10418) are opened at the bottom of the U-shaped structure. Conical positioning components (10407) are respectively arranged on the outer side of the two limiting grooves (10405). The conical body of the conical positioning component (10407) is matched with the positioning hole (10418) one by one. The conical positioning component (10407) and the limiting groove (10405) are connected by a third hydraulic cylinder (10408) and a slide rail and slide sleeve assembly (10409) arranged laterally. A limiting block (10410) is embedded in the opening of the U-shaped structure of the two limiting grooves (10405). The limiting block (10410) is provided with an inner arc surface (10411). The central axis of the inner arc surface (10411) is arranged laterally. The central axis of the inner arc surface (10411), the central axis of the positioning hole (10418) at the longitudinal end of the limiting groove (10405), and the central axis of the cone at the longitudinal end of the cone positioning component (10407) coincide. The two limiting grooves (10405) are also provided with a transversely arranged long shaft (10412). The long shaft (10412) extends out of the transverse outer side of the two limiting grooves (10405). The long shaft (10412) is driven to rotate by a first motor (10413) installed on the transverse outer side of the limiting groove (10405). An arc-shaped baffle (10414) is installed on the part of the long shaft (10412) located between the two limiting grooves (10405).

4. The drill rod loading and unloading device for underground tunnel drilling rigs in coal mines as described in claim 3, characterized in that, The stroke of the first hydraulic cylinder (10402) is the radius R of the cross-section of the drill rod (4).

5. The drill rod loading and unloading device for underground tunnel drilling rigs in coal mines as described in claim 3, characterized in that, A spring mounting sleeve (10415) is also provided on the outer side of the two limiting grooves (10405). The two spring mounting sleeves (10415) are fitted on the long shaft (10412). A first spring (10416) is also fitted on the long shaft (10412) inside the spring mounting sleeve (10415). One end of the first spring (10416) abuts on the limiting groove (10405), and the other end of the first spring (10416) abuts on the spring mounting sleeve (10415).

6. The drill rod loading and unloading device for underground tunnel drilling rigs in coal mines as described in claim 3, characterized in that, The two limiting grooves (10405) are connected together by horizontally arranged baffles (10417) to form a frame structure.

7. A method for adding and removing drill rods for underground tunnel drilling rigs in coal mines, characterized in that, The method employs the drill rod loading and unloading device for underground tunnel drilling rigs in coal mines as described in any one of claims 1 to 6.

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