Drill rod warehouse and drilling rig

Abstract

The present invention discloses a drill rod magazine and a drilling rig, wherein the drill rod magazine comprises: a base frame, on which a rock drill is installed in a movable lifting manner; a drill rod clamping device, comprising a first main body structure, a first chain-type limiting structure and a first manipulator, wherein the first main body structure is provided with a limiting groove for installing the drill rod, and the first chain-type limiting structure is used to drive the drill rod to slide along the limiting groove; the first manipulator is installed on the first main body structure, and the first manipulator is used to clamp the drill rod moved below the rock drill; a drill rod loading and unloading device comprises a second main body structure, a second chain-type limiting structure, a lifting structure and a second manipulator, wherein the second chain limiting structure is arranged below the second manipulator; the lifting structure is installed on the second main body structure, and is used to drive the second manipulator to lift and lower; the second manipulator is used to clamp the drill rod and drive the clamped drill rod to rotate around its own axis. The drill rod magazine according to the embodiment of the present invention can be applied to narrow mining sites, reduce manual work, and reduce the wear of the drill rod thread.

Description

Technical Field

[0001] The invention relates to the technical field of mining machinery, and in particular to a drill rod magazine and a drilling rig. Background Art

[0002] The drilling depth of medium-long holes is much greater than the length of a single drill rod, so it is necessary to connect multiple drill rods to achieve the required drilling depth. At present, there are the following technical problems in mining narrow ore bodies:

[0003] 1. At present, the drill rod warehouses on the market generally adopt a disc-type structure. The disc-type drill rod warehouse has a large space size and cannot meet the minimum support distance requirements when drilling holes in narrow construction scenes. It can only be operated by manual loading and unloading of rods on site, which is inefficient, low in automation, and high in labor intensity for workers;

[0004] 2. Most of the drill rods currently used are connected by threads, and the drill rods are connected and unloaded by rock drills. The drill rod threads are screwed in or out by the rotation and advancement of the rock drill. The drill rod will rise and fall synchronously when it is screwed in or out. The rock drill has great power. When the rotation and lifting of the rock drill are not properly coordinated, the drill rod threads will be seriously worn. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a drill rod magazine that can be used in narrow mining sites, reduce manual work, improve the degree of automation and safety factor, and assist the rock drill in connecting and unloading drill rods, thereby reducing the wear of the drill rod threads.

[0006] The present invention also provides a drilling rig having the drill rod magazine.

[0007] A drill rod magazine according to an embodiment of the first aspect of the present invention comprises:

[0008] The base frame is movable and liftable and equipped with a rock drill;

[0009] A drill rod clamping device is installed on the base frame and arranged below the rock drill; the drill rod clamping device includes a first main structure, a first chain-type limiting structure and a first manipulator, the first main structure is provided with a limiting groove for installing the drill rod, the first chain-type limiting structure includes a first chain, the first chain is provided with a plurality of first limiting pieces arranged at intervals, and a first clamping groove for the drill rod to be embedded is formed between adjacent first limiting pieces, and the rotation of the first chain can drive the first limiting piece to move, thereby driving the drill rod to slide along the limiting groove; the first manipulator is installed on the first main structure, and the first manipulator is used to clamp the drill rod moved to below the rock drill;

[0010] A drill rod loading and unloading device is installed on the base frame and arranged below the drill rod clamping device; the drill rod loading and unloading device includes a second main structure, a second chain limiting structure, a lifting structure and a second manipulator, the second chain limiting structure is installed on the second main structure and arranged below the second manipulator; the second chain limiting structure includes a second chain, the second chain is provided with a plurality of second limiting plates arranged at intervals, and second slots for embedding the drill rod are formed between adjacent second limiting plates, and the rotation of the second chain can drive the second limiting plates to move; the lifting structure is installed on the second main structure, and is used to drive the second manipulator to lift and lower; the second manipulator is used to clamp the drill rod and drive the clamped drill rod to rotate around its own axis.

[0011] The drill rod magazine according to the embodiment of the present invention has at least the following beneficial effects:

[0012] The drill rod is accommodated by the limiting groove of the drill rod clamping device, and the drill rod is transported by the first chain limiting structure and the second chain limiting structure. Compared with the currently used disc-type drill rod storage, the drill rod arrangement method of this embodiment occupies less space and can be suitable for mining of narrow ore bodies in a mining area; through the cooperation of the rock drill, the drill rod clamping device, the drill rod loading and unloading device, and the lifting structure, the connection between the drill rods can be loosened by the rock drill, and then the drill rod loading and unloading device and the lifting structure can complete the loading and unloading of the drill rods. The rotation angle of the second manipulator and the synchronization of the lifting structure are easier to adapt, thereby effectively reducing the problem of thread wear caused by the mismatch between the drill rod rotation angle and the lifting height; the second manipulator has a smaller power to drive the drill rod to rotate, which can better control the rotation angle and torque of the drill rod, and further reduce the wear of the screw thread.

[0013] According to some embodiments of the present invention, the drill rod clamping device further comprises a first base, a first swing arm oil cylinder and a first swing oil cylinder, the first main body structure is hinged to the first base, and the first swing arm oil cylinder is used to drive the first main body structure to rotate around the hinge with the first base;

[0014] The first manipulator is hinged to the first main structure, and the first swing cylinder is used to drive the first manipulator to rotate around the hinge with the first main structure.

[0015] According to some embodiments of the present invention, the first manipulator includes a first clamping assembly and a first telescopic structure, the first clamping assembly is used to clamp the drill rod, and the first telescopic structure is used to drive the first clamping assembly to release the drill rod.

[0016] According to some embodiments of the present invention, the first manipulator also includes a first fixed seat, the first clamping assembly includes a first clamping structure and a second clamping structure that are relatively arranged, the middle parts of the first clamping structure and the second clamping structure are hinged to the first fixed seat, the first end of the first clamping structure is connected to the first telescopic structure, and the second end is equipped with a first claw; the first end of the second clamping structure is connected to the first telescopic structure, and the second end is equipped with a second claw; the first telescopic structure is used to drive the first end of the first clamping structure and the first end of the second clamping structure to approach each other, and then drive the first claw and the second claw to move away from each other to loosen the drill rod.

[0017] According to some embodiments of the present invention, the first fixing seat includes a first mounting plate, a first elastic structure is provided between the first end of the first clamping structure and the first mounting plate, a second elastic structure is provided between the first end of the second clamping structure and the first mounting plate, the first elastic structure is used to drive the first claw to move toward the direction close to the second claw, and the second elastic structure is used to drive the second claw to move toward the direction close to the first claw, so as to clamp the drill rod between the first claw and the second claw.

[0018] According to some embodiments of the present invention, the drill rod loading and unloading device further comprises a second base, a second swing arm oil cylinder and a second swing oil cylinder, the second main body structure is hinged to the second base, and the second swing arm oil cylinder is used to drive the second main body structure to rotate around the hinge with the second base;

[0019] The lifting structure comprises a lifting cylinder, a mounting seat is installed at the movable end of the lifting cylinder, the second manipulator is hinged to the mounting seat, and the second swing cylinder is used to drive the second manipulator to rotate around the hinge with the mounting seat.

[0020] According to some embodiments of the present invention, the second manipulator includes a second clamping assembly, a second telescopic structure and a driving assembly, the second clamping assembly includes a third mounting axis and a fourth mounting axis arranged relatively to each other, the driving assembly includes a fifth mounting axis and a driving structure, and a limiting space for a drill rod to pass through is formed between the third mounting axis, the fourth mounting axis and the fifth mounting axis; the second telescopic structure is used to drive the third mounting axis and the fourth mounting axis to move relative to each other, and the driving structure is used to drive the fifth mounting axis to rotate around its own axis, thereby driving the drill rod located in the limiting space to rotate.

[0021] According to some embodiments of the present invention, the second manipulator further includes a second fixed seat, the second clamping assembly includes a third clamping structure and a fourth clamping structure that are relatively arranged, the middle parts of the third clamping structure and the fourth clamping structure are both hinged to the second fixed seat, the first end of the third clamping structure is connected to the second telescopic structure, and the third mounting shaft is installed at the second end of the third clamping structure; the first end of the fourth clamping structure is connected to the second telescopic structure, and the fourth mounting shaft is installed at the second end of the fourth clamping structure; the second telescopic structure is used to drive the first end of the third clamping structure and the first end of the fourth clamping structure to approach each other, and then drive the third mounting shaft and the fourth mounting shaft to move away from each other;

[0022] The driving assembly is mounted on the second fixing seat, the fifth mounting shaft is rotatably disposed around its own axis and penetrates the second fixing seat, and the output end of the driving structure is drivingly connected to the fifth mounting shaft.

[0023] According to some embodiments of the present invention, the first chain-type limiting structure includes a first driving wheel and a first driven wheel, and the first chain is sleeved on the outer circumference of the first driving wheel and the first driven wheel;

[0024] The second chain-type limiting structure comprises a second driving wheel and a second driven wheel, and the second chain is sleeved on the outer circumference of the second driving wheel and the second driven wheel;

[0025] The first driving wheel and the second driving wheel are connected through a main transmission shaft, and the main transmission shaft is connected to a motor that drives it to rotate around its own axis. The rotation of the main transmission shaft drives the first driving wheel and the second driving wheel to rotate synchronously.

[0026] The drilling rig according to the second embodiment of the present invention includes a rising drill rod magazine. Since the drilling rig includes the above-mentioned drill rod magazine, it has at least all the beneficial effects of the drill rod magazine, which will not be elaborated here.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0029] Figure 1 It is a structural schematic diagram of a drill rod magazine according to an embodiment of the first aspect of the present invention;

[0030] Figure 2 for Figure 1 A schematic diagram of the structure of the drill pipe clamping device;

[0031] Figure 3 for Figure 2 A top view of the first chain-type limiting structure;

[0032] Figure 4 for Figure 2 A cross-sectional view of the first manipulator;

[0033] Figure 5 for Figure 1 Assembly diagram of the middle drill pipe loading and unloading device, lifting structure, and second chain-type limiting structure;

[0034] Figure 6 for Figure 5 Schematic diagram of the structure of the second manipulator;

[0035] Figure 7 for Figure 5 Cross-sectional view of the second robot.

[0036] Figure Number:

[0037] Base frame 1000, rock drill 1100, support frame 1200;

[0038] The drill rod clamping device 2000, the first base 2100, the first swing arm cylinder 2110, the first main structure 2200, the limiting groove 2210, the first swing cylinder 2220, the first chain limiting structure 2300, the first driving wheel 2310, the first driven wheel 2320, the first chain 2330, the first limiting piece 2331, the main transmission shaft 2340, the motor 2341, the first manipulator 2400, the first fixed seat 24 10. first mounting plate 2411, first clamping structure 2420, first clamping claw 2421, first elastic structure 2422, second clamping structure 2430, second clamping claw 2431, second elastic structure 2432, first telescopic structure 2440, first cylinder 2441, first telescopic rod 2442, first locking nut 2443, first conical washer 2450, first spherical washer 2451, first retaining ring 2452;

[0039] The drill pipe loading and unloading device 3000, the second base 3100, the second swing arm cylinder 3110, the second main structure 3200, the second manipulator 3300, the second fixing seat 3310, the second mounting plate 3311, the third clamping structure 3320, the third mounting shaft 3321, the first rubber-wrapped wheel 3322, the third elastic structure 3323, the fourth clamping structure 3330, the fourth mounting shaft 3331, the second rubber-wrapped wheel 3332, the fourth elastic structure Structure 3333, the fifth installation shaft 3340, the third rubber-coated wheel 3341, the third gear 3342, the driving structure 3350, the first gear 3351, the second gear 3352, the second telescopic structure 3360, the second cylinder body 3361, the second telescopic rod 3362, the second locking nut 3363, the second chain-type limiting structure 3400, the lifting structure 3500, the lifting cylinder 3510, the sliding frame 3520, and the mounting seat 3530. DETAILED DESCRIPTION

[0040] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0041] In the description of the present invention, it should be understood that descriptions involving orientation, such as orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0042] In the description of the present invention, "a plurality" means more than two. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0043] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0044] Reference Figures 1 to 7 The drill rod storage of the first embodiment of the present invention comprises a base frame 1000 and a rock drill 1100 installed on the base frame 1000, a drill rod clamping device 2000, a drill rod loading and unloading device 3000 and a lifting structure 3500, referring to Figure 1As shown, the rock drill 1100 is movably installed on the base frame 1000, and the rock drill 1100, the drill rod clamping device 2000, and the drill rod loading and unloading device 3000 are arranged in sequence from top to bottom along the vertical direction; the drill rod clamping device 2000 includes a first manipulator 2400, and the first manipulator 2400 can clamp the drill rod; the drill rod loading and unloading device 3000 includes a second manipulator 3300, and the second manipulator 3300 can clamp the drill rod and drive the drill rod to rotate, and the lifting structure 3500 can drive the second manipulator 3300 to rise and fall. During the connection process of the drill rod, the top of the drill rod is threadedly connected to the rock drill 1100, and the bottom of the drill rod is connected to the drill rod that has been partially drilled into the ore body. At present, the loading and unloading of the drill rod is only completed by the rock drill 1100, but the control accuracy of the rock drill 1100 for the rotation angle and the lifting height is limited, and the power of the rock drill 1100 is large, so the rock drill 1100 is prone to cause the thread wear of the drill rod when loading and unloading the drill rod. This embodiment assists the rock drill 1100 in loading and unloading the drill rod by setting a drill rod clamping device 2000, a drill rod loading and unloading device 3000 and a lifting structure 3500, which can effectively reduce the wear of the drill rod thread. Specifically, the drill rod loading and unloading method of this embodiment is as follows:

[0045] When connecting the drill pipe:

[0046] 1. First, the drill rod is transported to the bottom of the rock drill 1100;

[0047] 2. The first manipulator 2400 clamps the upper part of the drill rod, but does not clamp it tightly to prevent the drill rod from being unable to rotate; the second manipulator 3300 clamps the lower part of the drill rod, and then the second manipulator 3300 drives the drill rod to rotate while the lifting structure 3500 drives the drill rod to rise, so that the top end of the drill rod is connected to the rock drill 1100;

[0048] 3. The first manipulator 2400 and the second manipulator 3300 are loosened, and the rock drill 1100 drives the drill rod to descend and rotate, thereby completing the connection between the bottom end of the drill rod and the drill rod partially drilled into the ore body, and at the same time, the top and bottom ends of the drill rod can be tightened at the same time.

[0049] When removing the drill pipe:

[0050] 1. The rock drill 1100 drives the drill rod to rise to the set height;

[0051] 2. The first manipulator 2400 clamps the upper part of the drill rod, and the second manipulator 3300 clamps the lower part of the drill rod;

[0052] 3. The rock drill 1100 rotates and rises so that the top of the drill rod is separated from the rock drill 1100;

[0053] 4. The first manipulator 2400 partially releases the grip of the drill rod to support the drill rod and enable the drill rod to rotate around its own axis;

[0054] 5. While the second manipulator 3300 drives the drill rod to rotate, the lifting structure 3500 drives the drill rod to rise, so that the bottom end of the drill rod is separated from the drill rod that is partially drilled into the ore body; it should be understood that before removing the drill rod, the rock drill 1100 has a vibration function that can loosen the connection between the drill rods, so the two drill rods can be disconnected only by the power of the second manipulator 3300.

[0055] Through the cooperation of the rock drill 1100, the drill rod clamping device 2000, the drill rod loading and unloading device 3000, and the lifting structure 3500, the rock drill 1100 is first used to loosen the connection between the drill rods or between the drill rod and the rock drill, and then the drill rod loading and unloading device 3000 and the lifting structure 3500 complete the loading and unloading between the drill rods or between the drill rod and the rock drill. The rotation angle of the second manipulator 3300 and the synchronization of the lifting structure 3500 are easier to adapt, thereby effectively reducing the problem of thread wear caused by the mismatch between the drill rod rotation angle and the lifting height; the second manipulator 3300 has a smaller power to drive the drill rod to rotate, which can better control the rotation angle and torque of the drill rod, and further reduce the wear of the drill rod thread.

[0056] In the embodiment of the present invention, the drill rod clamping device 2000 further includes a first main body structure 2200 and a first chain-type limiting structure 2300. The first main body structure 2200 is provided with a limiting groove 2210 for installing the drill rod. Figure 2 As shown, the limit groove 2210 is a strip groove, and one end of the strip groove is open. Multiple drill rods are arranged in parallel in the limit groove 2210. The limit groove 2210 changes the existing disc-shaped drill rod library, making the drill rod library structure more compact and applicable to narrow construction scenes with smaller support distances. Figure 3 As shown, the first chain-type limiting structure 2300 includes a first chain 2330, and the first chain 2330 is provided with a plurality of first limiting pieces 2331 arranged at intervals, and a first slot for embedding the drill rod is formed between adjacent first limiting pieces 2331. The rotation of the first chain 2330 can drive the first limiting piece 2331 to move, thereby driving the drill rod to slide along the limiting groove 2210; one section of the first chain 2330 is parallel to the limiting groove 2210. For ease of understanding, in this embodiment, the length of the first chain 2330 parallel to the limiting groove 2210 is defined as a parallel section; the first chain 2330 is composed of a plurality of chain links, and the first limiting pieces 2331 are installed on the chain links of the parallel section, and the spacing between adjacent first limiting pieces 2331 is substantially equal to the diameter of the drill rod. The forward and reverse rotation of the first chain 2330 will drive the drill rod to be sent out or stored in the limiting groove 2210.

[0057] In the embodiments of the present invention, referring to Figure 3As shown, the first chain-type limiting structure 2300 further includes a first driving wheel 2310 and a first driven wheel 2320, and the first chain 2330 is wound around the first driving wheel 2310 and the first driven wheel 2320. It should be understood that, referring to Figure 5 As shown, the second chain-type limiting structure 3400 is basically the same as the first chain-type limiting structure 2300. The second chain-type limiting structure 3400 includes a second driving wheel, a second driven wheel and a second chain. The second chain is sleeved on the outer periphery of the second driving wheel and the second driven wheel. The second chain is also composed of a plurality of chain links. Some of the chain links are provided with second limiting pieces. The spacing between adjacent second limiting pieces is substantially equal to the diameter of the drill rod. The first chain-type limiting structure 2300 is used to limit the upper part of the drill rod, and the second chain-type limiting structure 3400 is used to limit the lower part of the drill rod to ensure that the upper and lower parts of the drill rod can move simultaneously, ensuring that the drill rod always moves in a vertical state. The first driving wheel 2310 and the second driving wheel are connected through a main transmission shaft 2340. The main transmission shaft 2340 is connected to a motor 2341 that drives it to rotate around its own axis. The rotation of the main transmission shaft 2340 drives the first driving wheel 2310 and the second driving wheel to rotate synchronously, thereby ensuring that the conveying speed of the upper and lower parts of the drill pipe is consistent.

[0058] In the embodiments of the present invention, referring to Figure 2As shown, the drill rod clamping device 2000 also includes a first base 2100, a first swing arm cylinder 2110 and a first swing cylinder 2220. The first main structure 2200 is hinged to the first base 2100, and the first swing arm cylinder 2110 is used to drive the first main structure 2200 to rotate around the hinge with the first base 2100; the first manipulator 2400 is hinged to the first main structure 2200, and the first swing cylinder 2220 is used to drive the first manipulator 2400 to rotate around the hinge with the first main structure 2200. Specifically, the first main structure 2200 has an initial position and a working position. The first swing arm cylinder 2110 drives the first main structure 2200 to rotate around the hinge with the first base 2100 to drive the first main structure 2200 to switch between the initial position and the working position. When the first main structure 2200 is in the initial position, it does not affect the lifting and lowering of the rock drill 1100. When the first main structure 2200 is in the working position, it can drive the first manipulator 2400 to approach the drill rod under the rock drill 1100, but it will affect the lifting and lowering of the rock drill 1100. The first manipulator 2400 has a first position and a second position. The first swing cylinder 2220 drives the first manipulator 2400 to rotate around the hinge with the first main structure 2200, thereby driving the first manipulator 2400 to switch between the first position and the second position. When the first manipulator 2400 is in the first position, it is unable to clamp the drill rod under the rock drill 1100. Only when the first manipulator 2400 is in the second position can it clamp the drill rod under the rock drill 1100. In summary, only when the first main structure 2200 is in the working position and the first manipulator 2400 is in the second position can the first manipulator 2400 clamp the drill rod. The first swing cylinder 2220 is set to drive the first manipulator 2400 to switch between the first position and the second position so as not to interfere with the position switching of the first main structure 2200, and at the same time, it is convenient for the first manipulator 2400 to clamp or release the drill rod.

[0059] In the embodiments of the present invention, accordingly, reference is made to Figure 5As shown, the drill rod loading and unloading device 3000 includes a second main structure 3200, a second base 3100, and a second swing arm cylinder 3110. The lifting structure 3500 includes a mounting seat 3530 and a second swing arm cylinder. The second main structure 3200 is hinged to the second base 3100, and the second swing arm cylinder 3110 is used to drive the second main structure 3200 to rotate around the hinge with the second base 3100; the second manipulator 3300 is hinged to the mounting seat 3530, and the second swing arm cylinder is used to drive the second manipulator 3300 to rotate around the hinge with the mounting seat 3530. Specifically, the second main structure 3200 also has an initial position and a working position. The second swing arm cylinder 3110 drives the second main structure 3200 to rotate around the hinge with the second base 3100 to drive the second main structure 3200 to switch between the initial position and the working position. When the second main structure 3200 is in the initial position, it does not affect the lifting and lowering of the rock drill 1100. When the second main structure 3200 is in the working position, it can drive the second manipulator 3300 to approach the drill rod under the rock drill 1100, but it will affect the lifting and lowering of the rock drill 1100. The second manipulator 3300 also has a first position and a second position. The second swing cylinder drives the second manipulator 3300 to rotate around the hinge with the mounting seat 3530, thereby driving the second manipulator 3300 to switch between the first position and the second position. When the second manipulator 3300 is in the first position, it is unable to clamp the drill rod under the rock drill 1100. Only when the second manipulator 3300 is in the second position can it clamp the drill rod under the rock drill 1100. In summary, that is, only when the second main structure 3200 is in the working position and the second manipulator 3300 is in the second position can the second manipulator 3300 clamp the drill rod. The second swing cylinder is set to drive the second manipulator 3300 to switch between the first position and the second position so as not to interfere with the position switching of the second main structure 3200, and it is also convenient for the second manipulator 3300 to clamp or release the drill rod.

[0060] It should be noted that the second chain-type limiting structure 3400 and the lifting structure 3500 are both installed on the second main body structure 3200. When the second main body structure 3200 switches between the initial position and the working position, it will drive the second chain-type limiting structure 3400 and the lifting structure 3500 to move synchronously. The second chain-type limiting structure 3400 is arranged below the lifting structure 3500, and the second manipulator 3300 is connected to the mounting seat 3530 of the lifting structure 3500. The lifting structure 3500 drives the second manipulator 3300 to rise and fall without driving the second chain-type limiting structure 3400 to rise and fall.

[0061] In the embodiments of the present invention, referring to Figure 5As shown, the lifting structure 3500 includes a lifting cylinder 3510, a sliding frame 3520 and the mounting seat 3530 mentioned above. The sliding frame 3520 is fixedly connected to the second main structure 3200, for example, by welding; the fixed end of the lifting cylinder 3510 is mounted on the sliding frame 3520, the mounting seat 3530 is mounted on the movable end of the lifting cylinder 3510, the second manipulator 3300 is hinged to the mounting seat 3530, and the two ends of the second swing cylinder are respectively connected to the second manipulator 3300 and the mounting seat 3530. Specifically, the sliding frame 3520 is provided with two guide rails arranged at intervals, and both guide rails pass through the mounting seat 3530 to guide the mounting seat 3530 to slide in the vertical direction.

[0062] In the embodiment of the present invention, the first manipulator 2400 is installed on the first main structure 2200, and the first manipulator 2400 is used to clamp the drill rod located below the rock drill 1100; the first manipulator 2400 includes a first clamping assembly and a first telescopic structure 2440, the first clamping assembly is used to clamp the drill rod, and the first telescopic structure 2440 is used to drive the first clamping assembly to loosen the drill rod. Figure 4 As shown, the first manipulator 2400 also includes a first fixed seat 2410, and the first clamping assembly includes a first clamping structure 2420 and a second clamping structure 2430 that are relatively arranged. The middle parts of the first clamping structure 2420 and the second clamping structure 2430 are hinged to the first fixed seat 2410, the first end of the first clamping structure 2420 is connected to the first telescopic structure 2440, and the second end is equipped with a first claw 2421; the first end of the second clamping structure 2430 is connected to the first telescopic structure 2440, and the second end is equipped with a second claw 2431; the first telescopic structure 2440 is used to drive the first end of the first clamping structure 2420 and the first end of the second clamping structure 2430 to approach each other, and then drive the first claw 2421 and the second claw 2431 to move away from each other to loosen the drill rod.

[0063] Further, see Figure 4As shown, the first fixed seat 2410 includes a first mounting plate 2411, and the first mounting plate 2411 is arranged between the first clamping structure 2420 and the second clamping structure 2430; a first elastic structure 2422 is provided between the first end of the first clamping structure 2420 and the first mounting plate 2411, and a second elastic structure 2432 is provided between the first end of the second clamping structure 2430 and the first mounting plate 2411, the first elastic structure 2422 is used to drive the first clamping claw 2421 to move toward the direction close to the second clamping claw 2431, and the second elastic structure 2432 is used to drive the second clamping claw 2431 to move toward the direction close to the first clamping claw 2421, so as to clamp the drill rod between the first clamping claw 2421 and the second clamping claw 2431. The first telescopic structure 2440 includes a first cylinder body 2441 and a first telescopic rod 2442, one end of the first telescopic rod 2442 is slidably installed on the first cylinder body 2441, and the other end of the first telescopic rod 2442 passes through the first end of the first clamping structure 2420, the first end of the second clamping structure 2430, and the first mounting plate 2411, and the first locking nut 2443 is installed on the end of the first telescopic rod 2442 away from the first cylinder body 2441, and the first elastic structure 2422 and the second elastic structure 2432 are also sleeved on the first telescopic rod 2442; therefore, when the first cylinder body 2441 drives the first telescopic rod 2442 to slide in the direction close to the first cylinder body 2441, the first telescopic rod 2442 will drive the first end of the first clamping structure 2420 and the first end of the second clamping structure 2430 to approach each other, and compress the first elastic structure 2422 and the second elastic structure 2432, thereby driving the first clamping claw 2421 and the second clamping claw 2431 to move away from each other to loosen the drill rod.

[0064] In the embodiments of the present invention, referring to Figure 4As shown, a first conical washer 2450 and a first spherical washer 2451 are provided between the first locking nut 2443 and the first end of the first clamping structure 2420. The first conical washer 2450 and the first spherical washer 2451 are both sleeved on the first telescopic rod 2442. The first conical washer 2450 is provided with a first conical surface on the side facing the first spherical washer 2451, and the first spherical washer 2451 is provided with a first spherical surface on the side facing the first conical washer 2450. The first spherical surface is in contact with the first conical surface, and the first spherical surface can slide relative to the first conical surface. Since the first clamping structure 2420 is hinged to the first fixed seat 2410 in the middle, when the first clamping structure 2420 rotates around the hinge with the first fixed seat 2410, the first end of the first clamping structure 2420 moves in an arc, that is, when the first end of the first clamping structure 2420 is close to the second clamping structure 2430, it moves in the horizontal and vertical directions; the first end of the first clamping structure 2420 is provided with a through hole for the first telescopic rod 2442 to pass through, so the aperture of the through hole should be larger than the diameter of the first telescopic rod 2442, so as to avoid the linear movement of the first telescopic rod 2442 being stuck by the first clamping structure 2420; the first conical washer 2450 and the first spherical washer 2451 are provided to make the linear movement of the first telescopic rod 2442 smoother.

[0065] Furthermore, in an embodiment of the present invention, a first retaining ring 2452 is provided between the first locking nut 2443 and the first conical washer 2450 , and the first retaining ring 2452 is used to play a buffering role to prevent the first locking nut 2443 from interfering with the movement of the first spherical washer 2451 relative to the first conical washer 2450 .

[0066] It is conceivable that a first conical washer 2450 , a first spherical washer 2451 and a first retaining ring 2452 are also provided between the first cylinder body 2441 and the second clamping structure 2430 .

[0067] In the embodiments of the present invention, referring to Figure 6As shown, the second manipulator 3300 includes a second clamping assembly, a second telescopic structure 3360 and a driving assembly. The second clamping assembly includes a third mounting shaft 3321 and a fourth mounting shaft 3331 that are arranged opposite to each other. The driving assembly includes a fifth mounting shaft 3340 and a driving structure 3350. A limited space for the drill rod to pass through is formed between the third mounting shaft 3321, the fourth mounting shaft 3331 and the fifth mounting shaft 3340. The second telescopic structure 3360 is used to drive the third mounting shaft 3321 and the fourth mounting shaft 3331 to move relative to each other. The driving structure 3350 is used to drive the fifth mounting shaft 3340 to rotate around its own axis, thereby driving the drill rod located in the limited space to rotate. When the second main structure 3200 is in the working position and the second manipulator 3300 is in the second position, the drill rod is just located in the limited space. Specifically, the second manipulator 3300 also includes a second fixed seat 3310, and the second clamping assembly includes a third clamping structure 3320 and a fourth clamping structure 3330 that are relatively arranged. The middle parts of the third clamping structure 3320 and the fourth clamping structure 3330 are hinged to the second fixed seat 3310, the first end of the third clamping structure 3320 is connected to the second telescopic structure 3360, and the third mounting axis 3321 is installed on the second end of the third clamping structure 3320; the first end of the fourth clamping structure 3330 is connected to the second telescopic structure 3360, and the fourth mounting axis 3331 is installed on the second end of the fourth clamping structure 3330; the second telescopic structure 3360 is used to drive the first end of the third clamping structure 3320 and the first end of the fourth clamping structure 3330 to approach each other, thereby driving the third mounting axis 3321 and the fourth mounting axis 3331 to move away from each other.

[0068] Furthermore, the length extension direction of the third installation axis 3321 is perpendicular to the length extension direction of the third clamping structure 3320, and the length extension direction of the fourth installation axis 3331 is perpendicular to the length extension direction of the fourth clamping structure 3330. The third installation axis 3321, the fourth installation axis 3331, and the fifth installation axis 3340 are all arranged in parallel, and the fifth installation axis 3340 is arranged between the third installation axis 3321 and the fourth installation axis 3331. The first rubber-wrapped wheel 3322 is installed at both ends of the length direction of the third installation axis 3321, the second rubber-wrapped wheel 3332 is installed at both ends of the length direction of the fourth installation axis 3331, and the third rubber-wrapped wheel 3341 is installed at both ends of the length direction of the fifth installation axis 3340. When the drill rod is clamped in the limited space, the first rubber-wrapped wheel 3322, the second rubber-wrapped wheel 3332, and the third rubber-wrapped wheel 3341 are all in contact with the drill rod located in the limited space. Refer to Figure 4 As shown, the outer peripheral walls of the first rubber-coated wheel 3322, the second rubber-coated wheel 3332, and the third rubber-coated wheel 3341 are all provided with oblique lines protruding from the surface to increase the friction force in contact with the drill rod.

[0069] In the embodiment of the present invention, the driving assembly is mounted on the second fixing seat 3310, the fifth mounting shaft 3340 is rotatably disposed around its own axis and penetrates the second fixing seat 3310, and the output end of the driving structure 3350 is transmission-connected to the fifth mounting shaft 3340. Figure 7 As shown, the fifth installation shaft 3340 is rotatably arranged around its own axis and penetrates the second fixed seat 3310, and the outer periphery of the fifth installation shaft 3340 is sleeved with a third gear 3342, and the output end of the driving structure 3350 is connected to the first gear 3351, and the first gear 3351 is meshed with the third gear 3342, thereby driving the third rubber-wrapped wheel 3341 to rotate, and the third rubber-wrapped wheel 3341 then drives the drill rod in the limited space to rotate, thereby realizing the connection or disconnection between the drill rods. Specifically, a second gear 3352 is arranged between the first gear 3351 and the third gear 3342, and the second gear 3352 is used as an intermediate gear to connect the first gear 3351 and the third gear 3342. The second gear 3352 can reduce the volume of the first gear 3351 and the third gear 3342 on the one hand, and can avoid the obstruction caused by the fourth installation shaft 3331 on the other hand. The fifth installation shaft 3340 is driven to rotate by gear transmission, which has a simple structure and a stable torque transmission effect.

[0070] In the embodiments of the present invention, referring to Figure 6 , Figure 7As shown, the second telescopic structure 3360 includes a second cylinder 3361 and a second telescopic rod 3362, and the second telescopic rod 3362 is slidably mounted on the second cylinder 3361; the middle portion of the second telescopic rod 3362 passes through the first end of the third clamping structure 3320 and the first end of the fourth clamping structure 3330, and the end of the second telescopic rod 3362 is mounted with a second locking nut 3363. The second telescopic rod 3362 slides in the direction close to the second cylinder 3361, which can drive the first end of the third clamping structure 3320 and the first end of the fourth clamping structure 3330 to approach each other, and then drive the first rubber-wrapped wheel 3322 and the second rubber-wrapped wheel 3332 to move away from each other. The first end of the third clamping structure 3320 is provided with a first through hole for the second telescopic rod 3362 to pass through, and the second end of the fourth clamping structure 3330 is also provided with a second through hole for the second telescopic rod 3362 to pass through, and the apertures of the first through hole and the second through hole are both larger than the diameter of the second telescopic rod 3362. The second fixing seat 3310 includes a second mounting plate 3311, which is disposed between the third clamping structure 3320 and the fourth clamping structure 3330. A third elastic structure 3323 is disposed between the third clamping structure 3320 and the second mounting plate 3311, and a fourth elastic structure 3333 is disposed between the fourth clamping structure 3330 and the second mounting plate 3311. The third elastic structure 3323 is used to push the first end of the third clamping structure 3320 to move in a direction away from the fourth clamping structure 3330. , that is, it is used to push the first rubber-wrapped wheel 3322 to move in the direction of the second rubber-wrapped wheel 3332; the fourth elastic structure 3333 is used to push the first end of the fourth clamping structure 3330 to move in the direction away from the third clamping structure 3320, that is, it is used to push the second rubber-wrapped wheel 3332 to move in the direction of the first rubber-wrapped wheel 3322; by setting the third elastic structure 3323 and the fourth elastic structure 3333, it can be ensured that when the equipment is powered off, the first rubber-wrapped wheel 3322 and the second rubber-wrapped wheel 3332 can still clamp the drill rod. Since the second locking nut 3363 is installed at the end of the second telescopic rod 3362, when the second telescopic rod 3362 slides in the direction of the second cylinder body 3361, it can drive the first end of the third clamping structure 3320 and the first end of the fourth clamping structure 3330 to approach each other, so that the first rubber-wrapped wheel 3322 and the second rubber-wrapped wheel 3332 are separated from each other to loosen the drill rod.

[0071] In the embodiment of the present invention, similarly, a second conical washer and a second spherical washer are installed between the second locking nut 3363 and the third clamping structure 3320, the second conical washer is provided with a first conical surface, the second spherical washer is provided with a first spherical surface, the first conical surface contacts the first spherical surface, and the first spherical surface can slide relative to the first conical surface. Figure 6 , Figure 7As shown, the second telescopic rod 3362 moves in a straight line, while the third clamping structure 3320 and the fourth clamping structure 3330 are both hinged to the second fixed seat 3310 in the middle. Therefore, when the third clamping structure 3320 rotates around the hinge with the second fixed seat 3310, the first end of the third clamping structure 3320 moves in an arc; similarly, when the third clamping structure 3320 rotates around the hinge with the second fixed seat 3310, the first end of the fourth clamping structure 3330 also moves in an arc; therefore, the apertures of the first through hole and the second through hole must be larger than the diameter of the second telescopic rod 3362, so as to avoid being stuck by the third clamping structure 3320 and the fourth clamping structure 3330 when the second telescopic rod 3362 slides in a straight line. The purpose of setting the second spherical washer and the second conical washer is also to prevent the linear motion of the second telescopic rod 3362 from being stuck. The first spherical surface of the second spherical washer and the first conical surface of the second conical washer can rotate relative to each other, so that the extension and retraction of the second telescopic rod 3362 can be smoother, and the linear motion of the second telescopic rod 3362 can be better prevented from being stuck.

[0072] In an embodiment of the present invention, a second retaining ring is also sleeved on the outer periphery of the second telescopic rod 3362, and the second retaining ring is arranged between the second spherical washer and the second locking nut 3363. The second retaining ring is used to prevent the second locking nut 3363 from interfering with the second spherical washer, thereby affecting the relative sliding between the second spherical washer and the second conical washer.

[0073] It should be understood that a second conical washer, a second spherical washer and a second retaining ring are also installed between the second cylinder body 3361 and the fourth elastic structure 3333 .

[0074] In an embodiment of the present invention, a support frame 1200 is provided at the bottom of the base frame 1000. The support frame 1200 is arranged below the second chain-type limiting structure 3400. The support frame 1200 is used to support the drill rod.

[0075] The drilling rig of the second embodiment of the present invention includes a rising drill rod magazine. Since the drilling rig includes the above-mentioned drill rod magazine, it has at least all the beneficial effects of the drill rod magazine, which will not be elaborated here.

[0076] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0077] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A drill rod magazine, characterized in that: include: The base frame is movable and liftable and equipped with a rock drill; A drill rod clamping device is installed on the base frame and arranged below the rock drill; the drill rod clamping device includes a first main structure, a first chain-type limiting structure and a first manipulator, the first main structure is provided with a limiting groove for installing the drill rod, the first chain-type limiting structure includes a first chain, the first chain is provided with a plurality of first limiting pieces arranged at intervals, and a first clamping groove for the drill rod to be embedded is formed between adjacent first limiting pieces, and the rotation of the first chain can drive the first limiting piece to move, thereby driving the drill rod to slide along the limiting groove; the first manipulator is installed on the first main structure, and the first manipulator is used to clamp the drill rod moved to below the rock drill; A drill rod loading and unloading device is installed on the base frame and arranged below the drill rod clamping device; the drill rod loading and unloading device includes a second main structure, a second chain limiting structure, a lifting structure and a second manipulator, the second chain limiting structure is installed on the second main structure and arranged below the second manipulator; the second chain limiting structure includes a second chain, the second chain is provided with a plurality of second limiting plates arranged at intervals, and second slots for embedding the drill rod are formed between adjacent second limiting plates, and the rotation of the second chain can drive the second limiting plates to move; the lifting structure is installed on the second main structure, and is used to drive the second manipulator to lift and lower; the second manipulator is used to clamp the drill rod and drive the clamped drill rod to rotate around its own axis.

2. The drill rod magazine according to claim 1, characterized in that: The drill rod clamping device further comprises a first base, a first swing arm oil cylinder and a first swing oil cylinder, the first main body structure is hinged to the first base, and the first swing arm oil cylinder is used to drive the first main body structure to rotate around the hinge with the first base; The first manipulator is hinged to the first main structure, and the first swing cylinder is used to drive the first manipulator to rotate around the hinge with the first main structure.

3. The drill rod magazine according to claim 1, characterized in that: The first manipulator includes a first clamping assembly and a first telescopic structure, the first clamping assembly is used to clamp the drill rod, and the first telescopic structure is used to drive the first clamping assembly to release the drill rod.

4. The drill rod magazine according to claim 3, characterized in that: The first manipulator also includes a first fixed seat, and the first clamping assembly includes a first clamping structure and a second clamping structure that are relatively arranged, the middle parts of the first clamping structure and the second clamping structure are both hinged to the first fixed seat, the first end of the first clamping structure is connected to the first telescopic structure, and the second end is equipped with a first claw; the first end of the second clamping structure is connected to the first telescopic structure, and the second end is equipped with a second claw; the first telescopic structure is used to drive the first end of the first clamping structure and the first end of the second clamping structure to approach each other, and then drive the first claw and the second claw to move away from each other to loosen the drill rod.

5. The drill rod magazine according to claim 4, characterized in that: The first fixing seat includes a first mounting plate, a first elastic structure is provided between the first end of the first clamping structure and the first mounting plate, a second elastic structure is provided between the first end of the second clamping structure and the first mounting plate, the first elastic structure is used to drive the first clamping claw to move in a direction close to the second clamping claw, and the second elastic structure is used to drive the second clamping claw to move in a direction close to the first clamping claw so as to clamp the drill rod between the first clamping claw and the second clamping claw.

6. The drill rod magazine according to claim 1, characterized in that: The drill rod loading and unloading device also includes a second base, a second swing arm oil cylinder and a second swing oil cylinder, the second main body structure is hinged to the second base, and the second swing arm oil cylinder is used to drive the second main body structure to rotate around the hinge with the second base; The lifting structure comprises a lifting cylinder, a mounting seat is installed at the movable end of the lifting cylinder, the second manipulator is hinged to the mounting seat, and the second swing cylinder is used to drive the second manipulator to rotate around the hinge with the mounting seat.

7. The drill rod magazine according to claim 1, characterized in that: The second manipulator includes a second clamping assembly, a second telescopic structure and a driving assembly, the second clamping assembly includes a third mounting shaft and a fourth mounting shaft arranged opposite to each other, the driving assembly includes a fifth mounting shaft and a driving structure, and a limiting space for a drill rod to pass through is formed between the third mounting shaft, the fourth mounting shaft and the fifth mounting shaft; the second telescopic structure is used to drive the third mounting shaft and the fourth mounting shaft to move relative to each other, and the driving structure is used to drive the fifth mounting shaft to rotate around its own axis, thereby driving the drill rod located in the limiting space to rotate.

8. The drill rod magazine according to claim 7, characterized in that: The second manipulator also includes a second fixed seat, the second clamping assembly includes a third clamping structure and a fourth clamping structure that are relatively arranged, the middle parts of the third clamping structure and the fourth clamping structure are both hinged to the second fixed seat, the first end of the third clamping structure is connected to the second telescopic structure, and the third mounting shaft is installed at the second end of the third clamping structure; the first end of the fourth clamping structure is connected to the second telescopic structure, and the fourth mounting shaft is installed at the second end of the fourth clamping structure; the second telescopic structure is used to drive the first end of the third clamping structure and the first end of the fourth clamping structure to approach each other, and then drive the third mounting shaft and the fourth mounting shaft to move away from each other; The driving assembly is mounted on the second fixing seat, the fifth mounting shaft is rotatably disposed around its own axis and penetrates the second fixing seat, and the output end of the driving structure is drivingly connected to the fifth mounting shaft.

9. The drill rod magazine according to claim 1, characterized in that: The first chain-type limiting structure comprises a first driving wheel and a first driven wheel, and the first chain is sleeved on the outer circumference of the first driving wheel and the first driven wheel; The second chain-type limiting structure comprises a second driving wheel and a second driven wheel, and the second chain is sleeved on the outer circumference of the second driving wheel and the second driven wheel; The first driving wheel and the second driving wheel are connected through a main transmission shaft, and the main transmission shaft is connected to a motor that drives it to rotate around its own axis. The rotation of the main transmission shaft drives the first driving wheel and the second driving wheel to rotate synchronously.

10. A drilling rig, characterized in that: Comprising the drill rod magazine according to any one of claims 1 to 9.

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