Self-continuing drill rod drilling device and outburst-prevention and impact-prevention drill carriage

Abstract

The invention discloses a drilling device capable of automatically continuing a drill rod and an outburst prevention and scour prevention drill carriage, the drilling device capable of automatically continuing the drill rod comprises a drill rod warehouse used for storing drill rods, a main machine and a control system, and the main machine comprises a workbench; the clamping device is arranged on the workbench in an opening and closing mode and used for clamping or loosening the drill rod; the gyrator is movably arranged on the workbench, is coaxial with the clamping device and is used for rotating the drill rod and driving the drill rod to feed forwards; the manipulator assembly is used for taking out the drill rods in the drill rod warehouse and placing the drill rods on the clamping device; wherein the clamp holder, the gyrator and the manipulator assembly are all in electric signal connection with the control system. The drilling rod can be automatically assembled and disassembled, man-machine separation is achieved through remote control, and therefore the drilling efficiency is improved, and potential safety hazards are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling vehicles, and more specifically, to a self-reinforcing drill rod drilling device. In addition, the present invention also relates to an anti-burst and anti-impact drilling vehicle comprising the self-reinforcing drill rod drilling device. Background Art

[0002] The anti-impact and anti-outburst drilling vehicle is a special equipment for preventing and controlling impact ground pressure. Its main function is to provide a stable working environment, reduce impact and vibration during the drilling process, and ensure the accuracy and efficiency of drilling.

[0003] Generally, the drilling depth reaches tens or even hundreds of meters. Therefore, a lot of repetitive work of loading and unloading drill rods is required when drilling in and out. Ordinary anti-outburst and anti-impact drilling vehicles drill holes by constantly loading and unloading rods by manpower, resulting in low drilling efficiency and safety hazards.

[0004] In summary, how to solve the problems of high labor intensity, low drilling efficiency and potential safety hazards in existing anti-outburst and anti-impact drilling vehicles is an urgent problem to be solved by technical personnel in this field. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a self-reinforcing drill rod drilling device, which can realize automatic loading and unloading of drill rods and realize human-machine separation through remote control, thereby improving drilling efficiency and reducing safety hazards.

[0006] Another object of the present invention is to provide a sudden and impact-proof drilling vehicle including the self-reinforcing drill rod drilling device.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A self-sustaining drill rod drilling device, comprising a drill rod library for storing drill rods, a host and a control system, wherein the host comprises:

[0009] Workbench;

[0010] A clamp, which can be opened and closed and is arranged on the workbench, and is used to clamp or release the drill rod;

[0011] A rotator, movably disposed on the workbench and coaxially arranged with the clamp, for rotating the drill rod and driving the drill rod to feed forward;

[0012] A manipulator assembly, used for taking out the drill rod in the drill rod library and placing it on the clamp;

[0013] Wherein, the clamper, the rotator and the manipulator assembly are all connected to the control system via electrical signals.

[0014] Preferably, the manipulator assembly is arranged at the end of the workbench adjacent to the drill rod magazine, and the manipulator assembly includes a picking manipulator and a rod loading manipulator sequentially arranged from near to far from the drill rod magazine, and a drill rod placing station is provided between the two;

[0015] The picking manipulator is used to pick up the drill rod in the drill rod storage and put it on the drill rod placement station, and the upper rod manipulator is used to pick up the drill rod on the drill rod placement station and put it on the clamp.

[0016] Preferably, the drill rod placement station is provided with a rotary pallet, the rotary pallet can be rotatably arranged on the workbench and is connected to a pallet driver, and the pallet driver is electrically signal-connected to the control system.

[0017] Preferably, the picking robot comprises a picking support, a picking telescopic arm and a picking swing arm, the picking support is arranged on the workbench, the telescopic arm can move up and down and is arranged on the picking support, and the swing arm is hinged to the telescopic arm and is used to swing back and forth between the drill rod storage and the rotary pallet.

[0018] Preferably, the upper rod manipulator comprises an upper rod support and an upper rod swing arm, wherein the upper rod swing arm is hinged to the upper rod support and is used for swinging back and forth between the axial position of the rotary support plate and the clamper.

[0019] Preferably, the swivel support plate is horizontally arranged and rotatably mounted on the upper rod support, a support is provided on the plate edge of the swivel support plate, and the support is extended along the axial direction of the clamp for placing the drill rod.

[0020] Preferably, the workbench is provided with a guide rail extending along the axial direction of the clamp, the clamp is fixed on the guide rail, the rotator is movably arranged on the guide rail and is connected to a feed driver, and the feed driver is electrically connected to the control system.

[0021] Preferably, the clamp is arranged at an end of the guide rail away from the manipulator assembly, and the distance between the clamp and the manipulator assembly is a preset distance.

[0022] A sudden and impact proof drilling vehicle comprises a chassis assembly and any one of the above-mentioned self-reinforcing drill rod drilling devices.

[0023] When the self-sustained drill rod drilling device provided by the present invention is used for drilling operations, the clamp is controlled to open, and then the manipulator assembly is controlled to move flexibly in space, the drill rod is taken out from the drill rod warehouse, and the drill rod is placed on the clamp, the clamp is controlled to close to clamp the drill rod, and then the manipulator assembly is controlled to reset, and after the automatic rod loading is completed, the rotator is controlled to approach the clamp, the rotator sleeves the drill rod and drives it to rotate, and then the rotator is continued to be controlled to move forward to feed the drill rod forward to achieve drilling. It should be noted that after the drilling operation is completed, the above operation can be performed in reverse to complete the automatic rod unloading.

[0024] Therefore, the present invention can realize automatic loading and unloading of drill rods for continuous drilling operations, thereby improving drilling efficiency and saving a lot of manpower. The remote control loading and unloading of drill rods is used to achieve human-machine separation, and drilling operations can be carried out more safely in rock burst danger areas, thereby reducing safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0026] Figure 1 A schematic diagram of the structure of the anti-burst and anti-drilling vehicle provided by the present invention;

[0027] Figure 2 A schematic diagram of a pick-up manipulator placing a drill rod in the self-reinforcing drill rod drilling device provided by the present invention;

[0028] Figure 3 A schematic diagram of a rotary support plate transporting drill rods in the self-reinforcing drill rod drilling device provided by the present invention;

[0029] Figure 4 This is a schematic diagram of the drill rod placement by the upper rod manipulator in the self-reinforcing drill rod drilling device provided by the present invention.

[0030] Reference numerals:

[0031] 1-Host; 2-Drill rod library; 3-Visual device; 4-Chassis assembly; 5-Control system;

[0032] 11-working table; 12-gripper; 13-rotator; 14-manipulator assembly;

[0033] 141-pick up manipulator; 1411-pick up support; 1412-pick up telescopic arm; 1413-pick up swing arm;

[0034] 142-upper rod manipulator; 1421-upper rod support; 1422-upper rod swing arm;

[0035] 143-rotating pallet; 1431-support. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] The core of the present invention is to provide a self-reinforcing drill rod drilling device, which can realize automatic loading and unloading of drill rods and realize human-machine separation through remote control, thereby improving drilling efficiency and reducing safety hazards.

[0038] Another core of the present invention is to provide an anti-outburst and anti-impact drilling vehicle including the above-mentioned self-reinforcing drill rod drilling device.

[0039] It should be noted that in this embodiment, the directions or positional relationships indicated by "upper" and "lower" are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present application. In addition, "first" and "second" are only used to describe the effect, and cannot be understood as indicating or implying relative importance.

[0040] Please refer to Figures 1 to 4 The present application provides a self-sustaining drill rod drilling device, including a drill rod storage 2 for storing drill rods, a main machine 1 and a control system 5. The main machine 1 includes a workbench 11, a clamp 12, a rotator 13, and a manipulator assembly 14.

[0041] The clamp 12 can be opened and closed on the workbench 11, and is used to clamp or release the drill rod; the rotator 13 can be movably arranged on the workbench 11 and is coaxially arranged with the clamp 12, and is used to rotate the drill rod and drive the drill rod to feed forward; the manipulator assembly 14 is used to take out the drill rod in the drill rod storage 2 and place it on the clamp 12; wherein the clamp 12, the rotator 13 and the manipulator assembly 14 are all connected to the control system 5 with electrical signals.

[0042] It should be noted that the function of the clamp 12 is to clamp the drill rod, so the clamp 12 should be an openable and closable clamp 12. The clamp 12 consists of two clamping claws that are close to or far away from each other and an opening and closing drive. The power output end of the opening and closing drive is connected to the two clamping claws to drive the clamp 12 to open and close, and the opening and closing drive is connected to the control system 5 to realize remote control of the opening and closing of the clamp 12.

[0043] In addition, the rotator 13 is coaxially arranged with the clamp 12, so that the rotator 13 can be sleeved with the drill rod by moving it close to the clamp 12. The rotator 13 has a sleeve hole for the drill rod to be sleeved, and the bottom end of the rotator 13 is movably connected to the workbench 11. The rotator 13 has a feed drive that drives itself to move forward and a rotator that drives the drill rod to rotate. The feed drive and the rotator are both connected to the control system 5 with electrical signals to realize that the rotator 13 drives the drill rod to feed forward to drill a hole. The specific structure of the rotator 13 can be referred to the prior art. Its structure is not the focus of protection of this application, so it will not be described in detail herein.

[0044] When the self-sustained drill rod drilling device in the above embodiment is used for drilling operation, the clamp 12 is controlled to open, and then the manipulator assembly 14 is controlled to move flexibly in space, the drill rod is taken out from the drill rod warehouse 2, and the drill rod is placed on the clamp 12, the clamp 12 is controlled to close to clamp the drill rod, and then the manipulator assembly 14 is controlled to reset. After the automatic rod loading is completed, the rotator 13 is controlled to approach the clamp 12, the rotator 13 is sleeved with the drill rod and drives it to rotate, and then the rotator 13 is controlled to move forward to feed the drill rod forward to achieve drilling. It should be noted that after the drilling operation is completed, the above operation can be performed in reverse to complete the automatic rod unloading.

[0045] Therefore, the present invention can realize automatic loading and unloading of drill rods for continuous drilling operations, thereby improving drilling efficiency and saving a lot of manpower. The remote control loading and unloading of drill rods is used to achieve human-machine separation, and drilling operations can be carried out more safely in rock burst danger areas, thereby reducing safety hazards.

[0046] Considering the specific structure of the manipulator assembly 14, based on the above embodiment, please refer to Figure 1 and Figure 2 The manipulator assembly 14 is arranged at the end of the workbench 11 adjacent to the drill rod magazine 2. The manipulator assembly 14 includes a picking manipulator 141 and a rod-lifting manipulator 142 which are arranged in sequence from near to far from the drill rod magazine 2, and a drill rod placement station is provided between the two; the picking manipulator 141 is used to pick up the drill rods in the drill rod magazine 2 to the drill rod placement station, and the rod-lifting manipulator 142 is used to pick up the drill rods on the drill rod placement station to the clamp 12.

[0047] The manipulator assembly 14 using the above-mentioned structure has the following effects: first, the manipulator assembly 14 is arranged on the workbench 11, so that the manipulator assembly 14 can move with the workbench 11, that is, move with the entire vehicle, which not only saves the setting space but also facilitates the movement of the manipulator assembly 14; second, the distance between the drill rod storage 2 and the clamp 12 on the main machine 1 is relatively long, and the picking manipulator 141, the drill rod placement station and the rod-lifting manipulator 142 are arranged in sequence from near to far according to the distance from the drill rod storage 2, so that the picking manipulator 141 and the rod-lifting manipulator 142 alternately carry the drill rod, thereby realizing the smooth transportation of the drill rod to the clamp 12.

[0048] In order to facilitate the transfer of drill rods between the picking manipulator 141 and the upper rod manipulator 142, on the basis of the above embodiment, the drill rod placement station is provided with a rotary pallet 143, which can be rotatably arranged on the workbench 11 and is connected to a pallet driver, and the pallet driver is electrically connected to the control system 5.

[0049] Thus, after the picking robot 141 picks up the drill rods in the drill rod storehouse 2 onto the rotary support plate 143, as shown in FIG. Figure 2 As shown, the support plate driver is started, and the support plate driver drives the rotary support plate 143 to rotate, and the rotary support plate 143 rotates the drill rod to the bottom of the upper rod manipulator 142, as shown in FIG. Figure 3 As shown, the upper rod manipulator 142 then picks up the drill rod on the rotary support plate 143 to the clamp 12, as shown in FIG. Figure 4 Therefore, a rotatable rotary support plate 143 is provided between the picking manipulator 141 and the rod-lifting manipulator 142, so that the drill rod can be transported more conveniently and stably.

[0050] Considering the specific structure of the picking robot 141, based on the above embodiment, please refer to Figures 2 to 4 The picking robot 141 includes a picking support 1411, a picking telescopic arm 1412 and a picking swing arm 1413. The picking support 1411 is arranged on the workbench 11, and the telescopic arm can move up and down and is arranged on the picking support 1411. The swing arm is hinged with the telescopic arm and is used to swing back and forth between the drill rod storage 2 and the rotary pallet 143.

[0051] Specifically, the picking support 1411 is fixed on the workbench 11, and the picking telescopic arm 1412 is inserted on the picking support 1411. The picking telescopic arm 1412 can be composed of two rod walls, which are slidably sleeved with each other and a rod wall driver is provided between the two. The rod wall driver controls the arm length of the picking telescopic arm 1412 by driving the rod wall away from the picking support 1411. One end of the picking swing arm 1413 is hinged to the end of the picking telescopic arm 1412 away from the picking support 1411, that is, the outer rod wall, and the picking swing arm 1413 is connected to the swing arm driver, which is used to drive the picking swing arm 1413 to move back and forth between the drill rod storage 2 and the rotary support plate 143. The rod wall driver and the swing arm driver are both connected to the control system 5 by electrical signals to realize the remote control of the picking telescopic arm 1412 extension and extension and the swing of the picking swing arm 1413.

[0052] In this way, when the picking manipulator 141 is transporting drill rods, the picking manipulator 141 controls the length of the picking swing arm 1413 to adjust the depth of the picking swing arm 1413 inserted into the drill rod storage 2, so that the picking swing arm 1413 firmly grasps the drill rod, and then controls the swing amplitude of the picking swing arm 1413 to safely and reliably place the drill rod on the rotary support plate 143. Therefore, the picking manipulator 141 with the above-mentioned structure can transport drill rods safely, reliably and stably.

[0053] Considering the specific structure of the upper rod manipulator 142, based on the above embodiment, please refer to Figures 2 to 4 The upper rod manipulator 142 includes an upper rod support 1421 and an upper rod swing arm 1422. The upper rod swing arm 1422 is hinged to the upper rod support 1421 and is used to swing back and forth between the axial position of the rotary support plate 143 and the clamper 12.

[0054] Specifically, the upper rod support 1421 is fixed on the workbench 11, and a connecting arm is provided on the upper rod support 1421, which is hinged to one end of the upper rod swing arm 1422, and the upper rod swing arm 1422 is also connected to a swing arm driver, which is used to drive the upper rod swing arm 1422 to move back and forth between the axial position of the rotary support plate 143 and the clamp 12. In this way, when the upper rod manipulator 142 is transporting the drill rod, the drill rod is safely and reliably placed on the clamp 12 by controlling the swing amplitude of the upper rod swing arm 1422. It should be noted that the distance between the clamp 12 and the upper rod swing arm 1422 should be set according to the length of the drill rod to avoid the phenomenon that the drill rod clamped by the upper rod swing arm 1422 is far away from the clamp 12, resulting in the drill rod being unable to be placed on the clamp 12.

[0055] To further optimize the rotary support plate 143, based on the above embodiment, please refer to Figures 2 to 4The rotary support plate 143 is horizontally arranged and rotatably sleeved on the upper rod support 1421. A support 1431 is provided on the plate edge of the rotary support plate 143. The support 1431 is extended along the axial direction of the clamp 12 for placing the drill rod.

[0056] The use of the above-mentioned setting of the rotating pallet 143 has the following effects: first, the rotating pallet 143 is horizontally arranged and a support 1431 for placing the drill rod is arranged on its edge, so that the drill rod is stabilized when the rotating pallet 143 rotates to prevent the drill rod from falling off, thereby further improving the reliability and stability of transporting the drill rod; second, the rotating pallet 143 is sleeved on the upper rod support 1421, which can save setting space.

[0057] It should be noted that the swivel pallet 143 is connected to a pallet driver, which is used to drive the swivel pallet 143 to rotate, and the pallet driver is connected to the control system 5 to realize remote control of the rotation of the swivel pallet 143.

[0058] Taking into account the specific implementation method of the movable setting of the rotator 13, on the basis of the above embodiment, a guide rail extending along the axial direction of the clamp 12 is provided on the workbench 11, the clamp 12 is fixed on the guide rail, the rotator 13 is movably arranged on the guide rail and is connected to a feed drive, and the feed drive is electrically connected to the control system 5.

[0059] Specifically, a slider is provided at the bottom end of the rotator 13, and the slider is arranged on the guide rail of the workbench 11 to realize the sliding connection between the rotator 13 and the workbench 11, and the clamp 12 is fixed on the guide rail so that the clamp 12 and the rotator 13 are coaxially arranged. In addition, the feed driver is arranged on the workbench 11 and is located beside the end of the guide rail adjacent to the manipulator assembly 14. The output shaft of the feed driver is connected to the rotator 13 to drive the rotator 13 to move along the guide rail, thereby realizing the smooth forward feeding of the drill rod for drilling. The feed driver is connected to the control system 5 by electrical signals, thereby realizing the remote control of the drill rod feeding stroke.

[0060] To ensure that the drill rod is firmly placed on the clamp 12, based on the above embodiment, the clamp 12 is arranged at one end of the guide rail away from the manipulator assembly 14, and the distance between the clamp 12 and the manipulator assembly 14 is a preset distance.

[0061] It is understandable that the clamp 12 is arranged at one end of the guide rail away from the manipulator assembly 14, which is conducive to increasing the feeding stroke of the rotator 13 on the guide rail, thereby facilitating drilling operations suitable for different drilling depths. Preferably, the distance between the clamp 12 and the upper rod manipulator 142 in the manipulator assembly 14 is a preset distance, which needs to be set according to the length of the drill rod to ensure that the upper rod manipulator 142 can be swung to place the clamped drill rod on the clamp 12.

[0062] Preferably, the visual device 3 is higher than the workbench 11, so that the visual device 3 can monitor the movements of the clamp 12, the rotator 13 and the manipulator assembly 14 on the workbench 11 to collect drilling parameters and equipment parameters at any time. In addition, the visual device 3 can also monitor the on-site working scene, so that the working scene is online in real time.

[0063] In addition to the above-mentioned self-renewing drill rod drilling device, the present invention also provides an anti-outburst and anti-collision drilling vehicle, which includes a chassis assembly 4 and the self-renewing drill rod drilling device disclosed in the above-mentioned embodiment. For the structure of the chassis assembly 4 and other parts of the anti-outburst and anti-collision drilling vehicle, please refer to the prior art and will not be repeated in this article.

[0064] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0065] The above is a detailed introduction to a self-reinforcing drill rod drilling device and an anti-burst and anti-impact drilling vehicle provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A self-reinforcing drill rod drilling device, characterized in that: The invention comprises a drill rod storage (2) for storing drill rods, a host computer (1) and a control system (5), wherein the host computer (1) comprises: Workbench (11); A clamp (12) is disposed on the workbench (11) and can be opened and closed, and is used to clamp or release the drill rod; A rotator (13) is movably disposed on the workbench (11) and is coaxially arranged with the clamp (12), and is used to rotate the drill rod and drive the drill rod to be fed forward; A manipulator assembly (14) for taking out the drill rod from the drill rod magazine (2) and placing it on the clamp (12); The gripper (12), the rotator (13) and the manipulator assembly (14) are all connected to the control system (5) via electrical signals.

2. The self-reinforcing drill rod drilling device according to claim 1, characterized in that: The manipulator assembly (14) is arranged at an end of the workbench (11) adjacent to the drill rod magazine (2), and the manipulator assembly (14) comprises a picking manipulator (141) and a rod loading manipulator (142) arranged in sequence from near to far from the drill rod magazine (2), and a drill rod placing station is provided between the two. The picking manipulator (141) is used to pick up the drill rod in the drill rod storage (2) and place it on the drill rod placement station, and the rod loading manipulator (142) is used to pick up the drill rod on the drill rod placement station and place it on the clamp (12).

3. The self-reinforcing drill rod drilling device according to claim 2, characterized in that: The drill rod placement station is provided with a rotary pallet (143), the rotary pallet (143) is rotatably arranged on the workbench (11) and is connected to a pallet driver, and the pallet driver is connected to the control system (5) via an electrical signal.

4. The self-reinforcing drill rod drilling device according to claim 3, characterized in that: The picking manipulator (141) comprises a picking support (1411), a picking telescopic arm (1412) and a picking swing arm (1413); the picking support (1411) is arranged on the workbench (11); the telescopic arm is arranged on the picking support (1411) and can move up and down; the swing arm is hinged to the telescopic arm and is used to swing back and forth between the drill rod magazine (2) and the rotary support plate (143).

5. The self-reinforcing drill rod drilling device according to claim 3, characterized in that: The upper rod manipulator (142) comprises an upper rod support (1421) and an upper rod swing arm (1422); the upper rod swing arm (1422) is hinged to the upper rod support (1421) and is used to swing back and forth between the axial position of the rotary support plate (143) and the clamp (12).

6. The self-reinforcing drill rod drilling device according to claim 5, characterized in that: The swivel support plate (143) is arranged horizontally and rotatably sleeved on the upper rod support (1421); a support (1431) is provided on the plate edge of the swivel support plate (143); the support (1431) is extended along the axial direction of the clamp (12) and is used for placing the drill rod.

7. The self-reinforcing drill rod drilling device according to claim 1, characterized in that: The workbench (11) is provided with a guide rail extending along the axial direction of the clamp (12), the clamp (12) is fixed on the guide rail, the rotator (13) is movably arranged on the guide rail and is connected to a feed driver, and the feed driver is connected to the control system (5) via an electrical signal.

8. The self-reinforcing drill rod drilling device according to claim 7, characterized in that: The clamp (12) is arranged at an end of the guide rail away from the manipulator assembly (14), and the distance between the clamp (12) and the manipulator assembly (14) is a preset distance.

9. A sudden and impact proof drilling vehicle, characterized in that: It comprises a chassis assembly (4) and the self-reinforcing drill rod drilling device according to any one of claims 1 to 8.

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