Drill pipe warehouse applied to drill jumbo and working method of drill pipe warehouse

Abstract

The invention provides a drill pipe warehouse applied to a drill jumbo and a working method of the drill pipe warehouse. The drill pipe warehouse structurally comprises a drill pipe warehouse structural part, a mechanical arm small arm and a mechanical arm assembly. The drill pipe warehouse structural part comprises a drill pipe warehouse faceplate, a drill pipe warehouse rotating shaft and a drill pipe warehouse rotating device, the mechanical arm small arm comprises a mechanical arm assembly mounting support, a mechanical arm small arm rotating shaft and a mechanical arm small arm rotating device, and the mechanical arm assembly machine comprises a mechanical arm rotating shaft, a mechanical arm assembly rotating device and a plurality of mechanical arms. Through rotation of the drill pipe warehouse rotating shaft, the mechanical arm small arm rotating shaft and the mechanical arm rotating shaft, full-mechanical rod connecting and rod dismounting operation can be achieved. Operators can load and unload the drill rod in the cab of the drill jumbo, the drill rod is prevented from being exposed to dangerous areas such as unsupported areas and high altitude, meanwhile, the efficiency of loading and unloading the drill rod is improved, and construction time is saved.

Description

Technical Field

[0001] The invention relates to the technical field of underground excavation equipment, in particular to a drill rod magazine applied to a rock drilling trolley and a working method thereof. Background Art

[0002] The drilling rig plays an important role in the drilling and blasting excavation process. It can complete multiple operations such as drilling, supporting, auxiliary anchor installation, auxiliary charging, and advanced detection lights. For the advanced detection task, the operator needs to drill a 10m-30m hole on the working face of the drilling rig to detect the rock state of the front construction surface, and also to detect whether there is a groundwater layer, toxic and harmful gases, etc. The current mainstream tunnel drilling rigs are generally equipped with 5-6m drill rods. To achieve a 10m-30m deep drilling hole, manual auxiliary rod connection is required.

[0003] There are two types of manual auxiliary connecting rods: semi-mechanized and fully manual. However, no matter which method is used, it is impossible to avoid exposing workers to the working face of the drilling rig. The working face of the drilling rig is usually a dangerous area that has just been blasted and slag discharged and is not fully supported, posing a construction safety risk.

[0004] In addition, some detection holes are at a high height, and it is difficult for operators to complete the rod connection operation on the ground. They need to use devices or equipment such as aerial work platforms. However, aerial work platforms usually have limited space, and auxiliary rod connection operations are not very convenient, inefficient, and prone to safety accidents. Summary of the invention

[0005] In order to solve the problems of the prior art, the present invention provides a drill rod storage applied to a rock drilling trolley and a working method thereof, which can be used in conjunction with the rock drilling trolley to realize fully mechanized rod connection and unloading operations. The operator can load and unload the drill rods in the driving cab of the rock drilling trolley, avoiding exposure to unsupported areas and dangerous areas such as high altitudes, while improving the efficiency of loading and unloading the drill rods and saving construction time.

[0006] The present invention provides a drill rod magazine applied to a rock drilling trolley, comprising a drill rod magazine structural part, a manipulator forearm and a manipulator assembly; the drill rod magazine structural part comprises a drill rod magazine faceplate, a drill rod magazine rotating shaft and a drill rod magazine rotating device, wherein the drill rod magazine rotating device controls the drill rod magazine rotating shaft to rotate around its own axis, a plurality of drill rod magazine faceplates are sleeved on the outer edge of the drill rod magazine rotating shaft and rotate with the drill rod magazine rotating shaft, a plurality of drill rod clamping grooves are arranged on the circumference of the drill rod magazine faceplate, and the drill rods in the drill rod magazine are fixed by the drill rod clamping grooves; the manipulator forearm comprises a manipulator assembly mounting bracket, a manipulator forearm rotating shaft and a manipulator forearm rotating device, the manipulator forearm rotating device controls the manipulator forearm rotating shaft to rotate around its own axis, the manipulator assembly mounting bracket is fixed on the manipulator forearm rotating shaft and rotates with the manipulator forearm rotating shaft; the manipulator assembly machine comprises a manipulator rotating shaft, a manipulator assembly rotating device and a plurality of manipulators, the manipulator assembly rotating device controls the manipulator rotating shaft to rotate around its own axis, and a plurality of manipulators are coaxially fixed on the manipulator rotating shaft and rotate with the manipulator rotating shaft.

[0007] As a further improvement, the drill rod magazine rotating device, the manipulator forearm rotating device and the manipulator assembly rotating device are respectively provided with independent rotation angle sensors.

[0008] As a further improvement, the drill rod magazine rotation axis, the manipulator forearm rotation axis and the manipulator rotation axis are distributed in parallel.

[0009] As a further improvement, the drill rod magazine structure and both ends of the manipulator arm are fixed by a base, and a connecting piece cooperating with the propulsion beam of the rock drilling trolley is provided on the base.

[0010] As a further improvement, the drill rod clamping grooves on the drill rod magazine faceplate are evenly distributed along the circumference of the drill rod magazine faceplate.

[0011] As a further improvement, the several manipulators in the manipulator assembly are controlled to tighten and loosen by hydraulic cylinders.

[0012] The present invention also provides a working method of a drill rod magazine applied to a rock drilling rig, comprising the following steps: 1) The drill rod magazine rotating device controls the drill rod magazine rotating shaft to drive the drill rod magazine faceplate to rotate, so that the card slot with drill rods on the drill rod magazine faceplate is transferred to the loading station; 2) The manipulator arm rotation device controls the manipulator arm rotation axis to drive the manipulator assembly mounting bracket to rotate to the loading station. In this state, the manipulator on the manipulator assembly mounting bracket faces the drill rod on the drill rod magazine faceplate; 3) The manipulator clamps the drill pipe, and the manipulator arm rotation device controls the manipulator arm rotation axis to drive the manipulator assembly mounting bracket to rotate to the docking station; 4) The manipulator assembly rotation device controls the manipulator rotation axis to drive the manipulator to rotate, so that the drill rod clamped by the manipulator rotates to a position coaxial with the propulsion spindle of the drilling rig propulsion beam, the propulsion spindle of the drilling rig propulsion beam rotates and propels, docks with the drill rod, the manipulator releases the drill rod, and the propulsion spindle of the drilling rig propulsion beam drives the drill rod to perform construction; 5) When replacing the drill rod, the manipulator clamps the drill rod, the propulsion spindle of the drilling trolley propulsion beam rotates and retracts to separate from the drill rod, and the manipulator assembly rotation device and the manipulator arm rotation device sequentially control the manipulator to return to the loading station and put the drill rod back on the drill rod magazine faceplate; 6) The drill rod magazine faceplate rotates, and the new drill rod is moved to the loading station. Repeat steps 1-4) until the construction is completed.

[0013] In the above working method, the rotation angles of the manipulator assembly rotating device, the manipulator arm rotating device and the drill rod magazine rotating device are controlled by a rotation angle sensor during rotation, thereby ensuring the accuracy of each rod connection and unloading process.

[0014] The beneficial effects of the present invention are: 1. When used in conjunction with a rock drilling rig, fully mechanized rod connection and rod removal operations can be achieved.

[0015] 2. Operators can load and unload drill rods in the cab of the drilling rig to avoid exposure to dangerous areas such as unsupported areas and high altitudes, ensuring construction safety.

[0016] 3. Improve the efficiency of loading and unloading drill rods and save construction time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention without a drill rod; Figure 2 This is a schematic diagram of the drill rod of the present invention; Figure 3 It is a schematic diagram of the connection structure between the present invention and the propulsion beam.

[0019] In the figure, 1-drill rod magazine faceplate, 2-drill rod magazine rotating shaft, 3-drill rod magazine rotating device, 4-drill rod slot, 5-manipulator assembly mounting bracket, 6-manipulator forearm rotating shaft, 7-manipulator forearm rotating device, 8-manipulator rotating shaft, 9-manipulator assembly rotating device, 10-manipulator, 11-connecting piece, 12-hydraulic cylinder, 13-propulsion beam propulsion spindle. DETAILED DESCRIPTION

[0020] 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.

[0021] The present invention provides a drill rod magazine for a rock drilling rig, such as Figure 1 and Figure 2 As shown, it includes a drill rod magazine structure, a manipulator forearm and a manipulator assembly; the drill rod magazine structure includes a drill rod magazine faceplate 1, a drill rod magazine rotating shaft 2 and a drill rod magazine rotating device 3, wherein the drill rod magazine rotating device 3 controls the drill rod magazine rotating shaft 2 to rotate around its own axis, a plurality of drill rod magazine faceplates 1 are sleeved on the outer edge of the drill rod magazine rotating shaft 2 and rotate with the drill rod magazine rotating shaft 2, a plurality of drill rod clamping grooves 4 are arranged on the circumference of the drill rod magazine faceplate 1, and the drill rods in the drill rod magazine are fixed by the drill rod clamping grooves 4; the manipulator forearm includes a manipulator assembly mounting bracket 5, a manipulator The forearm rotating shaft 6 and the manipulator forearm rotating device 7, the manipulator forearm rotating device 7 controls the manipulator forearm rotating shaft 6 to rotate around its own axis, and the manipulator assembly mounting bracket 5 is fixed on the manipulator forearm rotating shaft 6 and rotates with the manipulator forearm rotating shaft 6; the manipulator assembly machine includes a manipulator rotating shaft 8, a manipulator assembly rotating device 9 and a plurality of manipulators 10, the manipulator assembly rotating device 9 controls the manipulator rotating shaft to rotate around its own axis, and a plurality of manipulators 10 are coaxially fixed on the manipulator rotating shaft and rotate with the manipulator rotating shaft.

[0022] As a further improvement, the drill rod magazine rotating device, the manipulator forearm rotating device and the manipulator assembly rotating device are respectively provided with independent rotation angle sensors.

[0023] As a further improvement, the drill rod magazine rotation axis, the manipulator forearm rotation axis and the manipulator rotation axis are distributed in parallel.

[0024] As a further improvement, the drill rod magazine structure and both ends of the manipulator arm are fixed through a base, and a connecting piece 11 cooperating with the propulsion beam of the rock drilling trolley is provided on the base.

[0025] As a further improvement, the drill rod clamping grooves on the drill rod magazine faceplate are evenly distributed along the circumference of the drill rod magazine faceplate.

[0026] As a further improvement, the several manipulators in the manipulator assembly are controlled to tighten and loosen by a hydraulic cylinder 12 .

[0027] The present invention also provides a working method of a drill rod magazine applied to a rock drilling rig, comprising the following steps: 1) The drill rod magazine rotating device controls the drill rod magazine rotating shaft to drive the drill rod magazine faceplate to rotate, so that the card slot with the drill rod 13 on the drill rod magazine faceplate is transferred to the loading station; 2) The manipulator arm rotation device controls the manipulator arm rotation axis to drive the manipulator assembly mounting bracket to rotate to the loading station. In this state, the manipulator on the manipulator assembly mounting bracket faces the drill rod on the drill rod magazine faceplate; 3) The manipulator clamps the drill pipe, and the manipulator arm rotation device controls the manipulator arm rotation axis to drive the manipulator assembly mounting bracket to rotate to the docking station; 4) The manipulator assembly rotation device controls the manipulator rotation axis to drive the manipulator to rotate, so that the drill rod clamped by the manipulator rotates to a position coaxial with the propulsion spindle 13 of the drilling trolley propulsion beam, and the propulsion spindle of the drilling trolley propulsion beam rotates and propels, and docks with the drill rod (such as Figure 3 As shown in the figure), the manipulator releases the drill rod, and the propulsion spindle of the propulsion beam of the drilling rig drives the drill rod to perform construction; 5) When replacing the drill rod, the manipulator clamps the drill rod, the propulsion spindle of the drilling trolley propulsion beam rotates and retracts to separate from the drill rod, and the manipulator assembly rotation device and the manipulator arm rotation device sequentially control the manipulator to return to the loading station and put the drill rod back on the drill rod magazine faceplate; 6) The drill rod magazine faceplate rotates, and the new drill rod is moved to the loading station. Repeat steps 1-4) until the construction is completed.

[0028] In the above working method, the rotation angle of the manipulator assembly rotating device, the manipulator arm rotating device and the drill rod magazine rotating device is controlled by a rotation angle sensor during the rotation process.

[0029] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, the above is only a preferred embodiment of the present invention. Since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field is within the technical scope disclosed by the present invention. For ordinary technicians in the technical field, changes or replacements that can be easily thought of should be covered within the protection scope of the present invention without departing from the principle of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A drill rod magazine for a rock drilling rig, characterized in that: It includes a drill rod magazine structure, a manipulator fork arm and a manipulator assembly; the drill rod magazine structure includes a drill rod magazine faceplate, a drill rod magazine rotating shaft and a drill rod magazine rotating device, wherein the drill rod magazine rotating device controls the drill rod magazine rotating shaft to rotate around its own axis, a plurality of drill rod magazine faceplates are sleeved on the outer edge of the drill rod magazine rotating shaft and rotate with the drill rod magazine rotating shaft, a plurality of drill rod clamping grooves are arranged on the circumference of the drill rod magazine faceplate, and the drill rods in the drill rod magazine are fixed by the drill rod clamping grooves; the manipulator fork arm includes a manipulator assembly mounting bracket, a manipulator fork arm rotating shaft and a manipulator fork arm rotating device, the manipulator fork arm rotating device controls the manipulator fork arm rotating shaft to rotate around its own axis, the manipulator assembly mounting bracket is fixed on the manipulator fork arm rotating shaft and rotates with the manipulator fork arm rotating shaft; the manipulator assembly machine includes a manipulator rotating shaft, a manipulator assembly rotating device and a plurality of manipulators, the manipulator assembly rotating device controls the manipulator rotating shaft to rotate around its own axis, and a plurality of manipulators are coaxially fixed on the manipulator rotating shaft and rotate with the manipulator rotating shaft.

2. The drill rod magazine for a rock drilling rig according to claim 1, characterized in that: The drill rod magazine rotating device, the manipulator forearm rotating device and the manipulator assembly rotating device are respectively provided with independent rotation angle sensors.

3. The drill rod magazine for a rock drilling rig according to claim 1, characterized in that: The drill rod magazine rotation axis, the manipulator forearm rotation axis and the manipulator rotation axis are distributed in parallel.

4. The drill rod magazine for a rock drilling rig according to claim 1, characterized in that: The drill rod storage structure and two ends of the manipulator fork arm are fixed through a base, and a connecting piece that cooperates with the propulsion beam of the rock drilling trolley is arranged on the base.

5. The drill rod magazine for a rock drilling rig according to claim 1, characterized in that: The drill rod clamping grooves on the drill rod magazine faceplate are evenly distributed along the circumference of the drill rod magazine faceplate.

6. The drill rod magazine for a rock drilling trolley according to claim 1, characterized in that: The plurality of manipulators in the manipulator assembly are controlled to tighten and loosen via hydraulic cylinders.

7. A working method for a drill rod magazine applied to a drilling rig according to any one of claims 1 to 6, characterized in that The following steps are involved: 1) The drill rod magazine rotating device controls the drill rod magazine rotating shaft to drive the drill rod magazine faceplate to rotate, so that the card slot with drill rods on the drill rod magazine faceplate is transferred to the loading station; 2) The manipulator arm rotation device controls the manipulator arm rotation axis to drive the manipulator assembly mounting bracket to rotate to the loading station. In this state, the manipulator on the manipulator assembly mounting bracket faces the drill rod on the drill rod magazine faceplate; 3) The manipulator clamps the drill pipe, and the manipulator arm rotation device controls the manipulator arm rotation axis to drive the manipulator assembly mounting bracket to rotate to the docking station; 4) The manipulator assembly rotation device controls the manipulator rotation axis to drive the manipulator to rotate, so that the drill rod clamped by the manipulator rotates to a position coaxial with the propulsion spindle of the drilling rig propulsion beam, the propulsion spindle of the drilling rig propulsion beam rotates and propels, docks with the drill rod, the manipulator releases the drill rod, and the propulsion spindle of the drilling rig propulsion beam drives the drill rod to perform construction; 5) When replacing the drill rod, the manipulator clamps the drill rod, the propulsion spindle of the drilling trolley propulsion beam rotates and retracts to separate from the drill rod, and the manipulator assembly rotation device and the manipulator arm rotation device sequentially control the manipulator to return to the loading station and put the drill rod back on the drill rod magazine faceplate; 6) The drill rod magazine faceplate rotates, and the new drill rod is moved to the loading station. Repeat steps 1-4) until the construction is completed.

8. The working method of the drill rod magazine applied to the drilling rig according to claim 7, characterized in that: The rotation angles of the manipulator assembly rotating device, the manipulator forearm rotating device and the drill rod magazine rotating device are controlled by a rotation angle sensor during the rotation process.

Images