Mining intelligent drilling machine and drilling rod assembling and disassembling method

Abstract

The invention relates to the field of engineering machinery, and discloses a mining intelligent drilling machine and a drilling rod loading and unloading method.The mining intelligent drilling machine comprises a lifting frame, a drilling rod box, a rack and a transfer manipulator are arranged on the lifting frame, an overturning manipulator is arranged on the rack, a drilling rod in the drilling rod box is perpendicular to the drilling direction, and the transfer manipulator is used for clamping the drilling rod in the drilling rod box and inserting the drilling rod into the rack; and the overturning manipulator overturns the drill rod to be aligned with the drilling direction. And the movement space needed in the transferring process is small.

Description

Technical Field

[0001] The invention relates to the field of engineering machinery, and in particular to an intelligent mining drill and a drill rod loading and unloading method. Background Art

[0002] The automatic drilling rig for mining is mainly used for underground drilling operations. The drill rods in the drill rod box need to be transported to the rack by a manipulator. However, in the prior art, the drill rods in the drill rod box need to be first transferred to a transfer device for easy grasping by the manipulator, and then the manipulator is used to adjust the angle and flip the drill rods to the rack. The manipulator has many movements and the process is complicated. In the process of flipping and adjusting the angle, an independent movement space is required to prevent interference with other structures.

[0003] However, due to the environment inside the mine tunnel, the manipulator, frame and crawler vehicle will interfere with the crawler vehicle or frame when transporting drill rods under large negative inclination conditions, and the drill rods cannot be transported automatically.

[0004] Therefore, it is necessary to optimize the transportation route of the drill pipe, minimize the movement space required during the transportation process, and expand the applicable inclination angle range of automatic transportation of the drill pipe. Summary of the invention

[0005] The present invention aims to provide an intelligent mining drill, which requires less movement space during transportation.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an intelligent mining drilling rig includes a lifting frame, on which a drill rod box, a frame and a transfer manipulator are provided, and on the frame there is a flipping manipulator. The drill rod in the drill rod box is perpendicular to the drilling direction. The transfer manipulator is used to clamp the drill rod in the drill rod box and insert it into the frame, and the flipping manipulator flips the drill rod to align with the drilling direction.

[0007] The beneficial effects of this program are:

[0008] 1. The present application adopts a method of placing the drill rod box with the drill rod axis perpendicular to the frame, uses a transfer manipulator combined with a flip manipulator fixed to the frame, and utilizes the space in the middle of the frame to transport the drill rod, thereby eliminating the transfer device and greatly simplifying the transfer system and transportation route, so that the drill rod can be transported at a height close to the drill rod box and inserted between the frame and the lifting frame.

[0009] 2. The transfer manipulator is fixedly connected to the lifting frame, and the flip manipulator is fixedly connected to the frame, which reduces the number of inclination joints compared to the prior art; the gripping direction of the flip manipulator can be switched between perpendicular to the frame and parallel to the frame, and the flip function and translation function are combined through route optimization, reducing the number of telescopic joints. Therefore, the structure of the manipulator in this application is very simple.

[0010] Furthermore, the drill rod box includes a bottom plate and two vertical plates, and the bottom plate and the two vertical plates form a box body with a U-shaped cross-section that is open at the top.

[0011] Furthermore, the flip manipulator includes a clamp, a fixed seat and a flip cylinder, the fixed seat and the end of the clamp are hinged, the flip cylinder and the fixed seat are hinged, the output shaft of the flip cylinder and the middle of the clamp are hinged, the clamp is used to clamp the drill rod sent by the transfer manipulator, and the working state of the flip cylinder includes a parallel state and a vertical state:

[0012] In the parallel state, the clamping axis of the clamp is parallel to the drill rod in the drill rod box;

[0013] In the vertical state, the drill rods in the drill rod box are aligned with the drilling direction.

[0014] Furthermore, a lateral moving unit is provided on the outer side of the vertical plate close to one side of the frame, and a transfer manipulator is provided on the lateral moving unit;

[0015] The lateral moving unit is connected to the lower part of the opening vertical plate, and includes a slide, a rack and a slide rail. The slide rail and the rack are arranged parallel to each other, and the outer sides of the slide rail and the rack form a first guide rail for the slide to slide. The slide is mounted on the first guide rail formed by the rack and the slide rail. A motor is provided on the slide, and a driving gear is provided on the output shaft of the motor. The driving gear is meshed with the rack.

[0016] Furthermore, the transfer robot includes a vertical moving unit, a longitudinal moving unit and a clamping unit which are connected in sequence.

[0017] Furthermore, the vertical moving unit includes a lifting cylinder, a lifting outer cylinder and a lifting inner cylinder. The lifting outer cylinder is connected to a slide seat. The lifting inner cylinder is slidably arranged in the lifting outer cylinder. Two inner slide rails are symmetrically arranged in the lifting outer cylinder. The inner slide rails are used to guide the movement of the lifting inner cylinder. The lifting cylinder is connected to the bottom of the lifting outer cylinder, and the upper end of the output shaft of the lifting cylinder is connected to the lifting inner cylinder or the longitudinal moving unit.

[0018] Furthermore, the transfer robot includes a vertical moving unit, a longitudinal moving unit and a clamping unit which are connected in sequence.

[0019] Furthermore, the vertical moving unit includes a lifting cylinder, a lifting outer cylinder and a lifting inner cylinder. The lifting outer cylinder is connected to a slide seat. The lifting inner cylinder is slidably arranged in the lifting outer cylinder. Two inner slide rails are symmetrically arranged in the lifting outer cylinder. The inner slide rails are used to guide the movement of the lifting inner cylinder. The lifting cylinder is connected to the bottom of the lifting outer cylinder, and the upper end of the output shaft of the lifting cylinder is connected to the lifting inner cylinder or the longitudinal moving unit.

[0020] Furthermore, the longitudinal moving unit includes a cross beam and a moving seat. The cross beam is connected to the top of the lifting inner cylinder. A second guide rail is provided on the cross beam. The second guide rail has the same structure as the first guide rail. The moving seat has the same structure as the sliding seat. The moving seat moves along the length direction of the drill rod in the drill rod box on the second guide rail. The clamping unit is installed on the moving seat, and the clamping unit is used to clamp the drill rod.

[0021] Furthermore, the clamping unit includes a telescopic cylinder, a gripper and an inner cylinder. The lower end of the output shaft of the telescopic cylinder is connected to the gripper, and the gripper is used to grip the drill rod.

[0022] Furthermore, a first rotator is provided in the middle of the turntable, the first rotator is installed on the crawler vehicle, and the first rotator is used to drive the drill rod box and the frame on the turntable to rotate horizontally.

[0023] Furthermore, the connecting unit includes a lifting assembly, a second rotator and a connecting plate. The lifting assembly includes a lifting sleeve and two columns. The two sides of the lifting sleeve are slidably arranged on the columns respectively. The second rotator is installed on the side of the lifting sleeve close to the frame. The connecting plate is arranged on the side of the second rotator close to the frame. The connecting plate is connected to the frame. The second rotator is used to drive the frame to rotate vertically.

[0024] Furthermore, the lifting sleeve is provided with a second opening, and the second opening is open at the top.

[0025] Furthermore, a rectangular hole is horizontally provided on the connecting plate, and the internal gap of the frame, the rectangular hole and the inner hole and the second opening of the second rotator are aligned and used for the drill rod to pass through.

[0026] Furthermore, a rectangular hole is horizontally provided on the connecting plate, and the internal gap of the frame, the rectangular hole and the inner hole and the second opening of the second rotator are aligned and used for the drill rod to pass through.

[0027] Furthermore, the lifting sleeve is provided with two installation cavities, which are arranged on both sides of the second opening. A lifting cylinder is respectively provided in the two installation cavities. The lifting cylinder is fixedly connected to the bottom of the column, and the upper end of the output shaft of the lifting cylinder is connected to the side wall of the installation cavity.

[0028] Furthermore, the two vertical plates are respectively a standard vertical plate and an open vertical plate. The open vertical plate is arranged on a side close to the frame. A first opening is provided on the open vertical plate. The first opening is used for the drill rod and the gripper to pass through.

[0029] Furthermore, it also includes an electric control system, which includes a telescopic sensor and a lifting sensor. The telescopic sensor is used to measure the length change of the telescopic cylinder. The lifting sensor is arranged outside the lifting outer cylinder or inside the lifting inner cylinder. The lifting sensor is used to measure the length change of the vertical moving unit.

[0030] Furthermore, the electric control system also includes an identification sensor, which is arranged on the upper end of the partitions on both sides of the first opening or on the upper end of the partitions on the standard vertical plate corresponding to the first opening position, and the identification sensor is used to identify whether a drill rod passes by.

[0031] Furthermore, the electric control system also includes a column selection sensor, which is arranged at the lower part of the side of the open vertical plate facing the frame, and is used to measure the displacement of the slide or the vertical moving unit.

[0032] Furthermore, the electric control system also includes a translation sensor and a proximity sensor. The translation sensor is arranged on the crossbeam, and the translation sensor is used to measure the displacement of the moving seat or the clamping unit; the proximity sensor is arranged on the gripper, and the proximity sensor is used to identify whether there is a drill rod under the gripper.

[0033] The present invention aims to provide a method for loading and unloading drill pipes, which reduces the movement space required during the transportation process.

[0034] To achieve the above object, the present invention adopts the following technical solution: a drill pipe loading and unloading method, comprising the following steps:

[0035] Step 1: Initialization: Prepare the intelligent mining drill, install the drill rod in the drill rod box, loosen the gripper and the clamp, and turn the cylinder to a parallel state;

[0036] Step 2: Select the column: The column selection sensor controls the slide to reach the specified position;

[0037] Step 3: Translation: The translation sensor controls the telescopic cylinder and the gripper to move to the middle position of the drill rod box;

[0038] Step 4: Extend the gripper: The telescopic cylinder extends downward until the proximity sensor senses that there is a drill rod under the gripper, and the telescopic sensor measures the extension amount; if the telescopic cylinder extends downward to the maximum value and the proximity sensor still cannot sense the drill rod, the lifting cylinder is driven to lift the crossbeam until the proximity sensor senses that there is a drill rod under the gripper, and the lifting sensor measures the lifting amount;

[0039] Step 5: Grab the drill rod: Clamp the drill rod with the claws;

[0040] Step 6: Move to the first opening: The telescopic cylinder and the lifting cylinder jointly drive the gripper to rise until the gripper and the clamped drill rod are above the top of the drill rod box, and the transverse motor drives the transfer manipulator to move toward the first opening of the drill rod box as a whole, and the selected sensor monitors the position in real time;

[0041] Step 7: Sinking detection: The telescopic cylinder or lifting cylinder drives the claw to descend, so that the identification sensor senses the drill rod.

[0042] Step 8: Align the rack: The telescopic unit and the lifting cylinder jointly drive the clamping jaws to descend, so that the axis of the drill rod is aligned with a specific position on the rack;

[0043] Step 9: Translational transport: The claw moves along the crossbeam toward the frame, flips the manipulator's claws to clamp the drill rod, and the claw releases the drill rod and moves toward the drill rod box until it is completely out of the drill rod range;

[0044] Step 10: Flip and transport: Flip the cylinder to a vertical position.

[0045] Further, the lifting sensor measures the displacement as a, and the telescopic sensor measures the displacement as b;

[0046] In step 1, the initial values ​​of a and b are determined;

[0047] In step 4, a and b satisfy:

[0048] H1-H2=a1+b1;

[0049] H2 = nd;

[0050] a=a-a1;

[0051] b=b+b1;

[0052] H1-height of the opening riser;

[0053] n-the number of remaining drill rods in the column to be grabbed;

[0054] d-drill pipe diameter;

[0055] a1-the displacement of the lifting cylinder in step 4;

[0056] b1-Change in displacement of the telescopic cylinder in step 4.

[0057] Furthermore, in step six, a and b satisfy: a=a+a1+d; b=b-b1 or a=a+a1; b=b-b1-d.

[0058] Further, in step eight, when the specific position on the frame is higher than the drill rod on the clamp, the clamp is required to rise by a displacement Δ, and a and b satisfy:

[0059] Δ=a2+b2;

[0060] a=a+a2;

[0061] b = b - b2;

[0062] a2-Change in displacement of the lifting cylinder in step eight;

[0063] b2-Change in displacement of the telescopic cylinder in step eight.

[0064] Further, in step eight, when the specific position on the frame is higher than the drill rod on the clamp, the clamp is required to be lowered by a displacement Δ, and a and b satisfy:

[0065] Δ=a2+b2;

[0066] a=a-a2;

[0067] b=b+b2;

[0068] a2-Change in displacement of the lifting cylinder in step eight;

[0069] b2-Change in displacement of the telescopic cylinder in step eight.

[0070] This solution also has the following effects:

[0071] 1. Through the lateral moving unit, vertical moving unit, longitudinal moving unit and clamping unit, a rectangular coordinate transfer manipulator with four movable joints is formed. The transfer manipulator and the flip manipulator are combined to greatly simplify the transfer system and conveying route.

[0072] 2. In the prior art, since the frame needs to adjust the drilling angle according to actual conditions, the transfer robot also needs to adjust the angle according to the frame, which requires the accuracy of the angle sensor; in this solution, the flipping robot is installed on the frame. In the parallel state, the clamping axis of the flipping robot's claws is parallel to the drill rod in the drill rod box. Therefore, no matter how the angle of the frame changes, the flipping robot will change with the frame, and the flipping robot can receive the drill rod passed by the transfer robot. Therefore, this solution does not need to set an inclination sensor, and can accurately transfer the drill rod to the frame and align it with the drilling direction.

[0073] 3. During the transportation process, the drill rod moves downward in the opening of the drill rod box without having to wait until the drill rod is moved out of the drill rod box before descending. This can simultaneously reduce the length of the drilling rig and the height requirement during operation to adapt to the free space restrictions in a narrow space.

[0074] 4. The transfer robot adopts a combination of a vertical moving unit and a telescopic unit to adjust the height of the gripper. Compared with using only one lifting drive component, this solution increases the number of drives, and the lifting speed is faster. For the same lifting height, the stroke of a single drive component is shorter and the flexibility is higher. When the telescopic unit crosses the open vertical plate, the minimum height that the beam needs to reach will also be smaller, thereby reducing the movement height of the transfer robot, which is more suitable for drill pipe transportation in narrow spaces.

[0075] 5. According to the working characteristics of the rectangular coordinate manipulator, the telescopic sensor and the lifting sensor can use displacement sensors to detect process displacement and improve the accuracy of motion positioning; the combination of the telescopic sensor and the lifting sensor can meet the height calculation, monitoring and control requirements of the gripper under various working conditions, and the system is simple and reliable.

[0076] 6. By arranging two proximity sensors (identification sensor and proximity sensor) at the clamping jaw and the first opening position, it is possible to detect whether there is a drill rod in or below the clamping jaw, thereby improving the safety and effectiveness of system operation.

[0077] 7. Use displacement sensors to detect the displacement of the transfer robot during its movement process to improve the accuracy of movement positioning; use a combination of two displacement sensors in the telescopic and lifting cylinders to meet the height calculation, monitoring and control requirements of the gripper under various working conditions. The system is simple and reliable.

[0078] 8. The transfer robot adopts a combination of a vertical moving unit and a telescopic unit to adjust the height of the gripper. Compared with using only one lifting drive component, this solution increases the number of drives, and the lifting speed is faster. For the same lifting height, the stroke of a single drive component is shorter and the flexibility is higher. When the telescopic unit crosses the open vertical plate, the minimum height that the beam needs to reach will also be smaller, thereby reducing the movement height of the transfer robot, which is more suitable for drill rod transportation in narrow spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 The overall three-dimensional diagram of the drilling rig applicable to Example 1;

[0080] Figure 2 Flip the robot's main view;

[0081] Figure 3 Flip the robot to the bottom view;

[0082] Figure 4 A three-dimensional axonometric view of the drill rod box of Example 1;

[0083] Figure 5 It is a cross-sectional view of the lifting outer cylinder of Example 1;

[0084] Figure 6 It is a top view of the lifting outer cylinder of Example 1;

[0085] Figure 7 This is a three-dimensional axonometric view of the lifting frame of Example 1;

[0086] Figure 8 It is a rear three-dimensional axonometric view of the lifting frame of Example 1;

[0087] Fig. 9 is a three-dimensional schematic diagram of the electric control system of Example 1;

[0088] Fig.10 It is a right side schematic diagram of the electric control system of Example 1;

[0089] Fig.11 This is a schematic diagram of the height of the drill rod box of Example 2. DETAILED DESCRIPTION

[0090] The following is further described in detail through specific implementation methods:

[0091] The reference numerals in the drawings of the specification include: crawler 1, frame 2, frame 3, power head 4, drill rod 5, flip manipulator 6, gripper 7, lifting frame 8, transfer manipulator 9, drill rod box 10, anchoring system 11, hydraulic system 12, main control box 13,

[0092] Bottom plate 1001, side plate 1002, standard vertical plate 1003, partition plate 1004, open vertical plate 1005, rack 1006, slide rail 1007, slide seat 1008, horizontal motor 1009,

[0093] Clamp 601, fixed seat 602, turning cylinder 603,

[0094] Turntable 801, first rotator 802, column 803, lifting sleeve 804, lifting cylinder 805, second rotator 806, connecting plate 807,

[0095] Lifting cylinder 901, lifting outer cylinder 902, outer tube 90201, connecting block 90202, inner slide rail 90203, claw 903, clamping drive 904, telescopic cylinder 905, telescopic cylinder 906, crossbeam 907, moving seat 908, motor 909, rack 910, slide rail 911, lifting inner cylinder 912,

[0096] Identification sensor 1301a, translation sensor 1301b, column selection sensor 1301c, telescopic sensor 1301d, lifting sensor 1301e and proximity sensor 1301f.

[0097] Example 1

[0098] The intelligent mining drilling rig includes a crawler vehicle 1, on which a frame 2 is provided, on which an anchoring system 11, a hydraulic system 12, an electric control system and a lifting frame 8 are provided, the anchoring system 11 is used to connect the crawler vehicle and the ground, on the lifting frame 8 a drill rod box and a frame 3 are provided, on the drill rod box a transfer manipulator 9 is provided, on the frame 3 a power head 4, a clamp 7 and a flipping manipulator 6 are provided, the transfer manipulator 9 passes the drill rod 5 in the drill rod box 10 through and inserts it into the frame 3, and the flipping manipulator 6 flips the drill rod 5 90° to align the centers of the drill rod 5 and the clamp 7 for easy connection of the drill rod 5.

[0099] like Figure 2 and Figure 3As shown, the flip manipulator 6 includes a clamp 601, a fixed seat 602 and a flip cylinder 603. The fixed seat 602 and the end of the clamp 601 are hinged. The clamp 601 can be a clamping mechanism in various forms. The flip cylinder 603 and the fixed seat 602 are hinged. The output shaft of the flip cylinder 603 and the middle of the clamp 601 are hinged. The clamp 601 is used to clamp the drill rod 5 sent by the transfer manipulator 9. The working state of the flip cylinder 603 includes a parallel state and a vertical state:

[0100] In the parallel state, the clamping axis of the clamping jaw 601 is parallel to the drill rod 5 in the drill rod box 10;

[0101] In the vertical state, the drill rod 5 in the drill rod box 10 is aligned with the drilling direction and the clamping center of the clamp 7.

[0102] The electronic control system includes a main control box 13 and several sensors. The positions of the several sensors are as follows: Fig. 9 and Fig.10 As shown, several sensors include an identification sensor 1301a, a translation sensor 1301b, a column selection sensor 1301c, a telescopic sensor 1301d, a lifting sensor 1301e and a proximity sensor 1301f, and a controller, a power supply and a data cable are installed in the main control box 13.

[0103] like Figure 4 As shown, the drill rod box 10 includes a bottom plate 1001, a side plate 1002, a standard vertical plate 1003 and an open vertical plate 1005. The bottom plate 1001, the side plate 1002, the vertical plate and the open vertical plate 1005 are bolted together to form a box body with an upper opening, which serves as a space for storing the drill rods 5. The inner sides of the standard vertical plates 1003 and the open vertical plates 1005 are vertically provided with partitions 1004 at equal intervals. The partitions 1004 are arranged at intervals matching the sizes of the drill rods 5. A row of drill rods 5 is placed between two adjacent partitions 1004, so that the transfer manipulator 9 can grab the drill rods 5.

[0104] The open vertical plate 1005 is arranged on the side of the drill rod box 10 facing the frame 3, and a lateral moving unit is provided on the side of the open vertical plate 1005 close to the frame 3. A transfer robot 9 is provided on the lateral moving unit. The transfer robot 9 includes a vertical moving unit, a longitudinal moving unit, a telescopic unit and a clamp connected in sequence.

[0105] A first opening having a width greater than the size of the drill rod 5 and the transfer robot 9 is formed in the middle of the open vertical plate 1005, and the drill rod 5 and the gripper 903 can pass through the first opening smoothly, thereby forming a space for the drill rod 5 to be raised and lowered and the transfer robot 9 to move when the drill rod 5 is transported. Fig. 9 and Fig.10As shown, the identification sensor 1301a is installed on the upper end of the partition 1004 on both sides of the first opening or on the upper end of the partition 1004 on the standard vertical plate 1003 and corresponding to the first opening position. The identification sensor 1301a is used to identify whether a drill rod 5 passes by.

[0106] The lateral moving unit is bolted to the lower part of the opening vertical plate 1005. The lateral moving unit includes a slide 1008, a rack 1006 and a slide rail 1007. The slide rail 1007 and the rack 1006 are arranged parallel to each other. The outer sides of the slide rail 1007 and the rack 1006 form a first guide rail for the slide 1008 to slide. The slide 1008 is mounted on the first guide rail formed by the rack 1006 and the slide rail 1007 and can move horizontally along the guide rail to select drill rods 5 in different columns for grabbing. The slide 1008 is provided with a lateral motor 1009. The output shaft of the lateral motor 1009 is provided with a lateral gear. The lateral gear is meshed with the rack 1006 to form a gear-rack kinematic pair. Fig. 9 and Fig.10 As shown, the column selection sensor 1301c is arranged at the lower part of the side of the open vertical plate 1005 facing the frame 3, and the column selection sensor 1301c is used to measure the displacement of the slide 1008 or the vertical moving unit.

[0107] The first opening of the open vertical plate 1005 and the partitions 1004 on both sides thereof, as well as the open vertical plates 1005 at corresponding positions and the partitions 1004 on the standard vertical plates 1003 form a space for the telescopic unit and the clamping claws of the transfer robot 9 and the clamped drill rod 5 to move up and down and forward and backward (along the axial direction of the drill rod 5) in the drill rod box 10.

[0108] The vertical moving unit includes a lifting cylinder 901, a lifting outer cylinder 902 and a lifting inner cylinder 912. Figure 5 , Figure 6 As shown, the lifting outer cylinder 902 includes an outer tube 90201 and a connecting block 90202, the connecting block 90202 is welded to the outer side of the lower part of the outer tube 90201, the connecting block 90202 is bolted to the slide seat 1008, the lifting inner cylinder 912 is slidably arranged in the outer tube 90201, and two inner slide rails 90203 are symmetrically, vertically, and bolted in the outer tube 90201, and the inner slide rails 90203 are used to guide the movement of the lifting inner cylinder 912; the lifting cylinder 901 is connected to the bottom of the lifting outer cylinder 902, and the upper end of the output shaft of the lifting cylinder 901 is connected to the lifting inner cylinder 912 or the longitudinal moving unit. Fig.10 As shown, the lifting sensor is installed outside the lifting outer cylinder 902 or inside the lifting inner cylinder 912, and the lifting sensor is used to measure the displacement of the crossbeam 907.

[0109] The longitudinal moving unit includes a crossbeam 907 and a moving seat 908. The crossbeam 907 is connected to the top of the lifting inner cylinder 912 by bolts. A second guide rail is provided on the crossbeam 907. The second guide rail has the same structure as the first guide rail. The moving seat 908 has the same structure as the sliding seat 1008. A longitudinal motor is provided on the moving seat 908. A longitudinal gear is provided on the output shaft of the longitudinal motor. The longitudinal gear is meshed with the rack of the second guide rail. The moving seat 908 moves along the length direction of the drill rod 5 in the drill rod box 10 on the second guide rail. The telescopic unit is installed on the moving seat 908. The clamp under the telescopic unit is used to clamp the drill rod 5. The hand gripper 903 can be a clamping mechanism of various forms. The clamping mechanism includes a clamping drive 904. The clamping drive 904 can be various linear or rotating elements (such as a cylinder, a transverse motor 1009, etc.). The clamping drive 904 drives the hand gripper 903 to clamp and release, thereby clamping and releasing the drill rod 5. In this embodiment 1, the clamping drive 904 is a linear cylinder.

[0110] The telescopic unit can adopt an inner and outer sleeve structure similar to the vertical moving unit. In this embodiment 1, the telescopic unit includes a telescopic oil cylinder 906 and an inner sleeve. The lower end of the output shaft of the telescopic oil cylinder 906 is bolted to the hand claw 903. Fig. 9 As shown, the translation sensor 1301b is installed on the crossbeam 907, and the translation sensor 1301b is used to measure the displacement of the moving seat 908 or the telescopic unit; the proximity sensor is installed on the clamping jaw, and the proximity sensor is used to identify whether there is a drill rod 5 under the clamping jaw.

[0111] like Figure 7 , Figure 8 As shown, the lifting frame 8 is L-shaped, including a turntable 801 and a connecting unit which are perpendicular to each other. The turntable 801 is horizontally arranged. The turntable 801 is a connecting piece between the drill rod box 10 and the crawler vehicle 1. The drill rod box 10 is bolted to the turntable 801. A first rotator 802 is bolted to the lower middle part of the turntable 801. The first rotator 802 is bolted to the frame 2 of the crawler vehicle 1. The first rotator 802 is used to drive the drill rod box 10 and the frame 3 on the turntable 801 to rotate horizontally.

[0112] The connection unit includes a lifting assembly, a second rotator 806 and a connecting plate 807. The lifting assembly includes a lifting sleeve 804 and two columns 803. The lower ends of the two columns 803 are welded with bases, which are bolted to the side of the turntable 801 close to the frame 3. The two columns 803 pass through the lifting sleeve 804. The two sides of the lifting sleeve 804 are slidably arranged on the columns 803. The middle part of the lifting sleeve 804 is provided with a second opening, and the top of the second opening is open to provide a part of the space for the drill rod 5 to move up and down under the drive of the transfer manipulator 9. The lifting sleeve 804 is provided with two installation cavities, which are arranged between the second opening and the column 803. A lifting cylinder 805 is respectively arranged in the two installation cavities. The lifting cylinder 805 is bolted to the base of the column 803. The upper end of the output shaft of the lifting cylinder 805 is connected to the side wall of the installation cavity by a pin shaft, so as to realize the adjustment of the frame height.

[0113] The second rotator 806 is bolted to the side of the lifting sleeve 804 close to the frame 3, the connecting plate 807 is bolted to the side of the second rotator 806 close to the frame 3, the connecting plate 807 and the frame 3 are bolted, and the second rotator 806 is used to drive the frame 3 to rotate vertically. A rectangular hole is horizontally arranged on the connecting plate 807 to meet the movement space when the subsequent flip manipulator 6 flips the rotating rod 90°. The internal gap of the frame 3, the rectangular hole and the inner hole and the second opening of the second rotator 806 are aligned and used for the drill rod 5 to pass through.

[0114] Example 2

[0115] The drill pipe loading and unloading method comprises the following steps:

[0116] Step 1, initialization: prepare the intelligent mining drill, the drill rod box 10 is equipped with the drill rod 5, the gripper 903 and the clamping jaw 601 are both loosened, and the turning cylinder 603 is in a parallel state;

[0117] Step 2, row selection: the transverse motor 1009 drives the transfer robot 9 to select the row. When the slide 1008 reaches the specified position, the row selection sensor 1301c sends a signal to the transverse motor 1009, and the transverse motor 1009 stops working;

[0118] Step 3: Translation: The longitudinal motor 909 drives the telescopic unit and the gripper 903 to move. When the gripper 903 moves to the middle position of the drill pipe box 10, the translation sensor 1301b sends a signal to the longitudinal motor 909, and the longitudinal motor 909 stops working.

[0119] Step 4, extending the gripper 903: the telescopic unit extends downward until the proximity sensor senses that there is a drill rod 5 under the gripper 903, and the telescopic sensor 1301d measures the extension amount; if the telescopic unit extends downward to the maximum value and the proximity sensor still cannot sense the drill rod 5, the lifting cylinder 901 is driven to drive the crossbeam 907 to move up and down until the proximity sensor senses that there is a drill rod 5 under the gripper 903, and the lifting sensor measures the lifting amount;

[0120] Step 5: Grab the drill rod 5: drive the claw 903 to clamp the drill rod 5;

[0121] Step 6: Move to the first opening: The telescopic unit and the lifting cylinder 901 jointly drive the gripper 903 to rise until the gripper 903 and the clamped drill rod 5 are above the top of the drill rod box 10, and the transverse motor 1009 drives the transfer manipulator 9 to move as a whole to the first opening of the drill rod box 10, and the selection sensor 1301c monitors the position in real time;

[0122] Step 7: Sinking detection: the telescopic unit or lifting cylinder 901 drives the claw 903 to descend, so that the identification sensor 1301a senses the drill rod 5.

[0123] Step 8: Align the rack 3: The telescopic unit and the lifting cylinder 901 jointly drive the claw 903 to descend, so that the axis of the drill rod 5 is aligned with a specific position on the rack 3;

[0124] Step 9: Translational transport: The longitudinal motor 909 drives the gripper 903 to move along the crossbeam 907 toward the frame 3, and the gripper 601 of the flip manipulator 6 clamps the drill rod 5. The gripper 903 releases the drill rod 5 and moves toward the drill rod box 10 until it is completely out of the range of the drill rod 5.

[0125] Step 10: Overturning and conveying: The overturning cylinder 603 moves to a vertical state.

[0126] The control method of the drilling rod 5 transfer system includes a vertical displacement control method of the transfer manipulator 9:

[0127] In step 1, the initial values ​​of a and b are determined;

[0128] In step 3, a and b satisfy:

[0129] H1-H2=a1+b1;

[0130] H2 = nd;

[0131] a=a-a1;

[0132] b=b+b1;

[0133] H1-the height of the opening vertical plate 1005; the positions of H1 and H2 are as follows Fig.11 As shown;

[0134] n-the number of remaining drill rods 5 in the column to be grabbed;

[0135] d-drill pipe 5 diameter;

[0136] a1-change in displacement of the lifting cylinder 901 in step 3;

[0137] b1-change in displacement of the telescopic cylinder 905 in step 3;

[0138] In step 5, a and b satisfy: a=a+a1+d; b=b-b1 or a=a+a1; b=b-b1-d;

[0139] In step 7, when the specific position on the frame 3 is higher than the drill rod 5 on the gripper 903, the gripper 903 needs to be lifted by a displacement Δ, and a and b satisfy:

[0140] Δ=a2+b2;

[0141] a=a+a2;

[0142] b = b - b2;

[0143] a2-Change in displacement of lifting cylinder 901 in step seven;

[0144] b2-change in displacement of the telescopic cylinder 905 in step seven;

[0145] When the specific position on the frame 3 is lower than the drill rod 5 on the gripper 903, the gripper 903 needs to be lowered by a displacement Δ, and a and b satisfy:

[0146] Δ=a2+b2;

[0147] a=a-a2;

[0148] b=b+b2;

[0149] a2-Change in displacement of lifting cylinder 901 in step seven;

[0150] b2-The telescopic cylinder 905 in step seven changes its displacement.

[0151] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. Intelligent mining drilling rig, characterized by: It includes a lifting frame, on which a drill rod box, a frame and a transfer manipulator are arranged. The frame is provided with a flipping manipulator. The drill rod in the drill rod box is perpendicular to the drilling direction. The transfer manipulator is used to clamp the drill rod in the drill rod box and insert it into the frame. The flipping manipulator flips the drill rod to align with the drilling direction.

2. The intelligent mining drill according to claim 1, characterized in that: The drill rod box comprises a bottom plate and two vertical plates, and the bottom plate and the two vertical plates form a box body with a U-shaped cross-section that is open at the top.

3. The intelligent mining drill according to claim 2 is characterized in that: The flip manipulator includes a clamp, a fixed seat and a flip cylinder. The fixed seat is hinged to the end of the clamp, the flip cylinder is hinged to the fixed seat, the output shaft of the flip cylinder is hinged to the middle of the clamp, the clamp is used to clamp the drill rod sent by the transfer manipulator, and the working state of the flip cylinder includes parallel state and vertical state: In the parallel state, the clamping axis of the clamp is parallel to the drill rod in the drill rod box; In the vertical position, the clamping axis of the clamping jaws is aligned with the drilling direction.

4. The intelligent mining drill according to claim 3 is characterized in that: A transverse moving unit is provided on the outer side of the vertical plate close to one side of the frame, and a transfer manipulator is provided on the transverse moving unit; The lateral moving unit is connected to the lower part of the opening vertical plate, and includes a slide, a rack and a slide rail. The slide rail and the rack are arranged parallel to each other, and the outer sides of the slide rail and the rack form a first guide rail for the slide to slide. The slide is mounted on the first guide rail formed by the rack and the slide rail. A motor is provided on the slide, and a driving gear is provided on the output shaft of the motor. The driving gear is meshed with the rack.

5. The intelligent mining drill according to claim 4 is characterized in that: The transfer robot comprises a vertical moving unit, a longitudinal moving unit and a clamping unit which are connected in sequence.

6. The intelligent mining drill according to claim 5, characterized in that: The vertical moving unit includes a lifting cylinder, a lifting outer cylinder and a lifting inner cylinder. The lifting outer cylinder is connected to a slide seat. The lifting inner cylinder is slidably arranged in the lifting outer cylinder. Two inner slide rails are symmetrically arranged in the lifting outer cylinder. The inner slide rails are used to guide the movement of the lifting inner cylinder. The lifting cylinder is connected to the bottom of the lifting outer cylinder, and the upper end of the output shaft of the lifting cylinder is connected to the lifting inner cylinder or the longitudinal moving unit.

7. The intelligent mining drill according to claim 6, characterized in that: The longitudinal moving unit includes a crossbeam and a moving seat. The crossbeam is connected to the top of the lifting inner cylinder. A second guide rail is provided on the crossbeam. The second guide rail has the same structure as the first guide rail. The moving seat has the same structure as the sliding seat. The moving seat moves along the length direction of the drill rod in the drill rod box on the second guide rail. The clamping unit is installed on the moving seat. The clamping unit is used to clamp the drill rod.

8. The intelligent mining drill according to claim 7 is characterized in that: The clamping unit comprises a telescopic oil cylinder, a hand claw and an inner cylinder. The lower end of the output shaft of the telescopic oil cylinder is connected to the hand claw, and the hand claw is used to grasp the drill rod.

9. The intelligent mining drill according to claim 8, characterized in that: A first rotator is arranged in the middle of the slewing table. The first rotator is installed on the crawler vehicle and is used for driving the drill rod box and the frame on the slewing table to rotate horizontally.

10. The intelligent mining drill according to claim 9, characterized in that: The connecting unit includes a lifting assembly, a second rotator and a connecting plate. The lifting assembly includes a lifting sleeve and two columns. The two sides of the lifting sleeve are slidably arranged on the columns respectively. The second rotator is installed on the side of the lifting sleeve close to the frame. The connecting plate is arranged on the side of the second rotator close to the frame. The connecting plate is connected to the frame. The second rotator is used to drive the frame to rotate vertically.

11. The intelligent mining drill according to claim 10, characterized in that: The lifting sleeve is provided with a second opening, and the upper part of the second opening is open.

12. The intelligent mining drill according to claim 11, characterized in that: A rectangular hole is horizontally arranged on the connecting plate, and the internal gap of the frame, the rectangular hole and the inner hole and the second opening of the second rotator are aligned and used for the drill rod to pass through.

13. The intelligent mining drill according to claim 12, characterized in that: The lifting sleeve is provided with two installation cavities, which are arranged on both sides of the second opening. A lifting cylinder is respectively provided in the two installation cavities. The lifting cylinder is fixedly connected to the bottom of the column, and the upper end of the output shaft of the lifting cylinder is connected to the side wall of the installation cavity.

14. The intelligent mining drill according to claim 13, characterized in that: The two vertical plates are respectively a standard vertical plate and an open vertical plate. The open vertical plate is arranged on a side close to the frame. A first opening is arranged on the open vertical plate. The first opening is used for the drill rod and the hand claw to pass through.

15. The intelligent mining drill according to claim 14, characterized in that: It also includes an electric control system, which includes a telescopic sensor and a lifting sensor. The telescopic sensor is used to measure the length change of the telescopic cylinder. The lifting sensor is arranged outside the lifting outer cylinder or inside the lifting inner cylinder. The lifting sensor is used to measure the length change of the vertical moving unit.

16. The intelligent mining drill according to claim 15, characterized in that: The electric control system also includes an identification sensor, which is arranged on the upper ends of the partitions on both sides of the first opening or on the upper ends of the partitions on the standard vertical plates corresponding to the first opening position, and is used to identify whether a drill rod passes by.

17. The intelligent mining drill according to claim 16, characterized in that: The electric control system also includes a column selection sensor, which is arranged at the lower part of the side of the open vertical plate facing the frame, and is used to measure the displacement of the slide or the vertical moving unit.

18. The intelligent mining drill according to claim 17, characterized in that: The electric control system also includes a translation sensor and a proximity sensor. The translation sensor is arranged on the crossbeam and is used to measure the displacement of the moving seat or the clamping unit; the proximity sensor is arranged on the gripper and is used to identify whether there is a drill rod under the gripper.

19. A drill pipe loading and unloading method, characterized in that: The following steps are involved: Step 1: Initialization: Prepare the intelligent mining drill, install the drill rod in the drill rod box, loosen the gripper and the clamp, and turn the cylinder to a parallel state; Step 2: Select the column: The column selection sensor controls the slide to reach the specified position; Step 3: Translation: The translation sensor controls the telescopic cylinder and the gripper to move to the middle position of the drill rod box; Step 4: Extend the gripper: The telescopic cylinder extends downward until the proximity sensor senses that there is a drill rod under the gripper, and the telescopic sensor measures the extension amount; if the telescopic cylinder extends downward to the maximum value and the proximity sensor still cannot sense the drill rod, the lifting cylinder is driven to lift the crossbeam until the proximity sensor senses that there is a drill rod under the gripper, and the lifting sensor measures the lifting amount; Step 5: Grab the drill rod: Clamp the drill rod with the claws; Step 6: Move to the first opening: The telescopic cylinder and the lifting cylinder jointly drive the gripper to rise until the gripper and the clamped drill rod are above the top of the drill rod box, and the transverse motor drives the transfer manipulator to move toward the first opening of the drill rod box as a whole, and the selected sensor monitors the position in real time; Step 7: Sinking detection: The telescopic cylinder or lifting cylinder drives the claw to descend, so that the identification sensor senses the drill rod. Step 8: Align the rack: The telescopic unit and the lifting cylinder jointly drive the clamping jaws to rise or fall, so that the axis of the drill pipe is aligned with a specific position on the rack; Step 9: Translational transport: The claw moves along the crossbeam toward the frame, flips the manipulator's claws to clamp the drill rod, and the claw releases the drill rod and moves toward the drill rod box until it is completely out of the drill rod range; Step 10: Flip and transport: Flip the cylinder to a vertical position.

20. The drill pipe loading and unloading method according to claim 19, characterized in that: The displacement measured by the lifting sensor is a, and the displacement measured by the telescopic sensor is b; In step 1, the initial values ​​of a and b are determined; In step 4, a and b satisfy: H1-H2=a1+b1; H2 = nd; a=a-a1; b=b+b1; H1-height of the opening riser; n-the number of remaining drill rods in the column to be grabbed; d-drill pipe diameter; a1-the displacement of the lifting cylinder in step 4; b1-Change in displacement of the telescopic cylinder in step 4.

21. The drill pipe loading and unloading method according to claim 20, characterized in that: In step six, a and b satisfy: a=a+a1+d; b=b-b1 or a=a+a1; b=b-b1-d.

22. The drill pipe transfer system control method according to claim 21, characterized in that: In step eight, when the specific position on the frame is higher than the drill rod on the clamp, the clamp needs to be lifted by a displacement Δ, and a and b satisfy: Δ=a2+b2; a=a+a2; b = b - b2; a2-Change in displacement of the lifting cylinder in step eight; b2-Change in displacement of the telescopic cylinder in step eight.

23. The drill pipe transfer system control method according to claim 22, characterized in that: In step eight, when the specific position on the frame is lower than the drill rod on the clamp, the clamp needs to be lowered by a displacement Δ, and a and b satisfy: Δ=a2+b2; a=a-a2; b=b+b2; a2-Change in displacement of the lifting cylinder in step eight; b2-Change in displacement of the telescopic cylinder in step eight.

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