Mining automatic drilling machine

Abstract

The invention relates to the technical field related to drilling machines, in particular to a mining automatic drilling machine. Comprising a lifting frame and a drill rod box, a plurality of containing grooves are formed in the drill rod box, and the containing grooves are sequentially distributed in the width direction of a frame; the device is provided with a clamping unit, the clamping unit comprises a transverse moving assembly, a longitudinal moving assembly, a lifting assembly and a transfer manipulator, and the transverse moving assembly, the longitudinal moving assembly and the lifting assembly are used for driving the transfer manipulator to move in the transverse direction, the longitudinal direction and the vertical direction correspondingly; the lifting frame comprises a lifting sleeve, and a through hole allowing a drill rod to penetrate through is formed in the lifting sleeve. An overturning mechanical arm is arranged on the side, away from the transfer mechanical arm, of the lifting frame, the clamping center of the overturning mechanical arm is opposite to the through hole, and the overturning mechanical arm is used for driving the drill rod to rotate to be coaxial with the driving drill rod. The mining automatic drilling machine solves the problem that an existing drilling machine is still large in width and cannot enter a roadway with the smaller width.

Description

Technical Field

[0001] The present invention relates to the technical field related to drilling rigs, and in particular to an automatic drilling rig for mining. Background Art

[0002] A drilling rig is a drilling device used in the exploration and mining of coal mines, natural gas, etc. During operation, the drill rod needs to be drilled into the ground. Due to the limitations of transportation equipment and mine tunnel size, the size of the drill rod is limited. During drilling, after a drill rod has completely entered the ground, a new drill rod needs to be installed and connected to the drill rod that has entered the ground, and the drilling continues. In this process, the clamping and installation speed of the drill rod is closely related to the drilling speed of the drilling rig.

[0003] Our company has developed a coal mine drilling rig as shown in the application number CN201911185745.9. The drilling rig includes a drilling platform and an automatic loading and unloading system and a drilling main machine arranged thereon, as well as an automatic control system; the automatic loading and unloading system includes a drill rod box, a rod delivery manipulator, a drill rod transporter and a main manipulator arranged in sequence along the conveying direction of the drill rod to be clamped; the drill rod box has multiple layers and multiple columns of space for accommodating drill rods; the automatic control system is connected to the automatic loading and unloading system and the drilling main machine, and is used to control the drilling main machine to automatically drill holes. The drilling efficiency is improved by combining the three-level drill rod conveying method of the automatic loading and unloading system with the arrangement method of setting a large-capacity drill rod box on the drilling rig platform.

[0004] However, in actual use, it was found that the automatic loading and unloading system structure of the above-mentioned drilling rig is relatively complicated, and the transportation method of the three-stage drill rod makes the drilling rig wider, making it difficult to enter the relatively small mine tunnels. Increasing the size of the tunnels will cause the strength of the tunnels to be destroyed, resulting in safety accidents; adding support structures while expanding the tunnels will also increase the cost of drilling and mining. Summary of the invention

[0005] The present invention is intended to provide an automatic mining drill to solve the problem that the current drilling rig is still relatively wide and cannot enter narrower tunnels.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an automatic mining drill, including a lifting frame and a drill rod box, a plurality of placement slots are arranged in the drill rod box, and the plurality of placement slots are distributed in sequence along the width direction of the frame; a clamping unit is provided, the clamping unit includes a transverse moving component, a longitudinal moving component, a lifting component and a transfer manipulator, the transverse moving component, the longitudinal moving component and the lifting component are respectively used to drive the transfer manipulator to move transversely, longitudinally and vertically; the lifting frame includes a lifting sleeve, and the lifting sleeve is provided with a through hole for the drill rod to pass through; a flipping manipulator is provided on the side of the lifting frame away from the transfer manipulator, the clamping center of the flipping manipulator is opposite to the through hole, and is used to drive the drill rod to rotate to be coaxial with the active drill rod.

[0007] The beneficial effects of this program are:

[0008] 1. The current drilling rig is also provided with a clamp. The clamping unit in this solution is arranged between the drill rod box and the clamp rather than on the side of the drill rod box. Therefore, the drilling rig in this solution is smaller in width and can enter a smaller tunnel.

[0009] 2. In this scheme, only the transfer manipulator and the flip manipulator are used for clamping during installation and disassembly of the drill rod. The through hole is relative to the clamping center of the flip manipulator. When the drill rod is coaxial with the through hole, the drill rod can be rotated 90° by the flip manipulator to the installation position. At this time, the clamp can be used for installation.

[0010] That is, this solution adopts a "two-stage" clamping and conveying method, which greatly simplifies the structure of the drilling rig and the conveying route of the drill rod, and reduces the control difficulty. When the drill rod is handed over between two mechanisms (manipulators), it is necessary to first align the axis of the drill rod with the axis of the other manipulator, and then use the other manipulator to clamp the drill rod, and at the same time control the previous manipulator to loosen the drill rod. In this process, it is also necessary to use sensors and other structures to detect the position of the drill rod, control the movement of the manipulator, and clamp and loosen it, so the handover takes a certain amount of time. Compared with the three-stage drill rod conveying method, the drill rod in this solution only needs to be handed over between the transfer manipulator and the flip manipulator, which reduces one handover, makes the installation and disassembly of the drill rod more efficient, and effectively improves the drilling efficiency.

[0011] Furthermore, the transverse movement assembly includes a slide seat, a transverse power member and a transverse slide rail, the slide seat and the transverse slide rail are slidably matched, and the transverse power member is used to drive the slide seat to slide; the transverse power member is a motor, the transverse power member is arranged on the slide seat and connected to a transverse gear, the transverse slide rail is equipped with a transverse rack, and the transverse rack is meshed with the transverse gear.

[0012] Furthermore, the longitudinal moving part includes a moving seat, a longitudinal power part and a longitudinal slide rail, the transfer robot is arranged on the moving seat, the longitudinal slide rail is located above the drill rod box, the moving seat is slidably matched with the longitudinal slide rail, and the longitudinal power part is used to drive the moving seat to slide; the longitudinal power part is a motor, the longitudinal power part is arranged on the slide seat and connected to a longitudinal gear, a longitudinal rack is installed on the longitudinal slide rail, and the longitudinal rack is meshed with the longitudinal gear.

[0013] The beneficial effects of this solution are as follows: taking the lateral moving assembly as an example, when the lateral gear rotates, the meshing action of the lateral gear and the lateral rack drives the slide to slide along the lateral rail. During the movement, the rack will not move axially, and the slide will not move to the side of the lateral rail. Therefore, compared with using a cylinder as a power part, the drilling rig in this solution requires less space along the width of the frame when working, and is more suitable for use in narrow lanes.

[0014] Furthermore, the transverse slide rail is installed on the side wall of the drill rod box, and the projections of both ends of the transverse slide rail along the length direction of the frame are located on the drill rod box.

[0015] The beneficial effect of this solution is that: in this solution, there is no need to set up additional brackets for installing the transverse slide rails, which further simplifies the drilling rig structure.

[0016] Furthermore, the transverse slide rail extends along the width direction of the frame, and the longitudinal slide rail is perpendicular to the transverse slide rail.

[0017] The beneficial effect of this solution is that compared with the setting method in which the angle between the transverse slide rail and the longitudinal slide rail is an acute angle, this solution can more conveniently and accurately adjust the position of the transfer robot by setting the transverse slide rail and the longitudinal slide rail perpendicular to each other, thereby quickly moving the transfer robot above the drill rod.

[0018] Furthermore, the lifting assembly includes a lifting cylinder and a telescopic member, one end of the telescopic member is connected to the slide seat, and the other end is connected to the longitudinal slide rail. The lifting cylinder is used to drive the longitudinal slide rail to move along the length direction of the telescopic member.

[0019] Furthermore, the telescopic member includes a lifting outer cylinder and a lifting inner cylinder, the lifting inner cylinder and the lifting outer cylinder are slidably matched, one of the outer shell and the piston rod of the lifting cylinder is connected to the lifting outer cylinder, and the other is used to drive the lifting inner cylinder to slide.

[0020] The beneficial effect of this solution is that when the telescopic member in this solution slides, the lifting outer cylinder can guide the lifting inner cylinder, thereby avoiding obvious skewness of the transfer robot, so that the transfer robot can clamp the drill rod more accurately.

[0021] Furthermore, one of the lifting outer cylinder and the lifting inner cylinder is a fixed part, and the other is a movable part; a lifting guide rail is provided on the telescopic part, the lifting guide rail is fixed to the fixed part, and the movable part is slidably matched with the lifting guide rail.

[0022] The beneficial effect of this solution is that the lifting guide rail can further guide the sliding of the movable part, avoid the deviation of the movable part, and improve the accuracy of the gripping of the claw.

[0023] Furthermore, the lifting outer cylinder is a fixed part, the lifting inner cylinder is a movable part, the upper end of the lifting inner cylinder is located in the lifting outer cylinder, and the lifting guide rail is located in the lifting outer cylinder and is axially fixed to the inner wall of the lifting outer cylinder.

[0024] The beneficial effect of this solution is that the lifting guide rail in this solution is located on the inner side of the lifting outer cylinder to avoid interference between the lifting guide rail and adjacent pipelines.

[0025] Furthermore, a groove is provided on the inner wall of the lifting outer cylinder along the axial direction, and the lifting guide rail is located in the groove.

[0026] The beneficial effect of this solution is that after the groove accommodates the lifting guide rail, it will not hinder the sliding of the lifting inner cylinder without the need to groove the lifting inner cylinder.

[0027] Furthermore, two lifting guide rails are provided, and the two lifting guide rails are respectively located on both sides of the lifting inner cylinder.

[0028] The beneficial effects of this solution are: the lifting inner cylinder and the outer cylinder adopt a symmetrical guide rail guiding structure, which is beneficial to the balance of the gripper and prevents the inner cylinder from seriously deviating and thus shortening the life of the manipulator.

[0029] Furthermore, an opening for allowing the drill bit to pass through is provided on the side wall of the drill rod box close to the transverse slide rail, and a drill rod identification sensor is provided on the side wall of the drill rod box away from the transverse slide rail, and the drill rod identification sensor is directly opposite to the opening.

[0030] The beneficial effect of this scheme is that when taking out the drill rod, the transfer robot first moves from the top of the drill rod box to the position opposite the drill rod, then moves downward and clamps the drill rod, and then moves upward to the top of the drill rod box. After the drill rod box in this scheme is provided with an opening, when the transfer robot moves between the drill rod box and the lifting sleeve, even if the drill rod is not completely moved between the drill rod box and the lifting sleeve, when the transfer robot moves downward, the part of the drill rod located above the drill rod box can also slide down from the opening into the drill rod box, thereby not hindering the downward movement of the transfer robot. Therefore, there is no need to reserve a space greater than the length of the drill rod between the drill rod box and the lifting sleeve for the drill rod to move downward, that is, the length of the drilling rig in this scheme can be smaller, and it is more suitable for use in narrower tunnels.

[0031] Further, the opening is opposite to the through hole.

[0032] The beneficial effects of this solution are as follows: when the transfer robot takes the drill rod out of the opening, the drill rod is located in the clamping position of the flip robot, and because the opening is opposite to the through hole, the transfer robot does not need to take out all the drill rods from the drill rod box first, and then move them to the position opposite to the through hole, so the distance between the lifting sleeve and the drill rod box does not need to meet the length of placing a drill rod, that is, the distance between the lifting sleeve and the drill rod box can be shortened, thereby reducing the length of the frame, making the drilling rig in this solution more suitable for narrow alleys.

[0033] Furthermore, a column selection sensor for determining the position of the transfer robot is provided on the drill rod box.

[0034] The beneficial effect of this solution is that the position of the transfer robot can be determined quickly and accurately by selecting the sensor, which makes it easier to control the movement trajectory of the transfer robot, the removal of the drill rod, etc. through an automated program.

[0035] Furthermore, the transfer robot is provided with a proximity sensor for detecting the position of the drill bit below.

[0036] The beneficial effect of this solution is that the proximity sensor can control the transfer manipulator to continue to move downward when it is not close to the drill rod, thereby ensuring that the transfer manipulator can clamp the drill rod.

[0037] Furthermore, an avoidance groove is provided in the middle of the lifting sleeve, and the avoidance groove is located above the through hole and extends vertically.

[0038] The beneficial effect of this solution is that when the transfer robot moves between the drill rod box and the lifting sleeve and moves downward, since the avoidance groove in this solution provides space for the downward movement of the drill rod, the lifting sleeve in this solution can be set at a position closer to the drill rod box, thereby further reducing the length of the drilling rig.

[0039] Furthermore, the lifting frame also includes a lifting cylinder, the lifting sleeve and the column are slidably matched, and the lifting cylinder is connected to the lifting sleeve and is used to drive the lifting sleeve to slide vertically.

[0040] The beneficial effect of this solution is that the position of the lifting sleeve can be quickly adjusted by the lifting cylinder, so that after the clamp is rotated, it is ensured that the through hole is still aligned with the middle of the clamp.

[0041] Furthermore, the flipping robot comprises a flipping claw, a fixed seat and a flipping cylinder, wherein the flipping claw is rotatably connected to the fixed seat, and the outer shell and piston rod of the flipping cylinder are respectively hinged to the flipping claw and the fixed seat and are used to pull the flipping claw to rotate.

[0042] The beneficial effect of this solution is that the flipping manipulator in this solution can better cooperate with the transfer manipulator and flip the drill rod to the active drill rod position. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A three-dimensional diagram of an embodiment of the present invention;

[0044] Figure 2 for Figure 1 A perspective view of the drill rod box and the clamping unit;

[0045] Figure 3 for Figure 2 A top view of the middle lifting outer cylinder;

[0046] Figure 4 A three-dimensional diagram of a lifting frame in an embodiment of the present invention;

[0047] Figure 5 A three-dimensional diagram of a flip robot in an embodiment of the present invention;

[0048] Figure 6 for Figure 5 Top view of the . DETAILED DESCRIPTION

[0049] The following is further described in detail through specific implementation methods:

[0050] The figure marks in the drawings of the specification include: frame 1, clamp 11, drill rod box 2, bottom plate 21, side plate 22, vertical plate 23, drill rod identification sensor 24, baffle 25, transverse slide rail 3, slide seat 31, transverse power member 32, column selection sensor 33, longitudinal slide rail 4, longitudinal power member 41, mobile seat 42, transfer manipulator 5, lifting sleeve 6, through hole 61, sleeve 62, telescopic member 7, lifting outer cylinder 71, lifting inner cylinder 72, groove 73, lifting guide rail 74, turntable 8, column 81, lifting cylinder 82, flip manipulator 9, fixed seat 91, flip cylinder 92, flip claw 93.

[0051] Example

[0052] The embodiment is basically as follows Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the automatic mining drill comprises a frame 1, on which a clamp 11, a lifting frame, a clamping unit and a drill rod box 2 are arranged from right to left in sequence. A rotator and a frame are arranged at the right end of the frame 1, and the frame is connected to the rotator. The clamp 11 is arranged on the frame. The clamp 11, the rotator and the frame in this embodiment all adopt existing structures, which will not be described in detail in this embodiment. The drill rod box 2 comprises a bottom plate 21, two side plates 22 and two vertical plates 23. The bottom plate 21 is mounted on the frame 1 by bolts. The two side plates 22 are respectively located at the front and rear sides of the bottom plate 21, and the side plate 22 is U-shaped; the two vertical plates 23 are respectively located on the left and right sides of the bottom plate 21, and the side plates 22 and the vertical plates 23 are both welded and fixed to the bottom plate 21. An opening is provided in the middle of the right vertical plate 23, and the opening vertically penetrates the top of the right vertical plate 23; a drill rod identification sensor 24 opposite to the opening is provided on the left vertical plate 23, and the drill rod identification sensor 24 is located at the top of the vertical plate 23. Specifically, the drill bit identification sensor adopts a proximity switch type sensor.

[0053] The drill rod box 2 is provided with a plurality of partition assemblies along the width direction of the frame 1, each partition assembly includes two baffles 25, the baffles 25 are respectively welded on the two vertical plates 23, the baffles 25 are vertically arranged and perpendicular to the vertical plates 23, the top of the baffle 25 is at the same height as the top of the vertical plates 23, and a placement groove extending along the length direction of the frame 1 is formed between adjacent partition assemblies.

[0054] The clamping unit includes a transverse moving component, a longitudinal moving component, a lifting component and a transfer manipulator 5. The transverse moving component includes a slide 31, a transverse power member 32 and a transverse slide rail 3. The transverse slide rail 3 is transversely arranged on the right vertical plate 23 by bolts, and the left projections of the front end and the rear end of the transverse slide rail 3 are both located on the vertical plate 23. The slide 31 is arranged on the slide rail and cooperates with the slide rail in a sliding manner, so that the slide 31 can slide along the transverse slide rail 3. The transverse power member 32 adopts a motor, and the transverse power member 32 is connected to a transverse gear. A transverse rack is installed on the transverse slide rail 3 by screws, and the transverse rack extends along the length direction of the transverse slide rail 3. The transverse gear is meshed with the transverse rack, so when the transverse power member 32 drives the transverse gear to rotate, the slide 31 slides along the slide rail. A column selection sensor 33 opposite to the slide 31 is provided on the drill rod box 2. Specifically, the column selection sensor 33 is located below the transverse slide rail 3 and adopts a displacement sensor.

[0055] The longitudinal moving member includes a moving seat 42, a longitudinal power member 41 and a longitudinal slide rail 4. The longitudinal slide rail 4 is located above the drill rod box 2 and extends along the length direction of the frame 1, that is, the longitudinal slide rail 4 in this embodiment is perpendicular to the transverse slide rail 3. The moving seat 42 is arranged on the longitudinal slide rail 4 and slides with the longitudinal slide rail 4. The longitudinal power member 41 drives the moving seat 42 to slide in the same way as the transverse power member 32 drives the slide seat 31 to slide: the longitudinal power member 41 drives the moving seat 42 to slide by setting mutually meshing longitudinal gears and longitudinal racks, which will not be repeated in this embodiment.

[0056] The lifting assembly includes a lifting cylinder and a telescopic member 7. The telescopic member 7 includes a lifting outer cylinder 71 and a lifting inner cylinder 72. The top of the lifting inner cylinder 72 is installed on the moving seat 42 by bolts, and the bottom of the lifting outer cylinder 71 is installed on the sliding seat 31 by bolts. The lifting inner cylinder 72 is located in the lifting outer cylinder 71 and the upper end of the lifting inner cylinder 72 extends to the upper side of the lifting outer cylinder 71. Two grooves 73 are provided on the inner side of the lifting outer cylinder 71. The two grooves 73 are respectively located on the left and right sides of the lifting inner cylinder 72, and the grooves 73 extend along the axial direction of the lifting outer cylinder 71. A lifting guide rail 74 is installed in the groove 73 by screws. The outer wall of the lifting inner cylinder 72 is installed with a lifting guide block that cooperates with the lifting guide rail 74 by bolts, so that the lifting inner cylinder 72 and the lifting guide rail 74 are slidably matched. The lifting inner cylinder 72 is prevented from deflecting during the sliding process by the guidance of the lifting guide rail 74. The outer shell of the lifting cylinder is installed on the lower end of the lifting outer cylinder 71 by bolts. The piston rod of the lifting cylinder faces upward and is connected to the upper end of the lifting inner cylinder 72. The lifting inner cylinder 72 is driven to slide vertically by the lifting cylinder.

[0057] The transfer manipulator 5 is arranged on the moving seat 42. The transfer manipulator 5 includes a telescopic oil cylinder and a transfer claw. The shell of the telescopic oil cylinder is installed on the moving seat 42 by bolts. The piston rod of the telescopic oil cylinder faces downward and is connected to the transfer claw. The transfer claw is provided with a proximity sensor for detecting whether there is a drill rod below. Specifically, the proximity sensor adopts a proximity switch type sensor.

[0058] The lifting frame includes a lifting sleeve 6, a lifting cylinder 82 and two columns 81. The lifting sleeve 6 is arranged vertically, and the distance between the left wall of the lifting sleeve 6 and the right wall of the drill rod box 2 is less than the length of a drill rod. Sleeves 62 are welded to the front and rear ends of the lifting sleeve 6. The column 81 vertically penetrates the sleeve 62, and the sleeve 62 and the column 81 are matched with a small gap, and can slide vertically along the column 81. The frame 1 is provided with an existing turntable 8, and the bottom of the column 81 is connected to the turntable 8 by screws to support the lifting sleeve 6. The outer shell of the lifting cylinder 82 is connected to the bottom of the column 81 by bolts, and the piston rod of the lifting cylinder 82 faces upward and is connected to the lifting sleeve 6, which is used to drive the lifting sleeve 6 to slide vertically.

[0059] The lifting sleeve 6 is connected to the frame by bolts, and a flipping manipulator 9 is provided between the lifting sleeve 6 and the clamp 11. The flipping manipulator 9 comprises a flipping cylinder 92, a fixed seat 91 and a flipping claw 93. The fixed seat 91 is installed on the frame by bolts. The transfer claw and the flipping claw 93 in this embodiment both adopt existing claws that can clamp and release the drill pipe. The flipping claw 93 is hinged to the left end of the fixed seat 91, and the outer shell of the flipping cylinder 92 is hinged to the right end of the fixed seat 91. The piston rod of the flipping cylinder 92 faces left and is hinged to the flipping claw 93. The hinge position of the flipping claw 93 and the fixed seat 91, the hinge position of the fixed seat 91 and the flipping cylinder 92, and the hinge position of the flipping cylinder 92 and the flipping claw 93 are distributed in a triangle, so that the flipping claw 93 can be driven to swing when the flipping cylinder 92 is extended or retracted.

[0060] The lifting sleeve 6 is provided with a through hole 61. In this embodiment, the through hole 61 is coaxial with the opening, and the rightward projection of the through hole 61 is opposite to the clamping center of the flip claw 93, so that after the drill rod extending along the length direction of the frame 1 moves to the relative position of the through hole 61, the drill rod rotates to the position of the clamp 11 after the rotating shaft along the vertical direction rotates to the width direction of the frame 1. The diameter of the through hole 61 is larger than the diameter of the drill rod. Specifically, the diameter of the through hole 61 is determined comprehensively according to the diameter of the drill rod and the relative position of the lifting sleeve 6 and the clamp 11: to ensure that when the flip claw 93 clamps the drill rod and flips to the side close to the clamp 11, the end of the drill rod away from the clamp 11 can pass through the through hole 61. In this embodiment, the lifting sleeve 6 is also provided with an avoidance groove on the side wall facing the drill rod box 2. The avoidance groove is located above the through hole 61 and extends vertically.

[0061] The specific implementation process is as follows:

[0062] Initially, the drill rod is located in the drill rod box 2, and the transfer manipulator 5 is located outside the drill rod box 2. When the drill rod needs to be installed, the longitudinal slide rail 4 is driven upward by the lifting cylinder until the transfer claw is higher than the top of the drill rod box 2, and then the slide seat 31 is driven to move along the width of the frame 1 by the transverse power member 32 and the moving seat 42 is driven to move along the length direction of the frame 1 by the longitudinal power member 41, so that the transfer claw moves to the top of the middle of the drill rod to be clamped. Then the transfer claw is moved downward by the telescopic cylinder, and after clamping the drill rod, it drives the drill rod to move upward to the top of the drill rod box 2.

[0063] Then, the transfer claw is controlled to move between the transverse slide rail and the lifting sleeve 6 by the transverse power member 32 and the longitudinal power member 41 again, until the vertical projection of the drill rod is coaxial with the through hole 61, and the vertical projection of the right end of the drill rod is located in the avoidance groove, and then the drill rod is moved downward by the cooperation of the lifting cylinder and the telescopic cylinder. At this time, the right end of the drill rod slides downward through the avoidance groove, and the left end of the drill rod enters the drill rod box 2 from the opening, so the downward movement of the drill rod will not be blocked.

[0064] After the drill rod is coaxial with the through hole 61, it stops moving, the flip claw 93 is started to clamp the drill rod, and then the flip cylinder 92 is started to control the flip claw 93 to drive the drill rod to rotate toward the side close to the clamp 11. At the same time, the transfer claw is moved to the side away from the drill rod through the longitudinal power member 41, the transverse power member 32, the telescopic cylinder and the lifting cylinder to avoid obstruction to the rotation of the drill rod.

[0065] After the turning claw 93 holds the drill rod and turns it 90° with the vertical rotation center, the drill rod turns to the position of the clamp 11. At this time, the drill rod turns from the length direction of the frame 1 to the width direction of the frame 1. Finally, the clamp 11 is used to clamp the drill rod to complete the installation of the drill rod.

[0066] When the drill rod needs to be stored after being disassembled, the flip claw 93 clamps the drill rod and then drives the flip claw 93 to rotate in the opposite direction through the flip cylinder 92, flips the drill rod again along the length direction of the frame 1, and then controls the transfer claw to approach the drill rod and clamp it, and then controls the flip claw 93 to release the drill rod.

[0067] Finally, the drill rod is moved upward by the telescopic cylinder and the lifting cylinder until the drill rod is higher than the drill rod box 2. Then, the transport claw is controlled to move to the top of the drill rod box 2 by the transverse power member 32 and the longitudinal power member 41, and the drill rod is opposite to an empty placement slot, and finally the transport claw is moved downward, the drill rod is placed in the placement slot and the drill rod is released, and the storage of the drill rod is completed.

[0068] During the entire process of removing and storing the drill rod, the column selection sensor 33 detects the position of the slide 31 to determine the placement slot aligned with the transfer gripper; the drill rod identification sensor 24 is used to detect whether there is a drill bit on the transfer gripper; the proximity sensor is used to detect whether there is a drill bit within a certain distance below the drill rod, so as to facilitate the control of the transfer gripper to continue moving downward and grab the drill rod when there is no drill bit below.

[0069] 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. An automatic mining drill, comprising a lifting frame and a drill rod box, wherein the drill rod box is provided with a plurality of placement slots, and wherein the characteristics are: A plurality of placement slots are sequentially distributed along the width direction of the frame; a clamping unit is provided, the clamping unit comprises a lateral moving component, a longitudinal moving component, a lifting component and a transfer manipulator, the lateral moving component, the longitudinal moving component and the lifting component are respectively used to drive the transfer manipulator to move in the lateral, longitudinal and vertical directions; The lifting frame includes a lifting sleeve, which is provided with a through hole for the drill rod to pass through; a flipping manipulator is provided on the side of the lifting frame away from the transfer manipulator, the clamping center of the flipping manipulator is opposite to the through hole, and is used to drive the drill rod to rotate to be coaxial with the active drill rod.

2. The automatic mining drill according to claim 1, characterized in that: The transverse movement assembly includes a slide seat, a transverse power member and a transverse slide rail. The slide seat and the transverse slide rail are slidably matched, and the transverse power member is used to drive the slide seat to slide; the transverse power member is a motor, which is arranged on the slide seat and connected to a transverse gear. A transverse rack is installed on the transverse slide rail, and the transverse rack is meshed with the transverse gear.

3. The automatic mining drill according to claim 1, characterized in that: The longitudinal moving part includes a moving seat, a longitudinal power part and a longitudinal slide rail. The transfer robot is arranged on the moving seat. The longitudinal slide rail is located above the drill rod box. The moving seat slides with the longitudinal slide rail. The longitudinal power part is used to drive the moving seat to slide. The longitudinal power part is a motor. The longitudinal power part is arranged on the slide seat and is connected to a longitudinal gear. A longitudinal rack is installed on the longitudinal slide rail, and the longitudinal rack is meshed with the longitudinal gear.

4. The automatic mining drill according to claim 2 or 3, characterized in that: The transverse slide rail is installed on the side wall of the drill rod box, and the projections of both ends of the transverse slide rail along the length direction of the frame are located on the drill rod box.

5. The automatic mining drill according to claim 2 or 3, characterized in that: The transverse slide rail extends along the width direction of the frame, and the longitudinal slide rail is perpendicular to the transverse slide rail.

6. A two-stage conveying mining drill according to claim 1, characterized in that: The lifting assembly includes a lifting cylinder and a telescopic member, one end of the telescopic member is connected to the slide seat, and the other end is connected to the longitudinal slide rail. The lifting cylinder is used to drive the longitudinal slide rail to move along the length direction of the telescopic member.

7. The automatic mining drill according to claim 1, characterized in that: The telescopic member comprises a lifting outer cylinder and a lifting inner cylinder, the lifting inner cylinder and the lifting outer cylinder are slidably matched, one of the outer shell and the piston rod of the lifting oil cylinder is connected to the lifting outer cylinder, and the other is used to drive the lifting inner cylinder to slide.

8. The automatic mining drill according to claim 6, characterized in that: One of the lifting outer cylinder and the lifting inner cylinder is a fixed part, and the other is a movable part; a lifting guide rail is arranged on the telescopic part, the lifting guide rail is fixed to the fixed part, and the movable part is slidably matched with the lifting guide rail.

9. The automatic mining drill according to claim 7, characterized in that: The lifting outer cylinder is a fixed part, the lifting inner cylinder is a movable part, the upper end of the lifting inner cylinder is located in the lifting outer cylinder, and the lifting guide rail is located in the lifting outer cylinder and is axially fixed on the inner wall of the lifting outer cylinder.

10. The automatic mining drill according to claim 8, characterized in that: The inner wall of the lifting outer cylinder is provided with a groove along the axial direction, and the lifting guide rail is located in the groove.

11. The automatic mining drill according to any one of claims 7 to 9, characterized in that: There are two lifting guide rails, and the two lifting guide rails are respectively located on both sides of the lifting inner cylinder.

12. The automatic mining drill according to claim 1, characterized in that: An opening for allowing a drill bit to pass through is arranged on a side wall of the drill rod box close to the transverse slide rail, and a drill rod identification sensor is arranged on a side wall of the drill rod box away from the transverse slide rail, and the drill rod identification sensor faces the opening.

13. The automatic mining drill according to claim 11, characterized in that: The opening is opposite to the through hole.

14. The automatic mining drill according to claim 11 or 12, characterized in that: The drill rod box is provided with a column selection sensor for determining the position of the transfer robot.

15. The automatic mining drill according to claim 1, characterized in that: The transfer robot is provided with a proximity sensor for detecting the position of the drill bit below.

16. The automatic mining drill according to claim 1, characterized in that: An avoidance groove is arranged in the middle of the lifting sleeve, and the avoidance groove is located above the through hole and extends vertically.

17. The automatic mining drill according to claim 15, characterized in that: The lifting frame also includes a lifting cylinder, the lifting sleeve is slidably matched with the column, and the lifting cylinder is connected to the lifting sleeve and is used to drive the lifting sleeve to slide vertically.

18. The two-stage conveying mining drill according to claim 1, characterized in that: The flipping manipulator comprises a flipping claw, a fixing seat and a flipping cylinder. The flipping claw is rotatably connected to the fixing seat. The shell and piston rod of the flipping cylinder are respectively hinged to the flipping claw and the fixing seat and are used to pull the flipping claw to rotate.

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