Automatic drilling machine for mining

Abstract

The present application relates to the technical field of drilling machine, and specifically relates to a mine automatic drilling machine. The mine automatic drilling machine comprises a lifting frame and a drill rod box, a plurality of placing grooves are arranged in the drill rod box and are sequentially arranged along the width direction of the frame; a clamping unit is arranged, the clamping unit comprises a horizontal moving assembly, a vertical moving assembly, a lifting assembly and a transfer manipulator, the horizontal moving assembly, the vertical moving assembly and the lifting assembly are respectively used for driving the transfer manipulator to move along the horizontal direction, the vertical direction and the vertical direction; the lifting frame comprises a lifting sleeve, a through hole is arranged on the lifting sleeve and is used for allowing the drill rod to pass through; a turnover manipulator is arranged on the side of the lifting frame away from the transfer manipulator, the clamping center of the turnover manipulator is opposite to the through hole, and the turnover manipulator is used for driving the drill rod to rotate to the coaxial line of the driving drill rod. The mine automatic drilling machine solves the problem that the width of the current drilling machine is still relatively large and cannot enter the roadway with smaller width.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of drilling rig, in particular to a mine automatic drilling rig. BACKGROUND

[0002] The drilling rig is a drilling equipment used in the drilling and mining of coal mine, natural gas and the like. When working, the drill rod is drilled into the stratum. Due to the limitation of transportation equipment and mine size, the size of the drill rod is limited. After a drill rod is completely drilled into the stratum, a new drill rod needs to be installed and connected with the drill rod drilled into the stratum, and then drilled into the stratum. In this process, the clamping and installation speed of the drill rod is closely related to the drilling speed of the drilling rig.

[0003] The applicant has developed a coal mine drilling rig as shown in the application No. CN201911185745.9. The drilling rig comprises a drilling rig platform, an automatic loading and unloading system and a drilling main machine arranged on the drilling rig platform, and an automatic control system. The automatic loading and unloading system comprises a drill rod box, a rod feeding manipulator, a drill rod transfer device 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 spaces for accommodating drill rods. The automatic control system is connected with the automatic loading and unloading system and the drilling main machine, and is used for controlling the drilling main machine to drill automatically. The three-stage drill rod conveying mode of the automatic loading and unloading system is combined with the arrangement of the large-capacity drill rod box on the drilling rig platform, thereby improving the drilling efficiency.

[0004] However, in actual use, it is found that the automatic loading and unloading system of the above drilling rig has a relatively complex structure, and the three-stage drill rod conveying mode makes the width of the drilling rig relatively large, which makes it difficult to enter the relatively small mine roadway. Expanding the size of the roadway will cause the strength of the roadway to be damaged, thereby causing safety accidents. Expanding the roadway while increasing the supporting structure will also increase the cost of drilling and mining. SUMMARY

[0005] The present application aims to provide a mine automatic drilling rig to solve the problem that the width of the current drilling rig is still relatively large and cannot enter the narrower roadway.

[0006] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows: a mine automatic drilling rig comprises a lifting frame and a drill rod box, a plurality of placement grooves are arranged in the drill rod box and are distributed along the width direction of the frame; a clamping unit is arranged, the clamping unit comprises a horizontal moving assembly, a vertical moving assembly, a lifting assembly and a transfer manipulator, the horizontal moving assembly, the vertical moving assembly and the lifting assembly are respectively used to drive the transfer manipulator to move horizontally, vertically and vertically; the lifting frame comprises a lifting sleeve, a through hole is arranged on the lifting sleeve for the drill rod to pass through; a turnover manipulator is arranged on the side of the lifting frame away from the transfer manipulator, the clamping center of the turnover manipulator is opposite to the through hole, and the turnover manipulator is used to drive the drill rod to rotate to the coaxial line of the driving drill rod.

[0007] The beneficial effects of the present scheme are:

[0008] 1. The current drilling rig is also provided with a clamp, and the clamp unit in the present scheme is arranged between the drill pipe box and the clamp instead of the side of the drill pipe box, so that the width of the drilling rig in the present scheme is smaller, and the drilling rig can enter a smaller roadway.

[0009] 2. In the present scheme, only the transfer manipulator and the turnover manipulator are used for clamping during the installation and removal of the drill pipe. The through hole is opposite to the clamping center of the turnover manipulator. When the drill pipe is coaxial with the through hole, the drill pipe can be rotated to the installation position by rotating the drill pipe by 90° through the turnover manipulator, and then the drill pipe can be installed by using the clamp.

[0010] That is, the present scheme adopts a "two-stage" clamping and conveying mode, which greatly simplifies the structure of the drilling rig and the conveying route of the drill pipe, and reduces the control difficulty. When the drill pipe is transferred between two mechanisms (manipulators), the axis of the drill pipe needs to be aligned with the axis of the other manipulator, and then the drill pipe can be clamped by the other manipulator, while the previous manipulator is controlled to release the drill pipe. In this process, sensors and other structures are needed to detect the position of the drill pipe and control the movement of the manipulator and the clamping and releasing, so the transfer needs a certain time. Compared with the three-stage drill pipe conveying mode, the drill pipe in the present scheme only needs to be transferred between the transfer manipulator and the turnover manipulator, reducing one transfer, so that the installation and removal efficiency of the drill pipe is higher, and the drilling efficiency is effectively improved.

[0011] Further, the lateral movement assembly comprises a sliding seat, a lateral power member and a lateral sliding rail, the sliding seat is in sliding cooperation with the lateral sliding rail, and the lateral power member is used to drive the sliding seat to slide; the lateral power member is a motor, the lateral power member is arranged on the sliding seat and connected with a lateral gear, the lateral sliding rail is provided with a lateral rack, and the lateral rack is in meshing cooperation with the lateral gear.

[0012] Further, the longitudinal moving member comprises a moving seat, a longitudinal power member and a longitudinal sliding rail, the transfer manipulator is arranged on the moving seat, the longitudinal sliding rail is located above the drill pipe box, the moving seat is in sliding cooperation with the longitudinal sliding rail, and the longitudinal power member is used to drive the moving seat to slide; the longitudinal power member is a motor, the longitudinal power member is arranged on the sliding seat and connected with a longitudinal gear, the longitudinal sliding rail is provided with a longitudinal rack, and the longitudinal rack is in meshing cooperation with the longitudinal gear.

[0013] The beneficial effects of the present scheme are: taking the lateral movement assembly as an example, when the lateral gear rotates, the sliding seat is driven to slide along the lateral sliding rail under the meshing cooperation of the lateral gear and the lateral rack. During the movement, the rack will not move axially, and the sliding seat will not move to the side of the lateral sliding rail. Therefore, compared with using an oil cylinder as a power member, the drilling rig in the present scheme requires less space along the width direction of the frame during operation, and is more suitable for use in narrow roadways.

[0014] Further, the transverse slide rail is installed on the sidewall of the drill rod box, and projections of two ends of the transverse slide rail along the length direction of the vehicle frame are located on the drill rod box.

[0015] The beneficial effects of the present scheme are that no additional support is needed to install the transverse slide rail, and the structure of the drilling machine is further simplified.

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

[0017] The beneficial effects of the present scheme are that compared with the setting mode in which the included angle between the transverse slide rail and the longitudinal slide rail is an acute angle, the transverse slide rail and the longitudinal slide rail are perpendicular to each other, so that the position of the transfer manipulator can be adjusted more conveniently and accurately, and the transfer manipulator can be quickly moved above the drill rod.

[0018] Further, the lifting assembly includes a lifting oil cylinder and a telescopic piece, one end of the telescopic piece is connected with the sliding seat, the other end is connected with the longitudinal slide rail, and the lifting oil cylinder is used to drive the longitudinal slide rail to move along the length direction of the telescopic piece.

[0019] Further, the telescopic piece includes a lifting outer cylinder and a lifting inner cylinder, the lifting inner cylinder is in sliding fit with the lifting outer cylinder, one of the outer shell of the lifting oil cylinder and the piston rod is connected with the lifting outer cylinder, and the other is used to drive the lifting inner cylinder to slide.

[0020] The beneficial effects of the present scheme are that when the telescopic piece slides, the lifting outer cylinder can guide the lifting inner cylinder, so that the transfer manipulator can be prevented from being obviously skewed, and the transfer manipulator can more accurately clamp the drill rod.

[0021] Further, one of the lifting outer cylinder and the lifting inner cylinder is a fixed piece, and the other is a movable piece; the telescopic piece is provided with a lifting guide rail, the lifting guide rail is fixed with the fixed piece, and the movable piece is in sliding fit with the lifting guide rail.

[0022] The beneficial effects of the present scheme are that the lifting guide rail can further guide the sliding of the movable piece, so that the movable piece can be prevented from being deviated, and the accuracy of the gripper clamping is improved.

[0023] Further, the lifting outer cylinder is the fixed piece, and the lifting inner cylinder is the movable piece, 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 fixed on the inner wall of the lifting outer cylinder in the axial direction.

[0024] The beneficial effects of the present scheme are that the lifting guide rail is located on the inner side of the lifting outer cylinder, so that the lifting guide rail can be prevented from interfering with the adjacent pipeline.

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

[0026] The beneficial effect of the present scheme is that the recess accommodates the lifting guide rail, without the need to groove the lifting inner cylinder, and without causing hindrance to the sliding of the lifting inner cylinder.

[0027] Further, two lifting guide rails are provided, and the two lifting guide rails are respectively located at the two sides of the lifting inner cylinder.

[0028] The beneficial effect of the present scheme is that 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 being severely deviated, thereby shortening the service life of the manipulator.

[0029] Further, the side wall of the drill rod box close to the transverse sliding rail is provided with an opening through which the drill bit can pass, and the side wall of the drill rod box away from the transverse sliding rail is provided with a drill rod identification sensor, and the drill rod identification sensor is opposite to the opening.

[0030] The beneficial effect of the present scheme is that when the transfer manipulator takes out the drill rod, it first moves from above the drill rod box to a position opposite to the drill rod, then the transfer manipulator moves downward and clamps the drill rod, and then moves upward to above the drill rod box. In the present scheme, the drill rod box is provided with an opening, and after the transfer manipulator moves to the position between the drill rod box and the lifting sleeve, even if the drill rod has not completely moved to the position between the drill rod box and the lifting sleeve, when the transfer manipulator moves downward, the part of the drill rod above the drill rod box can also slide downward into the drill rod box from the opening, thereby not causing hindrance to the downward movement of the transfer manipulator. Therefore, the space between the drill rod box and the lifting sleeve does not need to be reserved to be greater than the length of one drill rod for the downward movement of the drill rod, that is, the length of the drilling rig in the present 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 effect of the present scheme is that when the transfer manipulator takes out the drill rod from the opening, the drill rod is located at the clamping position of the turnover manipulator. Because the opening is opposite to the through hole, the transfer manipulator does not need to first take out all the drill rods from the drill rod box, and then move to a position opposite to the through hole. Therefore, the distance between the lifting sleeve and the drill rod box does not need to satisfy the length of one drill rod, that is, the distance between the lifting sleeve and the drill rod box can be shortened, thereby reducing the length of the vehicle frame, and making the drilling rig in the present scheme more suitable for narrow tunnels.

[0033] Further, the drill rod box is provided with a selection sensor for determining the position of the transfer manipulator.

[0034] The beneficial effect of the present scheme is that the position of the transfer manipulator can be quickly and accurately determined through the selection sensor, which is convenient for controlling the movement trajectory of the transfer manipulator, the taking out of the drill rod, etc. through an automatic program.

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

[0036] The beneficial effect of the present scheme is that the transfer manipulator can be controlled to continue to move downward when not close to the drill pipe by the proximity sensor, ensuring that the transfer manipulator can hold the drill pipe.

[0037] Further, the middle part of the lifting sleeve is provided with an avoiding groove, which is located above the through hole and extends vertically.

[0038] The beneficial effect of the present scheme is that when the transfer manipulator moves to the position between the drill pipe box and the lifting sleeve and moves downward, the lifting sleeve in the present scheme can be arranged closer to the drill pipe box, thereby further reducing the length of the drilling machine, because the avoiding groove in the present scheme provides space for the downward movement of the drill pipe.

[0039] Further, the lifting frame further comprises a lifting oil cylinder, the lifting sleeve is in sliding fit with the stand column, and the lifting oil cylinder is connected with the lifting sleeve and used to drive the lifting sleeve to slide vertically.

[0040] The beneficial effect of the present scheme is that the position of the lifting sleeve can be quickly adjusted by the lifting oil cylinder, thereby ensuring that the through hole is still aligned with the middle part of the gripper after the gripper rotates.

[0041] Further, the turnover manipulator comprises a turnover gripper, a fixed seat and a turnover oil cylinder, the turnover gripper is in rotary connection with the fixed seat, and the outer shell and the piston rod of the turnover oil cylinder are respectively hinged with the turnover gripper and the fixed seat and used to pull the turnover gripper to rotate.

[0042] The beneficial effect of the present scheme is that the turnover manipulator in the present scheme can better cooperate with the transfer manipulator and turn the drill pipe to the active drill pipe position. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is a perspective view of the embodiment of the present application;

[0044] Figure 2 is a perspective view of the drill pipe box and the gripping unit; Figure 1

[0045] Figure 3 is a top view of the lifting outer cylinder; Figure 2

[0046] Figure 4 is a perspective view of the lifting frame in the embodiment of the present application;

[0047] Figure 5 is a perspective view of the turnover manipulator in the embodiment of the present application;

[0048] Figure 6 is a top view of the turnover manipulator. Figure 5 DETAILED DESCRIPTION ​​​

[0049] The specific embodiments are further described in detail below:

[0050] The reference signs in the drawings of the specification include: frame 1, holder 11, drill rod box 2, bottom plate 21, side plate 22, vertical plate 23, drill rod identification sensor 24, baffle 25, transverse sliding rail 3, sliding seat 31, transverse power 32, selection sensor 33, longitudinal sliding rail 4, longitudinal power 41, moving seat 42, transfer manipulator 5, lifting sleeve 6, through hole 61, sleeve 62, telescopic part 7, lifting outer cylinder 71, lifting inner cylinder 72, groove 73, lifting guide rail 74, rotary table 8, stand 81, lifting oil cylinder 82, overturning manipulator 9, fixed seat 91, overturning oil cylinder 92, overturning gripper 93.

[0051] Embodiment

[0052] The embodiment is basically as shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 , the automatic drill for mine includes frame 1, the holder 11, the lifting frame, the clamping unit and the drill rod box 2 are sequentially arranged on the frame 1 from right to left, the right end of the frame 1 is provided with a rotary device and a rack, the rack is connected with the rotary device, the holder 11 is arranged on the rack, the holder 11, the rotary device and the rack in the embodiment all adopt the existing structure, and the embodiment will not be described here. The drill rod box 2 includes a bottom plate 21, two side plates 22 and two vertical plates 23, the bottom plate 21 is bolted on the frame 1, the two side plates 22 are respectively located on the front side and the rear side 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 plate 22 and the vertical plate 23 are welded and fixed with the bottom plate 21. The middle part of the right vertical plate 23 is provided with an opening, the opening penetrates the top of the right vertical plate 23 along the vertical direction; the left vertical plate 23 is provided with a drill rod identification sensor 24 opposite to the opening, and the drill rod identification sensor 24 is located on 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 separation components along the width direction of the frame 1, each separation component includes two baffles 25, the baffles 25 are 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 level with the top of the vertical plate 23, and a placing groove extending along the length direction of the frame 1 is formed between adjacent separation components.

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

[0055] The longitudinal moving element comprises a moving base 42, a longitudinal power element 41 and a longitudinal sliding rail 4. The longitudinal sliding rail 4 is located above the drill rod box 2 and extends along the length direction of the vehicle frame 1, that is, the longitudinal sliding rail 4 is perpendicular to the transverse sliding rail 3 in the embodiment. The moving base 42 is arranged on the longitudinal sliding rail 4 and is in sliding fit with the longitudinal sliding rail 4. The longitudinal power element 41 drives the moving base 42 to slide in the same way as the transverse power element 32 drives the sliding base 31 to slide: the longitudinal power element 41 drives the moving base 42 to slide by arranging the longitudinal gear and the longitudinal rack which are in mesh with each other. In the embodiment, the same will not be described again.

[0056] The lifting assembly comprises a lifting oil cylinder and a telescopic element 7. The telescopic element 7 comprises a lifting outer cylinder 71 and a lifting inner cylinder 72. The top of the lifting inner cylinder 72 is bolted to the moving base 42. The bottom of the lifting outer cylinder 71 is bolted to the sliding base 31. The lifting inner cylinder 72 is located in the lifting outer cylinder 71 and the upper end of the lifting inner cylinder 72 extends above the lifting outer cylinder 71. Two grooves 73 are arranged 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 extend along the axial direction of the lifting outer cylinder 71. A lifting guide rail 74 is installed in the groove 73 by means of screws. The outer wall of the lifting inner cylinder 72 is bolted to the lifting guide block which is in fit with the lifting guide rail 74, so that the lifting inner cylinder 72 is in sliding fit with the lifting guide rail 74. The lifting guide rail 74 guides the lifting inner cylinder 72 to avoid deviation during sliding. The shell of the lifting oil cylinder is bolted to the lower end of the lifting outer cylinder 71. The piston rod of the lifting oil cylinder faces upward and is connected with the upper end of the lifting inner cylinder 72. The lifting oil cylinder drives the lifting inner cylinder 72 to slide vertically.

[0057] The transfer manipulator 5 is arranged on the moving seat 42, and comprises a telescopic oil cylinder and a transfer gripper. The outer shell of the telescopic oil cylinder is bolted on the moving seat 42, and the piston rod of the telescopic oil cylinder is downward and connected with the transfer gripper. The transfer gripper is provided with a proximity sensor for detecting whether there is a drill rod below. Specifically, the proximity sensor is a proximity switch type sensor.

[0058] The lifting frame comprises a lifting sleeve 6, a lifting oil cylinder 82 and two vertical columns 81. The lifting sleeve 6 is vertically arranged, and the distance between the left side wall of the lifting sleeve 6 and the right side wall of the drill rod box 2 is less than the length of a drill rod. The front and rear ends of the lifting sleeve 6 are both welded with sleeves 62, the vertical columns 81 vertically penetrate the sleeves 62, and the sleeves 62 are in a small gap fit with the vertical columns 81 and can slide vertically along the vertical columns 81. The existing rotary table 8 is arranged on the frame 1, and the bottom of the vertical column 81 is connected with the rotary table 8 through screws to support the lifting sleeve 6. The outer shell of the lifting oil cylinder 82 is connected with the bottom of the vertical column 81 through bolts, and the piston rod of the lifting oil cylinder 82 is upward and connected with the lifting sleeve 6 to drive the lifting sleeve 6 to slide vertically.

[0059] The lifting sleeve 6 is connected with the rack through bolts, and the lifting sleeve 6 and the gripper 11 are provided with a turnover manipulator 9. The turnover manipulator 9 comprises a turnover oil cylinder 92, a fixed seat 91 and a turnover gripper 93. The fixed seat 91 is bolted on the rack. The transfer gripper and the turnover gripper 93 in the embodiment both adopt existing clamping jaws that can clamp and loosen the drill rod. The turnover gripper 93 is hinged with the left end of the fixed seat 91, the outer shell of the turnover oil cylinder 92 is hinged with the right end of the fixed seat 91, the piston rod of the turnover oil cylinder 92 is leftward and hinged with the turnover gripper 93, and the hinged positions of the turnover gripper 93 with the fixed seat 91, the fixed seat 91 with the turnover oil cylinder 92 and the turnover oil cylinder 92 with the turnover gripper 93 are in a triangular distribution, so that the turnover oil cylinder 92 can drive the turnover gripper 93 to swing when it extends or retracts.

[0060] The lifting sleeve 6 is provided with a through hole 61. In the embodiment, the through hole 61 is coaxial with the opening, and the projection of the through hole 61 to the right is opposite to the clamping center of the turnover gripper 93, so that the drill rod extending along the length direction of the frame 1 is moved to the relative position of the through hole 61, and then is rotated along the vertical direction to the width direction of the frame 1, and then is rotated to the position of the gripper 11. 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 according to the diameter of the drill rod and the relative position of the lifting sleeve 6 and the gripper 11, so as to ensure that when the turnover gripper 93 clamps the drill rod and turns to the side close to the gripper 11, the end of the drill rod away from the gripper 11 can pass through the through hole 61. In the embodiment, the side wall of the lifting sleeve 6 facing the drill rod box 2 is also provided with an avoiding groove, which is above the through hole 61 and extends vertically.

[0061] The specific implementation process is as follows:

[0062] Initially, the drill pipe is located in the drill pipe box 2, and the transfer manipulator 5 is located outside the drill pipe box 2. When it is required to install the drill pipe, the longitudinal slide rail 4 is moved upward by the lifting cylinder until the transfer hand claw is higher than the top of the drill pipe box 2, and then the transfer hand claw is moved to above the middle of the drill pipe to be clamped by moving the slide base 31 along the width of the vehicle frame 1 by the transverse power element 32 and moving the moving base 42 along the length direction of the vehicle frame 1 by the longitudinal power element 41. Then the transfer hand claw is moved downward by the telescopic cylinder, and after clamping the drill pipe, the drill pipe is moved upward to above the drill pipe box 2.

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

[0064] After the drill pipe is coaxial with the through hole 61, the movement is stopped, the turning hand claw 93 clamps the drill pipe, and then the turning cylinder 92 controls the turning hand claw 93 to drive the drill pipe to rotate to the side close to the clamp 11. At the same time, the transfer hand claw is moved away from the drill pipe by the longitudinal power element 41, the transverse power element 32, the telescopic cylinder and the lifting cylinder, so as to avoid hindering the rotation of the drill pipe.

[0065] After the turning hand claw 93 clamps the drill pipe to rotate 90° around the vertical rotation center, the drill pipe is turned to the clamp 11 position, at this time, the drill pipe is turned from the length direction of the vehicle frame 1 to the width direction of the vehicle frame 1, and finally the clamp 11 clamps the drill pipe to complete the installation of the drill pipe.

[0066] When the drill pipe is disassembled and needs to be stored, the turning hand claw 93 clamps the drill pipe, and then the turning cylinder 92 drives the turning hand claw 93 to rotate reversely to re-rotate the drill pipe to the length direction of the vehicle frame 1, and then the transfer hand claw is controlled to be close to the drill pipe and clamped, and then the turning hand claw 93 is controlled to release the drill pipe.

[0067] Finally, the drill pipe is moved upward by the telescopic cylinder and the lifting cylinder until the drill pipe is higher than the drill pipe box 2. Then the transfer hand claw is moved to above the drill pipe box 2 by the transverse power element 32 and the longitudinal power element 41, and the drill pipe is opposite to an empty placing groove. Finally, the transfer hand claw is moved downward to put the drill pipe into the placing groove and release the drill pipe, which completes the storage of the drill pipe.

[0068] During the whole process of taking out and storing the drill pipe, the selected column sensor 33 detects the position of the sliding seat 31, so as to determine the placement slot aligned with the transfer gripper; the drill pipe 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 pipe, so as to facilitate the control of the transfer gripper to continue to move downward to grab the drill pipe after there is no drill bit below.

[0069] The above is only an embodiment of the present application, and the specific technical solutions and / or common knowledge of the scheme are not described in detail. It should be pointed out that for those skilled in the art, without departing from the technical solutions of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, which will not affect the effect and practicality of the patent. The protection scope claimed in the present application should be subject to the content of its claims, and the specific implementation mode and the like recorded in the specification can be used to explain the content of the claims.

Claims

1. A mine automatic drilling machine, comprising a lifting frame and a drill rod box, a plurality of placing grooves are arranged in the drill rod box, and the mine automatic drilling machine is characterized in that: A plurality of placement slots are sequentially distributed along the width direction of the frame; a clamping unit is arranged, which 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 respectively used to drive the transfer manipulator to move along the transverse direction, the longitudinal direction and the vertical direction; The lifting frame comprises a lifting sleeve, and a through hole for the drill rod to pass through is arranged on the lifting sleeve; a turnover manipulator is arranged on the side of the lifting frame away from the transfer manipulator, the clamping center of the turnover manipulator is opposite to the through hole, and the turnover manipulator is used to drive the drill rod to rotate to be coaxial with the driving drill rod. The turnover manipulator comprises a turnover claw, a fixed seat and a turnover oil cylinder, the turnover claw is rotationally connected with the fixed seat, and the outer shell and the piston rod of the turnover oil cylinder are respectively hinged with the turnover claw and the fixed seat and are used to drive the turnover claw to rotate.

2. A rig-mounted automated drilling rig as claimed in claim 1, characterized in that: The transverse moving assembly comprises a sliding base, a transverse power element and a transverse sliding rail, the sliding base is in sliding fit with the transverse sliding rail, and the transverse power element is used to drive the sliding base to slide; the transverse power element is a motor, the transverse power element is arranged on the sliding base and is connected with a transverse gear, a transverse rack is mounted on the transverse sliding rail, and the transverse rack is in mesh with the transverse gear.

3. A rig-mounted automatic drilling rig as claimed in claim 1, characterized in that: The longitudinal moving assembly comprises a moving seat, a longitudinal power element and a longitudinal sliding rail, the transfer manipulator is arranged on the moving seat, the longitudinal sliding rail is located above the drill rod box, the moving seat is in sliding fit with the longitudinal sliding rail, and the longitudinal power element is used to drive the moving seat to slide; the longitudinal power element is a motor, the longitudinal power element is arranged on the sliding base and is connected with a longitudinal gear, a longitudinal rack is mounted on the longitudinal sliding rail, and the longitudinal rack is in mesh with the longitudinal gear.

4. A rig-mounted automated drilling rig as claimed in claim 2, characterized in that: The transverse sliding rail is mounted on the side wall of the drill rod box, and the projections of the two ends of the transverse sliding rail along the length direction of the frame are both located on the drill rod box.

5. The automated drill rig of claim 1, wherein: The lifting assembly comprises a lifting oil cylinder and an extension element, one end of the extension element is connected with the sliding base, the other end is connected with the longitudinal sliding rail, and the lifting oil cylinder is used to drive the longitudinal sliding rail to move along the length direction of the extension element.

6. A rig-mounted automated drilling rig as claimed in claim 5, characterized in that: The extension element comprises a lifting outer cylinder and a lifting inner cylinder, the lifting inner cylinder is in sliding fit with the lifting outer cylinder, one of the outer shell and the piston rod of the lifting oil cylinder is connected with the lifting outer cylinder, and the other one is used to drive the lifting inner cylinder to slide.

7. A rig-mounted automated drilling rig as claimed in claim 6, characterized in that: One of the lifting outer cylinder and the lifting inner cylinder is a fixed element, and the other one is a movable element; the extension element is provided with a lifting guide rail, the lifting guide rail is fixed with the fixed element, and the movable element is in sliding fit with the lifting guide rail.

8. A rig-mounted automated drilling rig as claimed in claim 7, characterized in that: The lifting outer cylinder is the fixed element, and the lifting inner cylinder is the movable element, 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 fixed on the inner wall of the lifting outer cylinder in the axial direction.

9. A rig-mounted automated drilling rig as claimed in claim 8, characterized in that: The inner wall of the lifting outer cylinder is provided with a groove in the axial direction, and the lifting guide rail is located in the groove.

10. A rig-mounted automated drilling rig as claimed in any one of claims 7-9, characterized in that: The lifting guide rail is provided with two, and the two lifting guide rails are respectively located on the two sides of the lifting inner cylinder.

11. A rig-mounted automated drilling rig as defined in claim 1, characterized by: The side wall of the drill rod box close to the transverse sliding rail is provided with an opening through which the drill bit can pass, the side wall of the drill rod box away from the transverse sliding rail is provided with a drill rod identification sensor, and the drill rod identification sensor is opposite to the opening.

12. A rig-mounted automated drilling rig as claimed in claim 11, characterized in that: The opening is opposite to the through hole.

13. A rig-mounted automated drilling rig as claimed in claim 11 or 12, characterized in that: The drill rod box is provided with a selection sensor for judging the position of the transfer manipulator.

14. The robotic drilling rig of claim 1, wherein: The transfer manipulator is provided with a proximity sensor for detecting the position of the drill bit below.

15. The automated drilling rig of claim 1, wherein: The middle part of the lifting sleeve is provided with an avoiding groove which is above the through hole and extends vertically.

16. A rig-mounted automated drilling rig as claimed in claim 15, characterized in that: The lifting frame further comprises a lifting oil cylinder, the lifting sleeve is in sliding fit with the stand column, and the lifting oil cylinder is connected with the lifting sleeve and is used to drive the lifting sleeve to slide vertically.

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