Automatic drill rod storing and taking method for underground drill rig and control method

Abstract

The invention discloses an automatic drill rod storing and taking device for an underground drill rig and a control method. The automatic drill rod storing and taking device is provided with a drill rod bin, a plurality of drill rod trays are stacked in the drill rod bin, and the drill rod trays move in the drill rod bin in the longitudinal direction and the horizontal direction; a gripper assembly is arranged below the top wall of the drill rod bin in a sliding mode, and the gripper assembly moves in the cross direction in the horizontal plane. And a hoisting device is arranged outside the drill rod bin, and the drill rod tray is hoisted to the drill rod bin. The device solves the problem that the drill rods need to be manually stacked during underground drill rig construction, automatic drill rod stacking operation is achieved, automatic drill rod loading and unloading can be achieved through cooperation with a drill rig drill rod loading and unloading mechanical arm, unmanned operation is achieved, the automation level of a drill rig is improved, and the labor intensity of workers is relieved.

Description

Technical Field

[0001] This patent belongs to the field of drill pipe bins in drilling machinery, specifically relates to an automatic drill pipe storage and retrieval device and control method for a roadway drill rig, and is mainly used for the automatic drill pipe storage and retrieval of a drill rig underground in a coal mine. Background Art

[0002] At present, when a drill rig underground in a coal mine is drilling, drill pipes need to be manually placed on the main body of the drill rig or the upper rod manipulator, and continuous automatic addition and removal of drill pipes cannot be achieved, with low automation. Moreover, during the drilling construction process, manual addition and removal of drill pipes pose risks of high labor intensity and low safety for workers.

[0003] Therefore, an automatic drill pipe storage and retrieval bin and control method for a roadway drill rig are invented to improve the continuity and automation of drill pipe storage and retrieval during the construction of a roadway drill rig and reduce the labor intensity of workers. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic drill pipe storage and retrieval bin and control method for a roadway drill rig, to improve the continuity and automation of drill pipe storage and retrieval during the construction of a roadway drill rig and reduce the labor intensity of workers.

[0005] The technical solution of the present invention is as follows:

[0006] An automatic drill pipe storage and retrieval device for a roadway drill rig is provided, including:

[0007] A drill pipe bin, in which a plurality of drill pipe trays are stacked, and the drill pipe trays move longitudinally and horizontally in the drill pipe bin;

[0008] A gripper assembly is slidably arranged under the top wall of the drill pipe bin, and the gripper assembly moves in the cross direction in the horizontal plane;

[0009] A hoisting device is arranged outside the drill pipe bin to hoist the drill pipe tray to the drill pipe bin.

[0010] Optionally, a drill pipe tray sliding frame is arranged outside the drill pipe bin for carrying the drill pipe tray to achieve the horizontal sliding of the drill pipe tray.

[0011] Optionally, the drill pipe tray sliding frame includes a sliding frame body arranged on the outer side wall of the drill pipe bin;

[0012] The top surface of the sliding frame body is a horizontal plane, and a roller mounting frame is arranged extending in the horizontal plane. A plurality of rollers are embedded in the roller mounting frame, and an oil cylinder mounting plate is arranged at the outer end surface of the roller mounting frame; a tray horizontal movement oil cylinder is arranged horizontally through the oil cylinder mounting plate.

[0013] Optionally, one opposite side of the drill pipe tray is slidably connected to the inner wall of the drill pipe bin by a clamping method;

[0014] The other end of the drill pipe tray acts on the end of the tray horizontal movement oil cylinder arranged on the drill pipe tray sliding frame through magnetic force towards the opposite side.

[0015] Optionally, the drill pipe tray is provided with a rectangular box-shaped accommodation cavity. V-shaped guide blocks are arranged on one pair of opposite side walls of the accommodation cavity and are slidably connected in cooperation with the first guide rails arranged on the inner wall of the drill pipe bin;

[0016] Magnetic sheets are arranged on the other pair of opposite side walls of the accommodation cavity and are docked with the magnetic sheets on the end of the tray horizontal movement oil cylinder arranged on the drill pipe tray sliding frame;

[0017] Moreover, a plurality of drill pipe placement racks with wave arcs are arranged in the accommodation cavity. A lifting ring is arranged at the edge of the accommodation cavity where the V-shaped guide block is arranged, and is used for cooperating with a hoisting device for hoisting.

[0018] Optionally, the gripper assembly is provided with a mounting plate. A lead screw and a third guide rail parallel to the lead screw are suspended under the mounting plate. A lead screw motor is arranged at the end of the lead screw;

[0019] A lead screw connection block is penetrated through the lead screw and the third guide rail and moves along the lead screw and the third guide rail. A gripper motor is embedded in the lead screw connection block. The gripper motor is axially connected with a multi-stage oil cylinder and a gripper in sequence below, and controls the circumferential rotation and longitudinal telescoping of the gripper.

[0020] Optionally, a chute is arranged on the mounting plate and is slidably connected with the second guide rail arranged on the top of the drill pipe bin;

[0021] Moreover, a gripper horizontal movement oil cylinder mounting plate is arranged at one end of the top wall of the drill pipe bin. A gripper horizontal movement oil cylinder is penetrated through it, and controls the gripper assembly to move along the second guide rail.

[0022] Optionally, the hoisting device is provided with a base. A first-stage rod and a second-stage rod are sequentially arranged along the longitudinal direction on the base. A rotating rod that rotates horizontally is arranged at the top end of the second-stage rod, and a lifting tool is arranged at the end of the rotating rod.

[0023] A control method for an automatic drill pipe storage and retrieval device for a tunnel drilling rig, which is used to control any of the automatic drill pipe storage and retrieval devices for a tunnel drilling rig of the present invention, includes:

[0024] The drill pipe trays are stacked in layers by sliding up and down in the drill pipe bin. The drill pipe trays enter and exit the drill pipe bin horizontally. The drill pipe trays are hoisted by the hoisting device. The gripper assembly enters and exits the drill pipe bin horizontally and grabs the drill pipes in the drill pipe trays.

[0025] Optionally, it includes:

[0026] The steps for filling the drill pipe bin 1 with drill pipes are as follows:

[0027] Step A1, the hoisting device hoists the drill pipe tray and places it on the drill pipe tray sliding frame, and aligns the magnetic sheet with the magnetic sheet at the front end of the cylinder rod of the tray horizontal movement oil cylinder 8;

[0028] In step A2, the rod of the tray horizontal movement oil cylinder extends, enabling the magnetic sheet at the front end of the rod to be attracted to the magnetic sheet. The rod continues to extend to push the drill pipe tray to slide on the rollers towards the drill pipe bin.

[0029] In step A3, the rod of the drill pipe tray lifting and lowering oil cylinder retracts until the rod ear seat is completely higher than the drill pipe tray ear seat. The drill pipe tray is pushed into the drill pipe bin by the tray horizontal movement oil cylinder until the vertical center line of the ear seat coincides with the axis of the drill pipe tray lifting and lowering oil cylinder. Then, the rod of the drill pipe tray lifting and lowering oil cylinder slowly extends until the center line of the rod hinge hole coincides with the center line of the ear seat, and then the pin is inserted.

[0030] In step A4, the rod of the drill pipe tray lifting and lowering oil cylinder slowly extends, and at the same time, the rod of the tray horizontal movement oil cylinder slowly retracts, separating the magnetic sheet from the magnetic sheet at the front end of the rod of the tray horizontal movement oil cylinder. Then, the rod of the tray horizontal movement oil cylinder completely retracts, and the rod of the drill pipe tray lifting and lowering oil cylinder continues to extend downward by a height of the drill pipe tray.

[0031] In step A5, repeat steps A1 - A4 to fill the drill pipe bin 1 with drill pipe trays 2.

[0032] The steps for taking drill pipes from the drill pipe bin are as follows:

[0033] In step a1, the rod of the gripper horizontal movement oil cylinder completely retracts, driving the gripper assembly to be in the initial position. The rod of the multi - stage oil cylinder retracts, and the gripper opens.

[0034] In step a2, the lead screw motor rotates to drive the lead screw to rotate, causing the lead screw connecting block to move along the axis of the lead screw on the lead screw until it reaches the left - most drill pipe in the drill pipe tray. At this time, the third guide rail serves as a track to keep the lead screw connecting block 47 balanced during movement.

[0035] In step a3, the gripper motor drives the multi - stage oil cylinder to rotate, making the center of the gripper parallel to the drill pipe. Then, the first - stage rod of the multi - stage oil cylinder extends to lower the gripper to be concentric with the drill pipe. Subsequently, the second - stage rod extends to close the gripper and grip the drill pipe.

[0036] In step a4, the first - stage rod of the multi - stage oil cylinder retracts to drive the gripper and the drill pipe to rise. The lead screw motor rotates to drive the lead screw to rotate, causing the lead screw connecting block to move along the axis of the lead screw to the middle of the lead screw. Subsequently, the rod of the gripper horizontal movement oil cylinder extends to push the gripper assembly to slowly slide out of the drill pipe bin along the second guide rail.

[0037] In step a5, after the gripper assembly slides out to the designated position, the gripper motor drives the multi - stage oil cylinder to rotate counter - clockwise by 90° so that the drill pipe in the gripper is perpendicular to the drill pipe in the drill pipe bin. Then, the first - stage rod of the multi - stage oil cylinder extends to drive the gripper to lower to the designated position. Then, the second - stage rod of the multi - stage oil cylinder retracts, the gripper opens, and the drill pipe is lowered to the upper rod manipulator, thus completing the process of taking a drill pipe from the drill pipe bin once.

[0038] Step a6, repeat the above actions until drilling is completed;

[0039] The steps for placing a drill pipe bin under the drill pipe in the hole are as follows:

[0040] Step b1, the drill pipe is unloaded from the main drill rig to the upper rod manipulator. At this time, the cylinder rod of the gripper horizontal movement oil cylinder extends, pushing the gripper assembly to the outside of the drill pipe bin, making the center of the gripper parallel to the drill pipe inside the manipulator. The first-stage cylinder rod of the multi-stage oil cylinder extends to make the center line of the gripper concentric with the center of the drill pipe inside the manipulator, and the second-stage cylinder rod of the multi-stage oil cylinder retracts to clamp the drill pipe with the gripper;

[0041] Step b2, the first-stage cylinder rod of the multi-stage oil cylinder retracts, driving the gripper and the drill pipe to the designated position. The gripper motor drives the multi-stage oil cylinder to rotate clockwise by 90° to make the drill pipe inside the gripper parallel to the drill pipe in the drill pipe bin. The cylinder rod of the gripper horizontal movement oil cylinder retracts, driving the gripper assembly to slowly slide into the drill pipe bin along the second guide rail to the designated position;

[0042] Step b3, the lead screw motor rotates to drive the lead screw to rotate, making the lead screw connecting block move along the axis of the lead screw on the lead screw to the leftmost drill pipe in the drill pipe tray. At this time, the third guide rail serves as a track to keep the connecting block balanced during movement;

[0043] Step b4, the first-stage cylinder rod of the multi-stage oil cylinder extends, driving the gripper and the drill pipe to be lowered to the drill pipe storage area of the drill pipe tray. The second-stage cylinder rod of the multi-stage oil cylinder retracts to open the gripper;

[0044] Step b5, the first-stage cylinder rod of the multi-stage oil cylinder retracts to drive the gripper to rise to the designated position. The lead screw motor rotates to drive the lead screw to rotate, making the lead screw connecting block move along the axis of the lead screw on the lead screw to the middle of the drill pipe tray. At this time, the third guide rail serves as a track to keep the connecting block balanced during movement. The cylinder rod of the gripper horizontal movement oil cylinder extends to push the gripper assembly to the outside of the drill pipe bin, thus completing a process of placing the drill pipe in the hole under the drill pipe bin;

[0045] Step b6, repeat steps b1 - b5 until all the drill pipes in the hole are completely placed in the drill pipe bin;

[0046] When all the drill pipes in the drill pipe tray of the drill pipe bin 1 are completely taken out, to make the drill pipe tray empty, the steps for taking out the empty tray from the drill pipe bin are as follows:

[0047] Step B1, when all the drill pipes in the topmost drill pipe tray in the drill pipe bin are completely taken out for drilling, the cylinder rod of the tray horizontal movement oil cylinder extends completely, making the magnetic piece at the front end of the cylinder rod attracted by the magnetic piece. The cylinder rod slowly retracts, driving the drill pipe tray to slide out of the drill pipe bin on the rollers until it completely slides out of the drill pipe bin;

[0048] Step B2, the hoisting device rotates above the drill pipe tray sliding rack, hoists the empty drill pipe tray and moves it to the designated position;

[0049] Step B3: The rod of the drill pipe tray lifting oil cylinder retracts by the height of one drill pipe tray, so that the bottom of the lower full drill pipe tray is at the same level as the first guide rail, and then repeat the operations of steps a1 - a6 until all the drill pipes in the drill pipe tray 2 are completely taken out;

[0050] Step B4: Repeat the operations of steps B1 - B3 until the drill pipe tray 2 is completely taken out of the drill pipe bin 1.

[0051] The present invention has the following effects:

[0052] 1. Through the mutual connection and cooperation of the developed drill pipe tray, lifting oil cylinder, drill pipe bin, drill pipe tray sliding frame, hoisting device and gripper assembly, etc., the automatic loading and unloading and stacking of high helix drill pipes in the drill pipe bin can be realized, solving the problem of automatic loading and unloading of high helix drill pipes underground in coal mines, and automatic operation can be realized through program control.

[0053] 2. This device can cooperate with the drill pipe manipulator of the drill rig to realize automatic loading and unloading of drill pipes, achieve unmanned operation, improve the automation level of the drill rig, and reduce the labor intensity of workers.

[0054] 3. This device can be applied to dangerous working environments such as rock burst and high gas mines, replacing manual operation and improving operation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation to the present invention. In the drawings:

[0056] Figure 1 is a schematic structural diagram of the automatic access drill pipe bin for a tunnel drill rig of the present invention;

[0057] Figure 2 is Figure 1 a schematic structural diagram of the drill pipe bin in

[0058] Figure 3 is Figure 1 a schematic structural diagram of the drill pipe tray in

[0059] Figure 4 is Figure 1 a schematic structural diagram of the drill pipe tray sliding frame in

[0060] Figure 5 is Figure 1 a schematic structural diagram of the gripper assembly in

[0061] Figure 6 is Figure 1 a schematic structural diagram of the hoisting device in

[0062] Reference numerals and meanings in the drawings:

[0063] 1 - Drill pipe bin, 2 - Drill pipe tray, 3 - Drill pipe tray sliding rack, 4 - Gripper assembly, 5 - Hoisting device, 6 - Drill pipe tray lifting oil cylinder, 7 - Gripper horizontal movement oil cylinder, 8 - Tray horizontal movement oil cylinder;

[0064] 11 - Bin body, 12 - First guide rail, 13 - Second guide rail, 14 - Gripper horizontal movement oil cylinder mounting plate;

[0065] 21 - Magnetic sheet, 22 - Tray body, 23 - Suspension ring, 24 - V-shaped guide block, 25 - Drill pipe placement rack, 26 - Drill pipe;

[0066] 31 - Roller, 32 - Sliding rack body, 33 - Roller mounting rack, 34 - Oil cylinder mounting plate;

[0067] 41 - Mounting plate, 42 - Lead screw motor, 43 - Chute, 44 - Lead screw, 45 - Third guide rail, 46 - Multi-stage oil cylinder, 47 - Lead screw connection block, 48 - Gripper, 49 - Gripper motor;

[0068] 51 - Base, 52 - First-stage rod, 53 - Second-stage rod, 54 - Rotating rod, 55 - Hoisting tool. Specific embodiments

[0069] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments, and any equivalent transformation based on the technical solution of this application falls within the protection scope of the present invention.

[0070] Combined with Figure 1-6 , the automatic drill pipe storage and retrieval device for a tunnel drilling rig of the present invention is provided with: a drill pipe bin 1, in which a plurality of drill pipe trays 2 are stacked, and the drill pipe trays 2 move longitudinally and horizontally in the drill pipe bin 1; a gripper assembly 4 is slidably arranged under the top wall of the drill pipe bin 1, and the gripper assembly 4 moves in the cross direction in the horizontal plane; a hoisting device 5 is arranged outside the drill pipe bin 1 to hoist the drill pipe tray 2 to the drill pipe bin 1; the drill pipe tray 2 can slide up and down in the drill pipe bin 1 under the drive of the drill pipe tray lifting oil cylinder 6 for stacking layer by layer, realizing the sequential stacking of drill pipes in the drill pipe tray 2 with or without drill pipes. The hoisting device 5 hoists the drill pipe tray 2, and the gripper assembly 4 can enter and exit the drill pipe bin 1, realizing the automatic entry and exit of drill pipes from the drill pipe bin 1; this device solves the step of manual stacking of drill pipes during the construction of a tunnel drilling rig, realizes the automatic stacking operation of drill pipes, and can cooperate with the drill pipe loading and unloading manipulator of the drilling rig to realize automatic loading and unloading of drill pipes, realizing unmanned operation, improving the automation level of the drilling rig, and reducing the labor intensity of workers.

[0071] In an embodiment of the present disclosure, a drill pipe tray sliding frame 3 is arranged outside the drill pipe bin 1 for carrying the drill pipe tray 2 to achieve the horizontal sliding of the drill pipe tray 2. Driven by the drill pipe tray lifting oil cylinder 6, the drill pipe tray 2 can slide back and forth on the drill pipe tray sliding frame 3 to achieve the orderly entry and exit of the drill pipe tray 2 into and out of the drill pipe bin 1. The drill pipe tray 2 is lifted onto and off the drill pipe tray sliding frame 3 by the hoisting device 5. The drill pipe tray sliding frame 3 plays a role in assisting the installation of the drill pipe tray 2. The operation space outside the drill pipe bin 1 is relatively large, which is convenient for the operation of the hoisting device 5.

[0072] In an embodiment of the present disclosure, the drill pipe tray sliding frame 3 includes a sliding frame body 32 arranged on the outer side wall of the drill pipe bin; the top surface of the sliding frame body 32 is a horizontal plane, and a roller mounting frame 33 is arranged extending in the horizontal plane. A plurality of rollers 31 are embedded in the roller mounting frame 33, and an oil cylinder mounting plate 34 is arranged at the outer end surface of the roller mounting frame 33; a tray horizontal movement oil cylinder 8 is arranged extending in the horizontal plane through the oil cylinder mounting plate 34. The rollers 31 are mounted on the roller mounting frame 35 for sliding the drill pipe tray 2. The front plate 37 is mounted at the front end of the front rectangular steel 32, and a mounting hole for the tray horizontal movement oil cylinder 8 is opened on the front plate 37 for mounting the tray horizontal movement oil cylinder 8. The length of the roller mounting frame 35 and the lengths of the front and rear rectangular steels 32 can be adjusted according to the size of the drill pipe tray 2;

[0073] In an embodiment of the present disclosure, one opposite side of the drill pipe tray 2 is slidably connected to the inner wall of the drill pipe 1 by a clamping method; the other opposite side of the drill pipe tray 2 acts on the end of the tray horizontal movement oil cylinder 8 arranged on the drill pipe tray sliding frame 3 by magnetic force. For example, magnetic sheets are installed at the male head ends of the front and rear baffles of the drill pipe, and two are arranged symmetrically left and right, which cooperate with the magnetic sheet at the front end of the cylinder rod of the tray horizontal movement oil cylinder to achieve the horizontal movement of the drill pipe tray. The suction force between the two magnetic sheets is between the sliding force of the drill pipe tray when it is full of drill pipes on the drill pipe tray sliding frame and the automatic state of the drill pipe tray when it is full of drill pipes. This can ensure that after the drill pipe tray is pushed into the drill pipe bin and the cylinder rod of the drill pipe tray lifting oil cylinder extends, the overall drill pipe tray in the drill pipe bin descends.

[0074] In an embodiment of the present disclosure, the drill pipe tray 2 is provided with a rectangular box - type accommodating cavity. On one pair of opposite side walls of the accommodating cavity, V - shaped guide blocks 24 are provided, which are slidably connected in cooperation with the first guide rails 12 provided on the inner wall of the drill pipe bin 1; on the other pair of opposite side walls of the accommodating cavity, magnetic sheets 21 are provided, which are docked with the magnetic sheets on the ends of the tray horizontal movement oil cylinder 8 provided on the drill pipe tray sliding frame 3; and a plurality of wave - radian drill pipe placement racks 25 are arranged in the accommodating cavity. A lifting ring 23 is provided at the edge of the accommodating cavity where the V - shaped guide block 24 is provided, which is used for hoisting in cooperation with the hoisting device 5; the magnetic sheet 21 is installed at the male head end of the drill pipe on the front and rear baffles 22, and two are arranged symmetrically left and right, which cooperate with the magnetic sheet at the front end of the cylinder rod of the tray horizontal movement oil cylinder 8 to realize the horizontal movement of the drill pipe tray. The suction force between the two magnetic sheets is between the sliding force of the drill pipe tray 2 filled with drill pipes 27 on the drill pipe tray sliding frame 3 and the automatic state of the drill pipe tray 2 filled with drill pipes 27. In this way, it can be ensured that after the drill pipe tray 2 is pushed into the drill pipe bin and the cylinder rod of the drill pipe tray lifting oil cylinder 6 extends, the entire drill pipe tray 2 in the drill pipe bin 1 descends. The lifting rings 23 are arranged symmetrically left and right, with a total of 4 groups before and after on the left and right rectangular mounting frames 28, which are used for hoisting the drill pipe tray 2 in cooperation with the hoisting device 5. The V - shaped guide blocks 24 are used for realizing the precise vertical movement of the drill pipe tray 2 in cooperation with the first guide rails 12. The drill pipe placement racks 26 are used for placing the drill pipes 27, so that the drill pipes 27 will not move during the movement of the drill pipe tray 2;

[0075] In an embodiment of the present disclosure, the gripper assembly 4 is provided with a mounting plate 41. A lead screw 44 and a third guide rail 45 parallel to the lead screw are suspended under the mounting plate 41. A lead screw motor 42 is provided at the end of the lead screw 44; a lead screw connection block 47 is threaded through the lead screw 44 and the third guide rail 45 and moves along the lead screw 44 and the third guide rail 45. A gripper motor 49 is embedded in the lead screw connection block 47. The gripper motor 49 is axially connected with a multi - stage oil cylinder 46 and a gripper 48 in sequence to control the circumferential rotation and longitudinal expansion and contraction of the gripper 48. Vertical plates are arranged at the four corners under the mounting plate 41 for installing 2 third guide rails 45. The lead screw 44 is installed in the middle of the 2 third guide rails 45. The rotating end of the lead screw motor 42 is connected to the end of the lead screw 44. The forward and reverse rotation of the motor can realize the axial forward and backward movement of the lead screw connection block 47 on the lead screw 44. A gripper motor 49 is embedded in the middle of the lead screw connection block 47. The rotating shaft of the gripper motor 49 is connected to the multi - stage oil cylinder 46, which can realize the radial rotation of the oil cylinder, and further realize the rotation of the gripper 48. The connecting rod hinge device is installed at the end of the first - stage cylinder rod of the multi - stage oil cylinder 46, and the gripper hinge device is installed at the end of the second - stage cylinder rod of the multi - stage oil cylinder 46. One end of the connecting rod is connected to the connecting rod hinge device, and the other end is connected to the gripper 48. The middle of the gripper 48 is hinged to the gripper hinge device. By the expansion and contraction of the first - stage and second - stage oil cylinders of the oil cylinder, the opening and closing of the gripper 48 are realized, and further the grasping and releasing of the gripper are realized.

[0076] In an embodiment of the present disclosure, a chute 43 is provided on the mounting plate 41 and is slidably connected to a second guide rail 13 provided at the top of the drill pipe bin 1; and a gripper horizontal movement oil cylinder mounting plate 14 is provided at one end of the top wall of the drill pipe bin 1, and a gripper horizontal movement oil cylinder 7 is passed through it to control the gripper assembly 4 to move along the second guide rail 13. For example, in the structure of the drill pipe bin 1, the left and right side plates are arranged towards the inside of the drill pipe bin 1 with a first guide rail 12 serving as a vertical sliding track for the drill pipe tray 2. A guide groove for the telescopic movement of the rod of the drill pipe tray lifting oil cylinder 8 is provided in the middle of the first guide rail 12 on the left and right side plates. The second guide rail 13 is arranged perpendicular to the first guide rail 12, enabling the horizontal movement of the gripper assembly 4; the heights of the left and right side plates and the front and rear side plates inside the drill pipe bin 1 can be adjusted according to the height of the drill pipe loading and unloading manipulator of the drill rig to accommodate different types and quantities of drill pipe trays 2.

[0077] In an embodiment of the present disclosure, the hoisting device 5 is provided with a base 51. Along the longitudinal direction on the base 51, a first-stage rod 52 and a second-stage rod 53 are sequentially arranged. A horizontally rotatable rotating rod 54 is provided at the top end of the second-stage rod 53, and a lifting tool 55 is provided at the end of the rotating rod 54. The lifting tool 55 cooperates with the lifting ring 23 to enable the lifting and lowering of the drill pipe tray 2, and the rotating rod 54 enables the radial movement of the drill pipe tray 2 within the maximum radius range of the rotating rod 54.

[0078] The control method of the automatic drill pipe storage and retrieval device for the tunnel drill rig of the present invention specifically realizes the automatic storage and retrieval of drill pipes. The steps of the automatic storage and loading of drill pipes are as follows:

[0079] The steps for filling the drill pipe bin 1 with drill pipes are as follows:

[0080] Step A1: The hoisting device 5 hoists the drill pipe tray 2 with an ear seat and places it on the drill pipe tray sliding frame 3, and aligns the magnetic sheet 21 with the magnetic sheet at the front end of the rod of the tray horizontal movement oil cylinder 8.

[0081] Step A2: The rod of the tray horizontal movement oil cylinder 8 extends, so that the magnetic sheet at the front end of the rod attracts the magnetic sheet 21, and the rod continues to extend to push the drill pipe tray 2 to slide towards the drill pipe bin 1 on the rollers 31.

[0082] Step A3: The rod of the drill pipe tray lifting oil cylinder 6 retracts until the ear seat of the rod is completely higher than the ear seat of the drill pipe tray 2. The drill pipe tray 2 is pushed by the tray horizontal movement oil cylinder 8 into the drill pipe bin 1 until the vertical center line of the ear seat coincides with the axis of the drill pipe tray lifting oil cylinder 6. Then, the rod of the drill pipe tray lifting oil cylinder 6 slowly extends until the center line of the hinge hole of the rod coincides with the center line of the ear seat, and then the pin is inserted.

[0083] Step A4: The rod of the drill pipe tray lifting oil cylinder 6 slowly extends, and at the same time, the rod of the tray horizontal movement oil cylinder 8 slowly retracts, so that the magnetic sheet 21 is separated from the magnetic sheet at the front end of the rod of the tray horizontal movement oil cylinder 8. Then, the rod of the tray horizontal movement oil cylinder 8 retracts completely, and the rod of the drill pipe tray lifting oil cylinder 6 continues to extend downward by a height of the drill pipe tray 2.

[0084] Step A5, repeating steps A1-A4 to fill the drill rod bin 1 with the drill rod tray 2 and the drill rod tray 2 with the drill rods;

[0085] The steps to remove drill rods from the drill rod magazine are as follows:

[0086] Step a1, the rod of the horizontal moving cylinder 7 of the gripper is completely retracted to drive the gripper assembly 4 to the initial position, the rod of the multi-stage cylinder 46 is retracted, and the gripper 48 is opened;

[0087] Step a2, the screw motor 42 rotates to drive the screw 44 to rotate, so that the screw connecting block 47 moves on the screw 44 along the screw axis to the leftmost drill rod in the drill rod tray 2. At this time, the third guide rail 45 serves as a track to keep the connecting block balanced during the movement;

[0088] Step a3, the gripper motor 49 drives the multi-stage cylinder 46 to rotate, so that the center of the gripper 48 is parallel to the drill rod, and then the first-stage cylinder rod of the multi-stage cylinder 46 extends to lower the gripper to be concentric with the drill rod, and then the second-stage cylinder rod extends to close the gripper 48 and grip the drill rod;

[0089] Step a4, the first-stage cylinder rod of the multi-stage oil cylinder 46 retracts to drive the gripper 48 and the drill rod to rise, the screw motor 42 rotates to drive the screw 44 to rotate, so that the screw connecting block 47 moves along the screw axis on the screw 44 to the middle of the screw 44, and then the cylinder rod of the horizontal moving oil cylinder 7 of the gripper extends to push the gripper assembly 4 to slowly slide out of the drill rod bin 1 along the second guide rail 13;

[0090] Step a5, after the gripper assembly 4 is moved to the designated position, the gripper motor 49 drives the multi-stage oil cylinder 46 to rotate 90° counterclockwise so that the drill rod in the gripper 48 is perpendicular to the drill rod in the drill rod bin 1, and then the first-stage cylinder rod of the multi-stage oil cylinder 46 is extended to drive the gripper 48 to be lowered to the designated position, and then the second-stage cylinder rod of the multi-stage oil cylinder 46 is retracted, the gripper 48 is opened, and the drill rod is lowered to the upper rod manipulator, thus completing a process of taking the drill rod from the drill rod bin;

[0091] Step a6, repeat the above steps until the drilling is completed.

[0092] The steps for placing the drill rod bin under the drill rod in the hole are as follows:

[0093] Step b1, the drill rod is unloaded from the mainframe of the drilling rig to the upper rod manipulator, at this time, the cylinder rod of the horizontal moving cylinder 7 of the gripper extends to push the gripper assembly 4 to the outside of the drill rod bin, so that the center of the gripper 48 is parallel to the drill rod in the manipulator, the first cylinder rod of the multi-stage cylinder 46 extends to make the center line of the gripper 48 concentric with the center of the drill rod in the manipulator, and the second cylinder rod of the multi-stage cylinder 46 retracts the gripper 48 to hold the drill rod tightly;

[0094] Step b2: The first-stage cylinder rod of the multi-stage oil cylinder 46 retracts, driving the gripper 48 and the drill pipe to the designated position. The gripper motor 49 drives the multi-stage oil cylinder 46 to rotate clockwise by 90°, making the drill pipe in the gripper 48 parallel to the drill pipes in the drill pipe bin 1. The cylinder rod of the gripper horizontal movement oil cylinder 7 retracts, driving the gripper assembly 4 to slowly slide into the drill pipe bin 1 along the second guide rail 13 to the designated position.

[0095] Step b3: The lead screw motor 42 rotates, driving the lead screw 44 to rotate, causing the lead screw connecting block 47 to move along the axis of the lead screw 44 on the lead screw 44 to the leftmost drill pipe in the drill pipe tray 2. At this time, the third guide rail 45 serves as a track to keep the connecting block balanced during the movement.

[0096] Step b4: The first-stage cylinder rod of the multi-stage oil cylinder 46 extends, driving the gripper 48 and the drill pipe to be lowered to the drill pipe storage location in the drill pipe tray 2. The second-stage cylinder rod of the multi-stage oil cylinder 46 retracts, and the gripper 48 opens.

[0097] Step b5: The first-stage cylinder rod of the multi-stage oil cylinder 46 retracts, driving the gripper 48 to rise to the designated position. The lead screw motor 42 rotates, driving the lead screw 44 to rotate, causing the lead screw connecting block 47 to move along the axis of the lead screw 44 on the lead screw 44 to the middle of the drill pipe tray 2. At this time, the third guide rail 45 serves as a track to keep the connecting block balanced during the movement. The cylinder rod of the gripper horizontal movement oil cylinder 7 extends, pushing the gripper assembly 4 to the outside of the drill pipe bin. In this way, a process of placing the drill pipe in the hole into the drill pipe bin is completed.

[0098] Step b6: Repeat the above steps until all the drill pipes in the hole are completely placed in the drill pipe bin.

[0099] When all the drill pipes in the drill pipe tray 2 of the drill pipe bin 1 are completely taken out, to take out the empty tray from the drill pipe bin 1, the steps are as follows:

[0100] Step B1: When all the drill pipes in the topmost drill pipe tray 2 in the drill pipe bin 1 are completely taken out for drilling, the cylinder rod of the tray horizontal movement oil cylinder 8 fully extends, making the magnetic piece at the front end of the cylinder rod attracted to the magnetic piece 21. The cylinder rod slowly retracts, driving the drill pipe tray 2 to slide out of the drill pipe bin 1 on the rollers 31 until it is completely out of the drill pipe bin 1.

[0101] Step B2: The hoisting device 5 rotates above the drill pipe tray sliding rack 3 and hoists the empty drill pipe tray 2 to the designated position.

[0102] Step B3: The cylinder rod of the drill pipe tray lifting oil cylinder 6 retracts by the height of one drill pipe tray 2, making the bottom of the lower full drill pipe tray 2 level with the first guide rail 12. Then repeat the actions of a1 - a6 until all the drill pipes in the drill pipe tray 2 are completely taken out; repeat the actions of B1 - B2.

[0103] Step B4: Repeat the actions of B1 - B3 until the drill pipe tray 2 is completely taken out of the drill pipe bin 1.

[0104] Although the present invention has been described in detail above with general descriptions and specific embodiments, on the basis of the present invention, some modifications or improvements can be made thereto, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection required by the present invention.

Claims

1. An automatic storage and retrieval device for a tunnel drilling rig, characterized in that: set up: A drill rod bin (1), wherein a plurality of drill rod trays (2) are stacked in the drill rod bin (1), and the drill rod trays (2) move longitudinally and horizontally in the drill rod bin (1); A gripper assembly (4) is slidably arranged under the top wall of the drill rod bin (1), and the gripper assembly (4) moves along a cross direction in a horizontal plane; A hoisting device (5) is arranged outside the drill rod bin (1) to hoist the drill rod tray (2) to the drill rod bin (1).

2. The automatic storage and retrieval device for a tunnel drilling rig according to claim 1, characterized in that: A drill rod tray sliding frame (3) is arranged outside the drill rod bin (1) and is used to carry the drill rod tray (2) to achieve horizontal sliding of the drill rod tray (2).

3. The automatic storage and retrieval device for a tunnel drilling machine according to claim 2, characterized in that: The drill rod tray sliding frame (3) comprises a sliding frame body (32) arranged on the outer side wall of the drill rod bin; The top surface of the sliding frame body (32) is a horizontal plane, and a roller mounting frame (33) is arranged on the horizontal plane, a plurality of rollers (31) are embedded in the roller mounting frame (33), and a cylinder mounting plate (34) is arranged on the outer end surface of the roller mounting frame (33); and a tray horizontal moving cylinder (8) is arranged on the cylinder mounting plate (34) along the horizontal plane.

4. The automatic storage and retrieval device for a tunnel drilling machine according to claim 2 or 3, characterized in that: An opposite side of the drill rod tray (2) is slidably connected to the inner wall of the drill rod (1) by means of a clamping connection; The other end of the drill rod tray (2) faces the opposite side and acts on the end of a tray horizontal movement cylinder (8) arranged on the drill rod tray sliding frame (3) through magnetic force.

5. The automatic storage and retrieval device for a tunnel drilling machine according to claim 4, characterized in that: The drill rod tray (2) is provided with a rectangular box-type accommodating chamber, and a V-shaped guide block (24) is provided on one opposite side wall of the accommodating chamber, which is slidably connected with a first guide rail (12) provided on the inner wall of the drill rod bin (1); A magnetic sheet (21) is arranged on the other opposite side wall of the accommodating cavity and is docked with the magnetic sheet on the end of the tray horizontal moving cylinder (8) arranged on the drill rod tray sliding frame (3); A plurality of wave-shaped drill rod placement racks (25) are arranged in the accommodating cavity, and a lifting ring (23) is arranged on the edge of a V-shaped guide block (24) in the accommodating cavity for cooperating with a lifting device (5) for lifting.

6. The automatic storage and retrieval device for a tunnel drilling machine according to claim 1, 2 or 3, characterized in that: The gripper assembly (4) is provided with a mounting plate (41), a lead screw (44) and a third guide rail (45) parallel to the lead screw are suspended below the mounting plate (41), and a lead screw motor (42) is provided at the end of the lead screw (44); A lead screw connection block (47) is provided on the lead screw (44) and the third guide rail (45) to move along the lead screw (44) and the third guide rail (45). A gripper motor (49) is embedded in the lead screw connection block (47). The gripper motor (49) is axially connected to a multi-stage oil cylinder (46) and a gripper (48) in sequence to control the circumferential rotation and longitudinal extension of the gripper (48).

7. The automatic storage and retrieval device for a tunnel drilling machine according to claim 6, characterized in that: A slide groove (43) is provided on the mounting plate (41) and is slidably connected to a second guide rail (13) provided on the top of the drill rod bin (1); A gripper horizontal movement oil cylinder mounting plate (14) is arranged at one end of the top wall of the drill rod bin (1), and a gripper horizontal movement oil cylinder (7) is arranged on the mounting plate to control the gripper assembly (4) to move along the second guide rail (13).

8. The automatic storage and retrieval device for a tunnel drilling machine according to claim 1, 2 or 3, characterized in that: The hoisting device (5) is provided with a base (51), on which a primary rod (52) and a secondary rod (53) are arranged in sequence along the longitudinal direction, a horizontally rotating rotating rod (54) is arranged at the top of the secondary rod (53), and a hoist (55) is arranged at the end of the rotating rod (54).

9. A control method for an automatic storage and retrieval device for a tunnel drilling machine, characterized in that: The automatic storage and retrieval device for a tunnel drilling machine according to any one of claims 1 to 8 comprises: The drill rod tray (2) slides up and down in the drill rod bin (1) and is stacked. The drill rod tray (2) moves in and out of the drill rod bin (1) horizontally. The drill rod tray (2) is hoisted by a hoisting device (5). The gripper assembly (4) moves in and out of the drill rod bin (1) horizontally to grab the drill rods in the drill rod tray (2).

10. The control method of the automatic storage and retrieval device for a tunnel drilling machine according to claim 9, characterized in that: include: The steps for filling the drill rod bin 1 with drill rods are as follows: Step A1, the hoisting device (5) hoists the drill rod tray (2) and places it on the drill rod tray sliding frame (3), and aligns the magnetic sheet (21) with the magnetic sheet at the front end of the cylinder rod of the tray horizontal moving cylinder (8); Step A2, the cylinder rod of the tray horizontal moving cylinder (8) is extended, so that the magnetic sheet at the front end of the cylinder rod is attracted to the magnetic sheet (21), and the cylinder rod continues to extend to push the drill rod tray (2) to slide on the roller (31) toward the drill rod bin (1); Step A3, the cylinder rod of the drill rod tray lifting cylinder (6) is retracted until the cylinder rod ear seat is completely higher than the drill rod tray (2) ear seat, the drill rod tray (2) is pushed into the drill rod bin (1) by the tray horizontal movement cylinder (8) until the vertical center line of the ear seat coincides with the axis of the drill rod tray lifting cylinder (6), and then the cylinder rod of the drill rod tray lifting cylinder (6) is slowly extended until the center line of the cylinder rod hinge hole coincides with the center line of the ear seat, and then the latch is inserted; Step A4, the rod of the drill rod tray lifting cylinder (6) is slowly extended, and at the same time, the rod of the tray horizontal moving cylinder (8) is slowly retracted, so that the magnetic sheet (21) is separated from the magnetic sheet at the front end of the rod of the tray horizontal moving cylinder (8), and then the rod of the tray horizontal moving cylinder (8) is completely retracted, and the rod of the drill rod tray lifting cylinder (6) continues to extend downward to a height of the drill rod tray (2); Step A5, repeating steps A1-A4 to fill the drill rod bin (1) with the drill rod tray (2); The steps to remove drill rods from the drill rod magazine are as follows: Step a1, the cylinder rod of the horizontal moving cylinder (7) of the gripper is completely retracted to drive the gripper assembly (4) to the initial position, the cylinder rod of the multi-stage cylinder (46) is retracted, and the gripper (48) is opened; Step a2, the screw motor (42) rotates to drive the screw (44) to rotate, so that the screw connecting block (47) moves on the screw (44) along the screw axis to the leftmost drill rod in the drill rod tray (2). At this time, the third guide rail (45) serves as a track to keep the screw connecting block (47) balanced during the movement; Step a3, the gripper motor (49) drives the multi-stage oil cylinder (46) to rotate so that the center of the gripper (48) is parallel to the drill rod, and then the first-stage cylinder rod of the multi-stage oil cylinder (46) is extended to lower the gripper to be concentric with the drill rod, and then the second-stage cylinder rod is extended to close the gripper (48) and grasp the drill rod; Step a4, the first-stage cylinder rod of the multi-stage oil cylinder (46) retracts to drive the gripper (48) and the drill rod to rise, the screw motor (42) rotates to drive the screw (44) to rotate, so that the screw connecting block (47) moves on the screw (44) along the screw axis to the middle of the screw (44), and then the cylinder rod of the horizontal moving oil cylinder (7) of the gripper extends to push the gripper assembly (4) along the second guide rail (13) to slowly slide out of the drill rod magazine (1); Step a5, after the gripper assembly (4) is moved to the designated position, the gripper motor (49) drives the multi-stage oil cylinder (46) to rotate 90° counterclockwise so that the drill rod in the gripper (48) is perpendicular to the drill rod in the drill rod bin (1), then the first-stage cylinder rod of the multi-stage oil cylinder (46) is extended to drive the gripper (48) to be lowered to the designated position, then the second-stage cylinder rod of the multi-stage oil cylinder (46) is retracted, the gripper (48) is opened, and the drill rod is lowered to the upper rod manipulator, thus completing a process of taking the drill rod from the drill rod bin; Step a6, repeat the above steps until the drilling is completed; The steps for placing the drill rod bin under the drill rod in the hole are as follows: Step b1, the drill rod is unloaded from the mainframe of the drilling rig to the upper rod manipulator, at this time, the cylinder rod of the horizontal moving cylinder 7 of the gripper extends to push the gripper assembly 4 to the outside of the drill rod bin, so that the center of the gripper 48 is parallel to the drill rod in the manipulator, the first cylinder rod of the multi-stage cylinder 46 extends to make the center line of the gripper 48 concentric with the center of the drill rod in the manipulator, and the second cylinder rod of the multi-stage cylinder 46 retracts the gripper 48 to hold the drill rod tightly; Step b2, the first cylinder rod of the multi-stage oil cylinder 46 retracts to drive the gripper 48 and the drill rod to the specified position, the gripper motor 49 drives the multi-stage oil cylinder 46 to rotate 90° clockwise to make the drill rod in the gripper 48 parallel to the drill rod in the drill rod bin 1, and the cylinder rod of the gripper horizontal movement oil cylinder 7 retracts to drive the gripper assembly 4 to slowly slide into the drill rod bin 1 to the specified position along the second guide rail 13; Step b3, the screw motor 42 rotates to drive the screw 44 to rotate, so that the screw connecting block 47 moves on the screw 44 along the screw axis to the leftmost drill rod in the drill rod tray 2. At this time, the third guide rail 45 serves as a track to keep the connecting block balanced during the movement; Step b4, the first cylinder rod of the multi-stage oil cylinder 46 extends to drive the gripper 48 and the drill rod to be lowered to the drill rod storage place of the drill rod tray 2, and the second cylinder rod of the multi-stage oil cylinder 46 retracts and the gripper 48 opens; Step b5, the first-stage cylinder rod of the multi-stage oil cylinder 46 retracts to drive the gripper 48 to rise to the specified position, the screw motor 42 rotates to drive the screw 44 to rotate, so that the screw connecting block 47 moves along the screw axis on the screw 44 to the middle of the drill rod tray 2. At this time, the third guide rail 45 serves as a track to keep the connecting block balanced during the movement, and the cylinder rod of the horizontal movement oil cylinder 7 of the gripper extends to push the gripper assembly 4 to the outside of the drill rod bin, thus completing the process of placing the drill rod bin under the drill rod in the hole; Step b6, repeat the above steps until the drill rod in the hole is completely placed in the drill rod bin; The drill rods in the drill rod tray 2 of the drill rod bin 1 are completely taken out. To make the drill rod tray 2 empty, the steps to take out the empty tray from the drill rod bin 1 are as follows: Step B1, when the drill rods in the uppermost drill rod tray 2 in the drill rod bin 1 are completely taken out for drilling, the cylinder rod of the tray horizontal moving cylinder 8 is fully extended, so that the magnetic sheet at the front end of the cylinder rod is attracted to the magnetic sheet 21, and the cylinder rod is slowly retracted to drive the drill rod tray 2 to slide out of the drill rod bin 1 on the roller 31 until it completely slides out of the drill rod bin 1; Step B2, the hoisting device 5 rotates to above the drill rod tray sliding frame 3, lifts the empty drill rod tray 2 and moves it to the designated position; Step B3, the drill rod tray lifting cylinder 6 is retracted to the height of one drill rod tray 2, so that the bottom of the fully loaded drill rod tray 2 at the lower layer is at the top of the first guide rail 12, and then steps a1 to a6 are repeated until the drill rods in the drill rod tray 2 are completely taken out; Step B4, repeating steps B1 to B3 until the drill rod tray 2 is completely taken out of the drill rod bin 1.

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