Automatic rod loading and unloading device suitable for coal mine underground gas extraction drilling machine

Abstract

The automatic rod loading and unloading device comprises a drill rod warehouse, a transfer tray, a rod loading manipulator and a drill boom, the drill rod warehouse comprises a drill rod box and a pick-and-place manipulator, the drill rod box is used for storing drill rods, the pick-and-place manipulator is used for grabbing the drill rods, and the transfer tray is used for transferring the drill rods to the drill boom. The transfer tray is arranged on the drill rod box to take out the drill rods stored in the drill rod box and place the drill rods on the transfer tray, or the drill rods placed on the transfer tray are stored in the drill rod box, the rod adding mechanical arm is used for installing the drill rods located at preset positions on the drill arm, and the drill arm is used for driving the drill rods to rotate so as to conduct drilling construction. According to the device, automatic storage, grabbing, transferring and mounting of the drill rods are achieved, the continuity and efficiency of operation are greatly improved, and the manual operation time of operators is shortened. And automatic operation reduces the need of manual filling and dismounting of the drill rod, so that the risk of safety accidents such as clamping injury of operating personnel and the like is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mines, and particularly relates to an automatic rod adding and removing device applicable to a gas drainage drilling rig in a coal mine underground. Background Art

[0002] In current gas drainage operations in coal mine underground, the drilling rig is one of the key equipment, and its working efficiency and safety performance are directly related to the effect of gas drainage and the labor safety of workers. Traditional mine gas drainage mostly relies on drift drilling rigs or column-mounted drilling rigs, and these drilling rigs are usually equipped with different types of rod adding and removing devices to achieve automatic or semi-automatic rod adding and removing.

[0003] However, the rod adding and removing devices in related technologies generally have some deficiencies. First, the forms of drill rod storage devices are mostly drill rod box type or drum type, and the storage capacity of these devices is limited. As a result, after the drill rods are used up, the operators need to manually reload the drill rods, which not only affects the continuity of the rod adding and removing process but also reduces the operation efficiency. Second, during the process of manually loading and unloading drill rods, there are safety risks, such as fingers being easily pinched, increasing the safety accident risk of the operators. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems in related technologies to some extent. For this purpose, an embodiment of the present invention provides an automatic rod adding and removing device applicable to a gas drainage drilling rig in a coal mine underground.

[0005] The automatic rod adding and removing device applicable to a gas drainage drilling rig in a coal mine underground according to an embodiment of the present invention includes a drill rod library, a transfer tray, a rod adding manipulator, and a drill arm. The drill rod library includes a drill rod box and a picking and placing manipulator. The drill rod box is used for storing drill rods, and the picking and placing manipulator is used for grasping drill rods to take out the drill rods stored in the drill rod box and place them on the transfer tray, or store the drill rods placed on the transfer tray into the drill rod box. The transfer tray is used for placing the drill rods at a preset position;

[0006] The rod adding manipulator is arranged between the transfer tray and the drill arm. The rod adding manipulator is used for installing the drill rods at the preset position on the drill arm, and the drill arm is used for driving the drill rods to rotate for drilling construction.

[0007] In some embodiments, the picking and placing manipulator includes a horizontal guide rail, a lifting arm, and a first gripper. The horizontal guide rail is arranged on one side of the drill rod box and extends along a first horizontal direction. The lifting arm is movably connected to the horizontal guide rail along the first horizontal direction. The first gripper is arranged on the lifting arm to grasp drill rods, and the lifting arm is used for adjusting the height of the first gripper.

[0008] In some embodiments, the drill pipe box can place multiple layers of drill pipes in the height direction. Each layer of drill pipes includes a plurality of drill pipes arranged at intervals along the first horizontal direction, and the drill pipes extend along the second horizontal direction, where the first horizontal direction is perpendicular to the second horizontal direction.

[0009] In some embodiments, the picking and placing manipulator includes a pressure sensor and a controller. The pressure sensor is arranged on the first gripper and is signal-connected to the controller, and the controller is used to control the gripping force of the first gripper.

[0010] In some embodiments, the picking and placing manipulator further includes a lifting sensor. The lifting sensor is arranged on the lifting arm and is signal-connected to the controller, so that the controller controls the lifting height of the lifting arm.

[0011] In some embodiments, the picking and placing manipulator further includes a lateral displacement sensor. The lateral displacement sensor is arranged on the lifting arm and is connected to the controller, so that the controller controls the horizontal displacement of the lifting arm on the horizontal guide rail.

[0012] In some embodiments, the transfer tray includes a tray, a first limiting member, and a second limiting member. The first limiting member and the second limiting member are arranged on the tray at intervals along the first horizontal direction, so that a placement space for placing drill pipes is defined between the first limiting member and the second limiting member, and the first limiting member and the second limiting member are used for pre-positioning the drill pipes.

[0013] In some embodiments, the transfer tray further includes a baffle and a clamping oil cylinder. The baffle is arranged on one side of the first limiting member and the second limiting member in the second horizontal direction, and the clamping oil cylinder is arranged on the other side of the first limiting member and the second limiting member in the second horizontal direction. The clamping oil cylinder is telescopic in the second horizontal direction, and the clamping oil cylinder cooperates with the baffle in the second horizontal direction to clamp the drill pipe.

[0014] In some embodiments, the transfer tray further includes a rotating member. The rotating member is connected to the tray to rotate the drill pipe pre-positioned on the tray to a preset position.

[0015] In some embodiments, the drill pipe adding manipulator includes a mounting base, a hydraulic motor, a rotating arm, a telescopic arm, and a second gripper. The hydraulic motor is arranged on the mounting base and is connected to the rotating arm to drive the rotating arm to rotate. The rotating arm extends along the second horizontal direction. The telescopic arm is arranged on the rotating arm and is perpendicular to the rotating arm. The telescopic arm is connected to the second gripper, and the second gripper is used to grab the drill pipe located at the preset position.

[0016] The automatic drill pipe loading and unloading device according to the embodiments of the present invention realizes the automatic storage, grasping, transfer and installation of drill pipes, greatly improving the continuity and efficiency of operations and reducing the manual operation time of operating personnel. The automated operation reduces the need for manual loading and unloading of drill pipes, thereby reducing the risk of safety accidents such as operating personnel being pinched. The design of the drill pipe library enhances the storage capacity of drill pipes, allowing more drill pipes to be stored at one time and reducing the interruption of operations due to loading drill pipes. The introduction of the automatic drill pipe loading and unloading device simplifies the process of drilling operations, enables the replacement of drill pipes to be more rapid, and improves the efficiency of the entire gas drainage process. The automated operation ensures that the installation of drill pipes is more accurate and stable, contributing to improving the drilling quality and the effect of the drill holes. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the automatic drill pipe loading and unloading device according to the embodiments of the present invention.

[0018] Figure 2 is a schematic structural diagram of the drill pipe library according to the embodiments of the present invention.

[0019] Figure 3 is a schematic structural diagram of the transfer tray according to the embodiments of the present invention.

[0020] Figure 4 is a schematic structural diagram of the drill pipe adding manipulator according to the embodiments of the present invention.

[0021] Reference Signs:

[0022] 100, automatic drill pipe loading and unloading device; 200, drill pipe; 1, drill pipe library; 101, drill pipe box; 102, picking and placing manipulator; 1021, horizontal guide rail; 1022, lifting arm; 1023, first gripper; 1024, pressure sensor; 1025, lifting sensor; 1026, transverse movement sensor; 2, transfer tray; 201, tray; 202, first limiting member; 203, second limiting member; 204, baffle; 205, clamping oil cylinder; 206, rotating member; 3, drill pipe adding manipulator; 301, mounting seat; 302, hydraulic motor; 303, rotating arm; 304, telescopic arm; 305, second gripper; 4, drill arm. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention.

[0024] As Figures 1 to 4As shown in the figure, the automatic rod adding and unloading device 100 according to the embodiment of the present invention includes a drill pipe library 1, a transfer tray 2, a rod adding manipulator 3 and a drill arm 4. The drill pipe library 1 includes a drill pipe box 101 and a picking and placing manipulator 102. The drill pipe box 101 is used for storing drill pipes 200, and the picking and placing manipulator 102 is used for grasping the drill pipes 200 to take out the drill pipes 200 stored in the drill pipe box 101 and place them on the transfer tray 2, or store the drill pipes 200 placed on the transfer tray 2 into the drill pipe box 101. The transfer tray 2 is used for placing the drill pipes 200 at a preset position.

[0025] The rod adding manipulator 3 is arranged between the transfer tray 2 and the drill arm 4. The rod adding manipulator 3 is used for installing the drill pipe 200 at the preset position on the drill arm 4, and the drill arm 4 is used for driving the drill pipe 200 to rotate for drilling construction.

[0026] When the automatic rod adding and unloading device 100 according to the embodiment of the present invention is in use, the drill pipe box 101 in the drill pipe library 1 is used for storing a large number of drill pipes 200. The picking and placing manipulator 102 can automatically grasp the drill pipes 200 in the drill pipe box 101 and place them on the transfer tray 2. The transfer tray 2 is used for transferring the drill pipes 200 from the drill pipe library 1 to the drill arm 4 to ensure that the drill pipes 200 can be accurately and quickly placed at the preset position. The rod adding manipulator 3 is arranged between the transfer tray 2 and the drill arm 4 and can automatically install the drill pipe 200 at the preset position on the drill arm 4 for preparing for drilling construction. During the drilling process, the drill arm 4 drives the drill pipe 200 to rotate to complete the drilling operation. When the drill pipe 200 needs to be replaced, the rod adding manipulator 3 can automatically unload the drill pipe 200 and send it back to the drill pipe library 1. At the same time, the picking and placing manipulator 102 takes out a new drill pipe 200 from the transfer tray 2 to continue the drilling operation.

[0027] The automatic rod adding and unloading device 100 according to the embodiment of the present invention realizes the automatic storage, grasping, transfer and installation of the drill pipes 200, greatly improves the continuity and efficiency of the operation, and reduces the time of manual operation of the operators. The automatic operation reduces the need for manual loading and unloading of the drill pipes 200, thereby reducing the risk of safety accidents such as operators being pinched. The design of the drill pipe library 1 enhances the storage capacity of the drill pipes 200, and more drill pipes 200 can be stored at one time, reducing the interruption of the operation due to loading the drill pipes 200. The introduction of the automatic rod adding and unloading device 100 simplifies the process of the drilling operation, makes the replacement of the drill pipes 200 more rapid, and improves the efficiency of the entire gas drainage process. The automatic operation ensures that the installation of the drill pipes 200 is more accurate and stable, which helps to improve the drilling quality and the effect of the drill holes.

[0028] In some embodiments, the pick-and-place manipulator 102 includes a horizontal guide rail 1021, a lifting arm 1022, and a first gripper 1023. The horizontal guide rail 1021 is provided on one side of the drill pipe box 101 and extends along a first horizontal direction. The lifting arm 1022 is movably connected to the horizontal guide rail 1021 along the first horizontal direction. The first gripper 1023 is provided on the lifting arm 1022 to grip the drill pipe 200, and the lifting arm 1022 is used to adjust the height of the first gripper 1023.

[0029] As Figure 1 and Figure 2 shown, the horizontal guide rail 1021 is installed on one side of the drill pipe box 101 and extends along the first horizontal direction, providing a stable moving path for the lifting arm 1022. The lifting arm 1022 is movable along the horizontal guide rail 1021, which means it can move in the horizontal direction. At the same time, the design of the lifting arm 1022 allows it to lift and lower in the vertical direction to adjust the height of the first gripper 1023. The first gripper 1023 is installed on the lifting arm 1022 for gripping and transporting the drill pipe 200. Its position can be adjusted by the vertical movement of the lifting arm 1022.

[0030] The combination of the horizontal guide rail 1021 and the lifting arm 1022 enables the pick-and-place manipulator 102 to move flexibly in two directions (horizontal and vertical), making it easier to reach the drill pipes 200 at different positions in the drill pipe box 101. The vertical movement ability of the lifting arm 1022 allows the first gripper 1023 to precisely adjust the height, ensuring accurate gripping and placement of the drill pipe 200 and reducing operation errors. Since the pick-and-place manipulator 102 can move and grip the drill pipe 200 quickly and precisely, this greatly improves the efficiency of accessing and storing the drill pipe 200, reducing waiting and preparation times. The automated operation of the pick-and-place manipulator 102 ensures the rapid replacement of the drill pipe 200, guaranteeing the continuity of the entire drilling operation, thereby improving the working efficiency of the entire gas drainage process. Through the operation of the automated manipulator, the risk of direct human participation is reduced, thus lowering the possibility of safety accidents.

[0031] In some embodiments, the drill pipe box 101 can place multiple layers of drill pipes 200 in the height direction. Each layer of drill pipes 200 includes a plurality of drill pipes 200 arranged at intervals along the first horizontal direction. The drill pipes 200 extend along a second horizontal direction, where the first horizontal direction is perpendicular to the second horizontal direction.

[0032] As Figure 1 and Figure 2As shown, the structure of the drill pipe box 101 is designed to stack multiple layers of drill pipes 200 in the height direction, making the space utilization rate of the drill pipe box 101 higher, and more drill pipes 200 can be stored within the same volume. In each layer, the drill pipes 200 are arranged at intervals along the first horizontal direction. This arrangement helps to improve the space utilization rate of the drill pipes 200 in the box and also facilitates the manipulator to grasp and transport the drill pipes 200. The drill pipes 200 extend along the second horizontal direction, that is, perpendicular to the first horizontal direction. Such a layout allows sufficient space between each layer of drill pipes 200, facilitating the operation of the pick-and-place manipulator 102.

[0033] In some embodiments, the pick-and-place manipulator 102 includes a pressure sensor 1024 and a controller. The pressure sensor 1024 is provided on the first gripper 1023 and is signal-connected to the controller. The controller is used to control the gripping force of the first gripper 1023.

[0034] As Figure 2 shown, the pressure sensor 1024 is installed on the first gripper 1023 for real-time monitoring of the pressure magnitude when the gripper grasps the drill pipe 200. It can sense and feedback the gripping force of the gripper to ensure that the drill pipe 200 will not be damaged when being grasped and placed. The controller is signal-connected to the pressure sensor 1024 and controls the gripping force of the first gripper 1023 according to the feedback information of the sensor. The controller can be programmed to set different gripping force parameters to adapt to drill pipes 200 of different materials and sizes. Through the pressure sensor 1024 and the controller, the gripping force of the first gripper 1023 can be precisely controlled to avoid damage to the drill pipe 200 caused by excessive gripping force or slippage of the drill pipe 200 caused by insufficient gripping force.

[0035] In some embodiments, the pick-and-place manipulator 102 further includes a lifting sensor 1025. The lifting sensor 1025 is provided on the lifting arm 1022 and is signal-connected to the controller to enable the controller to control the lifting height of the lifting arm 1022.

[0036] As Figure 2 shown, the lifting sensor 1025 is installed on the lifting arm 1022. It can real-time monitor the vertical position of the lifting arm 1022 and feedback the position information to the controller. The controller can precisely control the lifting height of the lifting arm 1022 according to the feedback information of the lifting sensor 1025 to ensure that the first gripper 1023 can accurately reach the position of the drill pipes 200 at different levels in the drill pipe box 101. The lifting sensor 1025 reduces the error during the movement of the lifting arm 1022 and improves the accuracy of the entire pick-and-place operation. By precisely controlling the height of the lifting arm 1022, the manipulator can continuously perform the pick-and-place operation of the drill pipes 200, reducing the interruption and waiting time.

[0037] In some embodiments, the pick-and-place manipulator 102 further includes a lateral movement sensor 1026. The lateral movement sensor 1026 is provided on the lifting arm 1022 and connected to the controller, so that the controller controls the horizontal displacement of the lifting arm 1022 on the horizontal guide rail 1021.

[0038] The lateral movement sensor 1026 is installed on the lifting arm 1022 and is used to detect the lateral position of the lifting arm 1022 on the horizontal guide rail 1021. The sensor is connected to the controller and can feedback the position information to the controller in real time. The controller uses the feedback information of the lateral movement sensor 1026 to accurately control the moving distance and speed of the lifting arm 1022 on the horizontal guide rail 1021, ensuring that the lifting arm 1022 can accurately reach the target position.

[0039] The use of the lateral movement sensor 1026 makes the movement of the lifting arm 1022 in the horizontal direction more accurate, and can ensure that when the pick-and-place manipulator 102 grabs and places the drill pipe 200, it can accurately reach the designated position. Since the horizontal displacement of the lifting arm 1022 can be accurately controlled, the manipulator can locate the drill pipe 200 faster when performing pick-and-place operations, thereby reducing the operation time and improving the efficiency. The accurate horizontal displacement control reduces the interruptions and repeated positioning caused by inaccurate positioning, making the entire operation process more continuous and smooth.

[0040] In some embodiments, the transfer tray 2 includes a tray 201, a first limiting member 202, and a second limiting member 203. The first limiting member 202 and the second limiting member 203 are arranged on the tray 201 at intervals along the first horizontal direction, so that a placement space for placing the drill pipe 200 is defined between the first limiting member 202 and the second limiting member 203, and the first limiting member 202 and the second limiting member 203 are used for pre-positioning the drill pipe 200.

[0041] For example, as Figure 3 shown, the tray 201 is the main part of the transfer tray 2 and is used to carry and transport the drill pipe 200. It provides a flat surface to keep the drill pipe 200 stable during the transfer process.

[0042] The first limiting member 202 and the second limiting member 203 are arranged on the tray 201 at intervals along the first horizontal direction (i.e., the direction in which the drill pipe 200 is placed). Their main function is to limit and pre-position the position of the drill pipe 200 to ensure that the drill pipe 200 is in the correct position when placed on the tray 201.

[0043] The placement space between the first limiting member 202 and the second limiting member 203 provides a predetermined position for the drill pipe 200, enabling the pick-and-place manipulator 102 to quickly and accurately locate the position of the drill pipe 200 when placing or removing the drill pipe 200. Since the drill pipe 200 is pre-positioned, the pick-and-place manipulator 102 does not need to search for the drill pipe 200 within the placement space, thereby reducing the operation time and improving the efficiency of the entire operation process. Since the position of the drill pipe 200 is limited, the control algorithm of the pick-and-place manipulator 102 can be simplified because it does not need to handle complex positioning problems. The pre-positioning function helps to ensure that the drill pipe 200 can be quickly and continuously picked and placed, reducing the pause time during the operation.

[0044] In some embodiments, the transfer tray 2 further includes a baffle 204 and a clamping oil cylinder 205. The baffle 204 is provided on one side of the first limiting member 202 and the second limiting member 203 in the second horizontal direction, and the clamping oil cylinder 205 is provided on the other side of the first limiting member 202 and the second limiting member 203 in the second horizontal direction. The clamping oil cylinder 205 is telescopic in the second horizontal direction, and the clamping oil cylinder 205 cooperates with the baffle 204 in the second horizontal direction to clamp the drill pipe 200.

[0045] As Figure 3 shown, the baffle 204 is located on one side of the first limiting member 202 and the second limiting member 203 in the second horizontal direction (perpendicular to the placement direction of the drill pipe 200). It provides lateral support for the drill pipe 200 to prevent the drill pipe 200 from sliding laterally during movement. The clamping oil cylinder 205 is located on the other side of the first limiting member 202 and the second limiting member 203 in the second horizontal direction, and it can be telescopic in the second horizontal direction. The main function of the clamping oil cylinder 205 is to fix and clamp the drill pipe 200 to ensure that the drill pipe 200 does not shift during transfer.

[0046] The combined use of the baffle 204 and the clamping oil cylinder 205 provides additional fixation and support for the drill pipe 200, ensuring the stability of the drill pipe 200 during transfer and preventing the drill pipe 200 from shaking or falling during operation. Through the fixing effect of the clamping oil cylinder 205, the accidents that may occur during the transfer of the drill pipe 200, such as collision or falling, are reduced, improving the safety of the operation.

[0047] In some embodiments, the transfer tray 2 further includes a rotating member 206, and the rotating member 206 is connected to the tray 201 to rotate the pre-positioned drill pipe 200 on the tray 201 to a preset position.

[0048] As Figure 3As shown, the rotating component 206 is connected to the pallet 201. Its main function is to drive the drill pipe 200 on the pallet 201 to rotate to a preset position. This enables the drill pipe 200 to be placed or removed in the correct direction and angle during the picking and placing process. The rotating motor is the power source of the rotating component 206, and it is used to drive the rotation of the pallet 201. By controlling the rotation speed and direction of the motor, the rotation action of the pallet 201 can be precisely controlled.

[0049] In some embodiments, the drill pipe adding manipulator 3 includes a mounting base 301, a hydraulic motor 302, a rotating arm 303, a telescopic arm 304, and a second gripper 305. The hydraulic motor 302 is arranged on the mounting base 301 and connected to the rotating arm 303 to drive the rotation of the rotating arm 303. The rotating arm 303 extends along the second horizontal direction, and the telescopic arm 304 is arranged on the rotating arm 303 and is perpendicular to the rotating arm 303. The telescopic arm 304 is connected to the second gripper 305, and the second gripper 305 is used to grasp the drill pipe 200 located at the preset position.

[0050] As Figure 1 and Figure 4 shown, the mounting base 301 is the base part of the drill pipe adding manipulator 3 and is used to fix the entire manipulator in place. The hydraulic motor 302 is installed on the mounting base 301 and is used to provide driving force. The hydraulic motor drives the movement of the rotating arm 303 by transmitting hydraulic energy. The rotating arm 30 is connected to the hydraulic motor 302 and can rotate around a fixed axis. The telescopic arm 304 is arranged on the rotating arm 303 and is perpendicular to the rotating arm 303. The telescopic arm 304 can perform telescopic movement relative to the rotating arm 303, thereby changing its length. The second gripper 30 is located at the end of the telescopic arm 304 and is used to grasp or carry the drill pipe 200 located at the preset position. The design and position of the second gripper 305 enable it to effectively grasp and release the drill pipe.

[0051] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0052] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0053] In the present invention, unless otherwise clearly defined and limited, terms such as "mounted", "connected", "connected to", "fixed" and the like should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0055] In the present invention, terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0056] Although the above embodiments have been shown and described, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made by those of ordinary skill in the art to the above embodiments are within the protection scope of the present invention.

Claims

1. An automatic rod adding and unloading device applicable to a gas drainage borehole drill rig in a coal mine, characterized in that, Comprising: A drill pipe magazine (1) and a transfer pallet (2), the drill pipe magazine (1) includes a drill pipe box (101) and a pick-and-place manipulator (102), the drill pipe box (101) is used for storing drill pipes (200), and the pick-and-place manipulator (102) is used for grasping drill pipes (200) to take out the drill pipes (200) stored in the drill pipe box (101) and place them on the transfer pallet (2), or store the drill pipes (200) placed on the transfer pallet (2) into the drill pipe box (101), and the transfer pallet (2) is used for placing the drill pipes (200) at a preset position; A rod adding manipulator (3) and a drill arm (4), the rod adding manipulator (3) is arranged between the transfer pallet (2) and the drill arm (4), the rod adding manipulator (3) is used for installing the drill pipe (200) at the preset position on the drill arm (4), and the drill arm (4) is used for driving the drill pipe (200) to rotate for drilling construction.

2. The automatic rod adding and removing device for a gas drainage drilling rig applicable to coal mine underground, according to claim 1, is characterized in that, The pick-and-place manipulator (102) includes a horizontal guide rail (1021), a lifting arm (1022) and a first gripper (1023), the horizontal guide rail (1021) is arranged on one side of the drill pipe box (101) and extends along a first horizontal direction, the lifting arm (1022) is movably connected to the horizontal guide rail (1021) along the first horizontal direction, the first gripper (1023) is arranged on the lifting arm (1022) to grasp the drill pipe (200), and the lifting arm (1022) is used for adjusting the height of the first gripper (1023).

3. The automatic rod adding and unloading device for a gas drainage drill rig applicable to coal mine underground gas drainage boreholes according to claim 2, characterized in that The drill pipe box (101) can place multiple layers of drill pipes (200) in the height direction, and each layer of drill pipes (200) includes a plurality of drill pipes (200) arranged at intervals along the first horizontal direction, and the drill pipes (200) extend along a second horizontal direction, wherein the first horizontal direction is perpendicular to the second horizontal direction.

4. The automatic rod adding and removing device for a gas drainage drill rig applicable to underground coal mines according to claim 3, characterized in that, The pick-and-place manipulator (102) includes a pressure sensor (1024) and a controller, the pressure sensor (1024) is arranged on the first gripper (1023) and is signal-connected to the controller, and the controller is used for controlling the gripping force of the first gripper (1023).

5. The automatic rod adding and unloading device for a gas drainage borehole drilling rig applicable to underground coal mines according to claim 4, wherein, The pick-and-place manipulator (102) further includes a lifting sensor (1025), the lifting sensor (1025) is arranged on the lifting arm (1022) and is signal-connected to the controller, so that the controller controls the lifting height of the lifting arm (1022).

6. The automatic rod adding and unloading device for a gas drainage drill rig applicable to coal mine underground, as claimed in claim 4, wherein, The pick-and-place manipulator (102) further includes a transverse movement sensor (1026), the transverse movement sensor (1026) is arranged on the lifting arm (1022) and is connected to the controller, so that the controller controls the horizontal displacement of the lifting arm (1022) on the horizontal guide rail (1021).

7. The automatic rod adding and unloading device for a gas drainage drill rig applicable to underground coal mines according to claim 3, characterized in that, The transfer tray (2) includes a tray board (201), a first limiting member (202) and a second limiting member (203). The first limiting member (202) and the second limiting member (203) are arranged on the tray board (201) at intervals along the first horizontal direction, so as to define a placement space for placing the drill pipe (200) between the first limiting member (202) and the second limiting member (203). The first limiting member (202) and the second limiting member (203) are used for pre-positioning the drill pipe (200).

8. The automatic rod adding and unloading device for a gas drainage drilling rig applicable to underground coal mines according to claim 7, characterized in that, The transfer tray (2) further includes a baffle (204) and a clamping oil cylinder (205). The baffle (204) is arranged on one side of the first limiting member (202) and the second limiting member (203) in the second horizontal direction. The clamping oil cylinder (205) is arranged on the other side of the first limiting member (202) and the second limiting member (203) in the second horizontal direction. The clamping oil cylinder (205) is telescopic in the second horizontal direction. The clamping oil cylinder (205) cooperates with the baffle (204) in the second horizontal direction to clamp the drill pipe (200).

9. The automatic rod adding and unloading device for a gas drainage drill rig applicable to underground coal mines according to claim 8, wherein, The transfer tray (2) further includes a rotating member (206). The rotating member (206) is connected to the tray board (201) to rotate the drill pipe (200) pre-positioned on the tray board (201) to a preset position.

10. The automatic rod adding and unloading device for a gas drainage drilling rig applicable to underground coal mines according to claim 9, characterized in that, The drill pipe adding manipulator (3) includes a mounting base (301), a hydraulic motor (302), a rotating arm (303), a telescopic arm (304) and a second gripper (305). The hydraulic motor (302) is arranged on the mounting base (301) and connected to the rotating arm (303) to drive the rotating arm (303) to rotate. The rotating arm (303) extends along the second horizontal direction. The telescopic arm (304) is arranged on the rotating arm (303) and is perpendicular to the rotating arm (303). The telescopic arm (304) is connected to the second gripper (305). The second gripper (305) is used for grasping the drill pipe (200) located at the preset position.

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