Drill rod storing and taking device for automatic drilling machine

Abstract

The utility model discloses a drill rod storing and taking device for an automatic drilling machine. The drill rod storing and taking device comprises a rotary platform, a drill rod box, an auxiliary mechanical arm and a main mechanical arm. The auxiliary manipulator comprises a sliding seat assembly, a telescopic column, a moving mechanism, a cross beam assembly, a fixed barrel, a fixed claw, a movable claw and a clamping oil cylinder; the telescopic column comprises a column shell, an extension rod, a column cover, a piston and a guide assembly. The guide assembly of the extension rod is arranged in the column shell of the telescopic column, so that the extension rod is prevented from rotating; meanwhile, a displacement sensor is arranged between the extension rod and the guide rod, the extension length of the extension rod can be conveniently detected, and due to the integrated telescopic column design structure, the structure of the telescopic column is simpler, and assembling and overhauling are more convenient and faster; the box door is arranged on the side wall of the drill rod box, so that the drill rod is convenient to assemble and disassemble.

Description

Technical Field

[0001] The utility model relates to the technical field of drilling equipment, in particular to a drill rod storage and retrieval device for an automatic drilling rig. Background Art

[0002] Crawler-type fully automatic drilling rigs are widely used in underground drilling operations in coal mines. The core of the fully automatic drilling rig is the drill rod storage and retrieval system; it is used to automatically transfer the drill rods between the drill rod box and the drilling device, realize the automatic loading and unloading of the drilling device and the automatic storage and retrieval of the drill rod box.

[0003] The drill rod storage and retrieval system of the prior art has the following problems: first, the telescopic column of the manipulator is assembled by an outer telescopic cylinder, an inner telescopic cylinder and an oil cylinder, and a guide component for preventing rotation needs to be provided between the inner and outer telescopic cylinders; this makes the overall structure more complicated and inconvenient to assemble and maintain; second, a displacement sensor is provided between the cylinder barrel of the oil cylinder of the telescopic column and the lower end of the piston rod, and the replacement of the displacement sensor is labor-intensive and requires the oil cylinder to be disassembled; third, the drill rods of the drill rod box need to be put in or taken out from the top of the drill rod box, which makes the labor intensity greater. Summary of the invention

[0004] In view of this, the purpose of the utility model is to provide a drill rod storage and retrieval device for an automatic drilling rig, by arranging a guide assembly of the extension rod in the column shell of the telescopic column to prevent the extension rod from rotating; at the same time, a displacement sensor is arranged between the extension rod and the guide rod to facilitate the detection of the extension length of the extension rod, and the integrated telescopic column design structure makes the structure of the telescopic column simpler, and the assembly and maintenance are more convenient and quick; by opening a box door on the side wall of the drill rod box, it is convenient to load and unload the drill rod.

[0005] The utility model is realized by the following technical solutions:

[0006] A drill rod storage and retrieval device for an automatic drilling rig, comprising a rotary platform, a drill rod box, an auxiliary manipulator and a main manipulator;

[0007] The drill rod box is arranged at one end of the rotary platform, and the main manipulator is arranged at the other end through a lifting frame;

[0008] The auxiliary manipulator is slidably provided on one side of the drill rod box; a transfer rack is provided at the lower part of the lifting rack;

[0009] One side of the drill rod box is provided with a manipulator guide rail for sliding and fixing the auxiliary manipulator, and the other side is provided with an openable and closable box door;

[0010] The auxiliary manipulator comprises a slide assembly slidably connected to the manipulator guide rail, a telescopic column and a moving mechanism arranged on the slide assembly, a crossbeam assembly arranged at the top end of the extension rod of the telescopic column, a fixed cylinder arranged at the lower part of the other end of the crossbeam assembly, a fixed claw arranged at the lower end of the fixed cylinder, a movable claw rotatably arranged on the fixed claw, and a clamping oil cylinder arranged between the fixed claw and the movable claw;

[0011] The telescopic column includes a column shell, an extension rod slidably arranged in the column shell, a detachable column cover arranged at the upper end of the column shell, a piston sleeved on the end of the extension rod extending into the column shell, and a guide assembly arranged between the column shell and the extension rod to prevent the extension rod from rotating.

[0012] Further, the guide assembly includes a guide seat detachably connected to the lower end of the column housing, a guide rod arranged in the guide seat, and a guide sleeve arranged at the lower end of the extension rod;

[0013] The telescopic column is also provided with a second displacement sensor for measuring the extension length of the telescopic column.

[0014] Furthermore, the slide assembly includes a slide body connected to the telescopic column and sliders arranged on upper and lower sides of the slide body;

[0015] The moving mechanism comprises a moving seat body connected to the two sliding blocks, a gear shaft rotatably arranged in the moving seat body, and a moving motor arranged on the moving seat body for driving the gear shaft to rotate.

[0016] Furthermore, the manipulator guide rail includes a rail body and a rack that are integrally arranged; the rack is meshed with the gear shaft.

[0017] Furthermore, the main manipulator includes a first rotating device connected to the lifting frame, a main manipulator shell arranged on the first rotating device, a main manipulator shaft rotatably arranged in the main manipulator shell, a main manipulator motor arranged at one end of the main manipulator shell for driving the main manipulator shaft to rotate, a main manipulator rotating arm arranged at the output end of the main manipulator shaft, a main manipulator telescopic column arranged on the main manipulator rotating arm, a main manipulator fixed claw arranged at the lower end of the telescopic main manipulator telescopic column, a main manipulator hand claw rotatably arranged on the main manipulator fixed claw, and the clamping cylinder arranged between the main manipulator fixed claw and the main manipulator hand claw.

[0018] Further, the main manipulator telescopic column includes a hexagonal shaft, a main manipulator telescopic oil cylinder sleeved in the hexagonal shaft, an inner cylinder slidably arranged on the outer wall of the hexagonal shaft, and an outer cylinder sleeved on the outer wall of the inner cylinder; the inner cavity of the inner cylinder is provided with a hexagonal hole matching the hexagonal shaft; the lower end of the inner cylinder is connected to the main manipulator fixed claw, and the telescopic main manipulator fixed claw is hinged to the piston rod of the telescopic oil cylinder;

[0019] The main manipulator telescopic cylinder is provided with a first displacement sensor for detecting the extension length of the piston rod of the main manipulator telescopic cylinder; the main manipulator motor is provided with an angle sensor for detecting the rotation angle of the output shaft of the main manipulator motor.

[0020] Furthermore, the lifting frame includes two columns connected to the rotating platform, a lifting sleeve slidably arranged on the two columns, and two lifting cylinders arranged between the lifting sleeve and the rotating platform.

[0021] The beneficial effects of the utility model are:

[0022] A guide assembly of the extension rod is arranged in the column shell of the telescopic column to prevent the extension rod from rotating; at the same time, a displacement sensor is arranged between the extension rod and the guide rod to facilitate the detection of the extension length of the extension rod. The integrated telescopic column design structure makes the structure of the telescopic column simpler, and the assembly and maintenance are more convenient and quicker; a box door is opened on the side wall of the drill rod box to facilitate the loading and unloading of the drill rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0024] Figure 2 It is a three-dimensional schematic diagram of the drill rod box of the utility model;

[0025] Figure 3 It is a three-dimensional schematic diagram of the auxiliary manipulator of the utility model;

[0026] Figure 4 This is a schematic diagram of the internal structure of the telescopic column of the auxiliary manipulator of the utility model;

[0027] Figure 5 It is a structural schematic diagram of a guide sleeve in a telescopic column of the utility model;

[0028] Figure 6 It is a structural schematic diagram of the moving mechanism of the auxiliary manipulator of the utility model;

[0029] Figure 7 It is a three-dimensional structural schematic diagram of the main manipulator of the utility model;

[0030] Figure 8This is a schematic diagram of the internal structure of the telescopic column of the main manipulator of the utility model;

[0031] Fig. 9 It is a structural schematic diagram of the transfer rack of the utility model;

[0032] Fig.10 It is a structural schematic diagram of the lifting frame of the utility model. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0036] In the above description of the utility model, it should be noted that the terms "one side", "the other side", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0037] In addition, the term "same" does not mean that the parts must be absolutely the same, but slight differences are allowed. The term "vertical" only means that the positional relationship between the parts is more vertical than "parallel", and does not mean that the structure must be completely vertical, but can be slightly tilted.

[0038] like Figure 1-10 As shown, a drill rod storage and retrieval device for an automatic drilling rig includes a rotary platform 1, a drill rod box 2, an auxiliary manipulator 3 and a main manipulator 4;

[0039] A drill rod box 2 is provided at one end of the rotary platform 1, and a main manipulator 4 is provided at the other end through a lifting frame 5; during implementation, the lower end of the rotary platform is connected to a crawler walking device (not shown) through a main rotator (single worm drive rotary drive);

[0040] A secondary manipulator 3 is slidably provided on one side of the drill rod box 2; a transfer frame 6 is provided at the lower part of the lifting frame 5; during implementation, the transfer frame includes a transfer frame seat connected to the lifting frame, a transfer frame slidably provided on the transfer frame seat, and a transfer oil cylinder for moving the transfer frame provided between the transfer frame seat and the transfer frame; during the drilling process, the transfer frame is moved outward to facilitate the main manipulator to clamp the drill rod, and during the unloading process, the transfer frame of the drill rod placed by the main manipulator is moved inward to facilitate the secondary manipulator to place the drill rod into the drill rod box;

[0041] A manipulator guide rail 21 is provided on one side of the drill rod box 2 for slidingly fixing the auxiliary manipulator 3, and an openable and closable box door 22 is provided on the other side; when implemented, the lower end of the box door is hinged to the drill rod box body, and the upper end is fixedly connected by a latch; by providing a manipulator guide rod, it is convenient for the auxiliary manipulator to move back and forth along the guide rail, and by providing an openable and closable box door, it is convenient to load or remove drill rods into the drill rod box;

[0042] The auxiliary manipulator 3 includes a slide assembly slidably connected to the manipulator guide rail 21, a telescopic column 7 and a moving mechanism 8 arranged on the slide assembly, a beam assembly 37 arranged at the top of the extension rod of the telescopic column 7, a fixed cylinder 31 arranged at the lower part of the other end of the beam assembly, a fixed claw 32 arranged at the lower end of the fixed cylinder 31, a movable claw 33 rotatably arranged on the fixed claw 32, and a clamping cylinder 34 arranged between the fixed claw 32 and the movable claw 33; when implemented, the beam assembly includes one end of the beam fixed to the extension rod of the telescopic column by locking nuts (two) 38, and a beam assembly cover 1 is provided, the lower part of the other end of the beam assembly is connected to the fixed cylinder by bolts, and a beam assembly cover 2 is provided, and a pipeline port and a beam assembly cover 3 are also provided at the top of the middle part of the beam assembly, and the beam assembly covers 2 and 3 are provided to facilitate the arrangement of pipes and lines;

[0043] The telescopic column 7 comprises a column housing 71, an extension rod 72 slidably arranged in the column housing, a column cover 73 detachably arranged at the upper end of the column housing, a piston 74 sleeved on the end of the extension rod extending into the column housing, and a guide assembly arranged between the column housing and the extension rod to prevent the extension rod from rotating; the extension rod is prevented from rotating by arranging the guide assembly of the extension rod in the column housing of the telescopic column; at the same time, a displacement sensor is arranged between the extension rod and the guide rod to facilitate the detection of the extension length of the extension rod. The integrated telescopic column design structure makes the structure of the telescopic column simpler, and the assembly and maintenance are more convenient and quicker (the guide rod can be disassembled separately to inspect the magnetic ring);

[0044] The guide assembly includes a guide seat 75 detachably connected to the lower end of the column housing, a guide rod 76 disposed in the guide seat, and a guide sleeve 77 disposed at the lower end of the extension rod;

[0045] The telescopic column is also provided with a second displacement sensor 100 for measuring the extension length of the telescopic column; during implementation, the second sensor body is fixed to the top of the extension rod, the second measuring rod extends into the guide rod, and the second magnetic ring is fixed to the top of the guide rod.

[0046] In this embodiment, the slide assembly includes a slide body 35 connected to the telescopic column and sliders 36 arranged on the upper and lower sides of the slide body;

[0047] The moving mechanism 8 includes a moving seat body 81 connected to two sliders, a gear shaft 82 rotatably arranged in the moving seat body, and a moving motor 83 arranged on the moving seat body for driving the gear shaft to rotate; when implemented, the gear shaft includes a shaft body and a gear body that are integrally arranged and rotatably connected to the moving seat body.

[0048] In this embodiment, the manipulator guide rail 21 includes an integral rail body and a rack; the rack is meshed with the gear shaft to facilitate the moving mechanism to drive the auxiliary manipulator to move back and forth; during implementation, a third displacement sensor 101 is provided on the manipulator guide rail; during implementation, the third sensor body and the third measuring rod are fixed at both ends of the mechanical guide rail by support blocks, and the third magnetic ring is connected to the slider through a magnetic ring sleeve.

[0049] In this embodiment, the main manipulator 4 includes a first rotating device 41 connected to the lifting frame 5, a main manipulator housing 42 arranged on the first rotating device, a main manipulator shaft 43 rotatably arranged in the main manipulator housing, a main manipulator motor 44 arranged at one end of the main manipulator housing for driving the main manipulator shaft to rotate, a main manipulator rotating arm 45 arranged at the output end of the main manipulator shaft, a main manipulator telescopic column 9 arranged on the main manipulator rotating arm, a main manipulator fixed claw 46 arranged at the lower end of the telescopic main manipulator telescopic column, a main manipulator hand claw 47 rotatably arranged on the main manipulator fixed claw, and a clamping cylinder 34 arranged between the main manipulator fixed claw and the main manipulator hand claw;

[0050] The main manipulator telescopic column 9 includes a hexagonal shaft 91, a main manipulator telescopic oil cylinder 92 sleeved in the hexagonal shaft, an inner cylinder 93 slidably arranged on the outer wall of the hexagonal shaft, and an outer cylinder 94 sleeved on the outer wall of the inner cylinder; the inner cavity of the inner cylinder is provided with a hexagonal hole matching the hexagonal shaft; the lower end of the inner cylinder is connected to the main manipulator fixed claw, and the telescopic main manipulator fixed claw is hinged to the piston rod of the telescopic oil cylinder;

[0051] The main manipulator telescopic cylinder is provided with a first displacement sensor 102 for detecting the extension length of the piston rod of the main manipulator telescopic cylinder. During implementation, the first sensor body is fixed to the outer end of the cylinder body, the first measuring rod is extended into the piston rod, and the first magnetic ring is fixed to the lower end of the piston rod; the main manipulator motor is provided with an angle sensor 103 for detecting the rotation angle of the output shaft of the main manipulator motor.

[0052] In this embodiment, the lifting frame 5 includes two column bodies 51 connected to the rotating platform 1, a lifting sleeve 52 slidably arranged on the two column bodies and two lifting cylinders 53 arranged between the lifting sleeve and the rotating platform. The lifting sleeve includes an integral lifting frame and two sliding sleeves matched with the corresponding column bodies; the sliding sleeve includes an integral sliding part at the upper and lower ends and a locking part in the middle; after the lifting frame is lifted to the position, it is locked by the locking part, and when the lifting sleeve needs to be moved, the locking part is released; during implementation, a fourth displacement sensor 104 is arranged between the column body and the lifting sleeve, the fourth displacement sensor body is fixed at the lower end of the column body, and the fourth magnetic ring is fixed at the lower end of the lifting sleeve.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A drill rod storage and retrieval device for an automatic drilling rig, characterized in that: It includes a rotary platform, a drill pipe box, an auxiliary manipulator and a main manipulator; The drill rod box is arranged at one end of the rotary platform, and the main manipulator is arranged at the other end through a lifting frame; The auxiliary manipulator is slidably provided on one side of the drill rod box; a transfer rack is provided at the lower part of the lifting rack; One side of the drill rod box is provided with a manipulator guide rail for sliding and fixing the auxiliary manipulator, and the other side is provided with an openable and closable box door; The auxiliary manipulator comprises a slide assembly slidably connected to the manipulator guide rail, a telescopic column and a moving mechanism arranged on the slide assembly, a crossbeam assembly arranged at the top end of the extension rod of the telescopic column, a fixed cylinder arranged at the lower part of the other end of the crossbeam assembly, a fixed claw arranged at the lower end of the fixed cylinder, a movable claw rotatably arranged on the fixed claw, and a clamping oil cylinder arranged between the fixed claw and the movable claw; The telescopic column includes a column shell, an extension rod slidably arranged in the column shell, a detachable column cover arranged at the upper end of the column shell, a piston sleeved on the end of the extension rod extending into the column shell, and a guide assembly arranged between the column shell and the extension rod to prevent the extension rod from rotating.

2. A drill rod storage and retrieval device for an automatic drilling rig according to claim 1, characterized in that: The guide assembly comprises a guide seat detachably connected to the lower end of the column housing, a guide rod arranged in the guide seat, and a guide sleeve arranged at the lower end of the extension rod; The telescopic column is also provided with a second displacement sensor for measuring the extension length of the telescopic column.

3. A drill rod storage and retrieval device for an automatic drilling rig according to claim 1, characterized in that: The slide assembly comprises a slide body connected to the telescopic column and sliders arranged on the upper and lower sides of the slide body; The moving mechanism comprises a moving seat body connected to the two sliding blocks, a gear shaft rotatably arranged in the moving seat body, and a moving motor arranged on the moving seat body for driving the gear shaft to rotate.

4. A drill rod storage and retrieval device for an automatic drilling rig according to claim 3, characterized in that: The manipulator guide rail comprises a rail body and a rack which are integrally arranged; the rack is meshed with the gear shaft.

5. A drill rod storage and retrieval device for an automatic drilling rig according to claim 1, characterized in that: The main manipulator includes a first rotating device connected to the lifting frame, a main manipulator housing arranged on the first rotating device, a main manipulator shaft rotatably arranged in the main manipulator housing, a main manipulator motor arranged at one end of the main manipulator housing for driving the main manipulator shaft to rotate, a main manipulator rotating arm arranged at the output end of the main manipulator shaft, a main manipulator telescopic column arranged on the main manipulator rotating arm, a main manipulator fixed claw arranged at the lower end of the telescopic main manipulator telescopic column, a main manipulator hand claw rotatably arranged on the main manipulator fixed claw, and the clamping cylinder arranged between the main manipulator fixed claw and the main manipulator hand claw.

6. A drill rod storage and retrieval device for an automatic drilling rig according to claim 5, characterized in that: The main manipulator telescopic column includes a hexagonal shaft, a main manipulator telescopic oil cylinder sleeved in the hexagonal shaft, an inner cylinder slidably arranged on the outer wall of the hexagonal shaft, and an outer cylinder sleeved on the outer wall of the inner cylinder; the inner cavity of the inner cylinder is provided with a hexagonal hole matching the hexagonal shaft; the lower end of the inner cylinder is connected to the main manipulator fixed claw, and the telescopic main manipulator fixed claw is hinged to the piston rod of the telescopic oil cylinder; The main manipulator telescopic cylinder is provided with a first displacement sensor for detecting the extension length of the piston rod of the main manipulator telescopic cylinder; the main manipulator motor is provided with an angle sensor for detecting the rotation angle of the output shaft of the main manipulator motor.

7. A drill rod storage and retrieval device for an automatic drilling rig according to claim 1, characterized in that: The lifting frame comprises two upright columns connected to the rotating platform, a lifting sleeve slidably arranged on the two upright columns, and two lifting oil cylinders arranged between the lifting sleeve and the rotating platform.

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