Two-stage conveying type mining drilling machine

Abstract

The utility model relates to the related technical field of drilling machines, in particular to a two-stage conveying type mining drilling machine. Comprising a lifting frame and a drill rod box, the top of the drill rod box is open, a clamping unit is arranged between the drill rod box and a clamping device, the clamping unit comprises a transverse moving assembly, a longitudinal moving assembly, a lifting assembly and a transfer manipulator, and the transverse moving assembly, the longitudinal moving assembly and the lifting assembly are used for driving the transfer manipulator to move in the transverse direction, the longitudinal direction and the vertical direction correspondingly; the lifting frame comprises a lifting sleeve, and a through hole allowing a drill rod to penetrate through is formed in the lifting sleeve. An overturning mechanical arm is arranged on the side, away from the transfer mechanical arm, of the lifting frame, the clamping center of the overturning mechanical arm is opposite to the through hole, and the overturning mechanical arm is used for driving the drill rod to rotate to the coaxial line of the driving drill rod. The two-stage conveying type mining drilling machine solves the problem that an existing drilling machine is still large in width and cannot enter a roadway with the smaller width.

Description

TECHNICAL FIELD

[0001] The utility model relates to the drilling machine related technical field, concretely relates to a two -stage conveying formula mining drilling machine. BACKGROUND

[0002] The drilling machine is a kind of drilling equipment used when drilling and mining coal mine, natural gas and the like, needs to drill into stratum by drill rod when working, due to the limitation of transport equipment, mine size and the like, the size of drill rod is limited, after a drill rod enters stratum completely when drilling, it is necessary to re-install a drill rod, and the drill rod is connected with the drill rod entering stratum, and continues to drill into stratum.In this process, the clamping, installation speed of drill rod is closely related to the drilling speed of drilling machine.

[0003] Our company has developed a coal mine drilling machine as shown in application No. CN201911185745.9, the drilling machine includes a drilling machine platform, an automatic loading and unloading system and a drilling host arranged thereon, and an automatic control system;The automatic loading and unloading system includes a drill rod box, a rod feeding manipulator, a drill rod transfer device and a main manipulator arranged in sequence along the conveying direction of the drill rod to be clamped;The drill rod box has multiple layers of space for accommodating drill rods;The automatic control system is connected with the automatic loading and unloading system and the drilling host, and is used for controlling the automatic drilling of the drilling host.Combining the three-stage drill rod conveying mode of the automatic loading and unloading system with the arrangement mode of the large-capacity drill rod box arranged on the drilling machine platform, the drilling efficiency is improved.

[0004] But in actual use, it is found that the automatic loading and unloading system structure of the above drilling machine is relatively complex, and the three-stage drill rod conveying mode makes the width of the drilling machine larger, which is difficult to enter the relatively smaller mine roadway, and expanding the size of the roadway will cause the strength of the roadway to be damaged, resulting in safety accidents;Expanding the roadway while increasing the supporting structure will also increase the cost of drilling and mining. UTILITY MODEL CONTENTS

[0005] The utility model intends to provide a two-stage conveying formula mining drilling machine to solve the problem that the width of the current drilling machine is still relatively large and cannot enter the narrower mine roadway.

[0006] In order to achieve the above purpose, the utility model adopts the following technical scheme: a two-stage conveying formula mining drilling machine, comprising a lifting frame and a drill rod box, the top of the drill rod box is open, a clamping unit is arranged between the drill rod box and the clamp, the clamping unit comprises a horizontal moving assembly, a vertical moving assembly, a lifting assembly and a transfer manipulator, the horizontal moving assembly, the vertical moving assembly and the lifting assembly are respectively used to drive the transfer manipulator to move horizontally, vertically and vertically;

[0007] The lifting frame comprises a lifting sleeve, wherein a through hole for the drill rod to pass through is arranged on the lifting sleeve; a turnover manipulator is arranged on the side of the lifting frame away from the transfer manipulator, the clamping center of the turnover manipulator is opposite to the through hole, and the turnover manipulator is used to drive the drill rod to rotate to the coaxial line of the active drill rod.

[0008] The beneficial effects of the present scheme are:

[0009] 1. The clamping unit in the present scheme is arranged between the drill rod box and the clamp instead of the side of the drill rod box, so that the width of the drilling rig in the present scheme is smaller, and the drilling rig can enter a smaller roadway.

[0010] 2. The active drill rod refers to the drill rod clamped in the clamp at the front end of the drilling rig, when the drill rod is moved to the active drill rod position, it indicates that the drill rod has been moved to the installation position, at this time, the drill rod can be clamped by the clamp to carry out drilling construction. In the present scheme, only the transfer manipulator and the turnover manipulator are used for clamping during the installation and disassembly of the drill rod, the through hole is opposite to the clamping center of the turnover claw, when the drill rod is coaxial with the through hole, the drill rod can be rotated to the installation position by rotating the drill rod 90° through the turnover manipulator, at this time, the installation can be carried out by using the clamp.

[0011] That is, the present scheme adopts a "two-stage" clamping and conveying mode, which greatly simplifies the structure of the drilling rig and the conveying route of the drill rod, and reduces the control difficulty. When the drill rod is transferred between two mechanisms (manipulators), the axis of the drill rod needs to be aligned with the axis of the other manipulator first, and then the other manipulator can clamp the drill rod, while the previous manipulator is controlled to loosen the drill rod. In this process, sensors and other structures are also needed to detect the position of the drill rod, control the movement of the manipulator, and clamp and loosen, so the transfer needs a certain time. Compared with the three-stage drill rod conveying mode, the drill rod in the present scheme only needs to be transferred between the transfer manipulator and the turnover manipulator, which reduces one transfer, makes the installation and disassembly of the drill rod more efficient, and effectively improves the drilling efficiency.

[0012] Further, the lateral moving assembly comprises a sliding seat, a lateral power member and a lateral sliding rail, the sliding seat is in sliding cooperation with the lateral sliding rail, and the lateral power member is used to drive the sliding seat to slide; the lateral power member is a motor, the lateral power member is arranged on the sliding seat and connected with a lateral gear, the lateral sliding rail is provided with a lateral rack, and the lateral rack is in meshing cooperation with the lateral gear.

[0013] Further, the longitudinal moving member comprises a moving seat, a longitudinal power member and a longitudinal sliding rail, the transfer manipulator is arranged on the moving seat, the longitudinal sliding rail is located above the drill rod box, the moving seat is in sliding cooperation with the longitudinal sliding rail, and the longitudinal power member is used to drive the moving seat to slide; the longitudinal power member is a motor, the longitudinal power member is arranged on the sliding seat and connected with a longitudinal gear, the longitudinal sliding rail is provided with a longitudinal rack, and the longitudinal rack is in meshing cooperation with the longitudinal gear.

[0014] The beneficial effects of the present scheme are: taking the transverse moving assembly as an example, when the transverse gear rotates, the sliding seat is driven to slide along the transverse slide rail under the meshing action of the transverse gear and the transverse rack, in the moving process, the rack will not move axially, and the sliding seat will not move to the side of the transverse slide rail, so compared with using an oil cylinder as a power element, the present scheme has smaller space requirement along the width direction of the vehicle frame, and is more suitable for use in narrow roadway.

[0015] Further, the transverse slide rail is installed on the sidewall of the drill rod box, and the projections of the two ends of the transverse slide rail along the length direction of the vehicle frame are located on the drill rod box.

[0016] The beneficial effects of the present scheme are: in the present scheme, no additional support is needed for installing the transverse slide rail, further simplifying the structure of the drilling machine.

[0017] Further, the transverse slide rail extends along the width direction of the vehicle frame, and the longitudinal slide rail is perpendicular to the transverse slide rail.

[0018] The beneficial effects of the present scheme are: compared with the setting mode in which the included angle between the transverse slide rail and the longitudinal slide rail is an acute angle, the present scheme can more conveniently and accurately adjust the position of the transfer manipulator by the transversely and longitudinally arranged transverse slide rail and longitudinal slide rail, so as to quickly move the transfer manipulator above the drill rod.

[0019] Further, the lifting assembly includes a lifting oil cylinder and an extension piece, one end of the extension piece is connected with the sliding seat, the other end is connected with the longitudinal slide rail, and the lifting oil cylinder is used to drive the longitudinal slide rail to move along the length direction of the extension piece.

[0020] Further, the extension piece includes a lifting outer cylinder and a lifting inner cylinder, the lifting inner cylinder is in sliding fit with the lifting outer cylinder, one of the outer shell and the piston rod of the lifting oil cylinder is connected with the lifting outer cylinder, and the other is used to drive the lifting inner cylinder to slide.

[0021] The beneficial effects of the present scheme are: when the extension piece in the present scheme slides, the lifting outer cylinder can guide the lifting inner cylinder, so as to avoid the transfer manipulator from being obviously skewed, and make the transfer manipulator more accurately clamp the drill rod.

[0022] Further, one of the lifting outer cylinder and the lifting inner cylinder is a fixed piece, and the other is a movable piece; the extension piece is provided with a lifting guide rail, the lifting guide rail is fixed with the fixed piece, and the movable piece is in sliding fit with the lifting guide rail.

[0023] The beneficial effects of the present scheme are: the lifting guide rail can further guide the sliding of the movable piece, avoid the movable piece from being deviated, and improve the accuracy of clamping of the transfer manipulator.

[0024] Further, the lifting outer cylinder is a fixed part, the lifting inner cylinder is a movable part, the upper end of the lifting inner cylinder is located in the lifting outer cylinder, and the lifting guide rail is located in the lifting outer cylinder and fixed on the inner wall of the lifting outer cylinder in the axial direction.

[0025] The lifting guide rail in the scheme is located on the inner side of the lifting outer cylinder, so that interference between the lifting guide rail and adjacent pipelines can be avoided.

[0026] Further, the inner wall of the lifting outer cylinder is provided with a groove in the axial direction, and the lifting guide rail is located in the groove.

[0027] After the groove accommodates the lifting guide rail, the sliding of the lifting inner cylinder will not be hindered without needing to groove the lifting inner cylinder.

[0028] Further, the lifting guide rail is provided with two, and the two lifting guide rails are located on the two sides of the lifting inner cylinder.

[0029] The lifting inner cylinder and the outer cylinder adopt a symmetrical guide rail guiding structure, which is beneficial to the balance of the transfer manipulator and prevents the inner cylinder from being seriously deviated to shorten the service life of the manipulator.

[0030] Further, the lifting frame further comprises a stand column, and the lifting sleeve is arranged on the stand column.

[0031] The stand column in the scheme can guide the sliding of the lifting sleeve.

[0032] Further, the lifting sleeve is provided with an avoiding groove in the middle part, and the avoiding groove is located above the through hole and extends in the vertical direction.

[0033] When the transfer manipulator moves to the position between the drill pipe box and the lifting sleeve and moves downward, the avoiding groove in the scheme provides space for the downward movement of the drill pipe, so that the lifting sleeve in the scheme can be arranged closer to the drill pipe box, thereby further reducing the length of the drilling machine.

[0034] Further, the lifting frame further comprises a lifting oil cylinder, the lifting sleeve is in sliding fit with the stand column, and the lifting oil cylinder is used to drive the lifting sleeve to slide in the vertical direction.

[0035] The lifting oil cylinder can quickly adjust the position of the lifting sleeve, so that the through hole is still aligned with the middle part of the gripper after the gripper rotates.

[0036] Further, the lifting sleeve is provided with a mounting shell in the lateral direction, and the lifting oil cylinder is located in the mounting shell and connected with the mounting shell.

[0037] The mounting shell can shield the lifting oil cylinder and save external installation space.

[0038] Furthermore, the flipping manipulator includes a flipping gripper, a fixed base, and a flipping cylinder. The flipping gripper is rotatably connected to the fixed base, and the housing and piston rod of the flipping cylinder are respectively hinged to the flipping gripper and the fixed base and used to pull the flipping gripper to rotate.

[0039] The beneficial effects of this solution are: the flipping robot in this solution can better cooperate with the transfer robot and flip the drill rod to the active drill rod position.

[0040] Furthermore, the top of the baffle extends to the top of the drill pipe box.

[0041] The beneficial effect of this solution is that when retrieving the drill rod, the baffle guides the downward movement of the drill rod, preventing it from shaking.

[0042] Furthermore, the drill pipe box includes a base plate, two side plates and two vertical plates. The base plate is detachably connected to the frame. The two side plates and two vertical plates are all vertically mounted on the base plate. The two side plates are distributed along the width direction of the frame. One vertical plate is located on the side of the base plate away from the clamp, and the other vertical plate is located on the side of the base plate closer to the clamp.

[0043] Furthermore, the side plate has a U-shaped cross-section along the vertical direction.

[0044] The beneficial effects of this solution are as follows: The drill pipe box in this solution has a notch on the side, which makes it easier to observe the number of drill pipes in the drill pipe box and also makes it easier to put new drill pipes into the drill pipe box through the notch.

[0045] Furthermore, the drill pipe box has an opening on the side wall facing the lifting frame, the opening extends vertically through the top of the lifting frame, and the vertical projection of the opening is on the same axis as the active drill pipe.

[0046] The beneficial effects of this solution are as follows: When the transfer robot removes the drill rod, it first moves from above the drill rod box to a position directly opposite the drill rod. Then, the transfer robot moves downward and clamps the drill rod, and then moves upward to above the drill rod box. Since the drill rod box in this solution has an opening, when the transfer robot moves between the drill rod box and the lifting sleeve, even if the drill rod is not completely moved between them, the portion of the drill rod above the drill rod box can slide down into the drill rod box through the opening as the transfer robot moves downward. This does not obstruct the downward movement of the transfer robot. Therefore, there is no need to reserve a space greater than the length of a drill rod between the drill rod box and the lifting sleeve for the drill rod to move downward. In other words, the length of the drilling rig in this solution can be smaller, making it more suitable for use in narrower tunnels. Attached Figure Description

[0047] Figure 1 This is a perspective view of an embodiment of the present invention;

[0048] Figure 2 forFigure 1 3D view of the drill rod box and clamping unit;

[0049] Figure 3 for Figure 2 Top view of the central lifting outer cylinder;

[0050] Figure 4 This is a perspective view of the lifting frame in an embodiment of the present invention;

[0051] Figure 5 This is a perspective view of the flipping robotic arm in an embodiment of the present invention;

[0052] Figure 6 for Figure 5 Top view. Detailed Implementation

[0053] The following detailed description illustrates the specific implementation method:

[0054] The reference numerals in the accompanying drawings of the instruction manual include: frame 1, gripper 11, drill rod box 2, base plate 21, side plate 22, vertical plate 23, baffle 25, transverse slide rail 3, slide seat 31, transverse power component 32, longitudinal slide rail 4, longitudinal power component 41, moving seat 42, transfer robot 5, lifting sleeve 6, through hole 61, sleeve 62, mounting shell 63, telescopic component 7, lifting outer cylinder 71, lifting inner cylinder 72, groove 73, lifting guide rail 74, rotary table 8, column 81, lifting cylinder 82, tilting robot 9, fixed seat 91, tilting cylinder 92, tilting gripper 93.

[0055] Example

[0056] The implementation examples are basically as follows Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, a two-stage conveying mining drilling rig includes a frame 1. From right to left, a clamp 11, a lifting frame, a clamping unit, and a drill rod box 2 are sequentially arranged on the frame 1. A rotator and a frame are located at the right end of the frame 1, with the frame connected to the rotator. The clamp 11 is mounted on the frame. In this embodiment, the clamp 11, rotator, and frame all adopt existing structures, which will not be described in detail here. The drill rod box 2 has an open top. Specifically, the drill rod box 2 includes a base plate 21, two side plates 22, and two vertical plates 23. The base plate 21 is bolted to the frame 1. The two side plates 22 are located at the front and rear sides of the base plate 21, respectively, and are U-shaped. The two vertical plates 23 are located on the left and right sides of the base plate 21, respectively. Both the side plates 22 and the vertical plates 23 are welded and fixed to the base plate 21. The right vertical plate 23 has an opening in the middle, which extends vertically through the top of the right vertical plate 23.

[0057] The drill rod box 2 is provided with multiple partition components along the width direction of the frame 1. The distance between adjacent partition components is greater than the diameter of the drill rod. Each partition component includes two baffles 25, which are welded to two vertical plates 23 respectively. The baffles 25 are vertically arranged and perpendicular to the vertical plates 23. The top of the baffles 25 is at the same height as the top of the vertical plates 23. A placement groove extending along the length direction of the frame 1 is formed between adjacent partition components.

[0058] The clamping unit includes a lateral movement component, a longitudinal movement component, a lifting component, and a transfer robot 5. The lateral movement component includes a slide block 31, a lateral power component 32, and a lateral slide rail 3. The lateral slide rail 3 is bolted laterally onto the vertical plate 23 on the right side, and the leftward projections of the front and rear ends of the lateral slide rail 3 are both located on the vertical plate 23. The slide block 31 is mounted on the slide rail and slides along it, allowing it to slide along the lateral slide rail 3. The lateral power component 32 is a motor connected to a lateral gear. A lateral rack is mounted on the lateral slide rail 3 by screws, and the rack extends along the length of the lateral slide rail 3. The lateral gear meshes with the rack, so when the lateral power component 32 drives the lateral gear to rotate, the slide block 31 slides along the slide rail.

[0059] The longitudinal moving component includes a movable seat 42, a longitudinal power component 41, and a longitudinal slide rail 4. The longitudinal slide rail 4 is located above the drill pipe box 2 and extends along the length of the frame 1, meaning that in this embodiment, the longitudinal slide rail 4 is perpendicular to the transverse slide rail 3. The movable seat 42 is mounted on the longitudinal slide rail 4 and slides in cooperation with it. The longitudinal power component 41 drives the movable seat 42 to slide in the same way as the transverse power component 32 drives the slide seat 31 to slide: the longitudinal power component 41 drives the movable seat 42 to slide by setting mutually meshing longitudinal gears and a longitudinal rack, which will not be described in detail in this embodiment.

[0060] The lifting assembly includes a lifting cylinder and a telescopic component 7. The telescopic component 7 includes a lifting outer cylinder 71 and a lifting inner cylinder 72. The top of the lifting inner cylinder 72 is bolted to the movable seat 42, and the bottom of the lifting outer cylinder 71 is bolted to the slide seat 31. The lifting inner cylinder 72 is located inside the lifting outer cylinder 71, and its upper end extends above the lifting outer cylinder 71. Two grooves 73 are provided on the inner side of the lifting outer cylinder 71, located on the left and right sides of the lifting inner cylinder 72 respectively, and extending axially along the lifting outer cylinder 71. A lifting guide rail 74 is installed in the groove 73 by screws. A lifting guide block that mates with the lifting guide rail 74 is bolted to the outer wall of the lifting inner cylinder 72, allowing the lifting inner cylinder 72 to slide against the lifting guide rail 74. The lifting guide rail 74 guides the lifting inner cylinder 72 to prevent it from shifting during sliding. The outer casing of the lifting cylinder is bolted to the lower end of the lifting outer cylinder 71. The piston rod of the lifting cylinder faces upward and is connected to the upper end of the lifting inner cylinder 72. The lifting cylinder drives the lifting inner cylinder 72 to slide vertically.

[0061] The transfer robot 5 is mounted on the movable base 42. The transfer robot 5 includes a telescopic cylinder and a transfer gripper. The outer shell of the telescopic cylinder is mounted on the movable base 42 by bolts. The piston rod of the telescopic cylinder faces downward and is connected to the transfer gripper.

[0062] The lifting frame includes a lifting sleeve 6, a lifting cylinder 82, and two columns 81. The lifting sleeve 6 is vertically positioned, and the distance between the left side wall of the lifting sleeve 6 and the right side wall of the drill pipe box 2 is less than the length of a drill pipe. Sleeves 62 are welded to both ends of the lifting sleeve 6. The columns 81 vertically penetrate the sleeves 62, and the sleeves 62 and columns 81 are fitted with a small clearance, allowing them to slide vertically along the columns 81. A rotary table 8 is mounted on the frame 1. The bottom of the columns 81 is connected to the rotary table 8 with screws to support the lifting sleeve 6. A mounting shell 63 is provided between the sleeves 62 and the lifting sleeve 6. The two ends of the mounting shell 63 are welded and fixed to the sleeves 62 and the lifting sleeve 6, respectively. An inner cavity is provided inside the mounting shell 63, and the lifting cylinder 82 is located within the inner cavity. The outer shell of the lifting cylinder 82 is bolted to the bottom of the columns 81. The piston rod of the lifting cylinder 82 faces upward and is connected to the top of the mounting shell 63, used to drive the mounting shell 63 to slide vertically, thereby causing the lifting sleeve 6 to slide vertically.

[0063] The lifting sleeve 6 is bolted to the frame. A flipping manipulator 9 is provided between the lifting sleeve 6 and the gripper 11. The flipping manipulator 9 includes a flipping cylinder 92, a fixed seat 91, and a flipping gripper 93. The fixed seat 91 is bolted to the frame. In this embodiment, both the transfer gripper and the flipping gripper 93 are existing grippers that can clamp and release drill rods. The flipping gripper 93 is hinged to the left end of the fixed seat 91, and the outer shell of the flipping cylinder 92 is hinged to the right end of the fixed seat 91. The piston rod of the flipping cylinder 92 faces left and is hinged to the flipping gripper 93. The hinge positions of the flipping gripper 93 and the fixed seat 91, the fixed seat 91 and the flipping cylinder 92, and the flipping cylinder 92 and the flipping gripper 93 are triangularly distributed, so that the flipping cylinder 92 can drive the flipping gripper 93 to swing when it extends and retracts.

[0064] The lifting sleeve 6 is provided with a through hole 61. In this embodiment, the through hole 61 is coaxial with the opening, and the projection of the through hole 61 to the right is opposite to the clamping center of the flipping gripper 93. This allows the drill rod, which extends along the length of the frame 1, to move to the position opposite to the through hole 61, and then rotate along the vertical axis to the position of the clamp 11 along the width of the frame 1. The diameter of the through hole 61 is larger than the diameter of the drill rod. Specifically, the diameter of the through hole 61 is determined by a combination of the diameter of the drill rod and the relative position of the lifting sleeve 6 and the clamp 11: ensuring that when the flipping gripper 93 clamps the drill rod and flips it towards the side closer to the clamp 11, the end of the drill rod away from the clamp 11 can pass through the through hole 61. In this embodiment, the side wall of the lifting sleeve 6 facing the drill rod box 2 is also provided with a clearance groove, which is located above the through hole 61 and extends vertically.

[0065] The specific implementation process is as follows:

[0066] Initially, the drill rod is located inside the drill rod box 2, and the transfer manipulator 5 is located outside the drill rod box 2. When the drill rod needs to be installed, the lifting cylinder drives the longitudinal slide rail 4 to move upward until the transfer gripper is above the top of the drill rod box 2. Then, the transverse power component 32 drives the slide block 31 to move along the width of the frame 1, and the longitudinal power component 41 drives the moving seat 42 to move along the length of the frame 1, so that the transfer gripper moves to above the middle of the drill rod to be clamped. Then, the telescopic cylinder moves the transfer gripper downward, and after clamping the drill rod, it drives the drill rod upward to above the drill rod box 2.

[0067] Then, the transfer gripper is moved between the transverse slide rail and the lifting sleeve 6 again by the transverse power component 32 and the longitudinal power component 41 until the vertical projection of the drill rod is coaxial with the through hole 61 and the vertical projection of the right end of the drill rod is located in the clearance groove. Then, the drill rod is moved downward by the cooperation of the lifting cylinder and the telescopic cylinder. At this time, the right end of the drill rod slides downward through the clearance groove, and the left end of the drill rod enters the drill rod box 2 from the opening. Therefore, the downward movement of the drill rod will not be blocked.

[0068] After the drill rod is coaxial with the through hole 61, the movement stops. The flipping gripper 93 is activated to clamp the drill rod. Then, the flipping cylinder 92 is activated to control the flipping gripper 93 to rotate the drill rod towards the side closer to the gripper 11. At the same time, the longitudinal power component 41, the transverse power component 32, the telescopic cylinder and the lifting cylinder are used to move the transfer gripper away from the drill rod to avoid obstructing the rotation of the drill rod.

[0069] After the rotating gripper 93 holds the drill rod and rotates it 90° around the vertical rotation center, the drill rod rotates to the position of the gripper 11. At this time, the drill rod rotates from the length direction of the frame 1 to the width direction of the frame 1. Finally, the drill rod is clamped by the gripper 11 to complete the installation of the drill rod.

[0070] When the drill rod needs to be stored after disassembly, the flipping gripper 93 clamps the drill rod and then drives the flipping cylinder 92 to rotate the flipping gripper 93 in the opposite direction, flipping the drill rod back to the length direction along the frame 1. Then, the transfer gripper is controlled to approach the drill rod and clamp it, and then the flipping gripper 93 is controlled to release the drill rod.

[0071] Finally, the drill rod is moved upward by the telescopic and lifting cylinders until it is higher than the drill rod box 2. Then, the transfer gripper is moved to the top of the drill rod box 2 by the horizontal power component 32 and the vertical power component 41, so that the drill rod is aligned with an empty placement slot. Finally, the transfer gripper is moved downward to put the drill rod into the placement slot and release the drill rod, thus completing the storage of the drill rod.

[0072] The above descriptions are merely embodiments of this utility model. Commonly known technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solution of this utility model. These modifications and improvements should also be considered within the scope of protection of this utility model, and will not affect the effectiveness of the implementation of this utility model or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A two-stage conveying mining drill rig, comprising a hoisting frame and a drill rod box, characterized in that: The drill pipe box has an open top and is equipped with a clamping unit. The clamping unit includes a lateral movement component, a longitudinal movement component, a lifting component, and a transfer manipulator. The lateral movement component, the longitudinal movement component, and the lifting component are used to drive the transfer manipulator to move laterally, longitudinally, and vertically, respectively. The lifting frame includes a lifting sleeve with a through hole for the drill rod to pass through; a flipping manipulator is provided on the side of the lifting frame away from the transfer manipulator, the clamping center of the flipping manipulator is opposite to the through hole, and is used to drive the drill rod to rotate to the coaxial position of the active drill rod.

2. The two-stage conveying mining drill rig according to claim 1, characterized in that: The lateral movement assembly includes a slide block, a lateral power component, and a lateral slide rail. The slide block and the lateral slide rail are slidably engaged. The lateral power component is used to drive the slide block to slide. The lateral power component is a motor. The lateral power component is mounted on the slide block and connected to a lateral gear. A lateral rack is mounted on the lateral slide rail, and the lateral rack meshes with the lateral gear.

3. A two-stage conveying mining drill rig according to claim 2, characterized in that: The longitudinal moving component includes a moving base, a longitudinal power component, and a longitudinal slide rail. The transfer manipulator is mounted on the moving base, and the longitudinal slide rail is located above the drill pipe box. The moving base and the longitudinal slide rail are slidably engaged. The longitudinal power component is used to drive the moving base to slide. The longitudinal power component is a motor, which is mounted on the slide base and connected to a longitudinal gear. A longitudinal rack is mounted on the longitudinal slide rail, and the longitudinal rack meshes with the longitudinal gear.

4. A two-stage conveying mining drill rig according to claim 2 or 3, characterized in that: The transverse slide rail is installed on the side wall of the drill pipe box, and the projections of both ends of the transverse slide rail along the length of the frame are located on the drill pipe box.

5. A two-stage conveying mining drill rig according to claim 3, characterized in that: The transverse slide rail extends along the width of the frame, and the longitudinal slide rail is perpendicular to the transverse slide rail.

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

7. A two-stage conveying mining drill rig according to claim 6, characterized in that: The telescopic component includes a lifting outer cylinder and a lifting inner cylinder, the lifting inner cylinder being slidably engaged with the lifting outer cylinder, and one of the housing and piston rod of the lifting cylinder being connected to the lifting outer cylinder, while the other is used to drive the lifting inner cylinder to slide.

8. A two-stage conveying mining drill rig according to claim 7, characterized in that: One of the lifting outer cylinder and the lifting inner cylinder is a fixed component, and the other is a movable component; the telescopic component is provided with a lifting guide rail, which is fixed to the fixed component and the movable component slides with the lifting guide rail.

9. A two-stage conveying mining drill rig according to claim 8, characterized in that: The outer lifting cylinder is a fixed component, and the inner lifting cylinder is a movable component. The upper end of the inner lifting cylinder is located inside the outer lifting cylinder, and the lifting guide rail is located inside the outer lifting cylinder and is fixed axially to the inner wall of the outer lifting cylinder.

10. A two-stage conveying mining drill rig according to claim 9, characterized in that: The inner wall of the lifting outer cylinder is provided with a groove along the axial direction, and the lifting guide rail is located in the groove.

11. A two-stage conveying mining drilling rig according to any one of claims 8-10, characterized in that: There are two lifting guide rails, and the two lifting guide rails are located on both sides of the lifting inner cylinder.

12. A two-stage conveying mining drill rig according to claim 1, characterized in that: The lifting frame also includes a column, and the lifting sleeve is mounted on the column.

13. A two-stage conveying mining drill rig according to claim 12, characterized in that: The lifting sleeve has a relief groove in the middle, which is located above the through hole and extends vertically.

14. A two-stage conveying mining drill rig according to claim 13, characterized in that: The lifting frame also includes a lifting cylinder. The lifting sleeve is slidably engaged with the column, and the lifting cylinder is used to drive the lifting sleeve to slide vertically.

15. A two-stage conveying mining drill rig according to claim 14, characterized in that: The lifting sleeve has a mounting housing on its side, and the lifting cylinder is located inside the mounting housing and connected to the mounting housing.

16. A two-stage conveying mining drill rig according to claim 1 or 6, characterized in that: The flipping manipulator includes a flipping gripper, a fixed base, and a flipping cylinder. The flipping gripper is rotatably connected to the fixed base. The housing and piston rod of the flipping cylinder are respectively hinged to the flipping gripper and the fixed base and are used to pull the flipping gripper to rotate.

17. A two-stage conveying mining drill rig according to claim 1, characterized in that: The top of the baffle extends to the top of the drill pipe box.

18. A two-stage conveying mining drill rig according to claim 1, characterized in that: The side plate has a U-shaped cross-section along the vertical direction.

19. A two-stage conveying mining drill rig according to claim 1, characterized in that: The drill pipe box has an opening on the side wall facing the lifting frame. The opening extends vertically through the top of the lifting frame, and the vertical projection of the opening is on the same axis as the active drill pipe.

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