Drill pipe warehouse applied to drill jumbo

Abstract

The utility model provides a drill pipe warehouse applied to a drill jumbo. The drill pipe warehouse structurally comprises a drill pipe warehouse structural part, a mechanical arm small arm and a mechanical arm assembly. The drill pipe warehouse structural part comprises a drill pipe warehouse faceplate, a drill pipe warehouse rotating shaft and a drill pipe warehouse rotating device, the mechanical arm small arm comprises a mechanical arm assembly mounting support, a mechanical arm small arm rotating shaft and a mechanical arm small arm rotating device, and the mechanical arm assembly machine comprises a mechanical arm rotating shaft, a mechanical arm assembly rotating device and a plurality of mechanical arms. Through rotation of the drill pipe warehouse rotating shaft, the mechanical arm small arm rotating shaft and the mechanical arm rotating shaft, full-mechanical rod connecting and rod dismounting operation can be achieved. Operators can load and unload the drill rod in the cab of the drill jumbo, the drill rod is prevented from being exposed to dangerous areas such as unsupported areas and high altitude, meanwhile, the efficiency of loading and unloading the drill rod is improved, and construction time is saved.

Description

Technical Field

[0001] This utility model relates to the field of underground excavation equipment technology, specifically a drill rod magazine applied to a rock drilling rig. Background Technology

[0002] Rock drilling rigs play a crucial role in drill-and-blast excavation, performing multiple tasks including drilling, support, auxiliary anchor bolt installation, auxiliary charging, and advance detection. For advance detection, operators need to drill holes 10m-30m deep at the working face of the rig to probe the rock conditions ahead, as well as detect the presence of groundwater layers, toxic gases, etc. Currently, most mainstream tunnel drilling rigs are equipped with 5-6m drill rods; to achieve drilling depths of 10m-30m, manual extension of the drill rod is required.

[0003] Manual assistance rod connection is divided into two types: semi-mechanized and fully manual. However, regardless of the method, it is impossible to avoid workers being exposed to the working face of the rock drilling rig. The working face of the rock drilling rig is usually a relatively dangerous area that has just been blasted and the slag has been removed, and is not fully supported, which poses a construction safety risk.

[0004] In addition, some detection holes are at a high height, making it difficult for operators to complete the pole extension work on the ground. They need to use devices or equipment such as aerial work platforms. However, aerial work platforms usually have limited space, making it inconvenient and inefficient to assist in pole extension work, and it is also easy to cause safety accidents. Utility Model Content

[0005] To address the problems of existing technologies, this invention provides a drill rod magazine for use with rock drilling rigs. When used in conjunction with the rock drilling rig, it enables fully mechanized rod loading and unloading operations. Operators can load and unload drill rods from the driver's cab of the rock drilling rig, avoiding exposure to unsupported areas and dangerous high-altitude areas, while simultaneously improving loading and unloading efficiency and saving construction time.

[0006] This utility model provides a drill pipe magazine for a rock drilling rig, including a drill pipe magazine structure, a robotic arm, and a robotic arm assembly. The drill pipe magazine structure includes a drill pipe magazine faceplate, a drill pipe magazine rotating shaft, and a drill pipe magazine rotating device. The rotating device controls the rotating shaft to rotate around its own axis. Several faceplates are fitted around the outer edge of the rotating shaft and rotate with it. Several drill pipe slots are provided on the circumference of the faceplates, and the drill pipes in the magazine are fixed through these slots. The robotic arm includes a robotic arm assembly mounting bracket, a robotic arm rotating shaft, and a robotic arm rotating device. The rotating device controls the rotating shaft to rotate around its own axis, and the mounting bracket is fixed to the rotating shaft and rotates with it. The robotic arm assembly includes a rotating shaft, a rotating device, and several robotic arms. The rotating device controls the rotating shaft to rotate around its own axis, and the robotic arms are coaxially fixed to the rotating shaft and rotate with it.

[0007] In a further improvement, the drill pipe magazine rotating device, the robotic arm rotating device, and the robotic arm component rotating device are each equipped with an independent rotation angle sensor.

[0008] In a further improvement, the drill pipe magazine rotation axis, the robot arm rotation axis, and the robot rotation axis are distributed in parallel.

[0009] In a further improvement, the drill rod magazine structure and the two ends of the robotic arm are fixed by a base, and the base is provided with a connecting part that cooperates with the rock drilling rig's propulsion beam.

[0010] In a further improvement, the drill pipe slots on the drill pipe magazine are equidistantly distributed along the circumference of the drill pipe magazine.

[0011] In a further improvement, several robotic arms in the robotic arm assembly are controlled to grip and release via hydraulic cylinders.

[0012] A method for operating a drill pipe magazine used in a rock drilling rig includes the following steps:

[0013] 1) The drill rod magazine rotation device controls the rotation shaft of the drill rod magazine to drive the drill rod magazine disc to rotate, so that the slots with drill rods on the drill rod magazine disc rotate to the loading station;

[0014] 2) The robot arm rotation device controls the robot arm rotation axis to drive the robot arm component mounting bracket to rotate to the loading station. In this state, the robot arm on the robot arm component mounting bracket is facing the drill rod on the drill rod tray.

[0015] 3) The robotic arm grips the drill rod, and the robotic arm forearm rotation device controls the robotic arm forearm rotation axis to drive the robotic arm component mounting bracket to rotate to the docking position;

[0016] 4) The rotating device of the robotic arm component controls the rotating shaft of the robotic arm to drive the robotic arm to rotate, so that the drill rod held on the robotic arm rotates to a position coaxial with the main shaft of the rock drilling rig's push beam. The main shaft of the rock drilling rig's push beam rotates and pushes, connecting with the drill rod. The robotic arm releases the drill rod, and the main shaft of the rock drilling rig's push beam drives the drill rod to carry out construction.

[0017] 5) When changing drill rods, the robot arm holds the drill rod, the main shaft of the rock drilling rig's push beam rotates and retracts to separate from the drill rod, and the robot arm component rotation device and the robot arm forearm rotation device control the robot arm in sequence to return it to the loading position and put the drill rod back on the drill rod tray.

[0018] 6) Rotate the drill rod holder disc to move the new drill rod to the loading station, and repeat steps 1-4) until construction is completed.

[0019] In the above working method, the rotation angle of the robotic arm component rotation device, the robotic arm forearm rotation device, and the drill rod magazine rotation device is controlled by a rotation angle sensor during rotation to ensure the accuracy of each rod connection and unloading process.

[0020] The beneficial effects of this utility model are as follows:

[0021] 1. When used in conjunction with a rock drilling rig, it enables fully mechanized rod connection and disconnection operations.

[0022] 2. Operators can load and unload drill rods from the cab of the rock drilling rig, avoiding exposure to unsupported areas and dangerous areas at heights, thus ensuring construction safety.

[0023] 3. Improve the efficiency of loading and unloading drill rods and save construction time. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall structure of this utility model without the drill rod;

[0026] Figure 2 This is a schematic diagram of the drill rod of this utility model;

[0027] Figure 3 This is a schematic diagram of the connection structure between the present invention and the propulsion beam.

[0028] In the diagram, 1-Drill pipe magazine disc, 2-Drill pipe magazine rotating shaft, 3-Drill pipe magazine rotating device, 4-Drill pipe slot, 5-Manipulator component mounting bracket, 6-Manipulator arm rotating shaft, 7-Manipulator arm rotating device, 8-Manipulator rotating shaft, 9-Manipulator component rotating device, 10-Manipulator, 11-Connector, 12-Hydraulic cylinder, 13-Propulsion beam propulsion spindle. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0030] This utility model provides a drill pipe magazine for use on a rock drilling rig, such as Figure 1 and Figure 2 As shown, the system includes a drill pipe magazine structure, a robotic arm, and a robotic arm assembly. The drill pipe magazine structure includes a drill pipe magazine disc 1, a drill pipe magazine rotating shaft 2, and a drill pipe magazine rotating device 3. The drill pipe magazine rotating device 3 controls the drill pipe magazine rotating shaft 2 to rotate around its own axis. Several drill pipe magazine discs 1 are fitted around the outer edge of the drill pipe magazine rotating shaft 2 and rotate with it. Several drill pipe slots 4 are provided on the circumference of the drill pipe magazine discs 1, and the drill pipes in the drill pipe magazine are fixed through the drill pipe slots 4. The robotic arm includes a robotic arm assembly mounting bracket 5 and a robotic arm assembly. The forearm rotation axis 6 and the robotic arm forearm rotation device 7 control the forearm rotation axis 6 to rotate around its own axis. The robotic arm assembly mounting bracket 5 is fixed on the forearm rotation axis 6 and rotates with the forearm rotation axis 6. The robotic arm assembly includes a robotic arm rotation axis 8, a robotic arm assembly rotation device 9, and several robotic arms 10. The robotic arm assembly rotation device 9 controls the robotic arm rotation axis to rotate around its own axis, and the several robotic arms 10 are coaxially fixed on the robotic arm rotation axis and rotate with the robotic arm rotation axis.

[0031] In a further improvement, the drill pipe magazine rotating device, the robotic arm rotating device, and the robotic arm component rotating device are each equipped with an independent rotation angle sensor.

[0032] In a further improvement, the drill pipe magazine rotation axis, the robot arm rotation axis, and the robot rotation axis are distributed in parallel.

[0033] In a further improvement, the drill rod magazine structure and the two ends of the robotic arm are fixed by a base, and the base is provided with a connecting piece 11 that cooperates with the rock drilling rig's propulsion beam.

[0034] In a further improvement, the drill pipe slots on the drill pipe magazine are equidistantly distributed along the circumference of the drill pipe magazine.

[0035] In a further improvement, several robotic arms in the robotic arm assembly are controlled to grip and release via hydraulic cylinders 12.

[0036] A method for operating a drill pipe magazine used in a rock drilling rig includes the following steps:

[0037] 1) The drill rod magazine rotation device controls the drill rod magazine rotation shaft to drive the drill rod magazine face plate to rotate, so that the slot with drill rod 13 on the drill rod magazine face plate rotates to the loading station;

[0038] 2) The robot arm rotation device controls the robot arm rotation axis to drive the robot arm component mounting bracket to rotate to the loading station. In this state, the robot arm on the robot arm component mounting bracket is facing the drill rod on the drill rod tray.

[0039] 3) The robotic arm grips the drill rod, and the robotic arm forearm rotation device controls the robotic arm forearm rotation axis to drive the robotic arm component mounting bracket to rotate to the docking position;

[0040] 4) The rotating device of the robotic arm component controls the rotating shaft of the robotic arm to rotate, causing the drill rod held on the robotic arm to rotate to a position coaxial with the main shaft 13 of the rock drilling rig's propulsion beam. The main shaft of the rock drilling rig's propulsion beam rotates and propels the drill rod to connect with it (e.g., Figure 3 As shown in the figure, the robotic arm releases the drill rod, and the main shaft of the rock drilling rig's push beam drives the drill rod to carry out construction.

[0041] 5) When changing drill rods, the robot arm holds the drill rod, the main shaft of the rock drilling rig's push beam rotates and retracts to separate from the drill rod, and the robot arm component rotation device and the robot arm forearm rotation device control the robot arm in sequence to return it to the loading position and put the drill rod back on the drill rod tray.

[0042] 6) Rotate the drill rod holder disc to move the new drill rod to the loading station, and repeat steps 1-4) until construction is completed.

[0043] In the above working method, the rotation angle of the robotic arm component rotation device, the robotic arm forearm rotation device, and the drill rod magazine rotation device is controlled by a rotation angle sensor during rotation.

[0044] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, for the device embodiments, the above descriptions are merely preferred embodiments of this utility model. Since they are fundamentally similar to the method embodiments, the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments. The above descriptions are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this utility model, without departing from the principle of this utility model, should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A drill pipe magazine for use on a rock drilling rig, characterized in that: The system includes a drill pipe magazine structure, a robotic arm, and a robotic arm assembly. The drill pipe magazine structure includes a drill pipe magazine faceplate, a drill pipe magazine rotating shaft, and a drill pipe magazine rotating device. The rotating device controls the rotating shaft to rotate around its own axis. Several faceplates are fitted around the outer edge of the rotating shaft and rotate with it. Several drill pipe slots are provided on the circumference of the faceplates, and drill pipes in the magazine are fixed through these slots. The robotic arm includes a robotic arm assembly mounting bracket, a robotic arm rotating shaft, and a robotic arm rotating device. The rotating device controls the rotating shaft to rotate around its own axis, and the mounting bracket is fixed to the rotating shaft and rotates with it. The robotic arm assembly includes a rotating shaft, a rotating device, and several robotic arms. The rotating device controls the rotating shaft to rotate around its own axis, and the robotic arms are coaxially fixed to the rotating shaft and rotate with it.

2. The drill pipe magazine for a rock drilling rig according to claim 1, characterized in that: Each of the drill pipe magazine rotation device, the robotic arm rotation device, and the robotic arm component rotation device is equipped with an independent rotation angle sensor.

3. A drill pipe magazine for a rock drilling rig according to claim 1, characterized in that: The drill pipe magazine rotation axis, the robot arm rotation axis, and the robot arm rotation axis are distributed in parallel.

4. A drill pipe magazine for a rock drilling rig according to claim 1, characterized in that: The drill pipe magazine structure and the two ends of the robotic arm are fixed by a base, and the base is provided with a connecting part that cooperates with the rock drilling rig's propulsion beam.

5. A drill pipe magazine for a rock drilling rig according to claim 1, characterized in that: The drill pipe slots on the drill pipe holder are equidistantly distributed along the circumference of the drill pipe holder.

6. A drill pipe magazine for a rock drilling rig according to claim 1, characterized in that: Several robotic arms in the robotic arm assembly are controlled by hydraulic cylinders to grip and release.

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