Intelligent full-automatic drilling machine for coal mine

Abstract

The utility model discloses an intelligent full-automatic drilling machine for a coal mine, which comprises a drilling machine body, a rod feeding manipulator, a transporter, a rod supplementing mechanism and a drill rod grabbing mechanism, and the rod feeding manipulator, the transporter and the rod supplementing mechanism are all arranged on the drilling machine body. The rod supplementing mechanism and the drill rod grabbing mechanism are arranged, a driving disc in the rod supplementing mechanism rotates to drive a driven ring to be in eccentric linkage, a butt joint rod and an adjusting rod are combined to form a connecting rod structure, and a linkage rod and a bearing rod are synchronously driven to be in linkage; the vertical lifting function and the horizontal conveying function are integrated into a single driving system through a connecting rod structure, compared with a traditional three-driving structure, power units are reduced, the manufacturing cost and energy consumption are remarkably reduced, a shifting rod in the drill rod grabbing mechanism slides between an upper abutting cylinder notch and a lower abutting cylinder notch, and then a locking rod is driven to deflect; and the drill rod can be quickly locked and separated from the limiting plate, so that the drill rod can be automatically grabbed and released when being supplemented.

Description

Technical Field

[0001] This utility model relates to a coal mine drilling rig, specifically an intelligent fully automatic coal mine drilling rig, belonging to the field of coal mine drilling rig technology. Background Technology

[0002] Coal mine drilling rigs are mechanical equipment used for drilling operations during coal mining. They play an important role in coal mine exploration, ventilation, gas drainage, water injection, and other operations, and are one of the important pieces of equipment for safe coal mine production. Based on their directional function configuration, coal mine drilling rigs can be divided into two main categories: ordinary drilling rigs and directional drilling rigs.

[0003] However, most existing coal mine drilling rigs have various problems. For example, in a fully automatic coal mine engineering drilling rig disclosed in publication number CN119195645A, although the entire device has a two-body tracked layout, consisting of a drilling rig and a pump rig, it is suitable for narrow roadway construction in different coal mines. During drilling, no manual intervention is required; the entire machine can move, automatically raise and lower rods, uncouple, and drill through wireless remote control. However, the drilling rig section is equipped with a rod replenishment device responsible for grabbing drill rods vertically in the rod chamber and conveying drill rods horizontally. Most current rod replenishment devices are composed of three drive structures: vertical, horizontal, and grabbing structures. These drive structures need to be integrated and controlled by electrical control equipment during use. However, there is a certain delay in the response of the drive equipment, which can lead to a certain degree of deviation during rod replenishment operations. Furthermore, the setting of multiple drive devices increases the overall cost of the device and requires frequent maintenance, which is time-consuming and labor-intensive. Utility Model Content

[0004] This utility model addresses the problem of overly simplistic solutions in existing technologies by providing a significantly different solution. Specifically, the purpose of this utility model is to overcome the aforementioned shortcomings in existing technologies by proposing an intelligent fully automatic drilling rig for coal mines.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A fully automatic intelligent drilling rig for coal mines includes a drilling rig body, a rod feeding manipulator, a transfer device, a rod replenishment mechanism, and a drill rod gripping mechanism. The rod feeding manipulator, transfer device, and rod replenishment mechanism are all mounted on the drilling rig body, and the transfer device is located between the rod feeding manipulator and the rod replenishment mechanism.

[0007] The rod-addition mechanism includes a support frame, a linkage rod, a support rod, and an active disk. The support frame is fixed on the drilling rig body. One end of the linkage rod is rotatably connected to the support frame, and the other end is rotatably connected to the support rod. Two linkage rods are arranged in parallel. The support rod is located between two adjacent linkage rods. A servo motor is also provided on the support frame, and the output shaft of the servo motor is fixed at the edge of the active disk.

[0008] The drill pipe gripping mechanism is mounted on the support rod. The drill pipe gripping mechanism includes a top plate, a passive rod, and gripping claws. The top plate is fixed to the bottom of the support rod. One end of the passive rod and one end of the gripping claw are rotatably connected to each other and are arranged symmetrically in two sets. The other end of the passive rod is rotatably connected to the top plate. Two adjacent gripping claws are rotatably connected to each other in a cross manner.

[0009] As a further embodiment of this utility model: the supplementary rod mechanism further includes a driven ring, a connecting rod, and an adjusting rod. The driven ring is rotatably sleeved outside the driving disc. One end of the connecting rod is fixed to the outer wall of the driven ring, and the other end is rotatably connected to the adjusting rod. The other end of the adjusting rod is coaxially fixed to the rotating connection end of the linkage rod and the support frame.

[0010] As a further embodiment of this utility model: the drill rod gripping mechanism further includes a synchronizing rod, a fixed seat, a locking rod, and a limiting plate. Multiple sets of the passive rod and gripping claws are arranged in parallel to form an integral structure. The synchronizing rod is rotatably connected between multiple adjacent gripping claws. The limiting plate is fixed on the synchronizing rod and has a slot. The fixed seat is fixed at the center of the bottom of the top plate. The locking rod is slidably connected at the center of the fixed seat and is detachably engaged in the slot of the limiting plate.

[0011] As a further embodiment of this utility model: the drill rod gripping mechanism further includes abutment cylinders and a lever. The abutment cylinders are fixed in the fixed base and two are arranged coaxially at the top and bottom. The ends of the two abutment cylinders that are close to each other are provided with wave grooves. The lever is fixed on the locking rod and is slidably engaged between two adjacent abutment cylinders.

[0012] As a further improvement of this utility model: a spring is fixed at the top inside the fixed base, and the bottom end of the spring is rotatably connected to the locking rod.

[0013] As a further embodiment of this utility model: the support rod has a T-shaped structure, the top plate is fixed on the central vertical rod of the support rod, and the central vertical rod of the support rod is a telescopic structure.

[0014] The beneficial effects of this utility model are as follows: By setting up a rod replenishment mechanism and a drill rod gripping mechanism, the active disc in the rod replenishment mechanism rotates to drive the driven ring to move eccentrically, and a linkage structure is formed by the combination of the docking rod and the adjusting rod, which simultaneously drives the linkage rod and the supporting rod. The linkage structure integrates the vertical lifting and horizontal conveying functions into a single drive system, which reduces the number of power units compared to the traditional three-drive structure, significantly reducing manufacturing costs and energy consumption. Furthermore, by sliding the lever in the drill rod gripping mechanism between the upper and lower abutment cylinder slots, the locking rod is deflected, allowing it to quickly lock and separate from the limiting plate. This enables automatic gripping and release of the drill rod during replenishment, avoiding the need for additional drive equipment, making it simple, efficient, and practical. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the drilling rig body of this utility model;

[0016] Figure 2 This is a schematic diagram of the support frame and its overall connection structure of the present invention;

[0017] Figure 3 This is a schematic diagram of the rod-repairing mechanism of this utility model;

[0018] Figure 4 This is a schematic diagram of the drill rod gripping mechanism of this utility model;

[0019] Figure 5 This is a schematic diagram of the internal connection structure of the fixing base of this utility model;

[0020] In the diagram: 1. Drill rig body; 2. Rod feeding robot; 3. Transfer device; 4. Rod replenishment mechanism; 41. Support frame; 42. Linkage rod; 43. Support rod; 44. Active disc; 45. Driven ring; 46. Connecting rod; 47. Adjusting rod; 5. Drill rod gripping mechanism; 51. Top plate; 52. Passive rod; 53. Gripping claw; 54. Synchronizing rod; 55. Fixed seat; 56. Locking rod; 57. Limiting plate; 58. Abutment cylinder; 59. Lever. Detailed Implementation

[0021] 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 protection scope of the present utility model.

[0022] Example 1, as Figures 1 to 5As shown, a fully automatic intelligent drilling rig for coal mines includes a drilling rig body 1, a rod feeding manipulator 2, a transfer device 3, a rod replenishment mechanism 4, and a drill rod gripping mechanism 5. The rod feeding manipulator 2, the transfer device 3, and the rod replenishment mechanism 4 are all mounted on the drilling rig body 1, and the transfer device 3 is located between the rod feeding manipulator 2 and the rod replenishment mechanism 4.

[0023] The rod supplement mechanism 4 includes a support frame 41, a linkage rod 42, a support rod 43, and an active disk 44. The support frame 41 is fixed on the drilling rig body 1. One end of the linkage rod 42 is rotatably connected to the support frame 41, and the other end is rotatably connected to the support rod 43. Two linkage rods 42 are arranged in parallel. The support rod 43 is located between two adjacent linkage rods 42. A servo motor is also provided on the support frame 41, and the output shaft of the servo motor is fixed at the edge of the active disk 44.

[0024] The drill pipe gripping mechanism 5 is mounted on the support rod 43. The drill pipe gripping mechanism 5 includes a top plate 51, a passive rod 52, and gripping claws 53. The top plate 51 is fixed to the bottom of the support rod 43. One end of the passive rod 52 and the gripping claws 53 are rotatably connected to each other and are symmetrically arranged in two sets. The other end of the passive rod 52 is rotatably connected to the top plate 51. Two adjacent gripping claws 53 are rotatably connected to each other in a cross manner.

[0025] The supplementary rod mechanism 4 also includes a driven ring 45, a docking rod 46, and an adjusting rod 47. The driven ring 45 is rotatably sleeved on the outside of the driving disc 44. One end of the docking rod 46 is fixed on the outer wall of the driven ring 45, and the other end is rotatably connected to the adjusting rod 47. The other end of the adjusting rod 47 is coaxially fixed on the linkage rod 42 and the rotatable connection end of the support frame 41.

[0026] The drill pipe gripping mechanism 5 also includes a synchronizing rod 54, a fixed seat 55, a locking rod 56, and a limiting plate 57. Multiple sets of the overall structure composed of the passive rod 52 and the gripping claws 53 are arranged in parallel. The synchronizing rod 54 is rotatably connected between multiple adjacent gripping claws 53. The limiting plate 57 is fixed on the synchronizing rod 54 and has a slot. The fixed seat 55 is fixed at the bottom center of the top plate 51. The locking rod 56 is slidably connected to the center of the fixed seat 55 and is detachably snapped into the slot of the limiting plate 57.

[0027] The drill pipe gripping mechanism 5 also includes abutment cylinders 58 and levers 59. The abutment cylinders 58 are fixed in the fixed base 55, and two are arranged coaxially at the top and bottom. The ends of the two abutment cylinders 58 that are close to each other are provided with wave grooves. The levers 59 are fixed on the locking rods 56 and are slidably engaged between the two adjacent abutment cylinders 58.

[0028] In this invention, a rod replenishment mechanism 4 and a drill rod gripping mechanism 5 are provided. The active disc 44 in the rod replenishment mechanism 4 rotates, driving the driven ring 45 to move eccentrically. The connecting rod 46 and the adjusting rod 47 are combined to form a linkage structure, which simultaneously drives the linkage rod 42 and the support rod 43. The linkage structure integrates the vertical lifting and horizontal conveying functions into a single drive system. Compared with the traditional three-drive structure, this reduces the number of power units, significantly reducing manufacturing costs and energy consumption. In the drill rod gripping mechanism 5, the lever 59 slides between the upper and lower abutment cylinders 58, thereby driving the locking rod 56 to deflect, allowing it to quickly lock and separate from the limiting plate 57. This enables automatic gripping and release of the drill rod during replenishment, avoiding the need for additional drive equipment. It is simple, efficient, and practical.

[0029] Example 2, as Figures 1 to 5 As shown, in addition to all the technical features included in Embodiment 1, this embodiment also includes:

[0030] A spring is fixed at the top of the inside of the fixed base 55, and the bottom of the spring is rotatably connected to the locking rod 56. The spring enables the locking rod 56 to quickly return to its original position.

[0031] The support rod 43 has a T-shaped structure, and the top plate 51 is fixed on the central vertical rod of the support rod 43. The central vertical rod of the support rod 43 is a telescopic structure, which allows the operator to adjust the overall height of the drill rod gripping mechanism 5 according to the actual situation.

[0032] When using this coal mine drilling rig, the active disk 44 is driven to rotate by a servo motor. At this time, the active disk 44 drives the driven ring 45 to rotate in conjunction. The driven ring 45 drives the adjusting rod 47 to rotate back and forth through the docking rod 46, and simultaneously drives the linkage rod 42 to rotate. The linkage rod 42 drives the support rod 43 to perform vertical lifting and horizontal conveying. During this process, after the gripper 53 grips the drill rod, the locking rod 56 abuts against the limit plate 57 and deflects under the action of the lever 59. At this time, the locking rod 56 is locked in the limit plate 57, and the gripper 53 is locked. When releasing the drill rod, the locking rod 56 deflects under the action of the lever 59. At this time, the locking rod 56 is unlocked and separated from the limit plate 57, and the gripper 53 can then release the drill rod.

[0033] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0034] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A fully automatic intelligent drilling rig for coal mines, comprising a drilling rig body (1), a rod feeding manipulator (2), a transfer device (3), a rod replenishment mechanism (4), and a drill rod gripping mechanism (5), characterized in that, The rod feeding manipulator (2), the transfer device (3) and the rod replenishment mechanism (4) are all mounted on the drilling rig body (1), and the transfer device (3) is located between the rod feeding manipulator (2) and the rod replenishment mechanism (4); The supplementary rod mechanism (4) includes a support frame (41), a linkage rod (42), a support rod (43), and an active disk (44). The support frame (41) is fixed on the drilling rig body (1). One end of the linkage rod (42) is rotatably connected to the support frame (41), and the other end is rotatably connected to the support rod (43). Two linkage rods (42) are arranged in parallel. The support rod (43) is located between two adjacent linkage rods (42). A servo motor is also provided on the support frame (41), and the output shaft of the servo motor is fixed at the edge of the active disk (44). The drill rod gripping mechanism (5) is mounted on the support rod (43). The drill rod gripping mechanism (5) includes a top plate (51), a passive rod (52), and gripping claws (53). The top plate (51) is fixed to the bottom of the support rod (43). One end of the passive rod (52) and the gripping claws (53) are rotatably connected to each other and are arranged symmetrically in two sets. The other end of the passive rod (52) is rotatably connected to the top plate (51). Two adjacent gripping claws (53) are rotatably connected to each other.

2. The intelligent fully automatic drilling rig for coal mines according to claim 1, characterized in that: The supplementary rod mechanism (4) also includes a driven ring (45), a docking rod (46), and an adjusting rod (47). The driven ring (45) is rotatably sleeved on the outside of the driving disc (44). One end of the docking rod (46) is fixed on the outer wall of the driven ring (45), and the other end is rotatably connected to the adjusting rod (47). The other end of the adjusting rod (47) is coaxially fixed on the linkage rod (42) and the rotatable connection end of the support frame (41).

3. The intelligent fully automatic drilling rig for coal mines according to claim 1, characterized in that: The drill pipe gripping mechanism (5) also includes a synchronizing rod (54), a fixed seat (55), a locking rod (56), and a limiting plate (57). The passive rod (52) and the gripping claw (53) are arranged in parallel in an integral structure. The synchronizing rod (54) is rotatably connected between multiple adjacent gripping claws (53). The limiting plate (57) is fixed on the synchronizing rod (54) and has a slot. The fixed seat (55) is fixed at the bottom center of the top plate (51). The locking rod (56) is slidably connected at the center of the fixed seat (55) and is separably snapped into the slot of the limiting plate (57).

4. The intelligent fully automatic drilling rig for coal mines according to claim 3, characterized in that: The drill rod gripping mechanism (5) also includes abutment cylinders (58) and levers (59). The abutment cylinders (58) are fixed in the fixed base (55) and two are arranged coaxially at the top and bottom. The ends of the two abutment cylinders (58) that are close to each other are provided with wave grooves. The levers (59) are fixed on the locking rod (56) and are slidably engaged between the two adjacent abutment cylinders (58).

5. The intelligent fully automatic drilling rig for coal mines according to claim 4, characterized in that: The top of the fixed base (55) is fixed with a spring, and the bottom of the spring is rotatably connected to the locking rod (56).

6. The intelligent fully automatic drilling rig for coal mines according to claim 1, characterized in that: The support rod (43) has a T-shaped structure, the top plate (51) is fixed on the central vertical rod of the support rod (43), and the central vertical rod of the support rod (43) is a telescopic structure.

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