A multi-drill rod accessing mechanism and a drill jumbo

Abstract

The utility model relates to rock drilling equipment technical field, concretely relates to a kind of multi-drill rod access mechanism and rock drilling jumbo, including manipulator drive assembly and faceplate drive assembly, faceplate assembly is coaxially connected with second shaft, and can rotate with second shaft;Faceplate assembly is used to store drill rod;Manipulator is installed on first shaft, and can rotate with first shaft;When first shaft rotates, let manipulator grab drill rod, the rotating direction of first shaft is recorded as first steering;When first shaft rotates, let manipulator deliver drill rod, the rotating direction of first shaft is recorded as second steering;First steering is identical with second steering.The utility model reduces the stop position of manipulator, simplifies motion trajectory, motion stroke reduces, in drilling and rod retraction process, the clamping and storage of drill rod are completed, improve the efficiency of drill rod access, reduce the complexity of operation.

Description

Technical Field

[0001] This utility model relates to the field of rock drilling equipment technology, specifically to a multi-drill rod storage and retrieval mechanism and a rock drilling rig. Background Technology

[0002] Drill rods are an essential component when drilling operations are carried out at mining or construction sites.

[0003] In drilling operations, when a hole needs to be drilled to a depth exceeding the length of a single drill rod, two or more drill rods must be connected sequentially to form a drill string. For example, the operator can begin drilling with the first drill rod, and then connect the second drill rod to it while the first drill rod is still in the hole. Drilling continues using the connected first and second drill rods, at which point the drilling depth will be approximately equal to the total length of both. By repeating this process and sequentially adding drill rods, a borehole reaching the target depth can eventually be formed.

[0004] The drill pipe mechanism allows for the connection of multiple drill pipes during drilling operations, ensuring smooth drilling operations, mechanizing drill pipe storage and retrieval, and reducing or even eliminating personnel exposure to hazardous working environments.

[0005] The robotic arm used in the drill pipe mechanism needs to perform drill pipe gripping operations at the drill pipe storage / retrieval position and the drill pipe retraction position. Currently, the robotic arm usually also requires an idle stop position to avoid other devices during the drilling operation. During drilling operations, the robotic arm must be in the idle stop position. Only after completing the drilling operation can the robotic arm move to the drill pipe storage / retrieval position (i.e., gripping the drill pipe on the faceplate assembly), and then deliver the drill pipe to the drill pipe retraction position (i.e., delivering the drill pipe). After the drill pipe is connected, the robotic arm needs to move back to the idle stop position to complete one drill pipe gripping cycle. The movement trajectory of the robotic arm throughout the gripping operation is: idle stop position - drill pipe storage / retrieval position - drill pipe retraction position - idle stop position.

[0006] It is evident that in existing drill pipe storage and retrieval mechanisms, the robotic arm has numerous stopping positions, increasing the complexity of operation, resulting in complex motion trajectories and excessively long travel distances. During drilling or retraction operations, it is impossible to simultaneously perform drill pipe grabbing or storage operations, increasing the overall drill pipe storage and retrieval cycle time and reducing the efficiency of drill pipe storage and retrieval. Utility Model Content

[0007] To address the issues of numerous stopping positions and long travel distances in existing robotic arms, the purpose of this invention is to provide a multi-drill rod storage and retrieval mechanism and a rock drilling rig.

[0008] The technical solution provided by this utility model is as follows:

[0009] In a first aspect, a multi-drill pipe access mechanism includes:

[0010] A robotic arm drive assembly for driving the first rotating shaft to rotate;

[0011] Flower disc drive assembly, which is used to drive the second rotating shaft to rotate;

[0012] The flower plate assembly is coaxially connected to the second rotating shaft and can rotate with the second rotating shaft; the flower plate assembly is used to store drill pipes.

[0013] A robotic arm, which is mounted on a first rotating shaft and can rotate with the first rotating shaft;

[0014] When the first shaft rotates, causing the robotic arm to grasp the drill rod, the direction of rotation of the first shaft is recorded as the first direction of rotation;

[0015] When the first shaft rotates, causing the robotic arm to deliver the drill pipe, the direction of rotation of the first shaft is recorded as the second direction of rotation;

[0016] The first steering is the same as the second steering.

[0017] As an optional technical solution in the first aspect, the axis of the first rotating shaft is approximately parallel to the axis of the second rotating shaft; the distance between the axis of the first rotating shaft and the axis of the second rotating shaft is denoted as L;

[0018] In the radial direction of the first axis of rotation, the dimension of the robot arm is denoted as R;

[0019] Where L > R.

[0020] Optionally, after the robot delivers the drill pipe, the first rotating shaft can rotate in the opposite direction to the second rotating shaft, and the robot can be positioned between the first rotating shaft and the second rotating shaft.

[0021] As an optional technical solution in the first aspect, the flower plate assembly is provided with multiple drill rod storage slots;

[0022] The drill rod storage slot is arranged in a ring with the axis of the flower plate assembly as the center line.

[0023] As an optional technical solution in the first aspect, it also includes a fixed base; the robotic arm drive assembly and the flower disc drive assembly are both connected to the fixed base.

[0024] Optionally, the first rotating shaft is rotatably connected to the fixed base; the robot drive assembly includes a hydraulic cylinder, which is hinged to the fixed base, the piston rod of the hydraulic cylinder is hinged to one end of the swing arm, and the other end of the swing arm is fixedly connected to the first rotating shaft.

[0025] Optionally, the disc drive assembly includes a hydraulic motor, which is fixedly connected to a fixed base. The output shaft of the hydraulic motor is drivenly connected to the input end of a worm gear reducer, and the output end of the worm gear reducer is drivenly connected to a second rotating shaft.

[0026] Optionally, it also includes a robot arm angle sensor and a flower disc angle sensor;

[0027] Among them, the robot arm angle sensor is used to detect the rotation angle of the robot arm around the first rotating axis, and the flower plate angle sensor is used to detect the rotation angle of the flower plate assembly.

[0028] Secondly, a rock drilling rig includes the multi-drill rod storage and retrieval mechanism of the first aspect or any one of the technical solutions of the first aspect.

[0029] Compared with the prior art, the technical solution provided by this utility model has the following advantages:

[0030] This invention's robotic arm only requires a drill rod storage / retrieval position and a drill rod retraction position; it does not require an idle stop position. The robotic arm's movement trajectory during the entire drill rod gripping operation is: drill rod storage / retrieval position - drill rod retraction position - drill rod storage / retrieval position. The robotic arm's movement trajectory during the entire drill rod storage operation is: drill rod storage / retrieval position - drill rod retraction position - drill rod storage / retrieval position. This design reduces the number of stop positions for the robotic arm, simplifies the movement trajectory, and reduces the stroke. During drilling and retraction, the gripping and storage of the drill rod are completed, improving the efficiency of drill rod storage / retrieval and reducing the complexity of operation. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of a multi-drill rod access mechanism in one embodiment of this application from one perspective;

[0032] Figure 2 This is a schematic diagram of a multi-drill rod access mechanism in one embodiment of this application from another perspective.

[0033] Figure 3 This is a cross-sectional view perpendicular to the first axis of rotation in one embodiment of this application;

[0034] Figure 4 This is a schematic diagram of the drill pipe delivery direction in one embodiment of this application;

[0035] Figure 5 This is a schematic diagram of the spacing L in one embodiment of this application.

[0036] Explanation of the labels in the diagram:

[0037] First rotating shaft 101, hydraulic cylinder 102, swing arm 103, robot arm 104, fixed base 105, robot arm angle sensor 106, second rotating shaft 201, flower plate assembly 202, hydraulic motor 203, worm gear reducer 204, flower plate angle sensor 205. Detailed Implementation

[0038] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings and embodiments.

[0039] The structures, proportions, and sizes illustrated in the accompanying drawings are merely for illustrative purposes and to aid those skilled in the art in understanding and reading the invention. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed in this utility model. Furthermore, terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and not intended to limit the scope of implementation. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0040] In one embodiment, this application proposes a multi-drill pipe access mechanism, such as... Figure 1-5 As shown, it includes a robotic arm drive assembly, a flower disc drive assembly, a flower disc assembly 202, and a robotic arm 104. Specifically, the flower disc assembly 202 is coaxially connected to the second rotating shaft 201, and the robotic arm 104 is mounted on the first rotating shaft 101.

[0041] The robotic arm drive assembly drives the first rotating shaft 101 to rotate, and the robotic arm 104 swings accordingly, thereby allowing the robotic arm 104 to switch between the drill rod storage position and the drill rod retraction position.

[0042] The flower plate assembly 202 is roughly cylindrical in shape and has multiple drill rod storage slots arranged in a ring around the axis of the flower plate assembly 202. It should be noted that... Figure 1 , 2 5. The drill rod storage slot provided with the flower plate is omitted. The structure of the drill rod storage slot can be found in [reference needed]. Figure 3 It should be noted that the structure of the drill pipe storage slot is not limited to... Figure 3 The structure shown in the figure is applicable to other drill pipe storage slots in the prior art as well.

[0043] The tray assembly 202 is used to store drill rods. The tray assembly 202 can rotate with the second rotating shaft 201. When the tray drive assembly drives the second rotating shaft 201 to rotate, the tray assembly 202 rotates together, so that the drill rods arrive at the drill rod storage position in sequence along a circular trajectory, so that the robot arm can grasp or store the drill rods.

[0044] It should be noted that, in this embodiment, the installation position of the robotic arm 104 must meet the following conditions:

[0045] When the first rotating shaft 101 rotates, causing the robotic arm 104 to grasp the drill rod, the direction of rotation of the first rotating shaft 101 is recorded as the first direction of rotation; when the first rotating shaft 101 rotates, causing the robotic arm 104 to deliver the drill rod, the direction of rotation of the first rotating shaft 101 is recorded as the second direction of rotation; the first direction of rotation and the second direction of rotation are the same.

[0046] As an optional embodiment, such as Figure 3-5 As shown, before connecting the drill rod, the faceplate assembly 202 can be rotated. Since the robotic arm is in the drill rod storage / retrieval position, it will not affect other equipment during drilling, and the drilling operation can continue. When the faceplate assembly 202 rotates to align the drill rod with the robotic arm 104, the robotic arm 104 first grabs the drill rod and then continues to swing in the same direction, sending the grabbed drill rod to the drill rod retraction position. Before the robotic arm 104 delivers the drill rod to the drill rod retraction position, the drilling operation can be paused precisely to facilitate drill rod connection. After the drill rod connection is completed, the robotic arm 104 swings directly back to the drill rod storage / retrieval position, thus waiting for the next drill rod grab. When the robotic arm 104 swings back to the drill rod storage / retrieval position, it will not interfere with other devices during the drilling operation. Moreover, since the robotic arm 104 is in the drill rod storage / retrieval position, it can directly grab the drill rod the next time it needs to be grabbed, thereby reducing the travel distance of the robotic arm 104. The movement trajectory of the robotic arm 104 during the entire grasping operation is as follows: drill rod storage position - drill rod retraction position - drill rod storage position.

[0047] During the drill rod retraction operation, the robotic arm must be in the drill rod storage / retrieval position. The process can begin by storing the drill rod, followed by the reverse rotation of the faceplate assembly 202. After retraction, the robotic arm swings to the drill rod retraction position, grabs the drill rod, and, after disassembly, delivers it to the drill rod storage / retrieval position, completing one drill rod storage cycle. The robotic arm's movement trajectory throughout the storage operation is: drill rod storage / retrieval position - drill rod retraction position - drill rod storage / retrieval position.

[0048] As an optional embodiment, such as Figure 5 As shown, the axis of the first rotating shaft 101 is approximately parallel to the axis of the second rotating shaft 201, and the distance between the axis of the first rotating shaft 101 and the axis of the second rotating shaft 201 is denoted as L.

[0049] In the radial direction of the first rotating shaft 101, the dimension of the robot arm 104 is denoted as R. The robot arm 104 can rotate with the first rotating shaft 101, so the rotation axis of the first rotating shaft 101 is taken as the starting point. The radial direction of the first rotating shaft 101 is approximately the length extension direction of the robot arm 104. Along the length extension direction of the robot arm 104, the end of the robot arm 104 away from the first rotating shaft 101 is taken as the ending point. The dimension from the starting point to the ending point is denoted as R. It should be noted that L > R.

[0050] In other words, the large distance between the first rotating shaft 101 and the second rotating shaft 201 provides space for the robotic arm 104. After the robotic arm 104 delivers the drill pipe, the first rotating shaft 101 can rotate in the opposite direction of the second rotation, allowing the robotic arm 104 to be positioned between the first rotating shaft 101 and the second rotating shaft 201. This means the robotic arm 104 can return to the drill pipe storage position, thus avoiding interference with drilling operations. Furthermore, since the robotic arm 104 is in the drill pipe storage position, it can directly grab the drill pipe the next time it needs to be retrieved, thereby reducing the travel distance of the robotic arm 104 and improving efficiency.

[0051] In the existing technology, the rotation of the flower plate assembly must be locked by a mechanical limit switch, which makes the rotation angle of the flower plate assembly unable to be adjusted. After a long period of use, due to wear and other factors during normal use, the rotation angle will deviate, thus reducing the accuracy of the robot arm in storing and retrieving drill rods. In this case, the operator needs to judge the situation of the drill rod being grasped and stored, which increases the operator's workload, reduces the efficiency of drill rod storage and retrieval, and is not conducive to the subsequent realization of automated drill rod storage and retrieval.

[0052] In this application, as an optional embodiment, the disc drive assembly includes a hydraulic motor 203, which is fixedly connected to a fixed base 105. The output shaft of the hydraulic motor is driven by the input end of a worm gear reducer 204, and the output end of the worm gear reducer 204 is driven by the second rotating shaft 201. Hydraulic oil rotates the output shaft of the hydraulic motor 203, which in turn drives the second rotating shaft 201 to rotate via the worm gear reducer 204. The self-locking function of the worm gear reducer 204 can be used to replace the separately provided limiting component.

[0053] Optionally, a disc angle sensor 205 can be installed to detect the rotation angle of the disc assembly 202. This angle is fed back to the processor via an electrical signal. The processor can then determine whether the drill rod has reached the predetermined position based on this data, and decide whether to perform a drill rod gripping operation. This solution simplifies the drive unit, reduces weight, and lowers manufacturing and maintenance costs.

[0054] As an optional implementation, a robot arm angle sensor 106 can also be set. The robot arm angle sensor 106 detects the rotation angle of the robot arm 104 around the first rotating axis 101. The robot arm angle sensor 106 can detect the angle of each swing of the robot arm, which is converted into an electrical signal and fed back to the processor. The processor can determine whether the robot arm 104 has swung to a predetermined position based on this data, and thus determine whether to perform the gripping and releasing actions of the robot arm 104. This solution reduces the number of stopping positions of the robot arm 104, simplifies the motion trajectory, and reduces the stroke. During drilling and retraction, the gripping and storage of the drill rod are completed, improving the efficiency of drill rod storage and retrieval and reducing the complexity of operation.

[0055] The rotation angle of the face plate assembly 202 is adjustable, and the magnitude of the rotation angle is controlled by the hydraulic motor 203. After a period of use, if the accuracy of the robotic arm 104 in grasping and storing drill rods decreases, the swing angle of the robotic arm 104 and the rotation angle of the face plate assembly 202 can be calibrated, and the angle data in the storage unit can be updated. This ensures the accuracy of drill rod grasping and avoids problems such as unsuccessful drill rod grasping and improper storage due to reduced accuracy. The processor compares the calibrated rotation angle with the actual rotation angle to determine whether the face plate assembly 202 has rotated to the correct position and whether the robotic arm has swung to the correct position in each drill rod storage and retrieval cycle. This judgment process is handled by the processor, thereby reducing the workload of the operator.

[0056] As an optional embodiment, the multi-drill pipe storage and retrieval mechanism further includes a fixed base 105, to which both the robotic arm drive assembly and the faceplate drive assembly are connected. Specifically, the first rotating shaft 101 is rotatably connected to the fixed base 105. The robotic arm drive assembly includes a hydraulic cylinder 102, which is hinged to the fixed base 105. The piston rod of the hydraulic cylinder is hinged to one end of a swing arm 103, and the other end of the swing arm 103 is fixedly connected to the first rotating shaft 101. In one embodiment, such as... Figure 4 As shown, the piston rod extends, the robot arm 104 swings to the drill rod storage position, the piston rod retracts, and the robot arm 104 swings to the drill rod retraction position.

[0057] In one embodiment, this application also proposes a rock drilling rig, including the multi-drill rod storage and retrieval mechanism described in the above embodiments.

[0058] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A multi-drill rod storage and retrieval mechanism, characterized in that, include: A robotic arm drive assembly for driving the first rotating shaft (101) to rotate; Flower disc drive assembly, which is used to drive the second rotating shaft (201) to rotate; The flower plate assembly (202) is coaxially connected to the second rotating shaft (201) and can rotate with the second rotating shaft (201); the flower plate assembly (202) is used to store drill rods; A robotic arm (104) is mounted on a first rotating shaft (101) and is capable of rotating with the first rotating shaft (101); When the first rotating shaft (101) rotates, causing the robotic arm (104) to grab the drill rod, the direction of rotation of the first rotating shaft (101) is recorded as the first direction of rotation; When the first rotating shaft (101) rotates, causing the robot (104) to deliver the drill rod, the direction of rotation of the first rotating shaft (101) is recorded as the second direction of rotation; The first steering is the same as the second steering.

2. The multi-drill pipe access mechanism according to claim 1, characterized in that: The axis of the first rotating shaft (101) is approximately parallel to the axis of the second rotating shaft (201); the distance between the axis of the first rotating shaft (101) and the axis of the second rotating shaft (201) is denoted as L; In the radial direction of the first rotating shaft (101), the dimension of the robot (104) is denoted as R; Where L > R.

3. The multi-drill pipe storage and retrieval mechanism according to claim 2, characterized in that: After the robot (104) delivers the drill rod, the first rotating shaft (101) can rotate in the opposite direction of the second rotation, and the robot (104) can be positioned between the first rotating shaft (101) and the second rotating shaft (201).

4. The multi-drill pipe access mechanism according to claim 1, characterized in that: The flower plate assembly (202) is provided with multiple drill rod storage slots; The drill pipe storage slot is arranged in a ring with the axis of the flower plate assembly (202) as the center line.

5. The multi-drill pipe access mechanism according to claim 1, characterized in that: It also includes a fixed base (105); the robotic arm drive assembly and the flower disc drive assembly are both connected to the fixed base (105).

6. The multi-drill pipe access mechanism according to claim 5, characterized in that: The first rotating shaft (101) is rotatably connected to the fixed base (105); The robotic arm drive assembly includes a hydraulic cylinder (102), which is hinged to a fixed base (105). The piston rod of the hydraulic cylinder is hinged to one end of a swing arm (103), and the other end of the swing arm (103) is fixedly connected to a first rotating shaft (101).

7. The multi-drill pipe access mechanism according to claim 5, characterized in that: The flower disc drive assembly includes a hydraulic motor (203), which is fixedly connected to a fixed base (105). The output shaft of the hydraulic motor is drivenly connected to the input end of a worm gear reducer (204), and the output end of the worm gear reducer (204) is drivenly connected to a second rotating shaft (201).

8. The multi-drill pipe access mechanism according to any one of claims 6-7, characterized in that: It also includes a robotic arm angle sensor (106) and a flower disc angle sensor (205); Among them, the robot angle sensor (106) is used to detect the rotation angle of the robot (104) around the first rotating shaft (101), and the flower plate angle sensor (205) is used to detect the rotation angle of the flower plate assembly (202).

9. A rock drilling rig, characterized in that: Includes the multi-drill pipe access mechanism as described in any one of claims 1-8.

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