CN107542416A - Lower beam hydraulic pressure coal ore deposit rig and thereon lower beam method are continuously gone up automatically in a kind of ultralow hole - Google Patents
Lower beam hydraulic pressure coal ore deposit rig and thereon lower beam method are continuously gone up automatically in a kind of ultralow hole Download PDFInfo
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- CN107542416A CN107542416A CN201711003149.5A CN201711003149A CN107542416A CN 107542416 A CN107542416 A CN 107542416A CN 201711003149 A CN201711003149 A CN 201711003149A CN 107542416 A CN107542416 A CN 107542416A
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- 230000008569 process Effects 0.000 claims description 7
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- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
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Abstract
Continuously go up lower beam hydraulic pressure coal ore deposit rig automatically the invention discloses a kind of ultralow hole and lower beam method, the rig unload bar case, middle clamper, fore-clamp holder, hydraulically extensible bracket upright post, mechanical hand hydraulic support, hollow rotating platform, manipulator, workbench, clino-axis type variable displacement motor, decelerator, frame seat and rubber oild chuck including storage thereon.Described clino-axis type variable displacement motor, decelerator, rubber oild chuck, bar case is unloaded in storage and clamper is installed in the lower section of workbench, described mechanical hand hydraulic support is arranged on the top of workbench, bar case collective effect, method of work of the manipulator from lower beam on rig bottom are unloaded using double storages.The evident characteristic of the present invention：Structure arrangement is ingenious, greatly reduce drill height, it is easy to operate, have continuous automatic upper boom and lower beam function concurrently, improve operating efficiency, safeguard work safety and stability, the features such as manufacturing cost is reduced, ultralow hole can not be bored and can not continuously go up the problem of lower beam automatically by solving current rig.
Description
Technical field
The invention discloses a kind of mine mechanism, lower beam hydraulic pressure coal ore deposit is continuously gone up in more particularly to a kind of ultralow hole automatically
Rig and thereon lower beam method.
Background technology
Rig can complete leting speeper hole, the geological structure of multi-angle as one of drilling equipment necessary to coal mining
Hole, protrusion-dispelling decompression hole, gas exhaust discharge hole, injected hole, exploration hole, drilling roof bolting hole and other various engineering holes
Probing work, and China is as colliery big country, very big to hydraulic drill rig demand.
External drilling rig technique was matched somebody with somebody towards increasingly automated, intelligent, high modularization, movement facilitation, ability in recent years
Put powerfulization, rig diversification of forms and miniaturization and lightness direction is developed.From the point of view of the current situation of domestic rig, I
The level of intelligence and popularity rate of state's coal industry substantially lag behind the development in epoch, particularly coal mine gas drilling equipment more
It is such.Conventional drilling machine carries out adjunction and dismounting drilling rod by the way of artificial mostly, and it is same that such a mode usually requires 2~3 people
When work, labor intensity is big, expends that the time is long, security is low.By inspection information, also have much go together to rig at present
Automatically upper lower beam in terms of carry out research and innovation.Such as Chinese patent Patent No. 201310416131.3, this device is to brill
Above and below machine during drilling rod, mainly completed using drill rod box, post rod mechanism, drilling rod delivery device, but have a disadvantage in that drilling rod presss from both sides
Hand clamps drilling rod in the presence of tensioning spring, and run of steel is shorter, to complete the drilling of specified hole depth, upper boom frequent operation,
Tensioning spring easily fails, and this device tensioning spring failure after without self-locking device, it is easy to cause drilling rod slide there is thing
Therefore so the security of operation is not considered well；Other Chinese patent Patent No.：201510386834.5
When this device loads and unloads to the drilling rod of rig, a drilling rod can only be put on rack for rods every time, is bored although so being loaded and unloaded to rig
Do not need worker directly to participate in during bar, still need to frequently to the rack-mounted bar of drilling rod of rig, although solving the peace that worker changes bar
Quan Xing, but basic unresolved worker's workload is big, the ineffective problem of rig handling drilling rod.So need to invent one kind
The automatically continuously hydraulic pressure coal mine drilling machine of continuous bar.
The length, width and height size of hydraulic drill rig is bigger, and the height of particularly rig is higher.Again due to the building ring under mine
Border very severe for ground handling environment, not only activity space is very small, and ground is very muddy.In tunnel
In, when needing to bore some apart from the relatively low hole in tunnel bottom surface, it is limited to the size of hydraulic drill rig, conventional drilling machine can not meet will
Ask.Many times need man-hour manually hand-held small-sized drill to go to drill or continue to tunnel by tunnel, make its space bigger, so not only
Time and effort consuming, efficiency is low, and bore operation is very near from coal-face, therefore danger coefficient is very big during worker's construction, dashes forward
The easy spray orifice of coal output layer drilling construction, occur hurting sb.'s feelings cannot be guaranteed with gas exceeding limit phenomenon, the security of worker.It is so urgent
Need to design a hydraulic pressure coal mine drilling machine that can bore ultralow hole.But with regard at present for, ultralow hole hydraulic pressure coal mine drilling machine this
Concept or product are not suggested also.
The content of the invention
Continuously go up lower beam hydraulic pressure coal ore deposit rig and thereon lower beam method, solution automatically it is an object of the present invention to provide a kind of ultralow hole
Certainly current rig continuously can not go up lower beam automatically and can not bore the problem in ultralow hole.
The present invention adopts the following technical scheme that for achieving the above object：
Lower beam hydraulic pressure coal ore deposit rig is continuously gone up in a kind of ultralow hole automatically, including bar case, middle clamper, front clamp are unloaded in storage
Device, hydraulically extensible bracket upright post, drilling rod, crossbeam, mechanical hand hydraulic support, hollow rotating platform, manipulator, frame pin, cross bar,
Workbench, gyrator propelling hydraulic cylinder, clino-axis type variable displacement motor, decelerator, supporting plate, frame seat, support post, base rail,
Rubber oild chuck, sliding block；Described support post has two, and the rear to being fixed on frame seat, institute are formed by bolt
Stating hydraulically extensible bracket upright post also has two, and on sliding block, described sliding block is arranged in the groove of base rail, described
Cross bar have two, one is arranged among support post by frame pin, and another is arranged on hydraulically extensible bracket upright post
Centre, described workbench are welded by channel-section steel, and there are guide rail, two crossbeams of centre welding in two sides, and its crossbeam is distributed in
The both ends of workbench, described workbench are arranged on the lower section of cross bar by the earrings on crossbeam, and described supporting plate has two, point
The lower section of the side rails of workbench two is not tipped upside down on symmetrically by notch, the mechanical hand hydraulic support is welded in workbench
Between top, described storage unloads bar case, middle clamper, fore-clamp holder, clino-axis type variable displacement motor, decelerator and rubber hydraulic pressure
Chuck is all arranged on the bottom of workbench.
Described storage unloads bar case and bag and includes lever switch, overhead gage, lower baffle plate, rod spring, rod groove, unload bar spring, unload
Bar device, case lid handle, case lid, hinge jaw, casing, casing outer rim and L-shaped iron block；Bar case is unloaded in described storage two, passes through
The L-shaped iron block being welded in casing outer rim is symmetrically mounted on below workbench；It is described go out lever switch include overhead gage and lower block
Plate, the overhead gage are fixedly connected with lower baffle plate, are shifted to install in drilling rod orbital direction, and dislocation distance and drilling rod external diameter phase
Matching, lower baffle plate end is connected by lower bearing pin with body pivot, and rod spring is connected between casing；Described case lid
By hinge jaw with being connected above casing, case lid handle is welded with case lid, inclination and roundabout horizontal stroke are provided with described casing
" V " shape drilling rod track is set to, described rod groove is arranged on the exit of casing；The rod disassembling device is rotatablely connected by upper pin
Bottom at tank inlet, and be connected between casing and unload bar spring.
Described gripper unit includes fore-clamp holder and middle clamper；Described fore-clamp holder and middle clamper
Structure is identical, and installed in workbench front lower place, described fore-clamp holder includes fore-clamp holder casing, clamper left hand, clamper
Hydraulic cylinder and split pin among the right hand, clamper；Described clamper left hand and the clamper right hand is pacified by bolt and split pin
It is fitted together, hydraulic cylinder is arranged on the centre of both clamper left hand and the clamper right hand afterbody among described clamper, leads to
Cross the flexible of hydraulic cylinder among control clamper and control the action of clamper left hand and the clamper right hand.
Described mechanical hand hydraulic support includes bracket upright post, support transverse slat, support guide, stent bearing plank, stent bearing plank
Propelling hydraulic cylinder, support guide supporting plate and support guide supporting plate propelling hydraulic cylinder；The mechanical hand hydraulic support is erected by branch
Post is welded on the middle upper portion in workbench, and described stent bearing plank has two, and mechanical hand hydraulic support two is buckled in by recessed grain
On the support transverse slat of side；Described support guide is welded on the centre of two stent bearing planks, and described support guide supporting plate also has
Two, tipped upside down on by groove on support guide；Described support guide supporting plate propelling hydraulic cylinder one end is fixed on stent bearing plank
Side, the other end is fixed in the semicircle groove of support guide supporting plate, and described stent bearing plank propelling hydraulic cylinder one end is fixed on
The side of mechanical hand hydraulic rack frame, the other end are fixed in the semi-circular recesses of stent bearing plank.
Described hollow rotating platform includes servomotor, rotation platform and gear reduction unit；Described hollow rotating is put down
Platform has two, is bolted on the lower section of 2 support guide supporting plates respectively, the rotating disk of described rotation platform is hollow knot
Structure, servomotor are connected to side, facilitate the installation of the tracheae, electric wire in tool.
The manipulator includes mechanical hand hydraulic cylinder, lower claw, upper clipping claw, claw hydraulic cylinder, tentacle；Described manipulator
Hydraulic cylinder is fixedly mounted on the underface of hollow rotating platform, and the lower claw is provided with the tentacle for touching lever switch, described
Upper clipping claw and lower claw are cooperated together by coupled axle-pin, and described claw hydraulic cylinder is arranged on upper clipping claw and lower claw
Centre position simultaneously interconnects therewith.
Described decelerator includes cabinet shell, primary planet pinion decelerator, elastic dowel pin shaft coupling and tank wall ears
Ring；Described tank wall ears boxing is connected on the both sides box wall of cabinet shell, and described rubber oild chuck passes through elastic
Pin shaft coupling is connected to the right-hand member of decelerator, described clino-axis type variable horse with the primary planet pinion decelerator in cabinet shell
Primary planet pinion up in also by elastic dowel pin shaft coupling and cabinet shell is connected to the left end of decelerator, clino-axis type variable
For motor through two-stage The gear deceleration, drive shaft and rubber oild chuck realize the revolution of drilling tool.
A kind of ultralow hole continuously continues the automatically upper lower beam method of bar hydraulic pressure coal mine drilling machine automatically, comprises the following steps：
The detailed process of rig upper boom is described as follows：
Previous drilling rod is largely drilled into rock stratum, and afterbody is stayed in fore-clamp holder, and a Gent is clamped on middle clamper
Drilling rod processed, and the returned rear portion to rig, robot movement to the surface of rod groove, this is original state：
S1：Now manipulator opens under the drive of manipulator claw hydraulic cylinder, band of the manipulator in mechanical hand hydraulic cylinder
Continue to move down under dynamic and move to rod groove indentation, there, the tentacle discharge by pressing lever switch on its lower claw moves down, and goes out lever switch
Around fixed lower bearing pin rotation, go out lever switch and be opened, now lower baffle plate is moved down, and first drilling rod, which is released, to be tumbled to rod
At groove, and overhead gage moving down while moving down with lower baffle plate, latter drilling rod is blocked, rod spring is elongated；
S2：Control machinery hand claw hydraulic cylinder acts, and manipulator clamps drilling rod, the action of two-stage hydraulic cylinder, mechanical hand hydraulic
Cylinder moves up, then drives drilling rod up to move, and rod spring pulls on rod switch rotary, goes out lever switch and resets, lower baffle plate precession,
Overhead gage screws out, and drilling rod below rolls forward the distance of a drill pipe diameter simultaneously, now drilling rod together with manipulator by
The position that drill rod axis overlap with the axis of fore-clamp holder 3 is transported to, drilling rod is in place；Middle clamp holder clamping, manipulator open；
S3：Special drilling rod is screwed with new drilling rod one-level, and manipulator is retracted；
S4：Middle clamper unclamps, and fore-clamp holder clamps, and new drilling rod screws with preposition drilling rod two level；
S5：Fore-clamp holder is unclamped, and rig starts to drill；
S6：Fore-clamp holder is clamped, and clino-axis type variable displacement motor reversion, special drilling rod is outwarded winding with new drilling rod, rubber hydraulic pressure card
Disk is inverted and retracted；
S7：New drilling rod is in place, and upper boom can be continued by repeating the above steps；
The lower beam detailed process of drilling rod is described as follows：
A Gent drilling rod is now clamped with rubber oild chuck, fore-clamp holder, middle clamper unclamp；
S1：Fore-clamp holder, middle clamper unclamp, and are moved after rubber oild chuck, extract drilling rod out；
S2：Fore-clamp holder clamps, and rubber oild chuck advances；
S3：Preposition drilling rod is outwarded winding with new drilling rod two level；
S4：Middle clamp holder clamping, rubber oild chuck are retracted；
S5：Clino-axis type variable displacement motor is inverted, and rubber oild chuck reversion, new drilling rod is outwarded winding with special drilling rod one-level, and two
Level hydraulic cylinder action, manipulator is up and clamps drilling rod；
S6：Middle clamper is unclamped, and two-stage hydraulic cylinder action, manipulator is retracted；
S7：Manipulator stops when dropping to rod disassembling device position, and manipulator opens, drilling rod tumble on rod disassembling device and tumble to
Store up in bar case；
S8：Clamper advances afterwards, and special drilling rod screws with new drilling rod；
S9：Drilling rod is retracted, and manipulator resets, and lower beam can be continued by continuing above-mentioned steps.
By using above technical scheme, a kind of ultralow hole of the present invention continuously automatically upper lower beam hydraulic pressure coal ore deposit rig with it is existing
Technology is compared, and its advantage is：
1) storage of the invention, which is unloaded bar case and use, tilts and roundabout horizontal for " V " shape track inner chamber storage drilling rod, abundant sharp
With rig side spaces, so as to store more drilling rods under identical spatial volume, operating efficiency is improved.And symmetrically pacify
Filled two, it is possible to achieve rig continuously continue bar, and using rod disassembling device, go out the pure mechanic structures such as lever switch substitution prior art
In be hydraulically operated biliquid depression bar control rod structure.One side pure mechanic structure improves the reliability into rod, the opposing party
Face due to the present invention rod disassembling device, go out lever switch by drill pipe rack (manipulator) link, structure is simplified, without additional hydraulic
Driving.
2) using manipulator collocation storage bar case, manipulator can meet to transport bar and top fortune two kinds of works of bar from bottom the present invention
Condition, it can more flexibly be applied to the complicated operating mode in underground.It can realize that rig continues the function of bar automatically.
3) designed in structure of the present invention using innovative thought, by described clino-axis type variable displacement motor, decelerator, rubber
The lower section that bar case, middle clamper, fore-clamp holder are installed in workbench, described mechanical hand hydraulic branch are unloaded in oild chuck, storage
Frame is arranged on the top of workbench, on the one hand reduces the height of rig, and another aspect structure is compacter, reduces and takes up an area sky
Between, it is possible to achieve bore ultralow hole.
Brief description of the drawings
Technical scheme is further described in detail with reference to the accompanying drawings and detailed description；
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is that the present invention faces upward boring work view；
Fig. 3 is that the present invention has a down dip boring work view.
Bar box installed ligand structure schematic diagram is unloaded in the storage that Fig. 4 is the present invention；
Fig. 5 is that the part schematic diagram of bar case is unloaded in the storage of the present invention；
Fig. 6 is the manipulator assembly schematic diagram of the present invention；
Fig. 7 is the hydraulically extensible bracket upright post and its sliding block part schematic diagram of the present invention；
Fig. 8 is the fore-clamp holder inner body schematic diagram of the present invention；
Fig. 9 is the part schematic diagram of the hollow rotating platform of the present invention；
Figure 10 is the mechanical hand hydraulic support assembly structural representation of the present invention；
Figure 11 is the primary planet pinion decelerator schematic diagram of the present invention；
Figure 12 is the rubber oild chuck schematic diagram of the present invention；
Figure 13 is the elastic dowel pin shaft coupling schematic diagram of the present invention.
1. storages unload bar case, 101. go out lever switch, 102. overhead gages, 103. lower baffle plates, 104. rod springs, 105. go out in figure
Bar spring, 107. rod disassembling devices, 108 case lid handles, 109. case lids, 110. hinge jaws, 111. casings, 112. casees are unloaded in bar groove, 106.
External frame, 113.L shapes iron block, 2. middle clampers, 3. fore-clamp holders, 301. fore-clamp holder casings, 302. clamper left hands,
Hydraulic cylinder, 305. split pins, 4. hydraulically extensible bracket upright posts, 5. drilling rods, 6. horizontal strokes among the 303. clamper right hands, 304. clampers
Beam, 7. mechanical hand hydraulic supports, 701. bracket upright posts, 702. support transverse slats, 703. support guides, 704. stent bearing planks, 705.
Stent bearing plank propelling hydraulic cylinder, 706. support guide supporting plates, 707. support guide supporting plate propelling hydraulic cylinders, 8. hollow rotatings are put down
Platform, 801. servomotors, 802. rotation platforms, 803. gear reduction units, 9. manipulators, 901. mechanical hand hydraulic cylinders, 902. machines
Tool on hand claw, 903. tentacles, 904. manipulator lower claws, 905. manipulator claw hydraulic cylinders, 10. bracket pins, 11. cross bars,
12. workbench, 13. gyrator propelling hydraulic cylinders, 14. clino-axis type variable displacement motors, 15. decelerators, 1501. cabinet shells, 1502.
Primary planet pinion decelerator, 1503. elastic dowel pin shaft couplings, 1504. tank wall ears rings, 16. supporting plates, 17. frame seats, 18.
Support post, 19. base rails, 20. rubber oild chucks, 21. sliding blocks.
Embodiment
In order that the technological means that the present invention is realized, creation characteristic, reached purpose are easy to understand with effect, below
With reference to being specifically illustrating, the present invention is expanded on further：
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 7：Continuously upper lower beam hydraulic pressure coal ore deposit rig unloads bar including storage automatically in a kind of ultralow hole
It is case 1, middle clamper 2, fore-clamp holder 3, hydraulically extensible bracket upright post 4, drilling rod 5, crossbeam 6, mechanical hand hydraulic support 7, hollow
Rotation platform 8, manipulator 9, frame pin 10, cross bar 11, workbench 12, gyrator propelling hydraulic cylinder 13, clino-axis type variable displacement motor
14th, decelerator 15, supporting plate 16, frame seat 17, support post 18, base rail 19, rubber oild chuck 20, sliding block 21；Institute
The base rail 19 stated has two, is welded on the both sides of frame seat 17, and described hydraulically extensible bracket upright post 4 has two, fixes
On sliding block 21, it can be slidably reciprocated in base rail 19, hydraulically extensible bracket upright post 4 can pass through the flexible tune of hydraulic cylinder
The angle of drill hole of drilling machine is saved, realizes rig multi-angle drilling, such as rig is faced upward and had a down dip drilling；The support post 18 has two
It is individual, the front upper place to being fixed on frame seat 17 is formed by bolt；Described cross bar 11 also has two, and one of them passes through frame
Pin 10 is arranged among support post 18, and another is arranged among hydraulically extensible bracket upright post 4.Described workbench 12 be by
Channel-section steel is welded, and there is guide rail two sides, and two crossbeams 6 of centre welding, its crossbeam 6 is distributed in the both ends of workbench 12, described
Workbench 12 lower section of cross bar 11 is arranged on by the earrings on crossbeam 6, described supporting plate 16 has two, passes through notch respectively
The symmetrical lower section for tipping upside down on 12 liang of side rails of workbench, can slidably reciprocate on the track of workbench 12.
As shown in Figure 1, Figure 4 and Figure 5：Bar case 1 is unloaded in described storage includes lever switch 101, overhead gage 102, lower baffle plate
103rd, rod spring 104, rod groove 105, unload bar spring 106, rod disassembling device 107, case lid handle 108, case lid 109, hinge jaw
110th, casing 111, casing outer rim 112 and L-shaped iron block 113.Bar case 1 is unloaded in described storage two, by welding outside the enclosure
L-shaped iron block 113 on frame 112 is symmetrically mounted at the side-lower of workbench 12 in pairs, and mounting distance causes supporting plate by no
Interference is produced with decelerator and the motion of rubber oild chuck.Described case lid 109 above hinge jaw 110 and casing by carrying out
Connection, case lid handle 108 is welded with case lid 109, is easy to open storage and unloads bar case and carry out lower beam, and set two storages to unload bar
Case, when the drilling rod that the storage of side is unloaded in bar case is used up, bar case is unloaded in another storage to work on, and ensure that rig persistently bores
Hole operation.Be provided with described casing 111 tilt and it is roundabout it is horizontal be " V " shape drilling rod track, inclined angle can ensure
Drilling rod tumbles under gravity.The rod disassembling device 107 is rotatably connected on the bottom of the porch of casing 111 by upper pin,
And it is connected between casing 111 and unloads bar spring 106；During nature, the rod disassembling device 107 unload bar spring 106 act under,
Offseted with the casing 111；Under external force, the rod disassembling device 107 can rotate clockwise around upper pin.It is described go out lever switch
101 include overhead gage 102 and lower baffle plate 103, and the overhead gage 102 is fixedly connected with lower baffle plate 103, in the drilling rod track side
Shift to install upwards, and dislocation distance matches with drilling rod external diameter；The end of lower baffle plate 103 is rotated by lower bearing pin and casing 111
Connection, and rod spring 104 is connected between casing；During nature, under the rod spring 104 effect, lower baffle plate
103 offset with the drilling rod in casing prevents drilling rod from being rolled to rod groove 105；Under external force, the lower baffle plate 103 and upper gear
Plate 102 moves downward simultaneously, only allows the drilling rod of front end to roll into rod groove 105, and blocks other drilling rods in casing and roll into rod
Groove 105, during external force event resolves, under the rod spring 104 effect, the lower baffle plate 103 and overhead gage 102 are back up
Position, returns to original state.
As shown in Fig. 1, Fig. 6 and Fig. 9：Described hollow rotating platform 8 includes servomotor 801, rotation platform 802 and tooth
Wheel decelerator 803.Described hollow rotating platform 8 has two, is bolted on respectively under 2 support guide supporting plates 10
Side.The rotating disk of described rotation platform 802 is hollow structure, and servomotor 801 is connected to side, facilitate tracheae in tool,
The installation of electric wire.The manipulator 9 includes mechanical hand hydraulic cylinder 901, upper clipping claw 902, tentacle 903, lower claw 904 and claw liquid
Cylinder pressure 905.Described mechanical hand hydraulic cylinder 901 is fixedly mounted on the underface of hollow rotating platform 8, is needing 9 turns of manipulator
Xiang Shi, hollow rotating platform 8 rotate 180 ° of driving mechanical hands 9 and change direction.The lower claw 904, which is provided with, touches lever switch
101 tentacle 903.The upper clipping claw 902 and lower claw 904 drive opening or closure by claw hydraulic cylinder 905.Manipulator 9 exists
When dropping to rod groove location 105 under the drive of the mechanical hand hydraulic cylinder 901, tentacle 903 can extrude out under lever switch 101
Baffle plate 103, use lever switch 101 and move downward, allow lower baffle plate 103 no longer to be offseted with drilling rod, the drilling rod of front end rolls into rod
Groove 105, overhead gage 102 offsets with other drilling rods in casing prevents other drilling rods from rolling into rod groove 105.
As illustrated in figures 1 and 8：Described mechanical hand hydraulic support 7 includes bracket upright post 701, support transverse slat 702, support
Guide rail 703, stent bearing plank 704, stent bearing plank propelling hydraulic cylinder 705, support guide supporting plate 706 and support guide supporting plate propulsion liquid
Cylinder pressure 707.The mechanical hand hydraulic support 7 is welded on the middle upper portion in workbench 12 by bracket upright post 701.Described branch
Frame torr plate 704 has two, is buckled in by recessed grain on support transverse slat 702, and described one end of stent bearing plank propelling hydraulic cylinder 705 is fixed on
The side of the frame of mechanical hand hydraulic support 7, the other end are fixed in the semi-circular recesses of stent bearing plank 704, pass through hydraulic cylinder
It is flexible to drive stent bearing plank 704 to be moved back and forth on support transverse slat 702.Described support guide supporting plate 706 also has two, passes through
Groove is tipped upside down on support guide 703, and described one end of support guide supporting plate propelling hydraulic cylinder 707 is fixed on stent bearing plank 704
Side, the other end is fixed in the semicircle groove of support guide supporting plate 706, can be led by the flexible drive support of hydraulic cylinder
Rail supporting plate 706 moves back and forth on support guide 703.
As illustrated in figures 1 and 8：Described fore-clamp holder 3 is identical with the structure of middle clamper 2.Described fore-clamp holder 3
Including hydraulic cylinder 304 and split pin among fore-clamp holder casing 301, clamper left hand 302, the clamper right hand 303, clamper
305.Described clamper left hand 302 and the clamper right hand 303 is installed together by bolt and split pin 305.Described folder
Hydraulic cylinder 304 is arranged on the centre of both afterbodys of clamper left hand 302 and the clamper right hand 303 among holder.Pressed from both sides by controlling
The flexible of hydraulic cylinder 304 controls the action of clamper left hand 302 and the clamper right hand 303 among holder, realizes holding drill pipe
Purpose.
As shown in Fig. 1, Figure 11, Figure 12 and Figure 13：Described gear reduction unit 15 includes cabinet shell 1501, primary planet
Gear reduction unit 1502, elastic dowel pin shaft coupling 1503 and tank wall ears ring 1504.Described tank wall ears ring 1504 is welded on
On the both sides box wall of cabinet shell 1501.Described decelerator 15 is arranged on the lower section of supporting plate 16 by tank wall ears ring 1504.
Described rubber oild chuck 20 is subtracted by elastic dowel pin shaft coupling 1503 and the primary planet pinion in cabinet shell 1501
Fast device 1502 is connected to the right-hand member of gear reduction unit 15.Described clino-axis type variable displacement motor 14 is also by elastic dowel pin shaft coupling
1503 are connected to the left end of gear reduction unit 15 with the primary planet pinion decelerator 1502 in cabinet shell 1501.Clino-axis type becomes
Motor 14 is measured through two-stage The gear deceleration, drive shaft and cylinder type hydraulic chuck 20 realize the revolution of drilling tool.
A kind of ultralow hole continuously continues bar hydraulic pressure coal mine drilling machine automatically, and above the method for lower beam, its upper boom process include following automatically
Step：
The detailed process of rig upper boom is described as follows：
Previous drilling rod is largely drilled into rock stratum, and afterbody is stayed in fore-clamp holder, and a Gent is clamped on middle clamper
Drilling rod processed, and the returned rear portion to rig, robot movement to the surface of rod groove 105, this is original state：
S1：Now manipulator 9 opens under the drive of manipulator claw hydraulic cylinder 905, and manipulator 9 is in mechanical hand hydraulic cylinder
Continue to move down under 901 drive and move to the indentation, there of rod groove 105, the discharge by pressing lever switch of tentacle 903 on its lower claw 904
101 move down, and go out lever switch 101 around fixed lower bearing pin rotation, go out lever switch 101 and be opened, and now lower baffle plate 103 is to moving down
Dynamic, first drilling rod, which is released, to be tumbled to rod groove 105, and the moving down while moving down with lower baffle plate 103 of overhead gage 102, gear
Firmly latter drilling rod, rod spring 104 are elongated；
S2：Control machinery hand claw hydraulic cylinder 905 acts, and manipulator 9 clamps drilling rod 5, the action of two-stage hydraulic cylinder, manipulator
Hydraulic cylinder 901 moves up, then drives drilling rod up to move, rod spring 104 pulls on out lever switch 101 and rotated, and goes out lever switch 101
Reset, the precession of lower baffle plate 103, overhead gage 102 screws out, and drilling rod below rolls forward the distance of a drill pipe diameter simultaneously.This
When drilling rod be transported to the position that drill rod axis overlap with the axis of fore-clamp holder 3 together with manipulator 9, drilling rod is in place；It is middle
Clamper 2 clamps, and manipulator 9 opens；
S3：Special drilling rod is screwed with new drilling rod one-level, and manipulator 9 is retracted；
S4：Middle clamper 2 unclamps, and fore-clamp holder 3 clamps, and new drilling rod screws with preposition drilling rod two level；
S5：Fore-clamp holder 3 is unclamped, and rig starts to drill；
S6：Fore-clamp holder 3 is clamped, and clino-axis type variable displacement motor 14 inverts, and special drilling rod is outwarded winding with new drilling rod, rubber hydraulic pressure
Chuck 20 is inverted and retracted；
S7：New drilling rod is in place, and upper boom can be continued by repeating the above steps；
The lower beam detailed process of drilling rod is described as follows：
A Gent drilling rod is now clamped with rubber oild chuck 20, fore-clamp holder 3, middle clamper 2 unclamp.
S1：Fore-clamp holder 3, middle clamper 2 unclamp, and are moved after rubber oild chuck 20, extract drilling rod out；
S2：Fore-clamp holder 3 clamps, and rubber oild chuck 20 advances；
S3：Preposition drilling rod is outwarded winding with new drilling rod two level；
S4：Middle clamper 2 is clamped, and rubber oild chuck 20 is retracted；
S5：Clino-axis type variable displacement motor 14 inverts, and rubber oild chuck 20 inverts, and new drilling rod revolves with special drilling rod one-level
Open, the action of two-stage hydraulic cylinder, manipulator 9 is up and clamps drilling rod；
S6：Middle clamper 2 is unclamped, and two-stage hydraulic cylinder action, manipulator 9 is retracted；
S7：Manipulator 9 stops when dropping to 107 position of rod disassembling device, and manipulator 9 opens, and drilling rod is tumbled to rod disassembling device 107
And tumble to storage bar case；
S8：Clamper advances afterwards, and special drilling rod screws with new drilling rod；
S9：Drilling rod is retracted, and manipulator resets, and lower beam can be continued by continuing above-mentioned steps.
It should be noted last that above embodiment is merely illustrative of the technical solution of the present invention and unrestricted,
Although the present invention is described in detail with reference to preferred embodiment, it will be understood by those within the art that, can be right
Technical scheme is modified or equivalent substitution, and without departing from the spirit and scope of technical solution of the present invention, its is equal
It should cover among scope of the presently claimed invention.
Claims (8)
1. lower beam hydraulic pressure coal ore deposit rig is continuously gone up in a kind of ultralow hole automatically, including bar case (1), middle clamper (2), fore-clamp are unloaded in storage
Holder (3), hydraulically extensible bracket upright post (4), drilling rod (5), crossbeam (6), mechanical hand hydraulic support (7), hollow rotating platform
(8), manipulator (9), frame pin (10), cross bar (11), workbench (12), gyrator propelling hydraulic cylinder (13), clino-axis type variable
Motor (14), decelerator (15), supporting plate (16), frame seat (17), support post (18), base rail (19), rubber hydraulic pressure
Chuck (20), sliding block (21)；Described support post (18) has two, after being made up of bolt to being fixed on frame seat (17)
Side, the hydraulically extensible bracket upright post (4) also has two, and on sliding block (21), described sliding block (21) is arranged on base
In the groove of guide rail (19), described cross bar (11) has two, and one is arranged in support post (18) by frame pin (10)
Between, another is arranged on the centre of hydraulically extensible bracket upright post (4), and described workbench (12) is welded by channel-section steel, and two
There are guide rail, two crossbeams (6) of centre welding in side, and its crossbeam (6) is distributed in the both ends of workbench (12), described workbench
(12) lower section of cross bar (11) is arranged on by the earrings on crossbeam (6), described supporting plate (16) there are two, passes through notch respectively
The symmetrical lower section for tipping upside down on the side rails of workbench (12) two, the mechanical hand hydraulic support (7) are welded in workbench (12)
Bar case (1), middle clamper (2), fore-clamp holder (3), clino-axis type variable displacement motor (14), deceleration are unloaded in middle upper portion, described storage
Device (15) and rubber oild chuck (20) are all arranged on the bottom of workbench (12).
2. lower beam hydraulic pressure coal ore deposit rig is continuously gone up in a kind of ultralow hole according to claim 1 automatically, it is characterised in that：It is described
Storage unload bar case (1) and include lever switch (101), overhead gage (102), lower baffle plate (103), rod spring (104), rod groove
(105) bar spring (106), rod disassembling device (107), case lid handle (108), case lid (109), hinge jaw (110), casing, are unloaded
(111), casing outer rim (112) and L-shaped iron block (113)；Bar case (1) is unloaded in described storage two, by welding outside the enclosure
L-shaped iron block (113) on frame (112) is symmetrically mounted on below workbench (12)；It is described go out lever switch (101) include overhead gage
(102) it is fixedly connected, is shifted to install in drilling rod track side with lower baffle plate (103) with lower baffle plate (103), the overhead gage (102)
Upwards, and dislocation distance matches with drilling rod external diameter, and lower baffle plate (103) end is rotatablely connected by lower bearing pin and casing (111),
And rod spring (104) is connected between casing；Described case lid (109) passes through hinge jaw (110) and casing (111) top
Connection, case lid handle (108) is welded with case lid (109), is provided with described casing (111) and tilts and roundabout horizontal be
" V " shape drilling rod track, described rod groove (105) are arranged on the exit of casing (111)；The rod disassembling device (107) is by upper
Bearing pin is rotatably connected on the bottom of casing (111) porch, and is connected between casing (111) and unloads bar spring (106).
3. lower beam hydraulic pressure coal ore deposit rig is continuously gone up in a kind of ultralow hole according to claim 1 automatically, it is characterised in that：It is described
Gripper unit include middle clamper (2) and fore-clamp holder (3)；Described middle clamper (2) and fore-clamp holder (3)
Structure is identical, installed in workbench front lower place；Described fore-clamp holder (3) includes fore-clamp holder casing (301), clamper left hand
(302), the clamper right hand (303), clamper centre hydraulic cylinder (304) and split pin (305)；Described clamper left hand
(302) it is installed together with the clamper right hand (303) by bolt and split pin (305), hydraulic cylinder among described clamper
(304) centre of both clamper left hand (302) and the clamper right hand (303) afterbody is arranged on, by controlling among clamper
The flexible of hydraulic cylinder (304) controls the action of clamper left hand (302) and the clamper right hand (303).
4. lower beam hydraulic pressure coal ore deposit rig is continuously gone up in a kind of ultralow hole according to claim 1 automatically, it is characterised in that：It is described
Mechanical hand hydraulic support (7) include bracket upright post (701), support transverse slat (702), support guide (703), stent bearing plank
(704), stent bearing plank propelling hydraulic cylinder (705), support guide supporting plate (706) and support guide supporting plate propelling hydraulic cylinder (707)；
The mechanical hand hydraulic support (7) is welded on the middle upper portion of workbench (12), described support base by bracket upright post (701)
Plate (704) has two, is buckled in by recessed grain on the support transverse slat (702) of mechanical hand hydraulic support (7) both sides；Described support is led
Rail (703) is welded on the centre of two stent bearing planks (704), and described support guide supporting plate (706) also has two, passes through groove
Tip upside down on support guide (703)；Described support guide supporting plate propelling hydraulic cylinder (707) one end is fixed on stent bearing plank
(704) side, the other end are fixed in the semicircle groove of support guide supporting plate (706), the stent bearing plank propelling hydraulic cylinder
(705) one end is fixed on the side of mechanical hand hydraulic support (7) frame, and the other end is fixed on the semicircle of stent bearing plank (704)
In groove.
5. lower beam hydraulic pressure coal ore deposit rig is continuously gone up in a kind of ultralow hole according to claim 1 automatically, it is characterised in that：It is described
Hollow rotating platform (8) include servomotor (801), rotation platform (802) and gear reduction unit (803)；Described is hollow
Rotation platform (8) has two, is bolted on the lower section of 2 support guide supporting plates (706), described rotation platform respectively
(802) rotating disk is hollow structure, and servomotor (801) is connected to side.
6. lower beam hydraulic pressure coal ore deposit rig is continuously gone up in a kind of ultralow hole according to claim 1 automatically, it is characterised in that：It is described
Manipulator (9) includes mechanical hand hydraulic cylinder (901), upper clipping claw (902), tentacle (903), lower claw (904), claw hydraulic cylinder
(905)；Described mechanical hand hydraulic cylinder (901) is fixedly mounted on the underface of hollow rotating platform (8), the lower claw
(904) tentacle (903) for touching lever switch (101) is provided with, the upper clipping claw (902) and lower claw (904) pass through connecting shaft
Pin cooperates together, and described claw hydraulic cylinder (905) is arranged on the interposition of upper clipping claw (902) and lower claw (904)
Put and interconnect therewith.
7. lower beam hydraulic pressure coal ore deposit rig is continuously gone up in a kind of ultralow hole according to claim 1 automatically, it is characterised in that：It is described
Decelerator (15) include cabinet shell (1501), primary planet pinion decelerator (1502), elastic dowel pin shaft coupling (1503)
With tank wall ears ring (1504)；Described tank wall ears ring (1504) is welded on the both sides box wall of cabinet shell (1501), institute
The rubber oild chuck (20) stated passes through the primary planet tooth in elastic dowel pin shaft coupling (1503) and cabinet shell (1501)
Wheel decelerator (1502) is connected to the right-hand member of decelerator (15), and described clino-axis type variable displacement motor (14) joins also by spring column pin
Axle device (1503) is connected to the left end of decelerator (15), clino-axis type variable horse with the primary planet pinion in cabinet shell (1501)
Up to (14) through two-stage The gear deceleration, drive shaft and rubber oild chuck (20) realize the revolution of drilling tool.
8. a kind of rig goes up lower beam method automatically, it is characterised in that wherein rig is any one of claim 1 to 7
Lower beam hydraulic pressure coal ore deposit rig is continuously gone up in ultralow hole automatically, is comprised the following steps：
The detailed process of rig upper boom is described as follows：
Previous drilling rod is largely drilled into rock stratum, and afterbody is stayed in fore-clamp holder (3), and one is clamped on middle clamper (2)
Special drilling rod, and the returned rear portion to rig, manipulator (9) move to the surface of rod groove (105), and this is initial shape
State：
S1：Now manipulator (9) opens under the drive of manipulator claw hydraulic cylinder (905), and manipulator (9) is in mechanical hand hydraulic
Continue to be displaced downwardly to rod groove (105) indentation, there under the drive of cylinder (901), tentacle (903) the pressing rod on its lower claw (904)
Switch (101) moves down, and goes out lever switch (101) around fixed lower bearing pin rotation, goes out lever switch (101) and be opened, now lower block
Plate (103) is moved down, and first drilling rod, which is released, to be tumbled to rod groove (105) place, and overhead gage (102) is with lower baffle plate
(103) moving down while moving down, blocks latter drilling rod, and rod spring (104) is elongated；
S2：Control machinery hand claw hydraulic cylinder (905) acts, and manipulator (9) clamps drilling rod, the action of two-stage hydraulic cylinder, manipulator
Hydraulic cylinder (901) moves up, then drives drilling rod up to move, and rod spring (104) pulls on out lever switch (101) rotation, rod
Switch (101) to reset, lower baffle plate (103) precession, overhead gage (102) screws out, and drilling rod below rolls forward a drilling rod simultaneously
The distance of diameter, now drilling rod be transported to the position that drill rod axis overlap with fore-clamp holder (3) axis together with manipulator (9)
Put, drilling rod is in place；Middle clamper (2) clamps, and manipulator (9) opens；
S3：Special drilling rod is screwed with new drilling rod one-level, and manipulator (9) is retracted；
S4：Middle clamper (2) is unclamped, and fore-clamp holder (3) clamps, and new drilling rod screws with preposition drilling rod two level；
S5：Fore-clamp holder (3) is unclamped, and rig starts to drill；
S6：Fore-clamp holder (3) is clamped, and clino-axis type variable displacement motor (14) reversion, special drilling rod is outwarded winding with new drilling rod, rubber hydraulic pressure
Chuck (20) is inverted and retracted；
S7：New drilling rod is in place, and upper boom can be continued by repeating the above steps；
The lower beam detailed process of drilling rod is described as follows：
A Gent drilling rod is clamped with rubber oild chuck (20), fore-clamp holder (3), middle clamper (2) unclamp；
S1：Fore-clamp holder (3), middle clamper (2) unclamp, and rubber oild chuck (20) moves afterwards, extract drilling rod out；
S2：Fore-clamp holder (3) clamps, and rubber oild chuck (20) advances；
S3：Preposition drilling rod is outwarded winding with new drilling rod two level；
S4：Middle clamper (2) is clamped, and rubber oild chuck (20) is retracted；
S5：Clino-axis type variable displacement motor (14) inverts, and rubber oild chuck (20) reversion, new drilling rod revolves with special drilling rod one-level
Open, the action of two-stage hydraulic cylinder, manipulator (9) is up and clamps drilling rod；
S6：Middle clamper (2) is unclamped, and two-stage hydraulic cylinder action, manipulator (9) is retracted；
S7：Manipulator (9) stops when dropping to rod disassembling device (107) position, and manipulator (9) opens, and drilling rod is tumbled to rod disassembling device
(107) on and tumble to storage bar case；
S8：Middle clamper (2) is advanced, and special drilling rod screws with new drilling rod；
S9：Drilling rod is retracted, and manipulator (9) resets, and lower beam can be continued by continuing above-mentioned steps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711003149.5A CN107542416A (en) | 2017-10-24 | 2017-10-24 | Lower beam hydraulic pressure coal ore deposit rig and thereon lower beam method are continuously gone up automatically in a kind of ultralow hole |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711003149.5A CN107542416A (en) | 2017-10-24 | 2017-10-24 | Lower beam hydraulic pressure coal ore deposit rig and thereon lower beam method are continuously gone up automatically in a kind of ultralow hole |
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| Publication Number | Publication Date |
|---|---|
| CN107542416A true CN107542416A (en) | 2018-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711003149.5A Pending CN107542416A (en) | 2017-10-24 | 2017-10-24 | Lower beam hydraulic pressure coal ore deposit rig and thereon lower beam method are continuously gone up automatically in a kind of ultralow hole |
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| CN108266181A (en) * | 2018-04-09 | 2018-07-10 | 东营仪锦能源科技有限公司 | A kind of coal mine drilling machine drilling rod depth measurement device |
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| CN108412440A (en) * | 2018-05-16 | 2018-08-17 | 吉林大学 | A kind of rotating slideway formula dynamic catwalk |
| CN108843249A (en) * | 2018-06-01 | 2018-11-20 | 中国矿业大学 | A kind of automatic upper lever apparatus for underground hydraulic pressure drilling machine and with storage bar function |
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| CN108266181A (en) * | 2018-04-09 | 2018-07-10 | 东营仪锦能源科技有限公司 | A kind of coal mine drilling machine drilling rod depth measurement device |
| CN108266181B (en) * | 2018-04-09 | 2023-12-29 | 东营仪锦能源科技有限公司 | Drill rod depth measuring device of coal mine drilling machine |
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| CN108412440B (en) * | 2018-05-16 | 2023-09-26 | 吉林大学 | Rotary slideway type power catwalk |
| CN108412440A (en) * | 2018-05-16 | 2018-08-17 | 吉林大学 | A kind of rotating slideway formula dynamic catwalk |
| CN108843249A (en) * | 2018-06-01 | 2018-11-20 | 中国矿业大学 | A kind of automatic upper lever apparatus for underground hydraulic pressure drilling machine and with storage bar function |
| CN109113600A (en) * | 2018-09-26 | 2019-01-01 | 浙江杭钻能源装备有限公司 | Continuous stepless drilling rod drill pipe rack and its control method |
| CN109296314A (en) * | 2018-10-18 | 2019-02-01 | 广西科技大学 | A kind of upper and lower drill rod mash gas cross drainage drilling machine of novel automation |
| CN109296314B (en) * | 2018-10-18 | 2024-01-26 | 广西科技大学 | Novel automatic drilling rod gas drainage rig from top to bottom |
| CN109681135A (en) * | 2019-03-04 | 2019-04-26 | 重庆工程职业技术学院 | A kind of coal mine gallery drilling rig construction drilling rod handler |
| CN109826575A (en) * | 2019-04-09 | 2019-05-31 | 中煤科工集团重庆研究院有限公司 | Drilling machine assembly with drilling rod righting function |
| CN111173499A (en) * | 2019-05-05 | 2020-05-19 | 中国矿业大学(北京) | Equipment is peeld in drilling with push mechanism |
| CN111173499B (en) * | 2019-05-05 | 2022-01-28 | 中国矿业大学(北京) | Equipment is peeld in drilling with push mechanism |
| CN110145259A (en) * | 2019-05-31 | 2019-08-20 | 贵州大学 | A kind of automatic continuous drilling machine |
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| CN113356767B (en) * | 2019-07-09 | 2023-06-16 | 煤炭科学技术研究院有限公司 | Drilling machine special for drilling cuttings method |
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| CN110725709A (en) * | 2019-11-27 | 2020-01-24 | 江苏安能钻掘设备科技有限公司 | Stock quick assembly disassembly device |
| CN112709540B (en) * | 2021-01-12 | 2024-06-07 | 重庆劲合实业有限公司 | Automatic rod replacing device |
| CN112709540A (en) * | 2021-01-12 | 2021-04-27 | 重庆劲合实业有限公司 | Automatic rod replacing device |
| CN113090203B (en) * | 2021-03-25 | 2022-08-19 | 中煤科工集团西安研究院有限公司 | Rapid tripping device and rapid tripping method for coal mine underground drill rig |
| CN113090203A (en) * | 2021-03-25 | 2021-07-09 | 中煤科工集团西安研究院有限公司 | Rapid tripping device and rapid tripping method for coal mine underground drill rig |
| CN112878937A (en) * | 2021-04-12 | 2021-06-01 | 河南理工大学 | Mining drill rod detacher and working method |
| CN112878937B (en) * | 2021-04-12 | 2024-01-26 | 河南理工大学 | Mining drill rod detacher and working method |
| CN113530478B (en) * | 2021-08-04 | 2023-09-15 | 国能神东煤炭集团有限责任公司 | Device and method for loading and unloading drill rod |
| CN113530478A (en) * | 2021-08-04 | 2021-10-22 | 国能神东煤炭集团有限责任公司 | Apparatus and method for handling drill rods |
| CN117848644A (en) * | 2024-03-07 | 2024-04-09 | 成都理工大学 | Test system and test method for simulating breaking of tailing pond caused by mountain sliding |
| CN117848644B (en) * | 2024-03-07 | 2024-05-17 | 成都理工大学 | Test system and test method for simulating breaking of tailing pond caused by mountain sliding |
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