CN111648729A - Automatic drill rod adding and connecting device and automatic drill rod adding and connecting method - Google Patents
Automatic drill rod adding and connecting device and automatic drill rod adding and connecting method Download PDFInfo
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- CN111648729A CN111648729A CN202010657858.0A CN202010657858A CN111648729A CN 111648729 A CN111648729 A CN 111648729A CN 202010657858 A CN202010657858 A CN 202010657858A CN 111648729 A CN111648729 A CN 111648729A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000005553 drilling Methods 0.000 claims abstract description 96
- 230000007246 mechanism Effects 0.000 claims abstract description 90
- 230000009471 action Effects 0.000 claims description 11
- 230000005484 gravity Effects 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims description 5
- 239000003245 coal Substances 0.000 abstract description 4
- 230000017105 transposition Effects 0.000 description 9
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/16—Connecting or disconnecting pipe couplings or joints
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
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Abstract
The invention relates to an automatic drill rod adding and connecting device and an automatic drill rod adding and connecting method, belonging to the technical field of coal mine drilling machine drill rod adding and connecting, wherein the automatic drill rod adding and connecting device comprises a manipulator positioned on one side of a drilling machine, the manipulator comprises a slewing mechanism, the slewing mechanism comprises a slewing driving device connected with the drilling machine and a slewing arm connected with the slewing driving device, the slewing arm is connected with a telescopic mechanism, a drill rod clamping mechanism is connected onto the telescopic mechanism, and a drill rod box is arranged below the drill rod clamping mechanism; the drill rod clamping mechanism picks up a drill rod from the drill rod box, the position of the drill rod passes through the inclination angle adjustment axis of the drilling machine, and the drill rod clamping mechanism can rotate to the position of the clamping center of the drill rod clamping mechanism coinciding with the drilling axis of the drilling machine under the driving of the rotary driving device along with the telescopic mechanism. The drill rod adding device can complete the adding connection of the drill rod only by fixing and transposing once, and solves the problem that the adding connection of the drill rod can be completed only by transposing the drill rod at a variable angle.
Description
Technical Field
The invention belongs to the technical field of coal mine drilling machine drill rod adding and connecting, and relates to an automatic drill rod adding and connecting device and an automatic drill rod adding and connecting method.
Background
The existing automatic drill rod adding technology generally adopts a lateral manipulator (or other drill rod conveying devices) to pick up the drill rod. The initial position (horizontal) and the final position (center of the power head) of the drill rod are in a linear relation with different planes in space, the drill rod can be transposed from the initial position to the final position only through twice angle-variable swinging and twice stretching, the drill rod is conveyed to a position which is overlapped with a drilling axis between the power head and the clamping device through a mechanical arm, and the automatic additional connection of the drill rod is realized through the multiple matching operations of the power head and the two clamping devices.
The automatic drill rod adding and connecting mode at least needs one mechanical arm and a set of double holders, and the drill rod can reach the adding and connecting position (coinciding with the drilling axis) through multiple position changes. When the drill rod is disassembled, the double clamping devices are used for swinging to loosen the threaded connection of the drill rod at the front end, so that the drill rod can be disassembled.
The automatic additional connection of the existing drill rod has the following problems: 1. the executing mechanism is complex, the occupied space is large, and the cost is high; 2. the conveying route of the drill rod is complex, the drill rod is connected in a plurality of actions, and the efficiency is low; 3. the drilling machine has high requirement on the precision of a space structure, the manipulator has high requirement on the precision, and the processing difficulty is high; 4. the hydraulic drilling machine can only be suitable for a special automatic drilling machine and cannot be matched with a traditional hydraulic drilling machine.
Disclosure of Invention
In view of this, an object of the present application is to provide an automatic drill rod adding device and an automatic drill rod adding method, which solve the problem of adding a drill rod by changing an angle and transposing the drill rod.
In order to achieve the purpose, the invention provides the following technical scheme:
an automatic drill rod adding and connecting device comprises a mechanical arm positioned on one side of a drilling machine, wherein the mechanical arm comprises a swing mechanism, the swing mechanism comprises a swing driving device connected with the drilling machine and a swing arm connected with the swing driving device, the swing arm is connected with a telescopic mechanism, a drill rod clamping mechanism is connected onto the telescopic mechanism, and a drill rod box is arranged below the drill rod clamping mechanism; the drill rod clamping mechanism picks up a drill rod from the drill rod box, the position of the drill rod passes through the inclination angle adjustment axis of the drilling machine, and the drill rod clamping mechanism can rotate to the position of the clamping center of the drill rod clamping mechanism coinciding with the drilling axis of the drilling machine under the driving of the rotary driving device along with the telescopic mechanism.
Optionally, the position at which the pipe gripping mechanism picks up the pipe from the pipe box is located at one end of the pipe box, and the pipe box can swing around the centre line of the position at which the manipulator picks up the pipe from the pipe box.
Optionally, the drill pipe box comprises a box body, the rear end of the box body can swing around the drill inclination angle adjustment axis, the front end of the box body is connected with a swing driving device enabling the box body to swing around the drill inclination angle adjustment axis, and the fixed end of the swing driving device is fixed on the drill machine frame.
Optionally, an arc chute and an arc slider which are matched with each other are arranged between the drilling machine frame and the box body, and the box body can swing around the drilling machine inclination angle adjusting axis through the arc chute and the arc slider which are matched with each other.
Optionally, the pipe gripping mechanism picks up pipe from within the pipe box with the centerline coplanar with the drilling axis of the drilling rig.
Optionally, the pipe gripping mechanism picks up pipe from the pipe box at a distance from the swivel arm that is greater than the distance between the drill axis of the drill rig and the swivel arm.
Optionally, a limiting member for limiting the stroke of the telescopic mechanism is arranged on the holder of the drilling machine.
Optionally, the swing drive is connected to the drill chuck.
Optionally, the swing driving device and the telescopic mechanism are hydraulic cylinders.
An automatic drill rod adding and connecting method comprises the following steps: the mechanical arm is arranged on one side of the drilling machine, the drill rod box is arranged below the mechanical arm, the mechanical arm stretches out to pick up a drill rod to be additionally connected from the drill rod box, then the mechanical arm retracts and rotates to enable the clamping center of the mechanical arm to coincide with the drilling axis of the drilling machine, the power head of the drilling machine advances to a position where the drill rod to be additionally connected can be clamped, the chuck of the drilling machine clamps the transition drill rod to be rotatably connected with the drill rod to be additionally connected, the mechanical arm loosens the drill rod to be additionally connected, and the power head of the drilling machine rotates and advances.
Alternatively, the position at which the rotary manipulator picks up a drill rod from the drill rod casing is located at one end of the drill rod casing, the drill rod casing is pivotable about a centre line of the position at which the manipulator picks up a drill rod from the drill rod casing, and the drill rod in the drill rod casing is movable under the influence of gravity to and from the position at which the manipulator picks up a drill rod from the drill rod casing.
The invention has the beneficial effects that:
1. the drill rod additional connection can be completed only by one-time fixing transposition and stretching, and the problem that the drill rod additional connection can be completed only by angle-variable transposition and secondary stretching of the drill rod is solved.
2. The automatic drilling machine is simple in actuating mechanism, compact in layout and small in occupied space, and the adaptability of the automatic drilling machine in medium and small coal mines is improved.
3. The drill rod conveying line is simple, the execution efficiency is high, the requirements on structural precision and execution precision are reduced, and the processing difficulty is reduced.
4. According to the invention, through arranging the swinging type mechanical arm, the threads at two ends of the drill rod to be disassembled can be disassembled by using the single clamping device.
5. The scheme of the application can be applied by slightly modifying the traditional hydraulic chuck type drilling machine, and the problem that the traditional drilling machine is complicated in modification of automatic additional connection of the drill rod is solved.
6. The invention can realize the conversion of semi-automatic drilling and automatic drilling, greatly improves the adding and connecting efficiency of the drill rod, avoids manual screwing of the drill rod and reduces the labor intensity.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic perspective view of an automatic drill pipe joining device;
FIG. 2 is a front view of the automatic drill pipe joining apparatus;
fig. 3 is a schematic structural view of the robot.
Reference numerals: the device comprises a power head 1, a rack 2, a clamp holder 3, a manipulator 4, a drill rod box 5, a chuck 1-1, a speed reducer 1-2, a hydraulic braid axial movement cylinder 1-3, a limiting part 3-1, a clamp holder body 3-2, a rotary driving device 4-1, a support frame 4-2, a connecting arm 4-3, a telescopic mechanism 4-4, a clamping mechanism 4-5, a box body 5-1, a swing driving device 5-2 and a connector 5-3.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to 3, an automatic drill rod adding and connecting device comprises a mechanical arm 4 positioned on one side of a drilling machine, wherein the mechanical arm 4 comprises a swing mechanism, the swing mechanism comprises a swing driving device 4-1 connected with the drilling machine and a swing arm 4-3 connected with the swing driving device 4-1, the swing driving device 4-1 can be a motor, the swing arm 4-3 is connected with a telescopic mechanism 4-4, the telescopic mechanism 4-4 can be a telescopic hydraulic cylinder, a drill rod clamping mechanism 4-5 is connected to the telescopic mechanism 4-4, and a drill rod box 5 is arranged below the drill rod clamping mechanism 4-5; the position of a drill rod which is picked up by the drill rod clamping mechanism from the drill rod box passes through the inclination angle adjustment axis of the drilling machine, and the drill rod clamping mechanism 4-5 can rotate to the position of the clamping center of the drill rod clamping mechanism coinciding with the drilling axis of the drilling machine along with the driving of the telescopic mechanism 4-4 by the rotary driving device 4-1.
Preferably, the position at which the pipe gripping mechanism picks up a pipe from the pipe box is located at one end of the pipe box 5, and the pipe box 5 is swingable about the centre line of the position at which the robot 4 picks up a pipe from the pipe box 5.
In order to reduce the occupied area, the drill rod box 5 is rotatably connected to a drilling machine frame, the drill rod box 5 adopts a swing type drill rod box and comprises a box body 5-1, the rear end of the box body 5-1 is connected with the drilling machine frame, the front end of the box body 5-1 is connected with a swing driving device 5-2 enabling the box body 5-1 to swing around a drilling machine inclination angle adjusting axis, and the fixed end of the swing driving device 5-2 is connected to the drilling machine frame 2. The inclination angle of the drill rod box 5 is adjusted through the swing driving device 5-2, the drill rod is far away from the rear end of the box body 5-1 or is moved to the rear end of the box body 5-1 through the self gravity, and the position of the drill rod when the drill rod is located at the rear end of the box body is the position of the drill rod clamping mechanism for picking up the drill rod from the drill rod box.
Preferably, an arc chute and an arc slide block which are matched with each other are arranged between the drilling machine frame 2 and the box body 5-1; the box body 5-1 can swing around the inclination angle adjusting axis of the drilling machine by arranging the arc chute at one side of the drilling machine frame 2 and arranging the arc slide block matched with the arc chute on the box body 5-1.
In order to facilitate the loading of a drill rod into the drill rod box 5, the distance between the position of the drill rod clamping mechanism for picking up the drill rod from the drill rod box and the rotary arm 4-3 is larger than the distance between the drilling axis of the drilling machine and the rotary arm 4-3, so that the position of the drill rod box 5 is lowered; the holder 3 is further provided with a limiting member 3-1 for limiting the stroke of the telescopic mechanism 4-4, and the limiting member 3-1 may be a mechanical limiting member, for example, a limiting member may be provided at an end of the holder 3 facing the power head 1.
The central line of the position of the drill rod clamping mechanism for picking up the drill rod from the drill rod box can be coplanar with the drilling axis of the drilling machine, and the limiting structure of the telescopic mechanism 4-4 is not needed, namely the limiting part 3-1 is not needed.
Preferably, the swing drive 4-1 is connected to the drill chuck 3.
An automatic drill rod adding and connecting method comprises the following steps: a manipulator 4 is arranged on one side of a drilling machine, a drill rod box 5 is arranged below the manipulator 4, the manipulator 4 extends out to pick up a drill rod to be additionally connected from the drill rod box 5, then the manipulator retracts and rotates to enable the clamping center of the manipulator to coincide with the drilling axis of the drilling machine, a power head 1 of the drilling machine advances to a position where the drill rod to be additionally connected can be clamped, a chuck 1-1 of the drilling machine clamps a transition drill rod to be rotatably connected with the drill rod to be additionally connected, the manipulator 4 loosens the drill rod to be additionally connected, and the power head 1 of the drilling machine rotates and advances until the connection with the drill rod.
Preferably, the position at which the manipulator picks up a drill rod from the drill rod box 5 is located at one end of the drill rod box 5, the drill rod box 5 is swingable about a centre line of the position at which the manipulator picks up a drill rod from the drill rod box, and the drill rod in the drill rod box 5 is movable under the influence of gravity to and from the position at which the manipulator picks up a drill rod from the drill rod box.
The drill rod additional connection can be completed only by one-time fixing transposition and stretching, so that the problem that the drill rod additional connection can be completed only by angle-variable transposition and secondary stretching of the drill rod is solved; the automatic drilling machine is simple in actuating mechanism, compact in layout and small in occupied space, and the adaptability of the automatic drilling machine in medium and small coal mines is improved; the drill rod conveying line is simple, the execution efficiency is high, the requirements on structural precision and execution precision are reduced, and the processing difficulty is reduced; the invention can realize the disassembly of the threads at the two ends of the drill rod to be disassembled by using the single clamp.
The scheme of the invention can be applied to the traditional hydraulic chuck type drilling machine after a small amount of modification, the invention solves the problem that the traditional drilling machine is complicated in modification of automatic drill rod adding, can realize conversion of semi-automatic drilling and automatic drilling, greatly improves the adding and connecting efficiency of the drill rod, avoids manual rotary connection of the drill rod and reduces the labor intensity.
Examples
An automatic drill rod adding and connecting drilling device is shown in figures 1-3 and comprises a power head 1, a rack 2, a clamp 3, a swing type manipulator 4 and a drill rod box 5, wherein the specific structure, the connection mode and the function of each part are as follows;
power head 1: the drilling rod is clamped to rotate to achieve a drilling function, the drilling rod mainly comprises a chuck 1-1, a speed reducer 1-2 and a hydraulic cylinder 1-3 for axially moving a water braid, the speed reducer 1-2 is used for reducing the rotating speed output by a hydraulic motor and then transmitting the rotating speed to the chuck 1-1 to drive the chuck 1-1 to rotate, and the chuck 1-1 can achieve clamping and opening of the drilling rod. When the drill rod is additionally connected, in order to avoid the disassembly of the water swivel and ensure the sealing between the water swivel and the drill rod, a front-mounted drill rod is additionally connected, namely the male head of the transition drill rod is exposed out of the chuck 1-1 of the power head 1. The hydraulic cylinder 1-3 for axially moving the water swivel has the main effects that the drill rod is convenient to disassemble, and when the drill rod is disassembled, the transition drill rod at the center of the traction power head retracts, so that the space of the chuck is saved, and the drill rod to be disassembled can be conveniently clamped.
A rack 2: the power head 1 can move back and forth along the rack 2 to realize the feeding motion of clamping the drill rod. The clamp holder 3 is positioned at the front end of the frame 2 and is matched with the power head 1 to realize the additional connection and the disassembly of the drill rod; the drill rod box 5 is positioned at one side of the frame 2, and the drill rod box 5 can rotate around the inclination angle adjusting axis of the drilling machine.
A clamp 3: the clamping device is positioned at the front end of the rack 2 and comprises a clamping device body 3-2 which is matched with the power head 1 to realize the additional connection and the disassembly of the drill rod.
Swing type mechanical arm 4: and the grabbing of the drill rod is completed, and the fixed angle transposition is realized.
The functions are as follows: the drill rod clamping device is matched with the power head 1 to complete the connection (threaded screwing or chuck clamping) of one end of the drill rod, after the drilling is completed, the drilling drill rod is clamped to prevent the drill rod from moving back and forth and rotating, the drill falling or withdrawing is prevented, meanwhile, the mechanical screwing and disassembling of the additionally connected drill rod and the working drill rod is completed,
the structure is composed of the following parts:
slewing drive device 4-1: the motor is fixed on the support frame 4-2 and drives the rotary arm 4-3 to rotate, so that the rotation of the mechanical arm is realized, and the drill rod is driven to rotate by 90 degrees;
4-2 of a support frame: the swinging manipulator is fixed on the clamp holder 3 to realize the fixation of the swinging manipulator 4 on the clamp holder 3;
4-3 of a rotary arm: one end of the clamping device 3 is fixedly connected with the transposition motor 4-1, the transposition motor can rotate for 90 degrees under the driving of the transposition motor, the other end of the transposition motor is provided with a telescopic mechanism 4-4 and a slideway, one side of the slideway is provided with a stop block, and one end of the clamping device 3 facing the power head 1 is provided with a limiting block for limiting the position of the stop block; the telescopic mechanism 4-4 is connected with a clamping mechanism 4-5, and the clamping mechanism 4-5 can slide up and down in the slideway to realize the adjustment of the position of the drill rod;
4-4 of a telescopic mechanism: the telescopic hydraulic cylinder 4-4 can be fixed on the rotary arm 4-3, the output end is connected with the clamping mechanism 4-5, and the clamping mechanism 4-5 can move up and down along the slideway under the action of the telescopic mechanism 4-4;
4-5 of a clamping mechanism: the clamping jaw driving device is connected with the telescoping mechanism 4-4 and moves up and down along the slide way, the clamping jaw driving device is a hydraulic cylinder, and the clamping jaw can clamp and open a drill rod under the action of the hydraulic cylinder.
In order to lower the position of the rod magazine, the rod gripping mechanism picks up the rod from the magazine at a distance from the swivel arm 4-3 that is greater than the distance between the drilling axis of the drill and the swivel arm 4-3.
A drill rod box 5: the drill rod containing device comprises a drill rod, a swing driving device 5-2 and a connector 5-3, wherein the drill rod containing device can rotate around a rack 2 and is composed of a box body 5-1, the swing driving device 5-2 is a hydraulic cylinder, the connector 5-3 is fixed on the box body 5-1, the output end of the swing driving device 5-2 is hinged with the connector 5-3, and the fixed end of the swing driving device 5-2 is connected with the rack. When the inclined angle drilling is carried out, the frame 2 tilts forwards and backwards, the swing driving device 5-2 telescopically adjusts the position of the box body 5-1, so that one end of the box body 5-1, which is close to the clamping mechanism 4-5, is lower than the other end of the box body, and a drill rod is ensured to be still close to one end of the clamping mechanism 4-5 under the action of gravity; in order to ensure that the drill rod is picked up from the drill rod box by the mechanical arm and is kept unchanged when the azimuth angle of the drill rod box is adjusted, a position where the swing type mechanical arm picks up the drill rod from the drill rod box is taken as a center, and meanwhile, a concentric matching mechanism is designed between the rack 2 and the drill rod box 5, namely, a groove is formed in the rack 2, a tenon is arranged on the drill rod box 5, so that the picked drill rod is positioned at the rotation center of the drill rod box when the inclination angle of the drill rod box 5 is adjusted.
The pipe gripping mechanism of this embodiment picks up the drill pipe from the pipe box with the position centerline, drill tilt axis and the swivel centerline collinear.
The working principle of the invention is as follows:
1 drill rod add-on
Initial position: and adjusting a swing driving device 5-2 of the drill rod box to enable one end of the near swing type mechanical arm 4 to be lower than the other end, placing a drill rod along the rotation axis of the box body, and enabling one end of a male head of the drill rod to be close to the rack 2.
(1) Drill rod pickup
1) The swinging mechanical arm 4 is transposed under the action of the swinging driving device 4-1, so that the clamping center of the clamping mechanism 4-5 is ensured to be parallel to the drill rod;
2) the telescopic mechanism 4-4 extends out, and the clamping mechanism 4-5 is in contact with the drill rod;
3) the clamping mechanism 4-5 clamps the drill rod;
4) the telescopic mechanism 4-4 retreats, and the clamping mechanism 4-5 drives the drill rod to lift;
5) the rotary driving device 4-1 rotates to drive the manipulator to rotate for 90 degrees;
6) the telescopic mechanism 4-4 extends out, and the drill rod is placed in the clamping center of the clamp holder 3 under the action of the limiting piece 3-1;
(2) drill rod female joint
1) The power head 1 rotates forwards and moves forwards slowly;
2) a drill rod in the chuck 1-1 is screwed with a drill rod thread clamped by the swing type manipulator 4;
3) loosening the clamping mechanism 4-5;
4) under the action of the telescopic mechanism 4-4, the clamping mechanism 4-5 is lifted away from the drill rod to be additionally connected;
5) the power head 1 rotates forwards and moves forwards slowly, and a drill rod to be additionally connected is screwed with a drill rod in the holder 3, so that the male thread of the drill rod to be additionally connected is screwed;
6) the clamp 3 is loosened to complete the additional connection of the drill rod;
7) after the drilling device feeds a drill rod, the clamp 3 clamps the drill rod;
8) the power head 1 rotates reversely and retreats to leave a next additional drill rod space;
9) and the swinging mechanical arm realizes that the swinging mechanical arm 4 is transposed by 90 degrees under the action of the rotating driving device 4-1, returns to the position where the clamping center of the clamping mechanism is parallel to the drill rod, and circularly executes the step of picking up the drill rod and the step of connecting the female head of the drill rod, thereby realizing the additional connection of the next drill rod.
2 drill pipe disassembly
After drilling is finished, the swing driving device 5-2 of the drill rod box is adjusted, the end, close to the swing type mechanical arm 4, of the drill rod is higher than the far end, and the clamp holder 3 clamps the drill rod.
(1) Unscrewing a drill rod in the chuck 1-1: and the power head 1 rotates reversely, the threads of the drill rod in the chuck 1-1 are unscrewed, the power head 1 retreats to the rearmost end, the space of the length of the male head of the joint is reserved, the drill rod in the chuck 1-1 is manually or mechanically dismantled, and the space of the chuck 1-1 is reserved.
(2) Drill rod disassembly
1) The power head 1 moves forwards, and the chuck 1-1 clamps the drill rod to be disassembled;
2) the power head 1 rotates reversely, the drill rod male head rotates reversely, and the drill rod to be disassembled is screwed out of the clamped drill rod;
3) the swinging mechanical arm 4 is transposed for 90 degrees to the upper part of the drill rod to be disassembled;
4) the swing type mechanical arm 4 extends out and clamps the drill rod to be disassembled;
5) loosening the chuck 1-1, moving the power head 1 backwards, moving the chuck 1-1 out of the space which is not less than the length of the drill rod, and retracting the swing type manipulator 4;
6) the swing type mechanical arm 4 is transposed for 90 degrees, and the drill rod returns to the upper part of the drill rod box 5;
7) the swing type mechanical arm 4 extends out, and a drill rod is placed in the drill rod box 5;
8) the clamping mechanism 4-5 is opened, the drill rod falls into the drill rod box 5 and moves downwards along the drill rod box 5 to reserve a space for the next drill rod;
9) the telescopic mechanism 4-4 retracts, and the clamping mechanism 4-5 is at the highest position;
10) the power head 1 moves forwards until the rear end of the next drill rod to be disassembled is deep into the chuck 1-1, and the chuck 1-1 clamps the drill rod;
11) the gripper 3 is opened;
12) the power head 1 drives the drill rod to be disassembled to move backwards;
13) the clamp 3 clamps the previous drill rod (clamped drill rod) of the drill rods to be disassembled;
14) the power head 1 rotates reversely, and a drill rod to be disassembled is screwed out of the clamped drill rod;
15) and (5) repeating the steps 3 to 8 in the drill rod dismounting to finish the dismounting of the next drill rod.
The invention not only solves the problems of more actions, variable angle conversion, secondary expansion and secondary feeding of the drill rod when the horizontal drill rod is transposed to the center position of the power head of the drilling machine; the problems that the automatic adding and connecting device is complex in structure and large in occupied space are solved; meanwhile, the problems that a drill rod conveying line is complex, the adding and connecting actions are multiple, and the efficiency is low and the automatic adding and connecting device cannot be applied to a traditional hydraulic drilling machine are solved.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (10)
1. The utility model provides an automatic grafting device of drilling rod which characterized in that: the mechanical arm comprises a swing mechanism, the swing mechanism comprises a swing driving device connected with the drilling machine and a swing arm connected with the swing driving device, the swing arm is connected with a telescopic mechanism, a drill rod clamping mechanism is connected onto the telescopic mechanism, and a drill rod box is arranged below the drill rod clamping mechanism; the drill rod clamping mechanism picks up a drill rod from the drill rod box, the position of the drill rod passes through the inclination angle adjustment axis of the drilling machine, and the drill rod clamping mechanism can rotate to the position of the clamping center of the drill rod clamping mechanism coinciding with the drilling axis of the drilling machine under the driving of the rotary driving device along with the telescopic mechanism.
2. The automatic drill rod adding device as claimed in claim 1, wherein: the position of the drill rod clamping mechanism for picking up the drill rod from the drill rod box is located at one end of the drill rod box, and the drill rod box can swing around the center line of the position of the manipulator for picking up the drill rod from the drill rod box.
3. The automatic drill rod adding device as claimed in claim 1, wherein: the drill pipe box comprises a box body, the rear end of the box body can swing around a drill inclination angle adjusting axis, the front end of the box body is connected with a swing driving device which enables the box body to swing around the drill inclination angle adjusting axis, and the fixed end of the swing driving device is fixed on a drill machine frame.
4. The automatic drill rod adding and connecting device as claimed in claim 3, wherein: an arc chute and an arc slide block which are matched with each other are arranged between the drilling machine frame and the box body, and the box body can swing around the drilling machine inclination angle adjusting axis through the arc chute and the arc slide block which are matched with each other.
5. The automatic drill rod adding device as claimed in claim 1, wherein: the center line of the position of the drill rod clamping mechanism for picking up the drill rod from the drill rod box is coplanar with the drilling axis of the drilling machine.
6. The automatic drill rod adding device as claimed in claim 1, wherein: the distance between the position of the drill rod clamping mechanism for picking up the drill rod from the drill rod box and the rotary arm is larger than the distance between the drilling axis of the drilling machine and the rotary arm.
7. The automatic drill rod adding and connecting device as claimed in claim 6, wherein: the holder of the drilling machine is provided with a limiting part for limiting the stroke of the telescopic mechanism.
8. The automatic drill rod adding device as claimed in claim 1, wherein: the rotary driving device is connected with the drilling machine holder.
9. An automatic drill rod adding and connecting method is characterized by comprising the following steps: the mechanical arm is arranged on one side of the drilling machine, the drill rod box is arranged below the mechanical arm, the mechanical arm stretches out to pick up a drill rod to be additionally connected from the drill rod box, then the mechanical arm retracts and rotates to enable the clamping center of the mechanical arm to coincide with the drilling axis of the drilling machine, the power head of the drilling machine advances to a position where the drill rod to be additionally connected can be clamped, the chuck of the drilling machine clamps the transition drill rod to be rotatably connected with the drill rod to be additionally connected, the mechanical arm loosens the drill rod to be additionally connected, and the power head of the drilling machine rotates and advances.
10. The automatic drill rod adding and connecting method according to claim 9, wherein the method comprises the following steps: the position of the manipulator for picking up the drill rod from the drill rod box is positioned at one end of the drill rod box, the drill rod box can swing around the center line of the position of the manipulator for picking up the drill rod from the drill rod box, and the drill rod in the drill rod box can move to or move out of the position of the manipulator for picking up the drill rod from the drill rod box under the action of gravity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010657858.0A CN111648729A (en) | 2020-07-09 | 2020-07-09 | Automatic drill rod adding and connecting device and automatic drill rod adding and connecting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010657858.0A CN111648729A (en) | 2020-07-09 | 2020-07-09 | Automatic drill rod adding and connecting device and automatic drill rod adding and connecting method |
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| CN111648729A true CN111648729A (en) | 2020-09-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010657858.0A Pending CN111648729A (en) | 2020-07-09 | 2020-07-09 | Automatic drill rod adding and connecting device and automatic drill rod adding and connecting method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112649225A (en) * | 2020-12-22 | 2021-04-13 | 煤炭科学技术研究院有限公司 | Pulverized coal collecting device |
| CN112709540A (en) * | 2021-01-12 | 2021-04-27 | 重庆劲合实业有限公司 | Automatic rod replacing device |
| 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 |
| CN113958277A (en) * | 2021-10-19 | 2022-01-21 | 平顶山天安煤业股份有限公司八矿 | Auxiliary mechanism for underground drill rod unloading of coal mine |
-
2020
- 2020-07-09 CN CN202010657858.0A patent/CN111648729A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112649225A (en) * | 2020-12-22 | 2021-04-13 | 煤炭科学技术研究院有限公司 | Pulverized coal collecting device |
| CN112709540A (en) * | 2021-01-12 | 2021-04-27 | 重庆劲合实业有限公司 | Automatic rod replacing device |
| CN112709540B (en) * | 2021-01-12 | 2024-06-07 | 重庆劲合实业有限公司 | Automatic rod replacing device |
| 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 |
| CN113958277A (en) * | 2021-10-19 | 2022-01-21 | 平顶山天安煤业股份有限公司八矿 | Auxiliary mechanism for underground drill rod unloading of coal mine |
| CN113958277B (en) * | 2021-10-19 | 2024-03-19 | 平顶山天安煤业股份有限公司八矿 | Underground drill rod unloading auxiliary mechanism for coal mine |
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